JP2022114274A - Aboardage support system and aboardage support method - Google Patents

Abstract

To provider an aboardage support system capable of easily controlling the aboardage of a ship to an offshore structure.SOLUTION: An aboardage support system comprises an acquisition part to acquire first information indicating the position and the azimuth of a ship and second information indicating a positional relation between the ship and objects, and a control part to control the operation of the ship. The control part navigates the ship so as to approach the offshore structure and controls a bow azimuth in the direction of the aboardage position when approaching the offshore structure based on the first information and the second information acquired by the acquisition part, and on the positional information of the offshore structure registered by receiving the signal from the offshore structure or in advance.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a shipboarding support system and a shipboarding support method.

Ships are sometimes navigated to offshore structures such as offshore wind turbines and large vessels. Compared to docking on land such as in a harbor, berthing to offshore structures requires more skillful driving skills. Patent Literature 1 discloses control for navigating a ship to the vicinity of a harbor based on position information of the ship, etc., and for docking the ship while measuring the distance to objects around the docking position using an optical sensor. ing.

Japanese Patent Application Laid-Open No. 2020-59403

There is a demand for a technology that facilitates coming alongside a target point set on or near a marine structure.

The present disclosure provides a shipboarding support system and a shipboarding support method that can solve the above problems.

A shipboard support system of the present disclosure includes an acquisition unit that acquires first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and a marine structure, and the operation of the ship. a control unit for controlling, wherein the control unit receives the first information and the second information acquired by the acquisition unit, and receives a signal from the offshore structure or the information of the offshore structure registered in advance Based on position information, the ship is navigated so as to approach the offshore structure, and when approaching the offshore structure, while controlling the heading of the ship in a predetermined direction, the offshore structure or The vessel is brought alongside at a docking position provided in the vicinity of the offshore structure.

In the method for assisting coming alongside of the present disclosure, first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and a marine structure are acquired, and the acquired first information and based on the second information and position information of the offshore structure that is received from the offshore structure or registered in advance; When approaching the structure, the ship is brought alongside the marine structure or a berthing position provided in the vicinity of the marine structure while controlling the heading of the ship in a predetermined direction.

According to the berthing support system and the berthing support method of the present disclosure, it is possible to facilitate the berthing of a ship to a target point set in or near a marine structure.

1 is a diagram showing an example of a shipboard support system according to an embodiment; FIG. FIG. 10 is a first diagram illustrating a method for assisting coming alongside according to an embodiment; FIG. 11 is a second diagram illustrating a method for assisting coming alongside according to the embodiment; FIG. 11 is a third diagram illustrating a method for assisting coming alongside according to the embodiment; FIG. 4 is a fourth diagram illustrating a method for assisting coming alongside according to the embodiment. 4 is a flow chart showing an example of the operation of the shipboard support system according to the embodiment; It is a figure which shows an example of the hardware constitutions of the boarding assistance system which concerns on embodiment.

<Embodiment>
Hereinafter, a shipboard support system according to an embodiment will be described in detail with reference to FIGS. 1 to 7. FIG.
(Constitution)
FIG. 1 is a block diagram showing an example of a shipboard support system according to an embodiment.
The berthing support system 100 includes a ship 1 and a marine structure 20 . The offshore structure 20 is, for example, a floating facility such as an offshore wind turbine or FPSO (floating production, storage and offloading), or a large ship. The offshore structure 20 is provided with an entrance 21 . The entrance/exit 21 is, for example, a loading/unloading entrance for personnel or a loading/unloading entrance used for transporting articles. A target point 30, which is a target position for coming alongside the ship 1, is set near the doorway 21 (for example, several meters before). The target point 30 may be at the same position as the entrance/exit 21 . For example, the offshore structure 20 in FIG. 1 is an offshore wind turbine facility, and has a diameter of about 5 to 6 m and a width of the entrance 21 of about 1 to 1.5 m.

The ship 1 is, for example, a water jet ship, a propeller ship, an electric propulsion ship, a hybrid ship, or the like. The ship 1 includes a positioning sensor 2 that measures the position of the ship 1, a direction sensor 3 that measures the direction, a shipboard sensor 4 that detects the positional relationship between the ship 1 and an object, a propulsion device 5, and a control device. a device 10; The positioning sensor 2 is a receiver that receives the position information of the vessel 1 positioned by a satellite positioning system such as GPS (Global Positioning System), Galileo, and Michibiki. The orientation sensor 3 is, for example, a compass or a gyro. The shipboard sensor 4 is, for example, one or more of radar, laser, camera, sonar, and the like. The shipboard sensor 4 may be supported by a gimbal device in order to mitigate the effects of the ship's sway. The propulsion device 5 includes a propeller, a water jet, a thruster, a rudder, a pod propulsion device, a main machine such as an internal combustion engine that drives them, an electric propulsion system including a motor, and the like. Further, the propulsion device 5 includes an auxiliary propulsion device such as a bow thruster (propulsion device 5C). The propulsion devices 5A to 5C in FIG. 1 are examples of the propulsion device 5. As shown in FIG.

