WO2018150091A1

WO2018150091A1 - Vessel control system and method for controlling a vessel

Info

Publication number: WO2018150091A1
Application number: PCT/FI2018/050105
Authority: WO
Inventors: Sauli SIPILÄ; Oskar Levander
Original assignee: Rolls Royce Oy AB
Current assignee: Kongsberg Maritime Finland Oy
Priority date: 2017-02-15
Filing date: 2018-02-14
Publication date: 2018-08-23
Anticipated expiration: 2019-08-15
Also published as: FI130246B; FI20175131L; FI20175131A7

Abstract

According to an aspect, there is provided a vessel control system comprising a display configured to display electronic navigation chart data and a virtual vessel providing a virtual representation of a vessel; moving means for moving the virtual vessel; fixing means for fixing the moving means into a fixed position in relation to the display above the display; detecting means for detecting movement caused with the moving means; a processing unit (302) configured to detect activation of a virtual vessel moving mode, the activation indicating a starting position for the virtual vessel;receive signals from the detecting means, the signals being indicative of movement caused with the moving means;determine, based on signals received from the detecting means, direction of the movement;move the virtual vessel on the display along a path in response the determination;detect deactivation of the virtual vessel moving mode, the deactivation indicating an ending position for the virtual vessel; and cause transmission of control instructions to move the vessel along the path.

Description

VESSEL CONTROL SYSTEM AND METHOD FOR CONTROLLING A VESSEL

BACKGROUND

Field:

The invention relates to controlling a marine vessel. In particular, the invention relates to controlling a path of the vessel.

Description of the Related Art:

There exist modern systems where a virtual vessel on a chart display can be moved to a desired position via a desired route in a desired orientation. A specific symbol can be drawn on the display to represent the virtual vessel. In such a system, the vessel does not necessarily start moving immediately, but a separate command may be given to actually execute the motion previously carried out with the virtual vessel.

A virtual vessel may be controlled with a conventional joystick. Another possibility is to use a mouse or a touch screen. The symbol of the virtual vessel can then be dragged and turned with the mouse or a finger. When using a mouse or a joystick, the control is indirect, i.e. the mouse or joystick is at a different location as the object. With the touch screen, a symbol in an image on the touch screen will be obscured with a hand/fingers when moving it, so it is not possible to see whether it follows your fingers or not. Fingers on the touch screen provide also an inaccurate solution for controlling the virtual vessel .

Thus, here exists a need for an alternative and intuitive way for controlling a virtual vessel.

SUMMARY A solution is disclosed where moving means, for example, a miniature model of a vessel is used to indicate a path for the vessel. The miniature model is configured into a fixed position in relation to the display above the display with fixing means. A captain on board of the vessel or an operator at a remote operation centre (ROC) operates the miniature model by pressing the model to any direction to move the virtual ship to that direction.

According to a first aspect, there is provided a vessel control system comprising a display configured to display electronic navigation chart data and a virtual vessel providing a virtual representation of a vessel; moving means for moving the virtual vessel; fixing means for fixing the moving means into a fixed position in relation to the display above the display; and detecting means for detecting movement caused with the moving means. The detecting means may be external means to the display. The system further comprises a processing unit configured to detect activation of a virtual vessel moving mode, the activation indicating a starting position for the virtual vessel; receive signals from the detecting means, the signals being indicative of movement caused with the moving means; determine, based on signals received from the detecting means, direction of the movement; move the virtual vessel on the display along a virtual path in response the determination; detect deactivation of the virtual vessel moving mode, the deactivation indicating an ending position for the virtual vessel; and cause transmission of control instructions to move the vessel along a path corresponding to the virtual path.

In an embodiment, the moving means comprise a miniature model of the vessel.

In an embodiment, alternatively or in addition to the above described embodiments, the moving means are fixed onto the display with the fixing means .

In an embodiment, alternatively or in addition to the above described embodiments, the fixing means comprise a transparent board adapted to be placed on the display and the moving means are attached to the transparent board.

In an embodiment, alternatively or in addition to the above described embodiments, the transparent board is attached to an edge of the display with at least one hinge.

In an embodiment, alternatively or in addition to the above described embodiments, the detecting means comprise at least one pressure sensor.

In an embodiment, alternatively or in addition to the above described embodiments, the processing unit is configured to cause display of the path on the display.

In an embodiment, alternatively or in addition to the above described embodiments, the processing unit is configured to align the virtual vessel displayed on the display with the moving means.

