JPH0648392A - Course/velocity change detecting/warning device and method therefor - Google Patents

Abstract

PURPOSE:To provide a velocity/speed change detecting/warning device, which picks up any neaby ship having possibility of collision, for detecting its course/ velocity change, and issues a warning to a steersman, for reliably preventing the collision. CONSTITUTION:A steersman specifies a foreign ship to be picked out by an image of a rader display unit 16 and picks out it by manually inputting it in a picking/setting unit 26. And an antenna 10 takes the picked-out data and sends it to a processing unit 18. The processing unit 18 calculates the relative course and velocity of the picked-out ship to own ship on the basis of the polar coordinate stored in a memory 22 every antenna scanning. Then, course and the velocity of own ship are taken in from a gyrocompass 28 and a speed log 30, and the absolute course and velocity of the picked-out ship are calculated. And then, the expected course and velocity are calculated from the data of the picked-out ship, and deviations of the absolute course and velocity are calculated to judge the course/speed changes. When the course/speed changes of the picked-out ship are more than the fixed values, a warning unit 32 is operated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a needle change / shift detection alarm device and method for detecting a needle change and a gear change of a ship detected and captured by a radar to assist in preventing collision of the ship.

[0002]

2. Description of the Related Art FIG. 5 shows a radar display device for displaying a target signal obtained by a radar utilizing a marine antenna, which is used as a part of a conventional collision prevention support device for assisting collision prevention. It is something. In the figure, 1
Is the position of the own ship, 2 is a sign indicating the direction of the own ship, and 3'is another ship which is a target. This display device is provided with a target capturing means, and the vessel operator can manually capture the target vessel 3 via this means or the other vessel 3 which has entered a predetermined range is automatically captured as a vessel to be tracked. In the capture ship 3, the actual measurement position for each antenna scan is stored in polar coordinates. Then, the relative course and the relative speed are calculated from the change in the relative position.

Further, the position predicted from the relative position is predicted, and the course and velocity vector 4 are displayed from the capturing ship 3, and at the same time, the numerical data thereof are displayed. In addition, the collision danger area (PAD) with the capture ship 3 is obtained, and
The polygon 5 is displayed as shown in FIG. And
An alarm is generated when the vehicle enters the collision danger range.

Therefore, the ship operator sees the change of the collision risk range and changes the course or speed of the ship to avoid the collision danger range to avoid the collision.

[0005]

However, such a collision prevention support device only displays the collision risk range, and many ships are forced to enter the collision risk range at a short distance such as in a bay or in a port. In such a case, there is no choice but to take the avoidance action based on the method of visual observation or other communication means.

The avoidance operation must be performed in accordance with the Maritime Collision Prevention Act, but it is difficult to visually determine the relative relationship between the needle guard ship and the escape ship in this method, that is, the change of the partner ship and the gear shift. However, since there is no time to pay attention to the radar image, there is a problem in reality that it is better than to carefully watch the movement of the other ship by visual inspection. SUMMARY OF THE INVENTION In view of the above problems, the present invention detects an absolute needle change of a catching ship, detects a avoidance operation of the catching ship by detecting a gear change, issues an alarm and informs a ship operator of the change of needle. An object of the present invention is to provide a shift detection alarm device and method.

[0007]

In order to achieve the above-mentioned object, in the variable needle / shift detection alarm device of the present invention, the detection means for detecting the position of another ship with respect to the own ship and the other ship to be tracked are captured. As a capture setting means, a storage means for storing the position of the captured ship by the detection means, a course detection means for detecting the course of the own ship, a speed detection means for detecting the speed of the own ship, and a storage means. The relative course and relative speed are calculated from the change in the stored position of the captured vessel, and the absolute course and the absolute velocity of the captured vessel and the predicted course and the predicted velocity are calculated from the course and the velocity of the own vessel from the course detecting means and the velocity detecting means. And the deviations (Δθ, Δv) from the predicted course and predicted speed immediately before the absolute course and the absolute speed, respectively, are compared with preset reference values (Δ1, Δ2), and either of the deviations is calculated. Exceeded the standard value In some cases, processing means for outputting an alarm signal is provided.

Further, it is preferable to include a reference value setting means for setting the reference values (Δ1, Δ2), and it is preferable to provide an alarm means for receiving the alarm signal and generating a sound. Further, in the needle change / shift detection warning method of the present invention, the step of setting another ship to be tracked as a catching ship, the position of the catching ship with respect to the own ship, the course of the own ship, and the speed of the own ship are detected sequentially. Compute the relative course and relative speed from the memorizing step and the change in the position of the captured ship that is sequentially stored,
Further, the absolute course and the absolute course of the captured vessel and the predicted course and the predicted course are obtained from the course and the speed of the own vessel, and the deviation (Δθ, Δv) from the predicted course and the predicted course obtained immediately before the absolute course and the absolute course, respectively. ) Is a preset reference value (Δ
1, Δ2) and alarming if any of the deviations exceeds a reference value.