The control device 10 includes a target position information acquisition unit 11, a sensor information acquisition unit 12, an operation reception unit 13, a control unit 14, a shipboard control unit 141, a positional relationship analysis unit 142, a storage unit 15, and an output unit 16 .
The target position information acquisition unit 11 acquires position information of the target point 30 and the offshore structure 20 . For example, if the position of the target point 30 is known in advance, the target position information acquisition unit 11 acquires the latitude and longitude of that position. Also, when the offshore structure 20 moves, such as a ship under maneuvering, the target position information acquisition unit 11 acquires the latitude and longitude of the offshore structure 20 transmitted by the offshore structure 20 .

The sensor information acquisition unit 12 acquires information measured by the positioning sensor 2 , the direction sensor 3 , and the shipboard sensor 4 .
The operation accepting unit 13 accepts an operator's operation. For example, when an operator performs an operation for instructing the control device 10 to execute automatic alongside control, the operation reception unit 13 receives this instruction operation.

The control unit 14 controls the movement of the ship 1 by controlling the propulsion device 5 . For example, when the propulsion device 5 is a water jet, the control unit 14 causes the port side propulsion device 5A and the starboard propulsion device 5B to output a jet stream backward (in the direction of the arrow 6a) to move the ship 1 forward. Further, the control unit 14 causes the propulsion devices 5A and 5B to output a jet stream forward (in the direction of the arrow 6d) to move the ship 1 backward. Further, the control unit 14 causes the propulsion device 5A to output a jet to the diagonally forward right (direction of the arrow 6e) and the propulsion device 5B to output a jet to the diagonally right rearward (direction of the arrow 6c), thereby causing the ship 1 to move to the right. move. The control unit 14 causes the propulsion device 5A to output a jet to the left diagonally (in the direction of the arrow 6b) and the propulsion device 5B to output the jet to the left diagonally (in the direction of the arrow 6f), thereby moving the vessel 1 to the left. . Further, when turning right on the spot, the control unit 14 outputs a jet to the propulsion device 5A obliquely to the rear left (in the direction of the arrow 6b) and to the propulsion device 5B to the oblique leftward (in the direction of the arrow 6f). In the case of turning to the left on the spot, the propulsion device 5A outputs a jet obliquely forward right (direction of arrow 6e) and the propulsion device 5B outputs a jet obliquely rearward right (direction of arrow 6c). Further, when the ship 1 is equipped with a bow thruster (propulsion device 5C), for example, when the ship 1 is moved to the left side, the control unit 14 controls the propulsion devices 5A and 5B as described above, and also moves the propulsion device 5C to the left side. When turning is controlled and moved to the right, in addition to the above control of the propulsion devices 5A and 5B, the propulsion device 5C is controlled to turn to the right. Even when the propulsion device 5 is a propeller or thruster, the control unit 14 controls the movement of the ship 1 by controlling the rotation speed and rudder of the propeller or thruster.

Further, the control unit 14 has a function of automatically operating the ship 1 . For example, the control unit 14 plans the target route toward the position of the target point 30 acquired by the target position information acquisition unit 11 based on the position information measured by the positioning sensor 2 acquired by the sensor information acquisition unit 12. , the propulsion device 5 is controlled so that the ship 1 moves along this target route. At this time, the control unit 14 may have a learning function using AI or the like, and the target route may be a route that reflects the results of learning the past route. may be incorporated into the control and learned. Further, when the route of the ship 1 deviates from the target route due to the influence of sea conditions, etc., the control unit 14 controls the propulsion device 5 so that the ship 1 returns to the target route. These control methods required for automatic driving are known. Further, the control unit 14 has a function of controlling the heading (the direction of the arrow 7) of the ship 1 in a predetermined direction so that it comes alongside the target point 30 when the ship 1 approaches the offshore structure 20. is doing. Specifically, the control unit 14 includes a boarding control unit 141 and a positional relationship analysis unit 142 .

The boarding control unit 141 performs automatic boarding control of the ship 1 using one or more of the data measured by the positioning sensor 2 , the azimuth sensor 3 , and the boarding sensor 4 . The automatic berthing control is to automatically perform an operation that aligns the bow position with the target point 30 while directing the heading of the ship 1 in a predetermined direction. The predetermined direction is, for example, the direction in which the heading of the ship 1 indicated by the arrow 7 in FIG.

The positional relationship analysis unit 142 analyzes the positional relationship of the offshore structure 20 with respect to the ship 1 based on the information measured by the shipboard sensor 4 . The positional relationship is the distance between the ship 1 and the offshore structure 20 and the direction of the offshore structure 20 viewed from the ship 1 .
The storage unit 15 stores various information necessary for navigation of the ship 1 .
The output unit 16 outputs information necessary for controlling the ship 1 to a display or the like.

