JPS62118282A - Evaluating method for marine vessel collision danger degree - Google Patents

Abstract

PURPOSE:To exactly operate and steer a marine vessel by bringing a degree of danger of an obstruction which has been caught by a centimeter wave radar, to an operation processing by an automatic collision prevention support device, and tracking precisely an obstruction which has been decided to have a danger of collision by its result, by a millimeter wave radar. CONSTITUTION:Other marine vessel being in a short distance is scanned at a high speed by a millimeter wave radar antenna 40, also tracked precisely, and the exact data of other marine vessel are updated at a high speed and inputted to a computer 60. By this computer 60, the own marine vessel is set as a surface of an occupied area, and a forecasting danger range of several ranks corresponding to a relative vector is set centering around the own marine vessel. Also, the data of other marine vessel which has been caught by a centimeter wave radar antenna 10 are brought to an operation processing by an automatic collision prevention support device 30, and as a result, only a target which has been decided to be dangerous is added to the computer 60. Next, only the target which has been decided to be dangerous is tracked precisely by the millimeter wave antenna 40, a degree of danger of its target is displayed on a display 70, and by its display, a good operating method is found out.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to congested tF
This invention relates to a ship collision risk assessment method that is optimal for use in ship collision prevention in JVts.

[Prior Art] Conventionally, the technology for preventing ship collisions in congested sea areas such as narrow waterways or inside ports has been to use centimeter wave radar signals to deal with collisions in the ocean.
This method is based on a method of capturing a ship as a point, setting a large circle around that point, and determining whether or not another ship's point enters this circle as an extension of a straight line vector.

[Problem to be solved by the invention] By the way, collision prevention of ships is the most important point in navigation, but as labor saving progresses, conventional Automatic collision prevention assistance system (AR)
It has become extremely difficult to maneuver the vessel while using the PA. In particular, as the distance between ships approaches and decreases, such as in a port, the ships occupy a relatively large area on the sea surface, so it is difficult to accurately calculate and judge collisions by capturing ships as points. Not only is it not possible, it is also impossible to assess how dangerous it is and how it changes over time.

The present invention was made to solve the above-mentioned problems, and its purpose is to reduce the risk of ship collision so that it can be used to prevent ship collisions in narrow waterways or in congested sea areas such as in ports. Provide evaluation methods [M for solving problems
] In order to achieve the above object, the ship collision risk evaluation method of the present invention scans other ships in a short distance using a millimeter wave radar at high speed, tracks them precisely, inputs and updates accurate data on other ships at high speed, Using a computer, the own ship is set as a surface with an occupied area, and around it, a predicted danger range divided into several ranks according to the degree of danger is set on the relative vector between the own ship and the other ships. The system calculates the degree to which the own ship's occupied area intrudes into the predicted danger range, and the display shows how much the own ship's occupied area enters into which rank of the predicted danger range, and how this changes over time. By displaying the collision risk and instantly evaluating the collision risk, it is possible to display the degree of collision risk between one's own ship and another ship, and how this changes over time, and to evaluate the collision risk. The present invention is characterized in that it not only evaluates the avoidance method, but also displays the same result through simulation to find a better avoidance method.

[Function] According to the ship collision risk evaluation method of the present invention described above, the centimeter wave radar captures and the automatic collision prevention assistance system (ARPA)
Vessels that are determined to be at risk of collision as a result of calculation processing are tracked at high speed and precisely using millimeter wave radar.
Whether the area occupied by your own ship will invade the predicted danger range (5 ranks) set on a relative vector centered on other ships, and if so, to what extent, and how will it change over time? Since the information is displayed on the display so that it can be seen at a glance, crew members can instantly assess the risk of collision.

[Example] An embodiment of the present invention shown in the drawings will be described below.

Figures 1 to 6 show an embodiment of the ship collision risk assessment method of the present invention, in which Figure 1 shows the area occupied by own ship based on own ship data calculated by a computer, and Figure 2 shows an area occupied by own ship based on own ship data calculated by a computer. Figure 3 shows the predicted danger range around other ships on a relative vector based on data from other ships captured and tracked by millimeter wave radar.
The figure shows the change over time in the correlation in which the own ship's occupied area enters the predicted danger range (rank 5). Figure 4 shows the rate of intrusion of the own ship's occupied area into the predicted danger range (rank 5) and its change over time, which is displayed on the display.

Further, FIG. 5 is a flow diagram showing the functions within the computer, and FIG. 6 is a diagram showing the equipment configuration.

