JP3244999B2 - Landing collision prevention device with sound generation function - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stranded collision prevention device with a sound generating mechanism.

[0002]

2. Description of the Related Art Based on the speed, position, and heading of one's own ship, and the speed and position of another ship, and the data of stranded evacuation lines stored in a chart database, the risk of stranded collision is determined. Research and development of an anti-grounding collision prevention device that alerts the user with an alarm and displays the expected direction of change of course on a chart display screen is known. Here, the grounding evacuation line is a contour line connecting points of water depth at which a danger of grounding occurs in an electronic chart created based on a paper chart.

However, such a device cannot be said to be a sufficiently kind information providing means for a busy ship operator, and therefore, there is room for improvement in improving the safety of the ship operation and labor saving.

[0004]

DISCLOSURE OF THE INVENTION The present invention has been proposed in view of such circumstances, and can provide information on a stranded collision determination device to a boat operator in a convenient state. An object of the present invention is to provide a grounding collision prevention device with a sound generation mechanism which is excellent in safety and labor saving.

[0005]

To SUMMARY OF THE INVENTION Therefore, a positioning device present invention to detect the ship position, a di Geilo compass for detecting a heading, and speed meter for detecting the boat speed, chart of accumulated aground避険line database and, closest approach time data with other vessels,
Tomo When comprise closest distance data, the other ships direction, a collision prevention device that provides boat speed and recommended veering angle, the stranding collision determination device and a grounding protection device to provide a veering angle
In addition, the apparatus includes a stranded collision prevention sound generator and a sound database, and when danger of a stranded collision occurs according to the judgment result of the stranded collision judgment device, calls the sound data of the avoidance means stored in the sound database, From the collision prevention sound generator , the recommended heading
And voice generation of the reason for the change of the course.

[0006]

According to such a configuration, a positioning device for detecting the position of the ship, a gyrocompass for detecting the heading, a speedometer for detecting the speed of the ship, a chart database storing the stranded safety lines, and the re-establishment of the other ship. A grounding collision determination device having a collision prevention device that provides approach time data and closest approach distance data, a grounding collision prevention sound generation device, and a voice database are provided. In the event of occurrence, the voice data of the avoiding means stored in the voice database is called, and the voice data of the voice data is generated from the grounding collision prevention voice generating device. As a result, the busy ship operator's work is greatly supported.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. First, in the block diagram of FIG. 1 showing the configuration of the present apparatus, reference numeral 1 denotes an auto radar protecting aid (Auto).
Radar Plotting Aid (hereinafter referred to as a collision prevention device) 2 determines whether there is a possibility of collision based on the data of the closest approach to another ship and the data of the closest approach distance to another ship, and determines the ship position of the own ship obtained from the positioning device 3. This is a grounding collision judging device for judging the risk of grounding based on the heading obtained from the gyro compass 4, the ship speed obtained from the speedometer 5, and the grounding line data obtained from the chart database 6. 6a is the closest approach time data and the closest approach distance data with the other ship from the collision prevention device 2, the position of the own ship obtained from the positioning device 3, the heading obtained from the gyro compass 4, and the speedometer 5. The anti-grounding device outputs the turning angle to the ground collision determination device 1 based on the obtained ship speed and the stranded evacuation line data obtained from the chart database 6.
Reference numeral 7 denotes voice data for preventing stranded collision, which obtains voice data from a voice database 8 based on the stranded collision danger determination result from the stranded collision determination device 1 and informs a ship operator of a danger of a stranded collision, a recommended direction of course change, a reason for course change, and the like. Device. Reference numeral 9 denotes a grounding collision prevention device with a sound generation mechanism which is configured by the grounding collision determination device 1 to the voice database 8 in cooperation.

