JP7437129B2 - Ship maneuvering support system - Google Patents

Description

The present invention relates to a ship maneuvering support system used when a ship is assisted by at least one tugboat.

For example, in a harbor, a ship is often assisted by at least one tugboat. The vessel may be a self-propelled vessel that includes at least one propulsion device, or it may be a non-propellable vessel that does not include a propulsion device or has a propulsion device that has failed.

Typically, within a port, a commander, such as a pilot or the ship's captain, directs how the ship and/or tugboat should be operated. For example, tugboat assist methods include pushing, towing, parallel running, etc., and the conductor instructs the tugboat how to assist in a timely manner.

For example, Patent Document 1 discloses a portable tugboat instruction device having a screen. The screen displays a ship shape figure representing the main ship, and arrow figures showing the relative positions and relative directions of each of the plurality of tugboats to the main ship. Therefore, those who view the screen can understand whether the tugboat is pushing or towing the ship, as well as its position and direction.

Utility Model Publication No. 61-105298

However, as in the towboat instruction device disclosed in Patent Document 1, it is not possible to simply display arrow figures indicating the relative position and relative direction of each tugboat with respect to the ship on the screen. It is not possible to clearly understand what is going on.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a ship maneuvering support system that allows a person viewing the screen of a display device to clearly understand the movement of the ship.

In order to solve the above problem, one aspect of the present invention is a ship maneuvering support system that is used when a main ship including at least one propulsion device is assisted by at least one tugboat. , at least one display device having a screen, acquiring ship position and orientation information regarding the position and orientation of the ship and tugboat position and orientation information regarding the position and orientation of the at least one tugboat; a control device that displays on the screen at least one tugboat outline indicating the position and orientation of the at least one tugboat; calculating a target propulsion vector of the vessel and a target propulsion vector of the at least one tugboat, and displaying the target propulsion vector of the at least one propulsion machine of the vessel and the target propulsion vector of the at least one tugboat on the screen; It is characterized by doing.

According to the above configuration, not only the target propulsion vector of the tugboat but also the target propulsion vector of the ship's propulsion device is displayed on the screen. Therefore, a person viewing the screen of the display device can take into account the thrust of the propulsion device provided in the ship itself, and can clearly understand the movement of the ship.

Further, a ship maneuvering support system according to another aspect of the present invention is a ship maneuvering support system used when a main ship is assisted by at least one tugboat, which comprises: at least one display device having a screen; information regarding the position and orientation of the ship, and tugboat position and orientation information regarding the position and orientation of the at least one tugboat; a control device that displays on the screen at least one tugboat outline indicating the position and orientation, the control device calculates the expected position and expected orientation of the vessel after a predetermined time, and calculates the expected position and orientation of the vessel after a predetermined time; The method is characterized in that an expected outline of the ship indicating the expected heading is displayed on the screen.

According to the above configuration, a person viewing the screen of the display device can imagine changes in the position and orientation of the ship until after a predetermined period of time. Therefore, a person viewing the screen of the display device can clearly understand the movement of the ship.

Further, a ship maneuvering support system according to another aspect of the present invention is a ship maneuvering support system used when a main ship is assisted by a plurality of tugboats, the system comprising at least one display device having a screen, and the main ship. The ship's position and orientation information regarding the position and orientation of the ship, and the tugboat position and orientation information regarding the positions and orientations of the plurality of tugboats are acquired, and the ship outline line indicating the position and orientation of the main ship, and the position and orientation of the plurality of tugboats are obtained. a control device that displays on the screen a plurality of outline lines of tugboats indicating directions; The method is characterized in that a planned turning moment of the ship around the position is calculated, and the planned propulsion vector and the planned turning moment are displayed on the screen.

According to the above configuration, the movement based on the pivot point of the ship is visualized. Therefore, a person viewing the screen of the display device can clearly understand the movement of the ship.

According to the present invention, a person viewing the screen of the display device can clearly understand the movement of the ship.

1 is a schematic configuration diagram of a ship maneuvering support system according to a first embodiment of the present invention. It is an example of the screen of the display device of the terminal device in the said ship maneuvering support system. It is a schematic block diagram of the said terminal device. FIG. 3 is a diagram for explaining a certain ship maneuvering pattern. FIG. 7 is a diagram for explaining another ship maneuvering pattern. FIG. 7 is a diagram for explaining yet another ship maneuvering pattern. It is a figure which shows the modification of the screen of a display apparatus. It is a figure which shows another modification of the screen of a display apparatus. FIG. 2 is a schematic configuration diagram of a terminal device in a ship maneuvering support system according to a second embodiment of the present invention. It is a top view of a 2nd input device. This is an example of a screen of a display device when the ship does not include a propulsion device. It is a figure which shows the modification of the screen of a display apparatus.

(First embodiment)
FIG. 1 shows a ship maneuvering support system 4 according to a first embodiment of the present invention. This ship maneuvering support system 4 is used when the main ship 1 is assisted by at least one tugboat 2. As an example, FIG. 1 depicts a case where there are two tugboats 2.

In this embodiment, it is assumed that the tugboat 2 assists the main ship 1 within a port. However, the tugboat 2 may assist the main ship 1 in the open ocean. Further, in this embodiment, the ship maneuvering support system 4 includes a terminal device 3 that is carried by a pilot or installed in land equipment and is independent of the main ship 1 and at least one tugboat 2. Furthermore, in this embodiment, it is assumed that the main ship 1 and at least one tugboat 2 are manned ships.

