JP2021146778A - Sailing route generation device - Google Patents

Abstract

To provide a sailing route generation device capable of generating a route of a ship appropriately.SOLUTION: A sailing route generation unit 36 of a sailing route generation device 20 sets a plurality of sailing route candidates by which a ship 1 can sail from a sailing relay point of the ship in a first predetermined time on a sailing sea area plane in which potentials are set. Also, the sailing route generation unit 36 calculates a sum total of the potentials in the position of the ship 1 for each second predetermined time shorter than the first predetermined time in the plurality of sailing route candidates. The sailing route generation unit 36 sets to a next sailing relay point any one sailing point before the position in the first predetermined time in the position of the ship 1 for each second predetermined time of the sailing route candidates in which the calculated sum total of the potentials is minimum. The sailing route generation unit 36 generates a sailing route of the ship 1 so as to include a sailing relay point by repeating settings of the sailing relay point from a departure point PS to a destination point PE.SELECTED DRAWING: Figure 1

Description

The present invention relates to a technique for generating a safe navigable route for a ship.

Conventionally, research using OZT (Obstacle Zone by Target) has been advanced in order to estimate the collision risk of a ship (see Non-Patent Document 1). OZT is an index that indicates the range at which there is a risk that navigation will be obstructed by other vessels, making it easier to grasp areas where there is a possibility of collision, and is useful for ship operators when considering and selecting avoidance methods. It is believed that.

In addition, by evaluating the collision risk in the model of the avoidance maneuvering space and superimposing the model of the ship maneuvering preference on this, the preference of the ship maneuvering method is calculated and the optimum avoidance route is instantly generated. Is being studied (see Non-Patent Document 2). According to such a method, the optimum route can be instantly selected by constantly calculating the avoidance maneuvering space.

Fukuda, "Basic Research on Maritime Traffic Analysis Using OZT", Proceedings of the Japan Voyage Society, Vol. 3, No. 2, 2015 Shinya Nakamura et al., "Comparison (quantitative evaluation) between the results of maneuvering by an automatic avoidance system in congested waters and the results of maneuvering by veteran captains", Lecture Material of the Japan Society of Traffic Engineers, June 9, 2018

In the method using OZT, the risk of collision with other vessels can be displayed, but the avoidance route cannot be automatically generated. Furthermore, when taking a bird's-eye view of the entire navigation space, it is not possible to consider obstacles other than ships, apply the avoidance methods stipulated by law, and consider the course of the ship to its destination. Can not.

Further, in the method described in Non-Patent Document 2, the avoidance judgment is made in a special space-time (avoidance maneuvering space). It shows in what direction you should turn instantly, but not what route you should take. Therefore, it is not easy to determine where the risk lies when the entire navigation space of the ship is viewed from a bird's-eye view.

On the other hand, in the fields of automobiles, mobile robots, etc., the potential method is used as a method of avoiding obstacles. In the potential method, the moving body moves along the gradient of the potential on the map on which the potential is set.

Since the normal potential method targets moving objects (robots, automobiles, etc.) with good motion characteristics, it is possible to calculate the route by setting the potential at the position of the recognized obstacle. On the other hand, since the motion characteristics of the ship are remarkably poor as compared with other moving objects, if the potential is set at the position of the recognized obstacle, the obstacle may not be suitably avoided.

The present invention has been made in view of the above points, and an object of the present invention is to provide a route generating device capable of suitably generating a route capable of safely navigating a ship.

In order to solve the above-mentioned problems, the route generator of the present invention uses a potential setting unit for setting a potential on a navigation sea area plane and the navigation sea area plane on which the potential is set to generate a ship route. It is characterized in that it is provided with a route generation unit. The route generation unit sets a plurality of route candidates capable of navigating from the navigation relay point of the ship in the first predetermined time between the departure point and the destination on the navigation sea area plane in which the potential is set. The route generation unit calculates the sum of the potentials at the positions of the vessels for each second predetermined time shorter than the first predetermined time in the set plurality of route candidates. The route generation unit is one of the route candidates having the minimum calculated sum of the potentials, which is before the position at the first predetermined time at the position of the ship at the second predetermined time. Is set at the next navigation relay point. The route generation unit generates the route of the ship so as to include the set navigation relay point by repeating the setting of the navigation relay point from the departure point to the destination.

According to the present invention, by combining the potential method with OZT, a suitable route is generated in consideration of the potential for the expected risk. That is, by repeating setting the navigation relay point while considering the potential of the ship in the future position, it is possible to preferably generate a safe route that can avoid obstacles and the like.

