WO2023026549A1 - Ship information collection device, ship information collection system, and ship information collection method - Google Patents

Ship information collection device, ship information collection system, and ship information collection method Download PDF

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Publication number
WO2023026549A1
WO2023026549A1 PCT/JP2022/012634 JP2022012634W WO2023026549A1 WO 2023026549 A1 WO2023026549 A1 WO 2023026549A1 JP 2022012634 W JP2022012634 W JP 2022012634W WO 2023026549 A1 WO2023026549 A1 WO 2023026549A1
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Prior art keywords
ship
data
data set
voyage
transmission data
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PCT/JP2022/012634
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French (fr)
Japanese (ja)
Inventor
雄介 豊田
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古野電気株式会社
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Priority to CN202280043843.2A priority Critical patent/CN117581283A/en
Priority to JP2023543666A priority patent/JPWO2023026549A1/ja
Priority to EP22860847.7A priority patent/EP4393809A1/en
Publication of WO2023026549A1 publication Critical patent/WO2023026549A1/en

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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 
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems

Definitions

  • the present invention relates to a ship information collection device, a ship information collection system, and a ship information collection method.
  • navigation data and engine data are automatically collected and stored in an onboard server from onboard equipment via an onboard LAN system, and an onboard computer displays the navigation data and engine data in an integrated manner.
  • the navigation data and engine data accumulated in the onboard server are transferred to the portal site server via the satellite communication system and accumulated, and the accumulated navigation data and engine data are transferred via the Internet line. is obtained by a management computer, and the navigation data and the engine data are integrated and displayed on the management computer.
  • the present invention has been made in view of the above problems, and its main object is to provide a ship information collecting device and a ship information collecting system that can easily collect voyage data of other ships while suppressing the amount of communication data. , and to provide a ship information collection method.
  • a ship information collection device includes an acquisition unit that sequentially acquires voyage data of other ships existing around the ship, which are detected by a detection device mounted on the ship. a determination unit that determines whether to include the voyage data of the other ship in a transmission data set that is sequentially transmitted to a data collection server; and a generation unit that generates the transmission data set including the voyage data of the other ship. , provided. According to this, it becomes easy to collect voyage data of other ships while suppressing the amount of communication data.
  • a risk calculation unit that calculates a collision risk value representing a risk of collision between the ship and the other ship based on the voyage data of the ship and the voyage data of the other ship, wherein the determination unit Depending on the collision risk value, it may be determined whether to include voyage data of the other vessel in the transmission data set. This makes it possible to include voyage data of other ships with a relatively high risk of collision in the transmission data set.
  • the determination unit may determine the frequency of including the voyage data of the other ship in the transmission data set according to the collision risk value. According to this, it is possible to increase the frequency of including voyage data of other ships with a relatively high risk of collision in the transmission data set.
  • the above aspect further comprises a distance calculation unit that calculates a distance between the ship and the other ship based on the voyage data of the ship and the voyage data of the other ship, wherein the determination unit determines the distance between the ships. Accordingly, it may be determined whether or not to include the voyage data of the other vessel in the transmission data set. According to this, it is possible to include the voyage data of other ships with relatively short inter-ship distances in the transmission data set.
  • the determination unit may determine the frequency of including the voyage data of the other ship in the transmission data set according to the inter-ship distance. According to this, it is possible to increase the frequency of including the voyage data of other ships with relatively short inter-ship distances in the transmission data set.
  • the voyage data of the other ship may be AIS data.
  • the generation unit may include predetermined types of data among the AIS data in the transmission data set, and may not include remaining types of data in the transmission data set. According to this, it is possible to suppress the amount of communication data while including desired types of data in the transmission data set.
  • the generation unit may include the remaining types of data in the transmission data set when there is a change in the remaining types of data. This allows the remaining types of data to be included in the transmission data set in the event of a change.
  • the determination unit may determine the frequency of including the voyage data of the other ship in the transmission data set according to the speed of the ship. According to this, for example, when the speed of the ship is high, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set.
  • the determination unit may determine the frequency of including the voyage data of the other ship in the transmission data set according to the ship type of the ship. According to this, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set, for example, in a relatively large ship.
  • the determination unit determines the frequency of including the voyage data of the other ship in the transmission data set according to the degree of congestion. may decide. According to this, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set, for example, when the degree of congestion is relatively high.
  • the determination unit may determine the frequency of including the voyage data of the other vessel in the transmission data set according to the sea area in which the vessel navigates. According to this, for example, when a ship navigates a predetermined sea area, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set.
  • the determination unit may include the voyage data of the other vessel in the transmission data set more frequently when the vessel navigates in coastal waters than when the vessel navigates in offshore waters. . According to this, when a ship navigates in coastal waters, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set.
  • a ship information collection system comprises a detection device mounted on a ship for successively detecting voyage data of other ships existing around the ship; a determination unit that determines whether to include the data in the data set, a generation unit that generates the transmission data set including the voyage data of the other ship, a communication device that sequentially transmits the transmission data set, and the transmission data set that has been transmitted. a data collection server for collecting. According to this, it becomes easy to collect voyage data of other ships while suppressing the amount of communication data.
  • a ship information collecting method sequentially detects voyage data of other ships existing around the ship with a detection device mounted on the ship, and transmits the voyage data of the other ships as transmission data. determine whether to include in the set, generate the transmission data set including the voyage data of the other ship, sequentially transmit the transmission data set by the communication device, and transmit the transmission data set by the data collection server to collect. According to this, it becomes easy to collect voyage data of other ships while suppressing the amount of communication data.
  • FIG. 4 is a diagram for explaining CPA;
  • FIG. 4 is a diagram for explaining OZT; It is a figure for demonstrating the distance between ships. It is a figure which shows the modification of step S15.
  • FIG. 1 is a diagram showing a configuration example of the ship information collection system 100.
  • the ship information collection system 100 includes a shipboard system 100 mounted on a ship SH and a data collection server 200 installed on land.
  • the shipboard system 100 and the data collection server 200 can communicate with each other through satellite communication using satellite ST.
  • satellite communication using satellite ST.
  • wireless communication using ultra-short waves, very short waves, short waves, medium waves, or the like may be used.
  • FIG. 2 is a block diagram showing a configuration example of the shipboard system 100.
  • the ship on which the onboard system 100 is installed is called “own ship”, and other ships are called “other ships”.
  • a shipboard system 100 includes a ship information collecting device 1 , a VDR (voyage information recording device) 20 , a data logger 30 , and a communication device 40 . Note that the VDR 20 and data logger 30 may be omitted.
  • the shipboard system 100 further comprises a radar 3, an AIS 4, a camera 5, a GNSS receiver 6, a gyrocompass 7, and an ECDIS 8.
  • Each device included in the shipboard system 100 is connected to a communication network such as a LAN, for example, and is capable of network communication with each other.
  • the vessel information collection device 1 is a computer including a CPU, RAM, ROM, non-volatile memory, input/output interface, and the like.
  • the CPU of the vessel information collection 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 via a communication network such as the Internet or LAN.
  • VDR 20 is connected to radar 3, AIS 4, camera 5, GNSS receiver 6, gyrocompass 7, and ECDIS 8, etc., and obtains navigation system data including navigation data of own ship and navigation data of other ships from these devices. and provided to the vessel information collection device 1.
  • the data logger 30 is connected to the engine 91 and the generator 92, etc., acquires engine system data including log data of these machines, and provides it to the vessel information collection device 1.
  • the communication device 40 is a communication device for realizing satellite communication via the satellite ST.
  • the data logger 30 can also be used for boilers, burners, pumps, propellers, shaft horsepower, water generators, oil purifiers, compressors, ballast water treatment devices, air conditioners, liquid level gauges, marine elevators, deck cranes, etc. Connected.
  • 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.
  • the AIS data includes identification codes of other ships, ship names, positions, courses, ship speeds, ship types, hull lengths, destinations, and the like.
  • the camera 5 is a digital camera that captures images of the outside from the own ship and generates image data.
  • the camera 5 may include an image recognition unit that estimates the position and type of a target object such as a ship included in the captured image using an object detection model.
  • the image recognition unit is not limited to the camera 5, and may be implemented in other devices such as the vessel information collection device 1.
  • the GNSS receiver 6 detects the position of the own ship based on radio waves received from the GNSS (Global Navigation Satellite System).
  • the gyrocompass 7 detects the heading of the own ship.
  • a GPS compass may be used instead of the gyro compass.
  • the ECDIS (Electronic Chart Display and Information System) 8 acquires the ship's position from the GNSS receiver 6 and displays the ship's position on the electronic chart.
  • the ECDIS 8 also displays the planned route of the own ship on the electronic chart.
  • a GNSS plotter may be used.
  • AIS4 is an example of a detection device
  • AIS data is an example of voyage data of other ships.
