JP2004034805A - Course display terminal, course evaluation device, and course determining method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a course display terminal, a course evaluation device, and a course determining method for reliably establishing a safe ship-maneuvering technology without relying on the experiences, and rapidly selecting an adequate course by utilizing empirical knowledge. <P>SOLUTION: A course display terminal comprises a first screen 12-1 to relatively display the spatial presence distribution of a wave group 6 to a subject hull 1, and a second screen 12-1 to display the risk Nj corresponding to an element 6-j of the wave group 6. A ship maneuvering person can rapidly select an adequate course by utilizing empirical knowledge. The result of complicated calculations is displayed on the screen, and the ship maneuvering person can naturally obtain a safe course by watching the screen. The risk Nj is the risk for the capsizing, which is important display data for a captain or a pilot. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a course display terminal, a course evaluation apparatus, and a course determination method, and more particularly, to a course display terminal, a course evaluation apparatus, and a course determination method for facilitating maneuvering with respect to waves.
[0002]
[Prior art]
It is important to avoid capsizing or steeping of a ship from high waves (hereinafter referred to as capsizing). Capsize is due to high waves. In order to avoid overturning, it is important to know the wave height of the crest (white wave) of the high wave, its position (distance), and the relative speed with respect to the hull. The ship operator must normally visually check the position of the crest, the wave height and the relative speed. A technique for measuring the wave height and the distance of a wave front with a radar is known from Japanese Patent Application Laid-Open No. 60-93317.
[0003]
The operator, who has been able to know the wave height and distance without fail by radar measurement, performs steering and speed control based on the empirical knowledge obtained corresponding to the wave height and distance. Controlling the steering and speed of an unskilled vessel operator can lead to a capsize.
[0004]
There is a need to establish ship maneuvering techniques that do not rely on experience and are safe. It is desirable that empirical knowledge can be used to select an appropriate course faster.
[0005]
[Problems to be solved by the invention]
It is an object of the present invention to provide a course display terminal, a course evaluation device, and a course determination method that can establish a safe ship maneuvering technique without relying on experience.
It is another object of the present invention to provide a course display terminal, a course evaluation apparatus, and a course determination method that can select an appropriate course faster by utilizing empirical knowledge.
[0006]
[Means for Solving the Problems]
Means for solving the problem are expressed as follows. The technical items appearing in the expression are appended with numbers, symbols, etc. in parentheses (). The numbers, symbols, and the like are technical items that constitute at least one embodiment or a plurality of embodiments of the embodiments or the embodiments of the present invention, in particular, the embodiments or the embodiments. Corresponds to the reference numbers, reference symbols, and the like assigned to the technical matters expressed in the drawings corresponding to. Such reference numbers and reference symbols clarify the correspondence and bridging between the technical matters described in the claims and the technical matters of the embodiments or examples. Such correspondence / bridge does not mean that the technical matters described in the claims are interpreted as being limited to the technical matters of the embodiments or the examples.
[0007]
The course display terminal according to the present invention includes a first screen (12-1) for displaying the spatial existence distribution of the wave group (6) relative to the own hull (1), and an element of the wave group (6) ( 6-j) and a second screen (12-1) displaying the degree of risk (Nj). The operator can use the empirical knowledge to select an appropriate course faster. The result of the complicated calculation is displayed on the screen, and the operator can naturally know the safe course by looking at the screen. The risk (Nj) is a risk related to a capsize and is important display data for a captain or a pilot.
[0008]
It is preferable that the first screen (12-1) is the same as the second screen (12-1). Alternatively, screen selection is preferable. The first screen (12-1) displays the velocity vector (31-j) of the element (6-j) of the wave group (6). You can easily know the time until the close encounter. It is important that the velocity vector (31-j) is displayed corresponding to the position of the element (6-j).
[0009]
It is further important that the second screen (12-1) has a display area (29) for displaying the degree of risk (Nj) by a numeral. Ship maneuvering can be performed in consideration of the degree of danger to the waves and the degree of approach of the other ship. It is preferable that the second screen (12-1) displays the degree of risk (Nj) in color in correspondence with the position of the element (6-j). The existence of the third screen (12-2) displaying the course (αj) of the own hull (1) is effective. The third screen (12-2) may be the same as the first screen (12-1).
[0010]
The third screen (12-2) has a coordinate system whose origin is the hull position, the hull direction of the own hull (34) is normally displayed in a fixed direction, and the virtual course of the hull is in relation to the hull direction. Is displayed as a graphic (33). Visual representations that correspond to a person's normal three-dimensional vision are useful. It is visually effective that the coordinate system is a polar coordinate system and the figure is a straight line.
