JP7636957B2 - Ship-steering support system, ship-steering support method, information processing device, and program - Google Patents

Description

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

Conventionally, devices that display the ship's position on an electronic chart, such as ECDIS (Electronic Chart Display and Information System), are known.

By the way, it would be useful to be able to predict the route your ship will take before actually turning.

The present invention has been made in consideration of the above problems, and its main objective is to provide a ship-steering support system, a ship-steering support method, an information processing device, and a program that make it easy to grasp the predicted turning route.

To solve the above problem, one aspect of the ship-steering assistance system of the present invention includes a data generation unit that generates ship data representing the position and speed of the ship, a turning path calculation unit that calculates a predicted turning path based on the ship data and specified turning conditions when it is assumed that the ship turns according to the turning conditions, and a display unit that displays an image showing the position of the ship and the predicted turning path.

In another aspect of the ship steering assistance method of the present invention, a data generation unit generates ship data representing the position and speed of the ship, calculates a predicted turning route based on the ship data and specified turning conditions when it is assumed that the ship will turn according to the turning conditions, and displays an image showing the position of the ship and the predicted turning route.

Another aspect of the information processing device of the present invention includes a turning path calculation unit that calculates a predicted turning path based on ship data representing the position and speed of the ship and specified turning conditions, assuming that the ship turns according to the turning conditions, and a display control unit that generates a display image showing the position of the ship and the predicted turning path.

In another aspect of the present invention, the program causes a computer to calculate a predicted turning route based on ship data representing the ship's position and speed and specified turning conditions, assuming that the ship turns according to the turning conditions, and to generate a display image showing the ship's position and the predicted turning route.

The present invention makes it easy to understand the predicted turning route.

1 is a diagram illustrating an example of the configuration of a ship maneuvering assistance system according to an embodiment. FIG. 4 is a diagram showing an example of a other ship management database. FIG. 1 is a diagram illustrating an example of a configuration of an information processing device according to an embodiment. 5 is a diagram showing an example of a procedure of a ship maneuvering assistance method according to the embodiment; FIG. FIG. 13 is a diagram showing a display example of a predicted turning route. FIG. 13 is a diagram showing a display example of a predicted turning route. FIG. 13 is a diagram showing a display example of a predicted turning route. FIG. 13 is a diagram showing a display example of a predicted turning route. FIG. 13 is a diagram showing a display example of a predicted turning route.

The following describes an embodiment of the present invention with reference to the drawings.

Figure 1 is a block diagram showing an example of the configuration of a ship maneuvering assistance system 100 according to an embodiment. The ship maneuvering assistance system 100 is a system that is installed on a ship and monitors ships present in the vicinity.

In the following explanation, the ship on which the ship maneuvering assistance system 100 is installed will be referred to as the "own ship." In the following explanation, ships present around the own ship will be referred to as the "other ships."

In addition, in the following explanation, "speed" is a vector quantity that represents speed and direction (the so-called ship speed vector), and "speed" is a scalar quantity.

The ship handling assistance 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.

The information processing device 1 is a computer including a CPU, RAM, ROM, non-volatile memory, an input/output interface, etc. The CPU of the information processing device 1 executes information processing according to a program loaded from the ROM or non-volatile memory to the RAM.

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

The display unit 2 is, for example, a display device with a touch sensor. The touch sensor detects a position on the screen pointed to by a finger or the like. The pointed position may be input by a mouse or the like, without being limited to a touch sensor.

The radar 3 emits radio waves around the ship and receives the reflected waves, generating echo data based on the received signals. The radar 3 also identifies targets from the echo data and generates target tracking data (TT data) that represents the target's position and speed.

The AIS (Automatic Identification System) 4 receives AIS data from other ships around the ship or from land-based control. It is not limited to AIS, and VDES (VHF Data Exchange System) may also be used. AIS data includes the position and speed of other ships, etc.

The GNSS receiver 5 detects the ship's position based on radio waves received from the Global Navigation Satellite System (GNSS). The gyrocompass 6 detects the ship's heading. A GPS compass or a magnetic compass may be used instead of a 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 an electronic chart. The ECDIS 7 also displays the ship's planned route on the electronic chart. A GNSS plotter may be used instead of an ECDIS.

The alarm unit 8 issues an alarm when there is a risk of collision between the ship and another ship. The alarm unit 8 may issue an alarm by display, sound, or light, for example. An alarm by display may be issued by the display unit 2. In other words, the display unit 2 may also function as the alarm unit 8.