  • the AIS 4 sequentially detects AIS data.
  • the radar 3 may be used as an example of the detection device
  • the TT data may be used as an example of the voyage data of the other ship. It is good also as an example of data.
  • FIG. 3 is a block diagram showing a configuration example of the vessel information collection device 1.
  • the control unit 10 of the vessel information collection device 1 includes a data acquisition unit 11 , a data set generation unit 12 , a frequency determination unit 13 , a risk calculation unit 14 , a distance calculation unit 15 and a congestion determination unit 16 . These functional units are implemented by the control unit 10 executing information processing according to programs.
  • the data acquisition unit 11 sequentially acquires the AIS data detected by the AIS 4 as voyage data of other ships.
  • the data acquisition unit 11 may indirectly acquire the AIS data from the VDR 20 or directly acquire the AIS data from the AIS 4 .
  • the data acquisition unit 11 sequentially acquires navigation data recorded in the VDR 20 .
  • the navigation data includes the navigation data of own ship and the navigation data of other ships.
  • the voyage data of the own ship includes, for example, the position, bearing, and speed of the own ship.
  • the data acquisition unit 11 sequentially acquires engine system data including log data of the engine 91 and the generator 92 recorded in the data logger 30 . Furthermore, the data acquisition unit 11 also sequentially acquires device monitoring data for monitoring the operating status of each device.
  • the data set generation unit 12 generates a transmission data set that includes AIS data as voyage data of other ships.
  • the generated transmission data set is sequentially transmitted by the communication device 40 (see FIG. 2).
  • the data set generation unit 12 generates a transmission data set including navigation data, engine data, and equipment monitoring data acquired by the data acquisition unit 11 .
  • the transmission data set may or may not include AIS data.
  • FIG. 4 is a diagram showing an example of a procedure for generating a transmission data set in the ship information collection method implemented in the ship information collection system 300.
  • the control unit 10 of the vessel information collection device 1 executes the information processing shown in the figure according to a program.
  • control unit 10 acquires navigation data from the VDR 20 (see FIG. 2) (S11, processing as the data acquisition unit 11).
  • control unit 10 acquires engine system data from the data logger 30 (see FIG. 2) (S12, processing as the data acquisition unit 11).
  • control unit 10 acquires device monitoring data of each device (S13, processing as the data acquisition unit 11).
  • control unit 10 determines whether or not it is time to include the AIS data in the transmission data set (S14).
  • the frequency of including the AIS data in the transmission data set (for example, once every few seconds, every few minutes, or every few tens of minutes) is determined in advance by the control unit 10 and stored. The details of determining the frequency will be described later.
  • the control unit 10 When it is time to include AIS data in the transmission data set (S14: YES), the control unit 10 generates a transmission data set including AIS data (S15, processing as the data set generation unit 12).
  • control unit 10 determines whether it is not the time to include AIS data in the transmission data set (S14: NO). If it is not the time to include AIS data in the transmission data set (S14: NO), the control unit 10 generates a transmission data set that does not include AIS data (S16, processing as the data set generation unit 12).
  • control unit 10 performs transmission processing of the generated transmission data set (S17).
  • the transmission data set is transmitted to the outside from the communication device 40 (see FIG. 2) and finally collected in the data collection server 200 (see FIG. 1) via satellite communication.
  • the control unit 10 repeats the processing of S11-S17 described above each time a predetermined time elapses (S18).
  • the frequency determination unit 13 determines whether or not to include AIS data in the transmission data set. Specifically, the frequency determining unit 13 determines how often the AIS data is included in the transmission data set. In other words, the frequency determining unit 13 determines whether or not to include AIS data in each transmission data set that is sequentially transmitted.
  • the frequency determination unit 13 may determine the frequency based on time, such as once every several seconds, minutes, or tens of minutes, or determine the frequency based on the number of times, such as once every several times. good too. Note that the frequency determination unit 13 may determine to include AIS data in all transmission data sets, or may determine not to include it in all transmission data sets.
  • the frequency determination unit 13 determines how often AIS data is included in the transmission data set by various methods described below.
  • the risk calculation unit 14 calculates a collision risk value representing the risk of collision between the own ship and other ships based on the voyage data of the own ship and the voyage data of the other ships.
  • the frequency determination unit 13 determines how often AIS data is included in the transmission data set according to the collision risk value calculated by the risk calculation unit 14 .
  • the collision risk value is, for example, TCPA (Time to Closest Point of Approach)/DCPA (Distance to Closest Point of Approach).
  • TCPA Time to Closest Point of Approach
  • DCPA Distance to Closest Point of Approach
  • the frequency determination unit 13 increases the frequency of including AIS data in the transmission data set, for example, when at least one of TCPA and DCPA is below the threshold.
  • the frequency determining unit 13 may stepwise increase the frequency of including AIS data in the transmission data set, for example, as at least one of TCPA and DCPA decreases.
  • the frequency determination unit 13 determines the frequency of including AIS data in the transmission data set for each AIS data. For example, other ships whose collision risk value is higher than the threshold have a higher frequency of including AIS data in the transmission data set than other ships whose collision risk value is lower than the threshold.
  • the collision risk value may be calculated based on, for example, OZT (Obstacle Zone by Target). As shown in FIG. 6 , in the method of displaying the OZT, the risk calculation unit 14 assumes that the own ship changes course and reaches each decision point on the predicted course of the other ship. A collision risk value representing the risk of collision between the ship and another ship is calculated.
  • OZT Open Zone by Target
  • the risk calculation unit 14 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.
  • the collision risk value of the collision is calculated as the probability that the own ship and the other ship are present at the decision point at the same time when it is assumed that they will arrive, and OZT is displayed at the decision point where the collision risk value is equal to or greater than the threshold.
  • the frequency determination unit 13 increases the frequency of including AIS data in the transmission data set, for example, when there is an OZT on the own ship's heading line or on the scheduled route. Not limited to this, the frequency determination unit 13 may increase the frequency of including AIS data in the transmission data set, for example, when the OZT exists within a predetermined distance from the own ship.
  • the distance calculation unit 15 calculates the distance between the own ship and the other ship based on the voyage data of the own ship and the voyage data of the other ship.
  • the frequency determination unit 13 determines how often the AIS data is included in the transmission data set according to the distance between ships calculated by the distance calculation unit 15 .
  • the frequency determination unit 13 sets a plurality of thresholds a1 to a3 for the distance between ships, and changes the frequency of including AIS data in the transmission data set step by step.
  • the interval is 15 seconds for 1 nm (nautical mile) or less, the interval is 1 minute for over 1 nm to 10 nm, and the interval is 5 minutes for over 10 nm to 20 nm.
  • the frequency determination unit 13 determines the frequency of including AIS data in the transmission data set for each AIS data. For example, other ships whose ship-to-ship distance is shorter than the threshold have a higher frequency of including AIS data in the transmission data set than other ships whose ship-to-ship distance is longer than the threshold.
  • the congestion determination unit 16 determines the degree of congestion in the sea area where the own ship navigates. Specifically, the congestion determination unit 16 determines the degree of congestion in the sea area where the own ship navigates based on the occupancy rate of the slot map of the AIS 4 (see FIG. 2).
  • the frequency determination unit 13 determines how often AIS data is included in the transmission data set according to the degree of congestion calculated by the congestion determination unit 16 . For example, when the degree of congestion in the sea area where the own ship navigates is higher than the threshold, the frequency of including AIS data in the transmission data set is higher than when the degree of congestion is lower than the threshold.
  • the frequency determination unit 13 may determine the frequency of including AIS data in the transmission data set according to the speed of the own ship. For example, the frequency determining unit 13 increases the frequency of including AIS data in the transmission data set as the speed of the own ship increases.
  • the frequency determination unit 13 may determine the frequency of including AIS data in the transmission data set according to the ship type of the own ship or other ships. For example, the frequency determining unit 13 increases the frequency of including AIS data in the transmission data set as the own ship has a larger hull type.
  • the frequency determining unit 13 may increase the frequency of including AIS data in the transmission data set as the other ship has a smaller hull type. This is because the smaller the ship, the more maneuverable it is, and the more difficult it is to read its behavior.
  • the frequency determination unit 13 may determine the frequency of including AIS data in the transmission data set according to the sea area in which the own ship navigates. The sea area in which the own ship navigates is determined based on the electronic chart data.
  • the frequency determining unit 13 increases the frequency of including AIS data in the transmission data set when the own ship navigates in coastal waters than when the own ship navigates in offshore waters.
  • coastal waters have more accidents than offshore waters, so it is preferable to increase the frequency in coastal waters from the viewpoint of accident verification.
  • the frequency determining unit 13 may include AIS data in the transmission data set more frequently when the own ship navigates offshore waters than when the own ship navigates coastal waters. .
