KR101155602B1 - Navigation equipment simulator for vessel collision avoidance system - Google Patents

Abstract

The navigation equipment simulator for a collision avoidance system for a ship of the present invention obtains various navigation information to generate collision situation related information between a ship and another ship, and controls the vessel using the collision situation related information. Simulator system for generating reference navigation information of the ship and the ship, and performing the simulation test of the collision avoidance system to apply the navigation system to the actual ship while transmitting the generated reference navigation information with the navigation system. Contains wealth.

Description

Navigation equipment simulator for vessel collision avoidance system

The present invention relates to a collision avoidance simulator for ships, and in particular, the present invention collects information from navigation systems, such as electronic charts and radars and various navigation sensors, and acquires and monitors information on a collision situation so that the vessel can monitor in real time. The present invention relates to a navigational equipment simulator for a collision avoidance system for a ship that allows a ship to operate in a safe path while avoiding obstacles.

As an academic research for ship collision avoidance, a method of estimating the collision risk by fuzzy inference using the distance of the closest point approach (DCPA) and the time of the closest point approach (TCPA) as input information has been proposed. Based research was underway.

Related devices of a conventional ship collision avoidance system include an electronic chart (ECDIS, Electronic Chart Display and Information System), an automatic vessel identification system (AIS), a navigation simulator and the like. Products related to the above electronic charts are being developed by Furuno, JRC, Kelvin Hughes, etc., which displays route information, route monitoring, and other vessel information linked to vessel automatic identification devices or displays prediction information about vessels.

The automatic vessel identification device is a basic device that grasps information including the position of another ship in the collision avoidance system. The collision avoidance system may receive encrypted information about another ship by using the automatic vessel identification device, and analyze the navigation information for the target ship by decrypting it.

At present, “Kongsberg” describes the use of the dynamic positioning system and the simulator in connection with the purpose of training for emergency avoidance to avoid collisions, and mentions safety management using the integrated automation system K-chief. However, there are no cases of ship collision avoidance system development and solid line application, and research on collision avoidance algorithm is actively conducted in academia.

Since the existing navigation data simulator generates data without considering the motion characteristics of the ship, there is a problem that the accuracy is lowered because the results are significantly different compared to the results of the motion characteristics generated by the ship when applying the solid line.

Accordingly, the present invention is to solve the conventional problems as described above, by collecting information from navigation systems such as electronic chart and radar and various navigation sensors to obtain information on the collision situation and avoid obstacles in real time The purpose of the present invention is to provide a navigation equipment simulator for a collision avoidance system for a ship that can be controlled to navigate in an optimal route.

The present invention for achieving the above object, to obtain a variety of navigation information, to create a collision situation related information, to generate the reference navigation information of the vessel and the navigation system unit for controlling the vessel using the collision situation related information And, while transmitting the generated reference navigation information with the navigation system, characterized in that it comprises a simulator system for performing a simulation test of the collision avoidance system to be applied to the actual ship.

Here, the navigation system unit, by using the radar to detect and track the electronic chart to display on the screen by combining the navigation information of the own vessel and the unique information of other vessels, the position of the other vessels A radar detector for continuously displaying a rate of change; and when one or more of the navigation information of the other ships transmitted from the electronic chart and the radar detector is out of the range of reference navigation information, the vessel may be connected with the other ships. It is preferable that a collision avoidance system unit is provided to control the charity ship to operate with the collision avoidance information so as to escape the collision situation.

And the collision avoidance system unit, it is preferable to obtain the navigation information from an autopilot or a rotary compass, an autopilot, a tachometer, echo sounder, GPS and anemometers.

The simulator system unit may be mounted on the ship and the other ship, a raej detection simulator unit for detecting and tracking the movement of other ships by using a radar to continuously display the rate of change of the other ship. Preferably, the ship automatic identification device simulator unit for transmitting and receiving the unique information between the own vessel and the other ship, and the ship vessel simulator unit for generating the unique information and the reference navigation information of the own vessel.