[0011]
The first screen (12-1) and the third screen (12-2) are different from each other, and the first screen (12-1) and the third screen (12-2) include the first screen (12-1). ) And a button area (27, 28) for selecting the third screen (12-2) are effective in increasing the amount of information to be written.
[0012]
A course evaluation device according to the present invention is based on a distribution detection sensor (3) for detecting a spatial existence distribution of a wave group (6) around a hull (1) and an electric signal output from the distribution detection sensor (3). A wave state calculator (23) for calculating the spatial distribution of the wave group (6) and calculating the wave height of the element (6-j) of the wave group (6), and a motion detection for detecting the motion of the hull (1). A sensor (4), a gradient calculator (13) for calculating the gradient of the hull (1) based on the interaction between the hull (1) and the element (6-j), and a component (6-j). It comprises an evaluator (11) for evaluating the degree of danger (N) corresponding to the inclination of the hull (1), and a display screen (12) for displaying the degree of danger (N). Complex calculations and intuitive understanding screens are fused, making it easy to maneuver.
[0013]
The risk (N) is displayed stepwise on the second screen (12-1) based on the relationship between the inclination (θj) and the inclination (θ ′) unique to the hull (1).
[0014]
The course determination method according to the present invention corresponds to the step of displaying the spatial existence distribution of the wave group (6) relative to the own hull (1) and the element (6-j) of the wave group (6). Displaying the degree of risk (N). Facilitate maneuvering in real time. The addition of the step of displaying the course (αj) corresponding to the element (6-j) of the wave group (6) is particularly important for facilitating maneuvering. In the course (αj), the steering and the speed are indicated by numbers, which is particularly effective for a skilled ship operator. The addition of a step of automatically entering numbers into the steering system allows for automatic steering. In that case, it is important to be hybridized.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Corresponding to the figure, in the embodiment of the course display terminal according to the present invention, the hull physical condition detection sensor is arranged on the hull. As shown in FIG. 1, the hull physical condition detection sensor includes a wavefront detection sensor 3 attached to the top 2 of the hull 1, a hull motion sensor 4 formed from a log and a gyrocompass, and a wind direction and wind speed. And a sensor 5.
[0016]
An optical camera is preferably exemplified as the wavefront detection sensor 3. An optical camera can photograph sea surface information around a hull in a time series substantially in real time, and a CCD forming the imaging surface outputs a sea surface information image as an electric signal. The wavefront detection sensor 3 can rotate and collect sea surface information around the hull. The wave 6 has a crest portion 7 called a white wave. The wave front part 7 is whiter than the main body part 8 and the reflected light intensity is stronger than the reflection intensity of the main body part 8.
[0017]
FIG. 2 shows a course calculator 9 mounted on the hull 1. The course calculator 9 includes a course state value calculator 11 and a course indicator 12. The course state value calculator 11 is composed of a predicted hull inclination calculator 13 and a predicted risk calculator 14.
[0018]
The predicted hull inclination calculator 13 receives hull motion data 15, white wave data 16, and a course 17 to be evaluated. The evaluation target course 17 is input to the predicted hull inclination calculator 13 via an input device by an operator. The hull motion data 15 detected by the hull motion sensor 4 is formed from a ship speed vector 19, a wind direction / wind speed 21, and a sway 22 composed of a roll and a pitch. The gyro compass of the hull motion sensor 4 measures the sway, the log of the hull motion sensor 4 measures the ship speed, and the gyro compass and the log of the hull motion sensor 4 measure the course.
[0019]
The electric signal output by the wavefront detection sensor 3 is input to the image processing device 23. The image processing device 23 outputs white wave data 16 formed from the wave height, the wave traveling direction, the wave traveling speed, and the spatial distribution of the waves. Such white wave data 16 is input to the predicted hull inclination calculator 13. The predicted hull inclination calculator 13 calculates the sway of the hull in the time zone t (= t1 to t2) relatively meeting the wave 6, based on the hull motion data 15 and the white wave data 16. The inclination θ (t) 24 is calculated, and the maximum inclination θmax is calculated. The maximum gradient θmax is calculated as a spatial distribution θmax (αj, rj) of a plurality of waves. Here, αj is the course (the angle between the long axis of the hull and the line connecting the wave and the hull) to which the hull 1 goes to the jth wave, and rj is the distance between the jth wave and the hull 1 Is the distance. A wave is a collective periodic distribution (temporal and spatial distribution) of water bulges that extend long in the orthogonal direction perpendicular to the traveling direction, has a roughly central region, and is transverse to the central region (in the orthogonal direction). ), Which can be described as a distribution function in a polar coordinate system whose origin is at the center point of the hull.
