JP6864483B2 - Disturbance guesser - Google Patents

Description

The present invention relates to a device for estimating a disturbance to a hull navigating a route.

Conventionally, as a navigation method of a ship, there is known a technique called a route control in which a route connecting a departure point and a destination point by a plurality of straight sections is specified and the hull is controlled so as not to depart from this route. According to this route control, the hull is controlled to navigate along a set straight route in a certain section. For this reason, if this straight route is a route that opposes disturbances such as wind and tidal currents, the route is the shortest distance, but compared to the case of navigating in consideration of disturbances, this section is navigated. It may take a long time. Therefore, this route control was not always optimal from the viewpoint of energy efficiency.

For such route control, a technique called a route plan for planning an optimum route from the viewpoint of energy efficiency is known from the measurement results of wind and tidal current measured in advance. In addition, as technologies related to this route planning, an operation monitoring system that collects data on the equipment and hull movement of the target ship, an in-service analysis system that analyzes the performance of the target ship in the actual sea area, and the weather in the navigation area of the ship. , A ship operation support method in a ship operation support system including an optimum route calculation system for calculating an optimum route based on information on sea conditions and sea currents (see, for example, Patent Document 1).

Japanese Patent No. 4970346

However, the pre-measured winds and tides used in the route planning are regional global, and the local winds and tides that affect the hull as a disturbance are not measured. There is a problem that the disturbance to the hull considered in the plan is not accurate enough and may differ greatly from the actual disturbance.

An embodiment of the present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a disturbance estimation device capable of estimating a disturbance to a hull with higher accuracy.

In order to solve the above-mentioned problems, the disturbance estimation device of the present embodiment is a disturbance estimation device that estimates a disturbance vector for a target ship navigating a preset set route, and is at least one different from the target ship. The acquisition unit that acquires ship information including the disturbance vector with respect to the other ship and the position of the other ship calculated by the other ship from the above other ships, and the said on the set route based on the ship information. It is equipped with a disturbance estimation unit that estimates the disturbance vector at a predetermined point located in front of the target ship.

According to the embodiment of the present invention, the disturbance to the hull can be estimated more accurately.

It is a schematic diagram which shows the target ship and other ship which concerns on embodiment. It is a block diagram which shows the hardware configuration of the disturbance guessing apparatus which concerns on embodiment. It is a block diagram which shows the functional structure of a disturbance guessing apparatus. It is a flowchart which shows the operation of the whole processing of a disturbance guessing apparatus. It is a flowchart which shows the operation of the narrow region disturbance estimation processing. It is the schematic which shows the other ship in a narrow area range. It is a flowchart which shows the operation of wide area disturbance estimation processing. It is a schematic diagram which shows the other ship in a wide area. It is a schematic diagram which shows the calculation method of the disturbance vector at an intersection. It is a flowchart which shows the operation of the route estimation processing. It is a schematic diagram which shows the interpolation method of a disturbance vector. It is a schematic diagram which shows the calculation method of a guess vector. It is a schematic diagram which shows the calculation method of a route. It is a schematic diagram which shows the compensation angle of a target ship. It is the schematic which shows the target ship which changed the needle by the compensation angle.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Configuration of target ship and disturbance estimation device)
First, the target ship and other ships according to the present embodiment will be described. FIG. 1 is a schematic view showing a target ship and another ship according to the embodiment.

As shown in FIG. 1, in the present embodiment, it is assumed that the target ship T for which the disturbance generated on the route is calculated is navigating the route section S, which is one section included in the preset route. Further, it is assumed that a plurality of other vessels O1 to O4 different from the target vessel T are navigating around the route S.

Next, the configuration of the disturbance estimation device according to the present embodiment will be described. FIG. 2 is a block diagram showing a hardware configuration of the disturbance estimation device according to the embodiment. FIG. 3 is a block diagram showing a functional configuration of the disturbance estimation device.

The disturbance estimation device 10 is provided on the target ship T and the other ships O1 to O4, respectively. In the following description, the disturbance estimation device 10 provided on the target ship T will be described. In the present embodiment, the target ship T is the own ship, but the disturbance estimation device 10 does not have to be provided in the ship, and if it is possible to communicate with the target ship T and other ships O1 to O4, For example, it may be a server installed on land. In addition, each of the target ship T and the other ships O1 to O4 detects the hull position from a satellite positioning system (GNSS) such as a speed log for detecting the hull speed, a gyrocompass for detecting the bow orientation of the hull, and GPS. It shall be provided with sensors including a GNSS sensor.