The ship 1 is equipped with a control device 11, a display device 12 (corresponding to the ship display device of the present invention), and a communication device 13. Similarly, at least one tugboat 2 is equipped with a control device 21, a display device 22 (corresponding to the tugboat display device of the present invention), and a communication device 23. These devices together with the terminal device 3 constitute a ship maneuvering support system 4. For example, the control device 11 and display device 12 of the ship 1 are installed in the bridge console of the ship 1, and the control device 21 and display device 22 of the tugboat 2 are installed in the bridge console of the tugboat 2.

As shown in FIGS. 1 and 3, the terminal device 3 includes an input device 35, a control device 31, a display device 32 (corresponding to the terminal display device of the present invention), and a communication device 33. For example, the terminal device 3 may be a portable tablet computer or a notebook computer.

The control device 31 includes, for example, a memory such as a ROM or a RAM, a storage such as an HDD, and a CPU, and a program stored in the ROM or the HDD is executed by the CPU. The control device 11 mounted on the main ship 1 and the control device 21 mounted on at least one tugboat 2 have similar configurations.

Although details will be described later, in this embodiment, the control device 31 of the terminal device 3 determines a ship maneuvering pattern including an assist method for at least one tugboat 2, and the like. For this reason, the control device 31 includes a database 34 that stores various information, as shown in FIG.

However, the determination of the ship maneuvering pattern etc. may be performed by the control device 11 mounted on the main ship 1 or the control device 21 mounted on one tugboat 2. In this case, the database 34 may be included in the control device (11 or 21) that determines the ship maneuvering pattern. Alternatively, even if the determination of the ship maneuvering pattern is performed by the control device 11 mounted on the ship 1 or the control device 21 mounted on one tugboat 2, the database 34 is included in the control device 31 of the terminal device 3, and the database 34 is included in the control device 31 of the terminal device 3. The information stored in 34 may be transmitted to a control device (11 or 21) that determines a ship maneuvering pattern by wireless communication, which will be described later.

The communication device 33 of the terminal device 3 is capable of wireless communication with the communication device 13 of the ship 1 and the communication device 23 of at least one tugboat 2 . This wireless communication may be communication via AIS (Automatic Identification System), direct communication between ships, or ship-to-shore communication via a ground base station. It may be.

In the control device 11 of the ship 1, ship position and orientation information regarding the position and orientation of the ship 1 is stored in real time. The position of the ship 1 is measured by GNSS (Global Navigation Satellite System), and the direction of the ship 1 is measured by a direction meter provided on the ship 1. The ship position and orientation information is transmitted from the communication device 13 of the ship 1 to the communication device 33 of the terminal device 3.

The control device 21 of at least one tugboat 2 stores tugboat position and orientation information regarding the position and orientation of the tugboat 2 in real time. The position of the tugboat 2 is measured by GNSS, and the direction of the tugboat 2 is measured by a direction meter provided on the tugboat 2. At least one tugboat position and orientation information is transmitted from the communication device 23 of the tugboat 2 to the communication device 33 of the terminal device 3.

The control device 31 of the terminal device 3 acquires the above-mentioned vessel position/direction information and tugboat position/direction information via the communication device 33 .

The input device 35 is used by a user to input vessel transit point information including the departure point and destination of the vessel 1. Based on this input, the control device 31 acquires the ship's way point information. For example, the input device 35 may be a touch panel or a keyboard.

The vessel way point information includes not only the position of the starting point but also the direction and speed of the vessel 1 at the starting point. Similarly, the vessel way point information includes not only the position of the terminal point but also the direction and speed of the vessel 1 at the terminal point. The vessel way point information may include the intermediate point (the position of the intermediate point, and the direction and speed of the vessel 1 at the intermediate point).

Furthermore, the control device 31 also acquires environmental information including weather information such as wind information in the port and/or sea information such as wave information and tidal current information in the port. For example, the control device 31 acquires environmental information from an external organization such as the Japan Meteorological Agency or NOAA (National Ocean and Atmospheric Administration) via the communication device 33 and the Internet. Alternatively, the control device 31 may acquire wind information of the environmental information from a wind speed and direction meter mounted on the ship 1.

The database 34 stores ship information regarding the specifications of the ship 1, combination information regarding the number of tugboats set according to the ship information, and tugboat information regarding the specifications of at least one tugboat 2. The specifications of the ship 1 include, for example, the shape, weight and draft of the ship 1, the number, position and capacity of propulsion machines, the position where tugboats can be connected, and the like.

The number of tugboats 2 used for assistance is determined in advance based on the type of ship 1, port regulations, sea conditions, etc. The combination information is related to this number of units. The specifications of the tugboat 2 include, for example, the shape of the tugboat 2, the number and capacity of propulsion devices, and the like.

The information stored in the database 34 may be updated to information regarding the ship 1 (ship information, combination information, and tugboat information) each time the ship 1 enters the port. Alternatively, the database 34 may store in advance information regarding all ships 1 that are expected to enter the port.

Based on the acquired vessel position and orientation information and tugboat position and orientation information, the control device 31 determines the vessel outline 10 indicating the position and orientation of the vessel 1 and the position and orientation of at least one tugboat 2, as shown in FIG. At least one tugboat outline 20 indicating the orientation is displayed on the screen of the display device 32.

