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

Landing collision prevention device with sound generation function

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Publication number
JP3244999B2
JP3244999B2 JP08479195A JP8479195A JP3244999B2 JP 3244999 B2 JP3244999 B2 JP 3244999B2 JP 08479195 A JP08479195 A JP 08479195A JP 8479195 A JP8479195 A JP 8479195A JP 3244999 B2 JP3244999 B2 JP 3244999B2
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JP
Japan
Prior art keywords
grounding
collision
ship
stranded
collision prevention
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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JP08479195A
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Japanese (ja)
Other versions
JPH08253194A (en
Inventor
和生 松田
裕美 空閑
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Mitsubishi Heavy Industries Ltd
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Mitsubishi Heavy Industries Ltd
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Priority to JP08479195A priority Critical patent/JP3244999B2/en
Publication of JPH08253194A publication Critical patent/JPH08253194A/en
Application granted granted Critical
Publication of JP3244999B2 publication Critical patent/JP3244999B2/en
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Expired - Lifetime legal-status Critical Current

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Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【0001】[0001]

【産業上の利用分野】本発明は音声発生機構付き座礁衝
突予防装置に関する。
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】[0002]

【従来の技術】自船の船速,船位,船首方位と、他船の
船速,船位と、海図データベースに蓄えられた座礁避険
線データを基に、座礁衝突危険を判定し、その危険を警
報で知らせ、変針予定方位を海図表示画面上に写す座礁
衝突予防装置の研究開発が知られている。ここで、座礁
避険線とは紙海図をもとに作成された電子海図における
座礁危険となる水深のポイントを結ぶ等深線である。
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.

【0003】しかしながら、このような装置では、多忙
な操船者に対して、十分親切な情報提供手段とはいえ
ず、したがって、操船の安全性や省力性の向上に関し改
善の余地がある。
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】[0004]

【発明が解決しようとする課題】本発明は、このような
事情に鑑みて提案されたもので、座礁衝突判定装置の情
報を便利な状態で操船者に提供することができる、した
がって、操船の安全性及び省力性に優れた音声発生機構
付き座礁衝突予防装置を提供することを目的とする。
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】[0005]

【課題を解決するための手段】そのために、本発明は船
位を検出する測位装置と船首方位を検出するジヤイロ
コンパスと船速を検出する速度計と座礁避険線を蓄
えた海図データベースと他船との最接近時間データ,
最接近距離データ,他船の方向,船速および推奨変針角
度を提供する衝突予防装置と変針角度を提供する座礁
予防装置とを有する座礁衝突判定装置を具えるととも
、座礁衝突予防音声発生装置と、音声データベースと
を具え、上記座礁衝突判定装置の判定結果により座礁衝
突の危険が発生した場合、上記音声データベースに蓄え
た回避手段の音声データを呼出し、上記座礁衝突予防音
声発生装置から上記音声データである推奨変針方位およ
び変針理由の音声発生を行うことを特徴とする。
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】[0006]

【作用】このような構成によれば、船位を検出する測位
装置と船首方位を検出するジヤイロコンパスと船速を検
出する速度計と座礁避険線を蓄えた海図データベースと
他船との最接近時間データ,最接近距離データを提供す
る衝突予防装置とを有する座礁衝突判定装置と、座礁衝
突予防音声発生装置と、音声データベースとを具え、上
記座礁衝突判定装置の判定結果により座礁衝突の危険が
発生した場合、上記音声データベースに蓄えた回避手段
の音声データを呼出し、上記座礁衝突予防音声発生装置
から上記音声データの音声発生を行うので、座礁衝突危
険判定結果,推奨変針方位,変針理由等が音声でアナウ
ンスされる結果、多忙な操船者の作業が大巾に支援され
る。
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】[0007]

【実施例】本発明の一実施例を図面について説明する
と、まず、本装置の構成を示す図1ブロック線図におい
て、1はオートレーダプロテイングエイド(Auto
Radar Plotting Aid、以下衝突予防
装置という)2からの他船との最接近時間データ,最接
近距離データに基づき衝突可能性の有無の判定を行うと
ともに、測位装置3から得られる自船の船位,ジヤイロ
コンパス4から得られる船首方位,速度計5から得られ
る船速,海図データベース6から得られる座礁避険線デ
ータに基づき座礁危険の判定を行う座礁衝突判定装置で
ある。6aは衝突予防装置2からの他船との最接近時間
データ及び最接近距離データと、測位装置3から得られ
る自船の船位と、ジヤイロコンパス4から得られる船首
方位と、速度計5から得られる船速と、海図データベー
ス6から得られる座礁避険線データとに基づき変針角度
を座礁衝突判定装置1へ出力する座礁予防装置である。
7は座礁衝突判定装置1からの座礁衝突危険判定結果に
基づき、音声データベース8から音声データを得て、操
船者に座礁衝突の危険発生,推奨変針方位,変針理由な
どを知らせる座礁衝突予防音声発生装置である。9は座
礁衝突判定装置1〜音声データベース8が協働して構成
する音声発生機構付き座礁衝突予防装置である。
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.

