JPH045954B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a ship collision risk assessment method that is most suitable for use in preventing ship collisions in congested sea areas, such as in narrow waterways or in ports.

[Prior Art] Conventionally, the techniques for preventing ship collisions in congested sea areas such as narrow waterways or inside ports are as follows:
Since we have been dealing with signals in the ocean using centimeter wave radar signals, we have captured a ship as a point and set a large circle around that point, and within this circle, the points of other ships are located on the extension of a straight line vector. It depends on the method of determining whether or not there will be an intrusion.

[Problem to be solved by the invention] By the way, collision prevention of ships is the most important point in navigation, but as labor saving progresses, conventional automatic It is becoming extremely difficult to maneuver a vessel while using the Collision Preventive Aids (ARPA). especially,
As the distance between ships approaches and decreases in a port, etc., the ships occupy a relatively large area on the sea surface. Therefore, by capturing ships as points, it is not possible to accurately calculate and judge collisions. Not only is it not possible, but it is also impossible to assess how dangerous it is and how it will change over time.

The present invention was made to solve the above-mentioned problems, and its purpose is to evaluate the risk of ship collision, which can be used to prevent ship collisions in congested sea areas such as narrow waterways and ports. The purpose is to provide a method.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a vessel that is detected by a centimeter wave radar and determined to be at risk of collision as a result of calculation processing by an automatic collision prevention aid device. Other ships are scanned at high speed and accurately tracked using millimeter wave radar, and accurate data on other ships is input and updated at high speed. Set a plane of predicted danger range divided into several ranks according to the degree of danger on the relative vector between own ship and other ships, calculate the degree to which the area occupied by own ship will invade the predicted danger range, and display it on the display. By displaying the degree to which the own ship's occupied area enters into which rank of the predicted danger range and how this changes over time, and performing an instant collision risk assessment, it is possible to distinguish between own ship and other ships. In addition to displaying the degree of collision risk and how it changes over time to help you evaluate the collision risk, we also display the same way of giving way through simulation to help you find better ways to give way. I'm trying to find a way.

[Operation] According to the ship collision risk evaluation method of the present invention described above, the millimeter It uses wave radar to track at high speed and precision, and determines whether the area occupied by your own ship will invade the predicted danger range (5 ranks) set on a relative vector centered on other ships, and if so, how much time will it take. How it changes over time is displayed on the display so that it can be seen at a glance, allowing crew members to instantly assess the collision risk.

[Example] Hereinafter, an example of the present invention shown in the drawings will be described. Figures 1 to 6 show an embodiment of the ship collision risk assessment method of the present invention; Figure 1 is a diagram showing the area occupied by own ship based on own ship data calculated by a computer; Figure 3 shows the predicted danger range around other ships on a relative vector based on the data of other ships captured and tracked by millimeter wave radar. Figure 3 shows the correlation in which the own ship's occupied area enters the predicted danger range (5 ranks). Figure 4 shows the predicted danger range (5 ranks) for the own ship's occupied area.
This is a diagram displayed on a display showing the rate of intrusion and its change over time.
Further, FIG. 5 is a flow diagram showing the functions within the computer, and FIG. 6 is a diagram showing the equipment configuration.

In the figure, a ship detected by a centimeter-wave radar antenna is signal-processed by a centimeter-wave transceiver 20, and an automatic collision prevention assist system (ARPA) 30 performs a collision judgment calculation using a conventional method. When it is determined that there is a risk of collision with the own ship, the data of that ship is transferred to the computer 60.

On the other hand, in the computer 60, the precise signal of the ship, which is captured and tracked by the millimeter wave radar antenna 40 and updated at high speed, is transmitted to the millimeter wave transceiver 5.
Based on this signal, the predicted dangerous range (5 ranks) moving on a relative vector centering on other ships is calculated and set as shown in Figure 2, and at the same time, the own ship's occupancy is calculated based on the own ship's data. The area is also calculated and set as shown in FIG. In addition, the computer 60 further calculates the relationship between these two aspects, and ranks the own ship's occupied area within the predicted danger range (5 ranks).
As shown in Fig. 3, we calculate how much the penetration into which rank and how it changes over time, and display this on the display 70.
is output to.

In the display 70, the computer 6
Based on the input data from 0, you can see at a glance how much the own ship's occupied area enters into which rank of the predicted danger range (5 ranks) and how it changes over time. That is, as shown in FIG. 4, the collision risk is displayed so that it can be evaluated instantly.

