WO2022249632A1 - 船舶監視装置、船舶監視方法、及びプログラム - Google Patents

船舶監視装置、船舶監視方法、及びプログラム Download PDF

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Publication number
WO2022249632A1
WO2022249632A1 PCT/JP2022/009936 JP2022009936W WO2022249632A1 WO 2022249632 A1 WO2022249632 A1 WO 2022249632A1 JP 2022009936 W JP2022009936 W JP 2022009936W WO 2022249632 A1 WO2022249632 A1 WO 2022249632A1
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WIPO (PCT)
Prior art keywords
ship
range
collision risk
vessel
risk area
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Ceased
Application number
PCT/JP2022/009936
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English (en)
French (fr)
Japanese (ja)
Inventor
真 芳永
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
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Furuno Electric Co Ltd
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Filing date
Publication date
Application filed by Furuno Electric Co Ltd filed Critical Furuno Electric Co Ltd
Priority to CN202280033828.XA priority Critical patent/CN117280396A/zh
Priority to JP2023524015A priority patent/JPWO2022249632A1/ja
Publication of WO2022249632A1 publication Critical patent/WO2022249632A1/ja
Priority to US18/517,010 priority patent/US12542061B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications

Definitions

  • the present invention relates to a ship monitoring device, a ship monitoring method, and a program.
  • Non-Patent Document 1 discloses a method of displaying an OZT (Obstacle Zone by Target).
  • the range in which the collision risk area is not displayed in the predicted course of the other ship is the range where the own ship can navigate, but at first glance, the own ship is not It is difficult to know whether to pass in front of another ship or behind it.
  • the present invention has been made in view of the above problems, and its main purpose is to provide a ship monitoring device, a ship monitoring method, and a ship monitoring method that make it easy to grasp whether another ship is passing ahead or behind. and to provide programs.
  • a ship monitoring apparatus includes a first data acquisition unit that acquires first ship data representing the position and speed of a first ship; and a second data acquisition unit that acquires second ship data representing the predicted course of the second ship by changing course in an arbitrary direction based on the first ship data and the second ship data of the predicted course of the second ship when it is assumed that the second ship crosses the and a risk range identifying unit that identifies a second range away in the direction of travel of the ship, and the first range is included on the predicted course of the second ship in the image showing the positions of the first ship and the second ship.
  • a second collision risk area including the first collision risk area and the second range; a display control unit that displays the end portion so as to be distinguished from the remaining end portion. According to this, the ends of the two collision risk areas sandwiching the range in which the first ship passes in front of the second ship are displayed separately from the remaining ends, so that the first ship passes in front of the second ship. It becomes easy to grasp whether to move or pass behind.
  • the display control unit changes the shape of the end portion of the first collision risk area on the second range side and the end portion of the second collision risk area on the first range side to the shape of the remaining end portion. You may make it differ from a shape. According to this, it becomes easy to grasp whether the first ship passes in front of or behind the second ship depending on the shape of the end of the collision risk area.
  • the end portion of the first collision risk area on the second range side and the end portion of the second collision risk area on the first range side have a shape indicating the direction of travel of the second vessel.
  • the end of the first collision risk area on the second range side may have a shape protruding in the traveling direction of the second vessel. According to this, it becomes easy to grasp the traveling direction of the second ship.
  • the end of the second collision risk area on the first range side may have a shape recessed in the traveling direction of the second vessel. According to this, it becomes easy to grasp the traveling direction of the second ship.
  • the end portion of the first collision risk area opposite to the second range side and the end portion of the second collision risk area opposite to the first range side have a semicircular shape. You may According to this, it becomes easy to identify whether the 1st ship passes ahead of the 2nd ship, or passes behind.
  • the display control unit adds a mark of a predetermined shape to an end of the first collision risk area on the second range side and an end of the second collision risk area on the first range side.
  • the display control unit displays a mark having a shape indicating the traveling direction of the second vessel at the end of the first collision risk area and the second collision risk area on the traveling direction side of the second vessel. may be added. According to this, it becomes easy to grasp the traveling direction of the second ship.
  • the display control unit may change the number or shape of the marks according to the speed of the second vessel. According to this, according to this, it becomes easy to grasp the speed of the second vessel.