For example, the ship outline 10 is a polygonal (pentagonal in FIG. 2) that approximates the shape of the ship 1, and the tugboat outline 20 is a polygonal (triangular in FIG. 2) that approximates the shape of the tugboat 2. is the outline of

In this embodiment, the control device 31 determines the ship maneuvering pattern as described above. When the tugboat 2 tows the main vessel 1, the control device 31 also displays the tug line 15 connecting the main vessel 1 and the tugboat 2 on the screen of the display device 32.

The database 34 described above may also store land information including the shape of the quay 61. In this case, the control device 31 reads land information from the database 34, and when the position of the ship 1 is close to the quay 61, the quay 61 is also displayed on the screen of the display device 32.

In this embodiment, the control device 31 calculates a planned propulsion vector 53 of the ship 1 on a straight line passing through the pivot point 51 of the ship 1 and a planned turning moment 54 of the ship 1 around the pivot point 51 . For this reason, the control device 31 also displays the pivot point 51, the calculated planned propulsion vector 53, and the planned turning moment 54 on the screen of the display device 32.

In the example shown in FIG. 2, the planned propulsion vector 53 is displayed as a straight arrow starting from the pivot point 51. However, the planned propulsion vector 53 may be displayed as an arrow starting from a position away from the ship outline 10. Alternatively, the plan promotion vector 53 may be displayed as an elongated triangle instead of an arrow, or as a plurality of triangles lined up in a straight line (in this case, the number of triangles indicates the size of the vector). It's okay. Further, the direction and size of the plan promotion vector 53 may be displayed in letters and numbers. This point also applies to the display of vectors, which will be described later.

Further, in the example shown in FIG. 2, the planned turning moment 54 is displayed as an arc-shaped arrow centered at the pivot point 51 of the ship 1. However, the planned turning moment 54 does not necessarily need to be displayed as an arrow; for example, its direction and size may be displayed as letters and numbers.

Further, in this embodiment, the ship 1 includes at least one propulsion device, and the control device 31 calculates a target propulsion vector of at least one propulsion device of the ship 1 and a target propulsion vector of at least one tugboat 2. . Therefore, the control device 31 also displays the calculated target propulsion vector of at least one propulsion device of the ship 1 and the target propulsion vector of at least one tugboat 2 on the screen of the display device 32.

The target propulsion vector of at least one propulsion device of the ship 1 and the target propulsion vector of the at least one tugboat 2 are obtained by decomposing the planned propulsion vector 53 and planned turning moment 54 of the ship 1 described above. In other words, the planned propulsion vector 53 and planned turning moment 54 of the ship 1 are a combination of the target propulsion vector of at least one propulsion device of the ship 1 and the target propulsion vector of at least one tugboat 2.

Regarding the decomposition of the planned turning moment 54, the planned turning moment 54 is a straight line that passes through the point of action (the point of being pushed and towed) of the tugboat 2 on the ship 1 and is tangent to a circle centered on the center of rotation position 51 of the ship 1. The force is converted into a linear force extending in the pushing or towing direction of the tugboat 2.

FIG. 2 is an example of the screen of the display device 32 when the ship 1 includes the main propulsion device 1a, the rudder 1b, and the side propulsion device 1c as shown in FIGS. 4 to 6. In the example shown in FIG. 2, the main ship 1 is assisted by three tugboats 2. One of the three tugboats 2 pushes the main ship 1, and the remaining two tugs tow the main ship 1 via the tug line 15.

In the example shown in FIG. 2, the target propulsion vector 71 of the main propulsion unit 1a of the ship 1 is displayed as an arrow starting from the position of the main propulsion unit 1a within the ship outline 10, and the side propulsion vector 71 of the ship 1 is A target propulsion vector 72 of the aircraft 1c is indicated by an arrow starting from the position of the side propulsion machine 1c within the ship outline 10. Furthermore, in the example shown in FIG. 2, each of the target propulsion vectors 81 to 83 of the three tugboats 2 is displayed as an arrow starting from the center of the tugboat outline 20.

Further, in this embodiment, the control device 31 calculates the expected position and expected direction of the ship 1 after a predetermined time, and also displays the ship's expected outline 55 indicating the calculated expected position and expected direction on the screen of the display device 32. indicate.

Next, with reference to FIG. 3, the processing performed by the control device 31 of the terminal device 3 will be described. Note that the following processing is performed sequentially in real time.

First, the control device 31 determines a ship maneuvering pattern including an assist method for at least one tugboat 2 and an optimal route for the ship 1 based on the acquired ship way point information and environment information, and information stored in the database 34. do. In this embodiment, the ship 1 includes at least one propulsion device as described above. Therefore, the ship maneuvering pattern includes a method of using at least one propulsion device of the ship 1.

4 to 6 show three different ship maneuvering patterns when the ship 1 docks. 4 and 6 show an example in which the main ship 1 is assisted by two tugboats 2, and FIG. 5 shows an example in which the main ship 1 is assisted by one tugboat 2. In FIGS. 4 to 6, the propulsion devices of the ship 1 and the tugboat 2 that are used are shown by solid lines, and those that are not used are shown by broken lines.

