JP2019012043A - Optimal route calculating device and optimal route calculating method - Google Patents

Abstract

To provide an optimal route calculating device and an optimal route calculating method that can automatically perform optimal route calculation in the entire route from a departure place to a destination, while reducing the amount of calculation.SOLUTION: An optimal route calculation device comprises: an information input receiving unit that receives input of information including a departure place, a destination, and a departure time of a ship; an optimal route calculating unit that calculates an optimal route on the basis of the input information, ship performance data, and weather data in a route area where the ship travels; and a determination unit that determines whether a predetermined fixed route area is present between the departure place and the destination. When the fixed route area is determined to be present, the optimal route calculating unit adopts a fixed predetermined route in the fixed route area, divides the rest of the area into a plurality of areas partitioned by the departure place, the ends of the fixed route area, or the destination, and calculates the optimal route for each of the plurality of areas.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an optimum route calculation device and an optimum route calculation method for a ship.

  Optimal route calculation on ships is an effective means for ship operation management due to the growing needs for reductions in operational costs associated with soaring fuel prices, greenhouse gas (GHG) emission reduction problems, and safe operation and maintenance and improvement of transportation quality. As important.

  Conventional optimal route calculation operates at a constant ship speed or a constant main engine speed for a large ocean, such as the North Pacific, where fuel efficiency is reduced, under the constraints of planned departure and arrival times. Only the route (latitude and longitude) is optimized.

  However, in order to carry out the optimum route calculation corresponding to the entire globe (global), it is necessary to set the necessary transit point when passing through a sea area where there are many islands or shallows, or a sea area across a canal or a strait. It is necessary to automatically calculate the route that passed through.

  For this purpose, for example, a configuration for weighting lattice points (nodes) for optimum route search has been proposed as in Patent Document 1 below. Further, for example, as in Patent Document 2 below, it is proposed that an essential passage point is set in the course of a route and an optimum route is calculated so as to pass through the mandatory passage point.

Japanese Patent No. 4247497 Japanese Patent No. 4934756

  However, in aspects such as Patent Documents 1 and 2, it is necessary to arrange grid points for the entire region from the departure place to the arrival place, and the grid points are also arranged in areas that cannot be navigated in narrow sea areas. Become. For this reason, there is room for unnecessary computation by providing meaningless grid points in the optimum route computation.

  In addition, in order to always set grid points or essential passage points in narrow sea areas, etc., it is necessary to shorten the distance between the grid points. However, in a route that passes both narrow and wide sea areas, The distance between grid points also needs to be set short according to the narrow sea area, the amount of calculation increases, and the calculation efficiency deteriorates.

  The present invention has been made in view of the above, and provides an optimum route calculation device and an optimum route calculation method capable of automatically performing optimum route calculation in the entire route from the departure point to the arrival point while suppressing the amount of calculation. The purpose is to provide.

  The optimum route calculation device according to one aspect of the present invention includes an information input receiving unit that receives an input of information including a departure place, an arrival place, and a departure time of a ship, the input information, the performance data of the ship, Whether or not there is a predetermined fixed route area between the optimum route calculation unit for calculating the optimum route based on the weather data of the route region where the ship navigates, and the departure place and the arrival place A determination unit that determines whether or not the optimum route calculation unit adopts a fixed route that is determined in advance in the fixed route region and determines the remaining region when it is determined that the fixed route region exists. The vehicle is divided into a plurality of areas divided by the departure point, an end of the fixed route area, or the arrival place, and an optimum route is calculated for each of the plurality of areas.

  According to the above configuration, when a fixed route area is included between the departure place and the arrival place, a predetermined fixed route is automatically adopted for the fixed route area, and the remaining areas are fixed. The route is divided into a plurality of regions divided by the route region, and the optimum route is calculated for each region. Therefore, by calculating the optimal route only for other areas, the fixed route area is the area where there is little room for calculating the optimal route such as sea areas where there are many islands or shallows, canals or straits. The optimum route calculation of the entire route including the fixed route region can be performed automatically while suppressing the amount of calculation.