[0009]

[Action] By catching a ship in the vicinity of a risk of collision, accurately and automatically detecting that the catching ship has changed the needle or changing gear, and alerting the operator to the alarm, the operator can It is possible to accurately judge the evasion action to be taken by the own ship.

[0010]

1 shows a block diagram of an embodiment of a needle change / shift detection alarm device according to the present invention. In FIG. 1, reference numeral 10 denotes a marine antenna that transmits and receives radar radio waves while rotating. Transmission and reception of radar radio waves from the antenna 10 is performed by the transceiver 12, and the pulsed transmission wave formed by the transmission unit (not shown) of the transceiver 12 is guided to the antenna 10 via the transmission / reception switching unit (not shown).
Sent from. On the other hand, the reflected wave from the target is the antenna 1
When the wave is received at 0, it is input to the receiving unit via the transmission / reception switching unit. The receiving unit performs mixing, intermediate frequency amplification, etc., and outputs an image signal corresponding to the signal from the target to the interface unit 14. Similarly, the rotation synchronization signal is output from the transceiver 12 to the interface unit 14.

The interface unit 14 further receives a gyro compass 28 for the heading signal and velocity signal of the ship.
And is input from the speed log 30. The signal input to the interface unit 14 is subjected to analog / digital conversion, data processing is performed in the processing unit 18, and coordinate conversion in accordance with the display unit 16 is performed using a scan converter or the like as necessary, and these data are processed. Are stored in the memory unit 22.

On the display unit 16, the video signal and the rotation cycle signal of the target from the transceiver 12 are displayed.
4, the target object is displayed as an image, and the calculation result from the processing unit 18 is displayed in a superimposed manner. From the capture setting unit 26, the input setting of the other ship to be captured is performed and input to the processing unit 18.

Further, the deviation setting unit 24 sets a threshold value with which it can be determined that the catching vessel has changed the course and changed gears, and based on the predicted course and predicted speed of the absolute course and absolute speed obtained by the processing section 18, respectively. The reference values Δ1 and Δ2 of the deviation are set in advance. For example, Δ1 = 5 ° or Δ1 = 10 ° is set as the deviation Δ1 for detecting the needle change of the capturing ship.

The alarm unit 32 issues an audible alarm based on the alarm signal output from the processing unit 18. Next, the principle of operation of this embodiment will be described with reference to the explanatory view of FIG.
FIG. 2A is an example of the radar image displayed on the display unit, where 40 is the own ship, 41 is a sign indicating the course of the own ship, and 42 is
Is a partner ship, and 43 is a relative course and a relative velocity vector of the partner ship.

FIG. 2B shows the relationship between the actual ship and the other ship when the radar image shown in FIG. 2A is obtained. In FIG. 2B, the own ship S and the other ship P are in a crossing relationship with each other under the Maritime Collision Prevention Law, and in the case shown in the figure, the own ship is a needle-holding ship and the other ship is a shelter ship. Have an obligation to take In the figure, the ship shapes S1, S2, indicated by the dotted lines,
... is t1 minute, t2 minute, ... predicted position of own ship afterwards,
P1, P2, ... Represent predicted positions of the other ship after t1, t2 ,. Therefore, both S3 and P3 indicate that a collision will occur after t3 minutes if the avoidance operation is not performed.

When the other ship (evading ship) appropriately performs the evading operation, the own ship (needle-holding ship) retains its course and speed. For example, as shown in FIG. 2 (c), the other ship is t1.
The collision is avoided when the course is changed after a minute and the process proceeds to P2, P3, ... Shown in the drawing. Similarly, as shown in FIG. 2 (d), the partner ship decelerates after t1 minutes, and P2,
The collision is avoided even when the process proceeds to P3 ....

On the other hand, according to the Maritime Collision Prevention Law, when the other ship (evasive ship) does not notice the own ship (needle-holding ship) and does not take the avoidance operation even if the safe distance limit is reached, (Ship) will have to take refuge. That is, as shown in FIG. 2 (e), when the other ship does not notice and does not change the needle or change gears even after the lapse of t1, the own ship takes action such as deceleration as shown in S2, S3. I have to wake it up.

In the present embodiment, it is possible to automatically detect the change of the partner ship and the presence / absence of a gear shift, which is difficult by the conventional method relying on visual inspection, and the operator is notified by an alarm. A flowchart based on this embodiment is shown in FIG. First, the ship operator looks at the radar image display unit 16 to confirm the other ship, identifies the partner ship to be captured, and then manually captures it from the capture setting unit 26 (F1).

After that, the data of the captured ship is fetched by the antenna 10 (F2), and the relative course and the relative speed of the captured ship with respect to the own ship are calculated based on the polar coordinates of each antenna scan stored in the memory unit 22 ( F3). Next, the course and the own speed of the own ship are taken in from the gyro compass 28 and the speed log 30 (F4), the absolute course and the absolute speed of the captured ship are calculated, and the next predicted course and the predicted speed are calculated (F5). For this prediction, a method in which the straight extension line is used as a predicted course and a velocity vector based on a change in the position of the captured ship that is sequentially stored, and an α-β tracker method are used. Alternatively, the absolute course and the absolute speed of the capturing ship can be directly used as the predicted course and the predicted speed.