In such an apparatus, as shown in the processing flow charts of FIGS. 1 and 2, first, in step a1, the grounding collision judging apparatus 1 converts the stranded evacuation line data of the navigating sea area from the nautical chart database 6. Then, in step a2, the grounding collision judging device 1 sends the ship's position from the positioning device 3, the heading from the gyroscope compass 4, the ship speed from the speedometer 5, and the other ship from the collision prevention device 2 in step a2. The closest approach time of the ship, the closest approach distance to the other ship, the direction of the other ship when the heading of the own ship is 0 °, the ship speed, and the recommended course change angle
From each of the turning angles. Next, in step a3, the closest approach time to the other ship, the closest approach distance obtained from the collision prevention device 2, the direction of the other ship, the boat speed, the recommended turning angle, and the self-calculation calculated in the grounding / collision determination device 1. The minimum approach time of the ship and the limit value of the minimum approach distance are compared, and if the value obtained from the collision prevention device 2 is smaller than the limit value, it is determined that there is a danger of collision and the process proceeds to step a4 to prevent the collision. The direction and speed of the other ship input from the device 2 are obtained, and the process further proceeds to step a5.
Similarly, a recommended needle change angle input from the collision prevention device 2 is obtained. At this time, the limit values of the own ship's closest approach time and the closest approach distance are the time and distance from when the own ship starts changing the course to reach the changing angle, respectively, and the ship's speed ds (v) (m
/ S) by the following equation. Limit value of closest approach distance to other ship = 0.9xds (s) xαxβ Limit value of closest approach time to other ship = Closest approach distance to other ship / ds (v) / β (where α is 120 < = Any value of α <= 180, β = 1/1852 (m))

Further, in step a6, if the bearing of the other ship obtained from the collision prevention device 2 is in the range of 0 ° to 180 °, it is determined that the other ship is on the starboard side of the own ship, and The process proceeds to a7. Otherwise, it is determined that the vehicle is on the port side, and the process proceeds to step a8. In steps a7 and a8,
Each appropriate voice is stored in the voice database 8 (see FIG. 5 for details).
In order to select and synthesize from the voice database, the process further proceeds to step a14, where the voice of each numeral is selected in the numeric part, and then proceeds to step a15, where the digit data is converted to voice and then to step a16. Then, a sound is generated in the stranded collision prevention sound generation device 7.

If it is determined in step a3 that there is no danger of collision, in step a9, the grounding collision judging device 1 uses the data of the ship's position, boat speed, bow heading and grounding line, and Determine whether there is a risk of grounding in the following manner. First, as shown in the conceptual diagram of Figure 3
Based on the position, speed and bow direction of one's own ship, a rectangular area 10 for judging a stranded danger is set.
Whether or not there is a break point of 1,12,
Judgment of danger of grounding is made based on whether or not 1,12 broken lines intersect.

The size (2w × 1) of the rectangular area 10 for judging the risk of grounding depends on the ship speed v from the speedometer 5, the type width W of the own ship, and the length L of the own ship. From the following equation. w = λ × W / 2 1 = μ × L / 2 + ν × v The coefficients λ, μ, and ν can be arbitrarily determined in consideration of the safety side. Based on the rectangular area 10 obtained in this way, as shown in FIG. 3, whether or not the break points of the stranded evacuation lines 11, 12 enter the rectangular area 10, It is determined whether or not the broken lines of the grounding evacuation lines 11 and 12 intersect. This determination process is performed in accordance with the flowchart of FIG.

That is, in FIG.
(X _ij : longitude, Y _ij : latitude) (i = 1, 2,...)
.., N, j = 1: sequence number), and the break point of the stranded evacuation line 12 is (X _ij , Y _ij ) of sequence number j = 2. The series number is the number of the grounding line, and the maximum value of the series number is the number of the grounding line in one chart data. Also, (P _x , P
_y) is _{Jifunei, (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 10, and (a) to (d) are line segments forming the rectangular area 10.

In the grounding determination process shown in FIG.
At step b1, a rectangular area 1 for judging a stranded danger from the data of own ship position, heading and ship speed, and own ship width and own master data.
Calculate 0. Then, in step b2, the value of “j” is initialized to “1”, and in step b3, it is determined whether or not the sequence number has reached the maximum value (m). If j is less than or equal to m,
In step b4, the value of i is initialized to "0", and in step b5, it is determined whether or not i has reached a preset value n.
If i is less than n, the risk of stranded danger is determined in step b7. If i is greater than or equal to n, the value of j is set to "+" in step b6.
1 "and the process returns to step b3.

