JP2934575B2 - Ship stranded prevention alarm - Google Patents
Ship stranded prevention alarmInfo
- Publication number
- JP2934575B2 JP2934575B2 JP31366393A JP31366393A JP2934575B2 JP 2934575 B2 JP2934575 B2 JP 2934575B2 JP 31366393 A JP31366393 A JP 31366393A JP 31366393 A JP31366393 A JP 31366393A JP 2934575 B2 JP2934575 B2 JP 2934575B2
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- Prior art keywords
- ship
- stranded
- danger
- grounding
- rectangular area
- Prior art date
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Description
【０００１】[0001]
【産業上の利用分野】本発明は、船舶の総合航海装置や
電子海図表示装置等に適用される船舶用座礁予防警報装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an anti-grounding warning device for a ship which is applied to a general navigation device for a ship, an electronic chart display device and the like.
【０００２】[0002]
【従来の技術】近年、船舶の総合航海装置として、デジ
タル海図をメモリに記憶し、その海図データを基に海図
表示を行なったり、水深が予め設定した値まで浅くなる
と座礁危険警報を発生するようにした装置が開発されて
いる。2. Description of the Related Art In recent years, as a general navigation device for a ship, a digital chart is stored in a memory, a chart is displayed on the basis of the chart data, and a stranded danger warning is generated when the water depth becomes shallow to a preset value. Devices have been developed.
【０００３】上記従来装置においては、座礁危険判定の
際、自船位と記憶装置に記憶された海図データを基準と
しているが、船位により海図データ量が非常に多くな
り、座礁危険判定処理に時間を要するので、危険回避に
間に合わない惧れがあり、実用上問題があった。[0003] In the above-mentioned conventional apparatus, when determining the risk of grounding, the chart position data stored in the storage device and the ship's own position are used as a reference. Since it is necessary, there is a concern that it may not be possible to avoid the danger, and there is a practical problem.
【０００４】このため本出願人は、先に特願平３−３４
８８７３号（特開平５−１５７５７７号）にて、画像表
示処理や座礁危険判定が迅速で、かつ関係装置の価格が
安い、実用性及び経済性に優れた船舶の海図表示及び座
礁警報装置を出願した。[0004] For this reason, the present applicant has previously filed Japanese Patent Application No. 3-34.
No. 8873 (JP-A-5-157577) filed an application for a marine chart display and stranded warning device for ships, which is fast in image display processing and determination of stranded danger, has low cost of related equipment, and is excellent in practicality and economy. did.
【０００５】[0005]
【発明が解決しようとする課題】上記船舶の海図表示及
び座礁警報装置は、図６に示すように自船１を座礁危険
判定円２の中心とし、判定円２内に位置する座礁危険等
深線３との関係から判定円２内における座礁危険判定が
可能である。しかしながら、座礁危険判定円２内におけ
る全ての座礁危険を判定するようにしているので、自船
１の進行方向とはあまり関係のない側方や後方の座礁危
険区域４ａ，４ｂの座礁危険判定も行なうことになり、
効率の良い判定ができないという問題が未だ残されてい
る。As shown in FIG. 6, the marine chart display and stranded warning device of the above-mentioned ship has its own ship 1 as the center of the stranded danger determination circle 2 and the stranded danger contour line 3 located within the determination circle 2. From this relationship, it is possible to make a grounding danger determination within the determination circle 2. However, since all the stranded dangers in the stranded danger determination circle 2 are determined, the stranded danger determination of the side and rear stranded danger areas 4a and 4b which are not so related to the traveling direction of the ship 1 is also performed. To do,
There remains a problem that efficient determination cannot be made.
【０００６】本発明は上記実情に鑑みてなされたもの
で、自船位、自船方位、船速、避険線要素を考慮して危
険判定を実施することにより、適確で無駄のない迅速な
座礁危険判定が可能な船舶用座礁予防警報装置を提供す
ることを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances. By performing a danger determination in consideration of the position of the ship, the direction of the ship, the speed of the ship, and the elements of the safety line, a precise, efficient, and quick process is realized. It is an object of the present invention to provide a stranded prevention alarm device for ships capable of determining stranded danger.