In addition, in Fig. 1, a=f(L1, V), b=
(B) respectively, where L1 represents the total length of own ship, V represents the speed of own ship, and B represents the total width of own ship. Also, in Figure 2, γ=1/(K+2)・
f(L2), l=1/K・f(v)+Σ, respectively, where K is the rank of predicted danger range: 5 (severe danger) 4
(Major danger) 3 (Medium danger) 2 (Small danger) 1 (Light danger)
, Σ represents the observation error + prediction error, L2 represents the total length of the other ship, and V represents the relative speed between the own ship and the other ship.

Furthermore, in FIG. 4, the own ship's occupied area enters predicted danger range 1 (light danger) between time _t1 and _t'1 .

The maximum intrusion rate is 70% and is displayed in YELLOW-GREEN.

The own ship's occupied area enters predicted danger range 2 (small danger) between times t ₂ and t′ ₂ .

The maximum intrusion rate is 50% and is displayed in YELLOW.

The own ship's occupied area enters predicted danger range 3 (medium danger) between times t ₃ and t′ ₃ .

Maximum intrusion rate is 20% and YELLOW-ORANGE
will be displayed at

If the own ship's occupied area enters predicted danger range 4 (major danger), it will be displayed as ORANGE.

If the own ship's occupied area enters predicted danger range 5 (severe danger), it will be displayed in RED.

In the present invention, the reason why the millimeter wave radar is used to track other ships is as follows.

In other words, in order to make real-time early predictions and judgments of the actions of multiple other vessels and to set optimal avoidance routes (achieved by building a system that can always make correct judgments in real time under complex overlapping conditions), it is necessary to It is essential to employ high performance sensors to obtain ship/own ship information (high performance and accurate). In other words, it is a systemization using high-performance radar (assuming millimeter wave radar), image sensors, transponders, etc.

Millimeter wave radar is X band (centimeter wave radar)
Compared to the scanner, the scanning speed is faster (scanner rotation speed: 1 revolution/second, centimeter wave radar, for example, 1/3 revolution/second), and targets such as small ships can be captured in fine detail. It is also small and lightweight.

[Effects of the Invention] As explained below, according to the ship collision risk assessment method of the present invention, the own ship and other ships are captured and calculated as surfaces, and the correlation between the own ship and other ships is calculated. It is possible to accurately predict and display to what extent and how the risk level of a relationship will increase or decrease. In addition, predictions can be similarly displayed using navigation simulation, which provides significant advantages such as being able to perform accurate navigation maneuvers.

[Brief explanation of drawings]

Figures 1 to 6 show an embodiment of the ship collision risk assessment method of the present invention; Figure 1 is a diagram showing the area occupied by own ship based on own ship data calculated by a computer; Figure 3 shows the predicted danger range around other ships on a relative vector based on the data of other ships captured and tracked by millimeter wave radar. Figure 3 shows the correlation in which the own ship's occupied area enters the predicted danger range (5 ranks). Figure 4 is a diagram showing the rate at which the own ship's occupied area enters the predicted danger range (5 ranks) and its change over time. Figure 5 is a diagram showing the functions within the computer. The flowchart shown in FIG. 6 is a diagram showing the equipment configuration. 10... Centimeter wave radar antenna, 20... Centimeter wave transceiver, 30... Automatic collision prevention assistance system (ARPA), 40... Millimeter wave radar antenna, 50
... Millimeter wave transceiver, 60 ... Computer, 7
0...Display.

Claims (1)

[Claims] 1. Another ship that is detected by the centimeter wave radar and determined to be at risk of collision as a result of calculation processing by the automatic collision prevention aid device is scanned at high speed and precisely tracked by the millimeter wave radar. Accurate data on other ships is entered and updated at high speed, and a computer uses a computer to define one's own ship as a surface with an occupied area, and to plot the relative vector between one's own ship and other ships around the other ship according to the degree of danger. The plane of the predicted danger range divided into several ranks is calculated, and the extent to which the own ship's occupied area intrudes into the predicted danger range is calculated, and the display shows which rank of the predicted danger range the own ship's occupied area falls into. By instantly evaluating the collision risk by displaying the degree of intrusion and how this changes over time, it is possible to determine the degree of collision risk between your own ship and another ship and how this changes over time. This invention is characterized in that the degree of collision risk can be evaluated by displaying how it changes with the ship collision risk, and also displays the same way of giving way by simulation, so that better methods of giving way can be found. degree evaluation method.