JP5431141B2 - Ship berthing support device - Google Patents

Description

  The present invention relates to a berthing support device for a ship, provided with a recording device for setting a berthing target position and creating a trajectory from the time of entering a port to the berthing target position when the ship is berthed on a quay or a pier. Further, the present invention relates to a berthing support apparatus for a ship that gives instructions to a ship operator along the trajectory.

  When a ship is docked on a pier or quay (hereinafter referred to as berthing), in conventional ships, the movement of the part where the ship is approaching the quay or pier is generally monitored from the position of the operator by GPS, radar, etc. Can be seen in In addition, by using a similar record from arrival to berthing, the trajectory to berthing can be viewed on a monitor.

JP 60-263812 A JP 2007-230455 A

  By the way, the method for visually observing the ship maneuvering information at the time of berthing uses, for example, GPS (Global Positioning System) that uses satellites, D-GPS, and in particular kinematic GPS that can be measured in centimeters. The ship is operated by comparing the position information with the exact position of the quay or pier. However, there was no maneuvering instruction until docking, and maneuvering skills were required. In addition, there was no device for finely instructing ideal speed, steering timing, port entry angle, etc.

  For example, in the invention described in Japanese Patent Application Laid-Open No. 60-263812, an infrared tracking camera receives reflected infrared rays from a ground target, a camera rotation angle measuring device obtains the distance between the camera and the target, and the gyro By obtaining the hull azimuth, the hull position is automatically detected.

  In addition, the invention described in Japanese Patent Application Laid-Open No. 2007-230455 displays a locus record until berthing but does not lead to an operation instruction for berthing.

  Therefore, the present invention has been made paying attention to the above problems, and includes a recording device that records a trajectory from the time of entering a port to a berthing target position when the ship is berthed on a quay or a pier. An object of the present invention is to provide a berthing assistance device for a ship that can instruct a marine vessel operator along the trajectory.

In order to achieve the above object, the berthing assistance device for a ship according to the present invention is a berthing assistance device for a vessel entering a specific port, and records a landing locus from the time of entry to the port to the berthing target position. A device is provided, and a maneuvering instruction for at least one of steering and boat speed is given to at least one of voice and image display so that the operator can proceed along the ideal berthing trajectory recorded in the recording device. It is the structure performed by .

  In addition, an approach range that defines an arbitrary range is determined from the trajectory recorded in the recording device, and if the ship is out of the approach range, the boat operator is instructed to move to the final approach start point. Is.

  The approach range further defines a first support permissible range, and when a ship deviates from the first support permissible range, a marine vessel maneuvering instruction is given to move to the first support permissible range.

  In a ship that is maneuvering within the first support allowable range, a ship maneuvering instruction is given so that the direction of the bow of the ship is along the ideal berthing trajectory.

  The approach range further defines a second support allowable range. When the ship is operating in the second support allowable range, a marine vessel maneuver instruction is given to move to the first support allowable range.

  When the vehicle is out of the approach range, a return instruction is issued and a ship maneuvering instruction is issued so as to return to the final approach start point.

  In the vicinity of the berthing target position, a berthing area that may not reach the berthing target position or enter into the area or may collide with a quay or a pier is determined. And return instructions.

According to the ship berthing assistance apparatus of the present invention, the following effects can be obtained: (1) Even a ship operator who has no experience of berthing from entering a port can berth according to the instruction of the assistance apparatus.
(2) Moreover, since instructions such as a berthing trajectory, speed, and steering angle are given, it is easier for the operator to berth.
(3) Since the data recording the trajectory can be transferred, the present invention is not limited to a specific ship.

It is a schematic explanatory drawing which calculates the position, speed, and angle to the quay of a ship. It is the block diagram which showed the circuit structure. It is an outline explanatory view showing a maneuvering instruction allowable range It is a flowchart for recording an ideal locus. It is a flowchart of the manual maneuvering instruction from the arrival to the port. It is a flowchart of the automatic ship maneuvering from a port arrival to the berth.

  In FIG. 1, measurement points A and B are defined on the quay 1, and the distances θaA, θaB, θbA, θbB and the distance SaA formed by the millimeter wave radars 3 and 3 and the distances and the measurement points A and B are in the axial direction of the hull 7 , SaB, SbA, SbB, the relative position between the quay 1 and the ship 2 can be known by the triangulation method.

  Although not shown, the millimeter wave radar 3 includes a radar unit, a directional antenna, a driving device, a signal processing unit including a computer, and a receiving circuit. The signal processor controls both the drive for directing the directional antenna in a predetermined radio wave radiation direction and the radiation / reception operation of the millimeter wave pulse. Calculations such as the distance, speed, and direction between the antenna and the object are performed by the signal processing unit, and the results are output to the signal processing device 11 of the bridge shown in FIG.

  A GPS 4 is attached to the ship, and a position signal based on latitude and longitude output from the GPS 4 is input to the signal processing device 11. A positioning signal from the GPS 4, a signal output from the millimeter wave radar, and the signal processing device 11 in advance. The relationship between the ship and the quay or pier can be determined from the chart data entered in. The obtained relational position can be displayed on the display device 13 shown in FIG.

