WO2021161696A1 - 航路計画装置、航路計画方法、及びプログラム - Google Patents

航路計画装置、航路計画方法、及びプログラム Download PDF

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Publication number
WO2021161696A1
WO2021161696A1 PCT/JP2021/000479 JP2021000479W WO2021161696A1 WO 2021161696 A1 WO2021161696 A1 WO 2021161696A1 JP 2021000479 W JP2021000479 W JP 2021000479W WO 2021161696 A1 WO2021161696 A1 WO 2021161696A1
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WO
WIPO (PCT)
Prior art keywords
waypoint
unit
ground point
candidate
route planning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/000479
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English (en)
French (fr)
Japanese (ja)
Inventor
潤 山林
敬年 森田
将斗 奥田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Furuno Electric Co Ltd
Original Assignee
Furuno Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Furuno Electric Co Ltd filed Critical Furuno Electric Co Ltd
Priority to EP21752960.1A priority Critical patent/EP4105909B1/en
Priority to JP2022500264A priority patent/JP7518890B2/ja
Priority to CN202180008263.5A priority patent/CN114930426A/zh
Publication of WO2021161696A1 publication Critical patent/WO2021161696A1/ja
Priority to US17/875,416 priority patent/US12140433B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Instruments for performing navigational calculations specially adapted for water-borne vessels
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft

Definitions

  • the present invention relates to a route planning device, a route planning method, and a program.
  • Patent Document 1 is based on a display unit that displays a route to be sailed created by a user on a map, a date and time input unit that accepts input of the navigation date and time of the route, and a navigation date and time input to the date and time input unit.
  • the caution information reading unit that reads the caution information that affects the navigation and is the information associated with the position and the date and time, the position indicated by the caution information read by the caution information reading unit, and the position of the route.
  • a route planning device including a route verification unit that extracts the caution information located at least on the route or in the vicinity of the route based on the above and verifies the route based on the extracted caution information is disclosed. There is.
  • waypoints are set with ground points.
  • the basis point is a target that can be easily confirmed from the ship, such as a lighthouse, a buoy, or a cape.
  • the navigator sets waypoints while choosing such grounds.
  • a waypoint can be set while checking the distance and direction from the base point.
  • the present invention has been made in view of the above problems, and a main object thereof is to provide a route planning device, a route planning method, and a program in which waypoints and their ground points can be easily set.
  • the route planning device may serve as a reference point for a waypoint, a display unit for displaying a nautical chart on a screen, an operation unit for designating a position on the screen, and 1 or
  • a storage unit that stores a plurality of base point candidates in association with a position, a point setting unit that sets a waypoint in the nautical chart according to a user operation received by the operation unit, and a set waypoint as a reference.
  • a candidate acquisition unit that acquires the ground point candidate within the range to be specified from the storage unit, and a ground point determination unit that determines the ground point of the set waypoint from the acquired ground point candidates. , Equipped with.
  • a waypoint is set in the nautical chart according to the operation of the user, and one or a plurality of reference point candidates that can be the base points of the waypoint are stored in association with the position.
  • the base point candidate within the range based on the set waypoint is acquired from the storage unit, and the base point of the set waypoint is determined from the acquired ground point candidates.
  • the program of another aspect of the present invention is set from a point setting unit that sets a waypoint in a nautical chart, and a storage unit that stores one or a plurality of base point candidates that can be base points of the waypoint in association with a position.
  • FIG. 1 is a block diagram showing a configuration example of a ship ICT system 100 including the route planning device 1 according to the embodiment.
  • the ship ICT system 100 includes, for example, a radar 2, a GNSS receiver 3, a gyro compass 4, an AIS 5, and the like, in addition to the route planning device 1. These devices are connected to a network N such as a LAN (Local Area Network), and can communicate with each other via a network.
  • a network N such as a LAN (Local Area Network)
  • the route planning device 1 is an ECDIS (Electronic Chart Display and Information System). Not limited to this, the route planning device 1 may be a GNSS plotter. A specific configuration example of the route planning device 1 will be described later.
  • ECDIS Electronic Chart Display and Information System
  • Radar 2 detects targets existing around its own ship and generates target tracking data (TT data) representing the position and velocity vector of the target.
  • TT data target tracking data
  • the GNSS receiver 3 detects the position of the own ship based on the radio waves received from the GNSS (Global Navigation Satellite System), and generates position data indicating the position of the own ship.
  • GNSS Global Navigation Satellite System
  • the gyro compass 4 detects the bow direction of its own ship and generates direction data representing the bow direction. Not limited to this, a GPS compass or a magnetic compass may be used.
  • AIS Automatic Identification System 5 transmits AIS data to surrounding ships and land controls, and also receives AIS data from surrounding ships and land controls.
  • VDES VHFDataExchangeSystem
  • FIG. 2 is a block diagram showing a configuration example of the route planning device 1.
  • the route planning device 1 includes a control unit 10, a storage unit 17, an operation unit 18, and a display unit 19.
  • the control unit 10 is a computer including a CPU, RAM, ROM, an input / output interface, and the like.
  • the storage unit 17 is an auxiliary storage device such as a non-volatile memory.
  • the CPU of the control unit 10 executes information processing according to a program loaded from the storage unit 17 into the RAM.
  • 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.
  • the storage unit 17 also stores nautical chart data 21 and a base point candidate database (base point candidate DB) 22 and the like.
  • the ground point candidate DB 22 may be constructed externally and accessed via a communication network such as the Internet.
  • the operation unit 18 is a pointing device that specifies the position of the display unit 19 on the screen, such as a trackball or a touch sensor.
  • the display unit 19 is a display device such as a liquid crystal display or an organic EL display.
  • the control unit 10 includes a display control unit 11, a point setting unit 12, a candidate acquisition unit 13, a base point determination unit 14, and a learning unit 15. These functional units are realized by the CPU of the control unit 10 executing information processing according to a program. Details of the operation of these functional units will be described later.
  • FIG. 3 is a diagram showing an example of the contents of the base point candidate DB 22.
  • the base point candidate DB 22 stores a base point candidate that can be a base point of a waypoint in association with a position.
  • the base point candidate DB 22 includes fields such as "ID”, “type”, “position”, “height”, and "light”.
  • ID is an identifier for identifying a base point candidate.
  • Type represents the type of base point candidate.
  • Types of ground point candidates include, for example, targets such as lighthouses, buoys, and capes.
  • Position represents the position of the base point candidate. The position of the base point candidate is represented by, for example, the position coordinates of latitude and longitude.
  • Light represents the height of the base point candidate.
  • Lights represents the distance that the light of the lighthouse can reach when the candidate base point is the lighthouse.
  • FIG. 4 is a flow chart showing a procedure example of the route planning method according to the embodiment realized in the route planning device 1.
  • the control unit 10 of the route planning device 1 executes the information processing shown in the figure according to a program.
  • 5 and 6 are diagrams showing an example of screen display.
  • control unit 10 displays the nautical chart NC on the screen of the display unit 19 based on the nautical chart data 21 stored in the storage unit 17 (S11; processing as the display control unit 11).
  • control unit 10 sets the waypoint WP in the nautical chart NC according to the user's operation received by the operation unit 18 (S12; processing as the point setting unit 12).
  • a pointer AR linked with the operation unit 18 is displayed on the screen of the display unit 19, and a waypoint WP is set at a designated position in the nautical chart NC.
  • the route RT that follows the waypoint WP is also displayed on the screen of the display unit 19.
  • Nautical chart NC also includes target TGs such as lighthouses, buoys, and capes.
  • the control unit 10 extracts the ground point candidates within the range based on the waypoint WP from the ground point candidate DB 22 (S13; candidate acquisition). Processing as part 13).
  • control unit 10 refers to the position of each ground point candidate stored in the ground point candidate DB 22 and determines whether or not each ground point candidate is included in the range based on the waypoint WP. Extract the waypoint candidates determined to be included in the range.
  • base point candidates included in a circular range with a predetermined radius centered on the waypoint WP are extracted.
  • an elliptical range that is longer in the left-right direction (port-starboard) than in the front-rear direction (bow-stern) of the ship may be used.
  • control unit 10 calculates the distance and direction from the waypoint WP for each extracted reference point candidate (S14).
  • the direction from the waypoint WP to the base point candidate is represented by an angle with respect to the bow direction.
  • the starboard direction is 90 degrees and the port direction is 270 degrees.
  • control unit 10 calculates the priority for each extracted base point candidate (S15).
  • the priority is based on at least one of the distance and direction from the waypoint WP.
  • the priority may be higher as the distance from the waypoint WP to the base point candidate is closer to the reference distance, and the direction from the waypoint WP to the base point candidate is 90 degrees with respect to the bow direction. The closer it is to, the higher it may be.
  • the priority is the distance d from the waypoint WP to the base point candidate, the direction (angle with respect to the bow direction) ⁇ from the waypoint WP to the base point candidate, the score p set for each type of the base point candidate, and the base point candidate. It is represented by the following function f with variables such as the height h of the light and the reach distance dl of the light when the base point candidate is the lighthouse. The larger or smaller the value of this function f, the higher the priority.
  • ⁇ , ⁇ , ⁇ , ⁇ , and ⁇ are the weighting coefficients of each variable.
  • d may be a difference from a predetermined reference value d 0 or a reciprocal thereof
  • ⁇ may be a difference from a predetermined reference angle ⁇ 0 (for example, 90 degrees) or a reciprocal thereof.
  • the direction from the waypoint WP to the base point candidate is an extension of the straight line from the previous waypoint to the waypoint WP (previous route RT) and the straight line connecting the waypoint WP and the base point candidate. Is the angle formed by.
  • control unit 10 displays the extracted symbols and lists of the base point candidates on the screen of the display unit 19 (S16; processing as the display control unit).
  • a symbol CD representing the base point candidate is added to the target TG of the base point candidate and displayed. Further, a line DL connecting the waypoint WP and the target target TG of the base point candidate is displayed, and a character string KH indicating the distance and direction is displayed beside the line DL.
  • a symbol CD is added to the lighthouse at a distance of 1 NM and a direction of 85 degrees.
  • the list LST of the base point candidates is also displayed on the screen of the display unit 19.
  • the ground point candidates are arranged in descending order of priority as described above.
  • a lighthouse at a distance of 1.5 NM and a direction of 90 degrees to the waypoint WP a buoy at a distance of 0.5 NM and a direction of 320 degrees, and a distance of 3.1 NM and a direction of 85 degrees.
  • the lighthouse items in are included in the list LS in this order.
  • control unit 10 determines, among the ground point candidates displayed on the screen of the display unit 19, the ground point candidate selected by the user's operation received by the operation unit 18 as the ground point of the waypoint WP. (S17, S18; processing as the basis point determination unit 14).
  • the selection of the ground point candidate is realized by designating the item of the ground point candidate included in the symbol CD or the list LST indicating that the ground point candidate is a ground point candidate by the pointer AR.
  • ground point candidates are arranged according to the priority, and the user only has to confirm from the ground point candidates having the highest priority, so that the ground point can be efficiently selected. It becomes.
  • the one with the highest priority may be automatically determined as the ground point, but the waypoints and the selection of the ground points are based on the experience of the navigator. Since there is no absolute standard and people's tastes can be entered to some extent, it is preferable to present the base point candidates to the user and accept the selection as in the above embodiment.
  • the control unit 10 may adjust the priority based on the selection result by the user (processing as the learning unit 15). That is, when the ground point candidate having the second or higher priority is selected, it is possible to match the individual preference by optimizing the weighting coefficient of the function for calculating the priority.
  • the priority adjustment can be realized, for example, by performing supervised learning with the selected ground point candidate as the correct answer.
  • 1 nautical chart display device 10 control unit, 11 display control unit, 12 point setting unit, 13 candidate acquisition unit, 14 base point determination unit, 15 learning unit, 17 storage unit, 18 operation unit, 19 display unit, 2 radar, 3 GNSS receiver, 4 gyro compass, 5 AIS, 100 ship ICT system

