JP2022170012A - Marine vessel monitoring system, marine vessel monitoring method, marine vessel monitoring device, and program - Google Patents

Abstract

To provide a marine vessel monitoring system which allows for easily grasping whether a marine vessel is going to pass in front of or behind another marine vessel.SOLUTION: A marine vessel monitoring system is provided comprising: a first data generation unit configured to generate first marine vessel data representing the position and speed of a first marine vessel; a second data generation unit configured to generate second marine vessel data representing the position and speed of a second marine vessel; a passage determination unit configured to determine whether the first marine vessel will pass in front of or behind the second marine vessel on the basis of the first marine vessel data and the second marine vessel data assuming that the first marine vessel changes its course and reaches each point on a projected course of the second marine vessel; and a display unit configured to display a front passage zone where the first marine vessel will pass in front of the second marine vessel and a rear passage zone where the first marine vessel will pass behind the second marine vessel on the projected course of the second marine vessel.SELECTED DRAWING: Figure 3

Description

The present invention relates to a ship monitoring system, a ship monitoring method, an information processing device, and a program.

Conventionally, there are various techniques for assessing the risk of collisions between ships. For example, Non-Patent Document 1 discloses a method of displaying an OZT (Obstacle Zone by Target).

Junma Imazu, Junji Fukuto, Masayoshi Numano, "Interference Zones by Other Ships and Their Indication", Transactions of the Japan Institute of Navigation, 2002, Vol.107, p.191-197

By the way, in the method of displaying the OZT, the range in which the OZT is not displayed among the predicted courses of other ships is the range in which the ship can navigate. However, it is difficult to know at a glance whether a ship passes ahead of another ship or behind another ship in such a range.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and its main object is a ship monitoring system and a ship monitoring method that make it easy to grasp whether a ship is passing in front of or behind another ship. , an information processing device, and a program.

In order to solve the above problems, a ship monitoring system according to one aspect of the present invention includes: a first data generation unit that generates first ship data representing the position and speed of a first ship; and a second data generation unit that generates second ship data that represents the change of course of the first ship for each point on the predicted course of the second ship based on the first ship data and the second ship data. a passage determination unit that determines whether the first ship passes ahead or behind the second ship when it is assumed that the first ship passes in front of or behind the second ship when it is assumed that each point is reached by A display unit for displaying a forward passage range in which the first ship passes forward of the second ship and a rearward passage range in which the first ship passes behind the second ship.

In another aspect of the ship monitoring method of the present invention, the first data generation unit generates first ship data representing the position and speed of the first ship, and the second data generation unit generates position data of the second ship. and speed, and based on the first ship data and the second ship data, for each point on the predicted course of the second ship, the first ship changes course and the above each It is determined whether the first vessel will pass in front of or behind the second vessel when it is assumed that the point is reached, and if the first vessel is on the predicted course of the second vessel, the second vessel A front passing range in which the ship passes in front and a rear passing range in which the first ship passes behind the second ship are displayed.

Further, an information processing apparatus according to another aspect of the present invention provides information about the position and speed of the second ship based on first ship data representing the position and speed of the first ship and second ship data representing the position and speed of the second ship. For each point on the predicted course, it is determined whether the first vessel passes ahead or behind the second vessel when it is assumed that the first vessel changes course and reaches each point. a determination unit, and a forward passing range in which the first ship passes in front of the second ship and a backward passing range in which the first ship passes behind the second ship on the predicted course of the second ship. and a display control unit that generates a display image for displaying.

According to another aspect of the present invention, there is provided a program for predicting the course of the second ship based on first ship data representing the position and speed of the first ship and second ship data representing the position and speed of the second ship. Determining, for each of the above points, whether the first vessel passes ahead or behind the second vessel when it is assumed that the first vessel changes course to reach each of the points; and displaying a forward passing range in which the first ship passes in front of the second ship and a backward passing range in which the first ship passes behind the second ship on the predicted course of the second ship; and generating a display image for the computer.

ADVANTAGE OF THE INVENTION According to this invention, it becomes easy to grasp|ascertain whether a ship passes ahead of another ship, or passes behind.