It is a block diagram which shows typically the route generator which concerns on embodiment of this invention. It is a graph which shows the example of the 1st potential set on the navigation sea area plane. It is a graph which shows the example of the 2nd potential set on the navigation sea area plane. It is a graph which shows the example of the third potential set on the navigation sea area plane. It is a navigation plane showing examples of ships and immovable obstacles. It is a graph which shows the example of the 3rd potential set to the right side of the line segment connecting each representative point of the immovable obstacle shown by a plurality of representative points on the navigation sea area plane. It is a graph which shows the example of the 3rd potential set on the left side of the line segment connecting each representative point of the immovable obstacle shown by a plurality of representative points on the navigation sea area plane. It is a graph which shows the example of the 3rd potential set on both sides of the line segment connecting each representative point of the immovable obstacle represented by a plurality of representative points on the navigation sea area plane. It is a graph which shows the example of the 4th potential set on the navigation sea area plane. It is a graph which shows the example of the 4th potential set on the navigation sea area plane. It is a navigation sea area plane for explaining the first operation example of the channel generator. It is a flowchart for demonstrating the 1st operation example of the route generator. It is a flowchart for demonstrating the 1st operation example of the route generator. It is a schematic diagram for demonstrating the selection example of a route. It is a navigation sea area plane for demonstrating the second and third operation examples of the channel generator.

Embodiments of the present invention will be described in detail with reference to the drawings. In the description, the same elements are designated by the same reference numerals, and duplicate description will be omitted. In the present invention, the navigation sea area plane is generated based on the position of the own ship, the position of another ship, the information of the sea area, etc. It is a plane and position information simulating the sea surface around the ship, which is modeled based on (including), and includes, for example, position information of immovable obstacles (land, rocky reefs, shallow water, etc.).

As shown in FIG. 1, the ship 1 according to the embodiment of the present invention includes a ship automatic identification device 11, a sea area information display device 12, a direction sensor 13, and a route generation device 20. Further, the ship 1 includes a power device 41 which is a power source of the ship 1 and a steering device 42 for changing the traveling direction of the ship 1. When the ship 1 is remotely controlled, the route generation device 20 may be provided outside the ship 1.

<Automatic identification system for ships>
The automatic identification system (AIS) 11 automatically identifies another ship 2 navigating around the ship 1 and determines the position and speed (direction and speed) of the identified other ship 2. It is a device to detect. The ship automatic identification system 10 transmits the detection result to the route generation device 20.

<Sea area information display device>
The sea area information display device 12 is a device that displays a nautical chart (for example, a nautical chart issued by the Japan Coast Guard), a reference map (for example, an electronic reference map for navigation, a Y chart, etc.) of the sea area in which the ship 1 navigates. .. The sea area information display device 12 transmits information on the sea area (information on topography, water depth, buoys, routes, other obstacles, tidal currents, etc.) in which the ship 1 is navigating to the route generation device 20.

<Orientation sensor>
The directional sensor 13 is a sensor that detects the direction (direction) of the ship 1. The directional sensor 13 transmits the detection result to the route generator 20.

<Route generator>
By combining the potential method with OZT (Obstacle Zone by Target), the route generator 20 generates a route (also referred to as an avoidance route) that allows the vessel 1 to navigate safely in consideration of the potential for the expected risk. It is a device of. The route generation device 20 includes an operation unit 21, a display unit 22, and a control unit 30.

<Operation unit>
The operation unit 21 is composed of a keyboard, a mouse, a touch panel, buttons, and the like. The operation unit 21 outputs a signal (data) based on the operation result of the operation unit 21 by the operator to the control unit 30.

<Display unit>
The display unit 22 is composed of a monitor or the like. The display unit 22 displays an image or video based on a signal (data) from the control unit 30.

<Control unit>
The control unit 30 is composed of a CPU (Central Processing Unit), a ROM (Read-Only Memory), a RAM (Random Access Memory), an input / output circuit, and the like. As functional units, the control unit 30 includes a storage unit 31, a position information acquisition unit 32, another ship information acquisition unit 33, a sea area information acquisition unit 34, a potential setting unit 35, a route generation unit 36, and a ship control. A unit 37 is provided.

≪Memory part≫
The storage unit 31 stores the maximum speed of the ship 1, the angle at which the needle can be changed, and the like. Further, the storage unit 31 may store information on the sea area in which the ship 1 navigates (information on topography, water depth, buoys, sea routes, other obstacles, tidal currents, etc.).