In the examples shown in FIGS. 4 to 6, the ship 1 includes a main propulsion device 1a and a side propulsion device 1c. Furthermore, in the examples shown in FIGS. 4 to 6, the axial direction of the main propulsion device 1a cannot be changed, and the ship 1 includes a rudder 1b. However, the ship 1 may include only the main propulsion device 1a without including the side propulsion device 1c. Alternatively, the axial direction of the main propulsion device 1a may be changeable without providing the rudder 1b.

The example shown in FIG. 4 is an example in which the side propulsion device 1c is used when the speed of the ship 1 becomes sufficiently low. Specifically, in the example shown in FIG. 4, at a position far from the quay 61, appropriate navigation is possible using only the main propulsion unit 1a and rudder 1b of the main ship 1, so the tugboat 2 runs parallel to the main ship 1. When the ship 1 approaches the quay 61, the main propulsion unit 1a and rudder 1b of the ship 1 alone cannot provide appropriate turning performance and deceleration performance, so the two tugboats 2 push the ship 1 from both sides.

Thereafter, the main propulsion unit 1a of the ship 1 is stopped, and the ship 1 is made to travel on a pilgrimage. When the speed of the ship 1 is sufficiently reduced, the two tugboats 2 move and push the ship 1 toward the quay 61 from one side, while the side propulsion device 1c of the ship 1 is used.

In the example shown in FIG. 5, unlike the example shown in FIG. 4, the rudder 1b of the ship 1 is not operated. In the example shown in FIG. 5, when the main ship 1 approaches the quay 61, one tugboat 2 pushes the main ship 1 from one side. At this time, the tugboat 2 and the main ship 1 are connected by a tug line 15.

Thereafter, the main propulsion unit 1a of the ship 1 is stopped, and the ship 1 is made to travel on a pilgrimage. At this time, the tugboat 2 tows the ship 1 via the tug line 15 and controls the cruise line and direction of the ship 1.

In the example shown in FIG. 6, from the time the ship 1 approaches the quay 61, the two tugboats 2 pull the ship 1 from one side and bring the ship 1 to the berth.

Returning to FIG. 3, the control device 31 first calculates external forces (external forces in the longitudinal direction, external forces in the left-right direction, and external forces in the turning direction) acting on the ship 1 based on the environmental information. Next, the control device 31 determines what is the best way to assist the tugboat 2 when such an external force acts on the vessel 1, and determines which method of assisting the tugboat 2 is best, and how to assist the tugboat 2 in at least one propulsion machine (for example, the main propulsion machine 1a and the side propulsion machine 1a) of the vessel 1. The ship maneuvering pattern and the optimal route are determined while determining the best way to use the propulsion device 1c).

For example, the control device 31 regards the ship 1 and at least one tugboat 2 as one virtual hull, and avoids dangers such as contact between the virtual hull and a quay or other ships, and minimizes the required time. In addition, the ship maneuvering pattern and the optimal route may be determined so that combustion consumption is suppressed as much as possible. Specifically, the control device 31 uses an evaluation function that includes an evaluation value regarding the energy consumption amount of the virtual hull and an evaluation value regarding the safety of the virtual hull, and executes an optimal value search algorithm that minimizes this evaluation function. determine the ship maneuvering pattern and optimal route. Thereby, a ship maneuvering pattern and an optimal route can be determined so as to suppress the amount of energy consumed by the virtual ship while ensuring safety.

For example, the control device 31 determines the thrust required for the virtual hull in a plurality of ship maneuvering patterns and a plurality of routes, and calculates a square value of the change rate of the thrust of the virtual hull V ₁ and a sum of squares of the thrust of the virtual hull V _{2 .} , a first risk evaluation value _V3 corresponding to the distance between the virtual ship and an obstacle such as a quay or another ship, and a second risk evaluation value _V4 corresponding to the relative speed of the virtual ship with respect to said obstacle. The total value S (=V ₁ +V ₂ +V ₃ +V ₄ ) may be used as the evaluation function.

Furthermore, the control device 31 calculates the planned propulsion vector 53 and planned turning moment 54 of the ship 1 when the ship 1 navigates along the optimal route, and calculates the calculated planned propulsion vector 53 and planned turning moment 54 of the ship 1. It is displayed on the screen of the display device 32.

The control device 31 stores ship thrust plan information regarding the calculated planned propulsion vector 53 and planned turning moment 54 of the ship 1. The terminal device 3 constructs a server-client system in which the terminal device 3 is a server and the ship 1 and/or at least one tugboat 2 are clients.

That is, the control device 11 of the ship 1 can acquire ship thrust plan information from the terminal device 3 . When the control device 11 acquires the ship's thrust plan information, the control device 31 of the terminal device 3 displays the planned propulsion vector 53 and planned turning moment 54 of the ship 1 on the screen of the display device 12 via the control device 11 of the ship 1. indicate.

Similarly, the control device 21 of at least one tugboat 2 can acquire ship thrust plan information from the terminal device 3. When the control device 21 acquires the ship's thrust plan information, the control device 31 of the terminal device 3 displays the planned propulsion vector 53 and planned turning moment 54 of the ship 1 on the screen of the display device 22 via the control device 21 of the tugboat 2. indicate.

Furthermore, after calculating the planned propulsion vector 53 and the planned turning moment 54 of the ship 1, the control device 31 uses the acquired environmental information, ship position/azimuth information, tug boat position/azimuth information, and ship maneuvering pattern information regarding the determined ship maneuvering pattern. Based on the ship thrust plan information and the information stored in the database 34, a target propulsion vector of at least one propulsion device of the ship 1 and a target propulsion vector of at least one tugboat 2 are calculated. As a result, the planned propulsion vector 53 and planned turning moment 54 of the ship 1 can be distributed between at least one propulsion device of the ship 1 and at least one tugboat 2 (assuming that one tugboat 2 is one propulsion device). I can do it.

