KR101155603B1 - Autopilot simulator for vessel - Google Patents

Abstract

The ship's automatic steering navigation simulator of the present invention includes a simulation mode selection unit for selecting a type of simulation, a simulation operation unit for selecting the simulation time setting and a start / stop / end, and displaying the simulation time; A display unit configured to set an initial value for a communication environment and navigation information of the ship, and to display information selected through an environment setting unit for setting a navigation route of the ship, the simulation mode selection unit, a simulator calculation unit, and an environment setting unit; And a controller for controlling driving according to the mode selection of the simulation mode selection unit.

Description

Autopilot simulator for vessel

The present invention collects information from navigation systems, such as ECDIS, radar, and various navigation sensors, obtains crash-related information, and makes it possible to avoid obstacles in real time, so that ships follow a safe and optimal route. The present invention relates to an autopilot sailing simulator for a ship that controls navigation.

As an academic research for ship collision avoidance, a method of estimating the collision risk by fuzzy inference using the distance of the closest point approach (DCPA) and the time of the closest point approach (TCPA) as input information has been proposed. Based research is underway.

The apparatus associated with the conventional ship collision avoidance system includes an electronic chart, a ship automatic identification device, a ship navigation simulator, and the like. Products related to the above electronic charts are being developed by Furuno, JRC, Kelvin Hughes, etc., which displays route information, route monitoring, and other vessel information linked to vessel automatic identification devices or displays prediction information about vessels.

The automatic vessel identification device is a basic device that grasps information including the position of another ship in the collision avoidance system. The collision avoidance system may receive encrypted information about another ship by using the automatic vessel identification device, and analyze the navigation information about the target ship by decrypting it.

At present, “Kongsberg” describes the use of the dynamic positioning system and the simulator in connection with the purpose of training for emergency avoidance to avoid collisions, and mentions safety management using the integrated automation system K-chief. There are no cases of ship collision avoidance system development and solid line application. There are no studies on collision avoidance algorithms, but there are no products developed and commercialized.

In addition, since the general voyage data simulator was developed without considering the motion characteristics of the actual ship, when applied to a solid ship, compared with the ship's data, the result was significantly different, which resulted in a drop in accuracy.

Accordingly, the present invention is to solve the above-mentioned conventional problems, by providing navigation information generation and control information reflecting the steering motion characteristics of the ship in order to improve the accuracy of the ship test, the vessel avoids obstacles, the optimum path The purpose of the present invention is to provide an automatic steering navigation simulator for ships that can be sailed along.

The present invention for achieving the above object, the simulation mode selection unit for selecting the type of the simulation, the simulation time setting and the start / stop / end can be selected, the simulator calculation unit for displaying the simulation time and the communication of the simulation An environment setting unit for setting an initial value for the environment and the navigation information of the ship, and setting a specific point of the navigation route of the ship, and a display unit for displaying the information selected through the simulation mode selection unit, simulator operation unit and environment setting unit And a controller for controlling driving according to the mode selection of the simulation mode selection unit.

Here, the simulation mode selection unit provides an automatic navigation function, a course maintenance mode for inputting a bow angle with a graphic component or a text box, or adjusting an RPM with an engine control button, and navigation along a planned route. It is desirable to include a track holding mode that is set to be able to operate and a manual mode that allows the ship to move by manually adjusting the steering angle.

The simulator calculating unit may include a double speed selection mode for simulation, a mode for selecting the simulation time setting and a start / stop / end, and a display unit for displaying the simulation time.

In addition, the environment setting unit, after inputting an initial value that affects dynamic movement characteristics such as the initial position value, bow angle, RPM (RPM) of the vessel for the simulator, the environmental data such as depth, wind, current flow data A navigation data setting mode for setting an initial value of the navigation mode, and a setting function for the track holding mode in the simulation selection mode, and a waypoint setting for designating a plurality of position points to be set in the simulator in the same way as a planned route on the electronic chart. Preferably, a communication setting mode for setting the mode and the serial communication environment is provided.