【０００７】[0007]
【課題を解決するための手段】本発明に係る船舶用座礁
予防警報装置は、自船位を測定する測位装置と、自船の
船速を測定する速度計と、自船の方位を検出するジャイ
ロと、座礁危険となる等水深のポイントを結ぶ座礁避険
線のデータを蓄えた海図データベースと、上記測位装置
からの自船位、ジャイロからの自船方位、速度計からの
自船の速度を基に自船の進行方向に自船を含む座礁危険
判定の矩形域を設定する矩形域設定手段と、この矩形域
設定手段により設定された矩形域に上記海図データベー
スから読み出した座礁避険線の折点が入るか否か、及び
座礁避険線の折線が交わるか否かの判定を行なって自船
の座礁危険性を判定する座礁危険判定手段と、この座礁
危険判定手段により座礁の危険があると判定された場合
に座礁危険警報を発生する座礁警報発生装置とを具備し
たことを特徴とする。According to the present invention, there is provided a marine vessel anti-grounding prevention and warning device, a positioning device for measuring the position of the ship, a speedometer for measuring the speed of the ship, and a gyro for detecting the direction of the ship. If, based on the chart databases stored data of stranding避険line, ship position from the positioning device, the ship heading from gyro, the speed of the ship from the speedometer connecting points of equal depth as the grounding dangerous Danger of grounding including own ship in the direction of own ship
Rectangular area setting means for setting a rectangular area for determination;
The chart database is stored in the rectangular area set by the setting means.
Whether the break line of the stranded evacuation line read from the
Judge whether the broken line of the stranded evacuation line intersects
Danger determination means for determining the danger of grounding
When it is determined that there is a danger of grounding by danger determination means
And a stranded warning generation device for generating a stranded danger warning.
【０００８】[0008]
【作用】座礁危険判定装置は、測位装置、ジャイロ、速
度計から得られたデータを基に自船の進行方向に自船を
含む座礁危険判定の矩形域を設定し、その矩形域に座礁
避険線の折点が入るか否か、また座礁避険線の折線が交
わるか否かの判定を行ない、上記矩形域に座礁危険区域
（浅海域など）が含まれるか否かをチェックする。そし
て、座礁危険判定装置は、座礁の危険があると判定した
場合に座礁警報発生指令を座礁警報発生装置へ出力して
警報を発生させる。[Function] The grounding danger determination device sets a rectangular area for the grounding danger judgment including the own ship in the direction of travel of the own ship based on the data obtained from the positioning device, gyro, and speedometer, and stranded in the rectangular area. It is determined whether or not a break point of a steep line is included and whether or not a break line of a stranded evacuation line intersects, and it is checked whether or not the rectangular area includes a stranded danger zone (such as a shallow sea area). Then, the grounding danger determining device outputs a grounding warning generation command to the grounding warning generation device to generate a warning when it is determined that there is a danger of grounding.
【０００９】上記のように自船を含む矩形域を設定して
座礁危険判定を行なうことにより、確実で無駄のない迅
速な座礁危険判定を行なうことができる。また、座礁危
険判定に電子海図データのうち、座礁危険となる等水深
のポイントを結ぶ座礁避険線を採用することにより、座
礁危険判定に使用するデータ量を削減でき、更に、座礁
危険判定処理の高速化を図ることができる。As described above, by setting a rectangular area including the own ship and performing the grounding danger determination, it is possible to perform the grounding danger determination quickly and surely without waste. In addition, by adopting a stranded evacuation line that connects points at the same depth as the stranded danger in the electronic chart data for the stranded danger determination, the amount of data used for the stranded danger determination can be reduced. Can be speeded up.
