JP2007057499A - Optimal course search system - Google Patents

Optimal course search system Download PDF

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JP2007057499A
JP2007057499A JP2005246461A JP2005246461A JP2007057499A JP 2007057499 A JP2007057499 A JP 2007057499A JP 2005246461 A JP2005246461 A JP 2005246461A JP 2005246461 A JP2005246461 A JP 2005246461A JP 2007057499 A JP2007057499 A JP 2007057499A
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route
route search
ship
data
optimum
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JP4247497B2 (en
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Hisafumi Yoshida
尚史 吉田
Masao Morikawa
正夫 森川
Keiichi Yamazaki
啓市 山崎
Koichiro Matsumoto
光一郎 松本
Kazuyoshi Hirota
和義 廣田
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Universal Shipbuilding Corp
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Universal Shipbuilding Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a system capable of searching an optimal course efficiently in a short time. <P>SOLUTION: The system is provided with a cost calculation device 10 for calculating as estimated data, cost or weight based on at least a ship speed, a fuel consumption, and a sea margin between a plurality of nodes set at least between a certain sea area and a destination, on the basis of sea weather data and performance data of each ship which a ship has peculiarly, a storage 20 for storing at least estimated data, a course search apparatus 30 for searching an optimal course from the sea area up to the destination on the basis of the estimated data stored in the storage 20, and a display device 80 for displaying a routing chart on the basis of the optimal course searched by the course search apparatus. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、船舶の航路を探索するシステムに関するものである。特に最適な航路を短時間で効率よく探索するシステムに関するものである。   The present invention relates to a system for searching a route of a ship. In particular, the present invention relates to a system for efficiently searching for an optimum route in a short time.

船舶が航行する際には、外部の機関等から、現在、将来に関する様々な海気象に関するデータ（以下、海気象データという）が提供される（例えば特許文献１参照）。そして、海気象データに基づいて、船舶の運航等の計画、管理等を行う。また、気象条件等に基づいた最適航路の航路計画（ウェザールーティング）等も行われている。
特開昭６１−２４７９１７号公報 When a ship navigates, data relating to various future sea weather (hereinafter referred to as sea weather data) is provided from an external engine or the like (see, for example, Patent Document 1). Then, based on the sea weather data, planning, management, etc. of ship operations are performed. In addition, route planning (weather routing) of the optimum route based on weather conditions and the like is also performed.
JP-A 61-247717

従来、ウェザールーティングを行う際に用いられる船舶の性能に関するデータは、近似的かつ限定されたデータしか用いられていなかった。また、演算に時間がかかるため、基本的にルーティングは航海前に行われている。そのため、航海途中において、最新の気象情報に基づいてルーティング変更が行われることがなかった。さらに、ウェザールーティングを行う際の代表的な最適航路探索手法である変分法、線形計画法等では探索計算に多くの時間が費やされていた。また、時間を費やしても、上記のように近似的かつ限定されたデータしか用いられていないため、必ずしも真の最適解を求められるとは限らなかった。   Conventionally, only approximate and limited data has been used as data relating to the performance of a ship used for weather routing. In addition, since computation takes time, routing is basically performed before voyage. Therefore, no routing change was made during the voyage based on the latest weather information. Furthermore, a lot of time is spent on search calculation in the variational method, linear programming, and the like, which are typical optimum route search methods for weather routing. Even if time is spent, since only approximate and limited data is used as described above, a true optimum solution is not always obtained.

そこで、本発明は上記のような問題点を解決し、最適な航路を短時間で効率よく探索するシステムを提供することを目的とする。   Therefore, an object of the present invention is to provide a system that solves the above-described problems and efficiently searches for an optimum route in a short time.

本発明に係る最適航路探索システムは、船舶が固有に有する個船性能データと海気象データとに基づいて、少なくとも、ある海域から目的地までに設定した複数のノード間における、少なくとも船速、燃料消費量及びシーマージンに基づくコスト又は重みを予測データとして算出するコスト算出装置と、予測データを少なくとも記憶する記憶装置と、記憶装置に記憶された予測データに基づいてある海域から目的地までの最適航路を探索する航路探索装置と、航路探索装置が探索した最適航路に基づいて航路図を表示する表示装置とを備えるものである。   The optimum route search system according to the present invention is based on individual ship performance data and marine meteorological data inherently possessed by a ship, at least among a plurality of nodes set from a certain sea area to a destination, at least ship speed, fuel Cost calculation device that calculates cost or weight based on consumption and sea margin as prediction data, storage device that stores at least prediction data, and optimum from a sea area to a destination based on prediction data stored in the storage device A route search device that searches for a route and a display device that displays a route map based on the optimum route searched by the route search device.

