JP2012021947A - Navigation aid apparatus - Google Patents
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Description
本発明は、自船と目標船との衝突危険範囲を表示して船舶の航行支援を行う船舶用航行支援装置に関するものであり、船舶用レーダやＥＣＤＩＳ（電子海図情報表示装置）等に利用可能である。 The present invention relates to a ship navigation support apparatus that displays a collision risk range between a ship and a target ship and supports ship navigation, and can be used for a ship radar, ECDIS (electronic chart information display apparatus), and the like. It is.
レーダやＥＣＤＩＳ（電子海図情報表示装置）には、プレディクション機能と呼ばれている予想進路表示機能があり、自船の位置情報、速度情報、そして方位情報などから予想針路を決定し、これを表示装置に表示する事が出来る。 Radar and ECDIS (Electronic Chart Information Display Device) have an expected course display function called the Prediction Function, which determines the expected course from the ship's position information, speed information, and direction information. It can be displayed on the display device.
航行援助に関して、前記プレディクション機能の利用例として、例えば特許文献１に示すように、気象情報や海象情報とプレディクション機能を重畳し、気象条件などに左右されない安全な航行を実現するための手段などが提案されている。 Regarding navigation assistance, as an example of using the prediction function, for example, as shown in Patent Document 1, means for superimposing weather information and sea state information and the prediction function to realize safe navigation that is not affected by weather conditions or the like Etc. have been proposed.
一方で、航行援助を目的として多くの船舶に搭載されている衝突予防援助装置（Ａｕｔｏｍａｔｉｃ ＲａｄｅｒＰｌｏｔｔｉｎｇ Ａｉｄｓ：ＡＲＰＡ）を用いた衝突回避に関する利用例として、例えば特許文献２に示すように、衝突危険範囲を設定して安全航行を保持する手段などが提案されている。 On the other hand, as a use example related to collision avoidance using a collision prevention assistance device (Automatic Radar Plotting Aids: ARPA) installed in many ships for the purpose of navigation assistance, for example, as shown in Patent Document 2, a collision risk range is set. Means for setting and maintaining safe navigation have been proposed.
しかるに前記手段によれば、前者のようにプレディクション機能を用いた場合においては、レーダやＥＣＤＩＳにおけるプレディクション機能は、あくまで自船速度、自船位置、方位情報、航路情報などから自船の予想針路を表示するだけであり、他の船舶や危険物標が出現した際に、その予想された自船の針路において、安全航過距離を保った操船ができる保証がないという問題点があった。 However, according to the above means, when the prediction function is used as in the former, the prediction function in radar or ECDIS is based on the ship's speed, ship position, heading information, route information, etc. There is a problem that it is only possible to display the course, and there is no guarantee that maneuvering with a safe cruising distance can be maintained in the expected course of the ship when another ship or dangerous target appears. .
また、後者においては、表示される衝突可能領域が、避航針路を決定するために用いる目的で表示されるものであるため、避航針路については正確な航過情報を与えるものの、表示される衝突可能領域自体が正確な衝突危険範囲を表すものではなく、一般的には真の衝突危険範囲に比べて大きな領域が表示されることとなっていたため、輻輳海域においては複数船舶の危険範囲が画面上複雑に重なりあい避航針路の判断がつきにくくなるという問題点があった。 In the latter case, the displayed collision possible area is displayed for the purpose of determining the avoidance course, so that although the correct avoidance information is given for the avoidance course, the displayed collision possibility is possible. The area itself does not represent the exact collision risk range, and generally the larger area was displayed compared to the true collision risk range. There was a problem that it was difficult to judge the avoidance course due to complicated overlap.
前記課題を解決するために、本発明は次のような手段とする。つまり、
自船舶予想針路上に、危険物標及び他船舶が出現又は進入の可能性がある場合の航法支援ツールであって、探知物標画像や探知物標画像に関する付加情報や自船の位置や速度や方位さらに航路情報をメモリに記憶し演算部へ出力する工程と、該出力された情報を用いて各予想位置におけるＣＰＡ・ＴＣＰＡの演算を行なう工程と、前記演算の結果からアラーム判定を行なう工程と、前記アラーム判定の結果に応じた危険シンボルを画面表示させる工程から成る事を特徴とする航行援助装置である。
In order to solve the above problems, the present invention provides the following means. In other words,
This is a navigation support tool when there is a possibility that dangerous targets and other vessels may appear or enter the ship's predicted course, and additional information on the target image, the target image, the position and speed of the ship And a step of storing navigation information and route information in a memory and outputting them to a calculation unit, a step of calculating CPA / TCPA at each predicted position using the output information, and a step of determining an alarm from the result of the calculation And a navigation assistance device comprising a step of displaying a danger symbol on the screen according to the result of the alarm determination.