≪Location information acquisition department≫
The position information acquisition unit 32 receives, for example, a signal from GNSS (Global Navigation Satellite System), and calculates the position of the ship 1 based on the received signal. Further, the position information acquisition unit 32 acquires the detection result (that is, the direction of the ship 1) of the directional sensor 13 provided on the ship 1. Information on the position and orientation of the ship 1 is output to the sea area information acquisition unit 34, the potential setting unit 35, the route generation unit 36, and the ship control unit 37.

≪Other ship information acquisition department≫
The other ship information acquisition unit 33 acquires information (position, direction, and speed) regarding the other ship 2 transmitted by the ship automatic identification system 10, and outputs the acquired information to the potential setting unit 35.

≪Sea area information acquisition department≫
The sea area information acquisition unit 34 has sea area information (terrain, water depth, buoy, route, other obstacles, tidal currents) transmitted by the sea area information display device 12 and / or based on the operation result of the operation unit 21 by the operator. Etc.) and output the acquired information to the potential setting unit 35. In the present embodiment, the sea area information acquisition unit 34 acquires information on the position and orientation of the ship 1 output from the position information acquisition unit 32, and based on such information, sets the potential of the information on the sea area in the vicinity of the ship 1. Output to unit 35.

≪Potential setting part≫
The potential setting unit 35 of the ship 1 is based on the position (departure place or current location) and direction of the ship 1, the destination of the ship 1, information on other ships 2 (position, direction and speed), and information on the sea area. A potential field is set on the plane of the navigation area including the position and destination.

<Potential>
Next, the potential field set on the navigation sea area plane will be described. In the drawings for explaining the potential field, the x-axis and the y-axis are the axes indicating the coordinates on the navigation sea area plane, the x-axis is, for example, the axis indicating the north-south direction, and the y-axis is the x-axis on the navigation sea area plane. An axis that is orthogonal (for example, an axis that indicates the east-west direction). The z-axis is an axis indicating the potential. In such a potential field (navigation sea area plane in which the potential is set), the vessel 1 avoids a position where the potential is high and sails so as to flow to a position where the potential is low.

≪First potential≫
As shown in FIG. 2, the first potential U _1, for example, it is set such that the potential decreases toward the destination P _E from the departure point P _S. That is, the first potential U ₁ is a attractive potential to direct the ship 1 from the starting point P _S side to the destination P _E side. The route boat 1, by following the first potential U _1, is set to point to the destination P _E from the departure point P _S. The first potential U ₁ is represented by, for example, the following equation (1). Here, _{w 1} is a coefficient related to the slope to the destination _{P E} from the departure point _{P S} in the first potential _{U 1.} Also, [psi _1, the direction of the attractive potential, i.e., earth-fixed coordinate system (e.g., x-axis in the north-south direction, y-axis in the east-west direction) in the earth-fixed coordinate of the straight line passing through the place of departure P _S and the destination P _E The angle with respect to the system x-axis. Further, (x ₁ , y ₁ ) is a representative point where the first potential U _{1 is placed.} That is, when the coordinates (x, y) of the ship 1 are (x ₁ , y ₁ ), the first potential U ₁ becomes zero.

≪Second potential≫
As shown in FIG. 3, the second potential U ₂ is, for example, with respect to a straight line passing through the place of departure P _S and the destination P _E, is set as the potential enough away from the straight line becomes larger .. That is, the second potential U ₂ is attractive potential bringing the ship 1 on the straight line passing through the place of departure P _S and the destination P _E. The route boat 1, by following the second potential U _2, is set to point linearly in the destination from the departure point. The second potential U ₂ is represented by, for example, the following equation (2). Here, w ₂ is the coefficient for the slope when spaced from the straight line passing through the place of departure P _S and the destination P _E in the second potential U _2. Also, [psi ₂ is the earth fixed coordinate system (e.g., x-axis in the north-south direction, y-axis in the east-west direction) in is the angle to the earth-fixed coordinate system x-axis of the straight line passing through the place of departure P _S and the destination P _E .. Further, (x ₂ , y ₂ ) is a representative point where the first potential U _{1 is placed.} That is, when the coordinates (x, y) of the ship 1 are (x ₂ , y ₂ ), the second potential U ₂ becomes the minimum. _{The size of w 2} of the second potential U ₂ may be different on the left and right of the route (planned) of the ship 1. At the time of general Collision Avoidance maneuvering, prefer to cut the rudder on the starboard side, but off to a rudder in part also to the law starboard side are specified, set to be larger on the left side of the w ₂ from the right side of the w ₂ By doing so, such maneuvering can be realized.

