Patent Grant
8423278
This application claims priority under 35 U.S.C. §119 to Japanese Patent Application No. 2008-295654, which was filed on Nov. 19, 2008, the entire disclosure of which is hereby incorporated by reference.
The present invention relates to a navigation aid method, device, and program for aiding navigation by calculating and displaying a spatial relationship between a ship and a target object on a course of the ship while the ship is traveling.
Normally, a ship displays, based on information acquired from a radar device, a positioning device, an azimuth detection device and the like equipped on the ship and information acquired from an Automatic Identification System (AIS) equipped on another ship, positions, speeds, and moving directions of the ship concerned and another ship by a display module of the radar device or an Automatic Radar Plotting Aids (ARPA). The ARPA displays the position and the moving direction of another ship with respect to the information on the ship concerned by the display module, and automatically issues an alert when a danger situation, such as a possible collision with another ship, occurs.
For the traveling of the ship concerned, if coastlines and non-route ocean areas are also included in the obstacle object to be considered, information which benefits the navigation, such as nautical chart information and non-route ocean area information may also be required. Ship operators are requested to perform a check of a collision preventive action requirement, which is to check whether the ship concerned should take a collision preventive action against the obstacle object, such as another ship, a coastline, and a non-route ocean area, which can be an obstacle to the traveling of the ship concerned (hereinafter, referred to as an “obstacle candidate”). The ship operators are also required to evaluate and check the validity over selection of a course, a speed and the like for collision-prevention (hereinafter, referred to a “collision preventive action plan”). For this reason, a simulation calculation for estimating a spatial relationship between the ship concerned and the target object, such as another ship, which can be as an obstacle to the ship concerned in future is typically performed (hereinafter, referred to as “trial calculation”). The result is displayed by a display module to allow the ship operators to perform the above-described check.
A conventionally common display method for navigation is shown in
However, for an obstacle candidate which is located long-distance from the ship concerned (which is indicated as an image far away from the canter of the display screen), it may be difficult to accurately determine whether it is an obstacle candidate just by seeing the screen unless the ship concerned approaches closer to the obstacle candidate. On the crowded route, because many obstacle candidates are typically displayed, it is a great burden for the ship operators to find a true obstacle object quickly and accurately from the displayed information under such a situation.
In order to reduce the burden, the ARPA issues a collision alert automatically. Note that there are some errors in the speed and the moving direction of the ship concerned, the position of the obstacle candidate detected by the radar device, and the position and speed information of other ships acquired from the Automatic Identification Systems equipped on the other ships, respectively. Therefore, it is desired to provide another innovative navigation aid system in addition to the ARPA alert.
Further, the ship operators have to determine an obstacle object quicker and accurately on the course of the ship concerned from two or more images (i.e., two or more obstacle candidates) displayed on the display, and then have to determine when to perform what kind of course change and speed change are to be made against the obstacle objects. That is, an effective device for aiding such determination by the ship operators is desired.
For the art relevant to the above described technique, the art disclosed in JP 2005-289284(A) is known. A configuration of this art is shown in
The art disclosed in JP 1997-287976(A) performs a trial calculation for estimating positions of the ship concerned and another ship for every predetermined lapsed time when the ship concerned is traveling according to the collision preventive action plan for evading maneuver, and displays the result. Thereby, the validity of the collision preventive action plan is evaluated and checked.
As shown in
Meanwhile, the method of calculating and displaying the estimated positions of the ship concerned and obstacle in future as shown in
Note that the predetermined lapsed time is normally fixed to a time which is determined based on characteristic values, such as a rate of ship's turning (course change rate: degree/second) and a rate of ship speed change (knot/second) stored in advance as transcendental information which are unique to the ship. Specifically, a completion time of the turning is estimated by dividing a difference between the current course and a course set for the collision preventive action by the turning rate, and a completion time of the speed change is estimated by dividing a difference between the current ship speed and a ship speed set for the collision preventive action by the speed change rate. Whichever longer of the turning completion time or the speed change completion time is determined as the predetermined lapsed time.