また、本発明は、前記探知物標は方位角方向に物標を探知しながら探知画像を描画するレーダ画像であり、該レーダ画像を表示する媒体がレーダ画面及びＥＣＤＩＳ画面であることを特徴とする航行援助装置である。 Further, the present invention is characterized in that the detection target is a radar image for drawing a detection image while detecting the target in the azimuth direction, and the medium for displaying the radar image is a radar screen and an ECDIS screen. It is a navigation aid device.
また、本発明は、前記付加情報は、ＡＲＰＡの情報あるいはＡＩＳの情報の少なくとも一つであることを特徴とする探知画像描画方法である。 The present invention is also the detection image drawing method, wherein the additional information is at least one of ARPA information or AIS information.
本発明によれば、ＴＣＳ(航路制御システム)作動中に危険目標が出現した場合や、避船した後で本来の航路に戻る場合に、レーダやＥＣＤＩＳ等の表示画面上で衝突危険性の有無、または危険度を音や画像等で容易に確認する事が出来るため、例えば輻輳海域においては複数船舶の危険範囲が画面上複雑に重なりあい避航針路の判断がつきにくくなっても、視覚的あるいは聴覚的に簡単に状況把握ができるようになる。 According to the present invention, when a dangerous target appears during TCS (route control system) operation or when returning to the original route after evacuation, there is a risk of collision on a display screen such as radar or ECDIS. Or, because the risk level can be easily confirmed with sound or images, for example, in the congested area, even if the risk range of multiple ships overlaps on the screen and it is difficult to judge the avoidance course, The situation can be easily grasped by hearing.
本発明の好適な実施の形態に関して、図を参照して説明する。 A preferred embodiment of the present invention will be described with reference to the drawings.
図１は処理フローチャートである。まず、受信したレーダエコー信号が航行援助装置に入力される。（１０１）。該レーダエコー信号は他船との衝突可能性を調べるためにＡＲＰＡ処理部にて解析される（１０２）。その結果から導かれる衝突可能性等のＡＲＰＡ情報（１０３）と、ＡＩＳにより得られる他船情報（１０４）と、方位や速度といった自船情報（１０５）と、自船の予想針路を示す針路情報（１０６）を任意の記憶装置に保存し、かつ、演算部に出力する（１０７）。 FIG. 1 is a processing flowchart. First, the received radar echo signal is input to the navigation aid device. (101). The radar echo signal is analyzed by the ARPA processing unit in order to investigate the possibility of collision with another ship (102). ARPA information (103) such as collision possibility derived from the result, other ship information (104) obtained by AIS, own ship information (105) such as heading and speed, and course information indicating the expected course of the ship (106) is stored in an arbitrary storage device and is output to the calculation unit (107).
次に前記の各種情報を用いて、前記演算部において、自船の針路予想位置と危険目標又は他船舶との最接近点ＣＰＡ（Ｃｌｏｓｅｓｔ
Ｐｏｉｎｔ ｏｆ
Ａｐｐｒｏａｃｈ）を求め、さらに最接近するまでの時間を示すＴＣＰＡ（Ｔｉｍｅ
ｔｏ ＣＰＡ）を求める（１０８）。
Next, using the above-mentioned various information, in the calculation unit, the closest approach point CPA (Closest) between the predicted course of the ship and the dangerous target or another ship.
Point of
TCPA (Time) indicating the time until the closest approach is obtained.
to CPA) is determined (108).
そして、本発明の主旨であるところのアラーム判定（１０９）をして、アラームすべきと判定した場合に警告シンボル表示（１１０）を行う。アラーム判定は、前記ＣＰＡやＴＣＰＡに対し、事前に閾値を設定し、近い地点で衝突可能性が高まると予想される場合、つまりＣＰＡが閾値よりも小さい場合や、短時間で衝突可能性が高まると予想される場合、つまりＴＣＰＡが閾値よりも小さい場合にアラームを発するべきと判定するものである。 Then, the alarm judgment (109) which is the gist of the present invention is made, and when it is judged that an alarm should be given, the warning symbol display (110) is performed. In the alarm determination, a threshold is set in advance for the CPA and TCPA, and the possibility of collision is expected to increase at a nearby point, that is, when the CPA is smaller than the threshold, or the possibility of collision increases in a short time. In other words, it is determined that an alarm should be issued when TCPA is smaller than a threshold value.