In addition, the communication setting mode further includes a communication information test function, and the communication information test function includes initial navigation data setting information, command information, waypoint setting information, and the like. In addition to the W, a real-time database for interfacing with the moving obstacle simulator is included, and the simulator and each software are monitored by monitoring all structures of the real-time database designed for the interface with the S / W that generates the characteristics of the maneuvering movement of the ship. It is desirable to confirm that this is normal.

As described above, the present invention has the advantage that it is possible to test the navigation system and other navigation equipment as a solid line through the simulator in consideration of the steering motion characteristics of the actual ship.

And because it provides the auto steering function, various tests are possible even without the auto steering device, and the ship's solid line application test is possible in the laboratory.

1 is a view for schematically showing a screen configuration of the automatic steering navigation simulator for ships according to the present invention.
2 is a view showing in detail the screen configuration of the automatic steering navigation simulator for ships according to the present invention.
3 is an enlarged view showing a part of the configuration of the automatic steering navigation simulator for ships according to the present invention.
4 is a view showing a screen when the course maintenance mode is selected in the simulation mode selection unit of the automatic steering navigation simulator for ships according to the present invention.
5 is a view for showing the electronic chart screen when the course maintenance mode is selected in the simulation mode selection unit of the automatic steering navigation simulator for ships according to the present invention.
6 is a view for showing a screen when the track maintenance mode is selected in the mode selection unit of the automatic steering voyage simulator for ships according to the present invention.
7 is a view for showing a screen of the S / W for generating the steering motion characteristics of the vessel when the track maintenance mode of the automatic steering navigation simulator for ships according to the present invention.
8 is a view for showing an electronic chart screen when the track maintenance mode of the automatic steering navigation simulator for ships according to the present invention.
9 is a view showing a screen when the manual mode is selected in the mode selection unit of the automatic steering voyage simulator for ships according to the present invention.
10 is a view for showing the electronic chart screen when the manual mode of the automatic steering navigation simulator for ships according to the present invention.
FIG. 11 is a view for showing a screen when the navigation data setting function is selected in the environment setting unit of the automatic steering voyage simulator for ships according to the present invention.
12 is a view showing a screen when the waypoint setting function is selected in the environment setting unit of the automatic steering voyage simulator for ships according to the present invention.
FIG. 13 is a diagram illustrating a screen when the serial communication setting mode is selected in the environment setting unit of the automatic steering voyage simulator for ships according to the present invention.
14 is a view for showing a screen when the communication data test function is selected in the environment setting unit of the ship automatic steering navigation simulator for ships according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In describing the present invention, the defined terms are defined in consideration of the function of the present invention, and should not be understood in a limiting sense of the technical elements of the present invention.

1 is a view for schematically showing the screen configuration of the automatic steering navigation simulator for ships according to the invention, Figure 2 is a view for showing a detailed screen configuration of the automatic steering navigation simulator for ships according to the present invention, Figure 3 Figure 4 is a view for showing an enlarged configuration of the automatic steering navigation simulator for ships according to the invention, Figure 4 is for showing the screen when the course maintenance mode is selected in the simulation mode selection unit of the automatic steering navigation simulator for ships according to the present invention FIG. 5 is a view for showing an electronic chart screen when the course maintenance mode is selected in the simulation mode selection unit of the automatic steering navigation simulator for ships according to the present invention.

6 is a view for showing a screen when the track maintenance mode is selected in the mode selection unit of the autopilot navigation simulator for ships according to the present invention, and FIG. 7 is a track maintenance mode for the autopilot navigation simulator for ships according to the present invention. Figure 8 is a view for showing the screen of the steering motion characteristics S / W of the ship when selecting, Figure 8 is a view for showing the electronic chart screen when selecting the track maintenance mode of the automatic steering navigation simulator for ships according to the present invention 9 is a view for showing a screen when the manual mode is selected in the mode selection unit of the automatic steering navigation simulator for ships according to the present invention, Figure 10 is a manual mode of the automatic steering navigation simulator for ships according to the present invention This is a diagram for showing a screen even when the electronic chart.