【0008】このような装置において、図1〜図2処理
流れ線図に示すように、まず、ステップa1で座礁衝突
判定装置1にて、海図データベース6から航行する海域
の座礁避険線データを読込み、続いて、ステップa2で
座礁衝突判定装置1において、測位装置3から自船の船
位を,ジヤイロコンパス4から船首方位を,速度計5か
ら船速を,衝突予防装置2から他船との最接近時間,他
船との最接近距離,自船の船首方位を0°としたときの
他船の方向,船速,推奨変針角度を,座礁予防装置6a
から変針角度をそれぞれ得る。次に、ステップa3で衝
突予防装置2から得られた他船との最接近時間,最接近
距離,他船の方向,船速,推奨変針角度と、座礁・衝突
判定装置1内で算出する自船の最接近時間,最接近距離
の限界値とを比較し、衝突予防装置2から得られた値が
限界値より小さい場合は、衝突の危険性があるとみなし
てステップa4へ進み、衝突予防装置2から入力される
他船の方向,船速を得、さらに、ステップa5へ進み、
同じく衝突予防装置2から入力される推奨変針角度を得
る。このとき、自船の最接近時間,最接近距離の限界値
は、それぞれ自船が変針を開始してから変針角度に到達
するまでの時間と距離であり、自船の船速ds (v)(m
/s) より次式で求められる。 他船との最接近距離の限界値=0.9xds(s) xαxβ 他船との最接近時間の限界値=他船との最接近距離/ds(v)/β (但し、αは120<=α<=180の任意の値、β=1/1852(m))
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))

【0009】さらに、ステップa6では、衝突予防装置
2から得られた他船の方位が、0°から180°までの
範囲であれば、他船は自船の右舷側にあると判断してス
テップa7に進み、そうでない場合は左舷側にあると判
断してステップa8に進む。ステップa7,a8では、
それぞれ適切な音声を音声データベース8(詳細は図5
音声データベースの表図参照)より選択,合成するた
め、さらに、ステップa14に進み、数字パートで各数
字の音声を選択し、続いて、ステップa15に進み、数
字データを音声変換したのち、ステップa16で座礁衝
突予防音声発生装置7において音声を発生する。
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.

【0010】そして、ステップa3において衝突危険が
ないとみなされた場合は、ステップa9で座礁衝突判定
装置1において、自船の船位,船速,船首方位と座礁避
険線データを用い、次の要領で座礁危険性の有無を判定
する。まず、図3座礁危険判定の概念図に示すように、
自船の船位,船速,船首方向を基に座礁危険判定のため
の矩形域10を設定し、その矩形域10に座礁避険線1
1,12の折れ点が入るか否か、また、座礁避険線1
1,12の折れ線が交わるか否かで座礁危険の判定を行
う。
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.

【0011】その座礁危険判定のための矩形域10の大
きさ(2w×1)は、速度計5からの船速v、あらかじ
め入力されている自船の型幅W、自船の船体長Lから次
式によって求められる。 w=λ×W/2 1=μ×L/2+ν×v 係数λ,μ,νは、それぞれ安全サイドを考慮して任意
で決めることができる。このようにして求められた矩形
域10を基に、図3に示すように矩形域10の中に座礁
避険線11,12の折れ点が入るか否か、また、矩形域
10に対して座礁避険線11,12の折れ線が交わるか
否かの判定を行う。この判定処理は、図4座礁危険判定
の流れ図に従って行われる。
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.

【0012】すなわち、図3において、座礁避険線11
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12の折点を
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、1枚の海
図データの座礁避険線の数である。また、(Px ,P
y )は自船位、(XA ,YA ),(XB ,YB ),(X
C ,YC ),(XD ,YD )はそれぞれ矩形域10の頂
点(経度,緯度)、(a) 〜(d) はそれぞれ矩形域10を
形成する線分である。
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.

【0013】図4に示す座礁判定処理において、まず、
ステップb1で自船位,船首方位,船速のデータと、自
船幅,自船長データから座礁危険判定のための矩形域1
0を計算する。そして、ステップb2で「j」の値を
「1」に初期設定し、ステップb3で系列番号の最大値
(m)に達したか否か判定する。jがm以下であれば、
ステップb4でiの値を「0」に初期設定し、ステップ
b5でiが予め設定した値nに達したか否かを判定し、
iがn未満であれば、ステップb7で座礁危険判定を行
い、iがn以上であれば、ステップb6でjの値を「+
1」してステップb3へと戻る。
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.