  Whether the determination unit has a boundary point where a predetermined reference route from the departure point to the arrival point intersects with a boundary line of a route calculation region set in advance as a region for calculating the optimum route And determining whether there is the fixed route region, and when the optimum route calculation unit determines that there is the boundary point, the fixed route region outside the route calculation region. In the above, the reference route may be adopted as the fixed route, and the optimum route may be calculated for a route calculation region divided between a plurality of boundary points or between the boundary points and the departure point or the arrival point. By automatically determining the route calculation area that is set to calculate the reference route and the optimum route from the departure point to the arrival point, the optimum route calculation area and the fixed route area are automatically determined. can do.

  The determination unit reads map data indicating a boundary line indicating whether or not the navigable region is present, superimposes a predetermined reference route from the departure point to the arrival point on the map data, and sets the boundary line A predetermined distance may be extended to the navigable region side, and an area in which the reference route is included on the opposite side of the navigable region from the expanded boundary line may be determined as the fixed route area. According to this, since the narrow area on the map data is automatically determined as the fixed route area, the optimum route is calculated without predetermining the route calculation area and / or the fixed route area for calculating the optimum route. The area and the fixed route area can be automatically determined.

  An optimum route calculation method according to another aspect of the present invention includes an information input reception step for receiving input of information including a departure place, an arrival place and a departure time of a ship, the input information, and the performance data of the ship. Whether there is a predetermined fixed route area between the departure point and the arrival point, and an optimum route calculation step for calculating an optimum route based on weather data of the route region where the ship navigates A determination step for determining whether or not the optimum route calculation step adopts a fixed route predetermined in the fixed route region and determines the remaining route region when it is determined that there is the fixed route region. Is divided into a plurality of regions delimited by the departure point, the end of the fixed route region or the arrival point, and the optimum route is calculated for each of the plurality of regions.

  According to the above method, when a fixed route area is included between the departure place and the arrival place, a predetermined fixed route is automatically adopted for the fixed route area, and the remaining areas are fixed. The route is divided into a plurality of regions divided by the route region, and the optimum route is calculated for each region. Therefore, by setting the sea area, canal or strait where a large number of islands or shallows exist as a fixed route area, the optimum route calculation of the entire route including the fixed route area is suppressed while reducing the amount of calculation. It can be done automatically.

  ADVANTAGE OF THE INVENTION According to this invention, the optimal route calculation in the whole route from a departure place to an arrival place can be performed automatically, suppressing a calculation amount.

FIG. 1 is a block diagram showing a schematic configuration of an optimum route calculation device according to an embodiment of the present invention. FIG. 2 is a diagram showing a route area in the present embodiment. FIG. 3 is a flowchart showing the flow of optimum route calculation processing in the present embodiment. FIG. 4 is a conceptual diagram when map expansion processing is performed on the map shown in FIG. FIG. 5 is a flowchart showing the flow of determination point extraction processing for performing route calculation in the present embodiment. FIG. 6 is a diagram for explaining the optimum route calculation by the DP method.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout all the drawings, and redundant description thereof is omitted.

  FIG. 1 is a block diagram showing a schematic configuration of an optimum route calculation device according to an embodiment of the present invention. An optimal route calculation device 1 shown in FIG. 1 includes an input unit 2, a storage unit 3, a calculation unit 4, and an output unit 5. Each of the components 1 to 5 transmits data to each other via the bus 6. The optimum route calculation device 1 may be configured by a computer in a land facility, or may be configured as a computer or a control device installed on a ship. In addition, some of the functions constituting the optimum route calculation device 1 are exhibited by a computer installed on the ship, and other functions are exhibited by a computer installed on the land, and are mutually communicated by communication means such as ship-land communication. It may be configured to perform mutual communication of data.

  The input unit 2 is configured as an input device that allows a user to input information such as the departure place, arrival place, departure time, and arrival time of a ship. The storage unit 3 stores information input from the input unit 2. Further, the storage unit 3 stores in advance ship performance data, at least weather data of a route area where the ship navigates, and an optimum route calculation program.

  Ship performance data is data relating to the performance of each ship. The weather data is provided from an external organization, for example. The meteorological data is, for example, data related to the weather (sea weather) in the route area, etc. one week from now. The weather data may be configured to be sequentially transmitted from the outside through a network and automatically stored in the storage unit 3.

  The calculation unit 4 executes an optimum route calculation process for calculating the optimum route of the ship based on various information stored in the storage unit 3. For this reason, the calculating part 4 exhibits the function of the information input reception part 41, the optimal route calculating part 42, and the determination part 43 by running the optimal route calculating program.

  The information input receiving unit 41 receives input of information including the departure place, arrival place, departure time and arrival time of the ship. The optimum route calculation unit 42 calculates the optimum route based on the input information, the performance data of the ship stored in the storage unit 3, and the weather data of the route region where the ship navigates. The determination unit 43 determines whether or not there is a predetermined fixed route area between the departure place and the arrival place. When the determination unit 43 determines that there is a fixed route region, the optimum route calculation unit 42 adopts a predetermined fixed route in the fixed route region, and uses the remaining region as the departure point and the end of the fixed route region. The vehicle is divided into a plurality of areas divided by a part or an arrival place, and an optimum route is calculated for each of the plurality of areas.

  The output unit 5 outputs the calculation result in the calculation unit 4. For example, the output unit 5 displays the optimum route calculated by the calculation unit 4 on a map (nautical chart) on a display device (not shown) connected to the optimum route calculation device 1.

  Hereinafter, a specific example of the optimum route calculation process will be described.

FIG. 2 is a diagram showing a route area in the present embodiment. In the present embodiment, as shown in FIG. 2, a narrow sea area (canal, port portion, etc.) and a wide sea area (ocean, etc.) are included between the departure place S and the arrival place G. In the present embodiment, the fixed route area AS _m (m = 1, 2,...), Which is a narrow sea area where the optimum route calculation is performed, and the route calculation area AC _n (n = 1, 2,...), Which is a wide sea area. And the optimum route calculation is performed for the route calculation region.

  In the present embodiment, the storage unit 3 stores map data indicating a boundary line indicating whether or not the ship is a navigable region (for example, a boundary value is a minimum water depth at which the ship can navigate). Has been. Further, the storage unit 3 stores a predetermined reference route fs from the departure point S to the arrival point G. The reference route fs may be, for example, route information issued from an international waterway organization or the like. Instead of this, the optimum route calculation result (optimum route) in the same route in the past is stored in the storage unit 3, and an average route of the accumulated data or a predetermined condition among the plurality of accumulated routes is set. One satisfied route (for example, a route having the smallest evaluation function with safety and fuel consumption as parameters) may be used as the reference route fs. Further, a route set by a user (for example, a ship captain or an administrator) may be set as the reference route fs. The reference route fs may be a route obtained by connecting the shortest routes (large circle routes) for each predetermined region.

Further, the storage unit 3 stores calculation area data for identifying the route calculation area AC _j . Calculation region data comprises data for example one route calculation region AC _n border. For example, the north end of the latitude of one route calculation region AC _n, southern end of latitude, the information of the easternmost longitude and westernmost longitude. In this case, the route calculation area AC _n is an area having a shape along the latitude and longitude lines, such as AC ₁ and AC ₂ shown in FIG.

FIG. 3 is a flowchart showing the flow of optimum route calculation processing in the present embodiment. As illustrated in FIG. 3, the information input receiving unit 41 receives information input including a departure place S, an arrival place G, a departure time T _S , an arrival time T _G , and a reference route fs (Step S <b> 1). In addition, when navigating a ship at a fixed number of rotations from the departure time T _S , it is not necessary to input information on the arrival time T _G. The determination unit 43 determines whether or not there is a predetermined fixed route area AS _m between the departure point S and the arrival point G. For this, the determination unit 43 determines a reference route fs, and the boundary of the route calculation region AC _n whether there is a boundary point intersecting (step S3).

In the present embodiment, the determination unit 43 arranges a plurality of determination points WP _u (u = 1, 2, 3,..., U) on the reference channel fs (step S2). In the present embodiment, the first determination point WP ₁ matches the departure point S, and the last determination point WP _U matches the arrival point G. For example, the determination points WP _u are arranged at equal intervals between the departure point S and the arrival point G. Instead of this, the arrangement interval may be changed according to the curvature of the reference route fs (for example, the larger the curvature, the shorter the interval), or the departure place S, the arrival place G, and / or a predetermined distance. the interval between decision point WP _u proximate at located near may be shorter than the other.

The determination unit 43 extracts a determination point WP _u that is a fixed route and a determination point WP _{u that} is used for route calculation (step S3). For example, the determination unit 43 determines and extracts a fixed route area by performing the map expansion process described below. FIG. 4 is a conceptual diagram when map expansion processing is performed on the map shown in FIG. In the map expansion process, the determination unit 43 reads the map data from the storage unit 3, superimposes the reference route fs on the map data, and sets the boundary line indicating the navigable region in the map data to the navigable region side (sea side). Extend a predetermined distance.

FIG. 4 shows a boundary line Ce obtained by extending the boundary line Co indicating the original navigable area to the sea side by a predetermined distance (for example, several tens of nautical miles). As a result, for example, in the strait part shown in the central part of FIG. As a result of the expansion of the boundary line Co, the determination unit 43 determines an area in which the reference navigation path fs is included on the side (land side) opposite to the navigable area from the expanded boundary line Ce as the fixed navigation area AS _m. And the determination point WP _u included in the fixed route area AS _m is extracted.

In FIG. 4, the determination points WP ₁ (departure point S), WP _{7 to} WP ₁₂ (strait portion), and WP _U (arrival point G) are located on the land side. The determination point WP _u is extracted. These determination points WP _u are temporarily stored in the storage unit 3 as determination points included in the fixed route area AS _m .

Thus, by performing a map expansion process, since the narrow region on the map data is automatically determined as a fixed route region AC _n, route calculation region AS _m and / or fixed route region AC calculates the optimum route _{Even if n} is not determined in advance, it is possible to automatically determine the area AS _m for calculating the optimum route and the fixed route area AC _n . In the present embodiment, not only the fixed route area AC _n is specified by the map expansion process, but also the route calculation area AS _m is specified.

In the example of FIG. 2, determination points WP _{2 to} WP ₆ included in the route calculation area AC ₁ and determination points WP _{12 to} WP _U-1 included in the route calculation area AC ₂ are extracted. These determination points WP _u are temporarily stored in the storage unit 3 together with the corresponding route calculation area AC _n . A specific extraction method will be described later.

Optimum route calculation unit 42, when it is determined that there is decision point WP _u included in the route calculation region AC _n as described above, the route calculation region AC which decision point WPu to section continuous (described later to perform the route calculation _The optimum route is calculated for each boundary point start point S _j and end point G _j at _n (step S4). In the example of FIG. 2, the optimal route between the first boundary points S _{1 and} G ₁ uses the departure time of the _first calculation start position S ₁ as the arrival time at the determination point WP ₂ in the reference route fs, It is calculated by the arrival time of the operation end position G ₁ between the arrival time at the determination point WP ₆ in the reference route fs. In addition, the optimum route between the second boundary points S _{2 and} G ₂ uses the departure time of the _second calculation start position S ₂ as the arrival time at the determination point WP ₁₂ in the reference route fs, and the second calculation end position. the arrival time of G ₂ is calculated by the arrival time at the decision point WP _U-1 in the reference route fs.

In addition, the optimum route calculation unit 42 adopts the reference route fs as the fixed route in the fixed route area AS _m outside the route calculation area AC _n .

The optimum route calculation unit 42 connects the calculated optimum route (the optimum route between the boundary points S _j and G _j ) and the fixed route (reference route fs) in other sections, and connects this from the departure point S to the arrival point. Output as the optimum route to G (step S5).

Hereinafter, a specific example of a process of extracting the decision point WP _u performing route calculation. FIG. 5 is a flowchart showing the flow of determination point extraction processing for performing route calculation in the present embodiment. As shown in FIG. 5, the determination unit 43 sets the number of searches j = 1 and sets the search reference position SP as the departure point S (step S31). Then, the determination unit 43 searches from the search reference position SP (departure point S) toward the arrival point G, and first extracts the determination point WP _u included in the route calculation area AC _n (step S32). In the example of FIG. 2, the decision point WP ₂ included in the route calculation region AC ₁ is extracted.

Determining unit 43 sets the extracted decision point WP _u (WP ₂ in FIG. 2) to the operation start position _{S j} (step S33), the extracted decision point WP _u belongs route calculation region AC _n to the extraction area j Set (step S34). In the example of FIG. 2, the extracted determination point WP ₂ is set as the calculation start position S _1, and the route calculation area AC ₁ to which the determination point WP ₂ belongs is set as the extraction area 1.