It is a figure which shows the structural example of the ship monitoring system which concerns on embodiment. It is a figure which shows the example of another ship management database. It is a figure which shows the structural example of the information processing apparatus which concerns on embodiment. It is a figure which shows the display example (conventional example) of OZT. It is a figure which shows the procedure example of the ship monitoring method which concerns on embodiment. It is a figure for demonstrating calculation. FIG. 4 is a diagram showing an example of a display image; FIG. 4 is a diagram showing an example of a display image; FIG. 4 is a diagram showing an example of a display image; FIG. 4 is a diagram showing an example of a display image;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing a configuration example of a ship monitoring system 100 according to an embodiment. The ship monitoring system 100 is a system that is mounted on a ship and monitors surrounding ships.

The ship on which the ship monitoring system 100 is installed is an example of the first ship, and is referred to as "own ship" in the following description. In addition, ships existing around the own ship are examples of the second ship, and are referred to as "other ships" in the following description.

Also, in the following description, "velocity" is a vector quantity representing speed and heading (so-called ship speed vector), and "speed" is a scalar quantity.

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

The information processing apparatus 1 is a computer including a CPU, RAM, ROM, nonvolatile memory, input/output interfaces, and the like. The CPU of the information processing device 1 executes information processing according to a program loaded from the ROM or nonvolatile memory to the RAM.

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

The display unit 2 is, for example, a display device with a touch sensor. The touch sensor detects a position within the screen indicated by a finger or the like. The indicated position may be input by a trackball or the like instead of the touch sensor.

The radar 3 emits radio waves around its own ship, receives the reflected waves, and generates echo data based on the received signals. The radar 3 also identifies the target from the echo data and generates target tracking data (TT data) representing the position and speed of the target.

An AIS (Automatic Identification System) 4 receives AIS data from other ships existing around the own ship or from land control. Not limited to AIS, VDES (VHF Data Exchange System) may be used. AIS data includes the positions and velocities of other ships.

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

An ECDIS (Electronic Chart Display and Information System) 7 acquires the position of the own ship from the GNSS receiver 5 and displays the position of the own ship on the electronic chart. The ECDIS 7 also displays the scheduled route of the own ship on the electronic chart. Not limited to ECDIS, a GNSS plotter may be used.

The alarm unit 8 issues an alarm when there is a risk of the own ship colliding with another ship. The alarm unit 8 may be, for example, an alarm by display, or may be an alarm by sound or light. The display warning may be given on the display unit 2 . That is, the display unit 2 may also serve as the alarm unit 8 .

In this embodiment, the information processing device 1 is an independent device, but it is not limited to this, and may be integrated with another device such as the ECDIS 7 . That is, the functional units of the information processing device 1 may be implemented by other devices such as the ECDIS 7 .

The display unit 2 is also an independent device, but the display unit is not limited to this, and a display unit of another device such as the ECDIS 7 may be used as the display unit 2 for displaying the image generated by the information processing device 1. .

In this embodiment, the set of the GNSS receiver 5 and the ECDIS 7 is an example of the first data generator, and generates own ship data representing the position and speed of the own ship. Specifically, the GNSS receiver 5 detects the position of the own ship, and the ECDIS 7 detects the speed of the own ship from the time change of the position of the own ship.

The speed of the own ship is not limited to this, and may be detected based on the bearing of the own ship detected by the gyrocompass 6 and the speed of the own ship detected by a speedometer (not shown).

Also, the radar 3 or AIS 4 is an example of a second data generator, and generates other ship data representing the position and speed of another ship. Specifically, the TT data generated by the radar 3 corresponds to other ship data. AIS data generated by the AIS 4 also corresponds to other ship data.

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

The other ship management database includes fields such as "other ship identifier", "position", "speed", and "azimuth". In addition, the position and direction of the other ship detected by the radar 3 are converted into the same coordinate system as GNSS.

FIG. 3 is a block diagram showing a configuration example of the information processing device 1 according to the embodiment. The information processing device 1 includes a risk value calculation unit 11 , a forward/backward passage determination unit 12 , and a display control unit 13 . These functional units are implemented by the CPU of the information processing apparatus 1 executing information processing according to programs.

