JPS62288517A - Method for avoiding collision of ships - Google Patents

Abstract

PURPOSE:To avoid the collision of ships by making it possible to rapidly discriminate whether collision is likely to be present, by calculating the time zone based on the advancing course and navigable circle of an own ship and those of an other ship. CONSTITUTION:On the basis of the data of the present position A, course and speed of an own ship, the data of the present position B, course and speed of other ship and the data of navigable circles 2a, 2b of both ships each having a distance enabling both ships to safely pass each other as a radius, not only scheduled times t1, t2, when the respective navigable circles 2a of the own ship before and after the own ship traverses the advancing course 1b of the other ship are contacted with the advance course of the other ship, are calculated but also the scheduled times t1', t2' when the respective navigable circles 2b of the other ship before and after the other ship traverses the advancing course of the own ship are contacted with the advance course 1a of the own ship are calculated and, by judging whether the time zone from the time t1 to the time t2 overlaps with the time zone from the time t1' to the time t2', the likeliness of collision is discriminated. By this constitution, the presence of collision is rapidly discriminated by relatively simple operational processing to make it possible to avoid collision.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a ship collision avoidance method for avoiding a collision between one's own ship and another ship.

[Conventional technology]

Conventionally, in order to improve navigation safety, large ships, etc., have been able to predict the hunch of other ships and determine the risk of collision between themselves and other ships, and have changed course and gear based on this determination. Efforts are being made to avoid collisions.

[Problem that the invention seeks to solve]

By the way, the conventional collision avoidance method for ships is based on the determination of the risk of collision, that is, the prevention of collision.

There is a problem in that it is necessary to perform two complicated arithmetic operations to determine whether or not there is a problem, and it is not possible to quickly avoid the problem.

Therefore, the technical problem of the present invention is to determine whether the operation is appropriate or not based on the comparatively four-element arithmetic processing G, and to perform a quick avoidance.

[Means for solving problems]

This invention is based on the above-mentioned point, and the current position of the own ship? Based on the tower, speed data S, the other ship's current position, leaning tower, accuracy data, and the data on the pileable circles of own ship 3 and the other ship, which set the safe passing distance to half, Scheduled times at which the own ship's navigable circle touches the other ship's travel route number before and after the own ship crosses the ship's travel route.1. ．． 1. In addition to calculating the estimated times 1, 1, when the navigable circle of the other ship crosses the own ship's course before and after the other ship crosses the own ship's course,
Calculate i and l, and determine whether or not there is a collision depending on whether the four time periods from the time t1 to the time t2 overlap with the time period from @time t, 7 to the time (, I). This is a method of avoiding collisions for ships, which is characterized by avoiding collisions by

[Effect]

Then, the time period t1 to 1 based on the scorching @, @ and the navigable circle of own ship 2 and other ships. , 1 □' ~ t, 1 3 and it is easy to determine whether or not the two time periods t, ~ t, , t,' ~ t, 1 overlap, so relatively simple arithmetic α logic can be used. As a result, the presence or absence of a collision can be quickly determined and the collision can be avoided.

〔Example〕

Next, this invention will be explained in detail with reference to the drawings showing its implementation and sequence.

Now, if the current positions and positions of own ship and other ships during the #c cruise are points ■ and ■ in Figure 1, then the current position of own ship obtained from own ship's maneuvering data etc. From the data of , heading, and arrest V, and the data of other ships' current position, course, and 4 degrees V'' obtained from radar, etc., the current position of the painter, that is, the starting position, (lfflltAtbu, The point where both rIr,! (Ia) and (Ib) intersect f (0 is calculated).

On the other hand, based on the ship's captain, 4 degrees, etc., a circle is set for each ship, centered around the center of the six ships, that indicates the limit at which the ship and other ships can safely pass each other, that is, a navigable circle. The radius of the OT@circle differs from ship to ship.

As shown in Figure 1, the flexible circle (2a +
, (2b) if the radius is R, , R', respectively,
4 degrees v, v', length! , angles θ, θ'2 and both 0T circular circles (2a1. (radius of 2bl) From the data of R',
Scheduled times 1..1. for own ship to move from its current position to points (0, 1, (0□)) in the same diagram, and other ships to move from their current position to points (0, L (0) □)'Scheduled time t,' to move to each.

12/ is calculated. Note that the times t, , t, , t
,', t! ' is the time based on the time at the current position 1.

By the way, the points (0,) and (0□) are before crossing the heading route (1b) when the own ship is navigating based on the heading route (lal).

After, that is, the point (0) indicates the position where the own ship's town line (2a) touches the traveling route (1b) before and after the point (0).
1)'.

(0□)' is the navigable circle (2b ) is the traveling route (l
Indicates the position in contact with a).

Therefore, scheduled time 1. ．． 1. are the times when the navigable circle (2a) before and after the point (0) touches the progress@road (lb), and the scheduled times t,', t,' are the times before and after the point (O,
These are the times when the later navigable firm b) touches the traveling route (la).

Also, the times t,, t, -g and t, l, t, l
are calculated from simple calculations explained below.

Now, time t, 1. T! Considering the case of calculating I, the point 0. (The line segment BC that connects Q, the line segment BO that connects the point 0.(0□)' and the point (f3), (0,)',
, point ■.

