JP7386041B2 - Ship maneuvering support system and method - Google Patents

Description

The present invention provides assistance to the parties involved in the berthing and berthing operations (i.e., the pilot, the ship's captain, the tug operator, the ground crew, etc.) when supporting the berthing and berthing of a vessel (main vessel) using at least one tugboat. This invention relates to a system and method for supporting.

BACKGROUND ART Conventionally, when a large ship (main ship) such as a cargo ship or a passenger ship docks at or leaves a quay at a port, at least one tugboat sometimes supports the ship's navigation. The tugboat tows and tows the vessel using the tug line passed between it and the vessel. In addition, the tugboat pushes the ship by directly contacting the ship through fenders (such as tires). The captain of the ship maneuvers the ship while being pushed and towed by the tugboat. In most cases, the pilot will be on board the vessel, using navigational instruments such as GPS positioning equipment as appropriate, and communicating with tug operators and ground crews via international VHF radio, assisting the vessel's master, and assisting the vessel's purpose. Guide them safely to the location.

In the above-mentioned tugboat-assisted maneuvering, communication between the parties is currently performed via wireless transceivers based on mutual visual information. As a result, the parties involved in maneuvering a vessel to and from the berth may not be able to share sufficient information, and the contents of communication may not be communicated accurately (miscommunication), which can lead to efficient berthing and berthing. There are challenges in doing so. Therefore, Patent Documents 1 to 4 propose communication tools that attempt to solve such problems in ship maneuvering when leaving and landing on a berth.

Patent Document 1 discloses a device that is disposed on a tugboat and instructs a tug operator on the work that the tugboat should perform on a vessel. This device has a microphone and speaker for communication similar to a conventional radio, a small screen that displays instructions from the vessel to the tugboat in text, and the position and direction of the tugboat relative to the vessel, as well as information regarding the vessel and the tugboat. It also has a large screen that graphically shows the distinction between the tugboat's pushing/pulling work that should be carried out.

Patent Document 2 discloses that a ship operator and a support person each carry a terminal device, and the plurality of terminal devices communicate with each other to exchange information such as ship maneuvering support information and ship maneuvering command information. It is disclosed that common information is held between the parties.

Patent Document 3 discloses that a bird's-eye view of a ship is superimposed on a bird's-eye view of a port facility where the ship takes off from and arrives at the berth, and also displays information such as the position of the ship, the distance between the quay bridge and the ship, the ground speed of the ship, the heading direction, and the evacuation line. A support system is disclosed that includes a display unit that displays information, standard route information, and information regarding wind and sea conditions in a port.

In Patent Document 4, an overhead image of an area including the hull and its surroundings is displayed from a captured image of the hull and its surroundings on a first display unit installed on the ship and a second display unit installed on a tugboat or related equipment. Is displayed.

Utility Model Publication No. 61-105298 International publication WO2004/019302A1 pamphlet Special table 2019-512428 public information International publication WO2019/093416A1 pamphlet

Patent Documents 1 to 4 display the presence or absence of thrust of the tugboat's propulsion device and its direction (hereinafter referred to as "current status of the propulsion device") in an easy-to-understand manner at a glance, along with the position and orientation of the ship and the tugboat. is not disclosed. The current status of the tugboat's propulsion equipment is important information for estimating the thrust acting on the tugboat and its movement. Therefore, if this information is understood and shared among the parties involved, smoother, safer, and more efficient vessel maneuvering will become possible.

The present invention has been made in view of the above circumstances, and its purpose is to provide parties involved in the maneuvering of a ship to and from the berth with information on the position and orientation of the ship and tugboat, as well as the status of each propulsion unit installed on the tugboat. By presenting the information in an intuitively understandable manner, the purpose is to help the parties involved understand the situation and assist them in maneuvering the ship to and from the berth.

A ship maneuvering support system according to one aspect of the present invention is a ship maneuvering support system when a ship leaves or docks at a quay while being supported by at least one tugboat, the system comprising:
a storage device that stores a nautical chart image including the quay, a ship figure, and a tugboat figure; at least one detection device that detects the position and orientation of the ship; and the position and orientation of the tugboat; and at least one display. , and a processor that causes the display to display a ship maneuvering support screen.
The ship maneuvering support screen includes the nautical chart image, the ship shape arranged on the chart image based on the position and direction of the ship detected by the detection device, the position of the tugboat detected by the detection device, and The tugboat figure is arranged on the nautical chart image based on the azimuth, and the propulsive force generated by each of the plurality of tugboat propulsion machines mounted on the tugboat is arranged on the tugboat figure. It is characterized by including tugboat propulsion machine information indicating the direction.

Further, in the ship maneuvering support method according to one aspect of the present invention, when the ship leaves or docks at a quay while being supported by at least one tugboat, a processor of an information terminal that supports the ship maneuvering of the ship and the tugboat at least including a step of displaying a ship maneuvering support screen on one display,
The ship maneuvering support screen includes a nautical chart image including the quay, a ship figure arranged on the chart image in correspondence with the position and direction of the ship, and a figure arranged on the chart image in correspondence with the position and direction of the tugboat. and tugboat propulsion machine information arranged on the tugboat figure and representing the direction of the propulsive force generated by the tugboat propulsion machine for each of the plurality of tugboat propulsion machines mounted on the tugboat. It is characterized by

In the above vessel maneuvering support system and method, "tugboat propulsion information placed on the tugboat shape" includes tugboat propulsion information placed so as to visually overlap with the tugboat shape on the screen. Tugboat propulsion machine information may be included that is placed close to the tugboat figure on the nautical chart image so that the correspondence with the onboard tugboat propulsion machine is visually clear.

According to the above-mentioned vessel maneuvering support system and method, the positional relationship between the vessel and the tugboat is indicated by the figure of the vessel and the figure of the tugboat shown on the nautical chart image displayed on the display, and the positional relationship of the vessel and the tugboat is indicated by the tugboat propulsion unit information. The direction of the propulsion force produced by the tug propulsion device is indicated. In this way, on one screen displayed on the display, information indicating the positional relationship between the ship and the tugboat and information indicating the status of the tugboat propulsion equipment are shown together, so the parties viewing this screen can These mutual relationships can be intuitively understood. The status of the tugboat propulsion equipment is important information for estimating the thrust force acting on the tugboat and its direction. By intuitively and easily grasping this information by those involved, smoother and more efficient berthing and berthing maneuvers are possible. becomes.

According to the present invention, the positions and directions of the ship and the tugboat, as well as the status of each propulsion unit mounted on the tugboat, are presented in a manner that can be intuitively understood to parties involved in maneuvering the ship to and from the berth. It can help the parties concerned understand the situation and assist in maneuvering the ship to and from the berthing.

FIG. 1 is a diagram showing a schematic configuration of a ship maneuvering support system according to an embodiment of the present invention. FIG. 2 is a diagram showing a schematic configuration of the tugboat. FIG. 3 is a block diagram showing the configuration of the information gathering device. FIG. 4 is a block diagram showing the configuration of the information terminal. FIG. 5 is a block diagram showing the configuration of the processing device. FIG. 6 is a diagram showing a ship maneuvering support screen. FIG. 7 is a diagram showing a ship maneuvering support screen. FIG. 8 is a diagram showing a ship maneuvering support screen. FIG. 9(A) is a diagram showing push points set on the main ship, and FIG. 9(B) is a diagram showing towing points set on the main ship. FIG. 10 is a diagram showing a ship maneuvering support screen. FIG. 11 is a diagram showing a ship maneuvering support screen. FIG. 12 is a diagram showing a ship maneuvering support screen. FIG. 13 is a diagram showing a ship maneuvering support screen. FIG. 14 is a diagram showing a ship maneuvering support screen. FIG. 15 is a diagram showing a ship maneuvering support screen. FIG. 16 is a diagram showing a ship maneuvering support screen.