Next, with reference to FIGS. 2 to 5, automatic docking control to a marine structure will be described.
<If the offshore structure is an offshore wind turbine>
(Automatic berthing control: first setting condition)
First, referring to FIG. 2, the control when the ship 1 moves to the vicinity of the offshore structure 20 will be described. Ships 1a to 1c indicate the position and attitude of ship 1 at times Ta to Tc (Ta<Tb<Tc), respectively. When the operating condition of the ship 1 satisfies the first set condition, the berthing control unit 141 starts automatic berthing control under the first set condition. The automatic alongside control may be automatically started when the operating condition of the ship 1 satisfies the first set condition, or when the ship 1 satisfies the first set condition, the output unit 16 outputs the "target point". We are approaching. Please start automatic berthing control." may The first setting conditions are, for example, (α) that the position of the ship 1 is within a range of a predetermined distance R2 from the offshore structure 20, (β) that the position of the ship 1 is within a predetermined and (γ) the speed of the ship 1 is within a predetermined range. The distance R2 of (α) is set to a value between 50 and 100 km, for example. Existence in the direction of the predetermined range of (β) means, for example, that the ship 1 exists within a range of 90 degrees to the left and right of a straight line connecting the center of the offshore structure 20 and the target point 30 . The speed of (γ) within a predetermined range means, for example, that the speed of the ship 1 is a speed that can be regarded as a speed (for example, 10 knots or less) at which it can come alongside safely. The first setting condition does not need to have all of (α) to (γ), for example, it may be only conditions (α) and (β), or only conditions (α) and (γ). However, only the condition (α) may be used. The control unit 14 calculates the current position of the ship 1 and the target point 30 (or the target shipboard position) based on the direction information measured in real time by the direction sensor 3 and the position information of the ship 1 measured in real time by the positioning sensor 2. , the propulsion device 5 is controlled so that the vessel 1 moves at a constant speed (eg, 3 to 4 knots) along the target route L1. As shown in the vessel 1b, when the vessel 1 deviates from the target route L1, the control unit 14 controls the propulsion device 5 so that the vessel 1 returns to the target route L1. As a result, the ship 1 returns to the target route L1, as shown by the ship 1c.

(Automatic berthing control: Second setting condition)
When the operating condition of the ship 1 satisfies a predetermined second set condition, the control unit 14 performs the following controls (1) and (2). The second set condition is a condition related to the distance from the target point 30 .

(1) Speed control in automatic berthing control (second set condition) Automatic berthing control under the second set condition will be described with reference to Figs. 3 and 4 . Ships 1d to 1e in FIG. 3 show the positions and attitudes of ship 1 at times Td to Te (Tc<Td<Te in FIG. 2), respectively. Further, the measurement ranges RRd and RRe are examples of ranges in which objects can be detected from the ships 1d and 1e by the berthing sensor 4 when the berthing sensor 4 is a laser or radar, respectively. When the ship 1 satisfies the second setting condition of the automatic alongside control, the coming alongside control unit 141 gradually reduces the ship speed from 3 to 4 knots to 1 to 2 knots or less. For example, when the target point 30 is set on the ocean in front of the entrance 21, the berthing control unit 141 reduces the ship speed to 1 to 2 knots so that the bow of the ship 1 is aligned with the target point 30. The ship 1 is moved, and the speed of the ship 1 is controlled to an appropriate speed according to the sea conditions so that the posture of the ship 1 can be maintained at that position. Alternatively, when the automatic berthing control is started, the berthing control unit 141 arbitrarily accelerates or decelerates the ship speed of 3 to 4 knots to bring the ship 1 closer to the target point 30 . For example, by accelerating or decelerating to a speed suitable for automatic alongside control according to sea conditions, the vessel 1 can be accurately moved to the target point 30 and held at that position.

(2) Control of position and heading in automatic alongside control (second set condition) When the ship 1 meets the second set condition of automatic alongside control, the positional relationship analysis unit 142 detects that the sensor 4 for coming alongside measures Based on the obtained information, the positional relationship between the ship 1 and the object is analyzed. The object is, for example, the offshore structure 20 . Specifically, the positional relationship analysis unit 142 analyzes the distance from the ship 1 to the object and the direction from the ship 1 to the object. Now refer to FIG. For example, when the sensor 4 for berthing is a laser or a radar, the berthing control unit 141 directs the beam V1 of a laser, radar, or the like in a predetermined direction (for example, if the heading or launch direction can be adjusted, the target object is direction). If there is an object (offshore structure 20) in the launch direction, the beam V1 is reflected by the object, and the shipboard sensor 4 receives the reflected light and reflected waves. The positional relationship analysis unit 142 measures the distance from the ship 1 to the object (offshore structure 20) based on the time from launch to reception. In addition, the positional relationship analysis unit 142 calculates the arrival angle of the received reflected light and reflected waves by a known method, and analyzes the direction from the ship 1 to the target object (offshore structure 20) based on the arrival angle. do. In addition, when the sensor 4 for coming alongside is a camera, the coming alongside control unit 141 instructs the camera to take an image, and takes an image of a predetermined range in the direction in which the camera is directed. The positional relationship analysis unit 142 analyzes the image captured by the camera by a known image analysis method, and analyzes the distance and direction from the ship 1 to the object. Further, when the sensor 4 for coming alongside is a sonar, the coming alongside control unit 141 instructs the sonar to transmit sound waves in a predetermined range in the direction in which the sonar is directed, thereby detecting the underwater portion of the object (offshore structure 20). The positional relationship analysis unit 142 measures the distance from the vessel 1 to the object (offshore structure 20) based on the time from transmission to reception. When the target structure is in the sea, for example, when the target is a submerged anchor or underwater equipment, a sensor (such as a sonar) can be installed underwater as an alternative to the positioning sensor 2. Carry out boarding control. By applying this control, it is also possible to target a working robot or the like that is moving in water and use it for the purpose of maintaining a constant distance.

