WO2022264550A1 - 船舶監視システム、船舶監視方法、情報処理装置、及びプログラム - Google Patents

船舶監視システム、船舶監視方法、情報処理装置、及びプログラム Download PDF

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Publication number
WO2022264550A1
WO2022264550A1 PCT/JP2022/010259 JP2022010259W WO2022264550A1 WO 2022264550 A1 WO2022264550 A1 WO 2022264550A1 JP 2022010259 W JP2022010259 W JP 2022010259W WO 2022264550 A1 WO2022264550 A1 WO 2022264550A1
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WO
WIPO (PCT)
Prior art keywords
ship
representing
data
risk
course
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/JP2022/010259
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English (en)
French (fr)
Japanese (ja)
Inventor
優一 竹林
和也 中川
成一 魚下
悠太 高橋
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
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 CN202280037261.3A priority Critical patent/CN117355881A/zh
Priority to EP22824550.2A priority patent/EP4357235A4/en
Priority to JP2023529536A priority patent/JP7813786B2/ja
Publication of WO2022264550A1 publication Critical patent/WO2022264550A1/ja
Priority to US18/537,817 priority patent/US20240109626A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems
    • 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

Definitions

  • the present invention relates to a ship monitoring system, a ship monitoring method, an information processing device, and a program.
  • Non-Patent Document 1 discloses a method of displaying an OZT (Obstacle Zone by Target) as a risk area.
  • the circular OZT is displayed away from other ships, so it is difficult for the user to grasp the course direction of the other ship just by looking at the OZT.
  • the present invention has been made in view of the above problems, and its main purpose is to provide a ship monitoring system, a ship monitoring method, an information processing device, and a program that make it easy to grasp the course direction of another ship. be.
  • a ship monitoring system 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 risk value calculation unit that calculates a risk value representing the risk of collision between the first ship and the second ship when it is assumed that each point is reached by the a display unit that displays a risk area representing the course direction of the second vessel.
  • the first data generation unit generates first ship data representing the position and speed of the first ship
  • 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 calculating a risk value representing the risk of collision between the first vessel and the second vessel when it is assumed that the point is reached, and representing the course direction of the second vessel at the point where the risk value is equal to or greater than a threshold View risk areas.
  • an information processing apparatus 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.
  • 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. Calculating a risk value representing a risk of collision between the first vessel and the second vessel when it is assumed that the first vessel changes course and reaches the respective point for each of the above points; causing the computer to display risk areas representing the course direction of the second vessel at points whose values are equal to or greater than the threshold.
  • FIG. 4 is a diagram showing a display example of a pointer OZT;
  • FIG. 4 is a diagram showing a display example of a pointer OZT;
  • FIG. 4 is a diagram showing a display example of a pointer OZT;
  • FIG. 4 is a diagram showing a display example of a pointer OZT;
  • FIG. 4 is a diagram showing a display example of a pointer OZT;
  • FIG. 10 is a diagram showing another display example;
  • FIG. 1 is a block diagram showing a configuration example of a ship monitoring system 100 according to an embodiment.
  • a ship monitoring method according to the embodiment is implemented in a 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 an information processing device 1, a display unit 2, a radar 3, an AIS 4, a GNSS receiver 5, a gyrocompass 6, an ECDIS 7, and an alarm unit 8. These devices are connected to a network N such as a LAN, and are capable of network communication with each other.
  • a network N such as a LAN
  • the information processing device 1 is a computer including a CPU, RAM, ROM, non-volatile memory, an input/output interface, 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.
  • 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 or a magnetic compass may be used instead of the gyrocompass.
  • 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 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 .
  • the information processing device 1 is an independent device, but it is not limited to this, and may be integrated with other devices such as 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. .
  • the set of the GNSS receiver 5 and the ECDIS 7 is an example of the first data generation unit, 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 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 information processing 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 conventional OZT display example.
  • An OZT (Obstacle Zone by Target) is a zone in which the navigation of one's own ship is obstructed by another ship, and is displayed on the predicted course of the other ship.
  • the collision risk value is calculated at each of a plurality of decision points discretely set on the predicted course of another ship, and the OZT is displayed at the decision points where the risk value is equal to or greater than the threshold.
  • the risk area representing the course direction of the other ship is displayed on the course of the other ship, thereby making it easier for the user to grasp the course direction of the other ship.
  • FIG. 4 is a diagram showing a configuration example of the information processing device 1 that implements the ship monitoring method according to the embodiment.
