JPH09267797A - Ship steering assist device for escape navigation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a recommended deceleration pattern to a mate and to avoid the danger of clashing to as to contribute to safe traveling if the danger of clashing with another ship occurs during traveling in a region in which steering is impossible. SOLUTION: A clash preventing device 1 measures TCPA(time from a closet point to a clashing danger ship) for other ships, DCPT(distance from a closest point to the clashing danger ship), direction and distance from the self ship and the course and the speed of other ships. A clash avoidance planning device 6 makes a clash avoidance plan based on data for the other ships from the clash preventing device 1, a self ship position from a position measuring device 2, a ship speed from a speed meter 3, a ship bow direction from a gyro 4 and a self ship closing circle radius value (r) inputted from a key board 5, if the plan can be made, provides the recommended deceleration pattern as the result of processing to a navigation officer by displaying the same on a display device 7, and if the plan cannot be made, sends data to an alarm producing device 8 and produces an alarm. The mate steers the ship according to the deceleration pattern displayed on the display device 7, avoids clashing with another ships and thereby navigates the ship safely.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an escape avoidance maneuvering support device applied to an integrated navigation system for ships.

[0002]

2. Description of the Related Art In recent years, as a comprehensive navigation system for ships, when there is a danger of collision with another ship while navigating in a sea area where the course can be changed, the speed and position of the other ship are measured. Research and development have been carried out on an escape maneuvering assisting device that calculates and calculates the escape route of the own ship based on the measurement data of, and displays the escape route on the display device and provides it to the officer.

[0003]

The above-mentioned escaping / maneuvering assisting device is effective when navigating in a sea area where the course can be escaped by changing the course, such as at the time of ocean navigation or coastal navigation. There is a problem that it cannot be applied in the sea area.

The present invention has been made in order to solve the above-mentioned problems, and provides a safe and efficient recommended deceleration situation when there is a danger of collision with another ship while navigating in a sea area where the needle cannot be changed. It is an object of the present invention to provide a device for assisting escape maneuvering that can be provided to a navigator and contribute to safe operation.

[0005]

The avoidance vessel maneuvering support apparatus according to the present invention comprises a collision prevention apparatus for measuring other vessels in flight, a positioning apparatus for measuring the own ship position, and a speedometer for measuring the speed of the own ship. A gyro that detects the bearing of the ship, an input device for inputting and changing the deceleration rate of the ship, the deceleration limit rate of the ship, and the closed circle radius value of the ship, and another ship from the collision prevention device. Based on the data, the ship's position from the positioning device, the ship's speed from the speedometer, the ship's heading from the gyro, and the ship's closed circle radius value input from the input device An escape planning device that calculates the deceleration pattern of the ship, a display device that displays the deceleration pattern of the own ship calculated by this escape planning device, and an alarm will be issued if the escape planning process cannot be performed by the above escape planning device. An alarm generator is provided.

(Operation) When a danger of collision with another ship arises while navigating in a sea area where it is impossible to change the course, the avoidance planning device uses the other ship data from the collision prevention device, the own ship position from the positioning device, and a speedometer. Speed of own ship from, heading of own ship from gyro,
And, the deceleration pattern of the own ship for avoidance is calculated based on the closed circle radius value of the own ship input from the input device, and is displayed on the display device and presented to the officer. By operating the marine vessel in accordance with the recommended deceleration pattern displayed on the display device, the navigator can reliably avoid the risk of collision with another vessel and safely navigate the vessel.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an escape avoidance maneuvering assistance device according to an embodiment of the present invention. FIG.
1 is a collision prevention device (ARPA: Auto Rader P
TCPA (Time to Cl
osest Point of Approach: Time until the closest approach to a collision risk vessel), DCPA (Distance of Closest Point of A)
pproach: Measures the distance at the closest approach to a collision risk ship), the direction from the ship, the distance, the course of another ship, the ship speed, etc. 2 is a positioning device that measures the ship's position, 3 is a speedometer that measures the speed of the ship, 4 is a gyro that detects the bearing (heading direction) of the ship, 5 is the deceleration rate n of the ship, and deceleration of the ship The input device is, for example, a keyboard for inputting and changing the limit rate β, the ship's closed circle radius value r, and the like. Then, the measured values from the collision prevention device 1, the positioning device 2, the speedometer 3, the gyro 4 and the input values from the keyboard 5 are input to the escape planning device 6.
The avoidance planning device 6 uses the other ship data from the collision prevention device 1, the ship position from the positioning device 2, the ship speed from the speedometer 3, the heading from the gyro 4, and the blockage of the ship from the keyboard 5. Evacuation planning processing is performed from the circle radius value r. If processing is possible, the recommended deceleration pattern that is the processing result is displayed on the display device 7 and provided to the navigator. If processing is not possible, data is sent to the alarm generation device 8. To send an alarm.

