JPS62295793A - Device for following-up scheduled route - Google Patents

Abstract

PURPOSE:To make it possible for a vessel to navigate automatically on a safe scheduled route and avoid striking a rock, colliding with a stationary-matter mark/another vessel by controlling in such a way as to have the optimum steering angle and the optimum main engine revolution-number so that a slippage between a position on the proposed route at the present time and the present position by means of a detecting signal becomes below a predetermined value. CONSTITUTION:On the basis of the navigation information of other ships' speeds, bearings, courses, or the like and the location information of stationary-matter marks of reefs, stationary buoys, or the like, the shortest scheduled route and a scheduled passing time at each point on a scheduled route from the starting point to a target point are led out by means of a scheduled route leading-out means 1. And such optimum steering angle and optimum main engine revolution-number as make a slippage between the present position detected by a position detecting means 5 on the basis of signals from a gyro compass 2, a log 3 or the like and the position on the scheduled route at the present time less than a predetermined value are led out respectively by means of an operating means 6. And a steering engine and a main engine are so controlled as to have the optimum steering angle and the optimum main engine revolution-number thus computed, when a vessel navigates each point on the proposed route with a minimum of slippage without colliding with another ship.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention [Industrial Application Field] This invention is installed on a ship and helps the ship avoid running aground or colliding with fixed targets or other ships in narrow waters. The present invention relates to a scheduled route following device that controls a steering gear and a main engine so as to faithfully navigate on a safe scheduled route.

[Conventional technology]

In general, when a ship navigates narrow waters such as narrow waters, there are many dangers such as running aground or colliding with fixed targets.In order to avoid these dangers, ships must sail faithfully along predetermined safe routes. It is essential to maneuver the ship accordingly.

By the way, as mentioned above, when navigating a safe route with a fixed target such as a reef or a fixed buoy, since the target target is fixed, it is only necessary to reach the final destination point at the target time. There is no need to consider the passing time of each point on the scheduled route.

[Problem that the invention seeks to solve]

However, in reality, in addition to fixed targets, navigation must also include collision avoidance with other ships, and for this purpose, the schedule described above is based on other ships' navigation information such as their speed, direction, and course. It is necessary to determine the passing time of each point on the route and maneuver the ship so that it passes each point on the scheduled route at the calculated estimated time of passage.
Conventionally, the rudder angle, ship speed, etc. are selected based on the experience and intuition of the ship operator, but it takes outstanding experience to determine the rudder angle, ship speed, etc. based on the navigation information of other ships, which changes from time to time. In addition to requiring intuition, there are problems in that there are many deviations from the planned route, and there is a lack of certainty in terms of safety.

Therefore, the technical problem of the present invention is to enable a ship to faithfully and automatically navigate along a safe planned route while avoiding grounding and collisions with fixed targets and other ships.

[Means for solving problems]

This invention was made with the above points in mind,
Scheduled route derivation means that derives the shortest scheduled route from the departure point to the target point and the scheduled passage time of each point on the route based on navigation information of other ships, etc.; a position detecting means for detecting the current position of the ship and outputting a detection signal; and calculating a deviation between a position on the scheduled route at the current time and the current position according to the detection signal.

a calculation means for respectively deriving an optimal steering angle and an optimal main engine rotation speed such that the deviation is equal to or less than a predetermined value; and a steering controller for controlling a steering gear and a main engine, respectively, to the derived optimal steering angle and optimal main engine rotation speed. This is a scheduled route following device characterized by comprising an aircraft control means and a main engine control means.

[For production]

Therefore, according to this invention, the speed of the other ship.

Based on navigation information such as direction and course, and position information of fixed targets such as reefs and fixed buoys, the planned route derivation means determines the shortest scheduled route from the departure point to the target point and the scheduled passage time of each point on the scheduled route. is derived, and the deviation between the current position of the ship detected by the position detection means based on signals from a gyro compass, logs, etc. and the position on the scheduled route at the current time is determined by the predetermined means and the main engine control means. The taker and the main engine are controlled to the calculated optimum steering angle and optimum main engine rotation speed.

At this time, the ship passes each point on the scheduled route with the minimum deviation at the scheduled passage time when it can pass through each point on the scheduled route without colliding with other ships, and the shortest and safest route from the departure point to the destination point is achieved. This means that the ship will be able to navigate the route faithfully and automatically.

〔Example〕

Next, the present invention will be described in detail with reference to drawings showing one embodiment thereof.

In Figure 1, which shows the configuration of the device, (1) is a system that moves from the starting point to the target point based on navigation information such as speed, direction, and course of other ships from radar, etc., and position information of fixed targets such as reefs and fixed buoys. (2) is a gyro compass that detects the direction of the own ship; (3) detects the speed of the own ship; The log (4) is the U.S. Navy Navigation Satellite System (hereinafter referred to as NN5S) that detects the ship's position.
Gyro compass (2), log (3), NN5S
(4) is a position detecting means that detects the current position of the own ship based on the signal from and outputs a detection signal; (6) is a calculation means consisting of a computer, and and the current position according to the detection signal, and derive the optimum steering angle and the optimum main engine rotation speed such that the deviation is equal to or less than a predetermined value.