  • AIS data received by base stations on land can often be used, so it is preferable to reduce the frequency from the viewpoint of suppressing the amount of communication data.
  • FIG. 8 is a diagram showing a modification of step S15 in FIG. 4 above.
  • AIS data consists of constantly changing dynamic information such as the positions of other ships (Msg 1-3, etc., Msg 18, etc. for Class B) and static information, which has almost no change (Msg 5, etc., Msg 24 for Class B). etc.).
  • control unit 10 of the ship information collection device 1 monitors the static information of the AIS data, and if there is no change in the static information of the AIS data (S151: NO), Only the dynamic information of is included in the transmission data set, and the static information is not included in the transmission data set (S152).
  • the control unit 10 of the ship information collection device 1 stores not only the dynamic information of the AIS data but also the static information in the transmission data set. Include (S153). Only part of the changed static information may be included in the transmission data set, or all static information may be included in the transmission data set.

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  • Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
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Abstract

[Problem] To provide a ship information collection device that enables easy collection of navigation data of an other ship while reducing the communication data volume. [Solution] A ship information collection device comprises: an acquisition unit that sequentially acquires navigation data of an other ship present in the periphery of a ship detected by a detection device mounted in the ship; a determination unit that determines whether or not the navigation data of said other ship is to be included in a transmission data set which is sequentially transmitted to a data collection server; and a generation unit that generates the transmission data set which includes the navigation data of said other ship.

Description

船舶情報収集装置、船舶情報収集システム、及び船舶情報収集方法Ship information collection device, ship information collection system, and ship information collection method
　本発明は、船舶情報収集装置、船舶情報収集システム、及び船舶情報収集方法に関する。 The present invention relates to a ship information collection device, a ship information collection system, and a ship information collection method.
　特許文献１には、船舶の機器から航海用データと機関用データとを船内ＬＡＮシステム経由で、船内サーバに自動的に収集及び蓄積し、船内コンピュータで航海用データと機関用データとを統合表示すると共に、船内サーバに蓄積した航海用データと機関用データとを衛星通信システムを介して、ポータルサイトサーバに転送して蓄積し、この蓄積された航海用データと機関用データとをインターネット回線経由で管理用コンピュータで得ると共に、航海用データと機関用データとを管理用コンピュータに統合表示することが記載されている。 In Patent Document 1, navigation data and engine data are automatically collected and stored in an onboard server from onboard equipment via an onboard LAN system, and an onboard computer displays the navigation data and engine data in an integrated manner. At the same time, the navigation data and engine data accumulated in the onboard server are transferred to the portal site server via the satellite communication system and accumulated, and the accumulated navigation data and engine data are transferred via the Internet line. is obtained by a management computer, and the navigation data and the engine data are integrated and displayed on the management computer.
特開２００８－１９８１３６号公報JP 2008-198136 A
　ところで、船舶事故を調査・分析するためにＡＩＳ（Automatic Identification System）データ等の船舶の航海データを収集することは有用であるが、衛星通信回線の利用コスト及び通信速度等の問題から、航海データの全てを収集することは困難である。 By the way, it is useful to collect voyage data such as AIS (Automatic Identification System) data for investigating and analyzing marine accidents. It is difficult to collect all of
　本発明は、上記課題に鑑みてなされたものであり、その主な目的は、通信データ量を抑えつつ、他船の航海データを収集することが容易な、船舶情報収集装置、船舶情報収集システム、及び船舶情報収集方法を提供することにある。 SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and its main object is to provide a ship information collecting device and a ship information collecting system that can easily collect voyage data of other ships while suppressing the amount of communication data. , and to provide a ship information collection method.
　上記課題を解決するため、本発明の一の態様の船舶情報収集装置は、船舶に搭載された検出装置により検出された、前記船舶の周囲に存在する他船の航海データを逐次取得する取得部と、前記他船の航海データを、データ収集サーバに逐次送信される送信データセットに含めるか否か決定する決定部と、前記他船の航海データを含む前記送信データセットを生成する生成部と、を備える。これによると、通信データ量を抑えつつ、他船の航海データを収集することが容易となる。 In order to solve the above problems, a ship information collection device according to one aspect of the present invention includes an acquisition unit that sequentially acquires voyage data of other ships existing around the ship, which are detected by a detection device mounted on the ship. a determination unit that determines whether to include the voyage data of the other ship in a transmission data set that is sequentially transmitted to a data collection server; and a generation unit that generates the transmission data set including the voyage data of the other ship. , provided. According to this, it becomes easy to collect voyage data of other ships while suppressing the amount of communication data.
　上記態様において、前記船舶の航海データ及び前記他船の航海データに基づいて、前記船舶と前記他船が衝突するリスクを表す衝突リスク値を算出するリスク算出部をさらに備え、前記決定部は、前記衝突リスク値に応じて、前記他船の航海データを前記送信データセットに含めるか否か決定してもよい。これによると、衝突のリスクが比較的高い他船の航海データを送信データセットに含めることが可能となる。 In the above aspect, further comprising a risk calculation unit that calculates a collision risk value representing a risk of collision between the ship and the other ship based on the voyage data of the ship and the voyage data of the other ship, wherein the determination unit Depending on the collision risk value, it may be determined whether to include voyage data of the other vessel in the transmission data set. This makes it possible to include voyage data of other ships with a relatively high risk of collision in the transmission data set.
　上記態様において、前記決定部は、前記衝突リスク値に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定してもよい。これによると、衝突のリスクが比較的高い他船の航海データを送信データセットに含める頻度を高めることが可能となる。 In the above aspect, the determination unit may determine the frequency of including the voyage data of the other ship in the transmission data set according to the collision risk value. According to this, it is possible to increase the frequency of including voyage data of other ships with a relatively high risk of collision in the transmission data set.
　上記態様において、前記船舶の航海データ及び前記他船の航海データに基づいて、前記船舶と前記他船の船間距離を算出する距離算出部をさらに備え、前記決定部は、前記船間距離に応じて、前記他船の航海データを前記送信データセットに含めるか否か決定してもよい。これによると、船間距離が比較的短い他船の航海データを送信データセットに含めることが可能となる。 The above aspect further comprises a distance calculation unit that calculates a distance between the ship and the other ship based on the voyage data of the ship and the voyage data of the other ship, wherein the determination unit determines the distance between the ships. Accordingly, it may be determined whether or not to include the voyage data of the other vessel in the transmission data set. According to this, it is possible to include the voyage data of other ships with relatively short inter-ship distances in the transmission data set.
　上記態様において、前記決定部は、前記船間距離に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定してもよい。これによると、船間距離が比較的短い他船の航海データを送信データセットに含める頻度を高めることが可能となる。 In the above aspect, the determination unit may determine the frequency of including the voyage data of the other ship in the transmission data set according to the inter-ship distance. According to this, it is possible to increase the frequency of including the voyage data of other ships with relatively short inter-ship distances in the transmission data set.
　上記態様において、前記他船の航海データは、ＡＩＳデータであってもよい。また、前記生成部は、前記ＡＩＳデータのうちの所定の種類のデータを前記送信データセットに含め、残りの種類のデータを前記送信データセットに含めなくてもよい。これによると、所望の種類のデータを送信データセットに含めつつ、通信データ量を抑制することが可能となる。 In the above aspect, the voyage data of the other ship may be AIS data. Further, the generation unit may include predetermined types of data among the AIS data in the transmission data set, and may not include remaining types of data in the transmission data set. According to this, it is possible to suppress the amount of communication data while including desired types of data in the transmission data set.
　上記態様において、前記生成部は、前記残りの種類のデータに変更があった場合に、前記残りの種類のデータを前記送信データセットに含めてもよい。これによると、変更があった場合に、残りの種類のデータを送信データセットに含めることが可能となる。 In the above aspect, the generation unit may include the remaining types of data in the transmission data set when there is a change in the remaining types of data. This allows the remaining types of data to be included in the transmission data set in the event of a change.
　上記態様において、前記決定部は、前記船舶の船速に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定してもよい。これによると、例えば船舶の船速が高いときに、他船の航海データを送信データセットに含める頻度を高めることが可能となる。 In the above aspect, the determination unit may determine the frequency of including the voyage data of the other ship in the transmission data set according to the speed of the ship. According to this, for example, when the speed of the ship is high, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set.
　上記態様において、前記決定部は、前記船舶の船種に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定してもよい。これによると、例えば比較的大きな船舶において、他船の航海データを送信データセットに含める頻度を高めることが可能となる。 In the above aspect, the determination unit may determine the frequency of including the voyage data of the other ship in the transmission data set according to the ship type of the ship. According to this, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set, for example, in a relatively large ship.
