JPS63132188A - Collision preventing device - Google Patents
Collision preventing deviceInfo
- Publication number
- JPS63132188A JPS63132188A JP27839786A JP27839786A JPS63132188A JP S63132188 A JPS63132188 A JP S63132188A JP 27839786 A JP27839786 A JP 27839786A JP 27839786 A JP27839786 A JP 27839786A JP S63132188 A JPS63132188 A JP S63132188A
- Authority
- JP
- Japan
- Prior art keywords
- vessel
- cpu
- ship
- position information
- collision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000002265 prevention Effects 0.000 claims description 7
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は船舶などの移動体の衝突予防装置に関する。[Detailed description of the invention] (Industrial application field) The present invention relates to a collision prevention device for a moving object such as a ship.
（従来の技術およびその問題点）
従来用いられている船舶の衝突予防装置としてはマリン
レーダを使用するものがある。この装置には沿岸に設置
されるものと船舶に搭載されるものとがある。使い方と
しては、いずれも船舶の位置、針路、速度をレーダの画
面上で監視するか、船舶からの反射信号をコンピュータ
で処理してその動きを自動的に追跡する。しかし、レー
ダにはクラッタの問題がある。クラッタとは海面の波、
地形の凸部、雨滴や雲などから発生する好ましくない反
射波のことである。潮の干満による側波、荒天下のう、
ねりゃ風波、陸地、雨雲などから大きなりラックが発生
すると船舶の反射儂がこれらのクラッタに埋没して船舶
の捕捉、追跡が困難になる。また、レーダは一般に近接
した物体の分解能が悪く、近接した２隻の船体？！−１
隻と誤認する恐れがある。さらに、レーダから放射され
た電磁波は長い距離を進行する間にパルス幅が広がるか
ら分解能の低下は遠距離において顕著になる。また、同
じ理由でレーダの検出能つまりレーダが検出することの
できる最も小さい物体（船舶）の大きさは物体の距離が
遠くなる程低下する。(Prior Art and its Problems) Some conventional collision prevention devices for ships use marine radar. There are two types of this equipment: those installed on the coast and those mounted on ships. They can be used either by monitoring the ship's position, course, and speed on a radar screen, or by processing the signals reflected from the ship using a computer to automatically track its movement. However, radar has a problem with clutter. Clutter is waves on the sea surface.
Unfavorable reflected waves generated from uneven terrain, raindrops, clouds, etc. Side waves due to the ebb and flow of the tide, waves caused by stormy weather,
When a large clutter is generated from wind, waves, land, rain clouds, etc., the reflected light of the ship is buried in these clutter, making it difficult to capture and track the ship. Also, radar generally has poor resolution for objects that are close together, and two ships that are close together? ! -1
There is a risk of being mistaken for a ship. Furthermore, since the pulse width of the electromagnetic waves emitted from the radar increases while traveling over a long distance, the reduction in resolution becomes more noticeable at long distances. Furthermore, for the same reason, the detectability of radar, that is, the size of the smallest object (ship) that can be detected by radar, decreases as the distance of the object increases.
本発明の目的は、レーダを使用せず、従って上記のよう
なレーダを使用することに伴なう諸問題を持たない船舶
の衝突予防装置を提供することにある。It is an object of the present invention to provide a collision avoidance system for ships that does not use radar and therefore does not have the problems associated with using radar as described above.