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a ship maneuvering support system 1. As shown in FIG. The ship maneuvering support system 1 shown in FIG. 1 can be used for maneuvering a large ship (hereinafter referred to as "main ship 2") supported by at least one tugboat 3 to and from the shore.

FIG. 2 is a diagram showing a schematic configuration of the tugboat 3. As shown in FIG. As shown in FIG. 2, the tugboat 3 according to this embodiment includes a hull 38 having a pair of left and right propulsion devices 68. A crew cabin area, an engine room, and the like are formed inside the hull 38 (none of which are shown). A mast 39 is erected on the hull 38, and a remote camera 34 is installed on the mast 39. The remote camera 34 can image the front of the tugboat 3. Each propulsion device 68 is, for example, an azimuth thruster equipped with a variable pitch propeller that can rotate 360 degrees. The propulsion direction can be adjusted by adjusting the turning angle of the variable pitch propeller, and the propulsive force can be adjusted by adjusting the pitch angle of the variable pitch propeller. However, the above configuration is merely an example, and the present invention can be applied to ship maneuvering support using a tugboat 3 equipped with a propulsion device such as a general azimuth thruster or a Schneider propeller.

Returning to FIG. 1, the ship maneuvering support system 1 according to the present embodiment connects a plurality of information terminals 20, a plurality of information collection devices 30, and an information processing device 40 so that they can mutually transmit and receive information. and a wireless communication network 5.

The information processing device 40 is located on the ship 2. The information processing device 40 may be placed on land or may be placed on the tugboat 3. The information processing device 40 can be operated by the pilot or the ship's captain. Further, the information terminal 20 may be mounted on the ship 2 and each tugboat 3, or may be carried by parties including the pilot, the ship's captain, the tug operator, and ground workers. The information gathering device 30 is mounted on the main ship 2, each tugboat 3, and each of the other ships in the port. Below, when describing the main ship 2, each tugboat 3, and other ships in the port without distinguishing them, they may be referred to as "ships." Communication via the wireless communication network 5 may be via a radio base station 50 on land or on a ship, or may be via a mobile base station on a ship.

[Information gathering device 30]
FIG. 3 is a block diagram showing the configuration of the information gathering device 30. The information gathering device 30 shown in FIG. 3 includes a computer 31 and a wireless communication device 35. Various navigational instruments 32, various engine information detectors 33, and remote cameras 34 are communicably connected to the computer 31. The computer 31 transmits information and data acquired from the navigational instruments 32, the engine information detector 33, and the remote camera 34, along with the identification information of the ship, to the information processing device 40 via the communication device 35 and the wireless communication network 5. .

The navigation instruments 32 include, for example, a GPS positioning device including a positioning antenna installed at a predetermined position on the ship, a gyro compass (compass), a water depth gauge, a wind direction/anemometer, a ship speed gauge, and a draft gauge. A GPS positioning device receives time (coordinated universal time) and position (latitude and longitude), and can determine ground speed and ground course from this information. The gyro compass detects the heading of the ship and can determine the turning angular velocity from the turning angle of the ship obtained from this information.
The engine information detector 33 of the ship 2 includes detectors for detecting the rudder angle, the rotation speed of the propulsion shaft, the rotation speed of the side thruster (stance thruster/bow thruster), and the like. The engine information detector 33 of the tugboat 3 includes detectors for the rotational speed of the propeller of the azimuth thruster, the propeller axial direction, and the like.

The remote camera 34 is installed at an appropriate location on the ship (see FIG. 1). The remote camera 34 mounted on the main ship 2 may be installed so that it can image the quay from the side of the main ship 2. Further, the remote camera 34 is also mounted on the tugboat 3 as described above.

The information gathering device 30 may be one that utilizes an AIS (Automatic Identification System) that is conventionally installed on ships. In this case, a VHS communication device (not shown) included in the AIS may be used as the communication device 35. AIS is a device that automatically transmits and receives ship data using VHF radio waves and grasps the movements of surrounding ships. The information transmitted and received by the AIS typically includes dynamic information, static information, and voyage-related information of the vessel on board. Dynamic information generally includes time (coordinated universal time), position (latitude and longitude), ground speed, course over ground, information regarding position accuracy, heading, turning angular velocity, and voyage status. Static information typically includes the MMSI number (Maritime Mobile Service Identification Number), call code and ship name, ship type, IMO number, location of the positioning antenna, and ship length and beam. Navigation-related information generally includes the draft of the vessel, the destination, the predicted date and time of arrival at the destination, and the type of dangerous cargo on board. Since AIS is well known, further detailed explanation of AIS will be omitted.

[Information terminal 20]
FIG. 4 is a block diagram showing the configuration of the information terminal 20. The information terminal 20 shown in FIG. 4 includes a computer 21, an input device 23, an output device 24, a storage device 25, and a communication device 26. The computer 21 includes a processor 211, a memory 212 such as RAM or ROM, an input control section 213, an output control section 214, a disk control section 215, a communication control section 216, and various other interfaces 217. The input device 23 is connected to the input control section 213 . Input device 23 includes a touch panel 231 and a microphone 232. The input device 23 may include at least one of a keyboard, a pointing device, and a button or stick-type operating tool. The output device 24 is connected to the output control section 214 . Output device 24 includes a display 241 and a speaker 242. A storage device 25 such as a hard disk is connected to the disk control unit 215 . A wireless communication device 26 is connected to the communication control unit 216 . The communication device 26 has a transmitting and receiving antenna, and can transmit and receive information to and from other information terminals 20 and the information processing device 40 via this antenna and the wireless base station 50.

A display program 7 is installed in the information terminal 20 in advance. The processor 211 executes the program stored in the memory 212, and processes information input via the input device 23, information stored in the memory 212 and the storage device 25, information acquired from the outside via the communication device 26, Then, it performs arithmetic processing using at least one piece of information acquired from the outside via the interface 217, and outputs the result to the output device 24 and/or the communication device 26.

[Information processing device 40]
FIG. 5 is a block diagram showing the configuration of the information processing device 40. As shown in FIG. The information processing device 40 shown in FIG. 5 includes a computer 41, an input device 43, an output device 44, a storage device 45, and a communication device 46. The computer 41 includes a processor 411, a memory 412 such as RAM or ROM, an input control section 413, an output control section 414, a disk control section 415, a communication control section 416, and various other interfaces 417. An input device 43 is connected to the input control section 413 . Input device 43 includes a touch panel 431 and a microphone 432. The input device 43 may include at least one of a keyboard, a pointing device, and a button or stick-type operating tool. An output device 44 is connected to the output control section 414 . Output device 44 includes a display 441 and a speaker 442. A storage device 45 such as a hard disk is connected to the disk control unit 415. A wireless communication device 46 is connected to the communication control unit 416 . The communication device 46 has a transmitting/receiving antenna, and can transmit and receive information to and from the information terminal 20 and the information gathering device 30 via this antenna and the wireless base station 50. The processor 411 executes the program stored in the memory 412, and processes information input via the input device 43, information stored in the memory 412 and the storage device 45, information acquired from the outside via the communication device 46, Then, it performs arithmetic processing using at least one piece of information acquired from the outside via the interface 417, and outputs the result to the output device 44 and/or the communication device 46.

In the storage device 45, a port information database, a ship information database, and a voyage information database are constructed.

