JPH08201515A - Information processor for navigation - Google Patents

Abstract

PURPOSE: To prevent running on rocks and improve safety in navigation in a shallow sea by accurately calculating the minimum depth required by a ship when a pitch angle which is the inclination of an own ship is included in processing on navigation and performing display along with the generation of alarm when the running-on-rocks is predicted. CONSTITUTION: When a transmitter/receiver 8 measures the straight-line distance to a seabed obstacle due to running-on-rocks, it calculates the depth of the seabed obstacle by calculating at a data processing part 1. A gyro 7' periodically measures the pitch angle of a ship and temporarily stores the data measured by the gyro at a data part 4. Also, the data processing part 1 compensates a sonar measurement value due to the inclination of the ship from measurement data and then calculates seabed information. A display 3 displays a sea trench diagram based on the seabed information data calculated by the data processing part 1, displays the location of running-on-rocks and the distance from a current own ship when the running-on-rocks is predicted in the route of the own ship based on the sea trench diagram and the maximum value of the amplitude of the inclination of the ship, and at the same time generates an alarm.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation information processing apparatus used when a ship is navigating, and in particular to a pitch angle which is a tilt of a hull measured by a gyro from seabed data measured by a transducer. In addition, the present invention relates to a navigation information processing device for ensuring safety of navigation on a route having a seabed obstacle such as a reef by accurately calculating the minimum required depth for navigation.

[0002]

2. Description of the Related Art Some conventional apparatuses have a function of preventing a grounding by generating a sectional projection view of a seabed from a seabed echo signal of a sonar and chart information.

This conventional apparatus is disclosed in Japanese Patent Laid-Open No. 02-95293.
As described in Japanese Patent Publication, a cross-sectional projection view and a plane projection view of the sea floor are created from the information of the sonar, a three-dimensional display is performed from these projection views, and the ship symbol is displayed to improve safety. I am trying.

In addition, in addition to the above-mentioned conventional ones, Japanese Patent Laid-Open No.
3-40882, JP-A-5-134031, and the like.

[0005]

Conventionally, it has been possible to obtain the distance to a seabed obstacle such as a reef based on information from a wave transmitter / receiver attached to a hull.
In the conventional technique described in Japanese Patent Laid-Open No. 2-95293, the minimum depth required by the ship when the hull is tilted due to external factors such as waves is accurately calculated, and grounding during navigation is predicted. Sometimes there was no function to raise an alarm.

The object of the present invention is to eliminate the error in the direction with respect to an obstacle measured by a transducer after calculating the pitch angle of a ship due to external factors such as waves, and to accurately determine the depth of a route. If a grounding is predicted based on the depth of the seabed and the inclination of the hull, an alarm will be generated and the information on the grounding location will be displayed.

[0007]

[Means for Solving the Problems] The above-mentioned object is to provide a transmitter / receiver for measuring a linear distance to an undersea obstacle in an area where an undersea obstacle such as a reef is present when the ship is navigating, and a ship reference axis. On the other hand, how much the ship is tilted, that is, the gyro part for measuring the pitch angle, the input part for inputting navigation speed and parameters related to the hull, the position where there is a seabed obstacle are calculated, and sailing The data processing section that processes the information of the seabed and calculates the depth from the sea surface to the ship bottom including the merge generated by the pitch angle of the hull and calculates whether it is navigable, and displays the information of the navigating seabed If a grounding is predicted, a warning alarm is generated and a display unit that displays a symbol at a point predicted to be grounded is achieved.

[0008]

According to the above means, the transducer measures the linear distance from the seabed obstacle such as a reef within the beam angle, and when the pitch angle measured by the gyro is not zero,
There is an error in the angle from the ship to the obstacle due to the pitch angle.Therefore, in the navigation information processing device, in order to eliminate this error, the angle that can be measured with the transducer to the seabed obstacle and the distance of the seabed obstacle are calculated. By calculating the pitch angle of the ship at the measured time and calculating the difference, the error when measuring the seabed obstacle such as a reef is eliminated.

Next, the depth of the seabed obstacle and the horizontal distance from the ship are calculated. At this time, the depth of the seabed obstacle at the destination and
The minimum depth required by the ship in consideration of the maximum pitch angle is compared, and when a grounding is predicted, a display as shown in FIG. 5 is displayed on the display unit and an alarm is generated.