(Line segment BO connecting 0, 1'! The length of each is BO,
'= can be obtained from each.

Since the time t,', t,' is determined from the time it takes to navigate BOI', BO2', the time t,', t2' is determined by the following ill, ! 21
Calculated from the formula.

t,'=Bt=-""20"-...il1
Formula % Formula %] (,z=BO1'=JSInf7+R' ・
...+-j21 formula V'V's+n(θ+θ') Next, at time 1. ．． Considering the case of calculating 12, in this case as well, it is calculated in the same way as times t, ', t2+, and the line segment connecting the standing turn and the point (0,) is 1. The quality of each line segment hot that connects is -z
sinθ′−R□ ノsinθ′+RAO”” 5in
(/7-1'l'AO"= sin (1) + (1
' l is determined from each, and time 1. ．． 1. is calculated from the following formulas +31 and +41.

Then, the time period Chi~t from time t1 to time t indicates the time period in which the own ship navigates point (Q) based on the navigable circle (2a), and the time period from time t□' to time t!' time period t,
Since 1 to t and l indicate the time period in which another ship navigates point Ω based on the navigable circle (2b), the same time period t1 to t! ,
If t1''~t, I do not overlap, the artist will change the traveling route (
la).

(lb) sailing off the current coast will not result in a collision.

The time calculated there 1. ．． 1! From time period t, %t.

At the same time, the calculated times t11, t,
Calculate the time period t, l ~ t, I from I, and calculate the same time period t, ~
Whether or not there is a collision is determined based on whether or not t, , t,' to i, 7 overlap.

That is, the same time period t, ~t,, t1'~t! If I does not overlap at all, it is determined that there is no collision, and the same time period t, ~t
,.

If 1.1 to 1.1 overlap even slightly, it is determined that there is a risk of collision.

By the way, the relationship between the same time periods t1~t, , t,'~t, l is as shown in (α) in FIG.
In the same figure, there is a case where
As shown in the phrase, the time period t1-t is the time period t, l-t.
, l in some cases.

And in the case of (α), t! <t,' that is, the following (
5) There will be no collision when the relationship in formula is satisfied,
t, ≧1. There is a risk of collision when J.

In addition, in the case of an angle, there will be no collision when "s >tt', that is, the following equation (6) is satisfied, and there is a possibility that there will be a collision when t1≦t, l.

And +51, as is clear from equation (6), (
In the case of α), if t≧Kl, the collision can be avoided by increasing the speed ■ or changing course to increase the angle θ.

Similarly, in the case of (b), when t1≦t, I,
A collision can be avoided by reducing the speed V or changing the course to reduce the angle θ.

Based on the determination of whether there is a collision or not, if it is determined that there is a risk of collision, t, ≥ t, ', t.

It identifies whether ≦t or l, and changes gears and course to avoid a collision.

Therefore, according to the embodiment, the navigable circle (2a).

Based on (2b), time period t1~t, , t,'
~t,' can be easily calculated, and the same time period t1~
The existence of a collision can be determined by simply determining whether ``z e tI'~t!1 overlap or not.

Whether there is a collision or not is quickly determined by relatively simple arithmetic processing.

Furthermore, when there is a risk of collision, 1 time t.

Based on the relationship 2 between and t and l, and the relationship between time t and t and I, it is possible to easily and quickly determine whether to change gears or course to avoid this.

〔Effect of the invention〕

As described above, according to the ship collision avoidance method of the present invention, the traveling routes (la), (lb) of the own ship 2 and other ships, and the navigable circles (2a), (2b) of the own ship 2 and other ships Based on
Time period t, ~t, from time t1 to time t2, and time 1
．． Time period Kl~t from 1 to time tt'! ' can be easily calculated, and the same time period t0~t! ,t,'~1
．． Since the presence or absence of a collision can be determined by simply determining whether or not 1 overlaps, collisions can be avoided by quickly determining whether there is a collision or not using relatively simple arithmetic processing. It is something.

[Brief explanation of drawings]

The drawings show one embodiment of the ship collision avoidance method of the present invention, with FIG. 1 being a schematic diagram and FIG. 2 being an explanatory diagram of the relationship between time zones. (lal, (Ib)...1 ship, the route of the other ship, (2a), (2bl...the navigable circle of own ship and other ships).

Claims (1)

[Claims] (1) Data on the current position, course, and speed of own ship, and
Before your ship crosses the other ship's route, based on data on the other ship's current position, course, and speed, and data on the navigable circle of your own ship and the other ship whose radius is the distance at which they can safely pass each other.
After that, the estimated times t_1 and t_2 at which the navigable circle of each own ship touches the route of the other ship are calculated, and the navigable circle of the other ship is calculated before and after the other ship crosses the route of the own ship. Scheduled time t_1 when the circle touches the course of travel of the own ship
', t_2' are calculated, and the time period from the time t_1 to the time t_2 and the time period from the time t_1' to the time t_2 are calculated.
A collision avoidance method for a ship, characterized in that the collision is avoided by determining whether or not there is a collision based on whether or not the time period overlaps with the time period _2'.