また、本発明に係る最適航路探索システムの航路探索装置は、船舶の航海時間又は燃料消費量に基づく最適航路を探索する。   Moreover, the route search device of the optimum route search system according to the present invention searches for the optimum route based on the ship's voyage time or fuel consumption.

また、本発明に係る最適航路探索システムは、航路探索装置が探索した最適航路に加え、大圏航路及び／又は任意の指定航路に関する航路図を表示装置に表示する。   The optimum route search system according to the present invention displays a route map related to the great circle route and / or an arbitrary designated route on the display device in addition to the optimum route searched by the route search device.

また、本発明に係る最適航路探索システムは、コスト算出装置、記憶装置及び航路探索装置は陸上に設けられており、船舶内に設けられた表示装置と航路探索装置との間を無線通信を行うための通信装置をさらに備える。   In the optimum route search system according to the present invention, the cost calculation device, the storage device, and the route search device are provided on land, and wireless communication is performed between the display device provided in the ship and the route search device. The communication apparatus for further comprising.

また、本発明に係る最適航路探索システムは、船舶内に各装置が備えられており、海気象データを含む信号を受信して、コスト算出装置に送信する通信装置をさらに備える。   In addition, the optimum route search system according to the present invention is provided with each device in the ship, and further includes a communication device that receives a signal including sea weather data and transmits the signal to the cost calculation device.

また、本発明に係る最適航路探索システムは、荒天避航に対する指標となるパラメータを、数値、あらかじめ定めた閾値に対する発生確率、閾値との割合又は指数のいずれかの方法で表示装置に表示する。   In addition, the optimum route search system according to the present invention displays a parameter serving as an index for rough weather avoidance on a display device by any of a numerical value, an occurrence probability with respect to a predetermined threshold value, a ratio with a threshold value, or an index.

また、本発明に係る最適航路探索システムの航路探索装置は、最適経路探索アルゴリズムを用いて最適航路を探索する。   Further, the route search device of the optimum route search system according to the present invention searches for the optimum route using an optimum route search algorithm.

また、本発明に係る最適航路探索システムの航路探索装置は、ダイクストラ法に基づいて最適航路を探索する。   Moreover, the route search device of the optimum route search system according to the present invention searches for the optimum route based on the Dijkstra method.

また、本発明に係る最適航路探索システムの航路探索装置は、Ａ* アルゴリズム法に基づいて最適航路を探索する。 Also, route searching apparatus of the optimum route search system according to the present invention searches for the optimum route on the basis of the A * algorithm method.

本発明によれば、航路探索装置が、少なくとも船速、燃料消費量及びシーマージンに基づく予測データにより、ある海域から目的地までの最適航路を探索し、表示装置が最適航路に基づいた航路図を表示するようにしたので、例えば、運航者は、探索された最適航路を参照して航路計画の立案、修正等を行うことができ、経済的な航海を実現することができる。また、海気象データの更新に基づいて最適航路を再探索し、修正することもでき、運航者が航路選定するために必要な情報を最適なものに更新しながら、提供することができるので、運航の効率化、および安全運航の実現に資することが可能となる。   According to the present invention, the route search device searches for an optimum route from a certain sea area to the destination based on prediction data based on at least the ship speed, fuel consumption, and sea margin, and the route map based on the optimum route is displayed by the display device. Therefore, for example, the operator can make a route plan by referring to the searched optimum route, make a correction, etc., and realize an economical voyage. In addition, it is possible to re-search and correct the optimal route based on the update of the sea weather data, so that the operator can provide the information necessary for selecting the route while updating it to the optimal one. It becomes possible to contribute to the improvement of operational efficiency and safe operation.

また、本発明によれば、船舶の航海時間又は燃料消費量に基づく最適航路を探索するようにしたので、省時間、定時運航、省エネルギ等の目的に応じた最適航路を探索することができる。   Further, according to the present invention, since the optimum route based on the ship's voyage time or fuel consumption is searched, it is possible to search for the optimum route according to the purpose of time saving, scheduled operation, energy saving, etc. .

また、本発明によれば、大圏航路及び／又は任意の指定航路に関する航路図を表示装置に表示するようにしたので、運航者が航路探索装置が探索した最適航路との比較、検討を行いやすくすることができる。   Further, according to the present invention, since the route map relating to the great circle route and / or any designated route is displayed on the display device, the operator performs comparison and examination with the optimum route searched by the route search device. It can be made easier.

また、本発明によれば、コスト算出装置、記憶装置及び航路探索装置は陸上に設けられており、船舶内に設けられた表示装置と航路探索装置との間を無線通信を行うための通信装置をさらに備えるようにしたので、複数の船舶における最適航路の探索を陸上に設けられた装置で行うことができる。   Further, according to the present invention, the cost calculation device, the storage device, and the route search device are provided on land, and a communication device for performing wireless communication between the display device provided in the ship and the route search device. Thus, the search for the optimum route in a plurality of ships can be performed with an apparatus provided on the land.

また、本発明によれば、船舶内に各装置が備えられており、海気象予報情報データを含む信号を受信して、コスト算出装置に送信する通信装置をさらに備えるようにしたので、海気象予報情報データを受信することにより、船舶内において最適航路の探索等を行うことができる。   Further, according to the present invention, each device is provided in the ship, and further includes a communication device that receives a signal including sea weather forecast information data and transmits the signal to the cost calculation device. By receiving the forecast information data, it is possible to search for the optimum route in the ship.

また、本発明によれば、荒天避航に対する指標となるパラメータを表示装置に表示するようにしたので、運航者は、荒天に対する避航計画、荷崩れ対策等を行うことができる。   In addition, according to the present invention, parameters serving as indicators for stormy weather evasion are displayed on the display device, so that the operator can perform evacuation plans for stormy weather, countermeasures for collapse of cargo, and the like.

また、本発明によれば、最適経路探索アルゴリズムを用いて最適航路を探索するようにしたので、最適航路の探索を少ない時間で行うことができる。   Further, according to the present invention, since the optimum route is searched using the optimum route search algorithm, the optimum route can be searched in a short time.

また、本発明によれば、最短経路探索を行うのに有力なダイクストラ法に基づいて最適航路を探索するようにしたので、最適航路の探索を少ない時間で行うことができる。   In addition, according to the present invention, since the optimum route is searched based on the Dijkstra method that is effective for searching for the shortest route, the optimum route can be searched in a short time.

また、本発明によれば、２点間の経路探索に有力なＡ* アルゴリズムに基づいて最適航路を探索するようにしたので、最適航路の探索を少ない時間で行うことができる。 Further, according to the present invention, since the optimum route is searched based on the A * algorithm that is effective for route search between two points, the optimum route can be searched in a short time.

実施の形態１．
図１は本発明の実施の形態１に係る最適航路探索システムの構成を表す図である。図１において、陸上側システム１は、コスト算出装置１０、記憶装置２０、航路探索装置３０及びデータ信号通信装置４０で構成されている。陸上システム１は、外部機関の装置から何らかの通信手段を介して海気象データを含む信号を受信し、処理を行う。 Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of an optimum route search system according to Embodiment 1 of the present invention. In FIG. 1, the landside system 1 includes a cost calculation device 10, a storage device 20, a route search device 30, and a data signal communication device 40. The land system 1 receives a signal including sea weather data from a device of an external engine through some communication means, and performs processing.

コスト算出装置１０は、設定されたノード間のコスト（重み）の予測値を算出し、データ（以下、予測データという）を生成する。本実施の形態では、船速、燃料消費量及びシーマージンに関する予測データを生成する。ここで、本実施の形態では、海域を緯度、経度方向にそれぞれ決まった間隔（例えば２．５度間隔）で格子状に区切った交点を各ノードに設定する。この間隔は緯度、経度それぞれに任意に定めることができる。コスト算出装置１０は、全エッジ分の予測データを算出する。そして、海気象データが変更される度に、コスト算出装置１０は、変更された海気象データに基づいて予測データを算出し、更新する。   The cost calculation device 10 calculates a predicted value of the cost (weight) between the set nodes, and generates data (hereinafter referred to as predicted data). In the present embodiment, prediction data relating to ship speed, fuel consumption, and sea margin is generated. Here, in the present embodiment, intersections obtained by dividing the sea area in a lattice pattern at predetermined intervals (for example, 2.5 degree intervals) in the latitude and longitude directions are set in each node. This interval can be arbitrarily determined for each latitude and longitude. The cost calculation device 10 calculates prediction data for all edges. Each time the sea weather data is changed, the cost calculation device 10 calculates and updates the prediction data based on the changed sea weather data.