The port information database stores information regarding ports where the ship 2 enters. Information about ports includes nautical charts including ports, types of quays for departure and arrival, target berthing positions, buoy positions, evacuation lines, standard navigation routes, water depth, depth contours, tidal currents, and obstacles (for example, structures such as shoals and cages). This information includes information such as required transit points for ships to navigate, prohibited areas for navigation, prohibited areas for each ship, and local weather and sea conditions of the port. The standard route may be determined for each quay or for each ship and stored in advance. The quay may also include a sea berth installed in deep water.

The hull information database stores information regarding the characteristics of the ship in association with the identification information of the ship. The information regarding the characteristics of ships includes the shape characteristics and motion characteristics of each ship. The shape characteristics include length, width, external shape, the relative position of the reference point to the ship, the position of the positioning antenna relative to the ship, and the like. In particular, the shape characteristics of the ship 2 further include the relative position of a push point called a strong point to the ship body and the relative position of a tow point provided with a bollard to the ship body. The motion characteristics include the propulsion equipment installed, its performance (type and rated output), and the calculation model used to determine thrust.

In the voyage information database, information acquired from the information collection device 30 mounted on a ship in a port is stored in association with the identification information of the ship. Further, the voyage information database may store information acquired from an AIS installed on a ship in a port in association with identification information of the ship.

The computer 41 of the information processing device 40 executes the programs stored in the memory 412 or the storage device 45 to create an information acquisition module, a predicted position calculation module, a collision avoidance module, a route planning module, a thrust calculation module, and a voice communication module. , and functions as a display data generation module.

The information acquisition module acquires information transmitted from each information collection device 30 and stores it in the voyage information database. Information in the voyage information database is read out and used in other calculation processes.

The predicted position calculation module continually calculates the position (predicted position) of the ship after a predetermined period of time from the current position of the ship and the speed and direction of the ship.

The berthing/berthing distance calculation module calculates the distance between the ship and the quay from the current position of the ship, port information, and shape characteristic information of the ship. The distance between the ship and the quay may be the smallest value among the distances between the ship and the quay. The berthing/berthing distance calculation module may calculate the distance between the ship and the target berthing position.

The collision avoidance module sends information to the target vessel to take avoidance actions in accordance with the rules of vessel operation for the prevention of vessel collisions at sea. The collision avoidance module calculates the risk of collision between ships from the current and predicted positions of the ships. Further, the collision avoidance module calculates the risk of collision between the ship and the obstacle from the current position and predicted position of the ship and the position of the obstacle. The collision risk is expressed, for example, as a numerical value or a level. When the collision risk exceeds a predetermined threshold, the collision avoidance module generates warning information and transmits it to the information terminal 20 via the wireless communication network 5. The warning information may include information on which ships should be instructed to take what kind of avoidance action and when, in addition to information on the ships that are the targets of the collision warning.

The route planning module determines whether the ship 2 should dock at the berthing wall or break away from the wall based on the necessary transit point information (position, heading, ship speed), no-wake zone information, sea conditions (wind and tidal power), and the ship's operating characteristics. Set recommended routes. The recommended route setting information includes a plurality of waypoints, the direction and speed of the ship 2 at each waypoint, and the timing of connecting and disconnecting the tug line. The route planning module is configured to, for example, calculate a suitable route using a model that uses the weather and sea conditions of the port and the positions of other ships as variables, and set it as a recommended route. . A suitable route may be a route suitable from a particular viewpoint such as safety and economy. Alternatively, the route planning module is configured to set one of several route candidates prepared in advance as the recommended route based on the weather and sea conditions of the port and the positions of other ships. good. Alternatively, the voyage plan module may be configured to set a voyage plan instructed by the captain or pilot as the recommended route. Alternatively, the voyage planning module may be configured to set a pre-stored standard route as the recommended route.

The thrust calculation module calculates the thrust currently generated by the propulsion machine and side thruster (stance thruster/bow thruster) of the ship 2 and the thrust currently generated by the azimuth thruster of the tugboat 3. Thrust includes translational thrust and turning moment thrust. The thrust calculation module calculates the thrust from the output (rotation speed) of the propulsion device (or side thruster, azimuth thruster) using a predetermined calculation model. The thrust calculation module further calculates the thrust force acting on the vessel 2 (which is a combination of the thrust generated by the propulsion machine of the vessel 2 (including side thrusters) and the thrust generated by the propulsion machine of the tugboat 3). Find the vessel's combined thrust.

The voice call module digitally converts the sound picked up by the microphone 432 into voice data, and transmits it via the communication device 46 to the information terminal 20 at the destination of the voice call. Further, the voice call module converts the voice data sent from the information terminal 20 of the voice call destination into analog and outputs it from the speaker 442.

The ship maneuvering situation data generation module generates ship maneuvering situation data. The ship maneuvering status data includes information posted on various ship maneuvering support screens displayed on the display 441 of the information processing device 40 and the display 241 of the information terminal 20. The computer 41 of the information processing device 40 transmits the generated ship maneuvering status data to each information terminal 20 via the communication control unit 416 and the wireless communication network 5. In the computer 21 of each information terminal 20, the received ship maneuvering situation data is stored in the memory 212, and the processor 211 displays at least one type of ship maneuvering support screen on the display 241 based on the ship maneuvering situation data by executing the display program 7. Display. Note that the display program 7 similar to that of the information terminal 20 may be installed on the computer 41 of the information processing device 40 as well. In this case, the processor 411 of the computer 41 of the information processing device 40 executes the display program 7 to display at least one type of ship maneuvering support screen on the display 441 based on the ship maneuvering status data. The ship maneuvering support screen displayed on the display 241 of the information terminal 20 and the ship maneuvering support screen displayed on the display 441 of the information processing device 40 may be synchronized. Since the various ship maneuvering support screens output by the computers 21 and 41 and their display methods are substantially the same, the screen display on the display 241 of the information terminal 20 will be explained in detail, and the screen on the display 441 of the information processing device 40 will be explained in detail. A description of the display will be omitted.

FIG. 6 is an example of the ship maneuvering support screen S displayed on the display 241. The ship maneuvering support screen S includes a current status display section 98. The current status display section 98 displays a nautical chart image 60 including ports based on the nautical chart information. In addition to the quay 61, the nautical chart image 60 also shows buoys, obstacles (all not shown), and the like. The nautical chart image 60 may also show depth and contour lines.

At the lower left of the current status display section 98, a quay type graphic 62 representing the type of quay on which the ship 2 departs from and docks is displayed. Types of quays generally include gravity type quays, sheet pile type quays, pier type quays, and floating piers. In FIG. 6, a schematic side view of a pier-type quay is shown as a quay type figure 62. By displaying the quay type figure 62 graphically in this way, the person concerned can intuitively understand the type of quay, which is difficult to read from the nautical chart image 60 which is a bird's-eye view.

At the lower right corner of the current status display section 98, a tidal current vector 63 representing the flow (direction) of the tidal current is shown based on the tidal current information. The direction of the arrow of the tidal current vector 63 represents the flow (direction) of the tidal current, and the size of the arrow of the tidal current vector 63 represents the magnitude of the tidal current. By displaying the trends not in text but in graphics in this way, the parties involved can intuitively grasp the trends from the current status display section 98.

In the current status display section 98, a figure schematically representing the vessel 2 (hereinafter referred to as "ship figure 2s") is superimposed on the nautical chart image 60 based on the position information, direction information, and shape characteristics of the vessel 2. will be displayed. The ship figure 2s is, for example, a graphic representation of the outline of the ship 2 in plan view. The actual position and orientation of the ship 2 correspond to the position and orientation of the ship graphic 2s on the nautical chart image 60 on the current status display section 98.