In this embodiment, the information processing device 1 is an independent device, but is not limited to this and may be integrated with another device such as ECDIS 7. In other words, the functional parts of the information processing device 1 may be realized by another device such as ECDIS 7.

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

In this embodiment, the combination of the GNSS receiver 5 and the ECDIS 7 is an example of a data generation unit, which generates ship data representing the ship's position and speed. Specifically, the GNSS receiver 5 detects the ship's position, and the ECDIS 7 detects the ship's speed from the change in the ship's position over time.

In addition to this, the ship's speed may be detected based on the ship's direction detected by the gyrocompass 6 and the ship's speed detected by a ship speedometer (not shown).

The radar 3 or the AIS 4 is an example of an other ship data generating unit, and generates other ship data that indicates the position and speed of other ships. Specifically, the TT data generated by the radar 3 corresponds to other ship data. The AIS data generated by the AIS 4 also corresponds to other ship data.

Figure 2 is a diagram showing an example of a other ship management database constructed in the memory of the information processing device 1. Other ship data generated by the radar 3 or the 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 "direction." The positions and directions of other ships detected by radar 3 are converted into the same coordinate system as GNSS.

Figure 3 is a diagram showing an example of the configuration of an information processing device 1 according to an embodiment. The information processing device 1 includes a designation reception unit 11, a turning condition calculation unit 12, a turning route calculation unit 13, a risk value calculation unit 14, an alarm determination unit 15, and a display control unit 16. These functional units are realized by the CPU of the information processing device 1 executing information processing according to a program.

The specification receiving unit 11 receives specification of a position such as a target position in an image showing the ship's position displayed on the display unit 2. The position in the image is specified by a touch sensor or a mouse provided on the display unit 2.

The turning condition calculation unit 12 calculates the turning conditions required to reach the target position accepted by the specification acceptance unit 11. The turning condition is, for example, ROT (Rate of Turn). However, the turning condition is not limited to this, and may be a steering angle. In addition to the turning conditions, the turning condition calculation unit 12 also calculates the arrival time required to reach the target position.

The turning path calculation unit 13 calculates a predicted turning path when it is assumed that the ship will turn according to the turning conditions calculated by the turning condition calculation unit 12. The predicted turning path is represented, for example, by an arc corresponding to the calculated ROT. Without being limited to this, the predicted turning path may be a curve based on a K-T model that takes into account the hull characteristics of the ship itself.

The risk value calculation unit 14 calculates a risk value representing the risk of collision between the ship and another ship based on the ship's own data and the other ship data. A known method for displaying the OZT (Obstacle Zone by Target) is used to calculate the risk value.

Specifically, for each judgment point on the predicted course of the other ship, the risk value calculation unit 14 calculates a risk value that represents the risk of collision between the ship and the other ship when it is assumed that the ship changes course and reaches each judgment point, and sets the point where the risk value is equal to or greater than a threshold value as the OZT display point for displaying the OZT.

The alert determination unit 15 outputs an alert command to the warning unit 8 when the risk value calculated by the risk value calculation unit 14 is equal to or greater than the threshold. The alert determination unit 15 also outputs an alert command to the warning unit 8 when an OZT is present on the predicted turning route calculated by the turning route calculation unit 13.

The display control unit 16 generates an image showing the positions of the own ship and the other ships based on the own ship data and the other ship data, and outputs it to the display unit 2. The display control unit 16 also displays the OZT on the predicted course of the other ships based on the risk value calculated by the risk value calculation unit 14. Furthermore, the display control unit 16 also displays the predicted turning route calculated by the turning route calculation unit 13.

Figure 4 is a flow diagram showing an example of the procedure of the ship-maneuvering assistance method according to the embodiment, which is realized in the ship-maneuvering assistance system 100. The information processing device 1 executes the information processing shown in the figure according to a program. Figures 5 to 7 are diagrams showing examples of displaying a predicted turning route.

First, the information processing device 1 generates an image showing the positions of the ship itself, other ships, the OZT, etc., and outputs it to the display unit 2 (S11: processing as the display control unit 16).

Next, the information processing device 1 determines whether or not a target position has been specified in the image displayed on the display unit 2 (S12: processing as the specification receiving unit 11). The target position is specified, for example, by clicking a mouse.

Next, the information processing device 1 calculates the ROT and arrival time required to reach the target position specified in the image displayed on the display unit 2 (S13: processing as the turning condition calculation unit 12). The ROT and arrival time are calculated based on the position of the ship, the speed of the ship, and the specified target position.

