JPS63100389A - Collision preventing device - Google Patents

Abstract

PURPOSE:To evade a collision by selecting a channel by a channel evasion memory card and reading sailing controlled variable data out of it, and comparing it with the current sailing state and starting preventing operation when a danger degree arithmetic means decides the high degree of collision danger as a result of acquiring and tracking another ship or fixed obstacle. CONSTITUTION:When the high danger degree decision part 7 in a danger degree arithmetic means 1 connected to a radar 2 decides the high degree of danger, a channel selecting means 3 selects an evaded channel which decreases the degree of collision danger by an evaded sailing selecting means 3 and reads the sailing-controlled variable data out of the control memory 9. Further, this is compared with the current operation state to find the sailing indicated value of collision evasion, which is displayed on a display means 18 to select the best evaded channel; and the sailing indicated value of collision evasion is found and displayed on a display means 8 and the sailing direction and a propellant-controlled variable are found accordingly. Thus, a labor-saving ship is obtained and a collision accident can securely be evaded even when crews are unskilled.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a collision prevention device for avoiding collisions with ships, fixed obstacles, etc.

[Conventional technology]

Timely selection of an appropriate avoidance route to avoid collisions with other ships or fixed obstacles is essential for safe navigation. In particular, modern ships are being trained to save manpower.
In addition, since shipping routes are congested, it is important to determine and notify the collision risk. Therefore, such ships are equipped with a collision prevention assistance system 1t (ARPA). This ARPA uses radar to detect and track other ships and fixed obstacles, and from the results, determines the direction of the other ship's course and its speed to determine the risk of collision, and this collision risk is set. An alarm indicating the danger of collision is displayed when the danger level is higher than the danger level.

However, in ships with a reduced number of people, inexperienced personnel are often involved in ship maneuvering, and when the risk of a collision with another ship becomes high, such ships are asked specifically how to maneuver the ship to avoid a collision. It is often difficult to decide whether to proceed or how to return to the original route.

[Problem that the invention seeks to solve]

Therefore, although seafarers are completely aware of the high risk of collision, the current situation is that they have no choice but to rely on the long experience and know-how of captains and navigators to decide which route to take to avoid collisions. It is. For this reason, it is difficult to deal with cases where the risk of collision is high on ships that have not been trained or when unskilled personnel are involved in ship operation.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a collision prevention device that can instruct a ship maneuvering control value for an appropriate avoidance route when the collision risk becomes high.

[Means for solving problems]

The present invention provides risk calculating means for capturing and tracking other ships and fixed obstacles detected by radar and determining the risk of collision with these other ships and fixed obstacles, and a risk calculation means derived from the ship motion characteristics. An avoidance route memory card that stores multiple avoidance route data obtained from the range of motion, and various ship maneuvering controls derived from the characteristics of the propulsion system 1 and the characteristics of the rudder system corresponding to each avoidance route data! A control memory card that stores 0ffi data, and a control system that selects an avoidance route to reduce the collision risk from the avoidance route memory card when the risk of collision is determined to be high by the risk calculation means, and also controls vessel maneuvering corresponding to this avoidance route. Read 11fd from the control memory card,
The apparatus further comprises: an avoidance vessel maneuver selection means for determining a vessel maneuvering command value for collision avoidance by comparing the vessel maneuvering control amount with the current vessel maneuvering state, and a display means for displaying the vessel maneuvering instruction value obtained by the avoidance vessel maneuver selection means. This is a collision prevention device that attempts to achieve the above objective.