【００１０】[0010]
【実施例】以下、図面を参照して本発明の一実施例を説
明する。図１は本発明の一実施例に係る船舶用座礁予防
警報装置の構成を示すブロック図である。図１におい
て、１１は自船位を測定する測位装置、１２は自船の船
速を測定する速度計、１３は自船の方位（船首方向）を
検出するジャイロ、１４は座礁危険となる等水深のポイ
ントを結ぶ線（座礁避険線）のデータを蓄えた海図デー
タベースである。上記測位装置１１からの自船位、ジャ
イロ１２からの自船方位、速度計１３からの自船の速度
信号、及び海図データベース１４から読出される避険線
データは、座礁危険判定装置１５に入力される。この座
礁危険判定装置１５は、上記入力信号を基に自船の座礁
危険性を判定し、座礁の危険があると判定した場合に座
礁警報発生指令を座礁警報発生装置１６へ出力して警報
を発生させる。An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a ship stranded prevention and warning device according to one embodiment of the present invention. In FIG. 1, reference numeral 11 denotes a positioning device for measuring the position of the ship, reference numeral 12 denotes a speedometer for measuring the speed of the ship, reference numeral 13 denotes a gyro for detecting the heading (heading direction) of the ship, and reference numeral 14 denotes a danger of agrounding. This is a chart database that stores data on lines (grounding lines) connecting points. The own ship position from the positioning device 11, the own ship direction from the gyro 12, the own ship speed signal from the speedometer 13, and the safety line data read from the chart database 14 are input to the grounding danger determining device 15. You. The stranded danger determining device 15 determines the stranded danger of the ship based on the input signal, and outputs a stranded warning generation command to the stranded warning generating device 16 when it is determined that there is a danger of stranded, and issues an alarm. generate.
【００１１】次に上記実施例の動作を説明する。座礁危
険判定装置１５は、測位装置１１、ジャイロ１２、速度
計１３から得られたデータを基に図２に示すように自船
１の進行方向に船の大きさや船速によって決定される自
船１を含む座礁危険判定の矩形域２１を設定し、その矩
形域２１に海図データベース１４から読出した避険線デ
ータ、即ち座礁避険線２２（２２ａ，２２ｂ）の折点が
入るか否か、また座礁避険線２２の折線が交わるか否か
の判定を行ない、座礁の危険があると判定した場合に警
報信号を座礁警報発生装置１６へ出力して警報を発す
る。なお、図２において、２２ａは折点が矩形域２１に
入る座礁避険線、２２ｂは折点が矩形域２１に入らない
座礁避険線の例を示している。また、座礁避険線２２
は、海図データベース１４に例えば図３に示すようにし
て記憶されている。即ち、海図番号で指定される各海図
毎に座礁避険線２２の「系列番号」、「折点番号」、
「Ｘ座標」、「Ｙ座標」が記憶される。Next, the operation of the above embodiment will be described. The grounding danger determining device 15 is based on data obtained from the positioning device 11, the gyro 12, and the speedometer 13, and is determined by the size and speed of the ship in the traveling direction of the ship 1, as shown in FIG. A rectangular area 21 for a grounding danger determination including “1” is set, and whether or not the breaking line data read from the chart database 14, that is, whether or not the break point of the grounding and evacuation line 22 (22a, 22b) falls in the rectangular area 21 is determined. Further, it is determined whether or not the broken line of the stranded evacuation line 22 intersects. When it is determined that there is a danger of stranded, an alarm signal is output to the stranded alarm generator 16 to issue an alarm. In FIG. 2, reference numeral 22a denotes an example of a grounding escape line in which a breakpoint enters the rectangular area 21, and reference numeral 22b denotes an example of a grounding escape line in which the breakpoint does not enter the rectangular area 21. Also, the stranded evacuation line 22
Are stored in the chart database 14 as shown in FIG. 3, for example. In other words, for each nautical chart specified by the nautical chart number, the “serial number”, “turn point number”,
“X coordinate” and “Y coordinate” are stored.
【００１２】上記図２に示す座礁危険判定のための矩形
域２１の幅２ｗと長さＬa は、速度計１３からの船速
ｖ、自船１の型幅Ｄ、自船１の船体長Ｌb から次式によ
り求められる。この場合、ｗは矩形域２１の全体幅の１
／２の値、つまり、自船１の左側あるいは右側の矩形域
幅を示している。The width 2w and the length La of the rectangular area 21 for judging a danger shown in FIG. 2 are the ship speed v from the speedometer 13, the mold width D of the ship 1, and the hull length Lb of the ship 1. From the following equation. In this case, w is 1 of the entire width of the rectangular area 21.
/ 2, that is, the rectangular area width on the left or right side of the ship 1.
【００１３】ｗ＝λ・Ｄ／２ Ｌa ＝μ・（Ｌb ／２）＋ν・ｖ 上式における係数λ、μ、νは、安全サイドを考慮して
任意で決めることができる。W = λ · D / 2 La = μ · (Lb / 2) + ν · v The coefficients λ, μ, and ν in the above equation can be arbitrarily determined in consideration of the safety side.