According to a second aspect, there is provided a method for controlling a vessel. The method comprises causing display of electronic navigation chart data and a virtual vessel providing a virtual representation of a vessel on a display; detecting activation of a virtual vessel moving mode, the activation indicating a starting position for the virtual vessel; and receiving signals from detecting means for detecting movement caused with the moving means. The detecting means may be external means to the display. The signals are indicative of movement caused with the moving means, the moving means being fixed into a fixed position in relation to the display above the display with fixing means. The method further comprises determining, based on signals received from the detecting means, direction of the movement; moving the virtual vessel on the display along a virtual path in response the determination; detecting deactivation of the virtual vessel moving mode, the deactivation indicating an ending position for the virtual vessel; and causing transmission of control instructions to move the vessel along a path corresponding to the path.

In an embodiment, the method further comprises causing display of the virtual path on the display .

In an embodiment, alternatively or in addition to the above described embodiments, the method further comprises aligning the virtual vessel displayed on the display with the moving means.

According to a third aspect, there is provided a computer program comprising program code instructions, which when executed by at least one processor, cause the at least one processor to perform the method of the second aspect.

In an embodiment, the computer program is embodied on a computer-readable medium.

According to a fourth aspect, there is provided a computer-readable medium comprising a computer program comprising program code instructions which, when executed by at least one processor, cause the at least one processor to perform the method of the second aspect.

According to a fifth aspect, there is provided an apparatus comprising at least one processing unit and at least one memory, wherein the at least one memory stores program instructions that, when executed by the at least one processing unit, cause the apparatus to cause display of electronic navigation chart data and a virtual vessel providing a virtual representation of a vessel on a display; detect activation of a virtual vessel moving mode, the activation indicating a starting position for the virtual vessel; receive signals from detecting means for detecting movement caused with the moving means. The detecting means may be external means to the display. The signals are indicative of movement caused with the moving means, the moving means being fixed into a fixed position in relation to the display above the display with fixing means. The apparatus is further caused to determine, based on signals received from the detecting means, direction of the movement; move the virtual vessel on the display along a virtual path in response the determination; detect deactivation of the virtual vessel moving mode, the deactivation indicating an ending position for the virtual vessel; and cause transmission of control instructions to move the vessel along a path corresponding to the path.

At least some of the embodiments provide a more natural and a more intuitive way of controlling a vessel than the existing techniques.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a further understanding of the invention and constitute a part of this specification, illustrate embodiments of the invention and together with the description help to explain the principles of the invention. In the drawings:

FIG. 1 is a flow diagram illustrating a method for controlling a vessel in accordance with an example embodiment.

FIG. 2A illustrates an example of an arrangement for providing control operations for a vessel with moving means.

FIG. 2B illustrates an upper view of the arrangement illustrated in FIG. 2A. FIG. 2C illustrates another example of an arrangement for providing control operations for a vessel with the moving means.

FIG. 2D illustrates an exemplary view on a display.

FIG. 2E illustrates an exemplary view disclosing possible control directions of a virtual vessel .

FIG. 2F illustrates an exemplary view disclosing possible control directions of a virtual vessel .

FIG. 2G illustrates an exemplary view illustrating a path of a virtual vessel on a touch- sensitive display.

FIG. 3 is an example block diagram of a vessel control system in accordance with an example embodiment .

Like reference numerals are used to designate like parts in the accompanying drawings.

DETAILED DESCRIPTION

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The detailed description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

FIG. 1 is a flow diagram illustrating a method for controlling a vessel in accordance with an example embodiment. At 100 display of electronic navigation chart data and a virtual vessel providing a virtual representation of a vessel is caused on a display. The display may be arranged, for example, on board of the vessel or at a remote operation centre (ROC) controlling the vessel.

At 102 activation of a virtual vessel moving mode is detected. An operator of the display activates the virtual vessel moving mode, for example, by pressing a button, selecting it with a mouse from a menu, or pressing a virtual button on a touch screen.

At 104 signals from detecting means for detecting movement caused with moving means are received. The moving means refer, for example, to a miniature model of the vessel used to indicate a path for the vessel. The moving means are fixed into a fixed position in relation to the display above the display with fixing means. The signals are indicative of movement caused with the moving means. A captain on board of the vessel or an operator at a remote operation centre (ROC) may operate the miniature model by pressing the model to any direction to move the virtual ship to that direction, thus causing the signals to be generated.

At 106 direction of the movement is determined based on the signals received from the detecting means.

At 108 the virtual vessel is moved on the display along a path in response the determination.

At 110 deactivation of the virtual vessel moving mode is detected, the deactivation indicating an ending position for the virtual vessel. The deactivation can be detected, for example, when the operator releases the miniature model.