For example, the control device 31 calculates the target propulsion vector of at least one propulsion device of the ship 1 and the target propulsion vector of at least one tugboat 2 so that the following evaluation function J is minimized.

ｒ：合算推力指令（本船１の計画推進ベクトル５３および計画旋回モーメント５４）
ｕ：本船の推進機およびタグボートの推力合計値
ｖ₀：本船の推進機およびタグボートの所定の推力（船体の前後・左右方向）および
旋回モーメント（要素数は推力発生源の数の３倍と等しい）
ｖ：本船の推進機およびタグボートの発生すべき推力（船体の前後・左右方向）およ
び旋回モーメント（同上）
Ｗ₁，Ｗ₂：重み行列（３×３）
Ｗ₃：重み行列（正方行列、要素数は推力発生源の数の２倍と等しい）
Ｔ：評価期間（数秒～数百秒）

r: Total thrust command (planned propulsion vector 53 and planned turning moment 54 of ship 1)
u: Total thrust of the ship's propulsion engine and tugboat v ₀ : Specified thrust of the ship's propulsion engine and tugboat (in the longitudinal and lateral directions of the ship) and turning moment (the number of elements is equal to three times the number of thrust sources) )
v: Thrust that should be generated by the ship's propulsion engine and tugboat (in the longitudinal and lateral directions of the ship) and turning moment (same as above)
W ₁ , W ₂ : Weight matrix (3×3)
W ₃ : Weight matrix (square matrix, number of elements is equal to twice the number of thrust sources)
T: Evaluation period (several seconds to hundreds of seconds)

The first term on the right side of Equation 1 is to reduce the difference between the total thrust command, which takes into account the thrust required for maneuvering the ship and the external force of the ship, and the thrust after distribution. The second term on the right side of Equation 1 is the weighted sum of squares of the total thrust after distribution for the period from the time of calculation (t = 0) to the predetermined time T, and reduces the generated thrust itself. It is something. The third term on the right side of Equation 1 is for reducing the difference between the thrust of each propulsion device after distribution and a predetermined value given in advance.

The control device 31 displays the calculated target propulsion vector of at least one propulsion device of the ship 1 and the calculated target propulsion vector of at least one tugboat 2 on the screen of the display device 32.

Further, the control device 31 calculates the predicted position and predicted direction of the ship 1 after a predetermined time, and displays the above-mentioned predicted ship outline 55 on the screen of the display device 32. For example, the control device 31 determines the expected position of the ship 1 after a predetermined time based on the hull model of the ship 1 (including displacement, hull shape, etc.), the ship's thrust plan information mentioned above, environmental information, underwater topography, etc. Calculate the expected direction.

Note that the control device 31 not only provides ship thrust plan information, but also ship generated thrust information regarding the target propulsion vector of at least one propulsion device of the ship 1 described above, and tugboat generated thrust information regarding the target propulsion vector of at least one tugboat 2. Information etc. may be transmitted to the control device 11 of the ship 1 via the communication device 33 and the communication device 13 of the ship 1. In this case, the screen of the display device 12 of the ship 1 may be the same as that shown in FIG. 2.

Similarly, the control device 31 transmits not only ship thrust plan information but also ship generated thrust information, tugboat generated thrust information, etc. to the control device 21 of the tugboat 2 via the communication device 33 and the communication device 23 of the tugboat 2. It's okay. In this case, the screen of the display device 22 mounted on at least one tugboat 2 may be the same as that shown in FIG. 2.

As explained above, in the ship maneuvering support system 4 of this embodiment, not only the target propulsion vector of the tugboat 2 but also the target propulsion vector of the propulsion device of the main ship 1 is displayed on the screen of the display device 32. Therefore, a person viewing the screen of the display device 32 can take into account the thrust of the propulsion device provided in the ship 1 itself, and can clearly understand the movement of the ship 1.

Moreover, in the present embodiment, the planned propulsion vector 53 and planned turning moment 54 of the ship 1 are also displayed on the screen of the display device 32, and the movement of the ship 1 with respect to the pivot point 51 is visualized. Therefore, a person viewing the screen of the display device 32 can more clearly understand the movement of the ship 1.

Further, in this embodiment, the expected ship outline 55 is also displayed on the screen of the display device 32. Therefore, a person viewing the screen of the display device 32 can visualize changes in the position and orientation of the ship 1 after a predetermined period of time.

<Modified example>
In the embodiment, the control device 31 of the terminal device 3 displays not only the target propulsion vector of at least one propulsion device of the ship 1 and the target propulsion vector of at least one tugboat 2 on the screen of the display device 32, but also the target propulsion vector of the at least one propulsion device of the ship 1. The planned propulsion vector 53 and planned turning moment 54 of No. 1 and the expected ship outline 55 are also displayed. However, as shown in FIG. 7, the display of the planned propulsion vector 53 and planned turning moment 54 of the ship 1 and the expected ship outline 55 may be omitted.