（問題点を解決するだめの手段）
本発明の衝突予防装置は、移動体の衝突予防装置であっ
て、装置が搭載された移動体の位置、針路および速度を
それぞれ計測する複数のセンサと、受信部と、ＣＰＵと
、記憶部と、送信部とを有し、前記受信部は他の移動体
が送信する当該他の移動体の位置、針路および速度の各
データ並びにその移動体の識別コードを受信し、＾１工
記ＣＰＵは前記各センサが読み取った前記位置、針路お
よび速度の各データ並びに前記受信部が受信した前記他
の移動体の前記各データから衝突の危険の有無を予測し
衝突の危険があればアラーム信号を発生し、前記記憶部
は前記ＣＰＵが読み取った前記各データを記憶し、前記
送信部は前記記憶部に記憶された各データに装置が搭載
された移動体の識別コードを加えたデータを送信するこ
とを特徴とする。(Means for Solving the Problem) The collision prevention device of the present invention is a collision prevention device for a moving object, and includes a plurality of sensors that respectively measure the position, course, and speed of the moving object on which the device is mounted. It has a receiving section, a CPU, a storage section, and a transmitting section, and the receiving section receives each data of the position, course, and speed of the other moving object transmitted by the other moving object, as well as the identification code of the moving object. ^1 The engineering CPU predicts whether there is a risk of collision based on the position, course, and speed data read by the sensors and the data of the other moving body received by the receiver. If there is a risk of collision, an alarm signal is generated, the storage section stores the respective data read by the CPU, and the transmission section transmits the information of the mobile body on which the device is mounted to each data stored in the storage section. It is characterized by transmitting data with an identification code added.
（実施例）
本発明の一実施例を第１図に示す。本実施例では装置を
船舶に搭載した。いずれも図示されていないが、装置を
搭載した船舶（以下本船という）の位置、針路、速度（
これらのデータをまとめて以下船位情報という）を検出
する各センナとしては、速度センサにはドツブラソーナ
を、針路センサにはジャイロコンパスを用いた。また、
位置の計測には高精度の位置計測が連続して安定に行え
ルクローバル・ホシショニング・システム（ＧＰＳ）ヲ
用いた。入力上ンサインターフェースｉ７はこれら各セ
ンサからの信号を受は取ってＣＰＵＩへ送る。タイマー
６はタイミングクロックを発生して本装置の各部へ送る
。本装置の各部の動作は第２図に示すタイミングチャー
トに従って行われる。(Example) An example of the present invention is shown in FIG. In this example, the device was mounted on a ship. Although not shown, the position, course, and speed (hereinafter referred to as the vessel) of the vessel equipped with the equipment (hereinafter referred to as the vessel) (
As sensors for detecting these data (collectively referred to as vessel position information hereinafter), a Dotsubura Sona was used as a speed sensor, and a gyro compass was used as a course sensor. Also,
To measure the position, we used a global positioning system (GPS) that can perform continuous and stable high-precision position measurements. The input sensor interface i7 receives signals from each of these sensors and sends them to the CPUI. The timer 6 generates a timing clock and sends it to each part of the device. The operations of each part of this device are performed according to the timing chart shown in FIG.
ＣＰＵＩはタイマー６から送られるタイミングクロック
に従ってｔ３秒毎にセンナから信号を読み取って記憶部
２へ送り記憶させる。そして、ｉ１秒より長く設定され
たｔ７秒間に記憶されたセンサ情報を平滑化してｔ２秒
毎の船位情報を算出する。The CPUI reads the signal from the sensor every t3 seconds according to the timing clock sent from the timer 6, and sends it to the storage unit 2 to be stored. Then, the sensor information stored for t7 seconds, which is set longer than i1 seconds, is smoothed to calculate ship position information every t2 seconds.
航行海域の水深が深すぎてドッグラソーナが役に立たな
いときはｔ！秒間に本船が進んだ距離をＧＰＳから求め
てその間の速度を算出すればよい。If the water in the navigation area is too deep and Dograsona is useless, use t! All you have to do is find out from GPS the distance traveled by the ship in seconds and calculate the speed during that time.
ＣＰＵ１はこのようにして得た各データを記憶部２に記
憶させる。送信インターフェース部１０はタイマー６か
ら送られるタイミングクロックに従ってｔ８秒毎に記憶
部２から本船の船位情報を読み出し、これに本船の識別
コードである船名コードを加えてシリアルコードに変換
する。なお同じ船位情報が繰返し送信されるのを防ぐた
めにｔ。The CPU 1 causes the storage unit 2 to store each data obtained in this way. The transmission interface section 10 reads out the ship's position information from the storage section 2 every t8 seconds in accordance with the timing clock sent from the timer 6, adds the ship's name code which is the identification code of the ship, and converts it into a serial code. Note that in order to prevent the same ship position information from being sent repeatedly.