【００１４】なお、図５に上記矩形域２１の幅、長さ、
頂点を算出する過程を示す。座礁危険判定装置１５は、
上記のようにして座礁危険判定のため矩形域２１を求
め、図２に示すように矩形域２１の中に座礁避険線２２
の折点が入るか否か、また矩形域２１に対して座礁避険
線２２の折線が交わるか否かの判定を行なう。即ち、少
しでも早く座礁危険判定の結果をだすために、座礁危険
判定を２段階で行ない、最初に避険線の折点が矩形域２
１内に入ってないかどうかを調べるようにしている。FIG. 5 shows the width and length of the rectangular area 21.
4 shows a process of calculating a vertex. The grounding danger determination device 15
As described above, the rectangular area 21 is determined for the grounding danger determination, and as shown in FIG.
Is determined, and whether or not a broken line of the stranded evacuation line 22 intersects the rectangular area 21 is determined. In other words, in order to obtain the result of the risk of grounding as soon as possible, the risk of grounding is determined in two stages.
I try to find out if I'm inside 1.
【００１５】上記の判定処理は、図４に示すフローチャ
ートに従って行なわれる。この判定処理において、図２
における座礁避険線２２ａの折点を（Ｘij：経度、
Ｙij：緯度）（ｉ＝１，２，・・・，ｎ、ｊ＝１：系列
番号）、座礁避険線２２ｂの折点を系列番号を系列番号
ｊ＝２の（Ｘij，Ｙij）とする。系列番号は、座礁避険
線の番号であり、系列番号の最大値は、海図データ上の
座礁避険線の数である。また、（Ｐx ，Ｐy ）は自船
位、（ＸA ，ＹA ），（ＸB ，ＹB ），（ＸC ，
ＹC），（ＸD ，ＹD ）は矩形域２１の頂点（経度、緯
度）、（ａ）〜（ｄ）は矩形域２１を形作る線分であ
る。The above determination process is performed according to a flowchart shown in FIG. In this determination process, FIG.
(X ij : longitude,
Y ij : latitude) (i = 1, 2,..., N, j = 1: series number), the break point of the stranded evacuation line 22b is represented by the series number j = 2 (X ij , Y ij ). The series number is the number of the stranded evacuation line, and the maximum value of the series number is the number of stranded evacuation lines on the chart data. (P x , P y ) is the own ship position, (X A , Y A ), (X B , Y B ), (X C ,
Y C ) and (X D , Y D ) are vertices (longitude and latitude) of the rectangular area 21, and (a) to (d) are line segments forming the rectangular area 21.
【００１６】上記図４に示す判定処理において、まず、
ステップＡ1 で自船位、船首方位、船速を読み込み、ス
テップＡ2 でそれらのデータと自船幅データから座礁危
険判定のための矩形域を計算する。そして、ステップＡ
3 で「ｊ」の値を「１」に初期設定し、ステップＡ4 で
系列番号の最大値（ｍ）に達したか否かを判定する。ｊ
がｍ以下であれば、ｉの値を「０」に初期設定し（ステ
ップＡ5 ）、ｉが予め設定した値ｎに達したか否かを判
定する（ステップＡ6 ）。ｉがｎ未満であれば座礁危険
判定を行ない（ステップＡ8 ）、ｉがｎ以上の場合、ｊ
の値を「＋１」して（ステップＡ7 ）、ステップＡ4 へ
戻る。ステップＡ8 では、座礁避険線２２ａ，２２ｂの
折点（Ｘij，Ｙij）が矩形域２１に入るか否かを判定す
る。すなわち、次の条件式 （１／tan φ）（Ｘij−Ｐx ）＋Ｐy −（ｗ／sin φ）≦Ｙij ≦（１／tan φ）（Ｘij−Ｐx ）＋Ｐy ＋ｗ／sin φ …（１） かつ、 tan φ（Ｐx −Ｘij）＋Ｐy ≦Ｙij≦−tan φ（Ｐx ＋Ｘij） ＋Ｐy ＋（cos ２φ／cos φ）・Ｌa −２ｗsin φ …（２） （但し、測位装置１１から得た自船１の船位を（Ｐx ，
Ｐy ）、ジャイロ１２から得た自船１の船首方位をφと
する。）を満たすＹijが存在する場合、座礁危険と判定
する。In the determination process shown in FIG. 4, first,
In step A1, the own ship position, heading, and ship speed are read, and in step A2, a rectangular area for determining the risk of a grounding is calculated from the data and the own ship width data. And step A
In step 3, the value of "j" is initialized to "1", and in step A4, it is determined whether or not the sequence number has reached the maximum value (m). j