Next, a deviation Δθ between the absolute course and the predicted course obtained immediately before is obtained. (F6). And the deviation Δθ
And a deviation change reference value Δ1 set in advance by the deviation setting unit 24 (F7). If the deviation Δθ is larger than the deviation change reference value Δ1, it means that the catching ship has changed the needle over a certain level. Therefore, an alarm signal is generated (F10),
An alarm is issued by the alarm unit 32 to inform the operator of the fact.

Similarly, the deviation Δv between the absolute speed and the immediately preceding predicted speed is calculated (F8), and compared with the shift reference value Δ2 set by the deviation setting unit 24 in advance to determine the shift reference value Δ2.
If it is larger than that, it means that the catching vessel has performed a gear shift over a certain level, and therefore an alarm signal is generated (F10) to notify the vessel operator. When the catching vessel has not changed the needle nor changing gears beyond a certain level and the catching setting has not been released (F11), the process returns to F2 again, and the same procedure is repeated based on the newly acquired data ( F2-F1
1).

By following this flow chart,
In the case of FIGS. 2 (c) and 2 (d), after the lapse of t1, an alarm is activated to inform the operator that the catching vessel has changed the needle and changed gears, respectively. Then, there is an advantage that the ship operator can know that the capturing ship has taken the avoidance operation and can pay attention to the other ships by keeping watch. On the other hand, FIG. 2 (e)
In this case, the alarm does not activate, so the vessel operator will continue to pay attention to take the avoidance action.

Next, another example of use according to this embodiment is shown in FIG. As shown in FIG. 4, when ships A, B, and C are sailing side by side on the main route, it may not be known whether the other ships are going straight or going to the port. . Further, even if a ship heading for a port changes its course with the aim of heading for a cape or a lighthouse, a plurality of change points may be considered as shown in the figure, and not all of the change of course may be performed at a fixed position.

In such a case, there is a risk of collision due to an unexpected needle change of another ship or a needle change of the own ship. According to the present embodiment, it is possible to catch another ship and detect a ship that has changed its course of movement by an alarm early to avoid a collision on the route.

[0025]

According to the present invention, the absolute course and the absolute speed of the catching vessel, the predicted course and the predicted speed are obtained, and the deviation of the absolute course and the predicted course immediately before the absolute speed and the predicted course obtained respectively. Since (Δθ, Δv) is compared with a preset reference value (Δ1, Δ2) and if any one of the deviations exceeds the reference value, a processing means for outputting an alarm signal is provided. It can accurately and automatically detect that the ship has changed needles or changed gears, and accurately determine the evasive action that should be taken by the ship when there is a risk of collision and the ship must approach. can do.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of a needle change / shift detection alarm device according to the present invention.

FIG. 2 is a diagram for explaining the operation principle of the embodiment of FIG.

FIG. 3 is a flowchart according to the present embodiment.

FIG. 4 is a schematic diagram for explaining another example of use of the present embodiment.

FIG. 5 is a schematic view of a conventional radar display device.

[Explanation of symbols]

 10 Marine Antenna 12 Transceiver 14 Interface Section 16 Display Section 18 Processing Section 22 Memory Section 24 Deviation Setting Section 26 Capture Setting Section 28 Gyro Compass 30 Speed Log 32 Alarm Section

Claims (4)

[Claims] 1. A detection means for detecting the position of another ship with respect to the own ship, a capture setting means for setting another ship to be tracked as a capture ship, and a storage means for storing the position of the capture ship by the detection means. Course detection means for detecting the course of the ship, speed detection means for detecting the speed of the ship, and relative course and speed are calculated from the change in the position of the captured ship stored by the storage means, and further the course detection means And the absolute course and absolute speed of the captured ship and the predicted course and the predicted speed from the course and the speed of the ship from the speed detection means, and the predicted course and the predicted speed obtained immediately before the absolute course and the absolute speed, respectively. A needle changer characterized by comprising processing means for comparing the deviation (Δθ, Δv) with a preset reference value (Δ1, Δ2) and outputting an alarm signal when any of the deviations exceeds the reference value.・ Shift detection alarm apparatus. 2. A reference value setting means for setting the reference values (Δ1, Δ2) is provided.
Change needle / shift detection alarm device described. 3. The needle change / shift detection alarm device according to claim 1, further comprising alarm means for receiving the alarm signal and generating sound. 4. A step of setting another vessel to be tracked as a catching vessel, a step of sequentially detecting and storing the position of the catching vessel with respect to the own vessel, a course of the own vessel and a speed of the own vessel, The relative course and relative velocity are calculated from the change in the position of the capture vessel, and the absolute course and absolute velocity of the capture vessel and the predicted course and predicted velocity are obtained from the course and velocity of the own ship, and the absolute course and the absolute velocity are respectively calculated. The deviation (Δθ, Δv) from the predicted course and predicted speed obtained immediately before is compared with a preset reference value (Δ1, Δ2), and an alarm is issued if any of the deviations exceeds the reference value. A needle change / shift detection warning method, comprising: