JPH05174300A - Traveling status detecting system for mobile body group - Google Patents

Abstract

PURPOSE:To provide an inexpensive traveling status detecting system for a mobile body group with high accuracy by detecting the position of its own marine vessel (mobile body) by each marine vessel, and informing another marine vessel of it with radio. CONSTITUTION:A traveling status detector is installed at each marine vessel. A GPS receiver 2 calculates the position of its own marine vessel by receiving a wave from a satellite via an antenna 2a, and transfers it to a central control part 1 as its own vessel position data. The central control part 1 writes it on data memory 1a. A display control part 4 reads out the its own vessel position data from the memory 1a, and a luminescent spot string representing the track of its own marine vessel is displayed on a CRT 4a with old data. The central control part 1 reads out its own vessel position data from the memory 1a, and a transmission/reception part 3 transmits it from an antenna 3a. The central control part 1 receives data received by the transmission/reception part 3 from the transmission/reception part 3, and writes it on the memory 1a. The position data of another marine vessel written on the memory 1a is read out by the display control part 4, and the track of the marine vessel is displayed on the CRT 4a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for detecting the movement status of a group of moving bodies which is used for collision prevention of ships.

[0002]

2. Description of the Related Art Conventionally, as a method of preventing a collision of a ship, a method of detecting a movement situation of another ship around the ship using a radar device has been adopted. In addition, when the distance and direction with other vessels detected by the radar device are detected, the traveling direction and speed in addition to the distance are calculated and displayed from the change, and when the mutual movement situation poses a risk of collision. There is also a method of adding a function of issuing an alarm.

The above-mentioned conventional method of detecting a moving state using a radar device has a problem that the radar device is expensive. In addition, there is a problem that a small vessel in the wave may not be detected under stormy weather, or conversely, the wave may be mistaken for another vessel. Therefore, an object of the present invention is to provide an inexpensive and highly accurate movement status detection system for moving body groups.

[0004]

According to the movement status detection system for a group of moving bodies according to the present invention, each moving body is provided with: a. A movement status detecting means for detecting the movement status of the self including the position of the self; b. Wireless data transmission / reception means for transmitting the movement status data indicating the detected movement status of the self at an appropriate frequency and receiving the movement status data of the mobile body transmitted by another mobile body, c. Display means for displaying, on the same screen, the position of the self included in the detected movement condition of the self and the position of the other moving body included in the received movement condition data of the other moving body. There is.

[0005]

In the system of the present invention, each ship detects the position of its own ship and wirelessly notifies other ships. Neither the detection of the position of the own ship nor the notification to other ships by radio is affected by natural phenomena such as the condition of the sea surface, and therefore the condition can be detected with extremely high accuracy. This effectively eliminates the drawback of the conventional radar-based system in that when each vessel detects the movement state of another vessel, it is easily affected by the situation of the sea surface lying between itself and the detection accuracy is poor. I'm avoiding it.

In particular, GPS (Global Positioning System), which has been rapidly spreading in recent years, is used as a means for detecting the position of the ship.
) Is used, it is possible to measure the ship's position with extremely high accuracy and reliability of several tens of meters and at low cost.
It is expected that it will be installed on small vessels in the near future.
Further, since the wireless transmission / reception device is indispensable for ships as a trade, it does not increase the construction cost of this system.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing the structure of a movement status detection device installed in each ship to constitute a movement status detection system for a group of moving bodies according to an embodiment of the present invention. A central control unit, 2 is a GPS receiver, 3 is a transmission / reception unit, 4 is a display control unit, 5 is a keyboard, and 6 is a buzzer for generating an alarm sound.

A. Detection, storage, and display of own ship position GPS receiver 2 has at least 3 units via antenna 2a.
The electric wave from each satellite is received to calculate the ship's position, and the ship's position data is transferred to the central control unit 1 at a predetermined cycle.
The central control unit 1 which has received this own ship position data adds a time code indicating the current time to this own ship position data and writes it in the data memory 1a. When the track display mode is designated from the keyboard 5 via the central control unit 1, the display control unit 4 reads the own ship position data written by the central control unit 1 from the data memory 1a and The position data is converted into display position data of the CRT 4a, and a bright spot is displayed at this display position. Since the display of the own ship position is also performed at a predetermined cycle and for old data, the CRT 4a
Displays a bright spot sequence that shows the track of your ship.