記憶装置２０は、さらに、海気象データ記憶手段２０Ａ、個船データ記憶手段２０Ｂ及び予測データ記憶手段２０Ｃで構成される。海気象データ記憶手段２０Ａに記憶される海気象データは、例えば外部機関等から提供される、現在〜１週間先の、例えば航路周辺等における海気象に関するデータである。また、個船データ記憶手段２０Ｂに記憶される個船データは、各船舶が個別に備える性能に関するデータである。そして、予測データ記憶手段２０Ｃには、コスト算出装置１０が生成した予測データが記憶される。   The storage device 20 is further composed of sea weather data storage means 20A, individual ship data storage means 20B, and predicted data storage means 20C. The sea weather data stored in the sea weather data storage means 20A is data relating to sea weather, for example, from the current to one week ahead, for example, around the channel, provided by, for example, an external organization. The individual ship data stored in the individual ship data storage means 20B is data relating to the performance of each ship. And the prediction data which the cost calculation apparatus 10 produced | generated are memorize | stored in the prediction data storage means 20C.

航路探索装置３０は、コスト算出装置１０が算出した予測データに基づいて、最適経路（航路）を探索し、最適航路データを生成する。探索に際し、燃料消費量又は航行時間を最適にする航路の探索を選択することができる。データ信号通信装置４０は、予測データ、最適航路データをはじめ、船側システム２が必要とする各種データを含む信号を無線送信する。また、船側システム２から送られた信号を受信する。また、これらの各データは、例えば陸上側システム１が有する表示装置、印字装置（図示せず）により、表示あるいは印字をすることも可能である。コスト算出装置１０により、あらかじめ最新の予測データが算出されているので、航路探索装置３０が最適航路データを生成する時間を短縮することができる。また、航路探索装置３０は、最適航路の探索に当たって、その船舶がどの日時にどの位置にいるかを判断する。そして、その判断に基づいて、そのときのコストを参照し、航路上の各日時、場所における海気象に追従しながら、さらに最適航路を探索するので、出発から到着までの最適航路の探索精度をさらに向上させることができる。そして、船舶の航海中においても、海気象データが変更され、予測データが変更されると、その位置を出発点として最適航路の探索を行うことができる。もちろん、この場合でも、出発点を任意に指定して最適航路の探索を行うこともできる。   The route search device 30 searches for the optimum route (route) based on the prediction data calculated by the cost calculation device 10, and generates optimum route data. In searching, it is possible to select a search for a route that optimizes fuel consumption or navigation time. The data signal communication device 40 wirelessly transmits signals including various data required by the ship-side system 2 including predicted data and optimum route data. Further, a signal sent from the ship side system 2 is received. These data can also be displayed or printed by, for example, a display device or a printing device (not shown) included in the land-side system 1. Since the latest prediction data is calculated in advance by the cost calculation device 10, it is possible to shorten the time for the route search device 30 to generate the optimum route data. Further, the route search device 30 determines which position and date the ship is in when searching for the optimum route. Based on that judgment, the cost at that time is referred to, and the optimum route is searched while following the sea weather at each date and place on the route, so the search accuracy of the optimum route from departure to arrival is improved. Further improvement can be achieved. Even during the voyage of the ship, when the sea weather data is changed and the prediction data is changed, it is possible to search for the optimum route using the position as a starting point. Of course, even in this case, the optimum route can be searched by arbitrarily designating the starting point.

一方、船側システム２は、データ信号通信装置５０、データ処理装置６０、記憶装置７０及び表示装置８０で構成されている。データ信号通信装置５０は、データ信号通信装置４０と対となり、各種データを含む信号の送受信を行う。特に本実施の形態では、最適航路データ及び予測データを含む信号を受信し、処理する。   On the other hand, the ship side system 2 includes a data signal communication device 50, a data processing device 60, a storage device 70, and a display device 80. The data signal communication device 50 is paired with the data signal communication device 40 to transmit and receive signals including various data. In particular, in the present embodiment, a signal including optimum route data and prediction data is received and processed.

データ処理装置６０は、記憶装置７０に記憶されている海図、運航者が定めた航路及び大圏航路（外乱等を考慮しない場合の最短航路）のデータとともに最適航路データを処理する。そして、陸上側システム１が探索した最適航路、運航者が任意に指定した航路及び大圏航路を、海図と共に表示するための表示信号を送信する。表示装置８０は表示信号に基づいた表示を行う。記憶装置７０は、少なくとも運航者が計画した航路、大圏航路、海図のデータをあらかじめ記憶している。また、陸上側システム１が探索した最適航路のデータについても記憶する。表示装置８０は表示信号に基づいた表示を行う。また、例えばプリンタ等の印刷手段を設け、表示結果や各種データを印字することもできる。   The data processing device 60 processes the optimum route data together with the charts stored in the storage device 70, the route determined by the operator and the data of the great circle route (the shortest route when no disturbance etc. are considered). And the display signal for displaying the optimal route which the land side system 1 searched, the route arbitrarily designated by the operator, and the great circle route together with the chart is transmitted. The display device 80 performs display based on the display signal. The storage device 70 stores in advance at least data of a route, a great circle route, and a nautical chart planned by the operator. In addition, data on the optimum route searched by the land-side system 1 is also stored. The display device 80 performs display based on the display signal. Further, for example, a printing unit such as a printer may be provided to print the display result and various data.