[Effect]

By providing such a means, when the risk calculation means determines that there is a high collision risk based on the results of capturing and tracking other ships and fixed obstacles, the avoidance maneuver selection means receives the determination and stores the avoidance route memory. Selects an avoidance route that reduces the risk of collision from the card, and reads ship maneuvering control data corresponding to this avoidance route data from the control memory card.
A ship maneuvering command value for collision avoidance is obtained by roughly comparing this ship maneuvering control amount with the current ship maneuvering state, and this ship maneuvering command value is displayed on the display means.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of the collision prevention device, and FIG. 2 is an external view. In the figure, 1 is a risk calculation means, which captures and tracks other ships and fixed obstacles detected by radar 2 and calculates the risk of collision with these other ships and fixed obstacles. It has a function that sends a message to the evacuation maneuver selection means 3 when there is a high collision risk. Specifically, it has the following functions. Supplementary tracking unit 4 is radar 2
The system receives detection data from the CR7 to track the navigation of other ships, and also determines the relative positions of fixed obstacles accompanying the own ship's navigation, and sends these positions to the CR7 display device 5 for display. The risk calculation section 6 calculates a navigation vector indicating the navigation direction and speed of the other ship from the navigation trajectory of the other ship etc. obtained by the supplementary tracking section 4, and calculates the navigation vector etc. indicating the navigation direction and the navigation speed of the other ship from the correlation between this navigation vector and the own ship. It calculates and calculates the collision risk by predicting the navigation range. High risk determination section 7 is dangerous!
1 When the collision risk calculated by the calculation unit 6 exceeds a preset risk level, this is determined and a notification to that effect is sent to the avoidance vessel maneuver selection means 3.

By the way, this device uses an avoidance route IC memory card 8 and a control IIC memory card 9. The avoidance route IC memory card 8 stores a plurality of avoidance route data obtained from the movement range of the ship derived from the ship motion characteristics. As shown in FIG. 3, the avoidance route data stores a plurality of avoidance routes, such as avoidance routes Q1 and Q2, with respect to the original route Qa. The control IIC memory card 9 also has separate propulsion systems that correspond to each avoidance route data stored in the avoidance route IC memory card 8, and are made up of propulsion machines, propulsion control machines, etc. installed on the ship. characteristics and the steering gear and steering f installed on the ship.
Data for each ship maneuvering control derived from the characteristics of the steering system composed of the f1llyA aircraft is stored. In addition,
In the case of the avoidance route Q1, this vessel maneuvering control amount reading section indicates the steering direction and its propulsion control amount when moving from the original route Qa to the avoidance route Q1 in the period t1, as shown in FIG. It shows the steering direction and its propulsion control 0ffi when moving to Q2 and changing to straight sailing. Moreover, the period C3 indicates the steering direction and its propulsion control amount when returning from the avoidance route Q1 to the original route Qa. The control amount data for the avoidance route Q2 is as shown in FIG.

When the risk calculation means 1 determines that the risk of collision is high, the avoidance maneuver selection means 3 selects an avoidance route that reduces the collision risk from the avoidance route IC memory card 8, and performs a maneuver III corresponding to this avoidance route. It has a function of reading the llff1 data from the control IIC memory card 9 and comparing this ship maneuvering control layer data with the current ship maneuvering state to obtain a ship maneuvering command value for collision avoidance. Specifically, it has the following functions. Avoidance route selection sio
In response to the notification that there is a collision danger, an avoidance route is determined from the avoidance route IC memory card 8 based on the evaluation function stored in the evaluation function memory 11 based on the positional relationship of other ships, fixed obstacles, etc. It is a choice.

The ship maneuvering control amount reading unit 12 reads out ship maneuvering control output data corresponding to the avoidance route selected by the avoidance route selecting unit 10 and sends it to the ship maneuvering instruction value calculating unit 13. This ship maneuvering instruction value calculation unit 13 receives the steering direction and its propulsion control color received from the ship maneuvering control amount reading unit 12, the current ship maneuvering control value, that is, the rudder angle from the rudder angle transmitter 14, and the propulsion unit from the rotation speed transmitter 15. , the ship position from the ship position measuring device 16 and the clock 1
Current steering control 1 determined from the time data from 7.
ffi, the steering direction and propulsion control amount for actually maneuvering the ship following the avoidance route are determined as the ship maneuvering command value. Then, this ship maneuvering instruction value calculation section 13
is provided with a display means 18, in which the steering direction and its propulsion side till determined by the vessel maneuvering instruction value calculation section 13 are displayed in analog form on the steering υJtl1 display section 20 and the propulsion control display section 21, respectively, by the display drive section 19. It looks like this. The steering control display section 20 is shown in FIG. 6(a).
The external appearance is as shown in FIG. 6, and the propulsion control display section 21 has an external appearance as shown in FIG. 6(b).