B. Radio broadcasting of own ship position The central control unit 1 reads the latest own ship position data written in the data memory 1a at a predetermined cycle, assembles it into a data packet of a predetermined length and a predetermined format, and transfers it to the transmitting / receiving unit 3. The transmission / reception unit 3 transmits the data packet received from the central control unit 1 from the antenna 3a.

As shown in FIG. 2, the data packet has a synchronization signal, a mode designation code, a destination vessel identification code, an own vessel identification code, a data type designation code and data arranged in order from the beginning. ing. The communication mode designated by the mode designation code is classified into a broadcast mode in which the destination vessel is not specified and an individual communication mode in which the destination vessel is specified. The type of data included in the data packet of FIG. 2 is the ship movement status data when the communication mode is the broadcast mode, and is an alarm for notifying the communication partner of the risk of collision when the communication mode is the individual communication mode. is there.

C. Receive / save position data of other vessels
When the display central control unit 1 receives the data packet received by the transmission / reception unit 3 from the transmission / reception unit 3, it first determines the mode designation code, and if the broadcast mode is designated, determines the data type. If the determined data type is the movement status data of another ship, the data is obtained by adding the time code indicating the current time to the movement status data of the other ship using the identification code of the other ship that transmitted this data packet as a key. Write to memory 1a. The position data of the other ship written in the data memory is read by the display control unit 4 in a predetermined cycle and displayed in the track display mode together with the old position data of the ship.

Thus, the track of the own ship based on the position data of the own ship calculated by the GPS receiver 2 and the track of the other ship based on the position data of the other ship received by the transmitter / receiver 3 are stored in the CRT 4a. Is displayed. Figure 3 shows the CR of the track of the ship and the track of four other ships navigating around it.
The state displayed on T4a is illustrated. A circle centering on the own ship is displayed to distinguish it from other ships.

The central control unit 1 writes the own ship position data calculated by the GPS receiver and the position data of the other ship received from another ship into the data memory 1a, and the own ship position read from the data memory 1a. The monitoring process for collision prevention is executed in a predetermined cycle by interposing the process of transmitting the data via the transmitting / receiving unit 3. Hereinafter, this monitoring process will be described.

D. Monitoring and Judgment Processing for Collision Prevention The central control unit 1 reads out the latest own ship position and the positions of all the other ships written in the data memory 1a, and detects all other ships from the own ship. Calculate the distance and direction of. If there is another ship whose calculated distance is less than or equal to a predetermined value, the central control unit 1 extends the wake by connecting several latest position data of the ship and its own ship, and whether or not there is an intersection between them. To judge. When the two intersect, the navigation speed is calculated based on the latest several position data of own ship and other ships based on the time code added to the position data, and each navigation speed is maintained. The time difference of reaching each intersection is calculated when each ship travels on its extended track. If the calculated time difference is less than or equal to a predetermined value, the central control unit 1 determines that there is a risk of collision between the ship and its ship (referred to as "the other ship").

E. Warning for Collision Prevention When the central control unit 1 determines that there is a risk of collision between the ship and the other ship, the buzzer 6 generates an alarm sound and the other ship Display position is CRT4a
The display control unit 4 is instructed to blink the above. Around this time, the central control unit 1 shifts the transmission / reception operation to the individual communication mode, assembles an alarm packet including alarm data of a predetermined pattern destined to the other ship, and causes the transmission / reception unit 3 to send it out. Referring to FIG. 2, in this alarm packet, the individual communication mode is assigned as the mode designation code, the identification code of the other vessel is assigned as the destination vessel code, the alert is assigned as the data type, and the predetermined data is given. The pattern is substituted.

In this individual communication mode, unlike the broadcast mode in which only transmission is performed, error control of the retransmission system is performed. That is, the side receiving the data packet addressed to the own ship transmits the ACK data packet to notify the transmitting side of the fact. If the sender does not receive the ACK from the destination within the predetermined time, it is considered that the transmission data was not correctly received at the destination due to a data packet collision or a code error that occurred during transmission. ,
Repeat the transmission of the same data.

F. Response of the ship that received the warning packet The central control unit of the other ship that received this warning packet indicates that this is a warning packet based on the data type.
When it is identified that the destination is the own ship, an alarm sound is generated in the speaker and the current position of the ship that has sent this alarm packet is blinked on the display screen. Around this time, an ACK packet is transmitted to the ship that issued the alarm.

As a result, not only the ship that issued the alarm,
The buzzer 6 also generates an alarm sound in the other ships that receive this, and both ships can simultaneously know the danger of collision.

