JPS63108500A - Collision preventor - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a collision prevention device mounted on a ship to prevent collisions with other ships or fixed obstacles.

[Conventional technology]

In general, ships are equipped with a collision prevention assist system (ARPA) to prevent collisions with other ships or fixed obstacles.
atic Radar Plotting Aids
) is equipped with radar images of other ships and fixed obstacles,
The speed and course of other ships, as well as the closest distance and time of approach to other ships or fixed obstacles, etc. are derived and displayed, and a warning is sent if there is a risk of collision with another ship or fixed obstacle. It is designed to notify you by displaying a display or by emitting a warning sound.

When the risk of collision is recognized by the warning, the captain, navigator, or other ship operator will give an instruction to avoid the collision based on the display data of the collision prevention aid device described above. Evasion takes place.

[Problem that the invention seeks to solve]

However, in order to avoid a collision, when and how to start maneuvering the ship and what avoidance route to take is not determined by the above-mentioned device, but has traditionally been a decision made by experts such as captains and navigators over many years. The decision is made based on experience and intuition, and when unskilled personnel are involved in ship operation, such as in the case of unmanned boarding, there is a problem in that it is not possible to make appropriate give-way maneuvers.

By the way, it is conceivable to calculate and derive specific avoidance data realistically and in real time using a computer based on the motion characteristics of the ship, propulsion device characteristics, rudder characteristics, etc., and display the derivation results. It requires a very large computer, is extremely expensive, and is not suitable for being mounted on a ship.

Therefore, in this invention, the most suitable avoidance data for collision avoidance is easily selected from a plurality of data derived in advance, so that even an inexperienced person can perform appropriate ship maneuvering. Take it as a challenge.

[Means for solving problems]

This invention was made with the above points in mind,
A first memory consisting of an IC memory card storing a plurality of avoidance route data derived based on a ship motion characteristic model, and a route based on each of the avoidance route data derived based on a propulsion machine characteristic model and a rudder characteristic model. A second memory consisting of an IC memory card that stores control data and rudder control data for navigating the propulsion (;;1) calculates the risk of collision with other ships and fixed obstacles based on signals from the radar. a calculation means that determines whether the calculated collision risk is higher than a set value and outputs an avoidance instruction signal when it is higher; a selection means for selecting from a memory; a reading means for reading out all propulsion control data and rudder control data for the route of the optimum avoidance route data from the second memory; This is a collision prevention device characterized by comprising a propulsion machine control means and a rudder control means that respectively control the propulsion machine and the rudder.

[Effect]

Therefore, according to the present invention, a ship motion characteristic model is solved in advance by a computer to derive a plurality of avoidance route data, and a propulsion machine characteristic model and a rudder characteristic model of the ship are solved in advance by a computer to derive each of the avoidance routes. Propulsion control data and rudder control data for navigating the route based on each route data are derived, each derived avoidance route data is stored in a first memory consisting of an IC memory card, and each avoidance route data is stored in a first memory consisting of an IC memory card. The propulsion device control data and rudder control data can be stored in a second memory consisting of an IC memory card.

Then, while the ship is navigating, the calculation means calculates the collision risk of another ship or fixed obstacle based on the signal from the radar, and if the collision risk of the other ship or fixed obstacle is higher than the set value. The selecting means selects the optimum avoidance route data from the first memory, and the reading means selects the optimum avoidance route data.

The propulsion machine control data and rudder control data for the route of the selected optimal avoidance route data are read from the second memory, and based on these data, the propulsion machine and rudder are controlled automatically or manually to prevent a collision. Prevented in advance.

〔Example〕

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

First, in FIG. 1, (1) is a radar, and (2) is a first central processing means (hereinafter referred to as 1 CPU) as a calculation means.
) and other ships based on the signals from radar [11].

Acquisition and tracking processing function (2a) that captures and tracks fixed obstacles such as buoys, collision risk calculation function (2b) that calculates the collision risk with other ships and fixed obstacles, and the calculated collision It has a risk level determination function (2C) that fully determines whether the level of risk is higher than the set value, outputs an avoidance instruction signal when the level is high, and performs the above-mentioned acquisition and tracking process again when it is low. .

(3) is a second central processing means (hereinafter referred to as the second CPU) as a selection means and a reading means, which gives a read command to a first memory to be described later based on the avoidance instruction signal and reads out all avoidance route data. Route data reading function (3
a), a selection function (3b) that selects the optimal avoidance route data from all the avoidance route data based on an evaluation function stored in a third memory, which will be described later; It has a control data successive output function (3C) for reading propulsion control data and rudder control data for a route from a second memory, which will be described later.