In the current status display section 98, a figure schematically representing the tugboat 3 (hereinafter referred to as "tugboat figure 3s") is superimposed on the nautical chart image 60 based on the position information, direction information, and shape characteristics of the tugboat 3. will be displayed. The tugboat figure 3s is, for example, a graphic representation of the outline of the tugboat 3 in plan view. The actual position and orientation of the tugboat 3 correspond to the position and orientation of the tugboat figure 3s on the nautical chart image 60 of the current status display section 98.

In the current status display section 98, a rudder figure 67 schematically representing a rudder is displayed on the main ship figure 2s, based on information on the rudder angle of the main ship 2. The rudder figure 67 placed on the ship figure 2s has a correspondence with the rudder of the ship 2, in addition to the rudder figure 67 arranged so as to visually overlap with the ship figure 2s on the current status display section 98. A rudder figure 67 placed close to the ship figure 2s on the nautical chart image 60 may be included so as to be visually clear.

The relative positional relationship between the main ship figure 2s and the rudder figure 67 on the current status display section 98 corresponds to the relative positional relationship between the main ship 2 and the rudder mounted thereon. The rudder figure 67 is a line segment imitating a rudder plate in plan view, and is arranged on the main ship figure 2s at an angle corresponding to the rudder angle of the rudder plate with respect to the hull of the main ship 2.

In the current status display section 98, based on the information on the propulsion device of the ship 2, a ship propulsion device figure 70 schematically representing the propulsion device is displayed superimposed on the ship figure 2s. The relative positional relationship between the main ship figure 2s and the ship propulsion device figure 70 on the current status display section 98 corresponds to the relative positional relationship between the main ship 2 and the propulsion device mounted thereon. In the current status display section 98 illustrated in FIG. 6, the ship propulsion machine figure 70 is shown as a chain-line rectangle having a longitudinal direction and a transverse direction, and is placed on the ship figure 2s corresponding to the position of the side thruster on the hull of the ship 2. It is located. However, the appearance of the ship propulsion device figure 70 is not limited to the above. Although the ship 2 is equipped with a main propulsion device and a side thruster (or azimuth thruster) as propulsion devices, the current status display section 98 according to the present embodiment shows a main ship propulsion device diagram for the side thrusters that operate during berthing and berthing maneuvers. Only 70 are displayed. The current status display section 98 may display a ship propulsion machine figure 70 representing the main propulsion machine.

The ship propulsion device figure 70 is displayed on the current status display section 98 so that the current status of the propulsion device of the ship 2 can be intuitively grasped. When the propulsion device of the main ship 2 is a side thruster, the axis angle of the propeller of the side thruster with respect to the main ship 2, that is, the propulsion direction with respect to the main ship 2 is constant. When the propulsion device of the ship 2 is an azimuth thruster, the axial angle of the propeller of the azimuth thruster with respect to the ship 2 is variable, and the propulsion direction with respect to the ship 2 changes. Therefore, in this embodiment, in order to make the propulsion direction of the propulsion device of the ship 2 with respect to the ship 2 clear, the in-plane direction of the rotating surface of the propeller of the propulsion device with respect to the ship 2 and the ship propulsion device with respect to the ship figure 2s are explained. The longitudinal direction of the figure 70 corresponds.

In the current status display section 98, tugboat propulsion device information 68s representing the direction of the propulsive force generated by the propulsion device 68 for each of the propulsion devices 68 of the tugboat 3 is arranged on the tugboat figure 3s. In addition to the tugboat propulsion information 68s arranged on the tugboat figure 3s so as to visually overlap with the tugboat figure 3s on the current status display section 98, the tugboat propulsion machine information 68s arranged on the tugboat figure 3s includes information about the tugboat propulsion machine installed on the tugboat 3. Tugboat propulsion device information 68s may be included that is placed close to the tugboat graphic 3s on the nautical chart image 60 so that the correspondence with the tugboat propulsion device 68 shown in FIG.

The relative positional relationship between the tugboat graphic 3s and the tugboat propulsion machine information 68s on the current status display section 98 corresponds to the relative positional relationship between the tugboat 3 and the propulsion machine 68 mounted thereon. As shown in FIG. 2, when the propulsion device 68 mounted on the tugboat 3 is an azimuth thruster, the direction of the propulsive force generated by the azimuth thruster is approximately parallel to the propeller axis direction. In such a case, the direction of the propulsive force generated by the propulsion device 68 can be obtained from information about the propeller axis direction. Further, when the propulsion device 68 mounted on the tugboat 3 is a screw propeller, the direction of the propulsive force generated by the screw propeller is determined by the direction of the rudder mounted together with the screw propeller. In such a case, the direction of the propulsive force generated by the propulsion device 68 can be obtained from the information on the direction of the rudder.

In FIG. 6, a figure schematically representing a propeller is displayed as tugboat propulsion device information 68s, superimposed on the tugboat figure 3s, based on information on the propeller axis direction. This tugboat propulsion device information 68s is a line segment that imitates the rotating surface of the propeller in plan view, and the direction perpendicular to this line segment represents the propeller axis direction (that is, the direction of the propulsive force generated by the propulsion device 68). There is. Each tugboat 3 according to this embodiment is equipped with two propulsion devices 68, and tugboat propulsion device information 68s is displayed for each propulsion device 68. In this way, the tugboat propulsion device information 68s includes the current status of the propulsion devices 68 of the tugboat 3, especially the number of propulsion devices 68 (or operating status), and the generation of propulsive force of each propulsion device 68 based on the tugboat 3. The direction is displayed on the current status display section 98 so that the direction can be grasped intuitively. The person concerned who visually recognized this current status display section 98 can estimate the direction of the thrust acting on the tugboat 3 based on the direction of generation of the propulsive force of each propulsion device 68 shown on the screen by each tugboat propulsion device information 68s. can.

On the current status display section 98, a numerical value and an arrow representing the distance 64 between the ship 2 and the quay 61 are displayed superimposed on the nautical chart image 60, based on the distance between the ship 2 and the quay calculated by the berth distance calculation module. Ru. In this way, since the distance 64 between the ship 2 and the quay 61 is clearly indicated numerically, the ship's captain and the pilot can maneuver the ship while taking this distance 64 into consideration.

The current status display section 98 displays a speed vector 69 representing the traveling direction and speed of the ship 2 based on the course over the ground and the speed over the ground of the ship 2. The speed vector 69 is an arrow that starts from the bow of the ship figure 2s, faces in the traveling direction, and has a length corresponding to the speed. The speed of the ship 2 may also include the speed at which the ship continues to move in the steered direction due to inertia after the engine of the ship is stopped (going forward). In addition to the speed vector 69, the speed of the main ship 2 may be displayed numerically.

The current status display section 98 displays a connection instruction text 73a instructing to connect the tugboat 3 and the main ship 2 with a tug line. The connection instruction text 73a is displayed, for example, based on the connection position information of the main ship 2 and the tugboat 3, at the timing when the main ship 2 and the tugboat 3 are at the connection position. Similarly, the current status display section 98 displays a disconnection instruction text 73b (see FIG. 7) that instructs to disconnect the tag line. The connection release instruction text 73b is displayed, for example, based on the connection release position information of the main ship 2 and the tugboat 3, at the timing when the main ship 2 and the tugboat 3 reach the connection release position. The connection position information and the disconnection position information are derived from the recommended route, and may be included in the setting information of the recommended route, or the operator of the information processing device 40 can operate the information processing device 40 to set the desired route. The connection instruction text 73a and the connection release instruction text 73b may be displayed at the appropriate timing.