[0020]
The hull inclination θ (t) 24 and the restoring force curve 25 are input to the predicted risk calculator 14. The restoring force curve 25 is a roll and pitch motion calculated based on a restoring force represented by an equation of motion related to the hull 1, and particularly around a hull center line passing through the center of gravity (the direction coincides with the course direction). Is the hull peculiar rocking inclination θ ′ (t). The hull peculiar rocking inclination θ ′ (t) 25 indicates the hull form, the displacement (variable according to the load), the ballast state, the hull inclination angle, and the restoring performance (for example, constant parameters such as the position of the center of gravity, the center of buoyancy, and the metacenter). This is a unique function that has already been calculated (calculated at the design stage) based on the swaying motion equation including the above.
[0021]
The course state value calculator 11 compares the hull tilt angle θ ′ (t) 25 with the hull tilt angle θ (t) 24. Among the hull peculiar rocking inclinations θ ′ (t) 25, the danger inclination (overturn inevitable inclination or unrecoverable inclination) is represented by θ ″ (t), and the next danger D is set.
D = θ ″ (t) −θ (t)
Here, the angle at which the hull inclines left and right from the vertical plane is both expressed as positive. θ ″ is not always a constant, and θ ″ necessarily has a subversion function as a functional form, but can be generally treated as a constant. θ (t) can be treated as the maximum gradient θmax.
[0022]
If D is negative, the hull 1 inevitably rolls over. The angle area D is divided stepwise.
Risk level 0 = 0 <D <D1
Risk level 1 = D1 <D <D2
Risk level 2 = D2 <D <D3
...
Risk level N = DN <D <DN + 1
[0023]
The risk N is individually calculated for the wave number j. The risk corresponding to each wave is represented by Nj. The course calculator 9 outputs course information 26 which is a relationship between the risk Nj, the course direction αj, and the distance rj. The course information 26 is output to the course display 12.
[0024]
FIG. 3 shows the course indicator 12. The course indicator 12 shows the distribution of the wave height Hj of the wave (wave front, white wave). The distribution of the wave height Hj generally corresponds to and corresponds to the spatial existence distribution of the wave. The wave height Hj is displayed in real time as a function form H (αj, rj). As the wave 6, fifteen waves 6-1 to 6-15 are shown at the current time. At the lower right corner of the screen of the course indicator 12, a risk degree display screen selection click button area 27 and a safety course display screen selection click button 28 are set. The risk display screen 12-1 and the safety course display screen 12-2 (see FIG. 4) share a common image. Both screens share the risk display area 29. The traveling direction (relative direction with respect to the hull 1) of each display wave 6-j is displayed by a traveling direction display arrow 31-j. The display of the traveling direction display arrows 31-j is displayed as a vector in a coordinate system having the hull position as the origin, and the arrows of the vector display correspond to the display waves, respectively.
[0025]
The ship operator (captain, pilot, or general shipboard employee) has already pressed the risk display screen selection click button area 27. The operator clicks the area of the display wave 6-9 with the cursor 32. Although the wave height Hj of the display wave 6-9 is large, its traveling direction is substantially coincident with the course αj, and is substantially perpendicular to the horizontal direction of the wave distribution. The risk Nj of the display wave 6-9 is relatively small, and the number “3” is displayed in the risk display area 29. Although the display wave 6-10 has a small wave height, the spread in the lateral direction is small and dangerous. If the area of the display wave 6-10 is pressed by the cursor 32, the risk will probably be displayed as 7. The display of the danger level of the display wave 6-1 that has already passed is valid (it can be turned back on a small ship).
[0026]
FIG. 4 shows a safety course display screen. The safety course display screen is selectively displayed by pressing the safety course display screen selection click button 28, and displays the best course αj to which the hull 1 should proceed. The predicted hull angle state shape 33 corresponding to αj (j = 9) indicating the best course is displayed. The display color of the current hull angle state 34 is different from the display color of the expected hull angle state type 33.