11 is a view showing a screen when the navigation data setting function is selected in the environment setting unit of the automatic steering navigation simulator for ships according to the present invention, and FIG. 12 is an environment setting of the automatic steering navigation simulator for ships according to the present invention. FIG. 13 is a view for showing a screen when the waypoint setting function is selected by the unit, FIG. 13 is a view for showing a screen when the serial communication setting mode is selected in the environment setting unit of the autopilot navigation simulator for ships according to the present invention; 14 is a view for showing a screen when the communication data test function is selected in the environment setting unit of the automatic steering navigation simulator for ships according to the present invention.

As shown in Figures 1 to 14, the automatic steering navigation simulator for ships of the present invention, the simulation mode selection area 100 for selecting the type of simulation, the simulation time setting and start / stop / end The simulator operation unit 200 may display a simulation time, an initial setting value for the communication environment of the simulation and the navigation information of the ship, and an environment setting unit for setting the navigation path of the ship. A display unit 400 for displaying information selected through the configuration area 300, the mode selection unit, the simulator operation unit 200, and the environment setting unit 300, and the data display area 400. It includes a control area 500 for controlling driving according to the mode selection of the simulation mode selection area 100. . In addition, a start / end portion for controlling the on / off of the power source may be provided.

The present invention having such a configuration applies a steering motion characteristic of a ship, and in particular, relates to a navigation data simulator equipped with an autopilot function in which the steering motion characteristic of a cruise ship (110,000 GT class) is reflected.

Hereinafter, a brief description of the characteristics of the simulator to which the ship's motion characteristic model and the autopilot function are applied, and the design structure and function of the developed simulator will be described in detail, and then the actual experimental results will be described.

First of all, basic information of a ship includes general information including ship type and ship speed, hull information such as displacement, length between perpendiculars (Lpp) and steering information (Rudder information).

In addition, propeller information, speed / power performance & propeller open water characteristic, and RPM information according to ship speed are provided.

In addition, the mathematical model used as a motion equation to simulate the steering motion characteristics of the ship is composed of a whole ship model (v-cube), a modular model (v-cube) and a modular model (β-square).

That is, the autopilot navigation simulator for ships was developed based on the unique information of the ship calculated based on the modeling data of the ship in order to perform a similar test to the actual ship.

Here, the ship's unique steering motion characteristics, which are calculated by general information and a motion equation of the ship, include a ship's position, speed, and bow angle.

In addition, the rectangular coordinate data calculated as a result of the steering motion characteristics is converted into position coordinates, and information such as time other than the position coordinates, ship speed, bow angle, wind direction / wind speed, rudder, etc. in consideration of the vector data can be obtained from the actual navigation system. Converts to International Electrotechnical Commission (IEC) 61162 communication protocol.

Autopilot is a navigation device developed for safe navigation by controlling the steering angle (Rudder) automatically for the set target direction.

The operation of the ship is intended to transport the cargo to the destination more safely and quickly.However, since the ship always travels on the surface of the water, the safety and stability of the ship may sometimes depend on the wind, wind speed, and condition of the ship or the characteristics of the ship itself. It can greatly affect the speed of navigation.

In order to reduce the voyage distance in consideration of all the constraints on the operation of the vessel, the equipment that enables the vessel to operate more safely is an autopilot (Autopilot).

The simulation mode selection area 100 provides an automatic navigation function. The course keeping mode 110 controls the bow angle with a graphic component or a text box and adjusts the ship speed using an engine control button. ), A track keeping mode (120) for setting the ship to sail along the planned route, and a manual mode (130, manual mode) for allowing the ship to move by steering angle control.

Next, the simulator operation unit 200 sets a simulation time, displays a start / stop / end function, and a simulation time, and debugs a real-time database used for linkage with the steering motion characteristics S / W. For this purpose, the <ShardMem test> button is provided. The function is described below.