[0010]

EXAMPLES The present invention will be described below with reference to examples. FIG. 1 is a block diagram of an embodiment of the present invention, and FIG. 9 is a flowchart of a data processing unit. The wave transmitter / receiver 8 receives the signal that the generated sound wave signal hits an obstacle in the water and bounces back to the wave transmitter / receiver 8. In the data processing unit 1, at step 101, the time A at which the sound wave is generated from the transducer 8 is
The input time is referred to from CLOCK 5 and stored in the data section 4 (step 102). At step 103, the sound wave hits an obstacle on the sea floor and returns to the transmitter / receiver 8 at time B.
Is stored in the data section by the input from CLOCK 5 (step 104). Then, the difference between the times A and B stored in the data section 4 is taken and divided by the underwater sound velocity to measure the straight line distance R to the obstacle on the seabed. Further, the transducer 8 is provided with a beam (directivity), and the direction of the transducer 8 is changed to measure the angle θ at the position where the obstacle on the seabed exists.

The measured data of the distance R and the angle θ are
When the pitch angle is 0 (step 105), it is stored in the data section 4 as it is (step 107). When the pitch angle is α, θ + α is substituted for the measurement angle θ (step 106) and the measurement angle θ is saved (step 107). Save as Figure 10
The data is stored in the data section 4 in the form of a table like this. In the data processing unit 1, based on the distance R and the angle θ stored in the data unit 4, for each point measured by each transducer, the horizontal distance χ
And the depth D at the point is calculated by the following calculation.

[0012] D ₁ in FIG. _2, since D ₂ is a depth that both measured from the depth of the sensor portion 12 of the transducer 8, the depth of the position of the sensor unit 12 when the D _0, the seabed d _1, of d ₂ The depth from the sea surface can be expressed by the following formula 1 as the depth of d _{1 and} the formula _{2 as} the depth of d ₂ .

[0013]

## EQU1 ## Depth of d ₁ : D ₀ + D ₁ = γ ₁ · sin θ ₁
+ D ₀

[0014]

(2) Depth of d ₂ : D ₀ + D ₂ = γ ₂ · sin θ ₂
+ D ₀ and the distances d ₁ and d _{2 from} the horizontal sensor χ _1, χ
₂ can be expressed by Equations 3 and 4.

[0015]

[Equation 3] χ ₁ = γ ₁ · cos θ ₁

[0016]

By Equation 4] χ ₂ = γ ₂ · cosθ ₂ the use of the above formula, it is possible to calculate the depth D in the horizontal direction distance chi, distant point (Step 10
8).

In the above processing, the transducer number is changed while changing the direction in the vertical direction for the azimuth within a certain range in front.
By measuring each point, the sea composition data in the three-dimensional information of FIG. 3B is created by plotting the data shown in FIG. 3A and displayed on the display unit 3 (step 1
09). The three-dimensional information is stored in the data processing unit 1 in the form of a table as shown in FIG.

Next, a case where it is predicted that a ground reef will be stranded will be described with reference to FIG.

In FIG. 4, the depth D ₃ measured from the depth of the sensor portion 12 at the point of the distance χ ₃ in the horizontal direction can be expressed by the following equation (5).

[0020]

[Formula 5] D ₃ = γ ₃ · sin θ ₃ At this time, the relationship between the distance n between the sensor unit 12 and the ship bottom and D ₃ is Formula 6,

[0021]

[Equation 6] n ≧ D ₃ Further, if Equations 7 and 8 are satisfied by the Equation 6 (step 110),

[0022]

(7) n + D ₀ ≧ D ₃ + D ₀

[0023]

[Mathematical formula-see original document] m ≧ D Since it is predicted that the hull 16 will be aground, the position, horizontal distance, and time predicted to be aground are displayed on the display unit 3 as shown in FIG. 5 (step 112). An alarm is generated (step 111).

If the time required for the ship to pass over d _{3 at} the speed v is t, then t can be obtained by the following equation (9).

[0025]

[Equation 9]

Next, a case will be described in which, in the above-described processing, the inclination angle (pitch angle α) of the hull due to waves as shown in FIG. 6 is generated. As shown in FIG. 7, the inclination of the hull with respect to the χ, y, z directions is measured by a gyro.