The risk value calculator 11 calculates a risk value representing the risk of collision between the own ship and the other ship based on the own ship data and the other ship data. Specifically, the risk value calculation unit 11 calculates a risk area where there is a risk of collision between the own ship and the other ship when it is assumed that the own ship changes course in an arbitrary direction and heads for the predicted course of the other ship. calculate.

A known technique for displaying OZT (Obstacle Zone by Target) is used to calculate the risk value. Techniques such as PAD (Predict Area of Danger) or DAC (Dangerous Area of Collision) may be used instead of OZT. OZT, PAD, or DAC are examples of risk areas.

FIG. 4 is a diagram showing a display example (conventional example) of OZT. OZT is a zone in which the navigation of own ship is obstructed by other ships, and is displayed on the predicted course of other ships.

By the way, the range GP in which the OZT is not displayed among the predicted courses of other ships is a range in which the own ship can navigate. It is difficult to figure out at first glance whether to pass through.

Therefore, in the present embodiment, the function of the forward/backward passage determination unit 12 and the display control unit 13 determines whether the own ship will pass in front of or behind another ship, and displays it. A specific method will be described below.

FIG. 5 is a diagram showing a procedure example of a ship monitoring method according to an embodiment implemented in the ship monitoring system 100. As shown in FIG. The information processing apparatus 1 executes the information processing shown in the figure according to a program. FIG. 6 is a diagram for explaining the calculation.

First, the information processing device 1 sets a plurality of decision points on the predicted course of another ship (S11). The predicted course of the other ship is the course when it is assumed that the other ship sails from the current position while maintaining the speed. A plurality of decision points are set at equal intervals on the predicted course of the other ship.

Next, the information processing device 1 calculates a risk value representing the risk of collision between the own ship and another ship at one of the plurality of decision points (S12: the risk value calculator 11 processing).

The risk value at the decision point is when it is assumed that the own ship changes course from its current position and reaches the decision point while maintaining its speed, and that the other ship maintains its speed from its current position and reaches the decision point. , the probability that own ship and another ship are present at the decision point at the same time.

Next, the information processing device 1 determines whether or not the risk value calculated in S12 is equal to or greater than the threshold (S13).

If the risk value is greater than or equal to the threshold (S13: YES), the information processing device 1 sets the determination point as the "OZT display point" (S14).

Next, the information processing device 1 determines which of the own ship and the other ship reaches the determination point first (S15: processing performed by the forward/backward passage determining unit 12). In other words, the information processing device 1 determines whether or not the own ship will reach the determination point first.

When it is determined that the own ship reaches the determination point before the other ship (S15: YES), the information processing device 1 determines that the own ship passes the determination point ahead of the other ship. (S16A), and if it is determined that the other ship reaches the decision point before the own ship (S15: NO), the decision point is defined as the "passage point behind the other ship" where the own ship passes behind the other ship. (S16B). In other words, the information processing device 1 determines whether the own ship passes ahead or behind the other ship.

Specifically, the information processing device 1 calculates the probability that the own ship will reach the decision point first and the probability that the other ship will reach the decision point first, and determines the magnitude relationship between the two calculated probabilities. For example, if the probability that the own ship will arrive first is greater than the probability that the other ship will arrive first, the determination point is set as the "other ship's forward passing point". On the other hand, if the probability that the own ship will arrive first is smaller than the probability that the other ship will arrive first, the judgment point is set as the "passing point behind the other ship".

The method of calculating the probability that the own ship will reach the decision point first and the probability that the other ship will reach the decision point first can be realized by applying the OZT calculation method in S12 above.

Not limited to this, the information processing device 1 may calculate the time for the own ship to reach the determination point and the time for the other ship to reach the determination point, and determine the magnitude relationship between the two calculated times. For example, if the arrival time of the own ship is shorter than the arrival time of the other ship, the judgment point is set as the "passing point ahead of the other ship". On the other hand, if the arrival time of the own ship is longer than the arrival time of the other ship, the judgment point is set as the "passage point behind the other ship".