は通常ｔ、より長く設定される。送信部３はこのシリア
ルコードをパルス列化して搬送波を変調し増幅した後に
アンテナ１２から送信する。受信部４は、本発明の装置
を搭載した他の船舶から送られて来たその船舶の船位情
報をアンテナ１２から入力し信号を復調してシリアルコ
ードに直し受信インターフェース部９を介してＣＰＵ１
へ送る。is usually set longer than t. The transmitter 3 converts this serial code into a pulse train, modulates and amplifies the carrier wave, and then transmits it from the antenna 12. The receiving section 4 inputs ship position information sent from another ship equipped with the device of the present invention from the antenna 12, demodulates the signal, converts it into a serial code, and sends it to the CPU 1 via the receiving interface section 9.
send to
送受信切換部１３は受信を行うときは受信部４を作動さ
せ送信を行うときは送信部３を作動させる。The transmission/reception switching section 13 operates the receiving section 4 when performing reception, and operates the transmitting section 3 when performing transmission.
アンテナ切換部１１は送受信切換部１３からの信号に従
ってアンテナ１２’ｉ、受信の際は受信モードに、送信
の際は送信モードに切換える。ｔ３は移動体が船舶であ
る場合は通常１０秒程度とする。The antenna switching section 11 switches the antenna 12'i to a reception mode for reception and to a transmission mode for transmission according to a signal from the transmission/reception switching section 13. t3 is normally about 10 seconds when the moving object is a ship.
船位情報は、緯度に６桁、経度に７桁、針路と速度に各
３桁、船名に１０桁をそれぞれ割り当てても合計２９桁
、約３０桁でありこれらの送信時間Δｔは１００ ｍｓ
以下である。このように、大部分の時間が受信のため
に開放されているから、複数の船舶からの船位情報を入
手することが容易である。Δを秒の送信時間中に受信し
損なった他の船舶の船位情報は、例えば本装置の外部に
接続されたホストＣＰＵで補間して求めればよい。ＣＰ
Ｕ１は受信した他の船舶の船位情報を記憶部２に記憶さ
せておき、下記の式を用いて、すべての相手船と本船と
の相対位ｔを算出する。Ship position information has 6 digits for latitude, 7 digits for longitude, 3 digits each for course and speed, and 10 digits for ship name, totaling 29 digits, about 30 digits, and the transmission time Δt for these is 100 ms.
It is as follows. In this way, since most of the time is open for reception, it is easy to obtain ship position information from a plurality of ships. The position information of other ships that failed to receive Δ during the transmission time of seconds may be obtained by interpolation using, for example, a host CPU connected to the outside of this device. C.P.
U1 stores the received ship position information of other ships in the storage unit 2, and uses the following formula to calculate the relative positions t between all other ships and the main ship.
ｄＬ＝Ｌｉ−Ｌ。dL=Li−L.
ｄｅ＝ｆ−１０
ｍ／＝ｄ＃／２
ｄＰ ＝ ｄｅ−ＣＯ３（ｒｎｌ）
θ１＝ｔａｎ−’ （ｄ Ｐ ／ ｄｅ ）ｒ、＝ｃｉ
ｌ！／ωＳθ
ここで、Ｊｉ、 Ｌｉは相手船のり度と経度、ｊｏ。de=f-10 m/=d#/2 dP=de-CO3(rnl) θ1=tan-' (dP/de)r,=ci
l! /ωSθ Here, Ji and Li are the other ship's altitude and longitude, and jo.
Ｌｌ、は本船の緯度と経度、’ｔ＋ ０１は相手船と本
船の距離と方位角である。ＣＰＵＩはこれらの量からさ
らに船と船の衝突の危険度を表わす船舶データを算出す
る。この値は小さい程衝突の危険が大きく、これが予め
設定されている衝突パラメータより小さいときＣＰＵＩ
は外部出力インターフェース部８を通じてアラーム信号
を送出する。Ll is the latitude and longitude of the main ship, and 't+01 is the distance and azimuth between the other ship and the main ship. From these quantities, the CPU further calculates ship data representing the risk of ship-to-ship collision. The smaller this value is, the greater the risk of collision; if this value is smaller than the preset collision parameter, the CPU
sends out an alarm signal through the external output interface section 8.