【0014】ステップb7では、座礁避険線11,12
の折点(Xij,Yij)が矩形域10に入るか否かを判定
する。すなわち、次の条件式 (1/tanφ)(Xij−Px )+Py −(w/sinφ)≦Yij ≦(1/tanφ)(Xij−Px )+Py +w/sinφ ・・・…(1) かつ、 tanφ(Px −Xij)+Py ≦Yij≦−tanφ(Px +Xij) +Py +(cos2φ/cosφ)・La−2wsinφ ・……(2) を満たすYijが存在する場合、座礁危険と判定する。
(但し、測位装置3から得た自船13の船位を(Px
y )、ジヤイロ4から得た自船13の船首方位をφと
する。)
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 ··· ... (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】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11,12の折点が矩形域10に
入っていない場合、ステップb8で座礁避険線11,1
2の折線(Xij,Yij)〜(Xi-1j,Yi-1j)が矩形域
10を形成する4つの線分(a),(b) ,(c) ,(d) と交
わるか否かを判定する。すなわち、下記に示すA〜Dの
条件、A.座礁避険線11,12の折線が図3における
線分(a) と交わる場合、 (β−α)XB −βXA −XA −αXij≦Yij≦YA +αXij−αXA ……(3) B.又は、座礁避険線11,12の折線が図3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.又は、座礁避険線11,12の折線が図3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.又は、座礁避険線11,12の折線が図3における
線分(d) と交わる場合、 (γ−α)XA −γXD −YD −αXij≦Yij≦YD +αXij−αXD ……(6) を満たすYijが存在する場合、座礁危険と判定する。
但し、α=(Yij−Yi-1j)/(Xij−Xi-1j), β=1/tanφ, γ=−tanφ〕
[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]

【0016】座礁危険の場合、すなわち、座礁危険と判
定されるYijが存在するときは、次式により変針角度θ
を算出する。 θ=arctan〔(Yij−Py )/(Xij−Px )〕 (但し、(Px ,Py );自船位 (Xij,Yij);座礁危険と判定された点) 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b9により「i」の値を「+1」してステ
ップb5に戻り、以下同様の処理を繰り返す。すなわ
ち、i=1からnまで次の処理を繰り返す。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、ステップa9(図2)で座礁危
険と判定される。
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).

【0017】以上の方法により、座礁の危険性があると
判定された場合は、ステップa10へ進み、座礁予防装
置6aから入力される変針角度を得、そうでない場合
は、ステップa18に進む。ステップa18では、計時
処理を行い、一定時間後、ステップa2に戻り上記の処
理を繰り返して行う。また、座礁の危険がある場合のス
テップa11では座礁衝突予防音声発生装置7におい
て、座礁衝突判定装置1より送られたデータを基に、音
声データベース8より適切な音声データを呼び出すため
に、次のことを行う。座礁危険と判定された座礁避険線
の折れ点、又は、座礁危険判定のための矩形域と座礁避
険線との交点の位置((X,Y)とする)と、自船の位
置(Px,y)より、自船が右舷,左舷のどちらに舵を
取るべきなのかを次式より計算する。 cosθ=〔(Y−Py2 +(X−Px20.5 (X−Px-1 cosθ≧0 ……右舷側 上記以外 ……左舷側 これにより、ステップa12,a13のどちらかに進
み、それぞれ適切な音声を音声データベース8(図5)
より選択、合成するため、さらに、ステップa14に進
み、数字パートで各数字の音声を選択し、続いて、ステ
ップa15に進み、数字データを音声変換したのち、ス
テップa16で座礁衝突予防音声発生装置7において音
声を発生する。ステップa17では、操船者による変針
の確認を行った後、ステップa2に戻る。
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.

【0018】このような、実施例の装置によれば、船位
を検出する測位装置と船首方位を検出するジヤイロコン
パスと船速を検出する速度計と座礁避険線を蓄えた海図
データベースと他船との最接近時間データ,最接近距離
データ,他船の方向,船速,推奨変針角度を提供する衝
突予防装置と変針角度を提供する座礁予防装置とを有す
る座礁衝突判定装置と、座礁衝突予防音声発生装置と、
音声データベースとを具え、上記座礁衝突判定装置の判
定結果により座礁衝突の危険が発生した場合、上記音声
データベースに蓄えた回避手段の音声データを呼出し、
上記座礁衝突予防音声発生装置から上記音声データの音
声発生を行うので、座礁衝突危険判定結果,推奨変針方
位,変針理由等が音声でアナウンスされる結果、多忙な
操船者の作業が大巾に支援され、したがって、操船の安
全性及び省力性が向上する。
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】[0019]