At 112 transmission of control instructions is caused to move the vessel along the path. The control instructions can be sent to an automatic control system, i.e. the autopilot of the vessel, that will then automatically move the real vessel along the path of the virtual vessel to the desired destination. In an example, prior to transmission of the control instructions to the automatic vessel control system, a separate approval may be needed from the operator. If the operator is happy with the path and the destination of the virtual vessel drawn on the display, the operator may accept the path, for example, by pressing a specific button, selecting it with a mouse from a menu, or pressing a virtual button on the display.

FIG. 2A illustrates an example of an arrangement for providing control operations for a vessel with moving means 206. The arrangement comprises a display 200 which can be a touch-sensitive display or a normal display without the touch- sensitivity feature. The display 200 may display electronic navigation chart data providing a navigation view for a vessel. A transparent board 202 may be placed on the display 200, for instance, so a standard screen component can be used. The transparent board 202 can be attached to an edge of the display 200 with attaching means, for example, with at least one hinge. In an embodiment, the transparent board 202 need not cover the whole display 200 if the board is attached to the edge of the display 200 with attaching means, for example, with at least one hinge. Thus, the transparent board 202 can be made smaller and it takes less room when taken off the display 200. Yet in another embodiment, instead of a transparent board 202, any transparent supporting element supporting the moving means 206 and attached to the edge of the display 200, for example, with at least one hinge, can be used.

Moving means 206 can be integrated or otherwise attached to the transparent board 202. The moving means 206 refer, for example, to a miniature model of a vessel. Instead of the miniature model, any other suitable physical object may be used. When a hinge or hinges is/are used, this enables taking the transparent board 202 off from the display 200 and putting it easily back again when needed. This may be convenient if the display 200 is also used for other purposes or in different modes where this miniature model would just be a nuisance.

The detection of actions of an operator operating the moving means 206 can be detected with detecting means 204, for example, with pressure sensors placed at appropriate places. The pressure sensors 204 may be placed in the miniature model, near it, along the edges of the transparent board (as illustrated in FIG. 2A) , or in the hinge. The signals from the detecting means 204 are then transmitted to a control system. It is evident that the use or pressure sensors is only one possibility and other detection techniques may also be used.

FIG. 2B illustrates an upper view of the arrangement illustrated in FIG. 2A. Dashed lines illustrate elements that the arranged above the display 200, i.e. the transparent board 202 and the detecting means 204 (for example, pressure sensors) and the moving means 206 (for example, a miniature model of a vessel) . The display 200 may display electronic navigation chart data providing a navigation view for the vessel. A virtual vessel 208 may be shown on the display 200 to illustrate location of the vessel in the navigation chart data.

FIG. 2C illustrates another example of an arrangement for providing control operations for a vessel with the moving means 206. In this example, the moving means 206 are fixed to the surface of the display 200 with fixing means 202, for example, by gluing. Detecting means 204 for detecting movement caused with the moving means 206 can be arranged into the moving means 206. Alternatively, the moving means 206 may be attached to the surface of the display 200 with hinges or springs to allow movement which can be electronically detected.

FIG. 2D illustrates an exemplary view on a display 200. The display 200 displays electronic navigation chart data 210 providing a navigation view for a vessel. The vessel is represented on the display 200 by a virtual vessel 208. The virtual vessel 208 may have dimensions that are in the right scale compared to the electronic navigation chart data displayed on the display 200 to reflect the true vessel size on the chart. Moving means 206 for moving the virtual vessel 208 may arranged on the display 200 or above the display, as illustrated in FIGS. 2A and 2C. The moving means 206, i.e. the miniature model, may be located at a symbol representing either the current vessel position or the virtual vessel 208 position, depending on the mode.

FIGS. 2E and 2F illustrate exemplary views disclosing possible control directions of the virtual vessel 208 using the miniature model 206. As illustrated in FIG. 2E, an operator may move the miniature model 206 on the display 200 towards any direction 212. As a result, the virtual vessel 208 can be moved in the same way as with a joystick in the existing systems. Although FIG. 2E discloses only four main moving directions, the operator moving the miniature model 206 is allowed to move or press the miniature model 206 towards any direction.

Further, as illustrated in FIG. 2F, the operator may rotate or twist 214 the miniature model 206. As a result, the virtual vessel 208 can be rotated in the same way as with a joystick in the existing systems. FIG. 2G illustrates an exemplary view illustrating a path of a virtual vessel 208 on a display. There are several ways to draw the path of the virtual vessel 208 on the screen. A dashed line 216 or a set of dashed lines can be used to illustrate the path. Another possibility is to draw the virtual vessel 208 with dashed lines along the path, as illustrated in FIG. 2G. A filled version 218 of the virtual vessel 208 may illustrate the starting location.