On the ship maneuvering support screen S, channel instruction text 71 representing information on the VHF channel used by the wireless transceiver is displayed.

A call button 72 is provided on the ship maneuvering support screen S. When the call button 72 is selected, the computer 21 receives an operation input to start a call and activates the voice call module. The operator of the information terminal 20 can make voice calls with the information processing device 40 and other information terminals 20 . Similarly, the operator of the information processing device 40 can make a voice call with any one or a combination of the plurality of information terminals 20. Furthermore, if the information processing device 40 and the plurality of information terminals 20 are equipped with a camera for calls, video calls are possible.

In the current status display section 98, display/non-display of information regarding the ship speed, rudder direction, and thrust of the main ship 2 can be selected. Similarly, in the current status display section 98, display/non-display of information regarding the ship speed and thrust of the tugboat 3 can be selected. The ship maneuvering support screen S is provided with a display item switching section 99 that displays a plurality of switching buttons. In the display item switching section 99, display/non-display of the items shown in the current status display section 98 can be switched. When the current status button is selected from among the plurality of switching buttons in the display item switching section 99, a button for switching the display/non-display of information related to the ship speed, rudder direction, and thrust of the ship 2, and a button for switching the display/non-display of information related to the ship speed, rudder direction, and thrust of the ship 2, as well as the button of the tugboat 3 A button is displayed to switch between displaying and non-displaying information related to ship speed and thrust. In this way, the current status display section 98 can reduce the amount of information displayed and cut out and display desired information.

In the current status display section 98a of the ship maneuvering support screen S shown in FIG. Information regarding the thrust of is hidden.

A speed vector 69 representing the speed of the ship 2 is displayed on the current status display section 98a based on the course over the ground and the speed over the ground of the ship 2. Furthermore, a tug speed vector 96 representing the speed of the tug boat 3 is displayed on the current status display section 98a based on the ground course and ground speed of the tug boat 3. The tug speed vector 96 is an arrow starting from the bow of the tug boat figure 3s, pointing toward the ground course of the tug boat 3, and having a length corresponding to the ground speed of the tug boat 3. However, in addition to the tug speed vector 96, the speed of the tug boat 3 may be indicated numerically.

In the current status display section 98b of the ship maneuvering support screen S shown in FIG. Information regarding speed is hidden.

The current status display section 98b displays a ship thrust vector 65a representing the direction and magnitude of the thrust acting on the ship 2 and the direction of the thrust acting on the tug 3 based on the thrust of the ship 2 and the tugboat 3 determined by the thrust calculation module. and the tugboat thrust vector 66a representing the size. The ship's combined thrust 75 may be displayed on the current status display section 98b. The ship thrust vector 65a is a solid arrow (directed line segment) that starts from the position of the propulsion device of the ship 2, points in the direction of the translational thrust, and has a length corresponding to the magnitude of the translational thrust. The tugboat thrust vector 66a is a solid arrow whose starting point is the position of the propulsion device of the tugboat 3, points in the direction in which the translational thrust is generated, and has a length corresponding to the magnitude of the translational thrust.

Furthermore, the current status display section 98b displays a ship thrust command vector 65b representing the direction and magnitude of the thrust command to the main ship 2, and a tugboat thrust command vector 66b representing the direction and magnitude of the thrust command to the tugboat 3. may be displayed.

The ship thrust command vector 65b is a chain arrow pointing in the direction of the thrust and having a length corresponding to the thrust, starting from the point of action 86 (push point or towing point) of the thrust. The tugboat thrust command vector 66b is a chain-line arrow that starts from the position of the propulsion device of the tugboat 3, points in the direction in which the thrust is generated, and has a length corresponding to the magnitude of the thrust.

The content of the command is displayed in text near the ship thrust command vector 65b and the tugboat thrust command vector 66b. For example, the content of the command is displayed as an absolute value with the units "N" and "PS" attached. For example, the content of the command is displayed as a percentage of the rated output. For example, the contents of the command may be displayed in traditional tugboat command terms such as "slow forward" and "full forward."

In the current status display section 98b, the ship thrust vector 65a and the ship thrust command vector 65b are shown superimposed. Further, the tugboat thrust vector 66a and the tugboat thrust command vector 66b are shown superimposed. This makes it possible to compare the thrust that is currently occurring (i.e., output value) and the thrust that may be generated in the future (i.e., instruction value) in response to a command. Furthermore, the person concerned who sees the current status display section 98b can intuitively recognize future changes in thrust. This makes it possible to prevent the parties concerned from misunderstanding the directives, and also allows the parties concerned to share their understanding of the directives.

The direction and magnitude of the thrust command to the ship 2 and the direction and magnitude of the thrust acting on the tugboat 3 are input from the information terminal 20 or information processing device 40 operated by the ship's captain (or pilot). In other words, the information terminal 20 or information processing device 40 operated by the ship's captain (or pilot) allows commands related to thrust to be input.

FIG. 9(A) is a diagram showing the pushing point 36 set on the main ship 2, and FIG. 9(B) is a diagram showing the towing point 37 set on the main ship 2. As shown in FIG. 9(A), there is a push point 36 on the ship 2 that the tug 3 contacts when it presses the ship 2, and as shown in FIG. 9(B), the push point 36 on the ship 2 is The towing point 37 on the main vessel 2 to which the tug line is connected during towing is determined in advance for each vessel. The pushing and towing command of the tugboat 3 consists of the relative position of the hull of the pushing point 36 or the towing point 37, and the magnitude and direction of the thrust to be applied thereto. In order to facilitate command input, the command for the position of the push point 36 or the pull point 37 is configured so that it can be selected from among the push points 36 and the pull point 37 displayed on the display 441 of the information processing device 40. It would be good if it was done. Further, it is preferable that the command for the magnitude and direction of the thrust to be applied is received by the input device 43 and displayed on the display 441 as a vector or numerical value.

The current status display section 98 of the ship maneuvering support screen S can display information regarding ship maneuvering instructions. FIG. 10 is a diagram showing a ship maneuvering support screen S3 on which information regarding ship maneuvering instructions is displayed. The ship maneuvering support screen S3 is displayed on the display 441 by the processor 411 of the computer 41 of the information processing device 40 executing the display program 7. In the display item switching section 99 of the ship maneuvering support screen S3, it is possible to select whether to display or hide information related to the ship maneuvering instruction displayed on the current status display section 98. The information regarding the ship maneuvering instructions is, for example, the thrust, pushing position, towing position, and route for each tugboat. In the current status display section 98 of the ship maneuvering support screen S3 illustrated in FIG. is displayed, and information regarding ship maneuvering instructions is also displayed.

When a plurality of tugboat figures 3s are displayed on the ship maneuvering support screen S3, they are displayed in association with each other so that the combination of the tugboat figure 3s and the thrust command vector 87 becomes clear. The association methods include distinguishing the combination of the tugboat figure 3s and the corresponding thrust command vector 87 by color, attaching a label representing the name of the tugboat 3 to the thrust command vector 87, and labeling the origin of the thrust command vector 87 ( An example is connecting the point of action 86) and the tugboat figure 3s with a chain line. On the terminal operated by the conductor (pilot or ship's captain), input of thrust instructions is allowed on the ship maneuvering support screen S3, and the thrust given by the tugboat 3 to the ship 2 can be input as the thrust command vector 87.

The current status display section 98 of the ship maneuvering support screen S can display an image 82 taken by the remote camera 34. Returning to FIG. 6, when the monitor button is selected from the plurality of switching buttons provided in the display item switching section 99 of the ship maneuvering support screen S, the computer 21 selects the display item switching section 99 provided with a button for selecting a monitor. A ship maneuvering support screen S2 including the following is displayed.