As shown in FIG. 2, the disturbance estimation device 10 includes a CPU (Central Processing Unit) 11, a memory 12, a storage device 13, an input / output I / F 14, and an antenna 15 as hardware. The CPU 11 cooperates with the memory 12 to execute various functions described later. The memory 12 is a volatile main storage device such as a RAM (Random Access Memory). The storage device 13 is an external storage device that stores various data associated with the execution of various functions by the CPU 11 and the memory 12. The input / output I / F 14 is an interface for the CPU 11 to communicate with the antenna 15. The antenna 15 transmits or receives ship information described later as radio waves. The disturbance estimation device 10 shall acquire the measured values by the sensors provided on the corresponding hull via the input / output I / F14.

Further, as shown in FIG. 3, the disturbance estimation device 10 has functions such as a disturbance estimation unit 101, a transmission unit 102, an acquisition unit 103, a time determination unit 104, a disturbance estimation unit 105, a disturbance interpolation unit 106, and an estimation vector calculation 107. The estimation route calculation unit 108 and the compensation angle calculation unit 109 are provided, and the disturbance estimation unit 105 includes a first disturbance estimation unit 105a and a second disturbance estimation unit 105b.

The disturbance estimation unit 101 estimates the target ship T, that is, the disturbance that affects the own ship. Here, the disturbance is a wind and a tidal current, and the disturbance estimation unit 101 estimates the disturbance vector by an existing method based on the measured values obtained from the sensors provided on the target ship T. The sending unit 102 transmits to the antenna 15 ship information in which the disturbance vector estimated by the disturbance estimation unit 101, the time information which is the calculation time of the disturbance vector, and the position information indicating the position of the target ship T are associated with each other. Let me. The acquisition unit 103 acquires the ship information transmitted from the other ships O1 to O4 and received by the antenna 15 and the navigation direction and the water speed of the target ship T as a navigation vector and stores them in the storage device 13.

Based on the time information included in the ship information acquired by the acquisition unit 103, the time determination unit 104 determines whether or not the disturbance information associated with the time information is valid. The first disturbance estimation unit 105a estimates the disturbance vector at one point on the route section S based on the ship information received from another ship in the narrow area including the route section S. Further, the second disturbance estimation unit 105b estimates the disturbance vector at one point on the route section S based on the ship information received from another ship in the wide area including the route section S.

The disturbance interpolation unit 106 interpolates the disturbance at the interpolation point between the points where the disturbance vector is estimated on the route section S and which are continuous in the navigation direction of the target ship T. The guess vector calculation unit 107 calculates a guess vector, which is a vector of the target ship T when a disturbance occurs, based on the disturbance vector and the navigation vector of the target ship T.

The estimated route calculation unit 108 calculates the estimated route, which is the route of the target ship T when a disturbance occurs, based on the estimated vector. The compensation angle calculation unit 109 calculates the compensation angle for compensating for the deviation from the arrival point on the route section S that occurs when the target ship T navigates the estimated route.

(Overall operation of disturbance estimation device)
Next, the operation of the disturbance estimation device will be described. FIG. 4 is a flowchart showing the operation of the entire processing of the disturbance estimation device. In FIG. 4, it is assumed that ship information has already been transmitted from all other ships, and that the entire process is executed at predetermined intervals.

As shown in FIG. 4, first, the acquisition unit 103 acquires all the ship information transmitted from all the other ships O1 to O4, the navigation direction of the target ship T, and the water speed (S101). Is stored in the storage device 13 (S102). Next, the time determination unit 104 determines whether or not there is unselected ship information among all the ship information stored in the storage device 13 (S103).

When there is unselected ship information (S103, YES), the time determination unit 104 selects one unselected ship information (S104), and the calculated time included in the selected ship information is predetermined from the current time. It is determined whether or not it is within the time (S105).

When the calculated time is within a predetermined time from the current time (S105, YES), the time determination unit 104 determines that the selected ship information is valid (S106). Since the storage device 13 stores not only the ship information obtained in real time, that is, within the cycle of the entire processing, but also the ship information obtained in the past, the time determination unit 104 thus starts from the current time. Only the ship information calculated within the preset predetermined time is valid. Next, the time determination unit 104 determines whether or not all the ship information stored in the storage device 13 has been selected (S107).

When all the ship information is selected (S107, YES), the narrow area disturbance estimation process is executed (S108), the wide area disturbance estimation process is executed (S109), the estimated route calculation process is executed (S110), and the acquisition is performed. Unit 103 again acquires all the ship information transmitted from all the other ships O1 to O4 (S101). The narrow area disturbance estimation process, wide area disturbance estimation process, and estimated route calculation process will be described later.