FIG. 3 is a more detailed schematic block diagram of a vessel control system 300. It should also be appreciated that at least some of the components described below may be optional and thus in an example embodiment may include more, less or different components than those described in connection with the example embodiment of FIG. 3. As such, among other examples, the vessel control system 300 could be any computer device or devices, such as any suitable servers, workstations, personal computers, laptop computers or a system comprising several separate subsystems .

The illustrated vessel control system 300 includes a controller or a processor 302 (for example, a signal processor, microprocessor, ASIC, or other control and processing logic circuitry) for performing such tasks as signal coding, data processing, input/output processing, power control, and/or other functions. An operating system 320 controls the allocation and usage of the components of the vessel control system 300.

The illustrated vessel control system 300 includes one or more memory components, for example, a non-removable memory 306 and/or removable memory 304. The non-removable memory 306 may include RAM, ROM, flash memory, a hard disk, or other well-known memory storage technologies. The removable memory 304 may include flash memory (such as one or more removable flash drives) or smart cards. The one or more memory components may be used for storing data and/or code for running the operating system 320. Example of data may include text, images, sound files, image data, video data, or other data sets to be sent to and/or received from one or more network servers, other devices or marine vessels via one or more wired or wireless networks.

The vessel control system 300 can support one or more input devices 310 and one or more output devices 316. Examples of the input devices 310 may include, but are not limited to, a microphone 312 (i.e., capable of capturing voice input), and a physical keyboard 314. Examples of the output devices 316 may include, but are not limited to a speaker 318 and a display 200. Other possible output devices (not shown) can include piezoelectric or other haptic output devices. Some devices can serve more than one input/output function.

The vessel control system 300 can further include one or more input/output interfaces 308. The illustrated components are not required or all- inclusive, as any of the components shown can be deleted and other components can be added. For example, the input interface 308 can be used to receive signals from detecting means for detecting movement caused with the moving means, for example, from one or more sensors.

Aspects of any of the embodiments described above may be combined with aspects of any of the other embodiments described to form further embodiments without losing the effect sought. Aspects of any of the embodiments described above may be combined with aspects of any of the other embodiments described to form further embodiments without losing the effect sought . The term 'comprising' is used herein to mean including the method, blocks or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.

The exemplary embodiments can include, for example, any suitable servers, workstations, personal computers, laptop computers, other devices, and the like, capable of performing the processes of the exemplary embodiments. The devices and subsystems of the exemplary embodiments can communicate with each other using any suitable protocol and can be implemented using one or more programmed computer systems or devices.

One or more interface mechanisms can be used with the exemplary embodiments, including, for example, Internet access, telecommunications in any suitable form (e.g., voice, modem, and the like), wireless communications media, and the like. For example, employed communications networks or links can include one or more satellite communications networks, wireless communications networks, cellular communications networks, 3G communications networks, 4G communications networks, Public Switched Telephone Network (PSTNs) , Packet Data Networks (PDNs) , the Internet, intranets, a combination thereof, and the like .

It is to be understood that the exemplary embodiments are for exemplary purposes, as many variations of the specific hardware used to implement the exemplary embodiments are possible, as will be appreciated by those skilled in the hardware and/or software art(s) . For example, the functionality of one or more of the components of the exemplary embodiments can be implemented via one or more hardware and/or software devices. The exemplary embodiments can store information relating to various processes described herein. This information can be stored in one or more memories, such as a hard disk, optical disk, magneto- optical disk, RAM, and the like. One or more databases can store the information used to implement the exemplary embodiments of the present inventions. The databases can be organized using data structures (e.g., records, tables, arrays, fields, graphs, trees, lists, and the like) included in one or more memories or storage devices listed herein. The processes described with respect to the exemplary embodiments can include appropriate data structures for storing data collected and/or generated by the processes of the devices and subsystems of the exemplary embodiments in one or more databases.

All or a portion of the exemplary embodiments can be conveniently implemented using one or more general purpose processors, microprocessors, digital signal processors, micro-controllers, and the like, programmed according to the teachings of the exemplary embodiments of the present inventions, as will be appreciated by those skilled in the computer and/or software art(s) . Appropriate software can be readily prepared by programmers of ordinary skill based on the teachings of the exemplary embodiments, as will be appreciated by those skilled in the software art. In addition, the exemplary embodiments can be implemented by the preparation of application-specific integrated circuits or by interconnecting an appropriate network of conventional component circuits, as will be appreciated by those skilled in the electrical art(s) . Thus, the exemplary embodiments are not limited to any specific combination of hardware and/or software.