アラーム判定の結果、アラームを発するべきと判断した場合には、警告シンボルを表示する方法、音声で警告音を発する方法、あるいは警告シンボルと音声を同時に発する方法などが考えられる。 As a result of the alarm determination, when it is determined that an alarm should be issued, a method of displaying a warning symbol, a method of generating a warning sound by sound, a method of simultaneously generating a warning symbol and sound, or the like can be considered.
図２は本発明の実施例における接続図である。レーダエコーにより他の船舶や危険物標の出現が認識された場合、該レーダ装置２０１よりＡＲＰＡ処理部２０２へ前記レーダ信号が伝わり、対象の捕捉・追尾が開始される。 FIG. 2 is a connection diagram in the embodiment of the present invention. When the appearance of another ship or a dangerous target is recognized by the radar echo, the radar signal is transmitted from the radar apparatus 201 to the ARPA processing unit 202, and target acquisition / tracking is started.
該対象のＡＲＰＡ処理結果はデータ化され、ＡＩＳ情報受信部２０４から出力された対象物の識別データと共に、レーダ機内及びＥＣＤＩＳ機内のメモリ装置２０６へ蓄積される。さらに、自船の針路情報入力部２０５及び自船情報受信部２０６より判明する予想針路と自船情報もメモリ装置２０６に蓄積しておく。 The ARPA processing result of the target is converted into data, and is stored in the memory device 206 in the radar device and the ECDIS device together with the identification data of the target object output from the AIS information receiving unit 204. Further, the predicted course and own ship information determined from the own course information input unit 205 and own ship information receiving unit 206 are also stored in the memory device 206.
前記のようにレーダ機内及びＥＣＤＩＳ機内のメモリ装置２０６に入力されたＡＲＰＡのデータとＡＩＳのデータ、さらに自船予想針路のデータと自船位置情報のデータは、レーダ機内やＥＣＤＩＳ機内にある演算部２０７に入力される。 As described above, the ARPA data and AIS data input to the memory device 206 in the radar machine and the ECDIS machine, as well as the own ship forecast course data and own ship position information data, are the arithmetic units in the radar machine and the ECDIS machine. 207 is input.
次に、レーダ機内及びＥＣＤＩＳ機内の演算部２０７は、前記入力されたデータを用いて、針路予想位置に対する危険目標や危険な他船舶の最接近点ＣＰＡや、最接近までの時間であるところのＴＣＰＡを求める。 Next, the calculation unit 207 in the radar machine and the ECDIS machine uses the input data to indicate the dangerous target for the predicted course position, the closest approach point CPA of another dangerous ship, and the time until the closest approach. Determine TCPA.
危険目標又は他船舶との最接近点ＣＰＡ及び最接近までの時間であるＴＣＰＡを判定し、該値の予め設定した閾値との比較により、自船の予想針路へ他船舶が接近・衝突の可能性があると判断した場合には、アラームを出力し、危険であると判定した対象物をシンボルとして表示部２０８へ表示させる。 Determine the closest point CPA to the dangerous target or the other ship and the TCPA that is the time until the closest approach, and compare the value with a preset threshold to allow other ships to approach and collide with the ship's expected course If it is determined that there is a possibility, an alarm is output, and the object determined to be dangerous is displayed on the display unit 208 as a symbol.
図３は前記実施例に関して、レーダ表示画面における画面表示の例である。アラーム判定部１０９にてアラームを発するべきと判断した場合、レーダ画面及びＥＣＤＩＳの画面上に危険を表現するシンボル３０４を表示させる。この場合のアラームの発生手段は、自船舶の表示色を変えることによって為している。 FIG. 3 shows an example of the screen display on the radar display screen with respect to the embodiment. When the alarm determination unit 109 determines that an alarm should be issued, a symbol 304 representing danger is displayed on the radar screen and the ECDIS screen. In this case, the alarm is generated by changing the display color of the ship.
同図において、３０１は自船シンボル、３０２は予想針路のコース表示、３０３は自船の位置予想シンボル、３０５及び３０６はそれぞれ危険目標シンボル、ＡＩＳより入力された他船シンボルである。 In this figure, 301 is the own ship symbol, 302 is the course display of the expected course, 303 is the predicted ship position symbol, 305 and 306 are the dangerous target symbol, and the other ship symbol input from the AIS, respectively.
