JPS6122275A - Method for supporting ship's navigation in extremely narrow region of harbor - Google Patents

Abstract

PURPOSE:To prevent ship's collision or running aground by performing ship's navigation along a preset route, by accurately determining the present position of a ship and performing the simulation of hull motion in a real time on a ship. CONSTITUTION:By inputting the speed, bow direction and the setting of propeller pitch of the own ship and a wind direction, the movement of the own ship is simulated and the wake thereof is displayed on CRT1 to determine the optimum ship's navigation in a safe sea route. Because of this, the effect of perameters exerted on a turning of the ship are preliminarily calculated in the form of a numerical value table on the basis of a water tank test, the result of actual ship's trial operation and theoretical calculation and each numerical value table is stored in a control unit 4. The actual values of the above mentioned parameters are obtained from near distance radar with respect to ship's information such as a ship's speed, and other data and disturbance information such as the water depth of the sea route are obtained from various navigational instrument to be collectively displayed on CRT1.

Description

[Detailed Description of the Invention] [Industrial Application Field 1] The present invention relates to a method for maneuvering a ship in an extremely narrow area such as a harbor using a shipboard device that assists in maneuvering a ship in an extremely narrow area such as a harbor or a narrow waterway. The ship's predicted course is drawn on a CRT screen that superimposes particularly accurate radar and extremely narrow-range chart information, and information from the same screen is obtained, allowing navigation along a preset course. This invention relates to a method of assisting ship maneuvering in extremely narrow flooded bays that enables safe ship maneuvering.

[Conventional technology 1 In general, autumn waterway, inside a port': rr extremely narrow area? '-(/1 Ship maneuvering G;i, Accurate ship position determination, avoidance of collisions and seat tilts,
Mastering the maintenance of the 61-page wake (lots of information required)
1.-Do you need to analyze or monitor the surrounding situation?
There is a need to simplify these to ensure safe ship operation.

Conventionally, in order to meet this demand, a single image and nautical chart information were superimposed and displayed on a CRT, and this display function was used to maneuver the ship while navigating around the dangerous areas that appeared on the nautical chart information. was there.

In addition, the Collision Prevention Assistance System (ARPA) can be used to display the side routes of own ship and other ships in fairly large harbors to avoid collisions, and has a trial maneuver function to change the side route of own ship. There were some things.

``Problems to be solved by the invention'' However, the former method, which superimposes radar images and nautical chart information, uses a normal radar;
Since the navigation accuracy is poor and it is impossible to know the exact position of the own ship, even if a ship enters a very narrow area, the ship's position,
Using information such as the ship's speed, etc., a predicted course is plotted on a nautical chart using a variety of front-loading devices, and the ship has no choice but to navigate using this information, without having to endure repeated visual monitoring. There was this annoyance.

In addition, the method on the right using the Collision Prevention Assistance System & (ARPA) allows you to change the heading of your own ship in a wide area 1) to simulate and plot the trajectory of the ship;
Due to the maneuverability (especially turning characteristics) of own ship, it was not possible to perform real-time trial maneuvers, including the color tube described in 1.
However, it was insufficient as a means of assisting ship maneuvering.

[Objective of the Invention 1 The object of the present invention is to solve the problem of accurately grasping the ship's position and the difficulty of real-time grasping of the ship's position due to poor radar accuracy and trial maneuvers that do not include turning characteristics based on the above-mentioned conventional technology. To solve the problems of 1. To save labor by eliminating the trouble of obtaining information from various navigational instruments. 1) Accurately grasp the position of the ship11P 1) Port to prevent collisions and groundings by performing spot correction onboard the ship in real time to maneuver the ship along a preset route The purpose of the present invention is to provide a method for assisting ship maneuvering in extremely narrow areas.

[Summary of the Invention] The present invention achieves the above object by displaying high-precision radar information, ultra-narrow area chart information, and simulation results of a predicted track on one or more CRTs, thereby making it easier for a manual ship operator to operate the ship. Based on the knowledge that it is possible to provide the most appropriate ship maneuvering assistance to
A short-range radar (S l-10RT RA N G E RA
In addition to overlaying DAR images to supplement the lack of radar information, we also added information such as wind direction, wind speed, etc. necessary to record the predicted ship's track in an extremely narrow area on the CRT. Disturbance information, information extracted by the radar mentioned above, and in addition to this, ship information such as rudder angle and propeller pitch settings are displayed all at once, and based on these displayed ship information, pre-memorized information corresponding to the ship information is stored. The past track and future movement in an extremely narrow area are simulated on board based on the maneuverability obtained, and the simulation results are recorded in -CR.
The gist is that the ship can be maneuvered based on the displayed information on the T.

[Example] An example of the present invention will be described below based on FIGS. 1 to 8.