At step b7, the stranded evacuation lines 11, 12
It is determined whether or not the break point (X _ij , Y _ij ) falls within the rectangular area 10. That is, the following conditional expressions (1 / ta nφ) (X ij -P x) + P y - (w / si nφ) ≦ Y ij ≦ (1 / ta nφ) (X ij -P x) + P y + w / si nφ ··· ... (1) _{and, ta nφ (P x -X ij} ) + P y ≦ Y ij ≦ -ta nφ (P x + X ij) + P y + (cos2φ / cosφ) · La-2wsi nφ · ...... If there is Y _ij that satisfies (2), it is determined that the grounding is dangerous.
(However, the position of own ship 13 obtained from positioning device 3 is represented by (P _x ,
P _y ), the heading of own ship 13 obtained from gyro 4 is φ. )

[0015] If the above conditions are satisfied Y _ij is not present, that is, when the folding point of the stranding避険lines 11 and 12 is not in the rectangular region 10, stranding避険line in step b8 11,1
The two folded lines (X _ij , Y _ij ) to (X _i-1j , Y _i-1j ) intersect the four line segments (a), (b), (c) and (d) forming the rectangular area 10. It is determined whether or not. That is, the conditions of A to D shown below; If polygonal line of stranding避険lines 11 and 12 intersects the line segment (a) in FIG. 3, (β-α) X B -βX A -X A -αX ij ≦ Y ij ≦ Y A + αX ij -αX A ... … (3) B. Alternatively, when the broken lines of the grounding evacuation lines 11 and 12 intersect with the line segment (b) in FIG. 3, (γ−α) X _C −γX _B −Y _B −αX _ij ≦ Y _ij ≦ Y _B + αX _ij −αX _B …… (4) C. Alternatively, when the bent lines of the grounding evacuation lines 11 and 12 intersect with the line segment (c) in FIG. 3, (β−α) X _D −βX _C −Y _C −αX _ij ≦ Y _ij ≦ Y _C + αX _ij −αX _C ... (5) Alternatively, when the broken lines of the grounding evacuation lines 11 and 12 intersect with the line segment (d) in FIG. 3, (γ−α) X _A −γX _D −Y _D −αX _ij ≦ Y _ij ≦ Y _D + αX _ij −αX _D: If there is Y _ij satisfying (6), it is determined that the grounding is dangerous.
[ However, α = (Y _ij −Y _i−1j ) / (X _ij −X _i−1j ), β = 1 / tannφ , γ = −tannφ]

In the case of a stranded danger, that is, when there is Y _ij determined to be a stranded danger, the changing angle θ
Is calculated. θ = ar ct an _{[(Y ij -P y) / (} X ij -P x) ] _{(where, (P x, P y)} ; Jifunei (X _ij, Y _ij); points determined to stranding dangerous If there is no Y _ij that satisfies the above condition, there is no danger of stranded, and the value of “i” is incremented by “1” in step b9, the process returns to step b5, and the same processing is repeated thereafter. That is, the following process is repeated from i = 1 to n. Conditional expression (1)
If both conditions (2) are satisfied, it is determined that the grounding is dangerous. If conditional expressions (1) and (2) are not satisfied, conditional expressions (3), (4), (5) and (6)
Is satisfied, it is determined that there is a risk of grounding in step a9 (FIG. 2).