The art disclosed in JP 2005-289284(A) makes easier the detection for existence of the obstacle to take collision preventive action and the creation of the collision preventive action plan, as well as the distance and azimuth of the disturbed zone and the estimated time of arrival (ETA) at the disturbed zone can be obtained. However, this art cannot grasp the spatial relationship between the ship concerned located at an intermediate position on the course and another ship. Therefore, it is not sufficient to check the validity of how much safely the sip concerned can avoid the obstacle according to the collision preventive action plan (i.e., the settings of the course and speed).
The art disclosed in JP 1997-287976(A) is a continuous epoch display technique in which dynamic relations of positions of the ship concerned and obstacle are displayed in a time-series manner. For this reason, it excels in that the relative position of the ship concerned and obstacle can be visually grasped on a screen and the lapsed time Δt and the display update period Td can be set arbitrarily.
However, it is difficult to carry out the trial calculation (simulation) before and after the time at which the ship operators should most carefully check the safety, that is, the time in future at which the ship concerned S and an obstacle object T1 are expected to approach the closest and before or after that time for acquiring information such as the distance at that time.
When setting an arbitrary future time and calculating and displaying positions of the ship concerned and the target object before and after the future time, there may be a possibility that the calculated future position of the ship concerned and its correct position deviate.
The present invention is made in view of the above-described situations, and provides a navigation aid method, device, and program that carry out a trial calculation of positions of a ship concerned and an obstacle at a time concerned after setting the time concerned in which a ship operator is interested, under a current traveling condition by which the ship operator determines the necessity for a collision preventive action and a collision preventive action plan (including collision preventive conditions, such as a course, a speed, and a change time of the course and/or speed of the ship) set for the collision preventive action. Thereby, the navigation aid method, device, and program can calculate and display positional information on the ship concerned and a spatial relationship between the ship concerned and the target object other than the ship concerned with a sufficient accuracy as possible.
According to an aspect of the invention, a navigation aid device includes a calculation time setting module for setting two or more calculation points of time for calculating trial information, a ship-concerned information acquisition module for acquiring ship-concerned information including a position of a ship concerned at every predetermined ship-concerned information acquisition time, and a ship-concerned trial information calculating module for calculating ship-concerned trial information including the position of the ship concerned at each calculation point of time based on the ship-concerned information acquired at the newest information acquisition time with respect to the calculation point of time.
The navigation aid device may further include a display module for displaying the position of the ship concerned at least one of the calculation points of time among the calculation points of time so as to correspond to the position on a screen, a display time setting module for setting a display point of time at which the position of the ship concerned is displayed so as to correspond to each calculation point of time, and a display control module for causing the display module to display at each display point of time the position of the ship concerned at each calculation point of time corresponding to the display point of time.
The ship-concerned information acquisition module may acquire the ship-concerned information before each display point of time.
The navigation aid device may further include a target-object information acquisition module for acquiring target-object information including a position of a target object other than the ship concerned at every predetermined target-object information acquisition time, and a target-object trial information calculating module for calculating target-object trial information including the position of the target object at each calculation point of time based on the target-object information acquired at the newest information acquisition time with respect to the calculation point of time. The display control module may cause the display module to display at each display point of time the position of the target object at each calculation point of time corresponding to the display point of time.
The target-object information acquisition module may acquire the target-object information before each display point of time.
The navigation aid device may further include an information acquisition control module for controlling whether the ship-concerned information acquisition module and the target-object information acquisition module acquire the ship-concerned information and the target-object information before each display point of time, respectively.
The ship-concerned information may include at least one of a speed and a bearing of the ship concerned.
The target-object information may include at least one of a moving speed and a moving direction of the target object.
The target-object information acquisition module may include a stationary target object memory module for storing a position of a stationary target object, the position of which does not change with time.
The ship-concerned information acquisition module may include a ship-concerned information input module for inputting the ship-concerned information, and a ship-concerned information storing module for storing the ship-concerned information and outputting the ship-concerned information according to a request from the ship-concerned trial information calculating module.
The target-object information acquisition module may include a target-object information input module for inputting the target-object information, and a target-object information storing module for storing the target-object information and outputting the target-object information according to a request from the target-object trial information calculating module.
The navigation aid device may further include an alert determination module for comparing a ship-concerned/target-object relation defined by information including the position of the ship concerned and the position of the target object at each calculation point of time with an alert condition including a predetermined spatial relationship between the ship concerned and the target object, and outputting a signal when the ship-concerned/target-object relation falls under the alert condition.