When the distance and direction from the ship 1 to the target object are obtained, the berthing control unit 141 moves from the current ship 1 to the target point 30 based on the positional relationship between the target point 30 and the offshore structure 20 (target object). Calculate the distance and direction of After calculating the distance and direction from the ship 1 to the target point 30 , the boarding control unit 141 controls the propulsion device 50 to move the bow of the ship 1 to the target point 30 . A method of controlling the propulsion device 50 for moving the bow of the ship 1 to the target point 30 based on the distance and direction from the ship 1 to the target point 30 is known. Further, the shipboard control unit 141 orients the heading of the ship 1 in a predetermined direction. For example, the boarding control unit 141 may control the attitude of the ship 1 so that the heading of the ship 1 faces the target. "Facing" means that the straight line of the heading passing through the bow and the straight line connecting the center of the offshore structure 20 and the target point 30 coincide. For example, if the target point 30 is the doorway 21, getting on and off the offshore structure 20 is facilitated by making the bow direction face the doorway 21 and coming alongside.

Also, for example, like the ship 1d in FIG. 3, when the target does not exist in the measurement range of the laser, radar, or sonar (when the reflected wave cannot be received), or when it does not exist in the imaging range of the camera (image (when the object is not shown in the image), the berthing control unit 141 receives the position information of the target point 30 given in advance, the current position information of the ship 1 measured by the positioning sensor 2, and the measurement value of the direction sensor 3. and the current heading of the ship 1 based on , and the propulsion device 50 is controlled so that the target (offshore structure 20) is included in the measurement range, and the position and attitude of the ship 1 are adjusted. Thus, in the automatic alongside control under the second set condition, the alongside control unit 141 uses the measured values of the positioning sensor 2 and the direction sensor 3 to adjust the position and attitude of the ship 1, and the target The ship 1 is moved toward the target point 30 by using the measured values of the shipboard sensor 4 that can more precisely measure the positional relationship (distance and direction) between the point 30 and the ship 1 . When the positional relationship between the target point 30 and the ship 1 is obtained by the berthing sensor 4, the berthing sensor 4 does not use the information measured by the positioning sensor 2 and the azimuth sensor 3. It is also possible to carry out boarding control only based on the information to be carried out. For example, the width of the entrance 21 is about 1 to 1.5 m, and the width of the offshore structure 20 is about 5 to 6 m. Position control required for docking to the offshore structure 20 requires more accurate position control than when docking at a harbor. Therefore, it is possible to use a docking sensor 4 that can accurately measure the positional relationship. preferable. However, for example, when the sensor 4 for coming alongside cannot be used effectively due to weather conditions, automatic coming alongside control may be performed using only the positioning sensor 2 and the azimuth sensor 3 .

In this way, when the automatic shipboard control is started under the second set condition, the shipboard control unit 141 (1) controls to gradually decrease the speed and (2) controls the position based on the positional relationship with the object. and control to direct the bow of the ship 1 to the target point 30 at the same time. (2a) Furthermore, in order to control the position and heading of the ship 1 based on the positional relationship with the object, it is necessary to grasp the approximate position of the object and detect the object by the sensor 4 for coming alongside. There is Based on the position information of the target point 30, the position information of the ship 1, and the heading of the ship 1, the ship boarding control unit 141 moves the ship to a position and posture where the object can be detected by the ship boarding sensor 4. 1 is controlled.
As a result, instead of arbitrarily selecting a docking position from a possible docking range and docking as in the case of docking on land, one Even when coming alongside the target point 30 of a point, the ship 1 can be brought alongside the target point 30 by turning the heading of the ship 1 in a predetermined direction with high accuracy. In some cases, the target point 30 is used as a target.

(3) Completion of Automatic Coming Boarding Control When the vessel 1 comes alongside the target point 30 and can turn the heading of the vessel 1 in a predetermined direction, the coming alongside control section 141 ends the automatic coming alongside control. The output unit 16 outputs a message such as "The berthing control has been completed. Please operate manually." You may turn off the boarding control.