FIG. 11 is a diagram showing a ship maneuvering support screen S2 provided with a button for selecting a monitor. In the display item switching section 99 of the ship maneuvering support screen S2, a button for switching the photographed image 82 to be displayed on the current status display section 98 is displayed. In the display item switching section 99 of the ship maneuvering support screen S2 illustrated in FIG. 11, the monitors of the tugboats 3, Tug 1, Tug 2, and Tug 3, are turned on. In the current status display section 98 of the ship maneuvering support screen S2, in addition to the nautical chart image 60, the ship figure 2s, and the tugboat figure 3s, a plurality of captured images 82 (videos) are displayed side by side so that they can be viewed at a glance.

Each photographed image 82 is labeled with "TAG1," "TAG2," and "TAG3." The label indicates identification information of the tugboat 3 equipped with the remote camera 34 on which the image was taken. In this example, the remote camera 34 is installed facing forward at the bow of each tugboat 3, and a captured image 82 looking forward from each tugboat 3 is displayed. This photographed image 82 is photographed by a remote camera 34 placed on the mast 39 at the center of the tugboat 3 so as to look forward from above the tugboat 3. From the current status display section 98 where the photographed image 82 is shown, it can be seen that the tugboat 3 labeled "TAG 1" is towing the bow of the main vessel 2 connected by the tug line, and the tugboat 3 labeled "TAG 2" is attached. It becomes clear that the tugboat 3 is pushing the forward side of the vessel 2 and the tugboat 3 labeled "TAG3" is pushing the aft side of the vessel 2. As a result, the pilot and vessel captain who viewed the vessel maneuvering support screen S2 can grasp the situation looking ahead from above the tugboat 3 in almost real time, and can check the situation of the tug operator without having to go back and forth on the bridge. It is possible to make an estimate and issue instructions to the tug operator.

In the above, the plurality of photographed images 82 are taken by the remote camera 34 mounted on the tugboat 3, but the plurality of photographed images 82 may also include images 82 taken by the remote camera 34 disposed on the ship 2 or the quay.

The current status display section 98 of the ship maneuvering support screen S can display the route plan. Returning to FIG. 6, when the route planning button is selected from the switching buttons provided in the display item switching section 99, the computer 21 displays a ship maneuvering support provided with a button on the display 241 to switch between displaying and non-displaying the route plan. Display screen S4.

FIG. 12 is a diagram showing a ship maneuvering support screen S4 provided with a button for switching between displaying and non-displaying the route plan. The display item switching section 99 of the ship maneuvering support screen S4 is provided with a button for switching between displaying and non-displaying the route plan on the current status display section 98.

In the current status display section 98 of the ship maneuvering support screen S4 illustrated in FIG. 12, a speed vector 69 representing the speed of the ship 2 is displayed based on the course over the ground and the speed over the ground of the ship 2. Furthermore, a tug ship speed vector 96 representing the ship speed of the tug boat 3 is displayed on the ship maneuvering support screen S4 based on the ground course and ground speed of the tug boat 3.

On the current status display section 98 of the ship maneuvering support screen S4, a recommended route 84 for the ship 2 is displayed superimposed on the nautical chart image 60 based on the recommended route set by the route planning module. In this example, the recommended route 84 is shown as a continuous chain line from the current position of the ship figure 2s to the target berthing position. A plurality of waypoints 97 are displayed on the recommended route 84. Waypoint 97 is shown in this example by a ship shape and a circled number.

The current status display section 98 of the ship maneuvering support screen S4 is provided with a zoom-in/zoom-out magnification change button 83. When zoom in is selected using the magnification change button 83, the computer 41 receives a command to change the display magnification of the ship maneuvering support screen S4, and displays on the display 241 a ship maneuvering support screen S5 in which the ship maneuvering support screen S4 is partially enlarged. let However, when the ship 2 approaches the waypoint 97, the magnification of the screen may be automatically changed so that the details of the waypoint 97 are displayed. Those concerned who view such ship maneuvering support screens S4 and S5 can understand the entire route from when the ship 2 enters the port until it berths, as well as the relationship between the ship 2 and the tugboat 3 at each waypoint 97. I can do it. Although not specifically described, at least the current status display section 98 of the ship maneuvering support screen S can be enlarged or reduced as desired, either entirely or partially.

FIG. 13 is a diagram showing the ship maneuvering support screen S5 on which the route plan is displayed. The current status display section 98 of the ship maneuvering support screen S5 shows the third waypoint (circle 3), the fourth waypoint (circle 4), and the fifth waypoint (circle 5) among the plurality of waypoints 97. ing. The fifth waypoint (circle 5) corresponds to the target landing position. A main ship figure 2s is displayed at each waypoint 97, and a speed vector 69 and a rudder figure 67 are displayed superimposed on the main ship figure 2s. Further, at the fourth waypoint (circle 4) and the fifth waypoint (circle 5), a tugboat figure 3s representing a tugboat 3 supporting the main ship 2 is displayed.

From the first waypoint (circle 1) to the third waypoint (circle 3), the ship 2 navigates without receiving support from the tugboat 3. During this time, the ship 2 is obtaining propulsion power from its own propulsion machine, and the propulsion machine is located at an appropriate position (for example, when entering the port) from the first waypoint (circle 1) to the third waypoint (circle 3). stops. While the propulsion machine of the vessel 2 is operating, the tugboat 3 must be kept away from the vessel 2 to avoid contact between the vessel 2 and the tugboat 3. Therefore, the information processing device 40 and the information terminal 20 can display evacuation instructions for the tugboat 3 that may come into contact with the main ship 2 on the displays 241 and 441.

FIG. 14 is a diagram showing the ship maneuvering support screen S6 on which the evacuation instruction is displayed. A main ship figure 2s, a tugboat figure 3s, and a no-trespass area 93 are displayed on the current status display section 98 of the ship maneuvering support screen S6. The prohibited area 93 is set in advance. The prohibited area 93 may be set using absolute coordinates, or may be set using relative coordinates with the ship 2 as a reference. In the example shown in FIG. 14, the prohibited area 93 is a rectangular area surrounding the ship figure 2s, but the prohibited area 93 may have any shape. Further, the prohibited area 93 is preferably configured such that its range can be set on the display 441 of the information processing device 40.

In the current status display section 98 of the vessel maneuvering support screen S6, a warning is displayed for the tugboat 3 existing within the no-trespass area 93. In the example shown in FIG. 14, the tugboat 3 existing within the prohibited area 93 is displayed in a different color from the tugboat 3 existing outside the prohibited area 93, and is displayed blinking, and furthermore, the text "evacuation required" is displayed. A speech bubble is displayed. In this way, the tugboat 3 to be evacuated from the prohibited area 93 is clearly shown on the vessel maneuvering support screen S6.

The person concerned can operate the information processing device 40 and each information terminal 20 to arbitrarily display the ship maneuvering support screen S6 showing the evacuation instruction on the display 241 (and/or the display 441). Additionally, the information processing device 40 monitors the positions of the ship 2 and each tugboat 3 in the portion of the navigation route where the no-trespassing area 93 is set, and when the tugboat 3 intrudes into the no-trespassing area 93, the information processing device 40 performs information processing. It is possible to force the device 40 and each information terminal 20 to display the ship maneuvering support screen S6 showing the evacuation instruction.