Next, the operation of the above embodiment will be described with reference to the flow charts shown in FIGS. FIG. 2 is a flow chart showing details of the overall processing operation and FIG. Now, as shown in FIG. 5 (a), own ship 11 is navigating at a speed v in the direction φ from the current position (X, Y) of A, and another ship 12 is navigating across the course. It is assumed that

Then, in the escaping / maneuvering assistance device mounted on the own ship 11, as shown in step A1 of FIG. 2, the closed circle radius value r, the deceleration rate n, the deceleration limit rate β of the own ship are preliminarily inputted from the keyboard 5, Input the display interval m (minutes). These set values are stored in the avoidance planning device 6. The closed circle is a circle 13 centered on the own ship 11 as shown in FIG. 5A, and there is no risk of collision with the other ship 12 unless the other ship 12 enters within the range. It is a safe area to be judged. The closed circle 13 is usually set to a distance such that the ship 11 can safely dodge the other ship 12, for example, about 0.5 nm (nautical mile) in a large ship. The display interval m is set to about 3 minutes. The avoidance planning device 6 always measures the measurement data T of the collision prevention device 1.
Read CPA (time to closest approach), DCPA (distance to closest approach) (step A2), TCPA and DCPA
It is determined whether or not is less than or equal to a preset value (step A3). That is, when the DCPAs of the own ship 11 and the other ship 12 are equal to or less than the set value and TCPA is less than the set value, it is determined that the own ship 11 may collide with the other ship 12. If the TCPA and DCPA are less than the set values, there is no possibility of collision. Therefore, the process returns to step A2, the measurement data TCPA, DCPA is read from the collision prevention apparatus 1, and the possibility of collision is determined again. The processes of steps A2 and A3 are repeatedly executed, and it is always determined whether there is a possibility of collision.

Then, when it is determined in step A3 that there is a possibility of collision, the avoidance planning device 6 uses the other ship data from the collision prevention device 1 and the own ship position from the positioning device 2.
The ship speed is read from the speedometer 3 and the heading φ is read from the gyro 4 (step A4), and the escape planning process is executed (step A).
5) Calculate the deceleration pattern of own ship for avoidance. In this evasion planning process, determine whether processing is possible,
If the processing is possible, the processing is executed to calculate the deceleration pattern of the own ship for avoidance, and it is sent to the display device 7 to be displayed (step A6). The officer operates the ship based on the deceleration pattern displayed on the display device 7 (step A
7). After that, the program is delayed by a certain time (step A8), and the process returns to step A2. If it is determined in step A5 that the avoidance planning process is impossible, an alarm signal is sent to the alarm generation device 8 to generate an alarm (step A).
9).

The details of the avoidance planning process (step A5) will be described below with reference to FIG. First, the TCPA value (unit: minute) from the collision prevention device 1 is set to t (step B
1) The coefficient α for deceleration is set to “100” (step B2). Furthermore, "tm" is set to t (step B
3), the value of t is compared with "0" (step B4).
In this case, if "t≤0", the processing cannot be performed, so an alarm is issued in step A9, and if "t>0",
The avoidance planning process from step B5 is executed.

At step B5, the deceleration rate n of the own ship is subtracted from α whose initial value is set to "100", and the result is reset as α. Next, as shown in FIG. 5A, the current ship speed v is maintained for t minutes from the current ship position (X, Y), and then “t” minutes after the current time when the ship speed v is decelerated to α%. And the estimated ship position (Xt, Y) after "t + m" minutes
t) is calculated by the following formula (step B6).

Xt = X + {(v × α / 100) × (m / 60) + v × (t / 60)} × sin φ (1) Yt = Y + {(v × α / 100) × (m / 60) + v × (t / 60)} × cos φ (2) Next, another ship at the time of collision risk in the closed circle 13 of radius r centered on the estimated own ship position (Xt, Yt) obtained by the above equation It is determined whether or not 12 ship positions (Xp, Yp) are entered (step B7). The ship position (Xp,
Yp) is calculated based on the other ship data obtained from the collision prevention device 1. That is, in step B7, as shown in FIG.
It is checked whether or not 2 enters the closed circle 13 of the own ship 11. This method is based on the fact that deceleration follows certain characteristics.
3 is moved stepwise to calculate whether or not the other ship 12 is included. In this case, it is determined that you are in the ^{(Xp -Xt) 2 + (Yp} -Yt) 2 ≦ r 2 ... (3) become as (Xp, Yp) when is present, other vessels 12 closed circle 13 . In addition, it is also possible to calculate and check DCPA and TCPA by formulating the deceleration characteristic. FIG. 5 above
(A) and FIG. 6 show an example in which the other ship 12 is inside the closed circle 13 after “t + m” minutes and there is a risk of collision.