In the figure, a ship captured by a Senna wave radar antenna is signal-processed by a centimeter wave transmitter/receiver 2o, and a collision judgment calculation is performed using a conventional method using an automatic collision prevention assist system (ARPA > 30). When it is determined that there is a risk of collision with the own ship, the data of that ship is transferred to the computer 60.

On the other hand, in the computer 60, the precise signal of the ship that is captured and tracked by the millimeter wave radar antenna 40 and updated at high speed is processed by the millimeter wave transmitter/receiver TA50. The predicted danger range (5 ranks) moving on the vector is calculated and set as shown in Figure 2, and at the same time, based on own ship data (the own ship's occupied area is also calculated and set as shown in Figure 1). In 60, we further calculate the relationship between these two aspects, and determine to what extent the own ship's occupied area will penetrate into which rank of the predicted danger range (5 ranks), and how this will change over time. The calculation is performed as shown in FIG. 3, and this is output to the display 7O.

On the display 70, based on the input data from the computer 60, the own ship's occupied area is displayed in the predicted danger range (
The collision risk level is displayed so that it can be seen at a glance how much it has penetrated into any of the five ranks (5 ranks) and how it changes over time, that is, the collision risk can be evaluated instantly, as shown in Figure 4. Ru.

In addition, in Fig. 1, a-'t' (Ll, V), b
- (B) respectively, Ll is the total length of own ship, ■
represents the speed of own ship, and B represents the total width of own ship.

Also, in Figure 2, Y-1/(K+2) ・
f (L2), (1-'I/K・f (v)
+Σ respectively, and K is the rank of predicted danger range = 5
(Severe danger) 4 (Major danger) 3 (Medium danger) 2 (Slight danger) 1 (
(light danger), Σ is I! L2 represents the total length of the other ship, and ■ represents the relative speed between the own ship and the other ship.

Furthermore, in Figure 4, ■ Own ship's occupied area at time t! ~t'1: Intrudes into predicted danger range 1 (light danger).

78 Big Invasion 1” Huff 0% TEY E L l-
Displayed on OW G RE EN.

■ Own ship occupied area enters predicted danger range 2 (small danger) between times t2 and t-2.

The maximum intrusion rate is 50% and is displayed in YELLOW.

■The own ship's occupied area enters predicted danger range 3 (medium danger) between times t3 and 1-=.

The maximum penetration rate is displayed as 20%rYELLOW-ORANGE.

■If the own ship's occupied area enters predicted danger range 4 (major danger), it will be displayed as 0RANGE.

■If the own ship's occupied area enters predicted danger range 5 (serious danger), it will be displayed in RED.

[Effects of the Invention] As explained above, according to the ship collision risk assessment method of the present invention, the own ship and other ships are captured and calculated as surfaces, and the correlation between the own ship and other ships is calculated. It is possible to accurately predict and display to what extent and how the risk level of a relationship will increase or decrease. In addition, predictions can be similarly displayed by simulation of navigation, which provides the remarkable advantage of being able to perform accurate navigation maneuvers.

[Brief explanation of drawings]

Figures 1 to 6 show an embodiment of the ship collision risk assessment method of the present invention, in which Figure 1 shows the area occupied by own ship based on own ship data calculated by a computer, and Figure 2 shows an area occupied by own ship based on own ship data calculated by a computer. Figure 3 shows the predicted danger range around other ships on a relative vector based on data from other ships captured and tracked by millimeter wave radar.
The figure shows the change over time in the correlation in which the own ship's occupied area enters the predicted danger range (rank 5). Figure 4 shows the rate of intrusion of the own ship's occupied area into the predicted danger range (rank 5) FIG. 5 is a flowchart showing the functions within the computer, and FIG. 6 is a diagram showing the equipment configuration. 10... Centimeter wave radar antenna, 20... Centimeter wave transmitter/receiver, 30... Automatic Collision Prevention Assistance System (ARPA)
>, 40... Millimeter wave radar antenna, 50... Millimeter wave transceiver, 60... Computer, 70... Display.

Claims (1)

[Claims] Millimeter-wave radar scans other ships in close range at high speed, tracks them precisely, inputs and updates accurate data on other ships at high speed, and uses a computer to define the own ship as a surface with an occupied area, and to use other ships as the center. Set a predicted danger range divided into several ranks according to the degree of danger on the relative vector between your own ship and other ships, and calculate the degree to which the area occupied by your ship will invade the predicted danger range. The display shows the extent to which rank of the predicted danger range the own ship's occupied area enters, and how this changes over time, and instantly assesses the collision risk. In addition to displaying the degree of risk of collision between a ship and another vessel and how this changes over time to help evaluate the risk of collision, the system also uses simulation to display the method of giving way. A ship collision risk evaluation method characterized by making it possible to find a better way to give way.