(7) The radar image and the deriving means (
In addition to superimposing the scheduled route according to 1), own ship information such as own ship's position and ship speed, and navigation information of other ships are displayed.

Display means (8) and (9) are steering gear control means and main engine control means, respectively, which display the optimum results derived by the calculation means (6). The steering gear αO and the main engine αυ are controlled to the steering angle and the optimum main engine rotation speed.

Next, the derivation means (1) derives a planned route R from the starting point O to the target point F-4 as shown, for example, by the solid line in FIG. We will explain the procedure for determining the rudder angle and main engine rotation speed that will minimize the deviation from the actual route W taken by the own ship, as shown by the dashed-dotted line in the figure, when the estimated passage time is derived. .

Now, when considering the movement of a ship in the X-Y plane,
The speed in the X-axis direction is u, the speed in the Y-axis direction is 72, the head angle is r, and the X coordinate represents the position of the ship.

If the Y coordinate is xo >' r, the rudder angle is δ, and the main engine rotational speed is n, then the equation of motion of the ship is generally as follows, where a+, ..., as, b+, ..., be, c+
, ...cs is a constant, M, v, r, i, y are u, respectively.
v, r.

The first differential of x and y with respect to time t is shown.

Then, it is sufficient to find the motion trajectory of the ship given by the above equation 0. For this purpose, an evaluation function J expressed by the following equation is introduced, and δ is set such that the J becomes zero.

Find n.

However, X*, each X on the planned route R above.

Indicates the Y coordinate, to and tf are the times at the starting point and the destination point, respectively, and the initial value, that is, the X, Y of the starting point O
Let the coordinates be xo and yo.

However, although the above-mentioned evaluation function J represents the integral function of the square of the amount of deviation between the planned route R and the actual route R, the rudder angle and main engine rotation speed that can be taken by a ship actually sailing do not change continuously. Since the evaluation function J of the above-mentioned 0 formula cannot become zero, the rudder angle and main engine rotational speed at which J becomes the smallest are set as the ship maneuvering data to be determined.

Therefore, the Hamiltonian H is expressed as H=("-x)!+('j'7)"+Puu+Pv
v+Prr10Pxx+Pyy ・"■, the above ■
When the variational method is applied to the equations , , and , a shared equation expressed as It turns out that it becomes.

aH −(蓼(tl, +u(also), 口p(
t), *)=o...
- Find a+U using the following algorithm.

(1m) The planned route R from the starting point to the target point is derived and set by the deriving means (1). At this time,
! aRrr-+ [8 hearing (7”+W%? $, h-mJtl
= (x"jtly"'(t)). (However, it is assumed that tε(to, tf).

)(b) Next, calculation means (6) K is approximated to the initial control law 1u(tl= δ(1) near the starting point by initial n
(t) Set and solve the equation of motion of equation 0 above.

(d) The calculation means (6) calculates the above (b), (
In the process of C), it is determined whether the gain is smaller than 10). Here, and rod = (2a4Sln-+ (bs+ca) buy δ-5i
n2J))u”, =(as+((b<+c<)v+
(bs+cs)r)u-')n(e) And 11
~ If 11 is smaller than the predetermined value, approximately 0
Assuming that the formula is satisfied, the performance is a(t) of the control law 1u(t) set in (b) above.

The values of n(t) are newly set as δ(+) and n(+), respectively, and the arithmetic means (6) performs the calculation described in (b) above.

Repeat the steps (C), (d), and 1) until the amount of garlic 11 becomes less than the predetermined value. However, λ2 is 1u(tl's δ(tl,
Let n(t) be the optimum steering angle and the optimum rotation speed.

〔Effect of the invention〕

As described above, according to the scheduled route following device of the present invention,
A ship passes each point on the shortest scheduled route from the departure point to the destination point with the minimum deviation at the scheduled passage time that allows the ship to pass through each point on the shortest scheduled route from the departure point to the destination point without colliding with fixed targets, other ships, or running aground. This makes it possible to navigate the planned route faithfully and automatically, thereby improving safety in ship navigation.

[Brief explanation of the drawing]

The drawings show one embodiment of the planned route following device of the present invention, with FIG. 1 being a block diagram and FIG. 2 being an operation explanatory diagram. (1) Planned route deriving means, (2) Gyro compass, (3) Log, (5) Position detection means, (6) Calculation means, (8) ... Steering gear control means, (9)... Main engine control means, αO... Steering gear, 0
1)...Main engine.

Claims (1)

[Claims] (1) Scheduled route derivation means for deriving the shortest scheduled route from a departure point to a target point and the scheduled passage time of each point on the route based on navigation information of other ships, etc., and a gyro compass;
a position detecting means for detecting the current position of the ship based on a signal from a log or the like and outputting a detection signal; calculation means for respectively deriving an optimal steering angle and an optimal main engine rotation speed such that the deviation is equal to or less than a predetermined value;
A planned route following device comprising a steering gear control means and a main engine control means for respectively controlling a steering gear and a main engine to the derived optimum steering angle and optimum main engine rotational speed.