【発明の効果】要するに本発明によれば、船位を検出す
る測位装置と船首方位を検出するジヤイロコンパス
船速を検出する速度計と座礁避険線を蓄えた海図
データベースと他船との最接近時間データ,最接近距
離データ,他船の方向,船速および推奨変針角度を提供
する衝突予防装置と変針角度を提供する座礁予防装置
とを有する座礁衝突判定装置を具えるとともに、座礁衝
突予防音声発生装置と、音声データベースとを具え、上
記座礁衝突判定装置の判定結果により座礁衝突の危険が
発生した場合、上記音声データベースに蓄えた回避手段
の音声データを呼出し、上記座礁衝突予防音声発生装置
から上記音声データである推奨変針方位および変針理由
の音声発生を行うことにより、座礁衝突判定装置の情報
を便利な状態で操船者に提供することができる、したが
って、操船の安全性及び省力性に優れた音声発生機構付
き座礁衝突予防装置を得るから、本発明は産業上極めて
有益なものである。
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.

【図面の簡単な説明】[Brief description of the drawings]

【図1】本発明の一実施例の構成を示すブロック線図で
ある。
FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.

【図2】図1における処理流れ線図である。FIG. 2 is a flow chart of a process in FIG. 1;

【図3】図1における座礁危険判定の概念図である。FIG. 3 is a conceptual diagram of a danger determination of a grounding in FIG. 1;

【図4】図1における座礁危険判定の流れ線図である。FIG. 4 is a flow chart of a grounding danger determination in FIG. 1;

【図5】図1の音声データベース8の構成を示す線図で
ある。
FIG. 5 is a diagram showing a configuration of a voice database 8 of FIG. 1;

【符号の説明】[Explanation of symbols]

1 座礁衝突判定装置 2 衝突予防装置 3 測位装置 4 ジヤイロ 5 速度計 6 海図データベース 6a 座礁予防装置 7 座礁衝突予防音声発生装置 8 音声データベース 9 音声発生機能付き座礁衝突予防装置 10 矩形域 11 座礁避険線 12 座礁避険線 13 自船 (a) 線分 (b) 線分 (c) 線分 (d) 線分 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

フロントページの続き (58)調査した分野(Int.Cl.7,DB名) B63B 49/00 B63B 43/18 G01C 21/20 G08G 3/02 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)【特許請求の範囲】(57) [Claims] 【請求項1】 船位を検出する測位装置と船首方位を
検出するジヤイロコンパスと船速を検出する速度計
座礁避険線を蓄えた海図データベースと他船との
最接近時間データ,最接近距離データ,他船の方向,船
および推奨変針角度を提供する衝突予防装置と変針
角度を提供する座礁予防装置とを有する座礁衝突判定装
を具えるとともに、座礁衝突予防音声発生装置と、音
声データベースとを具え、 上記座礁衝突判定装置の判定結果により座礁衝突の危険
が発生した場合、上記音声データベースに蓄えた回避手
段の音声データを呼出し、上記座礁衝突予防音声発生装
置から上記音声データである推奨変針方位および変針理
の音声発生を行うことを特徴とする音声発生機構付き
座礁衝突予防装置。
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.
JP08479195A 1995-03-16 1995-03-16 Landing collision prevention device with sound generation function Expired - Lifetime JP3244999B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP08479195A JP3244999B2 (en) 1995-03-16 1995-03-16 Landing collision prevention device with sound generation function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP08479195A JP3244999B2 (en) 1995-03-16 1995-03-16 Landing collision prevention device with sound generation function

Publications (2)

Publication Number Publication Date
JPH08253194A JPH08253194A (en) 1996-10-01
JP3244999B2 true JP3244999B2 (en) 2002-01-07

Family

ID=13840531

Family Applications (1)

Application Number Title Priority Date Filing Date
JP08479195A Expired - Lifetime JP3244999B2 (en) 1995-03-16 1995-03-16 Landing collision prevention device with sound generation function

Country Status (1)

Country Link
JP (1) JP3244999B2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4055915B2 (en) * 1997-10-23 2008-03-05 日本無線株式会社 Automatic collision prevention assist device
JP6029571B2 (en) * 2013-12-11 2016-11-24 株式会社日立ソリューションズ Navigation risk display program, navigation risk display system
CN112102361B (en) * 2020-09-04 2021-10-22 珠海大横琴科技发展有限公司 Multi-ship operation collision detection method and device and computer equipment

Also Published As

Publication number Publication date
JPH08253194A (en) 1996-10-01

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