The ship-concerned/target-object relation may include a course of the ship concerned and a moving direction of the target object in addition to the position of the ship concerned and the position of the target object.
The display module may display the position of the target object fell under the alert condition at a calculation point of time when the ship-concerned/target-object relation falls under the alert condition based on the signal so that the position of the target object can be discriminated form a displayed position of the target object at another calculation point of time.
The calculation time setting module may set the calculation point of time based on a calculation time interval from a calculation start time at which the calculation starts and a calculation start time defined by the reference time and a lapsed time.
The calculation time setting module may set the calculation point of time based on the reference time and a lapsed time from the reference time.
The calculation time setting module may include an object moving module for causing a movement of a peripheral part of a cylindrical or spherical object in response to an external force being applied, and a time setting module for setting the lapsed time and the calculation time interval corresponding to an amount of the movement to set the calculation point of time.
According to another aspect of the invention, a navigation aid method includes setting two or more calculation points of time for calculating trial information, acquiring ship-concerned information including a position of a ship concerned at every predetermined ship-concerned information acquisition time, calculating ship-concerned trial information including the position of the ship concerned at each calculation point of time based on the ship-concerned information acquired at the newest information acquisition time with respect to the calculation point of time, setting a display point of time at which the position of the ship concerned is displayed so as to correspond to each calculation point of time, displaying at each display point of time the position of the ship concerned at each calculation point of time corresponding to the display point of time, and displaying the position of the ship concerned at least one of the calculation points of time among the calculation points of time so as to correspond to a display position.
The navigation aid method may further include acquiring target-object information including a position of a target object other than the ship concerned at every predetermined target-object information acquisition time, and calculating target-object trial information including the position of the target object at each calculation point of time based on the target-object information acquired at the newest information acquisition time with respect to the calculation point of time. The displaying at each display point of time the position of the ship concerned may include displaying at each display point of time the position of the target object at each calculation point of time corresponding to the display point of time.
According to another aspect of the invention, a navigation aid program includes a means for causing a computer to input two or more calculation points of time for calculating trial information, a means for causing the computer to input ship-concerned information including at least one of a position, a speed, and a bearing of a ship concerned at every predetermined ship-concerned information acquisition time, a means for causing the computer to calculate ship-concerned trial information including the position of the ship concerned at each calculation point of time based on the ship-concerned information acquired at the newest information acquisition time with respect to the calculation point of time, a means for causing the computer to input target-object information including at least one of a position, a moving speed, and a moving direction of a target object other than the ship concerned at every predetermined target-object information acquisition time, a means for causing the computer to calculate target-object trial information including the position of the target object at each calculation point of time based on the target-object information acquired at the newest information acquisition time with respect to the calculation point of time, and a means for causing the computer to display at each display point of time the position of the target object at each calculation point of time corresponding to the display point of time.
The present disclosure is illustrated by way of example and not by way of limitation in the figures of the accompanying drawings in which the like reference numerals display like elements and in which:
Several embodiments of a navigation aid device according to the present invention will be described with reference to the appended drawings.
The term used herein “time” may be an absolute time on a certain day of month (i.e., 13:45:56), or may be a relative time after a predetermined time lapsed from the current time or a certain reference time. In any case, the time means a timing to calculate in this embodiment.
The trial condition input module 11 determines how many seconds later a position of the ship concerned will be displayed from a certain reference time T (e.g., current time), and, thus, this time setting is inputted. Of course, the calculation point of time may be determined as a relative time based on the current time as described above, or may be inputted as an absolute time, such as ZULU time or GMT. This serves as the calculation start time.
When a calculation time interval which is an interval of displaying the future position of the ship concerned after the calculation start time in seconds is inputted, the calculation time setting module 12 also sets calculation points of time after the calculation start time (tc=tc0, tc1, tc2, . . . ). The calculation time interval ti may be fixed to a constant value (e.g., a constant interval of 60 seconds). Alternatively, by using an external input device, such as a trackball, a moving length of the perimeter of the trackball and the time interval are made to correspond to each other to appropriately determine each calculation point of time which is at an arbitrary time after the calculation start time.
On the other hand, the ship-concerned information acquisition module 13 acquires ship-concerned information for every predetermined ship-concerned information acquisition time. The ship-concerned information is information necessary for calculation and display of the position of the ship concerned at each set calculation point of time. The information includes, but not limited to, the position, speed, and heading of the ship concerned. When the ship speed changes and the information is known, the information may also be acquired.