On the other hand, when all the ship information is not selected (S107, NO), the time determination unit 104 selects one unselected ship information again (S104).

Further, in step S105, when the calculated time is not within a predetermined time from the current time (S105, NO), the time determination unit 104 determines whether or not all the ship information stored in the storage device 13 has been selected. (S107).

Further, in step S103, when there is no unselected ship information (S103, NO), the acquisition unit 103 again acquires all the ship information transmitted from all the other ships O1 to O4 (S101).

(Narrow region disturbance estimation processing)
Next, the narrow region disturbance estimation process will be described. FIG. 5 is a flowchart showing the operation of the narrow region disturbance estimation process. FIG. 6 is a schematic view showing another ship in a narrow area.

As shown in FIG. 5, first, the first disturbance estimation unit 105a determines whether or not there is ship information unselected by the first disturbance estimation unit 105a among the ship information determined to be valid by the time determination unit 104. Judgment (S201).

When there is unselected ship information (S201, YES), the first disturbance estimation unit 105a determines that it is valid, selects unselected ship information (S202), and indicates by the position information included in this ship information. The distance between the position of the other ship and one point in the route section S closest to the position of the other ship is calculated as the separation distance (S203). Further, the first disturbance estimation unit 105a determines whether or not the separation distance is within the preset predetermined distance D1 and the position of the other ship is in front of the target ship T in the route section S (S204). According to this determination, as shown in FIG. 6, it is determined whether or not there is another ship that has transmitted the ship information within the narrow area range N, and in the present embodiment, the other ship O3 and the other ship O4 are narrow. It corresponds to another ship within the range N.

When the separation distance is within the predetermined distance D1 and the position of the other ship is in front of the target ship T (S204, YES), the first disturbance estimation unit 105a is based on the disturbance vector included in the selected ship information. , Calculate the disturbance vector at one point on the route section S (S205). Here, the first disturbance estimation unit 105a sets the disturbance vector included in the ship information as the disturbance vector of the point closest to the other ship position shown in the corresponding position information on the route section S. Calculates the disturbance vector at one point on the route section S. As a result, as shown in FIG. 6, the disturbance vectors of the other vessels O3 and O4 become the disturbance vectors a2 and a3 on the route section S. The disturbance vector a1 in FIG. 6 is a disturbance vector of the target ship T estimated by the disturbance estimation unit 101. Next, the first disturbance estimation unit 105a determines whether or not all the ship information determined to be valid has been selected (S206).

When all the valid ship information is selected (S206, YES), the first disturbance estimation unit 105a ends the narrow region disturbance estimation process.

On the other hand, when all the valid ship information is not selected (S206, NO), the first disturbance estimation unit 105a again determines that it is valid and selects the unselected ship information (S202).

Further, in step S204, when the separation distance is not within the predetermined distance D1 or the position of the other ship is not in front of the target ship T (S204, NO), the first disturbance estimation unit 105a is all determined to be effective. It is determined whether or not the ship information is selected (S206).

Further, in step S201, when there is no unselected ship information (S201, NO), the first disturbance estimation unit 105a ends the narrow region disturbance estimation process.

(Wide area disturbance estimation processing)
Next, the operation of the wide area disturbance estimation process will be described. FIG. 7 is a flowchart showing the operation of the wide area disturbance estimation process. FIG. 8 is a schematic view showing another ship within a wide area.

As shown in FIG. 7, first, the second disturbance estimation unit 105b sets a wide range including the routes before and after the target ship T (S301), and the position indicated by the position information is within the wide range. All the ship information determined to be valid is added to the candidates (S302). As shown in FIG. 8, the wide area range B is a range defined by the distance D2 in the left-right direction of the target ship T orthogonal to the route section S and the distances D3 and D4 in front of and behind the target ship T. It is preferable that D2 is larger than the distance D1 that defines the narrow range, and the distance D3 is larger than the distance D4. In this embodiment, the other vessels O1 to O4 correspond to other vessels within a wide range.

Next, the second disturbance estimation unit 105b determines whether or not the candidate has two or more ship information (S303).

When the candidate has two or more ship information (S303, YES), the second disturbance estimation unit 105b determines whether or not the candidate has ship information that has not been selected as the starting point (S304).