The determination unit 43 searches from the arrival point G toward the search reference position SP (departure point S), and first extracts the determination point WP _u included in the extraction area j (= 1) (step S35). In the example of FIG. 2, the determination point WP _{6 that} is located closest to the arrival point G (the downstream side of the route) is extracted from the determination points WP _u included in the extraction area 1 (the route calculation area AC ₁ ). The determination unit 43 sets the extracted determination point WP _u (WP ₆ in FIG. 2) as the calculation end position G _j (step S36).

In this manner, the boundary points S ₁ and G ₁ where the reference route fs and the first route calculation area AC ₁ (extraction area 1) intersect are extracted by the processing from step S31 to step S36.

Thereafter, the determination unit 43 adds 1 to the search count j (j = j + 1), and sets the next determination point WP _u after the calculation end position G _j (G ₁ ) as the next search reference position SP (step S37). ). For example, when j = j + 1 = 2 is set, the determination point WP ₇ next to the calculation end position G ₁ (= WP ₆ ) of the extraction area 1 is set as the search reference position SP.

The determination unit 43 determines whether or not the search reference position SP is the arrival point G (step S38). When the search reference position SP is not the arrival place G (No in step S38), the determination unit 43 performs the processes from step S31 to step S36 using the new search reference position SP, thereby determining the reference route fs and the jth route. Boundary points S _j and G _j where the calculation area AC _n (extraction area j) intersects are extracted.

In the example of FIG. 2, in addition to the operation start position S ₁ and calculating the end position of G ₁ in the extraction area 1, the extraction area 2 (route calculation region AC ₂₎ calculating the start position S _2, and operation end position G ₂ in the extraction Is done. Determined point _{WP 12} is extracted as an operation start position _{S 2,} determination points _{WP U-1} is extracted as the operation end position _{G 2.}

In step S37, when the number of searches j = 3, the determination point WP _U next to the calculation end position G ₂ (= WP _U-1 ) of the extraction area 2 is set as the search reference position SP. Search reference position SP decision point WP _U set to are the arrival G (Yes in step S38), the determination unit 43 includes a reference route fs, and the boundary of the route calculation region AC _n intersecting boundary The determination of whether or not there is a point ends.

As a result, in the example of FIG. 2, the distance from the departure point S to the determination point WP ₂ , the determination point WP ₆ to the determination point WP ₁₂ , and the determination point WP _U−1 to the arrival point G. it is determined that the fixed route area aS _m, between the decision point WP ₂ to the decision point WP _6, and, between the decision point _{WP 12} to decision point _{WP U-1} is determined as route calculation region AC _n. Information on the areas AS _m and AC _n to which the respective determination points WP _u belong is temporarily stored in the storage unit 3, and is appropriately read out in the subsequent steps (S4 and S5) of the optimum route calculation process and used for calculation.

According to the above configuration, when the fixed route area AS _m is included between the departure place S and the arrival place G, the fixed route area AS _m is automatically set in advance for the fixed route area AS _m (reference route fs). The remaining area is divided into a plurality of route calculation areas AC _n divided by the fixed route area AS _m , and the optimum route is calculated for each route calculation area AC _n . Therefore, the area where there is little room for calculating the optimum route, such as a sea area where there are many islands or shallows, canals or straits, is defined as the fixed route area AS _m , and the optimum route is calculated only for other areas. Thus, the optimum route calculation of the entire route including the fixed route region AS _m can be automatically performed while suppressing the amount of calculation.

Further, by leaving define the set route calculation region AC _n to compute the reference route fs and the optimum route from the departure point S to arrival G advance, a region AC _n to perform calculation of the optimal route, fixed The route area AS _m can be automatically determined.

[Modification]
In the above embodiment, the example has been described on the assumption that the fixed route area AS _m and the route calculation area AC _n are set as areas that do not overlap each other. However, for example, the optimum route in the operation in a region including a boundary of more complex navigable area, as a fixed route region AS _m and route calculation region AC _n to allow the possibility of duplication, route calculation region AC _n It may be preferable to set a larger value.