FIG. 8 is a schematic configuration diagram showing an example of an extremely narrow area ship maneuvering assist device for carrying out the method of the present invention.

As shown in the figure, the ship maneuvering assist device includes a CRTl, an operating section 2,
It is composed of a chart information storage device 3 and a control unit 4.

The CRTl superimposes and displays radar images and nautical chart information, and displays ship information such as own ship's track, heading, ship speed, and turning rate, disturbance information such as wind direction and speed, simulation results, etc. Right select the functions to display. The operation unit 2 is equipped with a correction means such as a trackball for correcting the display deviation between the radar image and the chart information, and operation keys for simulating the predicted trajectory of the ship.

The nautical chart information storage device 3 has a function of storing nautical chart information such as coastlines of ports and harbors where the ship regularly calls, landmarks of dangerous areas, and the like.

The control unit 4 has a function of collecting signals from radar, gyro compass, Doppler sonar, speed log, etc., and performing arithmetic processing for the various displays and simulations described above. In particular, a short-range radar that extracts ship information on the CRT with high precision is used as the radar that provides image signals to the control unit 4.
The positional information has an error of about 20m+.

Now, the functions of the above-mentioned configuration are to grasp the current position of the own ship, and to simulate the predicted trajectory based on the ship's maneuverability and display it on the CRT. It is one.

First, I will explain the method of determining own ship's 4C1.
In advance) When the own ship periodically visits a port in the f+i chart information storage device @3 (the chart information near the sl is stored and read out as necessary (1)), it can be displayed on the CRTl. 1st
The figure shows an example of a CRT display of nautical chart information, which includes the main information necessary for safe navigation from the base nautical chart in Figure 4, such as coastlines, tombstones, dangerous areas, and narrow distances. , set routes, etc. Then, 1r images of the own ship's highly accurately extracted short-range radar are added to the nautical chart information displayed on the CRTI, thereby increasing the accuracy of the relative position of the ship with respect to the narrow waterway. Figures 2 and 3 are
These are radar images with a range of 600 m at point Δ and point 0 in FIG. 1, and the radar image at point 0 is superimposed on the chart information in FIG.

By the way, in order to ensure the accuracy of the above-mentioned relative position of the ship with respect to the narrow waterway, it is necessary to reduce the superimposition error between the radar image and the nautical chart information.

For this reason, chart information is constantly moved in accordance with the radar image using the heading signal from the gyro compass and the ship speed signal from the Doppler sonar or speed log.
1. The superposition error between the two is automatically corrected. In addition, manual correction can also be performed via the operating section 2 using means such as a rack ball.

With radar images and nautical chart information like this! While maintaining i-tatami accuracy, the reflected echoes of the coastline obtained from the short-range radar are input to the computer in the control unit 4, and the relative distances between a plurality of points and the ship are automatically calculated. Since the positions of the plurality of points are known from the chart information in the nautical chart information storage device 3, the position of the ship is calculated and determined by the computer from the relative relationship (distance and direction) of each of these points to the ship. Although it is possible to determine the ship's position from only one point, it is possible to obtain an averaged and highly accurate ship's position by using a relative relationship with a plurality of 1111 points.

In this way, the ship's position calculated by the combicoater is based on information from a highly accurate short-range radar, so it is an accurate value within a slight error range of 20 Ill. Note that by correcting the magnitude of the reflected echo, it becomes possible to obtain a more accurate ship position.

Next, to explain the simulation and display of the ship's predicted track, input the own ship's ship speed, heading, propeller pitch setting (or propeller rotation speed), wind direction, wind speed, rudder angle, and war cost condition (sweeping). By doing so, the ship's movement is simulated, its track is displayed on the CRTI, and the optimal ship maneuvering within a safe route is found.

In other words, the turning (turning) performance of a ship generally depends on parameters such as war conditions, water depth of the route, speed (vessel speed), rudder angle used, number of rotations per propeller, and propeller pitch setting (in the case of variable bidge propellers). Determined. Therefore, based on the water tank test, actual ship test run results, and the current n1 quality, etc.,
The influence of each of the above parameters on the turning track is determined in the form of a numerical table, and these numerical tables are stored in the control unit 4.

On the other hand, the actual values of the above parameters are obtained from short-range radar for ship information such as ship speed, war cost status, rudder angle used,
Other ship information such as the propeller rotation speed and propeller pitch settings, as well as disturbance information such as the water depth of the route, are obtained from various navigational instruments and displayed all together on the CR1-1. As for this display form, for example, as shown in FIG. 4 or FIG. 5, it is appropriate to display the main parameters at the lower right corner of the CRTl.

When the boat operator inputs specific numerical values of the parameters displayed on the CRTI using the operation keys of the operating unit 2, the motion locus corresponding to the input is interpolated from the numerical table.