The value of α, which is the pitch angle, is taken into the data section 4 in synchronism with the measurement cycle, and the measurement angle θ + α is substituted when writing the transducer measurement information of FIG. 10 into the data section 4 (step 106). And is stored (step 107). In the data processing unit 1, the stored angle θ + α
According to the equations 1 to 4 and 9, the seabed information is calculated and stored (step 107). In the data processing unit 1, the depth required by the hull for navigation is determined based on the past pitch angle and the trigonometric function curve based on the data (h, i, p, j) shown in FIG. calculate. If the maximum value of the pitch angle measured with the gyro is P, based on Fig. 8,
The following formula 10 is established.

[0028]

[Equation 10] (h + i) × sin (P) −j ≧ D h: Length from the center of gravity of the ship to the tip of the hull (use the value in front, rear or longer) i: Safety factor P: Maximum pitch angle j : Regarding the value of D in the table of FIG. 11 which is the data calculated based on the measured value of the water from the body weight of the ship, when the condition of the expression 10 is satisfied, an alarm is generated and the table of FIG. 11 is generated. The position, time, and distance predicted to be aground as shown in FIG.

According to the present embodiment, obstacles such as reefs can be found in advance while the vessel is traveling, and a safe and reliable detour route can be secured.

[0030]

As described above, according to the present invention, by measuring the pitch angle, which is the inclination of the ship, in the navigation when there is a seabed obstacle such as a reef in the navigation route of the destination. , It is possible to secure safe navigation when navigating in shallow water, etc., because the depth and the bottom of the ship are not simply compared, but the merge by the pitch angle of the own ship is added and compared.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a navigation information processing apparatus according to an embodiment of the present invention.

FIG. 2 is a measurement diagram of a transceiver according to an embodiment of the present invention.

FIG. 3 is a diagram showing a measured value display range (a) and a display (b) of the display unit of the transducer according to the embodiment of the present invention.

FIG. 4 is a measurement diagram of a transducer according to an embodiment of the present invention (when a reef exists).

FIG. 5 is a display diagram of the display unit according to the embodiment of the present invention (when an alarm occurs).

FIG. 6 is an explanatory diagram of a pitch angle measured by a gyro compass according to an embodiment of the present invention.

FIG. 7 is an explanatory diagram of a pitch angle according to an embodiment of the present invention.

FIG. 8 is a tilting diagram of a ship including a pitch angle according to an embodiment of the present invention.

FIG. 9 is a flowchart of processing of a data processing unit according to an embodiment of the present invention.

FIG. 10 is an explanatory diagram of the transmitter / receiver measurement information (data section) according to the embodiment of the present invention.

FIG. 11 is an explanatory diagram of display data information (data section) according to the embodiment of the present invention.

FIG. 12 is an explanatory diagram of input data according to the embodiment of this invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Data processing part, 2 ... Input part, 3 ... Display part, 4 ... Data part, 5 ... CLOCK, 6 ... Buzzer, 7 ... Transceiver gyro, 7 '... Ship gyro, 8 ... Transceiver, 9 ... Transceiver (No. 1), 10 ... Transceiver (No. 2), 1
1 ... Transducer (No, 100), 12 ... Sensor part, 13
... area for displaying past measurement results, 14 ... area for displaying current measurement results, 15 ... own ship, 16 ... ship, 17 ... symbols displayed at points.

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical display location G01S 15/89 15/93 G08G 3/02 A 8907-2F G01S 15/89 Z 8907-2F 15/93

Claims (3)

[Claims] 1. An information processing device for avoiding grounding of a ship when navigating a route having obstacles such as shallow water or reef, which comprises a transducer for measuring the distance direction to the obstacle such as reef. , A gyro that measures the inclination of the hull, based on the data obtained from the transducer and the gyro, from the data received from the gyro, the data of the inclination angle of the hull at the time measured by the transducer It has a data processing unit that corrects the sonar measurement value due to the inclination of the obtained hull and calculates the seafloor information, and a display unit that displays the sea composition based on the seafloor information data calculated by the data processing unit. Characteristic navigation information processing equipment. 2. The data processing unit alarms when a grounding is expected in the route of the ship based on the calculated seabed information data and the maximum value of the amplitude of the inclination of the hull based on the data received from the gyro. 2. The navigation information processing apparatus according to claim 1, wherein a request for generation is made and an alarm is generated on the display unit. 3. A ship comprising the navigation information processing apparatus according to claim 1.