以上船舶を移動体とする例に即して説明したが、本発明
の装置は航空機のような他の移動体にも用いることがで
きることは云うまでもない。Although the above description has been made based on an example in which a ship is a moving object, it goes without saying that the apparatus of the present invention can also be used for other moving objects such as an aircraft.
（発明の効果）
このように、本発明の衝突予防装置を用いれば移動体の
衝突を防止することができる。この装置はレーダを用い
ないから、従来の装置のようなレーダの使用に伴なうク
ラッタや不充分な分解能および検出能などの問題がない
。(Effects of the Invention) As described above, by using the collision prevention device of the present invention, collisions of moving bodies can be prevented. Because this device does not use radar, it does not suffer from the problems of clutter and insufficient resolution and detectability associated with the use of radar as with conventional devices.
第１図は本発明の一実施例のブロック図である。
第２図は第１図に示した実施例各部の動作タイミングを
表わすタイミングチャートである。
１・・・ＣＰＵ、２・・・記憶部、３・・・送信部、４
・・・受信部、６・・・タイマー、７・・・入力センサ
インターフェース部、８・・・外部出力インターフェー
ス部、９・・・受信インターフェース部、１０・・・送
信インターフェース部、１１・・・アンテナ切換部、１
２・・・アンテナ、１３・・・送受信切換部。FIG. 1 is a block diagram of one embodiment of the present invention. FIG. 2 is a timing chart showing the operation timing of each part of the embodiment shown in FIG. 1...CPU, 2...Storage unit, 3...Transmission unit, 4
... Receiving section, 6... Timer, 7... Input sensor interface section, 8... External output interface section, 9... Receiving interface section, 10... Transmitting interface section, 11... Antenna switching section, 1
2... Antenna, 13... Transmission/reception switching unit.
Claims (1)
路および速度をそれぞれ計測する複数のセンサと、受信
部と、ＣＰＵと、記憶部と、送信部とを有し、前記受信
部は他の移動体が送信する当該他の移動体の位置、針路
および速度の各データ並びにその移動体の識別コードを
受信し、前記ＣＰＵは前記各センサが読み取つた前記位
置、針路および速度の各データ並びに前記受信部が受信
した前記他の移動体の前記各データから衝突の危険の有
無を予測し衝突の危険があればアラーム信号を発生し、
前記記憶部は前記ＣＰＵが読み取つた前記各データを記
憶し、前記送信部は前記記憶部に記憶された各データに
装置が搭載された移動体の識別コードを加えたデータを
送信することを特徴とする衝突予防装置。A collision prevention device for a moving object, comprising a plurality of sensors that respectively measure the position, course, and speed of the moving object, a receiving section, a CPU, a storage section, and a transmitting section, the receiving section comprising: The CPU receives data on the position, course, and speed of the other moving body transmitted by the other moving body, as well as the identification code of the moving body, and the CPU receives each data on the position, course, and speed read by each of the sensors. and predicting whether there is a risk of collision based on the data of the other moving body received by the receiving unit, and generating an alarm signal if there is a risk of collision;
The storage unit stores each of the data read by the CPU, and the transmission unit transmits data obtained by adding an identification code of a mobile body in which the device is mounted to each of the data stored in the storage unit. Collision prevention device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27839786A JPS63132188A (en) | 1986-11-21 | 1986-11-21 | Collision preventing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27839786A JPS63132188A (en) | 1986-11-21 | 1986-11-21 | Collision preventing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63132188A true JPS63132188A (en) | 1988-06-04 |
Family
ID=17596772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP27839786A Pending JPS63132188A (en) | 1986-11-21 | 1986-11-21 | Collision preventing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63132188A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009116728A1 (en) * | 2008-03-21 | 2009-09-24 | Kim Hyoung Soo | Device for preventing vehicular collision |
| JP2017529058A (en) * | 2014-05-07 | 2017-10-05 | ネオ ポップ | Pet display |
-
1986
- 1986-11-21 JP JP27839786A patent/JPS63132188A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009116728A1 (en) * | 2008-03-21 | 2009-09-24 | Kim Hyoung Soo | Device for preventing vehicular collision |
| JP2017529058A (en) * | 2014-05-07 | 2017-10-05 | ネオ ポップ | Pet display |
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