The ship-concerned information may include GPS information, and heading and speed information of the ship concerned. These information are acquired at a predetermined time (for example, a predetermined cycle or an absolute time) and are outputted to the trial information calculating module 14. The information may be acquired in response to a request from the trial information calculating module 14 to be outputted to the trial information calculating module 14.
The trial information calculating module 14 calculates information necessary for navigation, such as the position, speed, and heading of the ship concerned, at each calculation point of time set by the calculation time setting module 12 based on the ship-concerned information, as trial information. In this case, if the trial information at all of the predetermined calculation points of time are calculated and displayed at once and, the trial information calculating module 14 may calculate these information based on the same ship-concerned information as having been acquired at a certain single time.
However, in navigation, movement of a target object other than movement of the ship concerned is calculated and displayed to observed a relation between the ship concerned and the target object, such as a relative position and direction. The trial calculation is repeated in many cases while changing the conditions of the ship concerned. The positions of the ship concerned corresponding to all of the calculation points of time may not be calculated at once, but may be calculated at predetermined time intervals. For example, one may desire to display the positions of the ship concerned at the calculation points of time at predetermined time intervals (hereinafter, referred to as “display time intervals”).
Even in such a case, it is necessary to consider the positions of the ship concerned and the target object which change every moment and to reduce deviation of the result of the ship concerned at a future time from the actual future position. According to this embodiment, upon calculating the information on the positions of the ship concerned at the calculation points of time, the timing is based on the suitable time for the calculation. Therefore, the trial calculation of the information on the positions of the ship concerned can be carried out based on the newest-acquired ship-concerned information. Thereby, the deviation can be reduced.
Next, another embodiment of the navigation aid device will be described.
The basic configuration of this embodiment is substantially the same as that of the previous embodiment shown in
Referring to
Here, the navigation aid device of this embodiment acquires ship-concerned information at a reference time T=0 (i.e., position, speed, and heading information of the ship concerned which are required to calculate the future position of the ship at a calculation point of time tc). However, in this embodiment, the ship-concerned information is not used for calculation of the future position of the ship concerned at a display point of time tm. For example, at the display point of time tm10, a predetermined time has already passed from the reference time td=0, and at this point, the position of the ship concerned may already be deviated significantly from the actual position. Thus, in this embodiment, information required to calculate the position of the ship concerned at the calculation point of time tc10 corresponding to the display point of time tm10 is acquired again immediately before the display point of time tm10. Based on the ship-concerned information acquired at this time point, i.e., at the ship-concerned information acquisition time td=tm10 (td will be slightly before tm10 because calculation takes a predetermined period of time in fact), the position of the ship concerned at the calculation point of time tc10 is calculated and displayed.
Next, a modified embodiment of Embodiment 2, in which the setting of the ship-concerned information acquisition time td is changed will be described with reference to
Although only the positions the ship are described as objects to be calculated and displayed, a speed and a heading of the ship may also be calculated and these information may be combined to be displayed as a vector. Especially, as Embodiment 6 described later, this may be useful when the trial calculation is carried out to display the calculation result while changing a target speed and a target heading of the ship concerned.
Next, another embodiment of the navigation aid device is described with reference to
As shown in
The acquiring information related to the target object includes a moving speed and a moving direction if the target object is a moving object, such as another ship, as well as its position. The information may be detection information by radar equipped on the ship concerned, AIS (Automatic Identification System) information, etc. For a stationary target object, its information may be stored in advance as a nautical chart in a memory.
In
In this embodiment, for the calculation points of time from tc0 to tc9 corresponding to the display points of time from td=0 to tm9, the positions of the ship concerned and target object are calculated using the ship-concerned information and the target-object information both acquired at td=0. For the display points of time tc10 and tc11, the ship-concerned information updated at tm10 and the target-object information updated at tm0 are used. For tm12 or later time, the ship-concerned information and the target-object information updated at tm12 are used. In this embodiment, although the case where the ship-concerned information acquisition time and the target-object information acquisition time are different from each other is described as an example, they may be the same time.