Here, the simulator operation area 200 includes a double speed selection mode 210 for simulation, a mode 220 for selecting the simulation time setting and a start / stop / end, and a display unit 230 for displaying the simulation time. Is preferably provided.

Course keeping mode (110) is one of the automatic functions of an autopilot. The navigator controls the ship using head control and engine control.

Here, the bow angle control can be adjusted by inputting a bow angle value through a graphic component or a text box or by using a spin button.

Engine control selects Full Sea, Full, Half, Slow, Dead Slow, Neutral, Dead Slow, Half, Full, Full Sea and adjusts the ship's speed to the top.

That is, by adjusting the bow angle using the bow angle control and raising the engine control button, it can be seen that the position, speed, and bow angle of the ship are adjusted according to this property. In addition, the interface of the electronic chart and the automatic steering navigation simulator for ships of the present invention can use the RS-422 communication interface.

The track keeping mode 120 has developed its own track keeping mode, and is a mode for navigating along the route planned by the route plan.

This track keeping mode 120 is characterized in that the bow angle control function is deactivated unlike the course keeping mode 110 described above.

That is, the navigator cannot arbitrarily change the bow angle because it moves along a predetermined track. On the other hand, engine control can be adjusted to speed up the vessel.

Next, the environment setting unit 300 inputs an initial value that affects dynamic motion characteristics such as an initial position value of the ship, bow angle, and RPM for the simulator, and then, depth, which is environmental data, Navigation data setting function 310 for setting the initial data of wind and tidal flow data, and a setting function for the track keeping mode 120 of the simulation selection mode, which are planned on the electronic chart. A waypoint setting function 320 for designating a route so that the simulator can be set in the same way as a route and a communication setting function 330 for setting a serial communication environment are provided.

The navigation data setting function (Navigation data) is used in all functions of the automatic steering navigation simulator for ships, and provides a function of inputting and storing initial setting information. For the simulator, after inputting initial values that affect dynamic motion characteristics such as initial position value, bow angle, and RPM, initial information of environmental data such as Depth, Wind, and Drift data should be provided. Press the <Save> button and run the simulator to move the ship using this data.

The waypoint setting function 320 is a setting function for track keeping mode and provides a function of setting in the simulator similar to the route planned in the electronic chart. The default number of Waypoints can be set to 20. You can test the track retention function by entering the same latitude and longitude values as set in the electronic chart.

In the serial communication setting mode shown in FIG. 13, even if the simulator electronically, data corresponding to each device to be transmitted to the collision avoidance system is interfaced with serial communication. Therefore, in order to set this, Port Number, Device Name, Baudrate, Parity, Data Bit, Stop Bit, Period should be set correctly.

Meanwhile, the environment setting unit 300 further includes a communication information test function.

The test mode (Com test) shown in FIG. 14 is a screen which can confirm at a glance all the structures of the real-time database designed for the interface with the S / W which generates the dynamic characteristics of the cruise ship.

The basic structure includes Init data, Command data, Configuration data, Waypoint data, and includes real-time database for interface with moving obstacle simulator as well as steering motion characteristics S / W. Through this function, you can check whether the operation of the simulator and each software is normal.

The control area 500, which is a simulator control and display function, changes according to the simulation mode selection area 100. FIG.

That is, the course keeping mode 110 and the track keeping mode 120 provide the bow angle control and the engine control function.

In addition, the manual mode 130 provides a steering angle control and an engine control function. In addition, the manual mode 130, unlike the course / track keeping modes 110 and 120, provides the navigator with a steering angle control function.

In other words, the manual mode (130, manual mode) was developed to give the same effect as the navigator manually adjusts by turning the wheel (Wheel).

The display unit 400 displays the same information regardless of the three modes. That is, Position, Time, Heading, RPM, SOG, COG, STW, Depth, Wind Speed / Angle are essential navigation data.

On the other hand, in the automatic steering navigation simulator for ships of the present invention, the ship speed for simulation was developed to support from 1x to 10x speed, the simulation time is represented by a timer (Timer).

This ship's automatic steering voyage simulator is equipped with a communication module linked to the steering movement characteristics S / W of a cruise ship (110,000 GT class), and based on this, general information and hull information (ship type, speed, displacement, Lbp) of the cruise ship. (Length Between Perpendiculars), hull information, steering information, propeller information, horsepower and propulsion characteristics of the ship, etc., cruise ship's own steering motion characteristics information (ship position, speed, bow angle, wind direction / wind speed, rudder) And the like).

In addition, navigation systems such as Radar / ARPA can be implemented by implementing the National Electrical Manufacturers Association (NEMA) protocol (20 types including NEMA Sentence ID: DPT, GGA, HDT, etc.) specified in the International Electrotechnical Commission (IEC) 61162-1. Communication with navigational equipment is possible.

In addition, implementation of protocol transmission / reception using the RS-422 interface for communication with ECDIS and collision avoidance system (transmission cycle 1 second), cruise ship simulator design and function implementation, control and navigation data monitoring function, It can implement data transmission / reception function and three kinds of environment setting (navigation data / communication / system) functions.

As a result, the present invention allows the navigation system and other limited equipment to be tested as a solid line through the simulator considering the motion characteristics of the actual ship. In addition, various tests can be performed without an autopilot, and a ship's real ship application test can be performed in a laboratory to further improve the safety and reliability of the system.

Although the technical idea of the automatic steering voyage simulator for ships according to the present invention has been described with the accompanying drawings, this is only illustrative of the best embodiment of the present invention and not intended to limit the present invention.

Therefore, it is obvious that any person with ordinary skill in the art can make various modifications and imitations such as dimensions, shapes, structures, etc. without departing from the scope of the technical idea of the present invention. Is included in the scope of the technical idea of the present invention.

100: mode selector 110: course maintenance mode
120: track maintenance mode 130: manual mode
200: simulator operation unit 210: double speed selection mode
230: display unit 300: environment setting unit
310: navigation data setting function 320: waypoint setting function
330: communication setting function 400: display unit
500: control unit 600: start / end

Claims (5)

A simulation mode selection unit for selecting a type of simulation; A simulator calculator configured to select the simulation time and start / stop / end and display the simulation time; An environment setting unit for setting an initial value for a communication environment of the simulation and navigation information of a ship, and setting a navigation path of the ship; A display unit which displays information selected through the simulation mode selection unit, the simulator calculation unit, and the environment setting unit; And a control unit controlling driving according to the mode selection of the simulation mode selection unit. And including
The environment setting unit inputs an initial value that affects dynamic motion characteristics such as an initial position value, a bow angle, and an RPM of the vessel for a simulator, and then initializes the flow data of depth, wind, and tidal current, which are environmental data. Navigation data setting mode for setting a value;
A waypoint setting mode which is a setting function for the track holding mode of the simulation selection mode and which can be set in the simulator in the same way as the route planned in the electronic chart; And
A communication setting mode for setting a serial communication environment; Automatic steering voyage simulator for ships comprising a. The method of claim 1,
The simulation mode selection unit may provide an automatic navigation function, a course maintenance mode of inputting a bow angle with a graphic component or a text box or adjusting an engine control button using a selection button;
Track maintenance mode configured to navigate along the planned route; And
A manual steering navigation simulator for ships, comprising: a manual mode for manually adjusting the steering angle to move the vessel. The method of claim 1,
The simulator calculation unit, a ship speed selection mode for the simulation, a mode for selecting the simulation time setting and start / stop / end, and a display unit for displaying the simulation time, characterized in that the automatic steering navigation simulator for ships. delete The method of claim 1,
The communication setting mode is further provided with a communication information test function,
The communication information test function includes initial navigation data setting information, command information, waypoint setting information, and the like, and includes not only a steering motion characteristic S / W but also a real-time database for interfacing with a moving obstacle simulator. An autopilot navigation simulator for ships that monitors the structure of the real-time database designed for the interface with the S / W that generates the characteristics and checks whether the simulator and each software are operating normally.

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