If m is equal to or less than m, the value of i is initialized to "0" (step A5), and it is determined whether or not i has reached a preset value n (step A6). If i is less than n, a grounding danger determination is performed (step A8), and if i is n or more, j
Is incremented by 1 (step A7), and the process returns to step A4. In step A8, it is determined whether or not the break point (X ij , Y ij ) of the stranded evacuation lines 22a, 22b enters the rectangular area 21. That is, the following conditional expression (1 / tan φ) (X ij −P x ) + P y − (w / sin φ) ≦ Y ij ≦ (1 / tan φ) (X ij −P x ) + P y + w / sin φ (1) and tan φ (P x −X ij ) + P y ≦ Y ij ≦ −tan φ (P x + X ij ) + P y + (cos 2φ / cos φ) · La−2w sin φ (2) (However, the position of own ship 1 obtained from positioning device 11 is (P x ,
P y ), the heading of own ship 1 obtained from gyro 12 is φ. If there is Y ij that satisfies), it is determined that the grounding is dangerous.
【００１７】上記の条件を満たすＹijが存在しない場
合、つまり座礁避険線２２ａ，２２ｂの折点が矩形域２
１に入っていない場合、座礁避険線２２ａ，２２ｂの折
線（Ｘij，Ｙij）〜（Ｘi-1j，Ｙi-1j）が矩形域２１を
形作る４つの線分（図２における（ａ），（ｂ），
（ｃ），（ｄ））と交わるか否かを判定する（ステップ
Ａ9）。すなわち、下記に示すＡ〜Ｄの条件、 Ａ．座礁避険線２２ａ，２２ｂの折線が図２における線
分（ａ）と交わる場合、 （β−α）ＸB −βＸA −ＹA −αＸij≦Ｙij≦ＹA ＋αＸij−αＸＡ …（３） Ｂ．または座礁避険線２２ａ，２２ｂの折線が図２にお
ける線分（ｂ）と交わる場合、 （γ−α）ＸＣ −γＸB −ＹB −αＸij≦Ｙij≦ＹB ＋αＸij−αＸB …（４） Ｃ．または座礁避険線２２ａ，２２ｂの折線が図２にお
ける線分（ｃ）と交わる場合、 （β−α）ＸD −βＸC −ＹC −αＸij≦Ｙij≦ＹC ＋αＸij−αＸC …（５） Ｄ．または座礁避険線２２ａ，２２ｂの折線が図２にお
ける線分（ｄ）と交わる場合、 （γ−α）ＸA −γＸD −ＹD −αＸij≦Ｙij≦ＹD ＋αＸij−αＸD …（６） （但し、α＝（Ｙij−Ｙi-1j／（Ｘij−Ｘi-1j），β＝
１／tan φ，γ＝−tan φ）を満たすＹijが存在する場
合、座礁危険と判定する。If there is no Y ij satisfying the above condition, that is, the break point of the grounding escape lines 22a and 22b is
1, the broken lines (X ij , Y ij ) to (X i-1j , Y i-1j ) of the stranded evacuation lines 22a and 22b form four line segments ((FIG. a), (b),
It is determined whether (c) and (d)) intersect (step A9). That is, the conditions of A to D shown below: If stranded避険lines 22a, 22b fold line is intersects the line segment (a) in FIG. 2, (β-α) X B -βX A -Y A -αX ij ≦ Y ij ≦ Y A + αX ij -αX A ... (3) B. Or if the stranding避険lines 22a, 22b fold line is intersects the line segment (b) in FIG. 2, (γ-α) X C -γX B -Y B -αX ij ≦ Y ij ≦ Y B + αX ij -αX B ... (4) C.I. Or if the stranding避険lines 22a, 22b fold line is intersects the line segment (c) in FIG. 2, (β-α) X D -βX C -Y C -αX ij ≦ Y ij ≦ Y C + αX ij -αX C ... (5) D. Alternatively, when the broken lines of the grounding evacuation lines 22a and 22b intersect with the line segment (d) in FIG. 2, (γ−α) X A −γX D −Y D −αX ij ≦ Y ij ≦ Y D + αX ij −αX D .. (6) (where α = (Y ij −Y i−1j) / (X ij −X i−1j ), β =
If there is Y ij satisfying (1 / tan φ, γ = -tan φ), it is determined that the grounding is dangerous.