The time chart shown in
In this embodiment, the ship-concerned information acquisition module 43 includes a ship-concerned information input module 431 and a ship-concerned information storing module 432, and the target-object information acquisition module 47 includes a target-object information input module 471 and a target-object information storing module 472. The ship-concerned information input module 431 acquires information on the ship concerned and the target-object information input module 471 acquires target-object information at appropriate timings, respectively.
The ship-concerned information may include GPS (Global Positioning System) information, ship speed and heading information of the ship concerned. For target-object information, such as another ship, it may include detection information by radar equipped on the ship concerned and information by MS (Automatic Identification System) from another ship. For a stationary target object, such as land, the information may include a nautical chart. These information are not necessarily acquired at the same timing but may be acquired at a convenient timing for each. The acquired ship-concerned information and target-object information are stored in the ship-concerned information storing module 432 and the target-object information storing module 472, respectively.
As shown in
Next, another embodiment of the navigation aid device will be described with reference to
This embodiment is different from Embodiment 3 shown in
Next, with reference to
As contrasted with Embodiment 5 shown in
Meanwhile, after the target speed and the target heading are set, it is also necessary to set a change rate of acceleration and deceleration and a change rate of course. For these information, every ship typically has unique values and are typically registered or stored in a memory in advance.
The flowchart shown in
Both of
In Embodiment 3, the trial calculation is carried out, while appropriately changing the calculation points of time and the display points of time which are the results of the calculation by the trial condition input module 61. However, for the navigation information including the target speed and the target heading of the ship concerned, the trial calculation is not intended to be carried out by changing the ship's settings except for the case in which the settings change according to the result of the trial calculation. On the other hand, in this embodiment, the trial calculation can be carried out while changing the settings of navigation information on the ship concerned by the ship-concerned travel setting module 69 in addition to changing of the calculation points of time and the display points of time. Even in this case, because the necessary information, such as the positions, are calculated while always updating the information on the positions of the ship concerned and the target object, the calculation accuracy can be improved even when the trial calculation takes time.
Note that, in this embodiment, in order to simplify the description, the description is made to contrast with Embodiment 3; however, the ship-concerned travel setting module 69 may be added similarly to the configurations of other embodiments, such as Embodiment 4 or 5, for example.
Next, the results of the trial calculation of the ship concerned and the target object (e.g., another ship) according to the navigation aid device will be described with reference to display examples according to the navigation aid device of the embodiments shown in
In
First, the positions of both the ship concerned and another ship are calculated at the calculation point of time tc1=600 sec (here, the reference time T=tc0=0, and will be displayed based on the lapsed time from that time). Then, in order to display the calculation results immediately after that, the ship-concerned information on a position, a speed, and a heading of the ship concerned at the reference time (i.e., current time) is acquired by the ship-concerned information acquisition module 43 (the time corresponding to the symbols indicated by “♦” in the drawing). Here, the position of the ship concerned is acquired based on the GPS information and the ship speed and heading are acquired based on the information set in the ship concerned. Further, a position, a moving speed, and a moving direction of another ship are acquired based on the radar and AIS information.
After 60 seconds from the first display, the trial calculations are carried out for the positions of the ship concerned and another ship at an interval of 5 seconds, and the calculation results are displayed. Here, the necessary information on the ship concerned and another ship is newly acquired for display information at next 10 seconds (i.e., 10 seconds after the first information acquisition) (the second “♦” from the lower left in the drawing). Similarly, for the display information at 10 seconds later and 15 seconds later, the positions of the ship concerned and another ship are calculated based on the newly acquired information. The time acquisition of the ship-concerned information and another-ship information and the trial calculations based on these information are repeated similarly.
The positions calculated without acquiring the ship-concerned information necessary for the trial calculation at the time concerned are indicated by “●” in the drawing. This display example shows the case where the acquisition time of the ship-concerned information (10-second cycle) differs from the acquisition time of another-ship information (25-second cycle).
As shown in
In fact, when newly carrying out the trial calculation, the actual heading of the ship concerned may have already been changed. Therefore, as shown in the drawing, the new results of the trial calculation may differ from the actual result. According to the navigation aid device of this embodiment, because the positions of the ship concerned and the target object are calculated while acquiring the newest positional information during the trial calculation, more accurate trial calculation is possible.