As described above, the present invention enables the data transmission and reception of the collision avoidance system and the integrated test with the navigation system, and can compare and analyze the operation of the collision avoidance system through the electronic chart and the radar detector. There is an advantage that can virtually provide all the information for the determination and control of the avoidance system unit.

In addition, by allowing the collision avoidance system part to be applied to the solid line after the simulation, the laboratory can be tested in the solid environment, and when the solid line is applied, the interface can be interfaced with actual navigation equipment.

In addition, it is possible to develop and avoid safety collision avoidance system part, and to increase the possibility of applying the ship collision avoidance system has the advantage of providing a high value-added vessel technology.

1 is a view for showing a schematic interface of the navigation equipment simulator for ship collision avoidance system according to the present invention.
2 is a view for showing a detailed interface of the navigation equipment simulator for ship collision avoidance system according to the present invention.
3 is a view for showing the structure of the navigation equipment simulator for ship collision avoidance system according to the present invention.
4 is a view showing a state in which the navigation system of the navigation system simulator for the ship collision avoidance system according to the present invention applied to the actual vessel.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In describing the present invention, the defined terms are defined in consideration of the function of the present invention, and should not be understood in a limiting sense of the technical elements of the present invention.

1 is a view for showing a schematic interface of the navigation equipment simulator for ship collision avoidance system according to the present invention, Figure 2 is a view for showing a detailed interface of the navigation equipment simulator for ship collision avoidance system according to the present invention 3 is a view showing the structure of the navigation equipment simulator for ship collision avoidance system according to the present invention, Figure 4 is a state in which the navigation system part of the navigation equipment simulator for ship collision avoidance system according to the present invention applied to the actual ship The figure for showing.

As shown in Figures 1 to 4, the simulation apparatus for ship collision avoidance according to the present invention, obtains various navigation information, generates collision situation related information, using the collision situation related information to the vessel The navigation system 100 controls the navigation system 100. The navigation system unit 100 may be applied to an actual ship while generating reference navigation information of the vessel and transmitting and receiving the generated reference navigation information with a navigation system 100. Simulator system unit 200, which performs a simulation test for the collision avoidance to include.

Here, the navigation system 100, the electronic chart (110, ECDIS) that displays the navigation information of the own ship and the unique information of the other ships on the screen by using the radar to the movement of the other ships Radar detection unit 120 (Radar / ARPA) is provided to continuously detect and track, to continuously display the rate of change of the position of the other ships.

In addition, when one or more of the navigational information of the other ships is determined to be in a collision situation with the own ship, the ship owned based on the collision avoidance information to escape from the collision situation with the other ships Collision avoidance system 140 for controlling the collision avoidance system is provided.

The electronic chart 110 (ECDIS) provides depth and coast information for the collision avoidance system 140. It also provides route planning with track control.

The electronic chart is an important system capable of comparing and analyzing the position and route of the vessel and other vessels monitored by the collision avoidance system unit 140 (collision avoidance system).

In addition, the electronic chart 110 (ECDIS) analyzes the signal sent by the ship equipped with the automatic vessel identification device unit 130 (AIS), displays the information of other ships and monitors in real time.

The radar detector 120 (Radar / ARPA) continuously detects the movement of the object and continuously tracks the rate of change of the position of the target. It can also warn of potential collisions with other ships during normal or poor visibility.

Information provided by the radar detector 120 (Radar / ARPA) may include radar image information, a distance from a detected target, an azimuth from a target, an estimated recent ground point from the target, an estimated time to reach a recent ground point, and the actual direction of the target. And the actual speed of the target.

In addition, the vessel automatic identification unit 130 (AIS) is a device for automatic transmission and reception between the vessel and the vessel, as well as the vessel and the land at a predetermined interval according to the ship's navigation information, vessel automatic identification unit 130 (AIS) With static information such as sharpness, MMSI number, call sign, ship type, SOG (Ground Speed), COG (Ground Direction), Gyro Heading, ROT (Roll Rate) and Inform the user by sending the same dynamic information in real time.