Returning to Figure 13, at the fourth waypoint (circle 4), the tugboat 3 of TAG1 moves to the position to push the main vessel 2, and the tugboat 3 of TAG2 moves to the position to tow the main vessel 2, and is connected with the tug line. . The information processing device 40 and the information terminal 20 can cause the displays 241 and 441 to display a ship maneuvering support screen S7 showing the route of the tugboat 3 when the tugboat 3 approaches the main ship 2.

FIG. 15 is a diagram showing a ship maneuvering support screen S7 showing the route of one tugboat 3 when it approaches the main ship 2. On the current status display section 98 of the ship maneuvering support screen S7, a main ship figure 2s representing the position and direction of the main ship 2 and a tugboat figure 3s representing the position and direction of the tugboat 3 are displayed. The current status display section 98 of the ship maneuvering support screen S7 shows an arrival point 90 and at least one waypoint 89 when the tugboat 3 approaches the main ship 2. Planning the approach route 88 from the tugboat figure 3s to the arrival point 90 through the waypoint 89 by complementing the distance between the waypoints 89 and between the waypoint 89 and the arrival point 90 with an appropriate complementation function. I can do it. In the ship maneuvering support screen S7, the approach route 88 is indicated by a chain line. The tug operator can maneuver the tugboat 3 so that the tugboat 3 sails along the approach route 88 by visually recognizing the maneuvering support screen S7.

On the current status display section 98 of the ship maneuvering support screen S7, the actual route 88' of the tugboat 3 is displayed superimposed on the approach route 88. The approach route 88 and the actual route 88' are displayed in different manners. In this example, the approach route 88 is shown in dashed lines and the actual route 88' is shown in solid lines. By comparing the approach route 88 and the actual route 88', the difference becomes clear.

FIG. 16 is a diagram showing a ship maneuvering support screen S8 showing the route of the tugboats 3 when a plurality of tugboats 3 approach the main ship 2. Even if the number of tugboats 3 approaching the main ship 2 increases, the approach route 88 is displayed corresponding to each tugboat 3 as described above. However, if one approach route 88 intersects with another approach route 88, or if the approach routes 88 are closer to each other than a predetermined threshold, a warning area 92 is displayed on the vessel maneuvering support screen S8. At the same time, a text bubble saying "Be careful of contact" is displayed.

The ship maneuvering support screens S7 and S8 are displayed on the display 241 by the processor 211 of the information terminal 20 executing the display program 7. In addition, the information processing device 40 monitors the positions of the ship 2 and each tugboat 3, and immediately before the tugboat 3 starts approaching the main ship 2, the information processing device 40 and each information terminal 20 display ship maneuvering support screens S7 and S8. can be forced to be displayed.

Returning to FIG. 13, from the fourth waypoint (circle 4) to the fifth waypoint (circle 5), the ship 2 navigates within the bay along the recommended route with the support of the tugboat 3. At the fifth waypoint (circle 5), the connection between the main ship 2 and the tugboat 3 of TAG2 is canceled, and the main ship 2 receives support only from the tugboat 3 of TAG1. In addition, on the ship maneuvering support screens S6, S7, and S8, when the main ship 2 is pushed and towed by the tug boat 3, the thrust that the tug boat 3 gives to the main ship 2 may be displayed as a thrust vector.

As explained above, the ship maneuvering support system 1 according to the present embodiment is a ship maneuvering support system 1 used when the ship 2 leaves or docks at a quay while being supported by at least one tugboat 3. The storage devices (memories 212, 412, storage devices 25, 45) storing the nautical chart image 60, the ship figure 2s, and the tugboat figure 3s, the position and direction of the ship 2, and the position and direction of the tugboat 3 are detected. It includes at least one detection device (navigation instrument 32), at least one display (241; 441), and a processor (211; 411) that causes the display (241; 441) to display a ship maneuvering support screen S. The processor (211; 411) causes the display (241; 441) to display the ship maneuvering support screen S based on the ship maneuvering status data by executing the display program 7.

The ship maneuvering support screen S includes a nautical chart image 60 including the quay 61 stored in the storage device, a ship figure 2s arranged on the chart image 60 based on the position and direction of the ship 2 detected by the detection device, and Regarding the tugboat figure 3s arranged on the nautical chart image 60 based on the detected position and orientation of the tugboat 3, and each of the plurality of tugboat propulsion machines 68 arranged on the tugboat figure 3s and mounted on the tugboat 3. It includes tugboat propulsion device information 68s representing the direction of the propulsive force generated by the tugboat propulsion device 68. This tugboat propulsion device information 68s is arranged on the vessel maneuvering support screen S so that the relative position of the tugboat propulsion device 68 with respect to the tugboat 3 corresponds to the relative position of the tugboat propulsion device information 68s with respect to the tugboat figure 3s. There is.

Further, the ship maneuvering support method according to the present embodiment includes an information terminal (20; 40), the processor (211; 411) causes the ship maneuvering support screen S to be displayed on at least one display (241; 441). The ship maneuvering support screen S includes a nautical chart image 60 including a quay, a ship figure 2s arranged on the nautical chart image 60 based on the position and direction of the ship 2, and a ship figure 2s arranged on the chart image 60 based on the position and direction of the tugboat 3. tugboat figure 3s, and tugboat propulsion machine information 68s that is arranged on the tugboat figure 3s and represents the direction of the propulsive force generated by each of the plurality of tugboat propulsion machines 68 mounted on the tugboat 3. including. Here, the tugboat propulsion device information 68s is arranged on the current status display section 98 so that the relative position of the tugboat propulsion device 68 with respect to the tugboat 3 corresponds to the relative position of the tugboat propulsion device information 68s with respect to the tugboat figure 3s. has been done.

According to the above-mentioned ship maneuvering support system 1 and method, the positional relationship between the ship 2 and the tugboat 3 is shown by the ship figure 2s and the tugboat figure 3s shown on the nautical chart image 60 displayed on the displays 241, 441, and the tugboat The propulsion device information 68s indicates the current status of each propulsion device mounted on the tugboat 3 (for example, the operating status of the propulsion device and the direction in which the propulsive force is generated). In this way, on one screen displayed on the displays 241, 441, information indicating the positional relationship between the ship 2 and the tugboat 3 and information indicating the current status of each propulsion machine of the tugboat 3 are illustrated. Therefore, the person viewing this screen can intuitively understand these mutual relationships. The current status of each propulsion unit installed on Tugboat 3 is important information for estimating the thrust acting on Tugboat 3, and by having this information intuitively and easily understood by those involved, smoother and more efficient It becomes possible to maneuver the ship to and from the shore.

Further, in the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S includes a ship rudder figure 67 that is arranged on the ship figure 2s and represents the rudder angle of the rudder mounted on the ship 2.

In this way, by displaying the rudder figure 67 in addition to the above elements on the ship maneuvering support screen S, the person viewing this screen can intuitively grasp the direction of the rudder of the ship 2.

Further, in the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S is arranged on the nautical chart image 60 and further includes a speed vector 69 representing the traveling direction and speed of the ship 2.

By illustrating the speed vector 69 in this way, the person concerned can intuitively understand the traveling direction and speed of the ship 2. Speed is important information for determining the thrust that should be applied from the tugboat 3 to the vessel 2, and by intuitively and easily understanding this information by the parties involved, smoother and more efficient berthing and unberthing maneuvers will become possible. .

In the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S includes a ship thrust vector 65a (and/or a ship thrust command vector 65b) representing the direction and magnitude of the thrust acting on the ship 2, and a tugboat It further includes a tugboat thrust vector 66a (and/or a tugboat thrust command vector 66b) representing the direction and magnitude of the thrust force acting on the tugboat thrust vector 66b.

By displaying the thrust acting on the ship 2 and the thrust acting on the tugboat 3 together on one screen in this way, the parties involved can comprehensively grasp the thrust acting on the system.