Stored on any one or on a combination of computer readable media, the exemplary embodiments of the present inventions can include software for controlling the components of the exemplary embodiments, for driving the components of the exemplary embodiments, for enabling the components of the exemplary embodiments to interact with a human user, and the like. Such software can include, but is not limited to, device drivers, firmware, operating systems, development tools, applications software, and the like. Such computer readable media further can include the computer program product of an embodiment of the present inventions for performing all or a portion (if processing is distributed) of the processing performed in implementing the inventions. Computer code devices of the exemplary embodiments of the present inventions can include any suitable interpretable or executable code mechanism.

As stated above, the components of the exemplary embodiments can include computer readable medium or memories for holding instructions programmed according to the teachings of the present inventions and for holding data structures, tables, records, and/or other data described herein. Computer readable medium can include any suitable medium that participates in providing instructions to a processor for execution. Such a medium can take many forms, including but not limited to, non-volatile media, volatile media, and the like. Non-volatile media can include, for example, optical or magnetic disks, magneto-optical disks, and the like. Volatile media can include dynamic memories, and the like.

While the present inventions have been de^¬ scribed in connection with a number of exemplary embodiments, and implementations, the present inventions are not so limited, but rather cover various modifications, and equivalent arrangements, which fall within the purview of prospective claims.

Claims

1. A vessel control system (300) comprising: a display (200) configured to display electronic navigation chart data and a virtual vessel (204) providing a virtual representation of a vessel;

moving means (206) for moving the virtual vessel (208) ;

fixing means (202) for fixing the moving means (206) into a fixed position in relation to the display (200) above the display (200);

detecting means (204) for detecting movement caused with the moving means (206), the detecting means (204) being external means to the display (200);

a processing unit (302) configured to detect activation of a virtual vessel moving mode, the activation indicating a starting position for the virtual vessel (208);

receive signals from the detecting means (204), the signals being indicative of movement caused with the moving means (206);

determine, based on signals received from the detecting means (204), direction of the movement;

move the virtual vessel (208) on the display (200) along a virtual path in response the determination;

detect deactivation of the virtual vessel moving mode, the deactivation indicating an ending position for the virtual vessel (208); and

cause transmission of control instructions to move the vessel along a path corresponding to the virtual path.

2. The vessel control system according to claim 1, wherein the moving means (206) comprise a miniature model of the vessel.

3. The vessel control system according to any of claims 1 - 2, wherein the moving means (206) are fixed onto the display (200) with the fixing means (202) .

4. The vessel control system according to any of claims 1 - 3, wherein the fixing means (202) comprise a transparent board adapted to be placed on the display (200) and the moving means (206) are attached to the transparent board.

5. The vessel control system according to claim 4, wherein the transparent board is attached to an edge of the display (200) with at least one hinge.

6. The vessel control system according to any of claims 1 - 5, wherein the detecting means (202) comprise at least one pressure sensor.

7. The vessel control system according to any of claims 1 - 6, wherein the processing unit (302) is configured to cause display of the virtual path on the display (200) .

8. The vessel control system according to any of claims 1 - 7, wherein the processing unit (302) is configured to align the virtual vessel displayed on the display (200) with the moving means (206) .

9. A method for controlling a vessel, the method comprising:

causing display of electronic navigation chart data and a virtual vessel (208) providing a virtual representation of a vessel on a display (200);

detecting activation of a virtual vessel moving mode, the activation indicating a starting position for the virtual vessel (208); receiving signals from detecting means (204) for detecting movement caused with the moving means (206), the detecting means (204) being external means to the display (200) and the signals being indicative of movement caused with the moving means (206), the moving means (206) being fixed into a fixed position in relation to the display (200) above the display (200) with fixing means (202);

determining, based on signals received from the detecting means (204), direction of the movement;

moving the virtual vessel (208) on the display (200) along a virtual path in response the determination;

detecting deactivation of the virtual vessel moving mode, the deactivation indicating an ending position for the virtual vessel (208); and

causing transmission of control instructions to move the vessel along a path corresponding to the virtual path.

10. The method according to claim 9, further comprising :

causing display of the virtual path on the display (200) .

11. The method according to any of claims 9 - 10, further comprising:

aligning the virtual vessel displayed on the display (200) with the moving means (206) .

12. A computer program comprising program code instructions which, when executed by at least one processor, cause the at least one processor to perform the method of any of claims 9 - 11.

13. A computer-readable medium comprising a computer program comprising program code instructions which, when executed by at least one processor, cause the at least one processor to perform the method of any of claims 9 - 11.