On the contrary, it is possible to grasp the information of the other ship by receiving the AIS message for other ships, and is an important system for providing the information of the mobile ship to the collision avoidance system unit 140 (collision avoidance system).

On the other hand, in the collision avoidance system (Collision avoidance system), by using the above information provided by the radar detector 120 (Radar / ARPA), the information of other ships not equipped with the automatic vessel identification unit 130 (AIS) and For example, you can get information about static objects that are not moving.

Here, the information for driving the collision avoidance system unit, as well as the above-described electronic chart 110 (ECDIS), radar detector 120 (Radar / ARPA), ship automatic identification device unit 130 (AIS), Can be obtained through Autopilot (300, Autopilot) and various navigation equipment.

As navigational equipment, a Gyro compass, an autopilot (300, Autopilot), a speed log, an echo sounder, a GPS, a global positioning system, and an anemometer are used. Can be.

In addition, the collision avoidance system unit 140 is interfaced with the electronic chart 110 (ECDIS) and the Radar / ARPA system through serial communication (RS-422), and the automatic vessel identification device unit 130 (AIS) is provided. ) Is also connected via serial communication.

As such, in order to drive the collision avoidance system unit 140, a combination with all the above-described components must be made, and the form for applying to the actual ship is as shown in FIG.

The vessel automatic identification device unit 130 (AIS) interfaces with the electronic chart 110 (ECDIS) and the radar detector 120 (Radar / ARPA) in serial communication to provide VDM (AIS VHF Data-link Message) / VDO (AIS VHF Data). -link Own-vessel report) Send and receive messages.

Here, the VDM is an AIS message received by another ship, and the VDO is a message for transmitting information of own ship to the ship of the other party.

In FIG. 1, the system is configured to integrate the electronic chart and radar detection unit 120 (Radar / ARPA) and the collision avoidance system for the collision avoidance system prototype development.

The simulator system 200 generates a radar detection simulator 210 for generating various radar signals and information such as a simulation position and a map for simulating the radar, and generates other ship information for generating a collision situation. Ship automatic identification device simulator 220 and the vessel simulator 230 for generating reference navigation information of the vessel is provided.

In addition, the simulator system 200, the Moxa equipment and LAN equipment that is a serial communication equipment is mounted together.

In Fig. 2, the communication interface and the interface design structure are shown in detail.

In this case, the collision avoidance system unit 140 (collision avoidance system) is a ship automatic identification device unit 130 (AIS, Automatic Identification System), radar detector 120 (Radar / ARPA), the voyage coming from the electronic chart (110, ECDIS) In addition to the data, images of the electronic chart 110 (ECDIS) and images of the radar detector 120 (Radar / ARPA) are captured to obtain additional information.

In the electronic chart 110 (ECDIS), the depth information and the topographical shape information are image-processed into a database and read by the collision avoidance system unit 140 (collision avoidance system).

In the radar detector 120 (Radar / ARPA), the additional information (collision risk calculation, static obstacle information) that is unknown in the electronic chart 110 (ECDIS) is imaged and the collision avoidance system unit 140 of the collision avoidance system 140 is processed. Use as information.

To this end, a hardware equipped with a collision avoidance system unit 140 (140) is equipped with a special graphics card, and each system can capture and process the screen in real time through a distributor.

The information obtained through each serial communication and Ethernet connection is designed as the table below.

Electronic Chart Simulator: RS-422 Communication Port number Equipment name One ARPA2 2 POS1 3 Track plot 4 ARPA1 5 AIS 6 POS2 7 Gyro1 8 Log / Dual-axis Log 9 ARPA3 10 POS3 11 AMWSS 12 ARPA4 13 B-Adapter 14 Echo 15 Wind 16 Water temp

Ship simulator interface: RS-422 communication Port number Equipment name One Track control 2 POS1 3 POS2 4 Gyro1 5 Log / Dual-axis Log 6 POS3 7 Echo 8 Wind 9 Water temp

Collision avoidance system (140) interface: RS-422 communication Port number Equipment name One Track Pilot to / from ECDIS 2 Track control 3 POS1 4 POS2 5 Gyro1 6 Log / Dual Axis Log 7 POS3 8 Echo 9 Wind 10 Water temp 11 ARPA1 12 AIS

Radar detector 120 (Radar / ARPA) interface: RS-422 communication Port number Equipment name One ARPA

AIS Simulator Interface: RS-422 Communication Port number Equipment name One AIS

3 is a view showing the structure of the navigation equipment simulator for ship collision avoidance system according to the present invention.