If it is determined by the above method that there is a danger of a grounding, the operation proceeds to step a10, in which the turning angle input from the anti-grounding device 6a is obtained. Otherwise, the operation proceeds to step a18. In step a18, a timing process is performed, and after a predetermined time, the process returns to step a2 and the above process is repeated. In step a11 when there is a danger of stranded, the stranded collision prevention sound generator 7 calls the following sound data from the sound database 8 based on the data sent from the stranded collision determination device 1 in order to call the following sound data. Do that. The break point of the stranded evacuation line determined to be agrounding danger, or the position of the intersection ((X, Y)) between the rectangular area for the agrounding danger determination and the agrounding evacuation line, and the position of the own ship ( P _x, P _y ), the following equation is used to determine whether the ship should steer to starboard or port. cos θ = [(Y−P _y ) ² + (X−P _x ) ² ] ^0.5 (X−P _x ) ⁻¹ cos θ ≧ 0… starboard side Other than above… port side By this, either step a12 or a13 And the appropriate voices are respectively stored in the voice database 8 (FIG. 5).
In order to select and synthesize more, further proceed to step a14, select the voice of each numeral in the numeral part, and then proceed to step a15, convert the numeral data to voice, and then in step a16, the stranded collision prevention voice generator At 7, an audio is generated. In step a17, after the operator confirms the change of the course, the process returns to step a2.

According to the apparatus of the embodiment, a positioning device for detecting the position of the ship, a gyro compass for detecting the heading, a speedometer for detecting the speed of the ship, a chart database storing the stranded safety lines, and the like. A grounding collision judging device having a collision prevention device that provides the closest approach time data with the ship, the closest approach distance data, the direction of the other ship, the ship speed, and the recommended changing angle and the anti-grounding device that provides the changing angle, and a grounding collision A preventive sound generator,
If a danger of a stranded collision occurs according to the determination result of the stranded collision determination device, the voice data of the avoidance means stored in the voice database is called,
Since the above-mentioned sound data is generated from the above-mentioned sounding device for preventing stranded collision, the result of the judgment of stranded collision danger, recommended course change direction and course change reason is announced by voice, and the work of busy ship operators is greatly supported. Therefore, the safety and labor saving of maneuvering are improved.

[0019]

Effect of the Invention] In summary the present invention, a positioning apparatus for detecting the ship position, a di Geilo compass for detecting a heading, and speed meter for detecting the boat speed, and chart databases stored aground避険line, closest approach time data with other vessels, ingredients aground collision decision apparatus having the closest distance data, the direction of the other vessels, a collision prevention device that provides boat speed and recommended veering angle, and a grounding protection device to provide a veering angle In addition , a stranded collision prevention sound generator and a sound database are provided, and when the risk of stranded collision occurs according to the judgment result of the stranded collision judgment device, the sound data of the avoidance means stored in the sound database is called, by the grounding collision prevention sound generation device make recommendations veering orientation and veering reason <br/> speech generation is the audio data, the information of the grounding collision decision apparatus in a convenient state Can be provided to the ship's therefore from obtaining the grounding collision prevention device with audio generating mechanism which is excellent in safety and labor saving of the maneuvering, the present invention is extremely useful industrially.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.

FIG. 2 is a flow chart of a process in FIG. 1;

FIG. 3 is a conceptual diagram of a danger determination of a grounding in FIG. 1;

FIG. 4 is a flow chart of a grounding danger determination in FIG. 1;

FIG. 5 is a diagram showing a configuration of a voice database 8 of FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Grounding collision judgment device 2 Collision prevention device 3 Positioning device 4 Gyro 5 Speedometer 6 Chart database 6a Grounding prevention device 7 Grounding collision prevention sound generation device 8 Audio database 9 Grounding collision prevention device with sound generation function 10 Rectangular area 11 Grounding evacuation Line 12 Stranding Evacuation Line 13 Own ship (a) Line segment (b) Line segment (c) Line segment (d) Line segment

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B63B 49/00 B63B 43/18 G01C 21/20 G08G 3/02

Claims (1)

(57) [Claims] A positioning device for detecting as claimed in claim 1] ship position, a di Geilo compass for detecting a heading, and speed meter for detecting the boat speed, and chart databases stored aground避険line, closest time with other vessels data, the closest approach distance data, the other ships direction, a collision prevention device that provides boat speed and recommended veering angle, with comprises a grounding collision determination device and a grounding protection device to provide a veering angle, stranding collision prevention speech When the danger of a stranded collision occurs according to the determination result of the stranded collision determination device, the voice data of the avoidance means stored in the voice database is called, and the stranded collision prevention voice generation device is provided. Recommended heading direction and course of the above voice data
With sound generation mechanism and performs sound generation of the derived grounding collision prevention device.