In the present embodiment, in place of the departure point P _S and the destination P _E, with respect to a straight line passing through the position and the next navigation WP of the vessel 1 at the present time, the first potential U ₁ and the second potential U ₂ Is set. _{Further, the first potential U 1} and the second potential U ₂ are set for the straight line passing through the immediately preceding navigation WP and the next navigation WP.

≪Third potential≫
As shown in FIG. 4, the third potential U _3, in sailing waters plane containing the departure point P _S and the destination P _E, immovable obstacles (reefs, shoals, etc.) closer to where the potential is larger Is set to. That is, the third potential U ₃ is a repulsive potential that keeps the ship 1 away from obstacles. The route boat 1, by following the third potential U _3, is set so as to avoid the reefs and the like. The coordinate _(x 3, _{y 3)} is the position of the reef like (position of the center). The third potential U ₃ is represented by, for example, the following equation (3). Here, w ₃ is a coefficient relating to the magnitude of the third potential U _3. w ₃ is a function whose variable is the shape (size, etc.) of the immovable obstacle.

Further, as shown in FIG. 5, _(see FIG. 7) the third potential U _L of the right third potential U _{R (see} FIG. 6) and the left are represented by the following formula (6) to (8) NS. Here, (x, y) is the coordinates of the ship 1, and (x ₃ , y ₃ ) is the coordinates of the immovable obstacle 3. Right potential _{U R,} a plurality of representative points _{P 1, P 2, ...,} P n, P n + 1, ... ( _{here, P R1, P R2, P} R3, P R4, ... ( see FIG. 8)) in It is the potential on the right side of the line connecting the potentials with a straight line. Left potential _{U L,} a plurality of representative points _{P 1, P 2, ...,} P n, P n + 1, ... ( _{here, P L1, P L2, P} L3, P L4, ... ( see FIG. 8)) in It is the potential on the left side of the line connecting the potentials with a straight line. Also, [psi _3k is representative point _(e.g., P _{R1, P R2)} is an angle indicating the direction of the line segment connecting between That potential wall. Further, w ₃₁ is a coefficient related to the magnitude of the potential, and w ₃₂ is a coefficient related to the steepness of the potential. If there is an obstacle 3 is on the left and right sides of the ship 1, and _{U 3 = U R + U L} ( see FIG. 8).

Further, for example, when the right side of the marine vessel 1 is immovable obstacle third plurality (N pieces) is U _R is represented by the following formula (9). Here, k, (same applies to the U _L) indicating the order to identify a plurality of obstacle 3.

Further, for example, as in the route, such as rivers, if there is a region to be avoided sailing to the left and right sides of a vector (obstacle 3) becomes _{U 3 = U R + U L} ( see FIG. 8).

≪Fourth potential≫
As shown in FIGS. 9 and 10, the fourth potential U _4, in sailing waters plane containing the departure point P _S and the destination P _E, area conflicts with other vessels 2 is a mobile is expected The potential is set to increase as it approaches. That is, the fourth potential U ₄ is a repulsive potential that keeps the ship 1 away from the area where a collision with another ship 2 is expected. The route boat 1, by following the fourth potential U _4, is set so as to avoid other vessels 2. The coordinates (x ₄ , y ₄ ) are the positions (center positions) of the other vessels 2 or the representative positions indicating the OZT. The fourth potential U ₄ is represented by, for example, the following equations (10) to (12). Here, w ₄ is a coefficient relating to the magnitude of the fourth potential U _4. w ₄ is a function in which the speed and magnitude of the ship 1 and the other ship 2 are variables. Further, x _e indicates a position (x coordinate) in which _{the fourth potential U 4} is halved from the maximum value in the x-axis direction (the front-rear direction of the other ship 2). Also, Ψ ₄ is the angle of potential. Depending on the orientation of the other vessel 2, the equation (10) may include a term relating to _{y e} similar to _{x e.}

Each equation (1) to coefficients in _{(12) w 1 ~w 4,} x e , etc. may be appropriately set based on the operation results of the operation unit 21 by the vessel operator.

_{The potential setting unit 35 sets the fourth potential U 4} so that the potential in front of the other vessel 2 is larger than the potential in the other direction based on the orientation of the other vessel 2. _{Further, the potential setting unit 35 sets the fourth potential U 4} based on the speed of the other ship 2 so that the higher the speed, the greater the potential of the predetermined position in front of the other ship 2.