図２及び図３はダイクストラ法による航路探索手順を表す図である。本実施の形態では、航路探索装置３０において、最適航路を探索するための最適経路探索アルゴリズムとして、最短経路探索を行うのに有力なダイクストラ（Dijkstra）法を用いるものとする。次に航路探索装置３０の動作例について説明する。ダイクストラ法とは、ノード間を結ぶエッジに対して重みをつけ、その重みに基づく演算により、最小となる経路を探索する手法である。重みは、前述したように燃料消費量、航行時間に対してコスト算出１０が演算した予測データにより得られる。ここでは燃料消費量について重みが設定されているものとする。   2 and 3 are diagrams showing a route search procedure by the Dijkstra method. In the present embodiment, the route search device 30 uses the Dijkstra method, which is effective for performing the shortest route search, as the optimal route search algorithm for searching for the optimal route. Next, an operation example of the route search device 30 will be described. The Dijkstra method is a technique for assigning a weight to edges connecting nodes and searching for a minimum route by an operation based on the weight. The weight is obtained from the prediction data calculated by the cost calculation 10 with respect to the fuel consumption and the navigation time as described above. Here, it is assumed that a weight is set for the fuel consumption.

ノードＡ〜Ｅが存在し、各ノードのエッジとその重みの関係は図２（ａ）で表されるものとする。ここで、例として始点ノードＡから終点ノードＤに到るまでの最適航路探索について説明する。まず、ノードＡについて仮の最小航路を設定する。始点ノードＡから始点ノードＡは０、ノードＡからノードＢは２、ノードＡからノードＣは５、ノードＡからノードＥは６となる。また、エッジのないノードＡからノードＤは無限大とする。したがって、最小航路は０となり、これによりノードＡに関して、始点（ノードＡ）からの最小航路を確定する（図２（ｂ））。ここで、図２及び図３において、確定したノードにはパターンによる塗りつぶしがなされている。   Assume that nodes A to E exist, and the relationship between the edge of each node and its weight is represented in FIG. Here, as an example, the optimum route search from the start point node A to the end point node D will be described. First, a temporary minimum route is set for node A. The start point node A to the start point node A is 0, the node A to the node B is 2, the node A to the node C is 5, and the node A to the node E is 6. Nodes A to D without edges are infinite. Therefore, the minimum route is 0, and the minimum route from the starting point (node A) is determined for node A (FIG. 2B). Here, in FIGS. 2 and 3, the determined nodes are filled with a pattern.

確定したノードＡに対して、新たな仮の最小航路はない。したがって、次にノードＡと最小航路になるのはノードＢであるので、ノードＢに関して、始点（ノードＡ）からの最小航路２を確定する（図２（ｃ））。   There is no new temporary minimum route for node A that has been confirmed. Therefore, since node B is the next route with node A, the minimum route 2 from the starting point (node A) is determined for node B (FIG. 2C).

次にノードＢに関して、エッジが存在するのはノードＣである。ノードＡからノードＣの仮の最小航路は５であるが、ノードＢを経由すると３となるため、ノードＡ（始点）からノードＣの最小航路を３に更新する（図２（ｄ））。そして、ノードＣに関して、始点（ノードＡ）からの最小航路３を確定する（図２（ｅ））。   Next, with respect to node B, node C has an edge. The tentative minimum route from node A to node C is 5, but when passing through node B, it becomes 3, so the minimum route from node A (starting point) to node C is updated to 3 (FIG. 2 (d)). Then, for node C, the minimum route 3 from the starting point (node A) is determined (FIG. 2 (e)).