Further, the information processing device 1 may calculate BCR (Bow Crossing Range) when it is assumed that the own ship is heading to the determination point, and determine whether the BCR is positive or negative. BCR is the predicted distance from own ship to another ship when the other ship crosses own ship's bow line. For example, if the BCR is negative, the judgment point is set as the "passing point ahead of other ship". On the other hand, when BCR is positive, the decision point is set as the "passing point behind another ship".

Since the method of calculating the time and the method of calculating the BCR do not perform probability calculation, it is possible to reduce the calculation load.

The information processing apparatus 1 executes the processes of S12 to S16 described above for all determination points (S17).

Here, if the adjacent determination points are the same "other ship forward passing point", the area between them becomes the "other ship forward passing range". Similarly, if adjacent determination points are the same "other ship's rear passage point", the area between them becomes the "other ship's rear passage range".

Next, the information processing device 1 generates a display image and outputs it to the display unit 2 (S18: processing by the display control unit 13).

FIG. 7 is a diagram showing an example of a display image displayed on the display unit 2. As shown in FIG. In the display image, an OZT is displayed on the predicted course of the other ship, indicating that the risk value of collision between the own ship and the other ship is equal to or greater than the threshold. In addition, on the predicted course of other ships, the "passing range ahead of other ships" where your ship passes ahead of other ships and the "passing range behind other ships" where your ship passes behind other ships are displayed. be. The predicted course of the other ship is displayed, for example, by an auxiliary line such as a dashed line.

The forward passage range and the rearward passage range of another ship are displayed by changing the display mode such as color or texture so that they can be distinguished at a glance. Further, a character string may be added to the "other ship forward passing range" and the "other ship rearward passing range" for easy identification.

The other ship forward passing range and the other ship rearward passing range have a predetermined width and are formed in a belt shape extending along the predicted course of the other ship. The width of the other ship forward passage range and the other ship rear passage range is narrower than the width of the OZT.

At least one of the other-vessel forward passing range and the other-vessel backward passing range is displayed superimposed on the OZT. For example, the other ship forward passing range and the other ship rearward passing range may be arranged on the OZT, or may be arranged below the OZT which is formed translucent.

According to the embodiment described above, the "other ship passing range ahead" and the "other ship passing range behind" are displayed on the predicted course of the other ship. It becomes easier to grasp at a glance what to pass through.

FIG. 8 is a diagram showing an example of a display image displaying DAC instead of OZT. As in the example of FIG. 7, at least one of the other-vessel forward passing range and the other-vessel backward passing range is displayed superimposed on the DAC. For example, the other-vessel forward passing range and the other-vessel backward passing range may be arranged on the DAC, or may be arranged below the translucent DAC.

According to the examples of FIGS. 7 and 8, the other ship's forward passing range and the other ship's rearward passing range are displayed superimposed on the risk area such as OZT or DAC. It is possible to determine whether to pass in front of the ship or behind it. Such a display is useful when it is unavoidable that a course must be taken to enter the risk area.

As shown in FIG. 9, the other ship forward passing range and the other ship rearward passing range may be displayed only in the risk area such as OZT or DAC in the predicted course of the other ship. According to this, even if the number of ships increases, it is possible to prevent visibility from being hindered by the other ship forward passage range and the other ship rearward passage range. In addition, the calculation load can be reduced because it is only necessary to make determinations within the risk area.

As shown in FIG. 10, in the case where the other ship's passing range and the other ship's passing range are displayed, the predicted course of the other ship may be displayed by an auxiliary line such as a dashed line. According to this, when there are a plurality of other ships, it is possible to easily visually recognize which other ship the forward passage range and rearward passage range of the other ship relate to.

In addition, it is not necessary to display the auxiliary line ahead of the other ship's forward passage range or the other ship's rearward passage range, which is the foremost in the course direction of the predicted course of the other ship. In the example of FIG. 10, the other ship's rear passing range is at the farthest point in the direction of the other ship's course (leftmost in the drawing), and no auxiliary line is displayed further ahead. According to this, it is possible to prevent visibility from being hindered by the auxiliary line.