Next, the information processing device 1 calculates a predicted turning route assuming that the ship will turn from its current position to the target position according to the ROT calculated in S13, and displays this on the image together with the ship's position, etc. (S14: processing as the turning route calculation unit 13 and the display control unit 16).

As shown in FIG. 5, the predicted turning route is represented by an arc extending from the ship's position toward the ship's bow heading and reaching the target position. In addition to the ship's position and predicted turning route, the image shows turning conditions such as the ROT and arrival time required for turning as numerical values. In addition, the ship's bow heading when it reaches the target position may be shown by a dashed line, etc.

Next, the information processing device 1 determines whether or not a turning start position has been specified in the image displayed on the display unit 2 (S15: processing as the specification reception unit 11). The turning start position is specified on the bow line of the ship.

The turning start position can be specified, for example, by operating the mouse wheel. For example, when the target position is specified by clicking the mouse, operating the mouse wheel specifies the turning start position.

Next, the information processing device 1 calculates the ROT and arrival time required to reach the target position from the turning start position specified in the image displayed on the display unit 2 (S16: processing as the turning condition calculation unit 12). The ROT and arrival time are calculated based on the ship's position, ship's speed, turning start position, and target position.

Next, the information processing device 1 calculates a predicted turning route assuming that the ship turns from the turning start position to the target position according to the ROT calculated in S16, and displays this on the image together with the ship's position, etc. (S17: processing as the turning route calculation unit 13 and the display control unit 16).

As shown in Figure 6, the predicted turning course is represented by an arc that extends from the turning start position toward the bow heading and reaches the target position. In addition to turning conditions such as the ROT and arrival time required for turning, the image also shows the time until the turn begins as a number. The arrival time is the sum of the time to reach the turning start position from the current position and the time to reach the target position from the turning start position.

Next, the information processing device 1 determines whether or not there is an OZT on the predicted route that can be reached within a predetermined time, and if such an OZT exists, outputs an alert command to the alarm unit 8 (S18, S19: processing as the alert determination unit 15). When the alarm unit 8 receives the alert command, it issues an alert.

Specifically, when the information processing device 1 has not received a designation of a target position (S12: NO), it determines whether or not there is an OZT on the bow line of the ship that can be reached within a specified time. On the other hand, when the information processing device 1 has received a designation of a target position, etc. and calculated a predicted turning route, it determines whether or not there is an OZT on the predicted turning route that can be reached within a specified time (see Figure 7).

As shown in FIG. 7, for example, an alarm is issued by highlighting the symbol of the other ship on the display unit 2, which also serves as the alarm unit 8, by adding a frame around the symbol to indicate that it is the subject of an alarm. The alarm command is a display command for highlighting the symbol. It is not limited to this, and the color of the predicted turning route may be changed or the symbol may be made to blink.

According to the embodiment described above, when a target position is specified, the predicted turning route, ROT, and arrival time to reach the target position are displayed, making it possible to assist in making decisions when maneuvering to avoid collisions.

The following describes the modified examples.

Figure 8 shows an example of a display according to a modified example. In this example, a passable area is displayed that spreads out to starboard and port sides as one moves toward the bow using the ship as a reference. Specifically, a pair of arcs are displayed on the left and right, representing the upper limit of the ROT, and the area between them is the passable area. The passable area may be displayed in a different color or other way to distinguish it from other areas.

The arc representing the upper limit of the ROT corresponds to the predicted turning route when the ROT is at the upper limit. Specifically, the turning condition calculation unit 12 specifies the upper limit of the ROT, and the turning route calculation unit 13 calculates the predicted turning route when it is assumed that the ship turns according to the upper limit of the ROT as the arc representing the upper limit of the ROT.

The upper limit of the ROT corresponds to the upper limit of the ship's turning performance. In other words, the upper limit of the ROT may be the upper limit of the ROT at which the ship can actually turn, or it may be an artificial upper limit of the ROT that is preset so as not to reach that limit.

Figure 9 shows a display example according to another modified example. In this example, multiple predicted turning routes are displayed, each corresponding to multiple ROTs that change in stages. A pair of predicted turning routes, one on each side, corresponding to each ROT, spread out in the port and starboard directions as they move toward the bow with the ship as the base, and the larger the ROT, the wider the route becomes.

Specifically, the turning condition calculation unit 12 specifies multiple ROTs that change in stages, and the turning route calculation unit 13 calculates a predicted turning route for each of the multiple ROTs when it is assumed that the ship turns according to the specified ROT.