[0027]
Regardless of the click by the cursor 32, it is possible to display the number of danger levels corresponding to the positions of all the waves 6-1 to 15 or to fill all of the waves 6-1 to 15 with a step display color. . A set course display field 35 is arranged at the lower left corner of the screen. The set course display field 35 displays an appropriate marine vessel maneuvering value for going to the waves 6-1 to -15. The proper ship maneuvering value is composed of steering (for example, 30 °) and speed (for example, 10 knots). For each wave, it is preferable to display the wave height, the arrival time, and the azimuth numerically. The display of the wave height, the arrival time, and the direction is extremely effective for a skilled captain or a skilled pilot.
[0028]
When the course αj is selected, it is preferable that automatic steering (automatic steering) is executed by computer control according to the calculated speed and direction. In this case, it is preferable that the operator control of the operator and the actuator control of the computer are hybridized, and the operator priority and the computer priority are selective. Control including mechanical control (eg, steering control) is preferably performed by the operator. The course 17 to be evaluated can be selected by cursor-clicking the wave 6-j on the screen.
[0029]
【The invention's effect】
The course display terminal, the course evaluation device, and the course determination method according to the present invention facilitate and maneuver a ship.
[Brief description of the drawings]
FIG. 1 is a perspective projection view showing an embodiment of a course display terminal according to the present invention.
FIG. 2 is a circuit block diagram showing an embodiment of a course display terminal according to the present invention.
FIG. 3 is a front view showing a screen of the embodiment of the course display terminal according to the present invention.
FIG. 4 is a front view showing another screen of the embodiment of the course display terminal according to the present invention.
[Explanation of symbols]
1: Hull (self-hull)
3. Distribution detection sensor 4 Motion detection sensor 6 Wave group 6-j Element 12-1 First screen (second screen)
12-2 Third screen 11 Evaluator 12 Display screen 13 Gradient calculator 23 Wave state calculators 27 and 28 Button area 29 Display area 31-j Speed vector 33 Graphic 34 Self-hull

Claims (19)

A first screen displaying the spatial existence distribution of the wave group relative to the own hull,
A heading display terminal comprising: a second screen displaying a degree of danger corresponding to the element of the wave group. The course display terminal according to claim 1, wherein the risk is a risk related to a capsize. The course display terminal according to claim 1, wherein the first screen and the second screen are the same. The course display terminal according to claim 1, wherein the first screen displays a velocity vector of an element of the wave group. The course display terminal according to claim 4, wherein the speed vector is displayed in correspondence with the position of the element. The course display terminal according to claim 1, wherein the second screen has a display area for displaying the degree of risk by a number. The course display terminal according to claim 1, wherein the second screen displays the degree of risk in color in correspondence with the position of the element. 8. The course display terminal according to claim 1, further comprising a third screen displaying a course of the self-hull. 9. The course display terminal according to claim 8, wherein the third screen is the same as the first screen. The third screen has a coordinate system whose origin is the hull position, and the hull direction of the self-hull is normally displayed in a fixed direction,
9. The course display terminal according to claim 8, wherein the virtual course of the hull is displayed in a figure with respect to the hull direction. The course display terminal according to claim 10, wherein the coordinate system is a polar coordinate system, and the graphic is a straight line. The first screen and the third screen are different from each other,
The course display terminal according to claim 1, wherein the first screen and the third screen each have a button area for selecting the first screen and the third screen, respectively. A distribution detection sensor for detecting a spatial existence distribution of a wave group around the hull,
A wave state calculator that calculates a spatial distribution of the wave group based on the electric signal output by the distribution detection sensor and calculates a wave height of an element of the wave group,
A motion detection sensor for detecting the motion of the hull,
A gradient calculator that calculates the gradient of the hull based on the interaction between the hull and the elements;
An evaluator that evaluates the degree of risk corresponding to the inclination of the hull corresponding to the element,
And a display screen for displaying the degree of risk. The display screen includes:
A first screen displaying the spatial presence distribution;
14. The course evaluation device according to claim 13, further comprising a second screen for displaying the degree of risk. The course evaluation device according to claim 14, wherein the degree of danger is displayed in a stepwise manner on the second screen based on a relationship between the inclination and an inclination peculiar to the hull. Displaying the spatial existence distribution of the wave group relative to the own hull;
Displaying a degree of risk corresponding to the element of the wave group. 17. The heading determination method of claim 16, further comprising displaying a heading corresponding to the elements of the wave group. 18. The course determination method according to claim 17, wherein the course is indicated by a number indicating a steering and a speed. 18. The method of claim 17 further comprising the step of automatically inputting the number into a steering device.

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