In the display examples shown in
In
Hereinbelow, another embodiment of the navigation aid device will be described with reference to
In
The information generating module 71 generates positions, speeds, and moving directions of the ship concerned and the target object to be an obstacle candidate. Here, the positions of the ship concerned and the obstacle candidate may be generated and managed by absolute positions, or the position of the obstacle candidate may be generated and managed by a relative position with respect to the ship concerned. If managing by the absolute positions, the position and the speed of the ship concerned can be generated using GPS information 83 from a GPS positioning device and the position of another ship can be generated based on AIS information 82 received from another ship.
If managing by the relative positions with respect to the ship concerned, the position of the obstacle candidate can be generated based on radar information 81. In this case, a velocity vector of the ship concerned is generated using the GPS information 83 and azimuth information 84 from a compass device. A velocity vector of another ship among the obstacle candidates can be obtained from the AIS information 82. Alternatively, the velocity vector of another ship may be generated based on the velocity vector of the ship concerned and time-sequential changes of the obstacle candidate acquired from the radar information 81.
A position of the obstacle candidate which do not move (i.e., stationary), such as a coastline or non-route ocean area, can be generated based on nautical chart information. Here, the radar information 81 may be information acquired from an Automatic Radar Plotting Aids (ARPA), or may be used together with the radar information 81. When using the information from the ARPA and a collision alert is included in the information, the information may be transmitted to the display control module 74 via the information generating module 71.
The input module 72 is a module at which input settings of information, such as a trial calculation request signal for requiring to perform trial calculation for estimating spatial relationships between the ship concerned and another ship at arbitrary future points of time, lapsed times from the trial calculation, and collision preventive conditions for collision preventive action plans, are carried out based on the information from the information generating module 71. Here, by the input of the lapsed time from the trial calculation, an evading maneuver state of the ship concerned against the obstacle (closest approach distance and its time) can be observed easily and quickly by using an input device, such as the trackball.
From the input module 72, obstacle selection information for selectively extracting an obstacle object to limit the obstacle object to perform the trial calculation among the obstacle candidates from the information generating module 71 may be inputted. This obstacle selection information may be inputted using a touch-panel display screen of the display module 75.
When the trial calculation request signal is received from the input module 72, the trial calculation module 73 performs the trial calculation of the spatial relationship between the ship concerned and the obstacle at an arbitrary lapsed time from the current time based on the information from the information generating module 71. Besides the spatial relationship between the ship concerned and the obstacle candidate, the trial calculation module 73 also calculates and displays the closest approach distance and the closest approach time. Although the trial calculation by the trial calculation module 73 may be started in response to the trial calculation request signal by the ship operators, it may be started in response to a signal generated based on external information, such as ARPA, for example.
In a trial calculation display mode for displaying the trial calculation results, the display control module 74 generates display data for displaying the spatial relationship between the ship concerned and the obstacle calculated by the trial calculation module 73 and its control signal. In a normal display mode, the display control module 74 generates display data for displaying the information generated by the information generating module 71 and its control signal.
The display module 75 displays the display data generated by the display control module 74 according to the trial calculation display mode or the normal display mode. In the trial calculation display mode, every time inputting the lapsed time, the display of the position of the ship concerned and the obstacle at the last-inputted lapsed time display and the display of the position at the past lapsed time can be discriminated from each other by any of their color phases, chroma saturation, and brightness. However, in this case, the trial calculation result of the lapsed time for every input is stored in the trial calculation module 73 or the display control module 74. The display control module 74 may be necessarily added with a control function so that the trial calculation result of every lapsed time can be identified.
That is, in order to be able to observe the ship concerned S and the obstacle object T1 in detail, it is necessary to set Δt small. On the other hand, if Δt is made smaller and if the time in which the ship operators are highly interested is quite far future from the start of the trial calculation, previous t(i), the validity of the collision preventive action plan cannot be evaluated until time comes after the start. This waiting time is determined by (t(i)/Δtx*display update period Td). It may be difficult for the operators to keep staring at the display screen until the arrival of the time, while the ship traveling in a congested ocean area. In order to reduce the waiting time, the display update period Td must be made smaller. By doing this, the most interesting time for the ship operators can be reduced. However, because the trial position at the lapsed time t(i) is displayed only for a very short period of time, the ship operators cannot observe the position in plenty of time.