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

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 forward and backward passage determination unit, 13 display control unit, 100 ship Monitoring system

Claims (16)

a first data generator that generates first ship data representing the position and speed of the first ship;
a second data generator that generates second ship data representing the position and speed of the second ship;
Based on the first ship data and the second ship data, when it is assumed that the first ship changes course and reaches each point on the predicted course of the second ship, the first ship data a passage determination unit that determines whether the ship passes in front of or behind the second ship;
Display displaying a forward passing range in which the first ship passes forward of the second ship and a backward passing range in which the first ship passes behind the second ship on the predicted course of the second ship. Department and
a vessel monitoring system. Based on the first ship data and the second ship data, when it is assumed that the first ship changes course in an arbitrary direction and heads for the predicted course of the second ship, the first ship and the second ship further comprising a risk value calculation unit that calculates a risk area where there is a risk of collision with a ship,
The display unit further displays the risk area,
A ship monitoring system according to claim 1 . The risk area is OZT (Obstacle Zone by Target),
A vessel monitoring system according to claim 2. The risk area is DAC (Dangerous Area of Collision),
A vessel monitoring system according to claim 2. The display unit displays at least one of the front passing area and the rear passing area overlapping the risk area.
A ship monitoring system according to any one of claims 2 to 4. The display unit displays the forward passing range and the backward passing range within the risk area on the predicted course of the second vessel.
A ship monitoring system according to any one of claims 2 to 4. The display unit displays an auxiliary line representing the predicted course of the second vessel together with the forward passing area and the rear passing area.
A ship monitoring system according to any one of claims 1 to 6. The display unit does not display the auxiliary line ahead of the front passing area or the rear passing area that is the foremost in the course direction of the predicted course of the second vessel.
A vessel monitoring system according to claim 7. The passage determination unit calculates a probability that the first ship will reach each point first and a probability that the second ship will reach each point first, and according to the magnitude relationship of the probabilities, the first ship will Determining whether to pass in front of or behind the second vessel,
A ship monitoring system according to any one of claims 1 to 8. The passage determination unit calculates a time for the first ship to reach each point and a time for the second ship to reach each of the points, and determines whether the first ship reaches the second ship according to the magnitude relationship of the times. determine whether to pass in front of or behind the
A ship monitoring system according to any one of claims 1 to 8. The passage determination unit calculates a BCR (Bow Crossing Range) at each of the points, and determines whether the first vessel passes ahead or behind the second vessel according to the positive or negative of the BCR. ,
A ship monitoring system according to any one of claims 1 to 8. The first data generation unit is mounted on the first ship and includes a GNSS receiver that detects the position of the first ship based on radio waves received from a GNSS (Global Navigation Satellite System),
A ship monitoring system according to any one of claims 1 to 11. The second data generator is mounted on the first ship and detects the position and speed of the second ship from echo data generated by receiving reflected waves of radio waves emitted around the first ship. including radar that
A ship monitoring system according to any one of claims 1 to 12. The first data generation unit generates first ship data representing the position and speed of the first ship,
The second data generation unit generates second ship data representing the position and speed of the second ship,
Based on the first ship data and the second ship data, when it is assumed that the first ship changes course and reaches each point on the predicted course of the second ship, the first ship data Determining whether the ship passes in front of or behind the second ship,
On the predicted course of the second ship, a forward passing range in which the first ship passes in front of the second ship and a backward passing range in which the first ship passes behind the second ship are displayed.
Vessel surveillance method. Based on the first ship data representing the position and speed of the first ship and the second ship data representing the position and speed of the second ship, the first ship changes course for each point on the predicted course of the second ship. a passage determination unit that determines whether the first vessel passes in front of or behind the second vessel when it is assumed that each point is reached by
To display, on the predicted course of the second vessel, a forward passage range in which the first vessel passes in front of the second vessel and a backward passage range in which the first vessel passes behind the second vessel. a display control unit that generates a display image of
An information processing device. Based on the first ship data representing the position and speed of the first ship and the second ship data representing the position and speed of the second ship, the first ship changes course for each point on the predicted course of the second ship. and determining whether the first vessel passes ahead or behind the second vessel when it is assumed that each point is reached by
To display, on the predicted course of the second vessel, a forward passage range in which the first vessel passes in front of the second vessel and a backward passage range in which the first vessel passes behind the second vessel. generating an image for display of
A program that causes a computer to run

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