　上記態様において、前記船舶が航行する海域の輻輳度合いを判定する輻輳判定部をさらに備え、前記決定部は、前記輻輳度合いに応じて、前記他船の航海データを前記送信データセットに含める頻度を決定してもよい。これによると、例えば輻輳度合いが比較的高いときに、他船の航海データを送信データセットに含める頻度を高めることが可能となる。 In the above aspect, further comprising a congestion determination unit that determines the degree of congestion in the sea area where the ship navigates, the determination unit determines the frequency of including the voyage data of the other ship in the transmission data set according to the degree of congestion. may decide. According to this, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set, for example, when the degree of congestion is relatively high.
　上記態様において、前記決定部は、前記船舶が航行する海域に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定してもよい。これによると、例えば船舶が所定の海域を航行するときに、他船の航海データを送信データセットに含める頻度を高めることが可能となる。 In the above aspect, the determination unit may determine the frequency of including the voyage data of the other vessel in the transmission data set according to the sea area in which the vessel navigates. According to this, for example, when a ship navigates a predetermined sea area, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set.
　上記態様において、前記決定部は、前記船舶が沿岸海域を航行する場合に、前記船舶が沖合海域を航行する場合よりも前記他船の航海データを前記送信データセットに含める頻度を高くてもよい。これによると、船舶が沿岸海域を航行する場合に、他船の航海データを送信データセットに含める頻度を高めることが可能となる。 In the above aspect, the determination unit may include the voyage data of the other vessel in the transmission data set more frequently when the vessel navigates in coastal waters than when the vessel navigates in offshore waters. . According to this, when a ship navigates in coastal waters, it is possible to increase the frequency of including the voyage data of other ships in the transmission data set.
　また、本発明の他の態様の船舶情報収集システムは、船舶に搭載され、前記船舶の周囲に存在する他船の航海データを逐次検出する検出装置と、前記他船の航海データを送信データセットに含めるか否か決定する決定部と、前記他船の航海データを含む前記送信データセットを生成する生成部と、前記送信データセットを逐次送信する通信装置と、送信された前記送信データセットを収集するデータ収集サーバと、を備える。これによると、通信データ量を抑えつつ、他船の航海データを収集することが容易となる。 According to another aspect of the present invention, a ship information collection system comprises a detection device mounted on a ship for successively detecting voyage data of other ships existing around the ship; a determination unit that determines whether to include the data in the data set, a generation unit that generates the transmission data set including the voyage data of the other ship, a communication device that sequentially transmits the transmission data set, and the transmission data set that has been transmitted. a data collection server for collecting. According to this, it becomes easy to collect voyage data of other ships while suppressing the amount of communication data.
　また、本発明の他の態様の船舶情報収集方法は、船舶に搭載された検出装置により、前記船舶の周囲に存在する他船の航海データを逐次検出し、前記他船の航海データを送信データセットに含めるか否か決定し、前記他船の航海データを含む前記送信データセットを生成し、通信装置により、前記送信データセットを逐次送信し、データ収集サーバにより、送信された前記送信データセットを収集する。これによると、通信データ量を抑えつつ、他船の航海データを収集することが容易となる。 Further, a ship information collecting method according to another aspect of the present invention sequentially detects voyage data of other ships existing around the ship with a detection device mounted on the ship, and transmits the voyage data of the other ships as transmission data. determine whether to include in the set, generate the transmission data set including the voyage data of the other ship, sequentially transmit the transmission data set by the communication device, and transmit the transmission data set by the data collection server to collect. According to this, it becomes easy to collect voyage data of other ships while suppressing the amount of communication data.
船舶情報収集システムの構成例を示す図である。It is a figure which shows the structural example of a ship information collection system. 船載システムの構成例を示す図である。It is a figure which shows the structural example of an on-board system. 船舶情報収集装置の構成例を示す図である。It is a figure which shows the structural example of a ship information collection apparatus. 船舶情報収集方法の手順例を示す図である。It is a figure which shows the procedure example of the ship information collection method. ＣＰＡを説明するための図である。FIG. 4 is a diagram for explaining CPA; ＯＺＴを説明するための図である。FIG. 4 is a diagram for explaining OZT; 船間距離を説明するための図である。It is a figure for demonstrating the distance between ships. ステップＳ１５の変形例を示す図である。It is a figure which shows the modification of step S15.
　以下、本発明の実施形態について、図面を参照しながら説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　図１は、船舶情報収集システム１００の構成例を示す図である。船舶情報収集システム１００は、船舶ＳＨに搭載される船載システム１００と、陸上に設置されたデータ収集サーバ２００とを備えている。 FIG. 1 is a diagram showing a configuration example of the ship information collection system 100. As shown in FIG. The ship information collection system 100 includes a shipboard system 100 mounted on a ship SH and a data collection server 200 installed on land.
　船載システム１００とデータ収集サーバ２００とは、衛星ＳＴを利用した衛星通信により相互に通信が可能である。これに限らず、例えば極超短波、超短波、短波、又は中波などを利用した無線通信が用いられてもよい。 The shipboard system 100 and the data collection server 200 can communicate with each other through satellite communication using satellite ST. Without being limited to this, for example, wireless communication using ultra-short waves, very short waves, short waves, medium waves, or the like may be used.
　図２は、船載システム１００の構成例を示すブロック図である。以下の説明では、船載システム１００が搭載された船舶を「自船」といい、その他の船舶を「他船」という。船載システム１００は、船舶情報収集装置１、ＶＤＲ（航海情報記録装置）２０、データロガー３０、及び通信装置４０を備えている。なお、ＶＤＲ２０及びデータロガー３０は省略されてもよい。 FIG. 2 is a block diagram showing a configuration example of the shipboard system 100. As shown in FIG. In the following description, the ship on which the onboard system 100 is installed is called "own ship", and other ships are called "other ships". A shipboard system 100 includes a ship information collecting device 1 , a VDR (voyage information recording device) 20 , a data logger 30 , and a communication device 40 . Note that the VDR 20 and data logger 30 may be omitted.
　船載システム１００は、レーダー３、ＡＩＳ４、カメラ５、ＧＮＳＳ受信機６、ジャイロコンパス７、及びＥＣＤＩＳ８をさらに備えている。船載システム１００に含まれる各機器は、例えばＬＡＮ等の通信ネットワークに接続されており、相互にネットワーク通信が可能である。 The shipboard system 100 further comprises a radar 3, an AIS 4, a camera 5, a GNSS receiver 6, a gyrocompass 7, and an ECDIS 8. Each device included in the shipboard system 100 is connected to a communication network such as a LAN, for example, and is capable of network communication with each other.
　船舶情報収集装置１は、ＣＰＵ、ＲＡＭ、ＲＯＭ、不揮発性メモリ、及び入出力インターフェース等を含むコンピュータである。船舶情報収集装置１のＣＰＵは、ＲＯＭ又は不揮発性メモリからＲＡＭにロードされたプログラムに従って情報処理を実行する。 The vessel information collection device 1 is a computer including a CPU, RAM, ROM, non-volatile memory, input/output interface, and the like. The CPU of the vessel information collection device 1 executes information processing according to a program loaded from the ROM or nonvolatile memory to the RAM.
　プログラムは、光ディスク又はメモリカード等の情報記憶媒体を介して供給されてもよいし、インターネット又はＬＡＮ等の通信ネットワークを介して供給されてもよい。 The program may be supplied via an information storage medium such as an optical disk or memory card, or via a communication network such as the Internet or LAN.
　ＶＤＲ２０は、レーダー３、ＡＩＳ４、カメラ５、ＧＮＳＳ受信機６、ジャイロコンパス７、及びＥＣＤＩＳ８等に接続されており、これらの機器から自船の航海データ及び他船の航海データを含む航海系データ取得し、船舶情報収集装置１に提供する。 VDR 20 is connected to radar 3, AIS 4, camera 5, GNSS receiver 6, gyrocompass 7, and ECDIS 8, etc., and obtains navigation system data including navigation data of own ship and navigation data of other ships from these devices. and provided to the vessel information collection device 1.
　データロガー３０は、エンジン９１及び発電機９２等に接続されており、これらの機械のログデータを含む機関系データを取得し、船舶情報収集装置１に提供する。通信装置４０は、衛星ＳＴを介した衛星通信を実現するための通信装置である。 The data logger 30 is connected to the engine 91 and the generator 92, etc., acquires engine system data including log data of these machines, and provides it to the vessel information collection device 1. The communication device 40 is a communication device for realizing satellite communication via the satellite ST.
　データロガー３０は、他にも、ボイラー、バーナー、ポンプ、プロペラ、軸馬力、造水機、油清浄機、コンプレッサー、バラスト水処理装置、空調機、液面計、舶用エレベータ、及びデッキクレーン等に接続される。 The data logger 30 can also be used for boilers, burners, pumps, propellers, shaft horsepower, water generators, oil purifiers, compressors, ballast water treatment devices, air conditioners, liquid level gauges, marine elevators, deck cranes, etc. Connected.