【００１８】上記の条件を満たすＹijが存在しなければ
座礁危険はなく、ステップＡ10により「ｉ」の値を「＋
１」してステップＡ6 に戻り、以下同様の処理を繰り返
す。即ち、ｉ＝１からｎまで次の処理を繰り返す。If there is no Y ij satisfying the above condition, there is no danger of grounding, and the value of “i” is changed to “+” in step A10.
"1" and the process returns to step A6, and the same processing is repeated thereafter. That is, the following processing is repeated from i = 1 to n.
【００１９】条件式（１）、条件式（２）を共に満たす
場合、座礁危険と判定される。条件式（１）、条件式
（２）が満たされなかった場合は、条件式（３）、条件
式（４）、条件式（５）、条件式（６）の何れかを満た
す場合、座礁危険と判定される。When both the conditional expressions (1) and (2) are satisfied, it is determined that the grounding is dangerous. If conditional expressions (1) and (2) are not satisfied, if any of conditional expressions (3), (4), (5), and (6) is satisfied, stranded It is determined to be dangerous.
【００２０】座礁危険判定装置１５は、座礁危険と判定
した場合、座礁警報発生指令を出力して座礁警報発生装
置１６から座礁危険警報を発生させる（ステップＡ1
1）。その後、ステップＡ12で計時処理を行ない、一定
時間後にステップＡ1 に戻り、上記した処理を繰り返し
て実行する。When the grounding danger determining device 15 determines that the grounding is dangerous, it outputs a grounding warning generation command and causes the grounding warning generation device 16 to generate a grounding danger warning (step A1).
1). Thereafter, a time counting process is performed in step A12, and after a predetermined time, the process returns to step A1, and the above process is repeatedly executed.
【００２１】上記のように自船１の進行方向に、船の大
きさや船速によって決定される自船１を含む矩形域２１
を設定し、その矩形域２１について座礁危険判定を行な
うことにより、確実で無駄のない迅速な座礁危険判定を
行なうことができる。As described above, in the traveling direction of the ship 1, the rectangular area 21 including the ship 1 determined by the size and the speed of the ship.
Is set, and the stranded danger determination is performed for the rectangular area 21. Thus, the stranded danger determination can be performed reliably and quickly without waste.
【００２２】また、座礁危険判定に電子海図データのう
ち、座礁危険となる等水深のポイントを結ぶ座礁避険線
を採用することにより、座礁危険判定に使用するデータ
量を削減することができる。Further, by adopting a stranded refuge line connecting points of equal water depth at which stranded danger is present, the amount of data used for stranded danger determination can be reduced.
【００２３】[0023]
【発明の効果】以上詳記したように本発明によれば、自
船位、自船方位、自船の船速の要素を考慮して、自船の
進行方向に自船を含む矩形域を設定し、その矩形域と座
礁避険線で座礁危険判定を行なうようにしたので、適確
で迅速な判定が可能となり、重大事故に至る危険性を排
除でき、また、充分に座礁回避の余裕がある場合には、
不要な警報発生を防ぐことができる。As described above in detail, according to the present invention, a rectangular area including the own ship is set in the traveling direction of the own ship in consideration of factors of the own ship position, the own ship direction, and the speed of the own ship. In addition, the risk of stranded danger is determined using the rectangular area and the stranded evacuation line, which makes it possible to make an accurate and quick determination, eliminate the risk of a serious accident, and provide sufficient margin to avoid stranded. In some cases,
Unnecessary alarm generation can be prevented.
【図１】本発明の一実施例に係る船舶用座礁予防警報装
置の構成図。FIG. 1 is a configuration diagram of a ship stranded prevention and warning device according to an embodiment of the present invention.
【図２】同実施例における座礁危険判定の概念図。FIG. 2 is a conceptual diagram of a grounding danger determination in the embodiment.