  • the first data may include the position of the first vessel detected by a GNSS (Global Navigation Satellite System) receiver mounted on the first vessel.
  • the second data may include the position and speed of the second vessel detected by a radar mounted on the first vessel.
  • the second data may include the position and speed of the second vessel detected by an AIS (Automatic Identification System) mounted on the first vessel.
  • GNSS Global Navigation Satellite System
  • AIS Automatic Identification System
  • a ship monitoring method acquires first ship data representing the position and speed of the first ship by the first data generation unit, and generates data of the second ship by the second data generation unit. Acquiring second ship data representing position and speed, and based on the first ship data and the second ship data, when the first ship changes course in an arbitrary direction and crosses the predicted course of the second ship A first range of the predicted course of the second ship when the assumption is made that the risk of collision between the first ship and the second ship is greater than or equal to a predetermined range, and the direction of travel of the second ship from the first range.
  • a first collision risk including the first range is specified on the predicted course of the second vessel in the image showing the positions of the first vessel and the second vessel by the display unit.
  • the ends of the two collision risk areas sandwiching the range in which the first ship passes in front of the second ship are displayed separately from the remaining ends, so that the first ship passes in front of the second ship. It becomes easy to grasp whether to move or pass behind.
  • a program obtains first ship data representing the position and speed of the first ship, acquires 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 in an arbitrary direction and crosses the predicted course of the second ship, out of the predicted course of the second ship , specifying a first range where the risk of collision between the first ship and the second ship is greater than a predetermined value and a second range away from the first range in the direction of travel of the second ship; and Displaying a first collision risk area including the first range and a second collision risk area including the second range on the predicted course of the second vessel in the image showing the positions of the first vessel and the second vessel.
  • 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;
  • 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;
  • FIG. 4 is a diagram showing an example of a display image;
  • FIG. 1 is a block diagram showing a configuration example of a ship monitoring system 100. As shown in FIG. A ship monitoring method is implemented in the ship monitoring system 100 .
  • 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 will be referred to as "own ship” in the following description.
  • ships existing around the own ship are examples of the second ship, and are referred to as “other ships” in the following description.
  • speed is a vector quantity representing speed and direction (so-called ship speed vector), and "speed” is a scalar quantity.
  • 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, and are capable of network communication with each other.
  • a network N such as a LAN
  • the ship monitoring device 1 is a computer including a CPU, RAM, ROM, non-volatile memory, input/output interface, and the like.
  • the CPU of the ship monitoring 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.
  • TT data target tracking data
  • the AIS (Automatic Identification System) 4 receives AIS data from other ships around the 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.
  • VDES VHF Data Exchange System
  • the GNSS receiver 5 detects the position of the own ship based on radio waves received from the GNSS (Global Navigation Satellite System).
  • the gyrocompass 6 detects the bearing of the own ship.
  • a GPS compass may be used instead of the gyro compass.
  • the ECDIS (Electronic Chart Display and Information System) 7 acquires the ship's position from the GNSS receiver 5 and displays the ship's position on the electronic chart.
  • the ECDIS 7 also displays the scheduled route of the own ship on the electronic chart.
  • 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 issue an alarm by display, or may issue an alarm by sound or light, for example.
  • 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 .
  • the ship monitoring device 1 is an independent device in this embodiment, it is not limited to this, and may be integrated with other devices such as the ECDIS 7 . That is, the functional units of the ship monitoring device 1 may be implemented by other devices.
  • 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 display image generated by the ship monitoring device 1. good too.
  • the GNSS receiver 5 and the ECDIS 7 are examples of a first data generation unit, and generate 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 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).
  • the radar 3 or AIS 4 is an example of a second data generation unit, and generates other ship data representing the position and speed of another ship.
  • 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 ship monitoring device 1.
  • 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”.
  • 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 diagram showing a configuration example of the ship monitoring device 1 that implements the ship monitoring method.
  • the ship monitoring device 1 includes an own ship data acquisition unit 11 , another ship data acquisition unit 12 , a risk range identification unit 13 , an end point information calculation unit 14 , an end point shape determination unit 15 and a display control unit 16 . These functional units are realized by the CPU of the ship monitoring device 1 executing information processing according to a program.