Alternatively, as shown in FIG. 8, only the expected vessel outline 55 is displayed on the screen of the display device 32, and the target propulsion vector of at least one propulsion device of the vessel 1 and the target propulsion vector of at least one tugboat 2 are displayed. The display of the planned propulsion vector 53 and planned turning moment 54 of the ship 1 may be omitted. Even in this case, the person viewing the screen of the display device 32 can visualize changes in the position and orientation of the ship until after a predetermined period of time. Therefore, a person viewing the screen of the display device 32 can clearly understand the movement of the ship 1.

Note that these modifications are also applicable to the second embodiment.

(Second embodiment)
Next, with reference to FIG. 9, a ship maneuvering support system according to a second embodiment of the present invention will be described. In this embodiment, the terminal device 3 includes a control device 31' as shown in FIG. The terminal device 3 also includes a first input device 36 for the user to input ship maneuvering pattern information explained in the first embodiment, and a first input device 36 for the user to input ship thrust plan information also explained in the first embodiment. A second input device 37 is included.

For example, the first input device 36 may be a touch panel or a keyboard. For example, as shown in FIG. 10, the second input device 37 includes a turning dial 37a for inputting the direction (left turn TL or right turn TR) and magnitude of the planned turning moment 54, and a planned propulsion vector 53. It may also include a joystick 37b for inputting the orientation and size of the image. Regarding the joystick 37b, one side and the other side in the direction in which the turning dial 37a and the joystick 37b are lined up are the port direction L and starboard direction R of the ship 1, respectively, and one side in the direction orthogonal thereto is the bow direction F of the ship 1. be.

The control device 31' of this embodiment differs from the control device 31 of the first embodiment in that it does not determine the ship maneuvering pattern and the optimal route, and it does not calculate the planned propulsion vector 53 and planned turning moment 54 of the ship 1. The point is not to do so.

Specifically, the control device 31' acquires ship maneuvering pattern information through input using the first input device 36, and acquires the planned propulsion vector 53 and planned turning moment 54 of the ship 1 through input using the second input device 37. Obtain information on the ship's thrust plan. Then, as in the first embodiment, the control device 31' uses information stored in the database 34 based on the environmental information, ship position/direction information, tugboat position/direction information, ship maneuvering pattern information, ship thrust plan information, and information stored in the database 34. , a target propulsion vector of at least one propulsion device of the ship 1 and a target propulsion vector of at least one tugboat 2 are calculated.

In this embodiment as well, the screen of the display device 32 is the same as that in FIG. That is, the control device 31' displays the pivot point 51, the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 on the screen of the display device 32, as in the first embodiment. The control device 31' also displays the target propulsion vector of at least one propulsion device of the ship 1 and the target propulsion vector of at least one tugboat 2 on the screen of the display device 32. Furthermore, the control device 31 ′ also displays the expected ship outline 55 on the screen of the display device 32 .

In this embodiment as well, the same effects as in the first embodiment can be obtained. Further, in this embodiment, since the second input device 37 is employed, the user can change the ship thrust plan information to be input while checking the screen of the display device 32.

(Other embodiments)
The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the gist of the present invention.

For example, the ship 1 may not include a propulsion device. In this case, as shown in FIG. The movement based on the pivot point 51 is visualized. Therefore, a person viewing the screen of the display device 32 can clearly understand the movement of the ship 1.

In addition, when the main ship 1 does not include a propulsion device, the main ship 1 is assisted by a plurality of tugboats 2. In this case, the ship maneuvering pattern includes a method for assisting the plurality of tugboats 2. The control device (31 or 31') also controls the control of multiple tugboats based on environmental information, ship position/direction information, tugboat position/direction information, ship maneuvering pattern information, ship thrust plan information, and information stored in the database 34. The target propulsion vector for each tugboat is calculated.

In the above case, as shown in FIG. It may be displayed above. In the example shown in FIG. 11, each of the target propulsion vectors 84 to 86 of the three tugboats 2 is displayed as an arrow starting from the center of the tugboat outline 20. In the example shown in FIG. 11, a ship's expected outline 55 indicating the expected position and expected direction of the ship 1 after a predetermined period of time is also displayed. Note that, as shown in FIG. 12, the display of the target propulsion vectors of the plurality of tugboats 2 and the estimated vessel outline 55 may be omitted, and only the planned propulsion vector 53 and planned turning moment 54 of the vessel 1 may be displayed.

The target propulsion vectors of the plurality of tugboats 2 are obtained by decomposing the planned propulsion vector 53 and planned turning moment 54 of the main ship 1. In other words, the planned propulsion vector 53 and planned turning moment 54 of the ship 1 are a combination of the target propulsion vectors of the plurality of tugboats 2.

Furthermore, as explained in the first embodiment, when the determination of the ship maneuvering pattern of the ship 1 is performed by the control device 11 installed in the ship 1 or the control device 21 installed in one tugboat 2, the control The device (11 or 21) is configured similarly to the control device 31 shown in FIG. 3 or the control device 31' shown in FIG. In this case, the ship maneuvering support system 4 does not need to include the terminal device 3. However, if the ship maneuvering support system 4 includes the terminal device 3 as in the first embodiment or the second embodiment, the conductor can view the screen of the display device 32 of the terminal device 3 without boarding the ship 1 or the tugboat 2. You can command the ship while doing so.

Further, the main ship 1 may be an unmanned ship. In this case, the display device 12 mounted on the ship 1 is unnecessary. Furthermore, the tugboat 2 may also be an unmanned vessel. In this case, the display device 22 mounted on the tugboat 2 is unnecessary.