<If the offshore structure is a large ship>
In the examples of FIGS. 1 to 4, the case of coming alongside the stationary offshore structure 20 has been described as an example. Offshore structure 20 may be a large vessel under maneuver. With reference to FIG. 5, the automatic berthing control when the large vessel 20a being maneuvered is a marine structure and the target point 30 is set on the port side of the large vessel 20a will be described. Ships 1f to 1g in FIG. 5 show the position and posture of ship 1 at times Tf to Tg (Tf<Tg), respectively. The large ship 20a uses a satellite positioning system to measure its own position information. The large ship 20 a calculates the position information of the target point 30 based on the position information obtained by positioning, and transmits the calculated position information of the target point 30 to the ship 1 . In the ship 1 , the target position information acquisition section 11 of the control device 10 acquires the position information of the target point 30 . After the second set condition is established, the berthing control unit 141 starts automatic berthing control under the second set condition. Based on the predetermined target angle θ of the heading at the target point 30, the berthing control unit 141 determines the angle between the heading of the vessel 1 and the tangent line of the large vessel 20a at the target point 30, as shown in the vessel 1f. is adjusted to match the target angle θ at the time of coming alongside. When the attitude adjustment is completed, the berth control unit 141 slides the ship 1 in the direction of the arrow 51 while maintaining the heading of the ship 1 . When the ship 1 moves to the position indicated by the ship 1g, the shipboard control unit 141 stops the automatic shipboard control.

(motion)
Next, the operation of the boarding assistance system 100 will be described with reference to FIG.
FIG. 6 is a flow chart showing an example of the operation of the shipboard support system according to the embodiment. In the storage unit 15, information that defines the ship's heading when coming alongside (for example, head-on in FIG. 3, angle θ in FIG. 5) is registered in advance. The target position information acquisition unit 11 acquires position information (latitude and longitude) of the target point 30 and position information of the offshore structure 20, and registers these position information in the storage unit 15 (step S1). If the offshore structure is a moving body such as a large ship 20a, the position information of the target point 30 also changes. The position information of the target point 30 is acquired.

Next, the control unit 14 starts sailing of the ship 1 based on an operator's operation or the like. The control unit 14 plans a target route based on the position information of the target point 30, and moves the ship 1 along the target route (step S2).

Next, the control unit 14 determines whether or not the position of the ship 1 satisfies the first setting condition (step S3). For example, the control unit 14 determines whether (α) the position of the ship 1 is within a predetermined distance (distance R2 in FIG. 2) from the target point 30, (β) whether the position of the ship 1 is within a predetermined range from the target point 30 and (γ) whether the speed of the ship 1 is within a predetermined range. If the first setting condition is not satisfied (step S3; No), the control section 14 continues the control of step S2. If the first setting condition is satisfied (step S3; Yes), the control unit 14 sets the speed of the ship 1 constant (eg, 3 to 4 knots), and moves the ship 1 along the target route at that speed (step S4). It may also move while slowing down.

Next, the control unit 14 determines whether or not the operating condition of the ship 1 satisfies the second setting condition (step S5). For example, the control unit 14 determines whether the position of the ship 1 is within a range of a predetermined distance (distance R1 in FIG. 2) from the target point 30 . If the second setting condition is not satisfied (step S5; No), the control section 14 continues the control of step S4. If the second set condition is satisfied (step S5; Yes), the berthing control unit 141 executes automatic berthing control under the second set condition (step S6). At this time, the shipboard control unit 141 may automatically start the automatic shipboard control under the second set condition, or the operation reception unit 13 may automatically start the automatic shipboard control under the second set condition. Automatic berthing control may be started when an operation instructing is received.