  • the own ship data acquisition unit 11 acquires own ship data representing the position and speed of the own ship from the GNSS receiver 5 or the like.
  • the own ship data acquisition unit 11 is an example of a first data acquisition unit, and the own ship data is an example of first ship data.
  • the other ship data acquisition unit 12 acquires other ship data representing the position and speed of the other ship from the radar 3 or AIS 4.
  • the other ship data acquisition unit 12 is an example of a second data acquisition unit, and the other ship data is an example of second ship data.
  • the risk range identification unit 13 Based on own ship data and other ship data, the risk range identification unit 13 performs calculations for displaying an OZT (Obstacle Zone by Target) that indicates that the risk of collision between the own ship and another ship is greater than or equal to a predetermined value.
  • OZT is an example of a collision risk zone.
  • FIG. 4 is a diagram showing an example of collision risk calculation.
  • the risk range identification unit 13 assumes that own ship CS changes course in an arbitrary direction and crosses the predicted course R of other ship CO, based on the predicted positions of own ship CS and other ship CO at each time point, Among the predicted course R of the other ship CO, the risk ranges L1 and L2 where the risk of collision between the own ship CS and the other ship CO is equal to or greater than a threshold are specified.
  • the calculation of the predicted position of the own ship CS is performed under the assumption that the own ship CS maintains its speed and navigates in any direction at its current position.
  • the magnitude of the own ship speed vector of own ship CS is constant
  • the direction of the own ship speed vector changes to an arbitrary direction at the reference point of time, and after that, the direction of the own ship's speed vector changes to a constant direction. It is assumed to continue navigation from own ship position. Therefore, the predicted position of own ship CS at each time point is on a concentric circle centered on the own ship position at the reference time point.
  • the radius of the circle is represented by the product of the elapsed time from the reference time and the magnitude of the own ship's speed vector.
  • the predicted position of own ship CS at each point in time is represented by a plurality of concentric circles calculated at each of a plurality of discrete points in time.
  • the predicted position of own ship CS at each point in time may be represented by an equation of a circle including the elapsed time from the reference point in time.
  • the predicted position of the own ship CS is calculated under the assumption that the speed of the own ship CS is constant. May be treated as a variable that changes. That is, the speed of the own ship CS may not be constant as long as the predicted position of the own ship CS can be obtained according to the elapsed time from the reference time. For example, the speed of own ship CS may gradually increase or decrease over time.
  • the predicted position of the other ship CO is calculated on the assumption that the other ship CO will maintain its speed from its current position. That is, it is assumed that the other ship CO has a constant magnitude and direction of the other ship's speed vector and continues to navigate from the position of the other ship at the reference time. Therefore, the predicted position of the other ship CO at each time is on a straight line extending the speed vector of the other ship and passing through the position of the other ship at the reference time.
  • the predicted position of the other ship's CO at each point in time is represented by a plurality of discrete points lined up on a straight line calculated for each of the plurality of discrete points in time.
  • the predicted position of the other ship CO at each time point may be represented by a linear function passing through the position of the other ship CO at the reference time point.
  • the predicted position of the other ship CO is calculated on the assumption that the speed of the other ship CO is constant. It may be treated as a variable that changes with time. That is, the speed of the other ship CO does not have to be constant as long as the predicted position of the other ship CO can be obtained according to the elapsed time from the reference time. For example, the speed of the other ship CO may gradually increase or decrease over time. Also, the other ship CO may change course in a predetermined direction, or may turn at a predetermined ROT (Rate of Turn).
  • ROT Rate of Turn
  • the risk range identification unit 13 calculates the separation distance between the predicted position of the own ship CS and the predicted position of the other ship CO at each time point, and calculates the risk of collision based on the separation distance and ship size. As described above, the predicted position of own ship CS at a certain point in time is represented by a circle. The separation distance is calculated by extracting the closest position to the predicted position of the other ship CO.
  • the risk range identification unit 13 determines that the risk of collision is equal to or greater than the threshold.
  • a plurality of risk ranges L1 and L2 in which the risk of collision is equal to or greater than the threshold is specified.
  • the traveling direction of the other ship CO is also referred to as forward, and the opposite direction is also referred to as rearward.