In order to avoid this disadvantage, it is possible to change the lapsed time Δt and the display update period Td in the middle of the trial calculation for the collision prevention. However, this change is not preferred because the display before and after the change will be discontinuous to make the evaluation even difficult.
In the single epoch display method, only the trial position after a time to be determined by data, such as a turning rate (degree/second) and a speed change rate (knot/second) stored in advance as transcendental information unique to the ship, is calculated and, thus, a relative spatial relationship between the ship concerned and the obstacle before and after that time cannot be displayed. For this reason, at the most interesting time (or place) for the ship operators, it cannot evaluate and check correctly about how much safely the ship concerned can avoid the obstacle.
Because the conventional ARPA detects an obstacle automatically during the travel of the ship concerned, and an alert is issued or displayed at the time of detection, the ship operators perform evading maneuver after receiving the alert. For this reason, the ship operators cannot determine whether an object will be an obstacle. In addition, the detection of an obstacle which requires the evading maneuver is significantly dependent on the obstacle detection performance of ARPA.
Next, the display examples of the trial calculation result are described with reference to
In such a case, in this embodiment, following the input value t1 of the lapsed time, t2 and t3 are inputted, the trial calculation module 73 performs the trial calculations of the positions of the ship concerned S and another ship T1 corresponding to t2 and t3 to display the calculation results. As a result, the ship operators can visually determine easily whether the ship concerned S will collide with another ship T1, or how far the ship concerned can avoid another ship T1.
In the case of
As a result of the trial calculation for checking the collision preventive action requirement, if the trial calculation for the collision preventive action plan has to be performed for evading maneuver, at least any of the course and speed of the ship concerned, and the trial start time is inputted. For the variable of which settings changed, they are calculated for another ship T1 and the ship concerned S at each lapsed time, and the results are displayed by the display module 75.
Also in the case of the trial calculation for the collision preventive action plan, similar to the case of the trial calculation for checking the collision preventive action requirement, the positions of another ship T1 and the ship concerned S are calculated at the lapsed time which can be set as an arbitrary value to enable the display of these positions. As a result, the settings of the collision preventive action plan and their validity will be easy checked.
In
According to the embodiments above, for example, the trial calculation for checking the collision preventive action requirement or the collision preventive action plan can be carried out by the ship operators' own determination without depending on the collision preventive warning (including disturbed zones by other ships) information from an external device, such as ARPA. Especially, by the ship operators inputting their interesting time using an input device, such as a trackball, the spatial relationship between the ship concerned and the obstacle at an arbitrary lapsed time and the time before and after that can be displayed simply and quickly as the results.
In the embodiments, because the ship operators selectively extracts an obstacle object from a displayed image and causing to perform the trial calculation for checking the collision preventive action requirement for the extracted obstacle object and then to display the calculated results, it makes easier to determine the collision preventive action requirement. Also for the collision preventive action plan created by various combination of the course and speed of the ship concerned and their change time, the ship operators can cause the calculation of the positions of the ship concerned and the obstacle at the most interesting lapsed time and before and after that, and to display the results. Thereby, the optimal collision preventive action plan can be determined quickly.
In the foregoing specification, particular embodiments of the present invention have been described. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the present invention as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative sense rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present invention. The benefits, advantages, solutions to problems, and any element(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as critical, required, or essential features or elements of any or all the claims. The invention is defined solely by the appended claims including any amendments made during the pendency of this application and all equivalents of those claims as issued.
Moreover in this document, relational terms such as first and second, top and bottom, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” “has,” “having,” “includes,” “including,” “contains,” “containing” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises, has, includes, contains a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by “comprises . . . a,” “has . . . a,” “includes . . . a,” “contains . . . a” does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises, has, includes, contains the element. The terms “a” and “an” are defined as one or more unless explicitly stated otherwise herein. The terms “substantially,” “essentially,” “approximately,” “about” or any other version thereof, are defined as being close to as understood by one of ordinary skill in the art, and in one non-limiting embodiment the term is defined to be within 10%, in another embodiment within 5%, in another embodiment within 1% and in another embodiment within 0.5%. The term “coupled” as used herein is defined as connected, although not necessarily directly and not necessarily mechanically. A device or structure that is “configured” in a certain way is configured in at least that way, but may also be configured in ways that are not listed.
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