JPH0766058B2 - How to prevent collisions on ships - Google Patents

Description

TECHNICAL FIELD The present invention relates to a collision prevention method for preventing a collision of a ship.

[Prior art]

With the development of navigation aids and remote control technology for ships, the labor saving of ships has been promoted with the aim of simplifying and monitoring the ship maneuvering command system and reducing the number of maneuverers.

Against this background, aside from maneuvering in harbors and narrow waterways, it is necessary to have a collision prevention system for ships that does not require the assistance of a navigator while navigating in the ocean and coast, and for that purpose, it is necessary It is necessary to accurately predict the future position of the ship and to predict whether the own ship and other ships may be in a dangerous state.

The conventional way of thinking of the dangerous area is to find the collision point or very close range between the own ship and another ship when the own ship changes needle or changes speed when the other ship's course / speed is kept as it is. It was a thing.

[Problems to be solved by this invention]

If the future behavior of the other ship is considered to be a mere extension of the current one, the danger area can be deterministically determined by the conventional method, and the ship can be operated so that it does not fall within the danger area.

However, the conventional action is taken when the future actions of the other ship include uncertain factors due to various external factors such as the influence of the own ship and a third party other ship other than the other ship, or the influence of land / water depth. Was not enough.

For example, as shown in Fig. 1, when own ship A encounters another ship B, C while navigating on course a, and other ships B, C maintain their respective course b, c at the present time There is no danger in. Here, if the own ship A takes the course a ₁ , there is a risk of collision with the other ship C in the dangerous range, and if the own ship A takes the course a ₂ , there is a danger of collision with the other ship B in the dangerous range. There is a danger.

Thus, even if the own ship A does not take the course a ₁ or a _{2 in} which danger is predicted and maintains the course a that is considered safe at that time, for example, as shown in FIG. 2 after a few minutes. The other ship C may change the needle at a small angle in consideration of the behavior of the other ship B. In this way, when the other ship C takes a new course c ₁ , the other ship C is extremely dangerous for the own ship A and a collision within the dangerous range of the course a is predicted. Only after the ship was driven into such a situation
There were many cases where it was not in time even if the avoidance operation was performed.

Therefore, the present invention can improve the insufficient points in the collision avoidance maneuvering of the ship by the conventional method as described above, predict the future position of the other ship, and introduce the concept of the dangerous range to carry out safe escape. It is an object of the present invention to provide a ship collision prevention method.

[Structure of Invention]

The present invention is a method of preventing a collision between one's own ship and one or more other ships, which is the position of the other ship at a certain time from a signal input from a ship surrounding condition detection device such as radar and sonar. In addition to calculating the speed and course, and predicting future diversion of another ship, the position of both ships is fixed as a set of collision points of own ship and other ship at the same time, and the two points are internally divided into the speed ratio of both ships. Calculate the circle with the diameter of the line segment connecting the point to be divided and the point to be divided, and combine the other ship information obtained in this way with the nautical chart information such as canals, reefs, etc. Predicts future needle changes of another ship and calculates and displays the collision risk range between the own ship and the other ship.

〔Example〕

Hereinafter, description will be made with reference to the illustrated embodiment of the present invention. Third
In the figure, the step block diagram of the collision prevention method showing the embodiment of the present invention is shown. Here, the signal obtained by the vessel surrounding situation detection device such as 1 radar or sonar is arithmetically processed in the next step 2 to be converted into other vessel information such as the current and past positions, speeds and course of the other vessel. To do.

Further, in the next step 3, the chart information 6 such as waterways and reefs and the marine traffic regulations 7 such as right-hand traffic are input in accordance with the information of the other ship, and the possibility of future diversion of the other ship is calculated.

Further, the calculated value in step 3 is input to step 4 and used as data for calculating the dangerous range between the own ship and another ship, and the calculation result is displayed in step 5.

Next, the operation of the present invention will be described in the marine condition of the ship illustrated in FIGS.

Here, A is the own ship, B and C are other ships, and the speeds are V _A , V _B , and V _C , respectively.
And on course a, b, c. For simplicity of explanation, the speed is unchanged and the needle is free to change.

In this state, when the set of points that collide with each other between the two ships is determined as free needle change, the position of each of the two ships at a certain time is set as a fixed point, and the point between the two points is internally divided into the speed ratio of both ships It becomes a circle whose diameter is the line segment connecting the points to be divided.

Thus, the set of collision points between Vessel A and Vessel C is an arc ▲ ▼
And the set of collision points between Vessel B and Vessel C is an arc ▲ ▼
, And the set of collision points between Vessel A and Vessel B are displayed as arcs ▲ ▼. This is generally an application of the Aponius circle in plane geometry, which results in a vertical bisector of the positions of two vessels at equal velocities.

The set of collision points shown in FIG. 4 ▲ ▼, ▲ ▼,
▲ ▼ is calculated in step 2 of FIG.