  • 5 and 6 are diagrams showing display examples of the pointer OZT.
  • the guideline OZT is an example of a risk area representing the course direction of other ships.
  • the information processing device 1 includes a risk value calculation unit 11, an OZT range identification unit 12, and a display control unit 13. These functional units are implemented by the CPU of the information processing apparatus 1 executing information processing according to programs.
  • the risk value calculation unit 11 Based on the own ship data and the other ship data, the risk value calculation unit 11 assumes that the own ship will change course and reach each decision point on the predicted course of the other ship. A risk value representing the risk of collision with another ship is calculated. A known technique for displaying OZT is used to calculate the risk value.
  • the risk value calculation unit 11 determines whether the own ship changes course from its current position while maintaining its speed and reaches the decision point, and when the other ship maintains its speed from its current position and reaches the decision point. is calculated as the collision risk value, and the decision point at which the risk value is equal to or greater than the threshold is set as the OZT display point.
  • the OZT range identifying unit 12 identifies, as the OZT display range, a range in which two or more determination points (OZT display points) with a risk value equal to or greater than the threshold are consecutive. Specifically, the OZT range specifying unit 12 specifies an OZT display point that is a starting point and an OZT display point that is an ending point in a range in which two or more OZT display points are consecutive.
  • the display control unit 13 displays OZT at determination points (OZT display points) where the risk value is equal to or greater than the threshold.
  • the display control unit 13 displays at least one of the OZTs as a pointer OZT representing the course direction of the other ship.
  • a plurality of OZTs are displayed on the predicted course of the other ship, and at least one of them is used as the pointer OZT. Is displayed.
  • the display control unit 13 displays the pointer OZT at the leading point (end point in FIG. 5) in the course direction of the other ship within the OZT display range specified by the OZT range specifying unit 12.
  • the pointer OZT may be displayed at a point (the starting point in FIG. 5) at the rear of the course direction of the other ship in the OZT display range or at a point in the middle.
  • the pointer OZT is an OZT with a shape that indicates the direction of the other ship's course.
  • the pointer OZT is, for example, a triangle, and indicates the course direction of the other ship by pointing one corner of the triangle in the course direction of the other ship.
  • the pointer OZT is not limited to this, and may be, for example, an arrow shape or a boomerang shape.
  • the pointer OZT has the same size as other circular OZTs.
  • the pointer OZT is arranged so that the center point is positioned on the OZT display point, and the distance from the center point of the pointer OZT to the apex is the same safe separation distance as the radius of the other circular OZT.
  • the pointer OZT is arranged so that the center of the width direction orthogonal to the course direction of the other ship is positioned on the predicted course of the other ship, and the length from the center of the pointer OZT to the end of the width direction
  • the safety clearance may be the same as the radius of the circular OZT.
  • the interval between the determination points is set so that when the OZTs are displayed at adjacent determination points, the OZTs are not separated from each other, that is, the OZTs contact or partially overlap each other. Therefore, the distance between the decision points is less than twice the safe separation distance, which is the radius of the OZT.
  • the pointer OZT is displayed at some points in the OZT display range and the circular OZT is displayed at the remaining points, the course direction of the other ship is indicated by the pointer OZT as a representative.
  • the remaining circular OZT can indicate the safety separation distance in the same way as before.
  • the pointer OZT itself has a shape such as a triangle representing the course direction of another ship, so it is particularly easy for the user to grasp the course direction of the other ship.
  • the display mode of the OZT is not limited to the mode in which the pointer OZT is displayed at the top of the OZT display range as shown in FIG.
  • pointers OZT may be displayed at all points in the OZT display range.
  • the OZT other than the pointer OZT is not limited to a circle, and may be square or the like.
  • the index OZT may be configured by a set of the OZT and the index.
  • the index is, for example, a mountain shape, and indicates the course direction of the other ship by the direction of the projection.
  • the indicator is not limited to this, and may be, for example, an arrow shape or a boomerang shape.
  • the OZT of another ship on the right side of the bow line of the own ship and the OZT of another ship on the left side of the own ship have different display modes such as shading, color, or texture. You can let For example, the OZT of another ship on the right side of the own ship's bow line is displayed darker than the OZT of another ship on the left side. This makes it easier to grasp whether the own ship is the give way ship or not.
  • the risk area that indicates the course direction of other ships may be realized by, for example, PAD (Predict Area of Danger) or DAC (Dangerous Area of Collision).
  • 1 information processing device 2 display unit, 3 radar, 4 AIS, 5 GNSS receiver, 6 gyrocompass, 7 ECDIS, 8 alarm unit, 11 risk value calculation unit, 12 OZT range identification unit, 13 display control unit, 100 ship Monitoring system