When the automatic berthing control under the second set condition is started, the berthing control unit 141 reduces the speed of the ship 1 (for example, 1 to 2 knots) so that the ship 1 can come alongside the target point 30 with high accuracy. In addition, based on the position information of the offshore structure 20, the position information of the ship 1 by the positioning sensor 2, and the azimuth information by the azimuth sensor 3, a laser or radar is irradiated in the direction of the offshore structure 20 to A sensor 4 measures the positional relationship between the ship 1 and the offshore structure 20 . More specifically, the positional relationship analysis unit 142 analyzes the information measured by the sensor 4 for coming alongside and acquired by the sensor information acquisition unit 12, and determines the distance between the ship 1 and the offshore structure 20 and the distance from the ship 1. The direction to the offshore structure 20 is analyzed. The berthing control unit 141 moves the ship 1 toward the target point 30 based on the positional relationship between the ship 1 and the offshore structure 20, the positional information of the offshore structure 20, and the positional information of the target point 30. Let Also, when moving, the attitude of the ship 1 is controlled so that the heading of the ship 1 becomes the heading at the time of coming alongside, which is registered in advance in the storage unit 15 . Further, when the offshore structure 20 does not exist within the detectable range of the alongside sensor 4, the onboard control unit 141 obtains the position information of the offshore structure 20, the position information of the ship 1 by the positioning sensor 2, the position information of the ship 1 by the positioning sensor 2, the The vessel 1 is moved to a position where the offshore structure 20 can be detected by the sensor 4 for coming alongside based on the azimuth information obtained by the above. The shipboard control unit 141 and the positional relationship analysis unit 142 repeatedly control the position and attitude of the ship 1 and analyze the positional relationship between the ship 1 and the offshore structure 20 to bring the ship 1 closer to the target point 30. . In addition, in automatic berthing control, multiple types of berthing sensors 4 may be used. For example, the offshore structure 20 may be detected by first trying to detect the offshore structure 20 with a laser, and if unsuccessful, trying to detect the offshore structure 20 with a radar. According to the distance between the ship 1 and the target point 30, the offshore structure 20 is detected by a camera when the two are relatively far apart, and as the distance between the two approaches, the offshore structure 20 is switched to detection by radar or laser. A structure 20 may be detected. Alternatively, the offshore structure 20 is detected by two or three sensors in parallel, and the positional relationship analysis unit 142 analyzes the information measured by each sensor (laser, radar, camera, sonar) and divides the results proportionally. A positional relationship between the ship 1 and the offshore structure 20 may be calculated. Further, for example, when the seaside structure 20 cannot be detected satisfactorily by the shipboard sensor 4 due to bad weather, the shipboard control unit 141 detects the position information of the target point 30 and the position information of the ship 1 by the positioning sensor 2. , based on the azimuth information from the azimuth sensor 3 , the ship 1 is controlled to come alongside the target point 30 .

Next, the boarding control unit 141 determines whether or not a predetermined end condition is satisfied (step S7). For example, the difference between the position information of the target point 30 and the position information of the ship 1 obtained by the positioning sensor 2 is within a predetermined range, and that the difference between the heading of the ship 1 and the previously registered heading when coming alongside is within a predetermined range. , it is determined that the termination condition is satisfied, and if not, it is determined that the termination condition is not satisfied. If the termination condition is not satisfied (step S7; No), the berthing control unit 141 continues the automatic berthing control. If the termination condition is satisfied (step S7; No), the berthing control unit 141 terminates the automatic berthing control (step S8). When the automatic alongside control ends, for example, the output unit 16 outputs to the display a message prompting the end of the automatic alongside control and manual control by the operator.

As described above, according to the berthing support system 100, with respect to the target point 30 set at or near the offshore structure 20, the ship 1 is positioned at the target point 30 with the heading of the ship 1 directed in a predetermined direction. It is possible to automatically perform control to bring the ship 1 to the side.

FIG. 7 is a diagram illustrating an example of a hardware configuration of a boarding assistance system according to the embodiment.
A computer or control device (programmable controller, etc.) 900 (hereinafter referred to as a computer 900) includes a CPU 901, a main memory device 902, an auxiliary memory device 903, an input/output interface 904, and a communication interface 905.
The control device 10 described above is implemented in a computer 900 . Each function described above is stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads out the program from the auxiliary storage device 903, develops it in the main storage device 902, and executes the above processing according to the program. Also, the CPU 901 secures a storage area in the main storage device 902 according to the program. In addition, the CPU 901 secures a storage area for storing data being processed in the auxiliary storage device 903 according to the program.

A program for realizing all or part of the functions of the control device 10 is recorded on a computer-readable recording medium, and the program recorded on this recording medium is read by a computer system and executed. Processing by the functional unit may be performed. The "computer system" here includes hardware such as an OS and peripheral devices. The "computer system" also includes the home page providing environment (or display environment) if the WWW system is used. The term "computer-readable recording medium" refers to portable media such as CDs, DVDs, and USBs, and storage devices such as hard disks incorporated in computer systems. Further, when this program is distributed to the computer 900 via a communication line, the computer 900 receiving the distribution may develop the program in the main storage device 902 and execute the above process. Further, the above program may be for realizing a part of the functions described above, or may be capable of realizing the functions described above in combination with a program already recorded in the computer system. .

Although several embodiments of the present disclosure have been described above, all these embodiments are provided by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, as well as the scope of the invention described in the claims and equivalents thereof.

<Appendix>
The shipboarding support system and shipboarding support method described in the embodiments are understood as follows, for example.

(1) The ship berthing support system 100 according to the first aspect includes first information indicating the position and direction of the ship 1 (information measured by the positioning sensor 2 and the direction sensor 3), and information between the ship and the offshore structure. Acquisition unit (sensor information acquisition unit 12, berthing control unit 141) that acquires second information (information measured by the berthing sensor 4) indicating the positional relationship, and a control unit that controls the operation of the ship , wherein the control unit (coasting control unit 141) receives the first information and the second information acquired by the acquisition unit, and receives a signal from the offshore structure or the offshore structure registered in advance Based on the position information of the object (both information acquired by the target position information acquisition unit 11), the vessel 1 is navigated so as to approach the offshore structure 20, and when approaching the offshore structure, a predetermined while controlling the heading of the ship in the direction of (step S6).
As a result, it is possible to automatically come alongside the target point set at or near the offshore structure.

