JP6646477B2 - 小型船舶の接触回避装置 - Google Patents
小型船舶の接触回避装置 Download PDFInfo
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- JP6646477B2 JP6646477B2 JP2016043004A JP2016043004A JP6646477B2 JP 6646477 B2 JP6646477 B2 JP 6646477B2 JP 2016043004 A JP2016043004 A JP 2016043004A JP 2016043004 A JP2016043004 A JP 2016043004A JP 6646477 B2 JP6646477 B2 JP 6646477B2
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- unit
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/30—Monitoring properties or operating parameters of vessels in operation for diagnosing, testing or predicting the integrity or performance of vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/24—Radio transmission systems, i.e. using radiation field for communication between two or more posts
- H04B7/26—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is mobile
- H04B7/2625—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is mobile using common wave
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H2020/003—Arrangements of two, or more outboard propulsion units
Description
(あるいは84Bd)において位置推定部84Ac(あるいは84Bc)で推定された方位と位置に基づいて操船者に船舶2との接触の回避を指示することは第1実施形態の場合と同様である。
Claims (4)
- 少なくとも2隻の小型船舶A,Bにおいて前記船舶Bとの接触を回避する前記船舶Aの接触回避装置において、前記船舶Aに相互に離間して配置され、前記船舶Aの周囲に向けて同一の周波数からなる電波をそれぞれ送信すると共に、前記船舶Bから送信される前記電波をそれぞれ受信する同種の第1、第2電波送受信ユニットと、前記第1電波送受信ユニットで受信された前記船舶Bからの送信電波の減衰度合いに基づいて前記船舶Bとの離間距離を演算する第1距離演算部と、前記第2電波送受信ユニットで受信された前記船舶Bからの送信電波の減衰度合いに基づいて前記船舶Bとの離間距離を演算する第2距離演算部と、x,y座標平面において前記第1、第2電波送受信ユニットの配置位置をそれぞれ原点とすると共に、前記第1、第2距離演算部で演算された離間距離に相当する値をそれぞれ半径とする第1の円と第2の円からなる2つの円の交点を演算する交点演算部と、前記交点演算部で演算されたx,y座標平面上の交点に基づいて前記船舶Bの方位と位置を推定する位置推定部と、前記位置推定部で推定された方位と位置に基づいて操船者に前記船舶Bとの接触の回避を指示する接触回避指示部とを備えたことを特徴とする小型船舶の接触回避装置。
- 前記交点演算部は、前記x,y座標平面において前記第1、第2電波送受信ユニットの配置位置を結ぶ線を延長してなる直線よりも船首側の航行方向に前記2つの円の交点を演算することを特徴とする請求項1記載の小型船舶の接触回避装置。
- 前記船舶Aに前記第1、第2電波送受信ユニットに離間して配置され、前記船舶Aの周囲に向けて前記電波を送信すると共に、前記船舶Bから送信される前記電波を受信する前記第1、第2電波送受信ユニットと同種の第3電波送受信ユニットと、前記第3電波送受信ユニットで受信された前記船舶Bからの送信電波の減衰度合いに基づいて前記船舶Bとの離間距離を演算する第3距離演算部とを備え、前記交点演算部は、前記交点を、前記x,y座標平面において前記第1の円と第2の円と、前記第3電波送受信ユニットの配置位置を原点とすると共に、前記第3距離演算部で演算された離間距離に相当する値を半径とする第3の円との交点から演算することを特徴とする請求項1または2記載の小型船舶の接触回避装置。
- 前記位置推定部は、前記交点演算部で演算されたx,y座標平面上の交点の時間的な変化に基づいて前記船舶Bの航行速度と移動方向を推定する速度/移動方向推定部を備えると共に、前記接触回避指示部は、前記速度/移動方向推定部で推定された航行速度と移動方向に基づいて操船者に前記船舶Bとの接触の回避を指示することを特徴とする請求項1から3のいずれかに記載の小型船舶の接触回避装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2016043004A JP6646477B2 (ja) | 2016-03-07 | 2016-03-07 | 小型船舶の接触回避装置 |
US15/448,295 US10049582B2 (en) | 2016-03-07 | 2017-03-02 | Small boat collision avoidance apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2016043004A JP6646477B2 (ja) | 2016-03-07 | 2016-03-07 | 小型船舶の接触回避装置 |
Publications (2)
Publication Number | Publication Date |
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JP2017161222A JP2017161222A (ja) | 2017-09-14 |
JP6646477B2 true JP6646477B2 (ja) | 2020-02-14 |
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JP2016043004A Active JP6646477B2 (ja) | 2016-03-07 | 2016-03-07 | 小型船舶の接触回避装置 |
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US (1) | US10049582B2 (ja) |
JP (1) | JP6646477B2 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101902730B1 (ko) * | 2018-02-12 | 2018-09-28 | 목포해양대학교 산학협력단 | 해기사의 심리적 특성을 이용한 선박의 충돌 회피 방법 |
US11738746B2 (en) | 2019-06-19 | 2023-08-29 | Ted JEWELL | Lifeform transmission system for collision avoidance |
CN113176777B (zh) * | 2021-03-16 | 2023-11-03 | 深圳市人工智能与机器人研究院 | 自动帆船行驶监控方法、装置、设备及可读存储介质 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0818996A (ja) | 1994-07-05 | 1996-01-19 | Nec Corp | 自動ホワイトバランス回路 |
JPH08189966A (ja) * | 1995-01-09 | 1996-07-23 | Maki Seisakusho:Kk | 船舶の衝突予防方法及びその装置 |
JP2000304856A (ja) * | 1999-04-20 | 2000-11-02 | Mitsubishi Electric Engineering Co Ltd | 近接警報装置 |
US6760387B2 (en) * | 2001-09-21 | 2004-07-06 | Time Domain Corp. | Impulse radio receiver and method for finding angular offset of an impulse radio transmitter |
JP2008224584A (ja) * | 2007-03-15 | 2008-09-25 | Seiko Epson Corp | リモコン位置通知システム |
CN101547130B (zh) * | 2008-03-26 | 2011-04-13 | 中国人民解放军信息工程大学 | 一种基于无线传感器网络的定位方法及装置 |
JP2010152546A (ja) * | 2008-12-24 | 2010-07-08 | Nissan Motor Co Ltd | 追従制御装置及び追従制御方法 |
KR101113312B1 (ko) * | 2009-12-10 | 2012-03-13 | 이성종 | 선박 충돌방지 시스템 및 선박 충돌방지 방법 |
DE102012214199A1 (de) * | 2012-08-09 | 2014-04-03 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung und Verfahren zur Positionierung durch Triangulation |
KR20140036706A (ko) * | 2012-09-18 | 2014-03-26 | 한국전자통신연구원 | 다중 전파원의 위치를 탐지하는 방법 및 그 장치 |
JP6286772B2 (ja) * | 2014-02-28 | 2018-03-07 | 日本無線株式会社 | 情報配信装置、情報配信システム及び情報配信方法 |
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2016
- 2016-03-07 JP JP2016043004A patent/JP6646477B2/ja active Active
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2017
- 2017-03-02 US US15/448,295 patent/US10049582B2/en active Active
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Publication number | Publication date |
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US20170256170A1 (en) | 2017-09-07 |
US10049582B2 (en) | 2018-08-14 |
JP2017161222A (ja) | 2017-09-14 |
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