　レーダー３は、自船の周囲に電波を発するとともにその反射波を受信し、受信信号に基づいてエコーデータを生成する。また、レーダー３は、エコーデータから物標を識別し、物標の位置及び速度を表す物標追跡データ（ＴＴデータ）を生成する。 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.
　ＡＩＳ（Automatic Identification System）４は、自船の周囲に存在する他船又は陸上の管制からＡＩＳデータを受信する。ＡＩＳに限らず、ＶＤＥＳ（VHF Data Exchange System）が用いられてもよい。ＡＩＳデータは、他船の識別符号、船名、位置、針路、船速、船種、船体長、及び行き先などを含んでいる。 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. The AIS data includes identification codes of other ships, ship names, positions, courses, ship speeds, ship types, hull lengths, destinations, and the like.
　カメラ５は、自船から外部を撮像して画像データを生成するデジタルカメラである。カメラ５は、撮像した画像に含まれる船舶等の物標の位置及び種別を物体検出モデルにより推定する画像認識部を含んでもよい。画像認識部は、カメラ５に限らず、船舶情報収集装置１等の他の装置において実現されてもよい。 The camera 5 is a digital camera that captures images of the outside from the own ship and generates image data. The camera 5 may include an image recognition unit that estimates the position and type of a target object such as a ship included in the captured image using an object detection model. The image recognition unit is not limited to the camera 5, and may be implemented in other devices such as the vessel information collection device 1.
　ＧＮＳＳ受信機６は、ＧＮＳＳ（Global Navigation Satellite System）から受信した電波に基づいて自船の位置を検出する。ジャイロコンパス７は、自船の船首方位を検出する。ジャイロコンパスに限らず、ＧＰＳコンパスが用いられてもよい。 The GNSS receiver 6 detects the position of the own ship based on radio waves received from the GNSS (Global Navigation Satellite System). The gyrocompass 7 detects the heading of the own ship. A GPS compass may be used instead of the gyro compass.
　ＥＣＤＩＳ（Electronic Chart Display and Information System）８は、ＧＮＳＳ受信機６から自船の位置を取得し、電子海図上に自船の位置を表示する。また、ＥＣＤＩＳ８は、電子海図上に自船の計画航路も表示する。ＥＣＤＩＳに限らず、ＧＮＳＳプロッタが用いられてもよい。 The ECDIS (Electronic Chart Display and Information System) 8 acquires the ship's position from the GNSS receiver 6 and displays the ship's position on the electronic chart. The ECDIS 8 also displays the planned route of the own ship on the electronic chart. Not limited to ECDIS, a GNSS plotter may be used.
　本実施形態では、ＡＩＳ４が検出装置の例であり、ＡＩＳデータが他船の航海データの例である。ＡＩＳ４は、ＡＩＳデータを逐次検出する。これに限らず、レーダー３を検出装置の例とし、ＴＴデータを他船の航海データの例としてもよいし、カメラ５を検出装置の例とし、画像から識別された識別データを他船の航海データの例としてもよい。 In this embodiment, AIS4 is an example of a detection device, and AIS data is an example of voyage data of other ships. The AIS 4 sequentially detects AIS data. Not limited to this, the radar 3 may be used as an example of the detection device, and the TT data may be used as an example of the voyage data of the other ship. It is good also as an example of data.
　図３は、船舶情報収集装置１の構成例を示すブロック図である。船舶情報収集装置１の制御部１０は、データ取得部１１、データセット生成部１２、頻度決定部１３、リスク算出部１４、距離算出部１５、及び輻輳判定部１６を備えている。これらの機能部は、制御部１０がプログラムに従って情報処理を実行することによって実現される。 FIG. 3 is a block diagram showing a configuration example of the vessel information collection device 1. As shown in FIG. The control unit 10 of the vessel information collection device 1 includes a data acquisition unit 11 , a data set generation unit 12 , a frequency determination unit 13 , a risk calculation unit 14 , a distance calculation unit 15 and a congestion determination unit 16 . These functional units are implemented by the control unit 10 executing information processing according to programs.
　データ取得部１１は、ＡＩＳ４により検出されたＡＩＳデータを他船の航海データとして逐次取得する。データ取得部１１は、ＶＤＲ２０からＡＩＳデータを間接的に取得してもよいし、ＡＩＳ４からＡＩＳデータを直接的に取得してもよい。 The data acquisition unit 11 sequentially acquires the AIS data detected by the AIS 4 as voyage data of other ships. The data acquisition unit 11 may indirectly acquire the AIS data from the VDR 20 or directly acquire the AIS data from the AIS 4 .
　具体的には、データ取得部１１は、ＶＤＲ２０に記録された航海系データを逐次取得する。航海系データは、自船の航海データ及び他船の航海データを含んでいる。自船の航海データは、例えば自船の位置、方位、及び船速などを含んでいる。 Specifically, the data acquisition unit 11 sequentially acquires navigation data recorded in the VDR 20 . The navigation data includes the navigation data of own ship and the navigation data of other ships. The voyage data of the own ship includes, for example, the position, bearing, and speed of the own ship.
　また、データ取得部１１は、データロガー３０に記録されたエンジン９１及び発電機９２等のログデータを含む機関系データを逐次取得する。さらに、データ取得部１１は、各機器の稼働状況を監視するための機器監視データも逐次取得する。 In addition, the data acquisition unit 11 sequentially acquires engine system data including log data of the engine 91 and the generator 92 recorded in the data logger 30 . Furthermore, the data acquisition unit 11 also sequentially acquires device monitoring data for monitoring the operating status of each device.
　データセット生成部１２は、ＡＩＳデータを他船の航海データとして含む送信データセットを生成する。生成された送信データセットは、通信装置４０（図２参照）により逐次送信される。 The data set generation unit 12 generates a transmission data set that includes AIS data as voyage data of other ships. The generated transmission data set is sequentially transmitted by the communication device 40 (see FIG. 2).
　具体的には、データセット生成部１２は、データ取得部１１により取得された航海系データ、機関系データ、及び機器監視データを含む送信データセットを生成する。送信データセットは、ＡＩＳデータを含む場合もあれば、含まない場合もある。 Specifically, the data set generation unit 12 generates a transmission data set including navigation data, engine data, and equipment monitoring data acquired by the data acquisition unit 11 . The transmission data set may or may not include AIS data.
　図４は、船舶情報収集システム３００において実現される船舶情報収集方法のうち、送信データセットの生成に係る処理の手順例を示す図である。船舶情報収集装置１の制御部１０は、同図に示す情報処理をプログラムに従って実行する。 FIG. 4 is a diagram showing an example of a procedure for generating a transmission data set in the ship information collection method implemented in the ship information collection system 300. As shown in FIG. The control unit 10 of the vessel information collection device 1 executes the information processing shown in the figure according to a program.
　まず、制御部１０は、ＶＤＲ２０（図２参照）から航海系データを取得する（Ｓ１１、データ取得部１１としての処理）。 First, the control unit 10 acquires navigation data from the VDR 20 (see FIG. 2) (S11, processing as the data acquisition unit 11).
　次に、制御部１０は、データロガー３０（図２参照）から機関系データを取得する（Ｓ１２、データ取得部１１としての処理）。 Next, the control unit 10 acquires engine system data from the data logger 30 (see FIG. 2) (S12, processing as the data acquisition unit 11).
　次に、制御部１０は、各機器の機器監視データを取得する（Ｓ１３、データ取得部１１としての処理）。 Next, the control unit 10 acquires device monitoring data of each device (S13, processing as the data acquisition unit 11).
　次に、制御部１０は、ＡＩＳデータを送信データセットに含める回であるか否か判定する（Ｓ１４）。ＡＩＳデータを送信データセットに含める頻度（例えば数秒、数分又は数十分に１回といった頻度）は、制御部１０により予め決定され、記憶されている。頻度の決定については、詳細を後述する。 Next, the control unit 10 determines whether or not it is time to include the AIS data in the transmission data set (S14). The frequency of including the AIS data in the transmission data set (for example, once every few seconds, every few minutes, or every few tens of minutes) is determined in advance by the control unit 10 and stored. The details of determining the frequency will be described later.
　ＡＩＳデータを送信データセットに含める回である場合（Ｓ１４：ＹＥＳ）、制御部１０は、ＡＩＳデータを含む送信データセットを生成する（Ｓ１５、データセット生成部１２としての処理）。 When it is time to include AIS data in the transmission data set (S14: YES), the control unit 10 generates a transmission data set including AIS data (S15, processing as the data set generation unit 12).