The potential setting unit 35 sets the potential of one of the starboard side and the port side of the other vessel 2 larger than the potential of the other vessel 2 based on Articles 13 to 17 of the Maritime Collision Prevention Law, the risk felt by the ship operator, and the like. It may be set. Such setting is, for example, in the right side of the U _4, shows the variance sigma _x, the sigma _y, it is possible by a variable in which the coordinates and parameters.

The potential setting unit 35 sets the total potential U on the navigation sea area plane by taking the sum of _{these potentials U 1 to} U _4.

≪Route generator≫
The route generation unit 36 acquires the information from the position information acquisition unit 32 and the setting result of the potential setting unit 35, and generates the route (evacuation route) of the ship 1 on the navigation sea area plane in which the total potential U is set. .. Passage includes a plurality of navigational stopover set between the departure point P _S and the destination P _E: include (WP Way Point), a plurality of navigational stopover: the sum of the total potential in (WP Way Point) Generated to be smaller. Sailing WP is a point where the marine vessel 1 passes in route (coordinates), the ship 1 sails based on route moves to a destination P _E via a plurality of navigation WP from the departure point P _S sequentially. The generated route is output to the ship control unit 36. The route generation unit 35 complies with Article 13 (overtaking), Article 14 (meeting), Article 15 (crossing), Article 16 (evacuation ship), and Article 17 (holding ship) of the Maritime Collision Prevention Law. Generate a route.

≪Ship control unit≫
The ship control unit 37 acquires the route generated by the route generation unit 36, and controls the power device 41 and the steering device 42 based on the information from the position information acquisition unit 32 and the acquired route.

<First operation example>
Subsequently, a first operation example of the route generator 20 will be described with reference to FIGS. 11 to 13. In this operation example, the route generation device 20 of the ship 1 generates a route so as to avoid the other ship 2 as shown in FIG. In the example shown in FIG. 11, Vessel 1 and the other Vessel 2 are in a relationship of meeting under Article 14 of the Maritime Collision Prevention Law.

As shown in the flowchart of FIG. 12, the potential setting unit 35 of the route generation device 20 has information on the sea area (topography, water depth, buoy, route, other obstacles, tidal current, etc.) transmitted from the sea area information display device 12. ) Or, the potential field is set on the navigation sea area plane modeled by using the sea area information stored in the storage unit 31 (step S1). 11, of the total potential U, only potential U ₄ by other vessels 2 are shown.

Then, route generator 36 of the route generating device 20 sets the number of navigation between the departure point _{P S} and the destination _{P E} WP (Way Point) (step S2). Here, route generator 36 may be based on the operation result of the operation unit 21 by the vessel operator, acquires the coordinates of the departure point P _S and the destination P _E. Further, the route generation unit 36 can set the number of navigation WPs by reading the number of navigation WPs stored in the storage unit 31 or based on the operation result of the operation unit 21 by the operator. Incidentally, route generator 36, based on calculating the distance between the departure point P _S and the destination P _E, the calculated distance and pre-stored speed of the boat 1 (the maximum speed), the number of navigation WP May be configured to set. Here, navigation WP number, considering that the route is curved larger than the Distance between the departure point P _S and the destination P _E] ÷ [of the boat 1 speed (maximum speed) (For example, + 20%) is set. Further, the route generation unit 36 can acquire and set the number of navigation WPs based on the operation result of the operation unit 21 by the ship operator.

Then, route generator 36 of the route generation device 20 calculates a route position of the ship 1 from (departure _{P S} or navigation WP) to the candidate WPC of the next navigation WP (Step S3).

As shown in the flowchart of FIG. 13, in step S3, in detail, the route generation unit 36 sets a plurality of route candidates based on the angle of the course that the ship 1 can navigate (step S11). In the present embodiment, the ship 1 can navigate (change the needle) in the range of −40 ° to + 40 ° when the front of the ship is 0 °. Based on the detection result of the directional sensor 13, the route generation unit 36 linearly sets a total of 19 route candidates every 5 ° in a range of −45 ° to + 45 °, which is wider than the angle at which the needle can be changed. do. The route generation unit 35 can acquire and set the number of route candidates and / or the angle between adjacent route candidates based on the operation result of the operation unit 21 by the ship operator. In FIG. 11, five route candidates are shown for simplification.