The multiple predicted turning routes corresponding to the multiple ROTs may be displayed with different colors or dashed lines. Also, each predicted turning route may be marked with a scale according to the arrival time or passing distance.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications are possible for those skilled in the art.

Reference Signs List 1 Information processing device, 2 Display unit, 3 Radar, 4 AIS, 5 GNSS receiver, 6 Gyrocompass, 7 ECDIS, 8 Alarm unit, 11 Designation reception unit, 12 Turning condition calculation unit, 13 Turning route calculation unit, 14 Risk value calculation unit, 15 Alert determination unit, 16 Display control unit, 100 Ship maneuvering support system

Claims (13)

a data generating unit for generating vessel data representing a position and a velocity of the vessel;
a turning route calculation unit that calculates a predicted turning route based on the ship data and specified turning conditions when it is assumed that the ship turns according to the turning conditions;
a display unit that displays an image showing the position of the ship and the predicted turning course;
Equipped with
The turning condition is ROT (Rate of Turn),
the turning route calculation unit calculates a plurality of predicted turning routes having a common turning start position corresponding to the plurality of ROTs that change stepwise,
The display unit displays an image showing a plurality of the predicted turning routes.
Ship steering assistance system. A turning condition calculation unit is further provided for calculating a turning condition required to reach a specified target position as the turning condition.
The ship steering assistance system according to claim 1 . a designation receiving unit configured to receive designation of the target position in an image showing the position of the ship displayed on the display unit,
The ship-steering assistance system according to claim 2 . A turning condition calculation unit is further provided for calculating, as the turning condition, a turning condition required for reaching a specified target position from a specified turning start position.
The ship steering assistance system according to claim 1 . a designation receiving unit that receives designation of the turning start position and the target position in an image showing the position of the ship displayed on the display unit,
The ship-steering assistance system according to claim 4. The turning condition is a condition corresponding to an upper limit of the turning performance of the vessel.
The ship steering assistance system according to claim 1 . The turning condition calculation unit calculates a time required to reach the target position together with the turning condition.
The ship-steering assistance system according to claim 2 . an other ship data generating unit that generates other ship data representing the positions and speeds of other ships;
a risk value calculation unit that calculates, for each point on the predicted course of the other ship based on the ship data and the other ship data, a risk value representing the risk of collision between the ship and the other ship when it is assumed that the ship changes course and reaches each point, and sets points where the risk value is equal to or greater than a threshold as OZT display points for displaying an OZT (Obstacle Zone by Target);
an alarm unit that issues an alarm when the OZT that can be reached within a predetermined time is on the predicted turning route;
Further comprising:
A ship-steering support system according to any one of claims 1 to 7 . The data generating unit includes a GNSS receiver mounted on the ship and configured to detect the position of the ship based on radio waves received from a Global Navigation Satellite System (GNSS).
9. A ship-steering assistance system according to claim 1. the other ship data generating unit includes a radar mounted on the ship and configured to detect the position and speed of the other ship from echo data generated by receiving reflected waves of radio waves emitted around the ship,
The ship-steering assistance system according to claim 8 . A data generating unit generates ship data representing a position and a speed of the ship;
Calculating a predicted turning course based on the vessel data and specified turning conditions when it is assumed that the vessel will turn according to the turning conditions;
displaying an image showing the vessel's position and the predicted turning course;
A ship maneuvering assistance method, comprising:
The turning condition is ROT (Rate of Turn),
The calculation includes calculating a plurality of predicted turning routes having a common turning start position corresponding to the plurality of ROTs that change stepwise,
The display displays a plurality of images showing the predicted turning paths.
Navigation aids. a turning route calculation unit that calculates a predicted turning route based on ship data representing a position and a speed of a ship and a specified turning condition when it is assumed that the ship turns according to the turning condition;
a display control unit that generates a display image showing the position of the vessel and the predicted turning course;
Equipped with
The turning condition is ROT (Rate of Turn),
the turning route calculation unit calculates a plurality of predicted turning routes having a common turning start position corresponding to the plurality of ROTs that change stepwise,
The display control unit generates a display image showing a plurality of the predicted turning routes .
Information processing device. calculating a predicted turning course based on vessel data representing a position and a speed of a vessel and a specified turning condition when the vessel is assumed to turn according to the turning condition;
generating an image for display showing the vessel position and the predicted turning path;
on the computer ,
The turning condition is ROT (Rate of Turn),
The calculation includes calculating a plurality of predicted turning routes having a common turning start position corresponding to the plurality of ROTs that change stepwise,
The generating step generates a display image showing a plurality of the predicted turning paths .
program.

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