(4) is the first memo J consisting of an IC memory card that stores multiple avoidance route data derived based on the hull motion characteristic model, and (5) is derived based on the propulsion characteristic model and rudder characteristic model. (G) is a second memory consisting of an IC memory card that stores propulsion control data and rudder control data for navigating the route based on each avoidance route data;
The third memo 'J, which stores all the evaluation functions for selecting the optimal avoidance route data in consideration of economic efficiency, +7+ is a cathode ray tube (hereinafter referred to as CRT), which was captured and tracked by the first CPU [2+]. Radar image of other ships, etc., 1st CP
Collision risk calculated by U(2), 2nd CP
The optimum avoidance route data selected by U[3+ and the current position determined by the ship position measurement means described later are displayed.

(8) has an alarm that operates when an evacuation maneuver is necessary, and a push button for approving the automatic evacuation maneuver, and by operating the push button, the optimum evacuation route data, propulsion equipment, and rudder selected and read out by the second CP ut3+ are displayed. (9) is a rudder angle measuring means that measures the rudder angle and outputs the measured value; (lO) is the rotational unit that measures the rotational speed of the propulsion device and outputs the measured value. The number measuring means (II) is a ship position measuring means for measuring the ship position and outputting the measured value, (12)
) is a clock, and (13) is the rudder control data.

Rudder control means for controlling the rudder based on measured values of the rudder angle and ship position at two times; (14) is a propulsion device control means; Controls the propulsion equipment.

Next, FIG. 2 showing a system for deriving avoidance route data and control data will be described.

In the figure, (15) is the first calculation unit that converts the equation of motion of the ship into a predetermined mathematical model format, and (+6) is the second calculation unit that calculates the triple differential equation based on the converted ship motion characteristic model. Arithmetic unit, (1 is the second operating unit (+6)
The holding unit (18) is an avoidance route data creation unit that stores and holds the calculation results of The behavior of the ship in response to conditions is predicted, and a set of predicted behaviors is compiled for each predetermined parameter to form a behavior range matrix, which is sent out as a plurality of avoidance route data. (l[
i), (16), holding section and creation section (18)
A third central processing means (hereinafter referred to as third CPU) (+9) is configured.

C0) is a propulsion device characteristic model calculation unit that calculates a mathematical model of the propulsion device characteristics including the ship's propulsion controller for the above parameters, and c) is a propulsion device characteristic model calculation unit that calculates a mathematical model of the rudder characteristics including the ship's rudder control device for the parameters. The rudder characteristic model calculation section (22) that performs calculations is the creation section (22) of the third CPU (+9).
(23) is a simulation unit;
Simulations using propulsion machine characteristic data and rudder characteristic data by both calculation units (3) and phantom are repeated for each of the avoidance route data written on the diskette by the first writing unit, and each of the avoidance route data is Specific propulsion device control data and rudder control data for navigating the respective routes are derived, and the propulsion device control data and rudder control data for each of the derived avoidance route data are obtained as the second. Third writing section t241 p +25
) is written to the diskette, and both arithmetic units (2o) and (2]) ssiminire-93
force), each writing section 1221 j [24) $ +25
) constitutes a fourth central processing means (hereinafter referred to as the fourth CPU) (2[i).

It should be noted that each avoidance route data written on the diskette by the first writing section 122 on January 4 is as follows.
) and stored in the first memo January 4), and similarly the second memo. The propulsion control data and rudder control data for each of the avoidance route data, which have been once written to the diskette by the third writing section f241, +25), are transferred to the second memory (H) and stored in the second memory (H).
5).

While the ship is navigating, the first CPU (21) constantly captures and tracks multiple other ships and fixed obstacles in the vicinity based on the signal from the radar f11, and also detects and tracks other ships and fixed obstacles in the vicinity. The collision risk is calculated, and it is determined whether the calculated collision risk is higher than a set value.

Now, if the risk of collision with any other ship or fixed obstacle becomes higher than the set value and it becomes necessary to give way, an avoidance instruction signal is output from the 1st CP Um, and the 2nd C
P U (2+) reads out all the avoidance route data stored in the first memory (4), and selects the evaluation function stored in the third memory (6) from among the read out all avoidance route data. The optimum avoidance route data is selected based on the selected optimum avoidance route data, and the propulsion control data and rudder control data for the route of the selected optimum avoidance route data are read from the second memo January 5).