Thus, in such a case, the judgment unit 43, without setting a decision point WP _u extracted with step S32 as the calculation start position S _j in FIG. 5, is set to the temporary operation start position S _{j '.} Similarly, the determination unit 43, without setting a decision point WP _u extracted in a step S35 as it is to the operation end position G _j in FIG. 5, is set to the temporary operation end position G _{j '.}

Then, the following steps are added after step S36 of FIG. 5 and before step S37. First, the determination unit 43 determines whether or not the set provisional calculation start position S _j ′ is also included in the fixed route area AS _m . When it is not included in the fixed route area AS _m (that is, when the temporary calculation start position S _j ′ belongs only to the route calculation area AC _n ), the determination unit 43 sets the temporary calculation start position S _j ′ as the calculation start position. Set to S _j .

On the other hand, when it is also included in the fixed route area AS _m (that is, when the temporary calculation start position S _j ′ belongs to an area where the route calculation area AC _n and the fixed route area AS _m overlap), the determination unit 43 is a search from the provisional calculation start position S _j ′ toward the provisional calculation end position G _j ′, and a determination that first comes out of the fixed route area AS _m (belongs first to the route calculation area AC _n only) The point WP _u is set to the calculation start position S _j .

Similarly, for the temporary calculation end position Gj ′, the determination unit 43 determines whether or not the set temporary calculation end position G _j ′ is also included in the fixed route area AS _m . When it is not included in the fixed route area AS _m (that is, when the temporary calculation end position G _j ′ belongs only to the route calculation area AC _n ), the determination unit 43 sets the temporary calculation end position G _j ′ as the calculation end position. Set to G _j .

On the other hand, when it is also included in the fixed route area AS _m (that is, when the provisional calculation end position G _j ′ belongs to an area where the route calculation area AC _n and the fixed route area AS _m overlap), the determination unit 43 is a search point from the provisional calculation end position G _j ′ toward the calculation start position S _j , and a determination point WP that first comes out of the fixed route area AS _m (belongs to the area only in the route calculation area AC _n first). _u is set to the calculation end position _Gj .

In addition, when the overlap of the fixed route area AS _m and the route calculation area AC _n is permitted, the determination unit 43 performs the temporary calculation at the stage where the temporary calculation start position S _j ′ and the temporary calculation end position G _j ′ are extracted. It may be determined whether or not all determination points WP _u between the start position S _j ′ and the provisional calculation end position G _j ′ are also included in the fixed route area AS _m . All the determination points WP _u between the temporary calculation start position S _j ′ and the temporary calculation end position G _j ′ are also included in the fixed route area AS _m (that is, the route calculation area AC _n and the fixed route area AS). _m belongs to an area overlapping with _m ), the area from the temporary calculation start position S _j ′ to the temporary calculation end position G _j ′ is treated as a fixed calculation area AS _m . Therefore, in this case, the determination unit 43 sets the temporary calculation end position G _j ′ without setting the calculation start position S _j and the calculation end position G _{j at the} search reference position SP without performing the above determination. The next determination point WP _u is set as the next search reference position SP (step S11).

As described above, the route calculation area AC _n is set to be large in advance, and the area actually included in the calculation is the area included in the fixed route area AS _m even if the area is included in the route calculation area AC _n. can is that by excluding, performs distinction between fixed route region aS _m and route calculation region AC _n while avoiding setting complication during the route calculation region AC _n accurately.

[Example of optimal route calculation]
The optimum route calculation unit 42 calculates a route that minimizes an evaluation function of navigation safety parameters such as wave height and ship motion based on weather data and fuel efficiency based on ship performance data as the optimum route.

  Note that the optimum route calculation itself can be applied to a general optimum route calculation. For example, the following dynamic programming (DP) method can be employed. FIG. 5 is a diagram for explaining the optimum route calculation by the DP method.

In the DP method, first, the optimum route calculation unit 42 calculates the shortest distance route (large circle route) R ₀ that connects the shortest distances between the calculation start position S _j and the calculation end position G _j . Then, the optimum route calculation unit 42 divides the shortest distance route _R0 into N equal parts, and sets a virtual line segment (great circle) M that is orthogonal at each equally divided point. Furthermore, the optimum route calculation unit 42 arranges the lattice points L at equal intervals on each virtual line segment M. The i-th lattice point on the k-th virtual line segment M from the departure point S is assumed to be L (k, i _k ). The optimum route calculation unit 42 selects one of the lattice points L on each virtual line segment M one by one, and the route (optimum route) R _S that is sequentially connected between the departure point S and the arrival point G. Calculate as That is, the optimum route R _S includes the calculation start position S _j , the grid point L (1.i ₁ ), the grid point L (2, i ₂ ),..., L (k, i _k ),. _j in order.