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  • Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2022/010259 2021-06-15 2022-03-09 船舶監視システム、船舶監視方法、情報処理装置、及びプログラム Ceased WO2022264550A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN202280037261.3A CN117355881A (zh) 2021-06-15 2022-03-09 船舶监视系统、船舶监视方法、信息处理装置以及程序
EP22824550.2A EP4357235A4 (en) 2021-06-15 2022-03-09 SHIP MONITORING SYSTEM, SHIP MONITORING METHOD, INFORMATION PROCESSING DEVICE, AND PROGRAM
JP2023529536A JP7813786B2 (ja) 2021-06-15 2022-03-09 船舶監視システム、船舶監視方法、情報処理装置、及びプログラム
US18/537,817 US20240109626A1 (en) 2021-06-15 2023-12-13 Ship monitoring system, ship monitoring method, and information processor

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Application Number Priority Date Filing Date Title
JP2021-099136 2021-06-15
JP2021099136 2021-06-15

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US18/537,817 Continuation-In-Part US20240109626A1 (en) 2021-06-15 2023-12-13 Ship monitoring system, ship monitoring method, and information processor

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EP (1) EP4357235A4 (https=)
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WO (1) WO2022264550A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12391346B2 (en) 2022-06-09 2025-08-19 Furuno Electric Co., Ltd. Obstruction zone generation device and method

Citations (3)

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Publication number Priority date Publication date Assignee Title
JPS62118281A (ja) * 1985-11-18 1987-05-29 Nippon Kokan Kk <Nkk> 衝突危険回避支援装置
JP2016049903A (ja) * 2014-09-01 2016-04-11 東洋建設株式会社 航法支援装置
JP2019166865A (ja) * 2018-03-22 2019-10-03 東京計器株式会社 船舶用航行支援装置

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JP4327000B2 (ja) * 2004-04-02 2009-09-09 古野電気株式会社 相手船動静監視装置
US10431099B2 (en) * 2014-02-21 2019-10-01 FLIR Belgium BVBA Collision avoidance systems and methods
JP6627615B2 (ja) * 2016-03-31 2020-01-08 富士通株式会社 評価プログラム、評価方法および評価装置
WO2021055646A1 (en) * 2019-09-17 2021-03-25 FLIR Belgium BVBA Navigational danger identification and feedback systems and methods
WO2022102323A1 (ja) * 2020-11-12 2022-05-19 古野電気株式会社 船舶監視システム、船舶監視方法、情報処理装置、及びプログラム
WO2022249632A1 (ja) * 2021-05-26 2022-12-01 古野電気株式会社 船舶監視装置、船舶監視方法、及びプログラム

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Publication number Priority date Publication date Assignee Title
JPS62118281A (ja) * 1985-11-18 1987-05-29 Nippon Kokan Kk <Nkk> 衝突危険回避支援装置
JP2016049903A (ja) * 2014-09-01 2016-04-11 東洋建設株式会社 航法支援装置
JP2019166865A (ja) * 2018-03-22 2019-10-03 東京計器株式会社 船舶用航行支援装置

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
IMAZU, HAYAMAFUKUTO, JUNJINUMANO, MASAYOSHI: "Obstacle Zone by Targets and Its Expression", THE JOURNAL OF JAPAN INSTITUTE OF NAVIGATION, vol. 107, 2002, pages 191 - 197
See also references of EP4357235A4

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12391346B2 (en) 2022-06-09 2025-08-19 Furuno Electric Co., Ltd. Obstruction zone generation device and method

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JPWO2022264550A1 (https=) 2022-12-22
CN117355881A (zh) 2024-01-05
EP4357235A4 (en) 2025-06-11
JP7813786B2 (ja) 2026-02-13
EP4357235A1 (en) 2024-04-24
US20240109626A1 (en) 2024-04-04

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