Next, the operation of the apparatus configured as described above will be explained. The supplementary tracking section 4 sequentially captures and tracks other ships, fixed obstacles, etc. detected by the radar 2, and sends them to the CRT display device 5. As a result, the navigation status of other ships and the relative positions of fixed obstacles, etc. are displayed on the CRT screen. At the same time, the risk calculation unit 6 determines the navigational trajectory of the other ship and the trajectory of the relative position of fixed obstacles, etc. from past supplementary and tracking data to determine, for example, the navigational vector of the other ship. Then, from this navigation vector, the navigation range, etc. are determined, and the collision risk with the own ship is determined. Here, the high risk determination section 7 successively compares the collision risk determined by the risk calculation section 6 with the set risk, and when the set risk is exceeded, sends a notification to that effect to the avoidance route selection section 10. .

Now, when the high risk determination unit 7 determines that there is a high risk of collision with another ship, the avoidance route selection unit 10 selects an avoidance route to avoid collision with the other ship based on the relative positional relationship with the other ship. For example, Q2 is selected from the avoidance route IC memory card 8 according to the evaluation function, and this avoidance route data is sent to the vessel maneuvering control (to) readout 912. The ship maneuvering control amount reading unit 12 reads the ship maneuvering control 'yam data corresponding to the avoidance route Q2 from the control aIC memory card 9, and sends this data to the CRT display device 5 and the ship maneuvering instruction value calculation unit 13. Then, this ship maneuvering instruction value calculation unit 13 calculates the steering direction and its propulsion control j from the ship maneuvering control i1]ffl inducer 12, and the rudder angle and rotation speed from the current ship control gate, that is, the rudder angle transmitter 14. The current steering side determined from the rotational speed of the propulsion device from the transmitter 15, the ship position from the ship position measuring device 16, and time data from the clock 17! 2! Iω is compared to determine the steering direction in which the ship will actually be maneuvered according to the selected avoidance route Q2 and its propulsion side Wa. Thus, these steering directions and their propulsion control colors are displayed in analog form on the steering control display section 20 and the propulsion line control display section 21, respectively, as shown in FIGS. 6(a) and 6(b). Therefore, when the collision risk is high, these steering directions and their propulsion, MI
Vessel maneuvering operations will be performed in accordance with jU lit.

By the way, the avoidance route data is stored in the operation route IC memory card 8 and the ship maneuvering data is stored in the υ11!0 IC memory card 9.
b Control - Data storage is performed by the data storage creation device shown in FIG. This data storage creation means is composed of an avoidance route creation means 30 and a steering control creation means 31, and the avoidance route creation means 30 includes a ship motion model memory 3.
2, and the hull motion model stored in the memory 32 is solved by the triple simultaneous differential equation calculation unit 33 to find its range of motion, and from this range of motion, one number of avoidance routes are found and recorded on the magazine tape (MT )34. Then, the avoidance route data stored in the magazine tape 34 is sent to the first avoidance route data by the avoidance route data creation section 35.
After being temporarily stored in the diskette 36, it is stored in the avoidance route IC memory card 8.

On the other hand, the steering control creation means 31 includes a propulsion device and a propulsion control m+
A propulsion system model memory 37 of the propulsion system including the ti, and a steering system model memory 3 of the steering system including the steering machine and eight steering control machines.
8, and includes a simulation execution unit 39 that executes simulations of these propulsion system and steering system. Therefore, the steering direction and the propulsion control amount for each avoidance route obtained from the simulation results in the simulation execution unit 39 are respectively stored in the second diskette 40.
, the data is temporarily stored in the third diskette 41 and stored in the control IC memory card 9.