The ship departs at the time t _k at the grid point L (k, i _k ) on the kth virtual line segment M, and at time t at the grid point L (k + 1, i _{k + 1} ) on the _{k +} 1th virtual line segment M. _Suppose we arrive at _{k + 1} . Evaluation values J (L (k, i _k ), L (k + 1, i _{k + 1} ), t _k , n _k ) from the lattice point L (k, i _k ) to the lattice point L (k + 1, i _{k + 1} ) at this time Is the fuel consumption F (L (k, i _k ), L (k + 1, i _{k + 1} ), t _k , n _k ) and penalty P (L (k, i _k ), L (k + 1, i _{k + 1} ) against the operational limit , T _k , n _k ) (J = F + P). Here, n _k represents the propeller rotation speed of the ship while navigating from the lattice point L (k, i _k ) to the lattice point L (k + 1, i _{k + 1} ). Further, the penalty P with respect to the operational limit indicates, for example, the wave height encountered between the lattice points, the hull motion (roll angle, pitch angle), and the like.

The arrival time t _{k + 1} at the lattice point L (k + 1, i _{k + 1} ) can be expressed as t _{k + 1} = t _k + T (L (k, i _k ), L (k + 1, i _{k + 1} ), t _k , n _k ). Here, T (L (k, i _k ), L (k + 1, i _{k + 1} ), t _k , n _k ) is from the lattice point L (k, i _k ) to the lattice point L (k + 1, i _{k + 1} ). Indicates navigation time.

Optimum route calculation unit 42, the time _{t k} to the lattice point L _{(k, i} k) the minimum evaluation value from up operation end position _{G j} in the case of sailing toward the operation end position _{G j J min (L (k} . i _k), the _{t k),} calculating the end position from the lattice point L (k, lattice point from _{i k) L (k + 1} , i k + 1) grid point to the evaluation value and the time _{t k + 1} to _{L (k + 1, i k} + 1) The sum with the minimum evaluation value up to the calculation end position G _j when sailing toward G _j is obtained by minimizing i _{K + 1} and n _k as parameters.

That is, the optimum route calculation unit 42
J _min (L (ki _k ), t _k )
= Min (i _{k + 1} , n _k ) {J (L (k, i _k ), L (k + 1, i _{k + 1} ), t _k , n _k ) + J _min (L (k + 1, i _{k + 1} ), t _k + T (L (k, i _k ), L (k + 1, i _{k + 1} ), t _k , n _k ))}
(K = N−2,..., 1, 0) (1)
Is calculated. Here, Min (i _{k + 1} , _nk ) {J} means that the inside of J is minimized using i _{k + 1} and _nk as parameters. The lattice point L (0, i ₀ ) when k = 0 is equal to the calculation start position S _j .

Further, the optimum route calculation unit 42 sets the minimum evaluation value J _min ( _{N min} while traveling from the lattice point L (N−1, i _N−1 ) on the _N− 1th virtual line segment M to the calculation end position G _j. L (N−1, i _N−1 ), t _N−1 ) is calculated using the following equation.
J _min (L (N-1, i _N-1 ), t _N-1 ) = Min (n _N-1 ) {J (L (N-1, i _N-1 ), G, t _N-1 , n _N-1 )} (2)

The optimum route calculation unit 42 uses the above equations (1) and (2) as a function recursive equation in the DP method to generate one virtual line segment M from the (N-1) th virtual line segment M to the calculation start position _Sj . The minimum evaluation value from each lattice point L to the calculation end position G _j is calculated while going back step by step, and finally the minimum evaluation value from the calculation start position S _j to the calculation end position G _j is obtained. The optimum route calculation unit 42 outputs a set of grid points L from which the minimum evaluation value can be obtained as the optimum route _RS . The optimum route calculation is performed individually between a plurality of boundary points S _j and G _j . At this time, the number (N) of the virtual line segments M and the interval between the grid points L may be different for each boundary point S _j and G _j (route calculation area AC _n ) where the optimum route calculation is performed.