ノードＣに関して、エッジが存在するのはノードＤである。ノードＡからノードＤの仮の最小航路を無限大としているが、６に更新する。そして、ノードＤに関して、始点（ノードＡ）からの最小航路６を確定する（図２（ｆ））。ここで、ノードＤとノードＥとの間にエッジが存在するが、ノードＤを経由した最小航路は１０となる。したがって、ノードＥに関して、始点（ノードＡ）からの最小航路は、仮の最小航路６で確定する（図２（ｇ））。以上のようにしてすべてのノードについて、始点（ノードＡ）からの最小航路を確定して処理を終了する。以上のような手順により航路探索装置３０が算出した最適航路のデータ及びコスト算出装置１０が算出した予測データを少なくとも含む信号を、データ信号通信装置４０が船側システム２に向けて送信する。ここで、海気象は時々刻々と変化し、それに伴って海気象データも変更されるため、航路探索装置３０は、その時の船舶の位置に対応するノードを始点として、例えば定期的に探索して生成した最適航路データを含む信号を、データ信号通信装置４０が船側システム２に向けて送信する。   Regarding node C, it is node D that has an edge. The temporary minimum route from node A to node D is infinite, but is updated to 6. And regarding the node D, the minimum course 6 from a starting point (node A) is decided (FIG.2 (f)). Here, an edge exists between the node D and the node E, but the minimum route via the node D is 10. Therefore, regarding the node E, the minimum route from the starting point (node A) is determined by the temporary minimum route 6 (FIG. 2 (g)). As described above, the minimum route from the starting point (node A) is determined for all the nodes, and the process ends. The data signal communication device 40 transmits a signal including at least the optimum route data calculated by the route search device 30 and the prediction data calculated by the cost calculation device 10 to the ship side system 2 by the procedure as described above. Here, since the sea weather changes every moment, and the sea weather data is also changed accordingly, the route search device 30 searches periodically, for example, starting from the node corresponding to the position of the ship at that time. The data signal communication device 40 transmits a signal including the generated optimum route data to the ship side system 2.

一方、船側システム２では、データ信号通信装置５０が受信した信号を処理する。データ処理装置６０は、記憶装置７０に記憶されている海図、運航者が任意に指定した航路及び大圏航路のデータとともに最適航路データを処理する。そして、陸上側システム１が探索した最適航路、運航者が任意に指定した航路及び大圏航路を海図と共に表示するための表示信号を送信する。表示装置８０は表示信号に基づいて航路図の表示を行う。   On the other hand, in the ship side system 2, the signal received by the data signal communication device 50 is processed. The data processing device 60 processes the optimum route data together with the charts stored in the storage device 70, the route arbitrarily designated by the operator, and the data of the great circle route. And the display signal for displaying the optimal route which the land side system 1 searched, the route arbitrarily designated by the operator, and the great circle route together with the chart is transmitted. The display device 80 displays a route map based on the display signal.

以上のように、実施の形態１によれば、海気象データ及び予測データを含む信号が陸上側システム１から船側システム２に送信され、船側システム２において、それらを処理することができるので、例えば、運航者はこれから遭遇する海気象及びその中での船体性能の予測値を事前に入手することができる。また、海気象データ、個船データ及び予測データに基づいて航路探索装置３０が生成した最適航路データに基づいて、船側システム２のデータ処理装置６０が処理を行い、表示装置８０に表示するようにしたので、例えば、運航者は、出航前において、探索された最適航路を参照して航路計画を考えることができ、経済的な航海を実現することができる。また、最適航路は、航海中でも適宜最新のデータに基づいて更新できるので、出航後においても、例えば、運航者が任意に指定した航路、大圏航路を含めた航海図と共に表示された最適航路に基づいて、船舶上で航海計画の修正を行うことができる。航路探索装置３０は、最適経路探索アルゴリズムであるダイクストラ法を用いて探索を行うようにしたので、海気象等の外乱を考慮した最適航路の探索を少ない時間で行うことができる。   As described above, according to the first embodiment, a signal including sea weather data and prediction data is transmitted from the land-side system 1 to the ship-side system 2 and can be processed in the ship-side system 2. The operator can obtain in advance the marine weather to be encountered in the future and the predicted value of the hull performance therein. Further, based on the optimum route data generated by the route search device 30 based on the sea weather data, the individual vessel data, and the prediction data, the data processing device 60 of the ship side system 2 performs processing and displays it on the display device 80. Therefore, for example, the operator can consider the route plan with reference to the searched optimum route before departure, and can realize economical voyage. In addition, since the optimal route can be updated based on the latest data as needed during the voyage, even after departure, for example, the optimal route displayed with the route map including the route arbitrarily designated by the operator and the large-area route is displayed. Based on this, the navigation plan can be modified on the ship. Since the route search device 30 performs the search using the Dijkstra method, which is the optimal route search algorithm, the search for the optimal route in consideration of disturbance such as sea weather can be performed in a short time.