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2021/000479 2020-02-12 2021-01-08 航路計画装置、航路計画方法、及びプログラム Ceased WO2021161696A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21752960.1A EP4105909B1 (en) 2020-02-12 2021-01-08 Seaway planning device, seaway planning method, and program
JP2022500264A JP7518890B2 (ja) 2020-02-12 2021-01-08 航路計画装置、航路計画方法、及びプログラム
CN202180008263.5A CN114930426A (zh) 2020-02-12 2021-01-08 航路计划装置、航路计划方法、以及程序
US17/875,416 US12140433B2 (en) 2020-02-12 2022-07-28 Apparatus and method for route planning

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020021623 2020-02-12
JP2020-021623 2020-02-12

Related Child Applications (1)

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US17/875,416 Continuation US12140433B2 (en) 2020-02-12 2022-07-28 Apparatus and method for route planning

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WO2021161696A1 true WO2021161696A1 (ja) 2021-08-19

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US (1) US12140433B2 (https=)
EP (1) EP4105909B1 (https=)
JP (1) JP7518890B2 (https=)
CN (1) CN114930426A (https=)
WO (1) WO2021161696A1 (https=)

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JPWO2021161696A1 (https=) 2021-08-19
EP4105909A4 (en) 2024-03-20
US20220364865A1 (en) 2022-11-17
EP4105909B1 (en) 2026-02-25
US12140433B2 (en) 2024-11-12
JP7518890B2 (ja) 2024-07-18
CN114930426A (zh) 2022-08-19
EP4105909A1 (en) 2022-12-21

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