　一方、ＡＩＳデータを送信データセットに含める回でない場合（Ｓ１４：ＮＯ）、制御部１０は、ＡＩＳデータを含まない送信データセットを生成する（Ｓ１６、データセット生成部１２としての処理）。 On the other hand, if it is not the time to include AIS data in the transmission data set (S14: NO), the control unit 10 generates a transmission data set that does not include AIS data (S16, processing as the data set generation unit 12).
　次に、制御部１０は、生成された送信データセットの送信処理を行う（Ｓ１７）。送信データセットは、通信装置４０（図２参照）から外部に送信され、衛星通信を介して、最終的にデータ収集サーバ２００（図１参照）に収集される。 Next, the control unit 10 performs transmission processing of the generated transmission data set (S17). The transmission data set is transmitted to the outside from the communication device 40 (see FIG. 2) and finally collected in the data collection server 200 (see FIG. 1) via satellite communication.
　制御部１０は、以上に説明したＳ１１－Ｓ１７の処理を所定時間が経過する毎に繰り返す（Ｓ１８）。 The control unit 10 repeats the processing of S11-S17 described above each time a predetermined time elapses (S18).
　図３の説明に戻る。頻度決定部１３は、ＡＩＳデータを送信データセットに含めるか否か決定する。具体的には、頻度決定部１３は、ＡＩＳデータを送信データセットに含める頻度を決定する。言い換えると、頻度決定部１３は、逐次送信される送信データセットの各々について、ＡＩＳデータを含めるか否か決定する。 Return to the description of Fig. 3. The frequency determination unit 13 determines whether or not to include AIS data in the transmission data set. Specifically, the frequency determining unit 13 determines how often the AIS data is included in the transmission data set. In other words, the frequency determining unit 13 determines whether or not to include AIS data in each transmission data set that is sequentially transmitted.
　頻度決定部１３は、例えば数秒、数分又は数十分に１回のように時間に基づく頻度を決定してもよいし、例えば数回に１回のように回数に基づく頻度を決定してもよい。なお、頻度決定部１３は、ＡＩＳデータを全ての送信データセットに含めるよう決定してもよいし、全ての送信データセットに含めないよう決定してもよい。 The frequency determination unit 13 may determine the frequency based on time, such as once every several seconds, minutes, or tens of minutes, or determine the frequency based on the number of times, such as once every several times. good too. Note that the frequency determination unit 13 may determine to include AIS data in all transmission data sets, or may determine not to include it in all transmission data sets.
　頻度決定部１３は、以下に説明する種々の手法によって、ＡＩＳデータを送信データセットに含める頻度を決定する。 The frequency determination unit 13 determines how often AIS data is included in the transmission data set by various methods described below.
　リスク算出部１４は、自船の航海データ及び他船の航海データに基づいて、自船と他船が衝突するリスクを表す衝突リスク値を算出する。頻度決定部１３は、リスク算出部１４により算出された衝突リスク値に応じて、ＡＩＳデータを送信データセットに含める頻度を決定する。 The risk calculation unit 14 calculates a collision risk value representing the risk of collision between the own ship and other ships based on the voyage data of the own ship and the voyage data of the other ships. The frequency determination unit 13 determines how often AIS data is included in the transmission data set according to the collision risk value calculated by the risk calculation unit 14 .
　衝突リスク値は、例えばＴＣＰＡ（Time to Closest Point of Approach）／ＤＣＰＡ（Distance to Closest Point of Approach）である。図５に示すように、ＴＣＰＡは、他船が自船に最も近づくまでの時間を表し、ＤＣＰＡは、他船が自船に最も近づいたときの距離を表す。 The collision risk value is, for example, TCPA (Time to Closest Point of Approach)/DCPA (Distance to Closest Point of Approach). As shown in FIG. 5, TCPA represents the time until the other ship comes closest to the own ship, and DCPA represents the distance when the other ship comes closest to the own ship.
　頻度決定部１３は、例えばＴＣＰＡ及びＤＣＰＡの少なくとも一方が閾値を下回った場合に、ＡＩＳデータを送信データセットに含める頻度を高める。頻度決定部１３は、例えばＴＣＰＡ及びＤＣＰＡの少なくとも一方の減少に伴って、ＡＩＳデータを送信データセットに含める頻度を段階的に増加させてもよい。 The frequency determination unit 13 increases the frequency of including AIS data in the transmission data set, for example, when at least one of TCPA and DCPA is below the threshold. The frequency determining unit 13 may stepwise increase the frequency of including AIS data in the transmission data set, for example, as at least one of TCPA and DCPA decreases.
　頻度決定部１３は、複数の他船が存在する場合、すなわち複数のＡＩＳデータがある場合、ＡＩＳデータを送信データセットに含める頻度を、ＡＩＳデータ毎に決定する。例えば、衝突リスク値が閾値より高い他船については、衝突リスク値が閾値より低い他船よりも、ＡＩＳデータを送信データセットに含める頻度が高くなる。 When there are multiple other ships, that is, when there are multiple pieces of AIS data, the frequency determination unit 13 determines the frequency of including AIS data in the transmission data set for each AIS data. For example, other ships whose collision risk value is higher than the threshold have a higher frequency of including AIS data in the transmission data set than other ships whose collision risk value is lower than the threshold.
　衝突リスク値は、例えばＯＺＴ（Obstacle Zone by Target）に基づいて算出されてもよい。図６に示すように、ＯＺＴを表示する手法では、リスク算出部１４は、他船の予測針路上の各判定点について、自船が変針して各判定点に到達すると仮定したときに、自船と他船とが衝突するリスクを表す衝突リスク値を算出する。 The collision risk value may be calculated based on, for example, OZT (Obstacle Zone by Target). As shown in FIG. 6 , in the method of displaying the OZT, the risk calculation unit 14 assumes that the own ship changes course and reaches each decision point on the predicted course of the other ship. A collision risk value representing the risk of collision between the ship and another ship is calculated.
　具体的には、リスク算出部１４は、自船が速さを維持しつつ現在の位置から変針して判定点に到達し、且つ、他船が現在の位置から速度を維持して判定点に到達すると仮定したときの、自船と他船が同時に判定点に存在する確率を衝突の衝突リスク値として算出し、衝突リスク値が閾値以上の判定点にＯＺＴを表示する。 Specifically, the risk calculation unit 14 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. The collision risk value of the collision is calculated as the probability that the own ship and the other ship are present at the decision point at the same time when it is assumed that they will arrive, and OZT is displayed at the decision point where the collision risk value is equal to or greater than the threshold.
　頻度決定部１３は、例えば自船の船首ライン又は予定航路上にＯＺＴが存在する場合に、ＡＩＳデータを送信データセットに含める頻度を高める。これに限らず、頻度決定部１３は、例えば自船から所定距離以内にＯＺＴが存在する場合に、ＡＩＳデータを送信データセットに含める頻度を高めてもよい。 The frequency determination unit 13 increases the frequency of including AIS data in the transmission data set, for example, when there is an OZT on the own ship's heading line or on the scheduled route. Not limited to this, the frequency determination unit 13 may increase the frequency of including AIS data in the transmission data set, for example, when the OZT exists within a predetermined distance from the own ship.
　距離算出部１５は、自船の航海データ及び他船の航海データに基づいて、自船と他船の船間距離を算出する。頻度決定部１３は、距離算出部１５により算出された船間距離に応じて、ＡＩＳデータを送信データセットに含める頻度を決定する。 The distance calculation unit 15 calculates the distance between the own ship and the other ship based on the voyage data of the own ship and the voyage data of the other ship. The frequency determination unit 13 determines how often the AIS data is included in the transmission data set according to the distance between ships calculated by the distance calculation unit 15 .
　図７に示すように、頻度決定部１３は、船間距離について複数の閾値ａ１～ａ３を設定し、ＡＩＳデータを送信データセットに含める頻度を段階的に変更する。例えば、１ｎｍ（nautical mile）以下では１５秒間隔とされ、１ｎｍ超過１０ｎｍ以下では１分間隔とされ、１０ｎｍ超過２０ｎｍ以下では５分間隔とされる。 As shown in FIG. 7, the frequency determination unit 13 sets a plurality of thresholds a1 to a3 for the distance between ships, and changes the frequency of including AIS data in the transmission data set step by step. For example, the interval is 15 seconds for 1 nm (nautical mile) or less, the interval is 1 minute for over 1 nm to 10 nm, and the interval is 5 minutes for over 10 nm to 20 nm.
　頻度決定部１３は、複数の他船が存在する場合、すなわち複数のＡＩＳデータがある場合、ＡＩＳデータを送信データセットに含める頻度を、ＡＩＳデータ毎に決定する。例えば、船間距離が閾値より短い他船については、船間距離が閾値より長い他船よりも、ＡＩＳデータを送信データセットに含める頻度が高くなる。 When there are multiple other ships, that is, when there are multiple pieces of AIS data, the frequency determination unit 13 determines the frequency of including AIS data in the transmission data set for each AIS data. For example, other ships whose ship-to-ship distance is shorter than the threshold have a higher frequency of including AIS data in the transmission data set than other ships whose ship-to-ship distance is longer than the threshold.