Furthermore, in the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S further includes a quay type graphic 62 representing the type of quay 61.

Although it is difficult to intuitively understand the type of quay 61 from a nautical chart, since the type of quay 61 is illustrated as the quay type graphic 62, the person concerned can intuitively understand the type of quay 61.

In addition, in the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S appears when the main ship 2 and the tugboat 3 are at the connection position, and the connection instruction text instructs to connect the tugboat 3 and the main ship 2 with a tag line. 73a. Further, in the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S appears when the ship 2 and the tugboat 3 are at the disconnection position, and further includes a disconnection instruction text 73b instructing to disconnect the tug line. Contains.

This allows all parties viewing the displays 241 and 441 to have a common understanding of the timing for connecting and disconnecting tag lines. Therefore, smoother and more efficient maneuvering of the ship to and from the berthing becomes possible.

Furthermore, in the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S further includes channel instruction text 71 representing a VHF channel.

Normally, the channel to be used on the transceiver is set before maneuvering the ship to and from the berthing, but communications may be disrupted during operations due to interference or radio wave interference. In such a case, by presenting the channel to be used from a stable communication path, the party concerned can smoothly switch the channel to be used on the transceiver.

Furthermore, in the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S (S7, S8) displays the planned route of the tugboat 3 when the tugboat 3 approaches the main ship 2, which is superimposed on the nautical chart image 60 (i.e., approach route 88).

In this way, by presenting the planned route (approach route 88) when the tugboat 3 approaches the ship 2 to the parties involved, all parties who view the display 241, 441 have a common understanding of the approach route 88 of the tugboat 3. It can be done. Therefore, smoother and more efficient maneuvering of the ship to and from the berthing becomes possible.

In the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S (S8) further includes an actual route 88' of the tugboat 3 displayed superimposed on the planned route (i.e., the approach route 88). .

In this way, by displaying the planned route 88 and the actual route 88' of the tugboat 3 on one screen, it is possible to easily grasp the deviation of the actual route 88' from the planned route 88.

Furthermore, in this embodiment, there are a plurality of tugboats 3, and the vessel maneuvering support system 1 further includes a camera 34 that is mounted on each of the tugboats 3 and that photographs the front of the tugboat 3. The ship maneuvering support screen S (S2) includes at least one captured image 82 captured by the camera 34.

As a result, the pilot and ship's captain who visually confirmed the photographed image 82 displayed on the ship maneuvering support screen S (S2) can grasp the situation looking ahead of the tugboat 3 in almost real time, and navigate back and forth between the bridges. It is possible to estimate the situation of the tugboat 3 without any trouble and issue instructions to the tug operator.

Although the preferred embodiments of the present invention have been described above, the present invention may include modifications to the specific structure and/or functional details of the above embodiments without departing from the spirit of the present invention. .

For example, in the above embodiment, the information processing device 40 is installed on the ship 2 or on land, but the information processing device 40 is configured as a portable information terminal carried by the pilot or the ship's captain like the information terminal 20. It's okay.

1: Vessel maneuvering support system 2: Ship 2s: Ship figure 3: Tugboat 3s: Tugboat figure 20: Information terminal 32: Navigation instrument (an example of a detection device in the claims)
34: Remote camera 37: Propulsion device 60: Chart image 61: Quay 62: Quay type figure 65a: Vessel thrust vector 65b: Vessel thrust command vector 66a: Tugboat thrust vector 66b: Tugboat thrust command vector 68: Tugboat propulsion device information 69: Speed vector 70: Ship propulsion machine figure 71: Channel instruction text 73: Connection instruction text 73a: Connection instruction text 73b: Connection release instruction text 88: Approach route (planned route)
88': Actual route 21: Computer 211: Processor 212: Memory (an example of a storage device in the claims)
241: Display 25: Storage device (an example of a storage device in the scope of claims)
41: Computer 411: Processor 412: Memory (an example of a storage device in the claims)
441: Display 45: Storage device (an example of a storage device in the scope of claims)
98: Current status display section 99: Display item switching section S: Ship maneuvering support screen

Claims (13)

A ship maneuvering support system when a ship leaves or docks at a quay while being supported by at least one tugboat,
a storage device that stores a nautical chart image including the quay, a ship shape, and a tugboat shape;
at least one detection device that detects the position and orientation of the ship and the position and orientation of the tugboat;
at least one display;
and a processor that displays a ship maneuvering support screen on the display,
The ship maneuvering support screen includes the nautical chart image, the ship shape arranged on the chart image based on the position and direction of the ship detected by the detection device, the position of the tugboat detected by the detection device, and The tugboat figure is arranged on the nautical chart image based on the azimuth, and the propulsive force generated by each of the plurality of tugboat propulsion machines mounted on the tugboat is arranged on the tugboat figure. Contains tug propulsion information indicating direction.
Ship maneuvering support system. The tugboat propulsion device information is arranged on the screen so that the relative position of the tugboat propulsion device with respect to the tugboat corresponds to the relative position of the tugboat propulsion device information with respect to the tugboat graphic,
The ship maneuvering support system according to claim 1. The vessel maneuvering support screen includes a vessel rudder figure arranged on the vessel figure and representing a rudder angle of a rudder mounted on the vessel;
A ship maneuvering support system according to claim 1 or 2. The ship maneuvering support screen is arranged on the nautical chart image and further includes a speed vector representing the traveling direction and speed of the ship.
A ship maneuvering support system according to any one of claims 1 to 3. The ship maneuvering support screen further includes a ship thrust vector representing the direction and magnitude of the thrust force acting on the main ship, and a tugboat thrust vector representing the direction and magnitude of the thrust force acting on the tugboat.
A ship maneuvering support system according to any one of claims 1 to 4. The ship maneuvering support screen further includes a quay type figure representing the type of quay.
The ship maneuvering support system according to any one of claims 1 to 5. The vessel maneuvering support screen appears when the main vessel and the tugboat are at a predetermined connection position, and further includes connection instruction text instructing to connect the tugboat and the main vessel with a tag line.
A ship maneuvering support system according to any one of claims 1 to 6. The ship maneuvering support screen appears when the main vessel and the tugboat reach a predetermined disconnection position, and further includes disconnection instruction text instructing to disconnect the tug line.
The ship maneuvering support system according to claim 7. The vessel maneuvering support screen further includes channel instruction text representing a VHF channel used by the transceiver.
A ship maneuvering support system according to any one of claims 1 to 6. The ship maneuvering support screen further includes a planned route for the tugboat when it approaches the main vessel, which is superimposed on the nautical chart image.
The ship maneuvering support system according to claim 1. The ship maneuvering support screen further includes an actual route of the tugboat displayed superimposed on the planned route.
The ship maneuvering support system according to claim 10. further comprising a camera mounted on each of the tugboats for photographing the front of the tugboat;
The ship maneuvering support screen includes at least one captured image captured by the camera.
The ship maneuvering support system according to claim 1. When the ship leaves or docks at a quay while being supported by at least one tugboat, a processor of an information terminal that supports the maneuvering of the ship and the tugboat displays a maneuvering support screen on at least one display. ,
The ship maneuvering support screen includes a nautical chart image including the quay, a ship figure arranged on the chart image in correspondence with the position and direction of the ship, and a figure arranged on the chart image in correspondence with the position and direction of the tugboat. and tugboat propulsion machine information arranged on the tugboat figure and representing the direction of the propulsive force generated by the tugboat propulsion machine for each of the plurality of tugboat propulsion machines mounted on the tugboat,
Ship handling support method.

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