(2) A shipboarding support system 100 according to a second aspect is the shipboarding support system 100 of (1), wherein the control unit sets a predetermined first set condition (second set condition) is satisfied (step S5), automatic berthing control is started to automatically adjust the position and heading of the ship with respect to the berthing position based on the second information (step S6).
By automatically or manually starting the automatic shipboard control when the operating conditions are suitable for executing the automatic shipboard control, the ship can come alongside efficiently.

(3) A berthing support system 100 according to a third aspect is the berthing support system 100 of (1) to (2), wherein the control unit controls the position of the ship from the berthing position to a predetermined position. When it is within the range and the difference between the predetermined direction and the heading is within the predetermined range (step S7), the automatic coming alongside control is ended (step S8).
When coming alongside the offshore structure 20 or a target point near it, there may be a requirement for heading, but it is ensured that the requirement for heading as well as the coming alongside position of the ship 1 is satisfied. can do.

(4) A shipboard support system 100 according to a fourth aspect is the shipboard support system 100 of (2) to (3), in which the control unit, in the automatic shipboard control, uses the first information The ship is moved to a position where the second information can be acquired based on the first information, and the heading is controlled in the direction where the second information can be acquired based on the first information.
By moving the ship to a position where the second information can be obtained and controlling the heading to the direction where the second information can be obtained, the second information necessary for accurately coming alongside the ship can be obtained.

(5) A shipboard support system 100 according to a fifth aspect is the shipboard support system 100 of (2) to (4), in which a sensor for detecting an object and information detected by the sensor are used. and an analysis unit (positional relationship analysis unit) that analyzes the positional relationship between the ship and the offshore structure, wherein the acquisition unit acquires the second information analyzed by the analysis unit.
As a result, it is possible to obtain the distance between the ship and the offshore structure and the direction from the ship to the offshore structure, which are necessary for accurate boarding control.

(6) A shipboarding support system 100 according to a sixth aspect is the shipboarding support system 100 of (2) to (5), wherein the control unit controls that the operating situation of the ship satisfies the first set condition. The movement of the vessel is controlled based on the first information until the condition is satisfied, and the movement of the vessel is controlled using the second information in the automatic alongside control after the first setting condition is satisfied. ,
By using the second information indicating the positional relationship between the ship and the offshore structure based on the information measured by the ship alongside sensor 4, the position of the ship can be accurately controlled.

(7) A shipboarding support system 100 according to a seventh aspect is the shipboarding support system 100 of (2) to (6), wherein the control unit controls that the operating situation of the ship satisfies the first set condition. When satisfied, controls the speed of the vessel to a speed suitable for coming alongside.
For example, by reducing the speed of the ship, the position of the ship can be accurately controlled. Also, for example, by accelerating or decelerating to a speed suitable for boarding control according to sea conditions, the vessel is moved to the destination point and held at that position.

(8) A shipboard support system 100 according to an eighth aspect is the shipboard support system 100 of (1) to (7), wherein the first information is a satellite positioning system and at least one of a compass and a gyro one, and the second information is measured by at least one of a laser, radar, camera, and sonar.
By using different sensors depending on the situation, the ship 1 can navigate to the target point and come alongside the target point.

(9) A berthing support system 100 according to a ninth aspect is the berthing support system 100 of (1) to (8), wherein the control unit controls left and right water jets (propulsion devices 5A, 5B) to control the output.
By controlling the left and right water jets, the vessel can be moved to any position and heading in any direction. This makes it possible to realize automatic berthing control.

(10) A ship alongside support method according to a tenth aspect acquires first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and a marine structure, navigating the ship to approach the offshore structure based on the first information and the second information obtained from the offshore structure and position information of the offshore structure registered in advance or signals from the offshore structure; and, when approaching the offshore structure, the ship is brought alongside the offshore structure or at a berthing position provided near the offshore structure while controlling the heading of the ship in a predetermined direction. .

Reference Signs List 1 Ship 2 Positioning sensor 3 Direction sensor 4 Shipboard sensors 5, 5A, 5B, 5C Propulsion device 10 Control device 11 Target position information Acquisition unit 12 Sensor information acquisition unit 13 Operation reception unit 14 Control unit 141 Boarding control unit 142 Positional relationship analysis unit 15 Storage unit 16 Output Part 20 Offshore structure 21 Entrance/exit 30 Target point 100 Docking support system 900 Computer or control device (programmable controller, etc.)
901 CPU
902 Main storage device 903 Auxiliary storage device 904 Input/output interface 905 Communication interface

A shipboard support system of the present disclosure includes an acquisition unit that acquires first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and a marine structure, and the operation of the ship. a control unit for controlling, wherein the control unit receives the first information and the second information acquired by the acquisition unit, and receives a signal from the offshore structure or the information of the offshore structure registered in advance and, based on the position information, the ship is navigated so as to approach the offshore structure, and the heading of the ship is set at a shipboard position provided on the sea having a predetermined positional relationship with the offshore structure. Automatic berthing control is performed for berthing the ship while controlling in the direction of

In the method for assisting coming alongside of the present disclosure, first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and a marine structure are acquired, and the acquired first information and based on the second information and position information of the offshore structure that is received from the offshore structure or registered in advance; Automatic berthing control is performed for berthing the ship while controlling the heading of the ship in a predetermined direction at a berthing position provided on the sea having a predetermined positional relationship with the structure .