Further, the optimum route calculation unit 42 may perform the optimum route calculation by a variational method, Dijkstra method, A ^* method, isochronous curve method, or the like, instead of the optimum route calculation using the DP method as described above. . Moreover, although the example of the optimization calculation which added the operation limit to the evaluation value as penalty P was shown in the said example, optimal route calculation may be performed on the constraint that selecting the route which becomes below an operation limit. .

[Other variations]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various improvements, changes, and modifications can be made without departing from the spirit of the present invention.

For example, in the above embodiment, the reference route fs over the entire area from the departure point S to the arrival point G is used, and the optimum route in the fixed route region AS _m is defined as the reference route fs portion. explained. Instead of this, for example, the predetermined reference route fs may be set only in the fixed route region AS _m .

In the above embodiment, the departure point S and the arrival point G are exemplified in the fixed route area AS _m . However, the departure point S and / or the arrival point G is included in the route calculation area AC _n. Also good. In other words, the route calculation area AC _n for calculating the optimum route is not limited to the area divided between the plurality of boundary points, and may be an area divided between the boundary point and the departure point S or the arrival point G. Good. In other words, the departure point S may be the calculation start position S _j , and the arrival point G may be the calculation end position G _j .

Further, in the above embodiment, both the determination of the fixed route area AS _{m and} the determination of the route calculation area AC _n are performed, but only the determination as to whether or not it is one of the areas is performed. Other areas may be set as the other area without separate determination.

Further, in the above embodiment, the description has been made on the assumption that the optimum route calculation is performed in advance before the ship departs. It is. In this case, the current position or the future of the position of the ship (sailing schedule position) is the departure point S next to, the estimated time of arrival to the current time or navigation scheduled position is input as a starting time T _S.

  INDUSTRIAL APPLICABILITY The present invention is useful for providing an optimum route calculation device and an optimum route calculation method that can automatically perform an optimum route calculation for the entire route from a departure point to an arrival point while suppressing the amount of calculation.

DESCRIPTION OF SYMBOLS 1 Optimal route calculation apparatus 41 Information input reception part 42 Optimum route calculation part 43 Judgment part AC _n route calculation area AS _m fixed route area f reference route G arrival place S departure place

Claims (4)

An information input receiving unit that receives input of information including a ship's departure place, arrival place, and departure time;
Based on the input information, the performance data of the ship, and the weather data of the route area where the ship navigates, an optimum route calculation unit that calculates an optimum route,
A determination unit that determines whether there is a predetermined fixed route area between the departure place and the arrival place,
When it is determined that the fixed route region is present, the optimum route calculation unit adopts a fixed route that is determined in advance in the fixed route region, and sets the remaining region as an end of the fixed route region. An optimum route computation device that divides the vehicle into a plurality of regions divided by a part or the arrival place and computes an optimum route for each of the plurality of regions. Whether the determination unit has a boundary point where a predetermined reference route from the departure point to the arrival point intersects with a boundary line of a route calculation region set in advance as a region for calculating the optimum route Is configured to determine whether or not the fixed route area exists,
When it is determined that there is the boundary point, the optimum route calculation unit adopts the reference route as the fixed route in the fixed route region outside the route calculation region, and between the boundary points or the boundary point The optimum route calculation device according to claim 1, wherein an optimum route is calculated for a route calculation region that is divided between a departure point and the departure point or the arrival point.   The determination unit reads map data indicating a boundary line indicating whether or not the navigable region is present, superimposes a predetermined reference route from the departure point to the arrival point on the map data, and sets the boundary line 2. A predetermined distance is extended to the navigable area side, and an area in which the reference route is included on the opposite side of the navigable area from the expanded boundary line is determined as the fixed route area. Or the optimum route calculation device according to 2; An information input accepting step for accepting input of information including the departure place, arrival place and departure time of the ship;
An optimum route calculation step for calculating an optimum route based on the input information, the performance data of the vessel, and weather data of a route region where the vessel navigates;
Determining whether there is a predetermined fixed route area between the departure place and the arrival place, and
In the optimum route calculation step, when it is determined that there is the fixed route region, a predetermined fixed route is adopted in the fixed route region, and the remaining region is defined as the end of the fixed route region. Or an optimum route calculation method for calculating an optimum route for each of the plurality of regions.

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