実施の形態２．
上述の実施の形態では、航路探索装置３０が最適航路の探索を行う場合の最適経路探索アルゴリズムとしてダイクストラ法を用いて説明したが、本発明はこれに限定されるものではない。他の最適経路探索アルゴリズムを用いて最適航路の探索を行うこともできる。例えば２点間の経路探索に有力なＡ* （エースター）アルゴリズムを用いて探索を行うこともできる。Ａ* アルゴリズムでは、ノード及びノード間のパスを設定し、さらに各パスのコスト（負担：ダイクストラ法における重みに相当する）を設定する。そして、スタートノードからゴールノードに到るまでの最短パスを探索する。 Embodiment 2. FIG.
In the above-described embodiment, the Dijkstra method has been described as the optimum route search algorithm when the route search device 30 searches for the optimum route, but the present invention is not limited to this. It is also possible to search for an optimum route using another optimum route search algorithm. For example, the search can be performed by using an A * (Aster) algorithm that is effective for a route search between two points. In the A * algorithm, nodes and paths between nodes are set, and the cost of each path (burden: equivalent to the weight in the Dijkstra method) is set. Then, the shortest path from the start node to the goal node is searched.

以上のように第２の実施の形態によれば、航路探索装置３０が探索を行う際の最適経路探索アルゴリズムとしてＡ* アルゴリズムを用いるようにしたので、ダイクストラ法と同様に、最短経路探索を少ない時間で行うことができる。 As described above, according to the second embodiment, since the A * algorithm is used as the optimum route search algorithm when the route search device 30 performs a search, the shortest route search is reduced as in the Dijkstra method. Can be done in time.

実施の形態３．
図４は本発明の第３の実施の形態に係る最適航路探索システムの構成を表す図である。上述の実施の形態では、陸上側システム１と船側システム２に分けたが、本発明はこれに限定されるものではない。例えば、実施の形態１で説明した陸上側システム１の各装置を船側システム２に設けることもできる。そして、データ内容が変化する海気象データについては、例えば通信衛星を介して送信された、海気象データを含む信号を受信する。海気象データは海気象データ記憶手段２０Ａに記憶される。各装置の処理については、実施の形態１で説明したことと同様であるので説明を省略する。 Embodiment 3 FIG.
FIG. 4 is a diagram showing the configuration of the optimum route search system according to the third embodiment of the present invention. In the above-mentioned embodiment, although it divided into the land side system 1 and the ship side system 2, this invention is not limited to this. For example, each device of the land-side system 1 described in the first embodiment can be provided in the ship-side system 2. And about the sea weather data from which the data content changes, the signal containing sea weather data transmitted, for example via a communication satellite is received. The sea weather data is stored in the sea weather data storage means 20A. Since the processing of each device is the same as that described in the first embodiment, description thereof is omitted.

実施の形態４．
上述した実施の形態１では、特に示さなかったが、例えば、船側システム２のデータ処理装置６０において、荒天の際の船舶挙動を予測してその指標となるパラメータを算出し、数値、あらかじめ定めた閾値に対する発生確率、閾値との割合又は指数のいずれかの方法で表示装置に表示するようにしてもよい。 Embodiment 4 FIG.
Although not particularly shown in the first embodiment described above, for example, in the data processing device 60 of the ship-side system 2, the ship behavior in the case of stormy weather is predicted, a parameter serving as an index is calculated, and numerical values are determined in advance. You may make it display on a display apparatus by the method of the generation | occurrence | production probability with respect to a threshold value, the ratio with a threshold value, or an index | exponent.

本発明の実施の形態１に係る最適航路探索システムの構成を表す図である。It is a figure showing the structure of the optimal route search system which concerns on Embodiment 1 of this invention. ダイクストラ法による航路探索手順を表す図（その１）である。It is FIG. (1) showing the route search procedure by the Dijkstra method. ダイクストラ法による航路探索手順を表す図（その２）である。It is a figure (the 2) showing the course search procedure by Dijkstra method. 本発明の第３の実施の形態に係る最適航路探索システムの構成を表す図である。It is a figure showing the structure of the optimal route search system which concerns on the 3rd Embodiment of this invention.