A shipboard support system of the present disclosure includes an acquisition unit that acquires first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and a predetermined target, and an operation of the ship. wherein the control unit receives first information and second information acquired by the acquisition unit, and receives a signal from the target or the position of the target registered in advance and, based on the information, the vessel is navigated so as to approach the target , and the heading of the vessel is oriented in a predetermined direction to a berthing position provided on the sea in a predetermined positional relationship with the target. When the distance between the position of the ship and the target becomes equal to or less than a predetermined first distance, the speed of the ship is reduced to the first speed. and based on the first information acquired by the acquisition unit and position information of the target registered in advance or receiving a signal from the target, the When the ship is sailed and the distance between the position of the ship and the target becomes equal to or less than a predetermined second distance, which is shorter than the first distance, the speed of the ship is reduced below the first speed. The automatic berthing control is performed while controlling to a predetermined second speed.

In the method for assisting coming alongside the ship of the present disclosure, first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and a predetermined target are acquired, and the acquired first information and the second information and position information of the target registered in advance or receiving a signal from the target , navigating the vessel to approach the target , and In performing automatic berthing control for berthing the vessel at a berthing position provided on the sea in a predetermined positional relationship while controlling the heading of the vessel in a predetermined direction, the position of the vessel and the When the distance from the target becomes equal to or less than a predetermined first distance, the speed of the vessel is controlled to a predetermined first speed, and the acquired first information and a signal from the target are received or previously based on the registered position information of the target, the ship is navigated so as to approach the target, and the distance between the position of the ship and the target is shorter than a predetermined first distance; When the distance becomes equal to or less than a predetermined second distance, the automatic berthing control is performed while controlling the speed of the ship to a predetermined second speed lower than the first speed.

Claims (10)

an acquisition unit that acquires first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and a marine structure;
A control unit that controls the operation of the ship,
The control unit, based on the first information and the second information acquired by the acquisition unit, and the reception of signals from the offshore structure or position information of the offshore structure registered in advance, The ship is navigated so as to approach the offshore structure, and when approaching the offshore structure, while controlling the heading of the ship in a predetermined direction, the offshore structure or provided in the vicinity of the offshore structure. berthing said vessel in a new berthing position;
Docking support system. The control unit automatically adjusts the position and the heading of the ship with respect to the berthing position based on the second information when the operating condition of the ship satisfies a predetermined first setting condition. Commence berthing control,
A shipboard support system according to claim 1. 3. The control unit terminates the automatic berthing control when the position of the vessel is within a predetermined range from the berthing position and the difference between the predetermined direction and the heading is within a predetermined range. Boarding support system as described. The control unit moves the ship to a position where the second information can be obtained based on the first information in the automatic alongside control, and moves the ship in a direction where the second information can be obtained based on the first information. controlling the heading;
The shipboard support system according to claim 2 or 3. a sensor that detects an object;
an analysis unit that analyzes the positional relationship between the ship and the offshore structure based on the information detected by the sensor;
the acquisition unit acquires the second information analyzed by the analysis unit;
The shipboard support system according to any one of claims 2 to 4. The control unit controls the movement of the ship based on the first information until an operating condition of the ship satisfies the first set condition, and the automatic contact after the first set condition is satisfied. controlling movement of the vessel using the second information in board control;
The shipboard support system according to any one of claims 2 to 5. When the operating condition of the ship satisfies the first setting condition, the control unit controls the speed of the ship to a speed suitable for coming alongside.
The shipboard support system according to any one of claims 2 to 6. measuring the first information with at least one of a satellite positioning system, a compass, and a gyro;
measuring the second information with at least one of laser, radar, camera, sonar;
A shipboard support system according to any one of claims 1 to 7. The control unit controls the output of left and right water jets of the ship,
The shipboard support system according to any one of claims 1 to 8. Acquiring first information indicating the position and bearing of a ship and second information indicating the positional relationship between the ship and offshore structures;
Based on the obtained first information and second information and position information of the offshore structure that is registered in advance or reception of a signal from the offshore structure, the offshore structure is approached. navigating said vessel,
While controlling the heading of the ship in a predetermined direction, the ship comes alongside the offshore structure or at a mooring position provided near the offshore structure;
Coming alongside support method.

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