  • the rear end L1R of the first risk range L1 is the prediction of the other ship CO It becomes a position that abuts on the point representing the position.
  • the front end L1F of the first risk range L1 is a position where the rear end of the caution area P of the own ship abuts the point representing the predicted position of the other ship CO.
  • the rear end L2R of the second risk range L2 will It becomes a position that abuts on the point representing the predicted position.
  • the front end L2F of the second risk range L2 is a position where the front end of the caution area P of the own ship abuts the point representing the predicted position of the other ship CO.
  • the range between the first risk range L1 and the second risk range L2 is the range where own ship CS crosses ahead of other ship CO.
  • the rear range of the first risk range L1 and the front range of the second risk range L2 are ranges in which the own ship CS crosses the rear of the other ship CO.
  • the risk range identification unit 13 may, for example, determine the area of the own ship CS or a caution area P set around the own ship CS, and the area of the other ship CO or the caution area set around the other ship CO. and overlap, the risk of collision may be greater than or equal to the threshold. For example, when the separation distance between the point representing the predicted position of the own ship CS and the point representing the predicted position of the other ship CO is equal to or less than the threshold, the risk range identification unit 13 determines that the risk of collision is equal to or greater than the threshold. good too.
  • the end point information calculation unit 14 calculates end point information representing the anteroposterior relationship between the own ship CS and the other ship CO at the end points L1R, L1F, L2R, and L2F of the risk ranges L1 and L2.
  • the endpoint information is calculated based on BCR (Bow Crossing Range), for example.
  • BCR is the predicted distance from own ship CS to other ship CO when other ship CO crosses own ship CS's bow line.
  • a positive BCR indicates that the own ship CS crosses behind the other ship CO, and a negative BCR indicates that the own ship CS crosses ahead of the other ship CO.
  • the BCR is positive at the rear end L1R of the first risk range L1, and the BCR is negative at the front end L1F of the first risk range L1. Also, BCR becomes negative at the rear end L2R of the second risk range L2, and BCR becomes positive at the front end L2F of the second risk range L2.
  • the range between the own ship CS and the other ship CO is the range in which the own ship CS crosses the other ship CO at the end point. Since the context is clear, the BCR need not be calculated.
  • the anteroposterior relation between the own ship CS and the other ship CO is taken into consideration, that is, the same calculation as BCR is performed, so the result is used. good too.
  • the end point shape determination unit 15 determines the shape of the end portions of the OZT based on the end point information of the end points L1R, L1F, L2R, and L2F of the risk ranges L1 and L2. The shape of the end of the OZT will be described later.
  • the display control unit 16 displays the own ship data acquired by the own ship data acquisition unit 11, the other ship data acquired by the other ship data acquisition unit 12, and the risk ranges L1 and L2 calculated by the risk range identification unit 13. Based on this, a display image DM is generated and transmitted to the display unit 2 .
  • the display image DM transmitted to the display unit 2 is displayed on the screen of the display unit 2 .
  • FIG. 5 is a diagram showing an example of the display image DM.
  • the display image DM is an image showing the positional relationship between the own ship and other ships.
  • the own ship object SS representing the own ship and the other ship object OS representing the other ship are arranged at positions in the image corresponding to the actual positions.
  • Vector lines VS and VO representing velocity vectors are added to the own ship object SS and the other ship object OS.
  • the planned route of the own ship and the surrounding nautical charts obtained from the ECDIS 7 may be further displayed.
  • the predicted course R of the other ship calculated based on the data of the other ship is displayed, and OZT1 and OZT2 are displayed on the predicted course R as collision risk areas.
  • OZT1 and OZT2 have a constant width and a shape extending in the same direction as the predicted course R of the other ship.
  • OZT1 and OZT2 are displayed in the risk ranges L1 and L2 specified by the risk range specifying unit 13 (see FIG. 4). OZT1 is displayed in the first risk range L1 and OZT2 is displayed in the second risk range L2.
  • the OZT1 includes the first risk range L1, the rear end of the OZT1 corresponds to the rear end L1R of the first risk range L1, and the front end of the OZT1 corresponds to the front end L1F of the first risk range L1. corresponds to
  • OZT2 includes a second risk range L2, the rear end of OZT2 corresponds to the rear end L2R of the second risk range L2, and the front end of OZT2 corresponds to the front end L2F of the second risk range L2. .