【図３】同実施例における座礁避険線のデータ記憶例を
示す図。FIG. 3 is a diagram showing an example of data storage of a stranded evacuation line in the embodiment.
【図４】同実施例における座礁危険判定の処理動作を示
すフローチャート。FIG. 4 is a flowchart showing a processing operation of a grounding danger determination in the embodiment.
【図５】同実施例における矩形域の幅、長さ、頂点の算
出処理を示すフローチャート。FIG. 5 is a flowchart showing a calculation process of a width, a length, and a vertex of a rectangular area in the embodiment.
【図６】従来の座礁危険判定の概念図。FIG. 6 is a conceptual diagram of a conventional grounding danger determination.
１１ 測位装置 １２ ジャイロ １３ 速度計 １４ 海図データベース １５ 座礁危険判定装置 １６ 座礁警報発生装置 ２１ 矩形域 ２２ａ，２２ｂ 座礁避険線 DESCRIPTION OF SYMBOLS 11 Positioning device 12 Gyro 13 Speedometer 14 Chart database 15 Stranding danger judgment device 16 Stranding alarm generation device 21 Rectangular area 22a, 22b Stranding evacuation line
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.6，ＤＢ名) B63B 43/18 B63B 49/00 G01C 21/00 G01S 7/48 G08G 3/02 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. 6 , DB name) B63B 43/18 B63B 49/00 G01C 21/00 G01S 7/48 G08G 3/02
Claims (1)
速を測定する速度計と、自船の方位を検出するジャイロ
と、座礁危険となる等水深のポイントを結ぶ座礁避険線
のデータを蓄えた海図データベースと、上記測位装置か
らの自船位、ジャイロからの自船方位、速度計からの自
船の速度を基に自船の進行方向に自船を含む座礁危険判
定の矩形域を設定する矩形域設定手段と、この矩形域設
定手段により設定された矩形域に上記海図データベース
から読み出した座礁避険線の折点が入るか否か、及び座
礁避険線の折線が交わるか否かの判定を行なって自船の
座礁危険性を判定する座礁危険判定手段と、この座礁危
険判定手段により座礁の危険があると判定された場合に
座礁危険警報を発生する座礁警報発生装置とを具備した
ことを特徴とする船舶用座礁予防警報装置。1. A positioning device for measuring the position of a ship, a speedometer for measuring the speed of the ship, a gyro for detecting the direction of the ship, and a stranded evacuation line connecting points at equal depths that are at risk of stranded. and chart databases stored the data, the ship position from the positioning device, stranding risk-format including ship concerned to ship azimuth, the traveling direction of the ship on the basis of the speed of the ship from the speedometer from the gyro
A rectangular area setting means for setting a predetermined rectangular area;
The above chart database is stored in the rectangular area set by the
Whether the break line of the stranded evacuation line read from
Judge whether or not the reef evacuation line intersects
A grounding danger determining means for determining a grounding danger and this grounding danger
A stranded warning alarm device for issuing a stranded danger warning when the danger determination means determines that there is a danger of stranded .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31366393A JP2934575B2 (en) | 1993-12-14 | 1993-12-14 | Ship stranded prevention alarm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31366393A JP2934575B2 (en) | 1993-12-14 | 1993-12-14 | Ship stranded prevention alarm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07165178A JPH07165178A (en) | 1995-06-27 |
| JP2934575B2 true JP2934575B2 (en) | 1999-08-16 |
Family
ID=18044016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31366393A Expired - Lifetime JP2934575B2 (en) | 1993-12-14 | 1993-12-14 | Ship stranded prevention alarm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2934575B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101726643B1 (en) * | 2015-03-02 | 2017-04-13 | 한국전자통신연구원 | Apparatus and method for predicting stranding of vessel |
| EP3821419A4 (en) * | 2018-07-15 | 2022-05-04 | Aqua Marina Yachts (1995) Ltd | System and method of controlling marine vessels |
| CN109866885B (en) * | 2019-04-12 | 2020-05-05 | 北京虹湾威鹏信息技术有限公司 | Method for preventing stranding and self-operated separation of unmanned ship |
-
1993
- 1993-12-14 JP JP31366393A patent/JP2934575B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07165178A (en) | 1995-06-27 |
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