In this embodiment, when it is determined that the collision risk is high, the avoidance maneuver selection means 3 selects an avoidance route that reduces the collision risk from the avoidance route IC memory card 8, and also selects the avoidance route that reduces the collision risk from the control IC memory card 9. The structure is such that the ship maneuvering control Dffi data corresponding to the avoidance route data is read out from the ship, and further, this ship maneuvering control amount is compared with the current ship maneuvering state to obtain a ship maneuvering instruction value for collision avoidance, and this is displayed on the display means 18. , it is possible to select an optimal avoidance route according to the relative positional relationship with other ships, fixed obstacles, etc., and display the steering direction and propulsion control amount for navigating along this avoidance route. Therefore, even if the number of ships is reduced or the number of crew members is unskilled, collisions with other ships can be reliably avoided when the risk of collision is high without hesitating the judgment of ship operation. Since the avoidance route, steering direction, and propulsion control amount are obtained from the hull motion model, propulsion system model, and rudder system model, respectively, a highly reliable steering direction and its propulsion side 'gfJ' can be obtained. Since the display is done in analog format, it can be grasped accurately visually. On the other hand, the avoidance route, steering direction, and its propulsion υ control amount are stored in each IC memory card 8.9 by the data storage and creation device, so they can be easily applied to each inserted vessel by changing the hull motion model. By using the memory card 8.9, the device of the present invention can be made smaller.

〔Effect of the invention〕

As described in detail above, according to the present invention, it is possible to provide a collision prevention device that can instruct a ship maneuvering control value for an appropriate avoidance route when the collision risk becomes high.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram showing an embodiment of the collision prevention device according to the present invention, Fig. 2 is an external view of the device of the present invention, Fig. 3 is a schematic diagram of avoidance route data, and Figs. 4 and 5 are FIG. 6 is an external view showing a specific example of display means, and FIG. 7 is a configuration diagram of a data storage and creation device applied to the device of the present invention. DESCRIPTION OF SYMBOLS 1...Risk calculation means, 2...Radar, 3...Escape maneuver selection means, 4...Supplementary tracking unit, 5...CRT
Display device, 6... Risk Wt degree calculation unit, 7... High risk level determination unit, 8... Avoidance route IC memory card, 9...
Control IC memory card, 10... Avoidance route selection section, 1
DESCRIPTION OF SYMBOLS 1... Evaluation function memory, 12... Ship maneuvering control mua reading unit, 13... Ship maneuvering instruction value calculation unit, 14... Rudder angle transmitter, 15... Rotation speed transmitter, 16... Ship position measuring device, 17... Clock, 18... Display means, 19... Display drive section, 20... Rudder control display section, 21... Four propulsion control display sections. Figure 2 Cause 3 ¥64 Cause Figure 5

Claims (1)

[Claims] A risk calculation means that captures and tracks other ships and fixed obstacles detected by radar and calculates the risk of collision with these other ships and fixed obstacles, and a range of motion derived from the ship's motion characteristics. an avoidance route memory card that stores a plurality of avoidance route data; a control memory card that stores each ship maneuvering control amount data derived from propulsion system characteristics and rudder system characteristics in correspondence with each of the avoidance route data; When the collision risk is determined to be high by the risk calculation means, an avoidance route that reduces the collision risk is selected from the avoidance route memory card, and the vessel maneuvering control amount corresponding to this avoidance route is stored in the control memory card. Read from
The apparatus further comprises an avoidance maneuver selection means for determining a ship maneuver instruction value for collision avoidance by comparing the ship maneuver control amount with the current ship maneuvering state, and a display means for displaying the ship maneuver instruction value obtained by the avoidance maneuver selection means. A collision prevention device characterized by: