WO2023136408A1 - Procédé de calcul de plage de caps pour évitement de collision à l'aide de module d'analyse et d'évaluation de performances de commande de caps selon retard de commande lors de commande à distance de navire autonome - Google Patents

Procédé de calcul de plage de caps pour évitement de collision à l'aide de module d'analyse et d'évaluation de performances de commande de caps selon retard de commande lors de commande à distance de navire autonome Download PDF

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Publication number
WO2023136408A1
WO2023136408A1 PCT/KR2022/008625 KR2022008625W WO2023136408A1 WO 2023136408 A1 WO2023136408 A1 WO 2023136408A1 KR 2022008625 W KR2022008625 W KR 2022008625W WO 2023136408 A1 WO2023136408 A1 WO 2023136408A1
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WO
WIPO (PCT)
Prior art keywords
ship
heading
control
zigzag
rudder
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PCT/KR2022/008625
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English (en)
Korean (ko)
Inventor
임정빈
Original Assignee
한국해양대학교산학협력단
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Publication of WO2023136408A1 publication Critical patent/WO2023136408A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/30—Monitoring properties or operating parameters of vessels in operation for diagnosing, testing or predicting the integrity or performance of vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the technology required for autonomous ships between levels 2 and 3 is remote control, which uses a communication network to control autonomous ships from a place other than autonomous ships and by a remote operator. to safely steer.
  • it is required to comply with the heading control performance specified by the IMO, and if this heading control performance is degraded or changed, the ship may collide with other ships and deviate from the course.
  • silver time with time represents the longitude difference in minutes of the zigzag path between and time with time represents the latitude difference in minutes of the zigzag path between
  • FIG. 7 is a schematic diagram showing the control variable analysis result (ship B; rudder angle 20 degrees) according to the control delay according to the present invention.
  • FIG. 9 is a schematic diagram showing the control variable analysis result (ship C; rudder angle 10 degrees) according to the control delay according to the present invention.
  • FIG. 12 is a schematic diagram showing the analysis result of the zigzag curve according to the control delay according to the present invention (ship A, rudder angle 10 degrees);
  • 16 is a schematic diagram showing the analysis result of the zigzag curve (ship B, rudder angle 20 degrees) according to the control delay according to the present invention
  • 17 is a schematic diagram showing the analysis result of the zigzag curve (ship B, rudder angle 35 degrees) according to the control delay according to the present invention.
  • 33 is a schematic diagram showing the evaluation result of the zigzag average range (ship C, rudder angle 35 degrees) according to the control delay according to the present invention.
  • 34 is a schematic diagram showing the distance and azimuth evaluation result (ship C) of the zigzag average range according to the control delay according to the present invention.
  • Rate of Turn (ROT) data at time t ROT(t)
  • Is It represents the vector data of represents three types of zigzag rudder angle (10 °, 20 °, 35 °) index, represents the index of four types of control delay time (0 sec, 30 sec, 60 sec, 90 sec), ( is the final time taken for the measurement) represents the index of the measurement time.
  • Step 4 is the zigzag path data ( ) using the range between zigzag vertices ( ) is a step to visualize.
  • Path visualization of the zigzag range is a pair of longitude and latitude differences ( , ) was implemented using The calculation formula is Equation 1 below.
  • the average distance of the zigzag range (Lzz or ) was obtained by Equation 2 below using the initial position of the main line and the average position of the zigzag route.
  • FIG. 1 shows the evaluation concept of the heading control performance according to the control delay.
  • the core of the concept of the present invention is to use a zigzag path that can be changed by the control delay.
  • solid blue line ( ) represents the path generated when the ship is maneuvered in a zigzag pattern.
  • the present invention proposes to use data obtained by a ship steering simulator as zigzag path data, and the conditions for this simulation are three types of ships, four types of control delay time, and three types of steering angles as follows. Therefore, a total of 36 types (3X4X3) of zigzag path data were obtained.
  • the zigzag range increases as the rudder angle increases.
  • the control delay It is expected that it will be possible to effectively remotely control autonomous ships to maintain their course and avoid collisions by preventing deviation from the course and collision with other ships.

Abstract

Un procédé de calcul d'une plage de caps pour évitement de collision à l'aide d'un module permettant l'analyse et l'évaluation de performances de commande de caps selon un retard de commande dans la commande à distance d'un navire autonome est divulgué. La présente invention utilise un procédé de calcul d'une plage de caps pour évitement de collision à l'aide d'un module permettant l'analyse et l'évaluation de performances de commande de caps selon un retard de commande dans la commande à distance d'un navire autonome. Le procédé empêche le navire autonome de se dérouter ; peut assurer une navigation sûre du navire autonome, en empêchant des collisions avec d'autres navires ; et empêche le risque d'accidents en mer, en permettant de prédire les performances de commande de caps grâce à un retard de commande. L'invention peut ainsi contribuer à la sécurité et à l'économie de navigation.
PCT/KR2022/008625 2022-01-11 2022-06-17 Procédé de calcul de plage de caps pour évitement de collision à l'aide de module d'analyse et d'évaluation de performances de commande de caps selon retard de commande lors de commande à distance de navire autonome WO2023136408A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2022-0003839 2022-01-11
KR1020220003839A KR102388672B1 (ko) 2022-01-11 2022-01-11 자율운항선박의 원격제어에서 제어지연에 따른 선수방위 제어성능의 분석평가모듈을 이용한 충돌회피를 위한 선수방위 범위 산출방법

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WO2023136408A1 true WO2023136408A1 (fr) 2023-07-20

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KR102388672B1 (ko) * 2022-01-11 2022-04-20 한국해양대학교 산학협력단 자율운항선박의 원격제어에서 제어지연에 따른 선수방위 제어성능의 분석평가모듈을 이용한 충돌회피를 위한 선수방위 범위 산출방법

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