(summary)
A ship maneuvering support system according to one aspect of the present invention is a ship maneuvering support system used when a main ship including at least one propulsion device is assisted by at least one tugboat, and the system includes at least one display having a screen. a device for acquiring vessel position/orientation information regarding the position and orientation of the vessel, and tugboat position/orientation information regarding the position and orientation of the at least one tugboat; a control device that displays on the screen at least one tugboat outline indicating the position and orientation of one tugboat; The present invention is characterized in that a target propulsion vector of at least one tugboat is calculated, and the target propulsion vector of at least one propulsion device of the main ship and the target propulsion vector of the at least one tugboat are displayed on the screen.

According to the above configuration, not only the target propulsion vector of the tugboat but also the target propulsion vector of the ship's propulsion device is displayed on the screen. Therefore, a person viewing the screen of the display device can take into account the thrust of the propulsion device provided in the ship itself, and can clearly understand the movement of the ship.

The control device calculates a planned propulsion vector of the vessel on a straight line passing through the pivot position of the vessel and a planned turning moment of the vessel about the pivot position, and calculates the planned propulsion vector and the planned turning moment. The target propulsion vector of the at least one propulsion device of the ship and the target propulsion vector of the at least one tugboat displayed on the screen may be obtained by decomposing the planned propulsion vector and the planned turning moment. . According to this configuration, the movement based on the pivot point of the ship is visualized. Therefore, a person viewing the screen of the display device can more clearly understand the movement of the ship.

The control device may calculate an expected position and an expected orientation of the ship after a predetermined time, and display an expected outline of the ship indicating the expected position and the expected orientation on the screen. According to this configuration, a person viewing the screen of the display device can imagine changes in the position and orientation of the ship until after a predetermined period of time.

For example, the control device includes a database that stores vessel information regarding the specifications of the vessel and tugboat information regarding the specifications of the at least one tugboat, and environment information including weather information and/or sea state information; position and orientation information, the tugboat position and orientation information, and vessel thrust plan information regarding the planned propulsion vector of the vessel on a straight line passing through the pivot position of the vessel and the planned turning moment of the vessel around the pivot position; Based on information stored in the database and ship maneuvering pattern information regarding a ship maneuvering pattern including a method of using at least one propulsion device of the ship and a method of assisting the at least one tugboat, A target propulsion vector of the propulsion device and a target propulsion vector of the at least one tugboat may be calculated.

A ship maneuvering support system according to another aspect of the present invention is a ship maneuvering support system used when a main ship is assisted by at least one tugboat, and the system includes at least one display device having a screen, and a position of the main ship. and the vessel position and orientation information regarding the position and orientation of the at least one tugboat, and the vessel outline line indicating the position and orientation of the at least one tugboat, and the position and orientation of the at least one tugboat. a control device that displays on the screen at least one outline of a tugboat indicating a direction; the control device calculates an expected position and a predicted direction of the vessel after a predetermined time; It is characterized in that an expected outline of the ship indicating the direction is displayed on the screen.

According to the above configuration, a person viewing the screen can visualize changes in the position and orientation of the ship until after a predetermined period of time. Therefore, the person viewing the screen can clearly understand the movement of the ship.

For example, the at least one display device may include a terminal display device included in a terminal device independent of the main vessel and the at least one tugboat. The at least one display device may include at least one of a ship display device mounted on the main ship and at least one tugboat display device mounted on the at least one tugboat.

A ship maneuvering support system according to yet another aspect of the present invention is a ship maneuvering support system used when a main ship is assisted by a plurality of tugboats, and includes at least one display device having a screen, and a position of the ship. information on the ship's position and orientation regarding the vessel's position and orientation, and tugboat position and orientation information regarding the position and orientation of the plurality of tugboats; a control device that displays on the screen a plurality of tugboat outline lines shown on the screen; A planned turning moment of the ship is calculated, and the planned propulsion vector and the planned turning moment are displayed on the screen.

According to the above configuration, the movement based on the pivot point of the ship is visualized. Therefore, a person viewing the screen of the display device can clearly understand the movement of the ship.

For example, the control device calculates a target propulsion vector of the plurality of tugboats for each tugboat, displays the target propulsion vector on the screen, and calculates the target propulsion vector of the plurality of tugboats according to the plan of the main vessel. It may also be a decomposition of the propulsion vector and planned turning moment.

The control device may calculate an expected position and an expected orientation of the ship after a predetermined time, and display an expected outline of the ship indicating the expected position and the expected orientation on the screen. According to this configuration, a person viewing the screen of the display device can imagine changes in the position and orientation of the ship until after a predetermined period of time.

For example, the control device includes a database that stores ship information regarding the specifications of the ship and tugboat information regarding the specifications of the plurality of tugboats, environmental information including weather information and/or sea state information, and the ship position. azimuth information, the tugboat position and azimuth information, vessel thrust plan information regarding a planned propulsion vector of the vessel on a straight line passing through the pivot position of the vessel and a planned turning moment of the vessel around the pivot position; Target propulsion vectors for the plurality of tugboats may be calculated based on ship maneuvering pattern information regarding a maneuvering pattern including an assist method for the plurality of tugboats and information stored in the database.

For example, the at least one display device may include a terminal display device included in a terminal device independent of the main ship and the plurality of tugboats. Moreover, the at least one display device may include a plurality of tugboat display devices mounted on the plurality of tugboats.