At this time, the evaluation function E stored in the third memo January 6)
is expressed as E=el+e2+Lw, where el is safety, which is the evaluation of risk based on collision probability, e2 is economical, which is the evaluation of the voyage plan based on the amount of displacement from the planned route, and Lw is the law, customs, etc. Based on the overall evaluation function E, several ship actions are selected from the movement range matrix as the total avoidance route data in the first memory (4), and two-stage actions are also performed. According to the decision method, for each selected ship action, multiple future actions following each action are also planned, the optimal ship action in the relevant situation of the ship is selected, and the entire series of these ship actions is selected. The route based on the optimal avoidance route data obtained by combining the two is the avoidance route that the ship should take.

Furthermore, the optimum avoidance route data selected by the second CPU U+31 is, for example, curve A or B shown in FIG.
In this case, the rudder control data for navigating the routes according to curves A and B are as shown in Figures 4(a) and (b), respectively, and such rudder control data is stored in the second memory (5).
) will be read from. However, the avoidance route data shown in Figure 3 shows the route data when the ship only changes course at a constant speed. Only the corners need to be controlled as shown in FIGS. 4(a) and 4(b).

Note that x and y in FIG. 3 are coordinate axes representing the ship position.

Next, when the optimum avoidance route data and control data are selected and read out by the second CPU [31], the alarm of the approval means (8) is activated to notify the necessity of avoidance, and the vessel operator selects the approval means (8). When the push button (8) is operated, automatic give way maneuvering is started, and the approval means (8) is turned into the rudder control means <+31 to the propulsion control means (14).

The optimum avoidance route data, rudder control data, and propulsion device control data are each sent, and based on these data and the measured value 9 time by each measuring means (9) to (II) e-clock (12), the rudder, propulsion control data is The aircraft is controlled and maneuvers to give way are automatically performed.

At this time, as described above, the CRT+7+ displays the radar image of other ships, collision risk, optimal avoidance route data, the route based on the data, the position of the own ship, etc., and therefore the approval means (8) is pressed. If there is no operation, CRT+
Needless to say, it is possible to perform manual avoidance maneuvers based on the data displayed on the 7+.

In addition, by preparing multiple IC memory cards as the first memory (4) and second memory (5) according to the motion characteristics of the ship, rudder characteristics, etc., it can be used for ships with different characteristics. Of course, it can be applied without any problem.

〔Effect of the invention〕

As described above, according to the collision prevention device of the present invention, the optimum avoidance route data for collision avoidance and the propulsion control data and rudder control data for navigating the route based on the route data are derived in advance. It is possible to automatically select data from among the data stored in the memory of an IC memory card, and by maneuvering the ship based on this data, it becomes possible to easily perform avoidance maneuvers, even for unskilled operators. It is also possible to properly maneuver the ship, which is extremely effective for small-sized ships, and its effects are extremely large.

In addition, avoidance route data is derived in advance based on the ship's motion characteristic model ((), and propulsion machine and rudder control data are derived in advance through simulations based on the propulsion machine and rudder characteristic model, so the computer installed on the ship It is small in size, can perform real-time calculations, and can provide highly reliable ship maneuvering data.

Furthermore, the selection of optimal avoidance route data ensures safety.

Since this is done based on the evaluation results of an evaluation function that takes into account economic efficiency, etc., it is possible to always select the optimal avoidance route and instruct the vessel operator.

In addition, because the avoidance route data and control data are stored in a memory consisting of an IC memory card, by preparing multiple IC memory cards in advance according to each characteristic, the system can be applied to ships with various characteristics without any problems. It has excellent applicability.

[Brief explanation of the drawing]

The drawings show one embodiment of the collision prevention device of the present invention, FIG. 1 is a block diagram, FIG. 2 is a partial block diagram, FIG. 3 is an explanatory diagram of avoidance route data, and FIG. 4(a) , (b)
are explanatory diagrams of different rudder control data. +! + ・= L/ -ta, (2+ =・i 1 CP
U, +3) =・2nd CP [J, (4). (6)...1st. Second note IJ,! +31...
Rudder control means, (14)... Propulsion control means. Agent Patent Attorney Fujita snatabe 1 Figure 1 Figure 2

Claims (1)

[Claims] (1) A first memory consisting of an IC memory card storing data on a plurality of avoidance routes derived based on a hull motion characteristic model, and each of the above avoidance route data derived on the basis of a propulsion characteristic model and a rudder characteristic model. A second memory consisting of an IC memory card stores propulsion control data and rudder control data for navigating each route, and calculates the risk of collision with other ships and fixed obstacles based on signals from the radar. a calculation means that determines whether the calculated collision risk is higher than a set value and outputs an avoidance instruction signal when it is higher; selection means for selecting from a memory; reading means for reading propulsion control data and rudder control data for the route of the optimum avoidance route data from the second memory; and based on the propulsion control data and rudder control data by the reading means. A collision prevention device comprising a propulsion device control means and a rudder control means that respectively control the propulsion device and the rudder.