　輻輳判定部１６は、自船が航行する海域の輻輳度合いを判定する。具体的には、輻輳判定部１６は、ＡＩＳ４（図２参照）のスロットマップの占有率に基づいて、自船が航行する海域の輻輳度合いを判定する。 The congestion determination unit 16 determines the degree of congestion in the sea area where the own ship navigates. Specifically, the congestion determination unit 16 determines the degree of congestion in the sea area where the own ship navigates based on the occupancy rate of the slot map of the AIS 4 (see FIG. 2).
　頻度決定部１３は、輻輳判定部１６により算出された輻輳度合いに応じて、ＡＩＳデータを送信データセットに含める頻度を決定する。例えば、自船が航行する海域の輻輳度合いが閾値より高い場合には、輻輳度合いが閾値より低い場合よりも、ＡＩＳデータを送信データセットに含める頻度が高くなる。 The frequency determination unit 13 determines how often AIS data is included in the transmission data set according to the degree of congestion calculated by the congestion determination unit 16 . For example, when the degree of congestion in the sea area where the own ship navigates is higher than the threshold, the frequency of including AIS data in the transmission data set is higher than when the degree of congestion is lower than the threshold.
　以上に説明したように、衝突リスク値、船間距離、又は輻輳度合いに応じてＡＩＳデータを送信データセットに含める頻度を決定することで、通信データ量を抑えつつも、事故検証等の観点でより重要度の高いＡＩＳデータを収集することが可能となる。 As described above, by determining the frequency of including AIS data in the transmission data set according to the collision risk value, the distance between ships, or the degree of congestion, while suppressing the amount of communication data, from the viewpoint of accident verification, etc. It becomes possible to collect AIS data with a higher degree of importance.
　その他にも、頻度決定部１３は、自船の船速に応じて、ＡＩＳデータを送信データセットに含める頻度を決定してもよい。例えば、頻度決定部１３は、自船の船速が高いほど、ＡＩＳデータを送信データセットに含める頻度を高くする。 In addition, the frequency determination unit 13 may determine the frequency of including AIS data in the transmission data set according to the speed of the own ship. For example, the frequency determining unit 13 increases the frequency of including AIS data in the transmission data set as the speed of the own ship increases.
　また、頻度決定部１３は、自船又は他船の船種に応じて、ＡＩＳデータを送信データセットに含める頻度を決定してもよい。例えば、頻度決定部１３は、自船が船体の大きい船種であるほど、ＡＩＳデータを送信データセットに含める頻度を高くする。 In addition, the frequency determination unit 13 may determine the frequency of including AIS data in the transmission data set according to the ship type of the own ship or other ships. For example, the frequency determining unit 13 increases the frequency of including AIS data in the transmission data set as the own ship has a larger hull type.
　また、頻度決定部１３は、他船が船体の小さい船種であるほど、ＡＩＳデータを送信データセットに含める頻度を高くしてもよい。これは、小さな船舶ほど小回りが利き、挙動が読みにくいためである。 In addition, the frequency determining unit 13 may increase the frequency of including AIS data in the transmission data set as the other ship has a smaller hull type. This is because the smaller the ship, the more maneuverable it is, and the more difficult it is to read its behavior.
　また、頻度決定部１３は、自船が航行する海域に応じて、ＡＩＳデータを送信データセットに含める頻度を決定してもよい。自船が航行する海域は、電子海図データに基づいて判定される。 In addition, the frequency determination unit 13 may determine the frequency of including AIS data in the transmission data set according to the sea area in which the own ship navigates. The sea area in which the own ship navigates is determined based on the electronic chart data.
　例えば、頻度決定部１３は、自船が沿岸海域を航行する場合に、自船が沖合海域を航行する場合よりも、ＡＩＳデータを送信データセットに含める頻度を高くする。一般に、沿岸海域は沖合海域よりも事故発生数が多いため、事故検証等の観点から沿岸海域で頻度を高くすることが好ましい。 For example, the frequency determining unit 13 increases the frequency of including AIS data in the transmission data set when the own ship navigates in coastal waters than when the own ship navigates in offshore waters. In general, coastal waters have more accidents than offshore waters, so it is preferable to increase the frequency in coastal waters from the viewpoint of accident verification.
　これとは逆に、頻度決定部１３は、自船が沖合海域を航行する場合に、自船が沿岸海域を航行する場合よりも、ＡＩＳデータを送信データセットに含める頻度を高くしてもよい。沿岸海域では、陸上の基地局が受信したＡＩＳデータを利用できることが多いため、通信データ量を抑える観点から頻度を低くすることが好ましい。 Conversely, the frequency determining unit 13 may include AIS data in the transmission data set more frequently when the own ship navigates offshore waters than when the own ship navigates coastal waters. . In coastal waters, AIS data received by base stations on land can often be used, so it is preferable to reduce the frequency from the viewpoint of suppressing the amount of communication data.
　以上、ＡＩＳデータを送信データセットに含める頻度を決定するための種々の手法について説明したが、これらの手法は単独での適用に限らず、適宜組み合わせて適用されてもよい。 Various methods for determining the frequency of inclusion of AIS data in the transmission data set have been described above, but these methods are not limited to being applied alone, and may be applied in combination as appropriate.
　図８は、上記図４のステップＳ１５の変形例を示す図である。ＡＩＳデータは、他船の位置など、絶えず変化がある動的情報（Msg 1-3 等、Class BではMsg 18等）と、ほぼ変化がない静的情報（Msg 5等、Class BではMsg 24等）とを含んでいる。 FIG. 8 is a diagram showing a modification of step S15 in FIG. 4 above. AIS data consists of constantly changing dynamic information such as the positions of other ships (Msg 1-3, etc., Msg 18, etc. for Class B) and static information, which has almost no change (Msg 5, etc., Msg 24 for Class B). etc.).
　本例では、船舶情報収集装置１の制御部１０は、ＡＩＳデータの静的情報を監視しており、ＡＩＳデータの静的情報に変化がない場合には（Ｓ１５１：ＮＯ）、ＡＩＳデータのうちの動的情報のみを送信データセットに含め、静的情報を送信データセットに含めない（Ｓ１５２）。 In this example, the control unit 10 of the ship information collection device 1 monitors the static information of the AIS data, and if there is no change in the static information of the AIS data (S151: NO), Only the dynamic information of is included in the transmission data set, and the static information is not included in the transmission data set (S152).
　一方、船舶情報収集装置１の制御部１０は、ＡＩＳデータの静的情報に変化があった場合には（Ｓ１５１：ＹＥＳ）、ＡＩＳデータの動的情報だけでなく静的情報も送信データセットに含める（Ｓ１５３）。変化があった一部の静的情報のみを送信データセットに含めてもよいし、全ての静的情報を送信データセットに含めてもよい。 On the other hand, when there is a change in the static information of the AIS data (S151: YES), the control unit 10 of the ship information collection device 1 stores not only the dynamic information of the AIS data but also the static information in the transmission data set. Include (S153). Only part of the changed static information may be included in the transmission data set, or all static information may be included in the transmission data set.
　このように、通常時はＡＩＳデータの動的情報のみを収集し、静的情報に変化があった場合には静的情報も収集することで、通信データ量を抑えつつも、ＡＩＳデータの必要な情報を収集することが可能となる。 In this way, only the dynamic information of AIS data is normally collected, and when there is a change in the static information, the static information is also collected. information can be collected.
　以上、本発明の実施形態について説明したが、本発明は以上に説明した実施形態に限定されるものではなく、種々の変更が当業者にとって可能であることはもちろんである。 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 are possible for those skilled in the art.
１　船舶情報収集装置、３　レーダー、４　ＡＩＳ、５　カメラ、６　ＧＮＳＳ受信機、７　ジャイロコンパス、８　ＥＣＤＩＳ、１０　制御部、１１　データ取得部、１２　データセット生成部、１３　頻度決定部、１４　リスク算出部、１５　距離算出部、１６　輻輳判定部、２０　ＶＤＲ、３０　データロガー、４０　通信装置、１００　船載システム、２００　データ収集サーバ、３００　船舶情報収集システム、ＳＨ　船舶、ＳＴ　衛星 1. Ship information collection device, 3. Radar, 4. AIS, 5. Camera, 6. GNSS receiver, 7. Gyrocompass, 8. ECDIS, 10. Control unit, 11. Data acquisition unit, 12. Data set generation unit, 13. Frequency determination unit, 14. Risk calculation Unit, 15 Distance calculation unit, 16 Congestion determination unit, 20 VDR, 30 Data logger, 40 Communication device, 100 Shipboard system, 200 Data collection server, 300 Ship information collection system, SH Ship, ST Satellite

Claims (15)

  1. 　船舶に搭載された検出装置により検出された、前記船舶の周囲に存在する他船の航海データを逐次取得する取得部と、
    　前記他船の航海データを、データ収集サーバに逐次送信される送信データセットに含めるか否か決定する決定部と、
    　前記他船の航海データを含む前記送信データセットを生成する生成部と、
    　を備える、船舶情報収集装置。     an acquisition unit that sequentially acquires voyage data of other ships existing around the ship, detected by a detection device mounted on the ship;
    a determination unit that determines whether to include the voyage data of the other ship in a transmission data set that is sequentially transmitted to a data collection server;
    a generation unit that generates the transmission data set including the voyage data of the other ship;
    A vessel information collection device.
  2. 　前記船舶の航海データ及び前記他船の航海データに基づいて、前記船舶と前記他船が衝突するリスクを表す衝突リスク値を算出するリスク算出部をさらに備え、
    　前記決定部は、前記衝突リスク値に応じて、前記他船の航海データを前記送信データセットに含めるか否か決定する、
    　請求項１に記載の船舶情報収集装置。     further comprising a risk calculation unit that calculates a collision risk value representing a risk of collision between the ship and the other ship based on the voyage data of the ship and the voyage data of the other ship;
    The determining unit determines whether to include the voyage data of the other ship in the transmission data set according to the collision risk value.
    The vessel information collection device according to claim 1.
  3. 　前記決定部は、前記衝突リスク値に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定する、
    　請求項２に記載の船舶情報収集装置。     The determination unit determines the frequency of including the voyage data of the other ship in the transmission data set according to the collision risk value.
    The vessel information collection device according to claim 2.
  4. 　前記船舶の航海データ及び前記他船の航海データに基づいて、前記船舶と前記他船の船間距離を算出する距離算出部をさらに備え、
    　前記決定部は、前記船間距離に応じて、前記他船の航海データを前記送信データセットに含めるか否か決定する、
    　請求項１に記載の船舶情報収集装置。     Further comprising a distance calculation unit that calculates a distance between the ship and the other ship based on the voyage data of the ship and the voyage data of the other ship,
    The determination unit determines whether or not to include the voyage data of the other ship in the transmission data set according to the inter-ship distance.
    The vessel information collection device according to claim 1.
  5. 　前記決定部は、前記船間距離に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定する、
    　請求項４に記載の船舶情報収集装置。     The determination unit determines the frequency of including the voyage data of the other ship in the transmission data set according to the inter-ship distance.
    The vessel information collection device according to claim 4.
  6. 　前記他船の航海データは、ＡＩＳ（Automatic Identification System）データである、
    　請求項１ないし５の何れかに記載の船舶情報収集装置。     The voyage data of the other ship is AIS (Automatic Identification System) data,
    A ship information collecting device according to any one of claims 1 to 5.
  7. 　前記生成部は、前記ＡＩＳデータのうちの所定の種類のデータを前記送信データセットに含め、残りの種類のデータを前記送信データセットに含めない、
    　請求項６に記載の船舶情報収集装置。     wherein the generation unit includes predetermined types of data among the AIS data in the transmission data set, and does not include remaining types of data in the transmission data set;
    The vessel information collection device according to claim 6.
  8. 　前記生成部は、前記残りの種類のデータに変更があった場合に、前記残りの種類のデータを前記送信データセットに含める、
    　請求項７に記載の船舶情報収集装置。     The generation unit includes the remaining types of data in the transmission data set when there is a change in the remaining types of data.
    The vessel information collection device according to claim 7.
  9. 　前記決定部は、前記船舶の船速に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定する、
    　請求項１ないし８の何れかに記載の船舶情報収集装置。     The determination unit determines the frequency of including the voyage data of the other ship in the transmission data set according to the ship speed of the ship.
    A ship information collecting device according to any one of claims 1 to 8.
  10. 　前記決定部は、前記船舶の船種に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定する、
    　請求項１ないし９の何れかに記載の船舶情報収集装置。     The determination unit determines the frequency of including the voyage data of the other ship in the transmission data set according to the ship type of the ship.
    A ship information collecting device according to any one of claims 1 to 9.
  11. 　前記船舶が航行する海域の輻輳度合いを判定する輻輳判定部をさらに備え、
    　前記決定部は、前記輻輳度合いに応じて、前記他船の航海データを前記送信データセットに含める頻度を決定する、
    　請求項１ないし１０の何れかに記載の船舶情報収集装置。     Further comprising a congestion determination unit that determines the degree of congestion in the sea area where the ship navigates,
    The determination unit determines the frequency of including the voyage data of the other ship in the transmission data set according to the degree of congestion.
    A ship information collecting device according to any one of claims 1 to 10.
  12. 　前記決定部は、前記船舶が航行する海域に応じて、前記他船の航海データを前記送信データセットに含める頻度を決定する、
    　請求項１ないし１１の何れかに記載の船舶情報収集装置。     The determination unit determines the frequency of including the voyage data of the other ship in the transmission data set according to the sea area in which the ship navigates.
    A ship information collecting device according to any one of claims 1 to 11.
  13. 　前記決定部は、前記船舶が沿岸海域を航行する場合に、前記船舶が沖合海域を航行する場合よりも前記他船の航海データを前記送信データセットに含める頻度を高くする、
    　請求項１２に記載の船舶情報収集装置。     When the ship navigates in coastal waters, the determination unit includes the voyage data of the other ship in the transmission data set more frequently than when the ship navigates in offshore waters.
    The vessel information collection device according to claim 12.
  14. 　船舶に搭載され、前記船舶の周囲に存在する他船の航海データを逐次検出する検出装置と、
    　前記他船の航海データを送信データセットに含めるか否か決定する決定部と、
    　前記他船の航海データを含む前記送信データセットを生成する生成部と、
    　前記送信データセットを逐次送信する通信装置と、
    　送信された前記送信データセットを収集するデータ収集サーバと、
    　を備える、船舶情報収集システム。     a detection device that is mounted on a ship and sequentially detects voyage data of other ships existing around the ship;
    a determination unit that determines whether to include the voyage data of the other ship in the transmission data set;
    a generation unit that generates the transmission data set including the voyage data of the other ship;
    a communication device that sequentially transmits the transmission data set;
    a data collection server that collects the transmitted transmission data set;
    A ship information collection system.
  15. 　船舶に搭載された検出装置により、前記船舶の周囲に存在する他船の航海データを逐次検出し、
    　前記他船の航海データを送信データセットに含めるか否か決定し、
    　前記他船の航海データを含む前記送信データセットを生成し、
    　通信装置により、前記送信データセットを逐次送信し、
    　データ収集サーバにより、送信された前記送信データセットを収集する、
    　船舶情報収集方法。     A detection device mounted on a ship sequentially detects voyage data of other ships existing around the ship,
    determining whether to include voyage data for said other vessel in a transmitted data set;
    generating the transmission data set containing the voyage data of the other ship;
    sequentially transmitting the transmission data set by a communication device;
    Collecting the transmitted data set transmitted by a data collection server;
    Vessel information collection method.
PCT/JP2022/012634 2021-08-26 2022-03-18 Ship information collection device, ship information collection system, and ship information collection method WO2023026549A1 (en)

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Citations (5)

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Publication number Priority date Publication date Assignee Title
JPH06131600A (en) * 1992-03-27 1994-05-13 Thomson Csf Control method of marine navigation
JPH11345397A (en) * 1998-05-29 1999-12-14 Masami Murayama Navigation support system by computer network
JP2006163765A (en) * 2004-12-07 2006-06-22 Natl Inst For Land & Infrastructure Management Mlit Ship navigation monitoring system
JP2008198136A (en) 2007-02-15 2008-08-28 Mitsui Eng & Shipbuild Co Ltd Information processing method for ship, and information processing system for ship
WO2017204075A1 (en) * 2016-05-26 2017-11-30 古野電気株式会社 Signal processing device and radar device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06131600A (en) * 1992-03-27 1994-05-13 Thomson Csf Control method of marine navigation
JPH11345397A (en) * 1998-05-29 1999-12-14 Masami Murayama Navigation support system by computer network
JP2006163765A (en) * 2004-12-07 2006-06-22 Natl Inst For Land & Infrastructure Management Mlit Ship navigation monitoring system
JP2008198136A (en) 2007-02-15 2008-08-28 Mitsui Eng & Shipbuild Co Ltd Information processing method for ship, and information processing system for ship
WO2017204075A1 (en) * 2016-05-26 2017-11-30 古野電気株式会社 Signal processing device and radar device

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