符号の説明Explanation of symbols

１ 陸上側システム
２ 船側システム
１０ コスト算出装置
２０ 記憶装置
２０Ａ 海気象データ記憶手段
２０Ｂ 個船データ記憶手段
２０Ｃ 予測データ記憶手段
３０ 航路探索装置
４０ データ信号通信装置
５０ データ信号通信装置
６０ データ処理装置
７０ 記憶装置
８０ 表示装置
DESCRIPTION OF SYMBOLS 1 Land side system 2 Ship side system 10 Cost calculation apparatus 20 Storage apparatus 20A Sea weather data storage means 20B Individual ship data storage means 20C Prediction data storage means 30 Navigation search apparatus 40 Data signal communication apparatus 50 Data signal communication apparatus 60 Data processing apparatus 70 Storage device 80 Display device

Claims (9)

船舶が固有に有する個船性能データと海気象データとに基づいて、少なくとも、ある海域から目的地までに設定した複数のノード間における、少なくとも前記船速、前記燃料消費量及び前記シーマージンに基づくコスト又は重みを予測データとして算出するコスト算出装置と、
前記予測データを少なくとも記憶する記憶装置と、
該記憶装置に記憶された前記予測データに基づいて、前記のある海域から前記目的地までの最適航路を探索する航路探索装置と、
該航路探索装置が探索した最適航路に基づいて航路図を表示する表示装置と
を備えることを特徴とする最適航路探索システム。 Based on at least the ship speed, the fuel consumption amount, and the sea margin at least between a plurality of nodes set from a certain sea area to the destination based on the individual ship performance data and marine weather data inherent to the ship A cost calculation device for calculating cost or weight as prediction data;
A storage device for storing at least the prediction data;
A route search device for searching for an optimum route from the certain sea area to the destination based on the prediction data stored in the storage device;
An optimum route search system comprising: a display device that displays a route map based on the optimum route searched by the route search device. 前記航路探索装置は、前記船舶の航海時間又は燃料消費量に基づく最適航路を探索することを特徴とする請求項１記載の最適航路探索システム。   2. The optimum route search system according to claim 1, wherein the route search device searches for an optimum route based on a voyage time or fuel consumption of the ship. 前記航路探索装置が探索した最適航路に加え、大圏航路及び／又は任意の指定航路に関する航路図を前記表示装置に表示することを特徴とする請求項１又は２記載の最適航路探索システム。   3. The optimum route search system according to claim 1, wherein a route map relating to a great circle route and / or an arbitrary designated route is displayed on the display device in addition to the optimum route searched by the route search device. 前記コスト算出装置、前記記憶装置及び前記航路探索装置は陸上に設けられており、前記船舶内に設けられた表示装置と前記航路探索装置との間を無線通信を行うための通信装置をさらに備えることを特徴とする請求項１〜３のいずれかに記載の最適航路探索システム。   The cost calculation device, the storage device, and the route search device are provided on land, and further include a communication device for performing wireless communication between the display device provided in the ship and the route search device. The optimal route search system according to any one of claims 1 to 3. 前記船舶内に前記各装置が備えられており、
前記海気象データを含む信号を受信して、前記コスト算出装置に送信する通信装置をさらに備えることを特徴とする請求項１〜３のいずれかに記載の最適航路探索システム。 Each device is provided in the ship,
The optimal route search system according to any one of claims 1 to 3, further comprising a communication device that receives a signal including the sea weather data and transmits the signal to the cost calculation device. 荒天避航に対する指標となるパラメータを、数値、あらかじめ定めた閾値に対する発生確率、前記閾値との割合又は指数のいずれかの方法で前記表示装置に表示することを特徴とする請求項１〜５のいずれかに記載の最適航路探索システム。   6. The parameter as an index for rough weather avoidance is displayed on the display device by any one of a numerical value, an occurrence probability with respect to a predetermined threshold, a ratio with the threshold, or an index. The optimal route search system described in Crab. 前記航路探索装置は、最適経路探索アルゴリズムを用いて前記最適航路を探索することを特徴とする請求項１〜６のいずれかに記載の最適航路探索システム。   The said route search apparatus searches the said optimal route using the optimal route search algorithm, The optimal route search system in any one of Claims 1-6 characterized by the above-mentioned. 前記航路探索装置は、ダイクストラ法に基づいて前記最適航路を探索することを特徴とする請求項１〜６のいずれかに記載の最適航路探索システム。   The optimum route search system according to any one of claims 1 to 6, wherein the route search device searches for the optimum route based on the Dijkstra method. 前記航路探索装置は、Ａ* アルゴリズム法に基づいて前記最適航路を探索することを特徴とする請求項１〜６のいずれかに記載の最適航路探索システム。
7. The optimum route search system according to claim 1, wherein the route search device searches for the optimum route based on an A * algorithm method.
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