  FIG. 2 is a block diagram showing a circuit configuration of the berthing assistance apparatus 10. The speed, angle, and distance of the ship are calculated from the millimeter wave radar 3. From the GPS 4, the ship position is calculated. These signals are used by the signal processing device 11 so that the position of the relationship between the ship and the quay or pier can be determined. Next, the locus from the port to the berth is recorded by the locus recording device 12. These trajectory records, the ship's position, etc. are compared and an instruction is given along the trajectory. The instruction is displayed on the display device 13. The trajectory once recorded can be transferred to other ships. For example, data can be taken out using a USB port (not shown). In addition, the recording device can compare the recorded data of the ideal landing track with the actual track, and can also give points based on the difference from the ideal landing track. The score is based on the maneuvering that contributed to energy saving.

  The display device 13 displays a sound or / and an image, and gives a steering instruction, a steering release instruction, a speed setting instruction, and the like. For example, when returning from the right steering to the original position (in this case, the straight traveling position), after instructing the right steering in advance, an instruction to hold the position is issued until the buzzer sounds. Next, when the buzzer sounds, an instruction is given to return to the straight position.

  FIG. 3 is an explanatory diagram showing a maneuvering instruction allowable range. The berthing support start point 21 is determined in advance. From the berthing support start point 21 to the berthing position 27 of the ship, it is divided into an ideal berthing trajectory 20, an approach range 22, a first support allowable range 23, a second support allowable range 24, a return region 25, and a stop region 26. These ranges and areas are recognized from the berthing support start point 21 to the berthing position 27 of the ship, and an instruction is given.

  The approach range 22 defines an arbitrary range from the ideal landing track 20 and indicates a range in which the progress for landing can be safely continued while correcting the course according to the support instruction. In addition, the final approach start point is a point where it is possible to continue advancing for safe landing. Specifically, an instruction is given to return to the final approach start point when the ship stops or returns.

  FIG. 4 is a flowchart for recording a landing track. First, the berthing trajectory mode 30 is started, and then a selection is made as to whether or not he / she is a ship operator (S1). If the skilled person is selected, the starting point becomes the berthing start point, and the berthing locus is recorded (S2). These records are limited to one time, but it is also possible to record the landing track again by resetting the past landing track.

  If a person who is not a skilled ship operator is selected, the berthing trajectory is recorded several times, an average value is taken, and an ideal berthing trajectory is recorded (S3). The ideal here is a trajectory considering the shortest distance to berth, energy saving and safety.

  FIG. 5 is a flowchart of a manual maneuvering instruction from entering the port to berthing. First, the docking support mode is started and an ideal docking locus is displayed. The flowchart is a point where the berthing support is started. First, it is checked whether or not the current ship position is in the approach range (S4). If the ship is moving away from the approach range, an instruction to move to the approach range is given (S5).

  Next, a check is made to see if the port is entering at an appropriate speed (S6). If it is not an appropriate speed, an instruction is given to make it an appropriate speed (S7).

  Next, it is checked whether the ship is moving within the first allowable range (S8). If the ship is moving away from the first allowable range, it is next checked whether it is within the second allowable range (S9). If it is within the second support allowable range, a movement instruction to the first support allowable range is given (S10).

  If the ship is moving out of the second support allowable range, it is further checked whether it is a return area or a stop area (S11). If it is a return region, an instruction is given to return to the final approach start point (S12). Further, if the ship is moving in the stop area, an instruction to stop immediately is given (S13).

  Next, when the ship is moving within the first support allowable range, it is next checked whether the bow is along the ideal landing track (S14). If the bow is not along, an instruction is given to follow the bow (S15). For example, 7a shown in FIG. When the bow comes along, the flow returns to checking the proper speed again (S7), and the speed, range and area are checked so as not to deviate from the trajectory.

  FIG. 6 is a flowchart of automatic ship maneuvering from entry to dock. The instruction is given and the ship is automatically operated from the port to the berth, not in the manual mode where the operator operates the ship. In FIG. 6, automatic correction (S16) corresponds. Except for the automatic correction, the description is omitted because it overlaps with the description of FIG.

1 quay 2 ship 3 millimeter wave radar 4 GPS
11 Signal Processing Device 12 Trajectory Recording Device 13 Display Device 20 Ideal Landing Trajectory 22 Approach Range 23 First Support Permissible Range 24 Second Support Permissible Range 25 Return Return Area 26 Stopping Area 27 Landing Position

Claims (7)

A berthing support device for a ship entering a specific port,
A recording device is provided to record the landing locus from the time of entering the port to the target landing position,
A configuration in which at least one of steering and boat speed is instructed by at least one of voice and image display so that the operator can proceed along an ideal berthing trajectory recorded in the recording device; docking support device of a ship, characterized in that it was. From docking trajectory recorded in the recording apparatus, it determines the approach range that defines any range, if the ship is out of the approach range, to perform a maneuvering instruction to move to the final approach start point to the ship operator The ship berthing assistance apparatus according to claim 1. The approach range further defines a first support allowable range, and when a ship deviates from the first support allowable range, a marine vessel maneuver instruction is given to move to the first support allowable range. The ship berthing support apparatus according to 2. 4. A ship berthing support according to claim 3, wherein a ship maneuvering instruction is given so that a direction of a bow of the ship follows the ideal berthing trajectory in a ship operating within the first support allowable range. apparatus. The approach range further defines a second support permissible range, and when a ship is operating in the second support permissible range, a marine vessel maneuver instruction is given to move to the first support permissible range. The ship berthing assistance device according to claim 4. 6. The ship berthing assistance device according to claim 5, wherein when the vehicle is out of the approach range, a return instruction is issued and a ship maneuvering instruction is issued to return to the final approach start point. The ship berthing support device according to claim 1, wherein a stop area is defined in the vicinity of the target berthing position and a stop instruction is issued when the ship is operated in the stop area.