自船３０１は予想針路３０２を通り、位置３０４にて他船であるところの３０５及び３０６に接近すると見込まれている。つまり３０４の地点がＣＰＡである。本発明はこのように、衝突予想位置について、画面上のシンボルの色を変化させたり、音声で警告を出したりするものである。表示内容として、前記のような位置情報のみではなく、ＴＣＰＡを表示あるいは音声で知らせる事も考えられる。 The own ship 301 is expected to pass the expected course 302 and approach the other ships 305 and 306 at the position 304. That is, 304 points are CPA. As described above, the present invention changes the color of the symbol on the screen or issues a warning by voice at the predicted collision position. As display contents, not only the position information as described above but also TCPA may be displayed or notified by voice.
なお、本発明において、ＡＲＰＡによって衝突予想位置等を算出する手段については、なんらこれを限定しない。 In the present invention, the means for calculating the predicted collision position by ARPA is not limited at all.
１０１…レーダエコー入力、 １０２…ＡＲＰＡ処理部にて解析、
１０３…ＡＲＰＡ情報入力、 １０４…ＡＩＳ情報入力、
１０５…自船情報入力、 １０６…針路情報入力、
１０７…情報保存演算部出力部、 １０８…ＣＰＡ・ＴＣＰＡの計算、
１０９…アラーム判定、 １１０…警告シンボル表示、
２０１…レーダ空中線、 ２０２…ＡＲＰＡ処理部、
２０３…自船情報処理部、 ２０４…ＡＩＳ情報受信部、
２０５…針路情報入力部、 ２０６…メモリ装置、
２０７…演算部、 ２０８…表示部、
３０１…自船シンボル、 ３０２…予想針路のコース表示、
３０３…自船の位置予想シンボル、 ３０４…危険シンボル、
３０５…危険目標シンボル、 ３０６…他船シンボル。
101 ... Radar echo input, 102 ... Analysis by ARPA processing unit,
103 ... ARPA information input, 104 ... AIS information input,
105 ... Own ship information input, 106 ... Course information input,
107: Information storage operation unit output unit 108: Calculation of CPA / TCPA,
109 ... Alarm judgment, 110 ... Warning symbol display,
201: Radar antenna 202: ARPA processing unit,
203 ... Own ship information processing unit, 204 ... AIS information receiving unit,
205 ... course information input unit, 206 ... memory device,
207 ... Calculation unit, 208 ... Display unit,
301 ... own ship symbol, 302 ... course display of expected course,
303 ... Own ship position prediction symbol, 304 ... Danger symbol,
305 ... Dangerous target symbol, 306 ... Other ship symbol.
Claims (3)
3. The detection image drawing method according to claim 1, wherein the additional information is at least one of ARPA information and AIS information. 4.
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| CN103714718A (en) * | 2013-12-31 | 2014-04-09 | 武汉理工大学 | Inland river bridge area ship safe navigation precontrol system |
| KR101410956B1 (en) | 2013-02-20 | 2014-06-25 | 이주환 | Implementation Sytem and Method for Collision Prediction, Alarm Methods Between Ships Through Comparison of Integrated Heterogeneous Network |
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| CN103714718B (en) * | 2013-12-31 | 2016-01-13 | 武汉理工大学 | A kind of inland river bridge area ship safe navigation precontrol system |
| US10317513B2 (en) | 2015-09-08 | 2019-06-11 | Furuno Electric Co., Ltd. | Method and device for displaying information |
| EP3141924A1 (en) | 2015-09-08 | 2017-03-15 | Furuno Electric Co., Ltd. | Method and device for displaying navigation information |
| KR20190087146A (en) | 2018-01-16 | 2019-07-24 | (주)이씨스 | Marin collision prevention system and method the same |
| KR20200046555A (en) | 2018-10-25 | 2020-05-07 | 선박안전기술공단 | Marin safety alarm system and method the same |
| CN109887338A (en) * | 2019-03-13 | 2019-06-14 | 大连海大船舶导航国家工程研究中心有限责任公司 | A kind of marine frontier defense method for early warning being hooked warning algorithm based on intelligence |
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| CN115544295B (en) * | 2022-10-13 | 2023-07-28 | 大连海事大学 | Ship-borne intelligent chart system supporting ship safety/autonomous navigation |
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