As described above, the simulation apparatus for ship collision avoidance of the present invention is a simulator is used in place of the navigation equipment for the simulation test, but when used in a solid line, only the navigation system unit (100, navigation system) is applied to the solid line Designed to be possible.

As a result, the transmission and reception of data for the collision avoidance system 140 and the integrated test with the navigation system 100 can be performed, and the electronic chart 110 (ECDIS) and the radar detector 120, Radar / ARPA) to compare and analyze the operation of the collision avoidance system 140 (collision avoidance system).

In addition, all information for the determination and control of the collision avoidance system unit 140 may be virtually provided, and after the simulation, the collision avoidance system unit 140 may be applied to the solid line. By doing so, the simulation apparatus can be tested in a live environment in a laboratory, and when applied to a real ship, it can be interfaced with real navigation equipment.

In addition, it is possible to develop a collision avoidance system (140, collision avoidance system) and safety testing, it is possible to provide a high value-added ship technology by increasing the possibility of applying the ship collision avoidance system.

Although the technical idea of the navigation equipment simulator for a collision avoidance system for ships according to the present invention has been described with the accompanying drawings, this is illustrative of the best embodiment of the present invention, but is not intended to limit the present invention.

Therefore, it is obvious that any person with ordinary skill in the art can make various modifications and imitations such as dimensions, shapes, structures, etc. without departing from the scope of the technical idea of the present invention. Is included in the scope of the technical idea of the present invention.

100: navigation system unit 110: electronic chart
120: radar detection unit 130: ship automatic identification device unit
130: collision avoidance system unit 200: simulator system unit
210: radar detection simulator
220: ship automatic identification device simulator
230: ship ship simulator unit 300: autopilot

Claims (4)

A navigation system unit for acquiring various navigation information, generating collision situation related information, and controlling the vessel using the collision situation related information; And
A simulator system unit for generating reference navigation information of the ship and transmitting the generated reference navigation information to the navigation system unit and performing a simulation test of the collision avoidance system to apply the navigation system unit to an actual ship; And including
The electronic navigation system which provides the depth and coast information and a route planning function capable of controlling the track while displaying the navigation information of the ship and the unique information of other ships on the screen;
By detecting and tracking the movement of other ships using radar, it displays the rate of change of the position of other ships continuously and also displays the information of other ships not equipped with automatic vessel identification device and information about static objects that are not moving. A radar detector; And
Avoiding the collision so that the ship can escape the collision situation with the other ships if one or more of the navigation information of the other sea chart and the navigation information transmitted from the radar detector is out of the range of the standard navigation information Collision avoidance system unit for controlling the charity ship to operate with information; Navigation equipment simulator for a ship collision avoidance system, characterized in that it further comprises. delete The method of claim 1,
The collision avoidance system unit, the navigation equipment simulator for a collision avoidance system for a ship, characterized in that to obtain the navigation information from an autopilot or a rotary compass, an autopilot, a speedometer, echo sounder, GPS and anemometers. The method of claim 1,
The simulator system unit includes: a radar detection simulator unit for detecting and tracking the movement of other ships using a radar to continuously display the rate of change of the other ship;
A ship automatic identification device simulator unit mounted on the ship and the other ship and transmitting and receiving unique information between the ship and the ship; And
A ship vessel simulator unit for generating unique information of the ship and the reference navigation information; Navigation equipment simulator for a ship collision avoidance system, characterized in that it further comprises.

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