Then, route generator 36, the navigation WP (initially, P _{S departure)} Vessel 1 the first predetermined time t _{1 (e.g.,} 10 minutes) until the predicted horizon Hp traveling at a first predetermined time _{The position after a second} predetermined time t 2 (for example, 1 minute) shorter than t ₁ is calculated (steps S12 and S13). The predicted horizon Hp is a position ahead of the candidate WPC of the navigation WP, and is for selecting the navigation WP in consideration of the total potential U ahead of the navigation WP. The route generation unit 36 can acquire and set _{the first predetermined time t 1} and the second predetermined time t ₂ based on the operation result of the operation unit 21 by the ship operator. The first predetermined time t ₁ can be set to an integral multiple (preferably 3 times or more) of the second predetermined time t _2. Here, the route generation unit 36 can calculate the position of the ship 1 based on the maximum speed of the ship 1 stored in the storage unit 31. In addition, in FIG. 11, for simplification, the number of calculations up to the predicted horizon Hp is set to 2 times.

Subsequently, the route generation unit 36 refers to the navigation sea area plane in which the total potential U is set by using the position after _{the second predetermined time t 2, and thereby, the second predetermined time t from the navigation WP of the ship 1. 2} Read out the total potential U at the position after. Subsequently, the route generation unit 36 calculates the sum of the total potential read up to the previous time and the total potential read this time (step S14).

The route generation unit 36 repeats steps S13 and S14 until the cumulative total of the _{second predetermined time t 2 reaches the first predetermined time t 1} (for example, 10 times) (step S15). Further, the route generation unit 36 executes the operations of steps S12 to S15 for each of the plurality of route candidates (step S16). As a result, the sum of the total potentials is calculated for each of the plurality of route candidates.

Subsequently, the route generation unit 36 selects the route candidate having the smallest total potential sum among the plurality of route candidates. Further, the route generation unit 36 adopts _{the position of the ship 1 at the first second} predetermined time t2 among the selected route candidates as the next navigation WP (step S17).

Here, as shown in FIG. 14, _{when the route candidate having the smallest sum of total potentials among all routes C 1 to} C ₁₉ is outside the navigable angle of ship 1 (for example, a route of −45 °). C ₁ ) is conceivable. _{In this case, the route generation unit 36 selects the route candidate C 2} having a navigable angle (for example, −40 °) closest to the angle, and adopts the navigation WP from the selected route candidate C _2. That is, the route generation unit 36 selects the route candidate C ₆ even if there is a route candidate _{(for example, route candidate C 6} ) having the smallest sum of total potentials within the navigable angle _{other than the route candidate C 2.} do not. This is because such a selection result is likely to contribute to a small sum with the total potential of the navigation WP adopted later.

As shown in FIG. 12, the route generation unit 36 executes steps S11 to S17 by the number of navigation WPs (step S4). As a result, the route from the starting point P _S of the ship 1 to the destination P _E is generated. In the case of reaching the destination P _E in number less than a preset navigation WP number, route generating unit 36 terminates the loop of steps S2~S4 when it reaches the destination P _E.

Subsequently, the route generation unit 36 displays the navigation sea area plane including the generated route on the display unit 22 or the sea area information display device 12, and prompts the operator to approve the route (step S5). When the route is approved (Yes in step S5), the ship control unit 37 calculates the control amount of the power unit 41 and the steering device 42 based on the route (step S6). The ship control unit 37 can obtain approval and disapproval of the route based on the operation result of the operation unit 21 by the operator.

Subsequently, the ship control unit 37 outputs the calculated control amount to the power device 41 and the steering device 42, thereby causing the ship 1 to navigate the route (step S7). If the route is not approved (No in step S5), this flow ends and the vessel 1 is operated by the operator.

<Second operation example>
Subsequently, a second operation example of the route generator 20 will be described with reference to FIG. 15, focusing on differences from the first operation example. In the example shown in FIG. 11, the ship 1 and the other ship 2 are in a crossing relationship under Article 15 of the Maritime Collision Prevention Law.

Route generating unit 36, using the same method as in the first operation example, generates a route R ₁ calculated in the order to the destination P _E from the starting point P _S, departure P _S from the destination P _{E The route R 2} calculated in the reverse order of up to is generated. The route generating unit 36, the sum of the potential at the route R ₁ to the destination P _E from the starting point P _S, the sum of the potential in the reverse order of the route R ₂ from the destination P _E until departure P _S, , And adopt the smaller one as the actual route. Here, route R ₁ calculated in the order to the destination P _E from the departure point P _S, in order to avoid other vessels 2, may become circuitous than route R _2. In this case, the sum of the potential in the route R _1, to become greater than the sum of the potential in the route R _2, route generating unit 36 employs the route R _2.