Here, it is understood that there is no risk of collision between Vessel A and Vessel B and between Vessel A and Vessel C as long as the current course is maintained, but Vx vessel B and Vessel C are in the risk of collision due to bx.

Therefore, in step 3 of FIG. 3, the range where there is a possibility of future needle changes for Vessel B and Vessel C is predicted in consideration of the Maritime Traffic Regulations 7. It is predicted that Vessels B and C will turn to each other and evacuate according to the Maritime Collision Prevention Law, and take the course in the b'and c'directions in FIG. It can be seen that even if Vessel C turns to the right, there is no effect on Vessel A, but Vessel B turns to the right, which increases the risk that Vessel A will collide with Vessel B.

Therefore, Vessel A needs to be maneuvered in consideration of the fully predicted right turn of Vessel B. In Step 4 of Fig. 3, based on the range of future needle change of Vessel B and Vessel C predicted in Step 3, Step 2 Set of points that may collide calculated in ▲ ▼, ▲
▼ Calculate the dangerous range above. Then, in step 5 of FIG. 3, based on the result calculated in step 4, as shown in FIG.
Display the danger area with the ship.

It can be judged that the own ship, Vessel A, should turn rightward in advance and take the course a'to avoid a collision with Vessel B so as to avoid the dangerous range and the like that can be predicted at this moment.

In this embodiment, the speed of each ship is unchanged and the change of needle is free. However, if the speed change is taken into consideration, the parameter increases by one. You can In addition, information such as reefs and waterways from sonar and nautical charts and various other conditions under the maritime traffic regulations can be processed in the same manner.

Furthermore, in this example, collision prevention between three ships was discussed,
In the case of n vessels, the same idea can be applied by combining nC ₂ .

〔The invention's effect〕

As described above, according to the present invention, as other ship information, the position of both ships is set as a fixed point as a set of points at which two ships collide from the signal input from the ship surrounding situation detection device, and the position between the two ships is set as a fixed point. A circle whose diameter is a line segment connecting a point that is internally divided and a point that is externally divided in the speed ratio is calculated. This circle is established by setting that the speed of each ship does not change and that the needle change is free, and it is possible to easily respond to speed changes of each ship by speeding up the calculation speed. When predicting future trends of other vessels by combining chart information such as waterways and reefs from the entered nautical charts and marine traffic regulation information, calculate the collision risk range between your ship and other vessels with high accuracy. It will be possible. Therefore, it is possible to operate the ship in a safe manner so as not to fall within the collision risk range with the displayed other ship, and it is possible to ensure safe navigation of the ship.

[Brief description of drawings]

FIG. 1 and FIG. 2 are examples of vessel maneuvering by a conventional collision prevention method, and FIG. 3 is a step configuration diagram of an embodiment of the present invention.
FIG. 5 and FIG. 5 are examples of marine vessel maneuvering according to the embodiment. A, B, C …… Ship, a, a ′, b, b ′, c, c ′ …… Course, V _A , V _B , V _C …
… Velocity, ▲ ▼, ▲ ▼, ▲ ▼ …… A set of collision points, ………… Danger area.

 ─────────────────────────────────────────────────── ─── Continuation of front page (71) Applicant 999999999 Mitsubishi Heavy Industries, Ltd. 2-5-1 Marunouchi, Chiyoda-ku, Tokyo (72) Inventor Kenji Shigematsu 19 Natsushima-cho, Yokosuka-shi, Kanagawa Sumitomo Heavy Industries Machinery Co., Ltd. Inside the shipyard (72) Minor Osuga 3-1, 1-1 Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo Inside Kawasaki Heavy Industries, Ltd.Kobe factory (72) In-house Norio Yamagami 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo No. 1 Inside the Kawasaki Heavy Industries Ltd. (72) Inventor Tadao Yoshida 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo Inside the Kobe Plant No. 1 Kawasaki Heavy Industries Ltd. (72) Koichi Hashigashi Hyogo, Kobe Hyogo Prefecture 1-1-1, Wadasaki-cho, Tokyo Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (56) References JP-A-59-159080 (J , A) JP Akira 51-8492 (JP, A) JP Akira 50-93089 (JP, A)

Claims (1)

[Claims] 1. A method for preventing a collision between one's own ship and one or a plurality of other ships, the method comprising: In order to calculate the position, speed and course, and to predict the future change of course of the other ship, the position of both ships is set as a fixed point as the set of collision points of the own ship and the other ship at the same time, and the speed ratio between the two points is set as the speed ratio of both ships A circle with the diameter of the line segment connecting the internally dividing point and the externally dividing point is calculated, and the other vessel information thus obtained is combined with the nautical chart information and the marine traffic regulation information to predict the future diversion of the other vessel, A method for preventing collision of a ship, comprising calculating and displaying a range of collision between the own ship and another ship.