Although the present invention has been described with reference to the embodiment, the present invention can be variously modified and carried out.
Of such modified embodiments, only the main ones are listed below. [Modified Example]

Display of the absolute position and track of the own ship and the other ship without detecting the relative movement status such as the distance or direction between the own ship and the other ship or issuing an alarm based on the detection. A system that only does.

[0021] Instead of processing the position data received from other ships to calculate the navigation direction and the navigation speed, each ship calculates the navigation direction and the navigation speed of the own ship and sends them together with the position data of the own ship. ..

A system for converting position data of the own ship and other ships into a positional relationship in cylindrical coordinates centering on the own ship and creating a display screen similar to that of the radar device.

A system for detecting the risk of collision by an appropriate algorithm different from the algorithms exemplified in the above embodiments.

A system in which the moving body is not a ship but a vehicle or an aircraft.

As described in detail above, the movement status detection system for a group of moving bodies according to the present invention has a structure in which each ship detects the position of its own ship and notifies other ships by radio.
Neither the detection of the position of the own ship nor the notification to other ships by radio is affected by natural phenomena such as the condition of the sea surface, and therefore extremely accurate condition detection is possible.

[Brief description of drawings]

FIG. 1 is a block diagram exemplifying a configuration of an apparatus installed in each ship that constitutes a navigation status detection system for a ship group according to an embodiment of the present invention.

FIG. 2 is a data format diagram showing an example of a configuration of a data packet transmitted and received between ships in the above embodiment.

FIG. 3 is a conceptual diagram showing an example of tracks of the own ship and other ships displayed on the CRT 4a in FIG.

[Explanation of symbols]

 1 Central control unit 2 GPS receiver 3 Transmitter / receiver unit 4 Display control unit 5 Keyboard 6 Buzzer

Claims (9)

[Claims] 1. A system in which each moving body constituting a moving body group detects a moving state of another moving body existing around itself, each moving body comprising: a. A movement status detecting means for detecting the movement status of the self including the position of the self; b. Wireless data transmission / reception means for transmitting the movement status data indicating the detected movement status of the self at an appropriate frequency and receiving the movement status data of the mobile body transmitted by another mobile body, c. Display means for displaying on the same screen the position of one's own included in the detected moving condition of the one's own and the position of the other moving member included in the received moving condition data of the other moving member. A movement status detection system for a group of moving objects, characterized in that 2. A system in which each moving body forming a moving body group detects a moving state of another moving body existing around itself, each moving body comprising: a. A movement status detecting means for detecting the movement status of the self including the position of the self; b. Wireless data transmission / reception means for transmitting the movement status data indicating the detected movement status of the self at an appropriate frequency and receiving the movement status data of the mobile body transmitted by another mobile body, c. Display means for displaying on the same screen the position of one's own included in the detected moving condition of one's own and the position of the other moving member included in the received moving condition data of the other moving object; d. Mutual movement status detection means for detecting a mutual movement status from the detected self movement status and the received movement status data of the other mobile body, e. And a warning generation means for issuing a warning when the detected mutual movement situations pose a risk of collision. 3. The movement status detection system for a moving body group according to claim 1, wherein the detected movement status of the self includes a movement direction in addition to a position. 4. The moving condition detection system for a group of moving objects according to claim 3, wherein the detected moving condition of the self includes a moving speed in addition to a position and a moving direction. 5. The mutual movement status detection means according to claim 1, wherein the mutual movement status detection means moves the mobile body based on a temporal change in the position of the mobile body included in the received movement status data of the other mobile body. A moving condition detection system for a group of moving objects, comprising means for detecting a direction and a moving speed. 6. The group of moving objects according to claim 1, wherein an appropriate frequency of transmitting the moving condition data is increased with a decrease in the distance between the detected self and another moving object. Movement status detection system. 7. The movement according to claim 2, wherein the display means arranges and displays the mutual movement states in descending order of risk of collision among the detected movement states. Body group movement status detection system. 8. The wireless data transmission / reception means according to claim 2, which transmits the movement status data with its own identification code, and the alarm generation means is different from each other in the movement status. A moving condition detection system for a group of moving objects, characterized by detecting a moving object based on the identification code and instructing the wireless data transmission / reception means to send an alarm to the other moving objects. 9. The alarm generating means according to claim 2, wherein the alarm generating means comprises: a. The distance of each moving body is equal to or less than a predetermined value, b. The extension lines of the moving route of each moving object have an intersection, and c. A moving situation detection system for a group of moving bodies, characterized in that mutual moving situations are judged to pose a risk of collision when the difference between the times when each moving body reaches the intersection is a predetermined value or less.