Also, route generator 36 may set the virtual destination P _E1 between the departure point P _S and the destination P _E. Here, the route generation unit 36 can acquire the coordinates of the _{virtual destination PE1} based on the operation result of the operation unit 21 by the ship operator. In this case, route generator 36, a route R ₃ calculated in reverse order from the virtual destination P _E1 to departure P _S, the route R ₄ calculated in the order from the virtual destination P _E1 to the destination P _E , Can be combined to generate a route.

<Third operation example>
Subsequently, a third operation example of the route generator 20 will be described with reference to FIG. 15, focusing on differences from the second operation example.

Route generating unit 36 sets a virtual destination _{P E1} between the departure point _{P S} and the destination _{P E.} Here, the route generation unit 36 can acquire the coordinates of the _{virtual destination PE1} based on the operation result of the operation unit 21 by the ship operator. Route generating unit 36 generates the route R ₃ calculated in reverse order from the virtual destination P _E1 to departure P _S. Potential setting unit 35, to sail near the route R ₃ the vessel 1 is applied, the veering point of the route R _3, sets the attractive potential U _5. The gravitational potential U ₅ is a potential for passing the ship 1 through a point where the _{gravitational potential U 5 is set.} Route generating unit 36 uses the sailing waters plane attractive potential U ₅ is set to generate a route R ₅ calculated in the order of the destination P _E from the departure point P _S.

The route generation device 20 according to the embodiment of the present invention uses the potential setting unit 35 that sets the potential on the navigation sea area plane and the navigation sea area plane on which the potential is set to generate the route of the ship 1. A generation unit 36 is provided. The route generating unit 36, between the departure point P _S and the destination P _E on the navigational waters plane potential is set, navigable in sailing from stopover first predetermined time t ₁ the ship 1 Set multiple route candidates. In addition, the route generation unit 36 calculates the sum of the potentials at the positions of the ship 1 for each second predetermined time t _{2 shorter than the first predetermined time t 1 in the set plurality of route candidates.} do. _{Further, the route generation unit 36 has the first predetermined time t 1 at} the position of the ship 1 every _{second predetermined time t 2} among the route candidates having the minimum calculated sum of the potentials. Any one in front of the position in is set as the next navigation relay point. Also, the route generating unit 36, by repeating the setting of the navigation stopover from the departure point P _S to the destination P _E, generates a route of the marine vessel 1 so as to include the navigational relay point which has been set do.
That is, since the route generator 20 applies the potential method on a plane simulating the sea surface on which the ship 1 is navigating with respect to the predicted collision risk with an obstacle (for example, another ship 2), there is a possibility of collision. It is possible to easily grasp a certain area. Further, the route generator 20 may consider obstacles 3 other than the other vessel 2, apply the avoidance method stipulated by law, and consider the course for the vessel 1 to the destination. can. For this reason, the route generator 20 is not limited to the avoidance maneuvering vessel that avoids collision with the other vessel 2, and is an obstacle anywhere in time and space (when the entire navigation space is viewed from a bird's-eye view). In consideration of the risk of the entire route (from the viewpoint of what kind of route should be navigated due to the existence of risks and risks), it is possible to preferably generate a route that can be safely navigated. In addition, the route generation device 20 is also useful as a navigation support device by displaying such information to the ship operator.
Therefore, the route generator 20 can suitably generate a route that can avoid obstacles and the like by repeating setting the navigation relay point while considering the potential of the ship 1 in the virtual future position. can.

The route generation unit 36 is the first position of the ship 1 for each _{second predetermined time t 2} in the route candidate that minimizes the calculated sum of the potentials, and is the first of the second predetermined time t. _{The position of the ship 1 in 2} may be set to the next navigation relay point.
In this case, since the route generator 20 considers the potential of the ship 1 at a farther virtual future position when setting the navigation relay point, the route can be generated more preferably.

Further, the route generation unit 36 may be configured to set a plurality of the route candidates according to the angle at which the ship 1 can change the needle.
In this case, since the route generator 20 considers the angle at which the ship 1 can change the needle, the route can be generated more preferably.

Also, the route generating unit 36, and the sum of the potential settings of the navigation stopover repeated from said departure point P _S to the destination P _E, was repeated from the destination P _E to the departure point P _S The sum with the potential is compared. Then, the route generation unit 36 may be configured to generate the route of the ship based on the smaller sum of the potentials.
In this case, since the route generator 20 selects the route of the ship 1 from both the forward route and the reverse route, the route can be generated more preferably.

Further, the potential setting unit 35 sets the repulsive force potential for the other vessel 2 on the navigation sea area plane. The point where the repulsive force potential of the other ship 2 is the same is set so that the point in front of the other ship 2 is farther from the point behind the other ship 2 than the point behind the other ship 2. It may be configured to be.
In this case, route generator 20, since the set according to the potential U ₄ for other vessels 2 to other of the ship 2 orientation, it is possible to consider the future location of the other vessels 2, route Can be more preferably produced.

_{Further, the potential setting unit 35 has a first potential U 1} whose potential decreases as it goes from the current position of the ship 1 or the immediately preceding navigation relay point to the next navigation relay point, and the current position of the ship 1. _{Alternatively, the second potential U 2} whose potential increases as the distance from the straight line passing through the immediately preceding navigation relay point and the next navigation relay point increases, and the repulsive potential for the immovable obstacle 3 on the navigation sea area plane. The third potential U _{3 and the fourth potential U 4} which is the repulsive force potential for the moving body on the navigation sea area plane are set. The route generation unit 36 may be configured to use the sum of _{the first potential U 1} , the second potential U ₂ , the third potential U _3, and the fourth potential U _4.
In this case, the route generator 20 preferably avoids the immovable obstacle 3 and the moving body by considering _{the third potential U 3} and the fourth potential U _{4 , and the first potential U 1} And by considering the second potential U ₂ , a more efficient (short-range) route can be generated.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be appropriately modified without departing from the gist of the present invention. For example, the route generation unit 36 may be configured to select the position of the ship 1 at the time _{when the second predetermined time t 2 has elapsed a plurality of times as the next navigation relay point.} Further, the information (position and speed) regarding the other ship 2 is not limited to that detected by the ship automatic identification system 10. The information about the other ship 2 may be detected by a radar, a camera, LIDAR (sensing using a laser beam), or the like, or may be obtained from the operation result of the operation unit 21 by the ship operator.

1 Ship 2 Other ship 11 Ship automatic identification system 20 Route generation device 21 Operation unit 22 Display unit 30 Control unit 31 Storage unit 32 Position information acquisition unit 33 Other ship information acquisition unit 35 Potential setting unit 36 Route generation unit 37 Ship control unit 41 Power unit 42 Steering unit

Claims (6)

A potential setting unit that sets the potential on the navigation area plane,
A route generation unit that generates a route for a ship using the navigation plane on which the potential is set, and a route generation unit.
With
The route generator
Between the departure point and the destination on the navigation sea area plane where the potential is set, a plurality of route candidates capable of navigating from the navigation relay point of the ship in the first predetermined time are set.
In the plurality of set route candidates, the sum of the potentials at the positions of the vessels for each second predetermined time shorter than the first predetermined time is calculated.
Among the route candidates having the minimum calculated sum of the potentials, any of the route candidates at the position of the ship at the second predetermined time before the position at the first predetermined time is set to the next navigation. Set as a relay point,
A route generation device for generating a route of a ship so as to include the set navigation relay point by repeating the setting of the navigation relay point from the departure point to the destination. The route generation unit is the position of the ship at the first second predetermined time among the positions of the ship at each second predetermined time in the route candidate that minimizes the calculated sum of the potentials. The route generation device according to claim 1, wherein is set to the following navigation relay point. The route generation device according to claim 1 or 2, wherein the route generation unit sets a plurality of the route candidates according to the angle at which the ship can change the course. The route generation unit compares the sum of the potentials in which the setting of the navigation relay point is repeated from the departure point to the destination and the sum of the potentials in which the setting of the navigation relay point is repeated from the destination to the departure point. The route generation device according to any one of claims 1 to 3, wherein the route of the ship is generated based on the smaller sum of potentials. The potential setting unit sets the repulsive potential for other vessels on the navigation area plane.
The point where the repulsive potential of the other ship is the same is set so that the point in front of the other ship is farther from the point behind the other ship than the point behind the other ship. The route generator according to any one of claims 1 to 4, which is characterized. The potential setting unit
The first potential, in which the potential decreases from the current position of the ship or the immediately preceding navigation relay point to the next navigation relay point, and
A second potential in which the potential increases as the distance from the current position of the ship or the straight line passing through the navigation relay point immediately before and the next navigation relay point increases.
The third potential, which is the repulsive potential for immovable obstacles on the navigation plane,
The fourth potential, which is the repulsive potential of the moving body on the navigation area plane, and
Set and
Any one of claims 1 to 5, wherein the route generation unit uses the sum of the first potential, the second potential, the third potential, and the fourth potential. The route generator described in.

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