I will explain this in detail. FIG. 6 shows an example of changes over time in the ship's turning track, ship speed, direction, etc. when the ship maintains a constant rudder angle. Here, the element that draws the wake, namely CR
The elements necessary to display on T are as shown in Figure 7.
Time tQO' for advance and transfer respectively
, t180°, turning radius, and ship speed, which determine the wake at the early stage of the turn.

The track after 1180°, which is a steady turning state, is an equal daily movement, so the azimuth ψ is a straight line with respect to time change,
Since the ship positions X and V change according to a sine wave function, they are easy to estimate, unlike the wake at the early stage of a turn.

Therefore, advance,transfer,toO',t
180°, turning radius, ship side elements are quantified in correspondence with parameters such as ship's soft state, water depth, initial II ship speed, propeller rotation speed, propeller pitch, etc., and these are controlled by two l.
By inputting specific numerical values of the parameters stored in Knit 4, it is possible to simulate the entire trajectory from the early turning stage to the steady turning state, and this result can be used as CRTI.
can be displayed on top.

FIG. 5 shows that 4!1
The track is displayed, and the approach speed ■S is changed by 1! Various cases are shown. Simulation of Figures 4 and 5 [/-
This is a diagram showing the results superimposed on a nautical chart.

In this way, in the above embodiment, a short-range radar is used instead of a normal radar, and this radar image and chart information are superimposed and displayed on the same CRTI,
In addition, the superimposition error between radar images and chart information is constantly corrected to prevent deviations between the two, making it possible to accurately determine the current position of your own ship in real time. 20111, which is the distance resolution of
It can be kept to a certain extent. Therefore, CR1' 1
From the above display, you can accurately judge whether your ship is in the safe area or near the danger area.

In addition, the predicted trajectory of your own ship from various parameters is simulated not from land, but on your own ship, and the past trajectory and future movement, which are the results of this simulation, are displayed to accurately position your own ship. Since the display can be overlapped and displayed one after another on the same CRTl, the operator can check the ship speed, rudder angle, etc. necessary for optimal ship navigation in real time 11 to navigate the set route. To help you find out, the Queen's CRT 10 display can be filled. In particular, by drawing the past track and the predicted future track on the CRTI without erasing the past configuration from the CRTI, it is possible to understand track changes over time, making it easier to make turning decisions in dangerous narrow channels. can do.

Furthermore, in addition to ship position information, which is a superimposition of chart information and radar images on the CRTl, various information such as ship speed, heading, and turning rate can also be displayed on the same screen, eliminating the need to view multiple navigational instruments. It can effectively support one-man control on the bridge.

[Effects of the Invention 1 Above all, according to the present invention, the following excellent effects are exhibited.

(1) We have made it possible to display chart information, high-precision short-range radar images, and predicted track simulation results overlappingly on one CR1 screen, so they can be set on the chart as before. Without having to plot a route, it is possible to accurately determine the current position of the own ship, and the movement of the ship can be monitored in real time from moment to moment on the ship. Therefore, it is possible to effectively provide assistance for safe ship maneuvering to avoid collisions and groundings in extremely narrow areas.

(2) Information such as the own ship's position and speed is displayed on the CRT on which chart information and radar images are superimposed, making it possible to obtain information for ship maneuvering from one screen at the same time. There is no need to look at many navigational instruments or charts, saving labor and effectively supporting one-man control of the bridge.

[Brief explanation of the drawing]

The drawings show a preferred embodiment of the present invention. Fig. 1 is a screen diagram on a CRT with a radar image superimposed on chart information, and Figs. 2 and 3 are points A and 3 in Fig. 1. Figure 4 is a diagram depicting the stain collision results of a ship's predicted track on a conventional nautical chart, and Figure 5 is a diagram of the rudder angle and propeller pitch of 1? Figure 6 is a screen diagram on a CRT depicting the ship's predicted trajectory when the steering angle is constant. An explanatory diagram, FIG. 7 is a transition characteristic diagram of ship information representing FIG. 6 with respect to a time axis, and FIG. 8 is a configuration diagram of the extremely narrow area ship maneuvering aid device. In the figure, numeral 1 indicates a CRT 13 which is a chart information storage device.

Claims (1)

[Claims] A short-range radar image that extracts ship information with high precision is superimposed on a CRT that displays nautical chart information for extremely narrow areas such as ports, and disturbance information and information for simulating the ship's predicted trajectory are superimposed on the CRT. Displays ship information including information extracted by the radar, simulates the ship's predicted trajectory in an extremely narrow area based on this information, and displays the simulation results on the CRT to assist ship maneuvering. A method for assisting ship maneuvering in extremely narrow areas such as ports.