The ship maneuvering support system described above may further include an input device for a user to input the ship thrust plan information. According to this configuration, the user can change the ship thrust plan information to be input while checking the screen of the display device.

1 Ship 10 Ship outline 12 Display device (ship display device)
2 Tugboat 20 Tugboat outline 22 Display device (Tugboat display device )
31 Control device 32 Display device (terminal display device)
34 Beta base 4 Ship maneuvering support system 51 Turning point 53 Planned propulsion vector 54 Planned turning moment 55 Expected vessel outline 71, 72, 81-83 Target propulsion vector

Claims (13)

A ship maneuvering support system used when a ship including at least one propulsion device is assisted by at least one tugboat, the system comprising:
at least one display device having a screen;
Vessel position and orientation information regarding the position and orientation of the vessel and tugboat position and orientation information regarding the position and orientation of the at least one tugboat are acquired, and the vessel outline line indicating the position and orientation of the vessel, and the vessel outline line indicating the position and orientation of the at least one tugboat are obtained. a control device that displays on the screen at least one tugboat outline indicating the position and orientation of the tug;
The control device calculates a target propulsion vector of at least one propulsion device of the main ship and a target propulsion vector of the at least one tugboat, and calculates a target propulsion vector of the at least one propulsion device of the main ship and a target propulsion vector of the at least one tugboat. A vessel maneuvering support system that displays a target propulsion vector of a tugboat on the screen. The control device calculates a planned propulsion vector of the vessel on a straight line passing through the pivot position of the vessel and a planned turning moment of the vessel about the pivot position, and calculates the planned propulsion vector and the planned turning moment. display on the screen;
The ship maneuvering support system according to claim 1, wherein the target propulsion vector of the at least one propulsion device of the ship and the target propulsion vector of the at least one tugboat are obtained by decomposing the planned propulsion vector and the planned turning moment. . 3. The control device according to claim 1, wherein the control device calculates an expected position and an expected orientation of the ship after a predetermined time, and displays an expected outline of the ship indicating the expected position and the expected orientation on the screen. Ship maneuvering support system. The control device includes a database that stores ship information regarding the specifications of the ship, and tugboat information regarding the specifications of the at least one tugboat, and environmental information including weather information and/or sea condition information, and the ship position and orientation. information, the tug position/azimuth information, the vessel's planned propulsion vector on a straight line passing through the vessel's turning point, and ship's thrust plan information regarding the planned turning moment of the vessel about the pivot point; at least one propulsion device of the vessel, based on information stored in the database and information stored in the database, and information stored in the database. 4. The ship maneuvering support system according to claim 1, wherein a target propulsion vector of the at least one tugboat is calculated. The ship maneuvering support system according to any one of claims 1 to 4 , wherein the at least one display device includes a terminal display device included in a terminal device independent of the main ship and the at least one tugboat. Any one of claims 1 to 5 , wherein the at least one display device includes at least one of a ship display device mounted on the main ship and at least one tugboat display device mounted on the at least one tugboat. The ship maneuvering support system described in item (1) above. A ship maneuvering support system used when a ship is assisted by multiple tugboats,
at least one display device having a screen;
Vessel position and orientation information regarding the position and orientation of the ship and tugboat position and orientation information regarding the positions and orientations of the plurality of tugboats are acquired, and the ship outline line indicating the position and orientation of the main ship, and the position and orientation of the plurality of tugboats are obtained. a control device that displays a plurality of tugboat outlines indicating positions and orientations on the screen;
The control device calculates a planned propulsion vector of the vessel on a straight line passing through the pivot position of the vessel and a planned turning moment of the vessel around the pivot position, and calculates the planned propulsion vector and the planned turning moment. A ship maneuvering support system that displays on the screen. The control device calculates a target propulsion vector of the plurality of tugboats for each tugboat, and displays the target propulsion vector on the screen;
8. The ship maneuvering support system according to claim 7 , wherein the target propulsion vectors of the plurality of tugboats are obtained by decomposing the planned propulsion vector and planned turning moment of the main ship. 9. The control device according to claim 7 or 8 , wherein the control device calculates the expected position and expected orientation of the ship after a predetermined period of time, and displays an expected outline of the ship indicating the expected position and the expected orientation on the screen. Ship maneuvering support system. The control device includes a database that stores ship information regarding the specifications of the ship and tugboat information regarding the specifications of the plurality of tugboats, and environment information including weather information and/or sea state information, and the ship position and orientation information. and the tugboat position and orientation information, the vessel's planned propulsion vector on a straight line passing through the pivot point of the vessel and the vessel's thrust plan information regarding the planned turning moment of the vessel around the pivot point, and the plurality of vessels. 10. The target propulsion vector of the plurality of tugboats is calculated based on information stored in the database and vessel maneuvering pattern information regarding a vessel maneuvering pattern including an assist method for the tugboats. Ship maneuvering support system described in section. The ship maneuvering support system according to any one of claims 7 to 10 , wherein the at least one display device includes a terminal display device included in a terminal device independent of the main ship and the plurality of tugboats. The ship maneuvering support system according to any one of claims 7 to 11 , wherein the at least one display device includes a plurality of tugboat display devices mounted on the plurality of tugboats. The ship maneuvering support system according to claim 4 or 10 , further comprising an input device for a user to input the ship thrust plan information.

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