  • the front end Z1F of the OZT1 and the rear end Z2R of the OZT2 sandwiching the range JM in which the own ship CS crosses ahead of the other ship CO are distinguished from the other rear ends Z1R of the OZT1 and the front ends Z2F of the OZT2. Is displayed.
  • the shape of the front end Z1F of OZT1 and the rear end Z2R of OZT2 is such that the shape of the rear end Z1R and OZT2 of OZT1 other than that represents the range JM in which the own ship CS crosses ahead of the other ship CO. is different from the shape of the front end Z2F of .
  • the front end Z1F of OZT1 and the rear end Z2R of OZT2 have shapes that indicate the traveling direction of the other ship.
  • the front end Z1F of the OZT1 has an angular shape protruding toward the direction of travel of the other ship.
  • the rear end Z2R of the OZT2 has an angular shape recessed toward the direction of travel of the other ship.
  • the rear end Z1R of OZT1 and the front end Z2F of OZT2 have a semicircular shape and do not have a shape that indicates the direction of travel of the other ship. According to this, it is possible to easily distinguish the range JM in which the own ship CS crosses the other ship CO from the range in which the own ship CS crosses the other ship CO behind.
  • the front end Z1F of the OZT1 and the rear end Z2R of the OZT2 sandwiching the range JM in which the own ship CS crosses the front of the other ship CO are formed in a semicircular shape, and the rear end Z1R of the OZT1 other than this is formed into a semicircular shape.
  • the front end portion Z2F of the OZT 2 may be shaped to indicate the traveling direction of the other ship. This also makes it possible to easily distinguish the range JM in which the own ship CS crosses the other ship CO from the range in which the own ship CS crosses the other ship CO behind.
  • marks GM, HM, and FM of predetermined shapes representing the matching relationship between own ship CS and other ship CO are added to ends Z1F, Z1R, Z2F, and Z2R of OZT1 and OZT2. You may
  • the front end Z1F of the OZT1 and the rear end Z2R of the OZT2, which sandwich the range JM in which the own ship CS traverses the front of the other ship CO, are located far from the own ship CS.
  • the mark GM it is possible to make it visually easy to understand that the own ship CS crosses the other ship CO ahead.
  • a dot-shaped mark HM to the side of the rear end Z1R of the OZT1 and the front end Z2F of the OZT2 near the own ship CS, it is possible to prevent the own ship CS from crossing behind the other ship CO. It is also possible to make it easier to understand visually. Note that one of the mark GM and the mark HM may be omitted.
  • the front end Z1F of the OZT1 and the rear end Z2R of the OZT2 sandwiching the range JM in which the own ship CS traverses the front of the other ship CO are protruded farther from the own ship CS.
  • the shape mark EM it is possible to make it easy to visually understand that the own ship CS crosses the other ship CO ahead.
  • the own ship CS can move behind the other ship CO. It is also possible to visually make the crossing easier to understand. Note that one of the mark EM and the mark FM may be omitted.
  • OZT1 and OZT2 shown in FIGS. 6 and 7 may also be provided with a shape or mark indicating the direction of travel of the other ship. You can change the number of marks.
  • the display control unit 16 changes the shape of the front end Z1F of the OZT1 and the rear end Z2R of the OZT2 indicating the traveling direction of the other ship according to the speed of the other ship.
  • marks BM of a predetermined shape such as a boomerang shape
  • the number of marks BM is reduced. It may be changed according to the speed of other ships. For example, the number of marks BM is increased as the speed of other ships increases. This also makes it easier to grasp the speed of other ships.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Ocean & Marine Engineering (AREA)
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PCT/JP2022/009936 2021-05-26 2022-03-08 船舶監視装置、船舶監視方法、及びプログラム Ceased WO2022249632A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202280033828.XA CN117280396A (zh) 2021-05-26 2022-03-08 船舶监视装置、船舶监视方法以及程序
JP2023524015A JPWO2022249632A1 (https=) 2021-05-26 2022-03-08
US18/517,010 US12542061B2 (en) 2021-05-26 2023-11-22 Ship monitoring device, ship monitoring method and a non-transitory computer-readable medium

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