If it is determined in step B7 that there is a risk of collision, the deceleration state of the ship 11 is further checked. That is, since the deceleration of the ship 11 is finally performed up to the deceleration limit rate β%, the deceleration state is checked by comparing the values of α and β (step B8). When α> β, that is, when the boat speed v has not dropped to the deceleration limit rate β%, the process returns to step B5, the value of α is further reduced, and the processes of steps B6 and B7 are performed. Check the risk of collision with. And α ≦ β, that is,
Although the ship speed was reduced to the deceleration limit rate β, the other ship 12
If there is a risk of collision with the vehicle, it is necessary to advance the deceleration timing, so the process returns from step B8 to step B2, α is returned to "100", and the value of t is decreased by m in step B3. The risk of collision with another ship 12 is checked by starting deceleration by m minutes earlier than in the above case.

The above process is repeated, and step B
7, the estimated own ship position (Xt
, Yt) and the other ship 1 in the closed circle 13 of radius r
When it is determined that 2 is not entered, that is, when it is determined that the deceleration pattern obtained by the above calculation can avoid the danger, the process proceeds to step B9, where the estimated ship position (X, Y) of the own ship 11 is estimated. The escape position planning device 6 calculates the ship position every m minutes up to the ship position (Xt, Yt), and transmits the ship position data to the display device 7 (step B10).

Then, in step A6 of FIG. 2, the data transmitted from the escape planning device 6 is displayed on the display device 7 to provide the navigator with the recommended deceleration situation. Figure 4 shows own ship 1
1 detects another ship 12 that has a risk of collision, and then heads for course A → B
Display device 7 when traveling at a reduced ship speed with time
Is a display example of. In this case, the past track 21 of the own ship 11, the current ship position (shown by hatching), the current ship speed 2
2. The current time 23 is displayed and the calculated deceleration pattern is displayed as a combination of future ship position, ship speed and time. Further, FIG. 4 shows a display example at the current time 15:00 when the current ship speed is 12 kt and m is 3 minutes. Also,
The data of the other ship 12 from the collision prevention device 1 is displayed with a mark with a vector, and the land data 24 stored in the collision prevention device 1 is also displayed.

The recommended deceleration situation is provided to the officer as described above, and the officer operates the vessel in accordance with the deceleration pattern displayed on the display device 7 (step A7), which causes a risk of collision with another vessel 12. It is possible to avoid it and to safely navigate the ship.

After that, a predetermined time counting process is performed in step A8, a predetermined time is delayed, and the process returns to step A2. Hereinafter, the same process is repeated to provide the navigator with the recommended deceleration situation.

In the above embodiment, the case in which the timing of lowering the ship speed is delayed as much as possible so that the schedule can be observed even when there is a risk of collision with another ship 12, has been described. For example, various deceleration patterns are conceivable, such as reducing the boat speed early when a danger is detected.

[0020]

As described in detail above, according to the present invention, when a risk of collision with another ship arises while navigating in a sea area where it is not possible to change needles, other ship data, own ship position, ship speed, The ship's deceleration pattern for avoiding flight is calculated and displayed based on the bow direction and the closed circle radius value of the ship, so it is safe to provide the officer with a recommended safe and efficient deceleration situation. Can contribute to the operation.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an escaping / maneuvering assistance device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an overall processing operation in the same embodiment.

FIG. 3 is a flowchart showing details of evasion planning processing in the same embodiment.

FIG. 4 is a view showing a display example of a deceleration pattern in the same embodiment.

FIG. 5 is a diagram showing an example of a deceleration plan in the same embodiment.

FIG. 6 is a view for explaining a risk determination operation in the same embodiment.

[Explanation of symbols]

 1 Collision prevention device 2 Positioning device 3 Speedometer 4 Gyro 5 Keyboard 6 Evacuation planning device 7 Display device 8 Alarm generator 11 Own ship 12 Other ship 13 Blocked circle 21 Track 22 Current ship speed 23 Current time 24 Land data

Claims (1)

[Claims] Claims: 1. A collision prevention device that measures another ship while navigating, a positioning device that measures the ship position, a speedometer that measures the speed of the ship, a gyro that detects the direction of the ship, and a ship Input device for inputting and changing the deceleration rate of the ship, the deceleration limit rate of the ship, and the closed circle radius value of the ship, other ship data from the collision prevention device, the ship's position from the positioning device, and the speed from the speedometer. An escape planning device that calculates the deceleration pattern of the own ship for the escape based on the speed of the ship, the heading of the own ship from the gyro, and the closed circle radius value of the own ship input from the input device. The escape device characterized by comprising a display device for displaying the deceleration pattern of the own ship calculated by the planning device, and an alarm generation device for issuing an alarm when the escape planning process by the escape planning device is impossible. Ship handling support device.