When the candidate has unselected ship information as the starting point (S304, YES), the second disturbance estimation unit 105b selects one of the unselected ship information as the starting point in the candidate as the starting point (S305), and the candidate has the starting point. It is determined whether or not there is ship information that has not been selected as, or as an end point with respect to the selected start point (S306).

When the candidate has unselected vessel information as a start point or an end point for the selected start point (S306, YES), the second disturbance estimation unit 105b is the unselected vessel information as the end point for the start point in the candidate or the selected start point. One is selected as the end point (S307), and the line segment connecting the position based on the position information of the ship information selected as the start point and the position based on the position information of the ship information selected as the end point, and the route section S are the target ships T. It is determined whether or not to intersect in front of (S308). In the present embodiment, as shown in FIG. 8, the line segment connecting the other ship O1 and the other ship O4, the line segment connecting the other ship O2 and the other ship O3, and the other ship O3 and the other ship O4 The line segment connecting the two intersects the route section S in front of the target ship T.

When the line segment and the route section S intersect in front of the target ship T (S308, YES), the second disturbance estimation unit 105b sets the disturbance vector at the intersection of the line segment connecting between other ships and the route section S. It is calculated by the calculation method described later (S309), and again, it is determined whether or not there is ship information that has not been selected as the starting point in the candidates (S304).

On the other hand, when the line segment and the route section S do not intersect in front of the target ship T (S308, NO), the second disturbance estimation unit 105b again determines whether or not the candidate has ship information that has not been selected as the starting point. Is determined (S304).

Further, in step S306, when there is no unselected ship information as the start point in the candidate or as the end point with respect to the selected start point (S306, NO), the second disturbance estimation unit 105b is not selected as the start point in the candidate again. It is determined whether or not there is ship information (S304).

Further, in step S304, when there is no unselected ship information as a starting point in the candidate (S304, NO), the second disturbance estimation unit 105b ends the wide area disturbance estimation process.

Further, in step S302, when the candidate does not have two or more ship information (S303, NO), the second disturbance estimation unit 105b ends the wide area disturbance estimation process.

(Calculation method of disturbance vector at intersection)
Next, a method of calculating the disturbance vector in the above-mentioned wide area disturbance estimation process will be described. FIG. 9 is a schematic diagram showing a method of calculating the disturbance vector at the intersection.

The disturbance vector at the intersection of the line segment connecting between the positions (other ship positions) shown in the position information in the two ship information and the route section S is the disturbance vector in each of the two ship information and the position of one other ship. It is calculated based on the ratio of the distance from to the intersection to the distance from the other ship's position to the intersection. Specifically, as shown in FIG. 9, the position of the other ship as one end point of the line segment is A, the position of the other ship as the other end point is B, the intersection is P, and A and P Assuming that the distance is n and the distance between B and P is m, the disturbance vector at the intersection is calculated by the following equation.

(Estimated route calculation process)
Next, the estimated route calculation process will be described. FIG. 10 is a flowchart showing the operation of the route estimation process. FIG. 11 is a schematic view showing a method of interpolating the disturbance vector. FIG. 12 is a schematic diagram showing a method of calculating the guess vector. FIG. 13 is a schematic view showing a method of calculating a route. FIG. 14 is a schematic view showing the compensation angle of the target ship. FIG. 15 is a schematic view showing a target ship whose needle has been changed by the compensation angle.

As shown in FIG. 10, first, the disturbance interpolation unit 106 linearly complements the already calculated plurality of disturbance vectors on the route section S as shown in FIG. 11, thereby causing the disturbance vector on the route section S. Is inferred in more detail (S401). In FIG. 11, a1 shows the disturbance vector of the target ship T estimated by the disturbance estimation unit 101, a2 and a3 show the disturbance vector estimated by the narrow region disturbance estimation process, and b1 to b3 show the disturbance vector estimated by the wide area disturbance estimation process. The inferred disturbance vector is shown, and c1 to c5 indicate the linearly complemented disturbance vector.

Next, the guess vector calculation unit 107 makes a guess vector for each of the disturbance vectors on the route section S, based on the disturbance vector and the navigation vector of the target ship T acquired by the acquisition unit 103, as shown in FIG. E1 ^→ ~ En ^→ are sequentially calculated (S402). This guess vector is calculated by synthesizing the individual disturbance vectors and the navigation vector of the target ship T.

After calculating the guess vector, the guess route calculation unit 108 calculates the guess route by sequentially accumulating a plurality of guess vectors as shown in FIG. 13 (S403). Specifically, by sequentially accumulating the estimation vectors starting from the position P0, which is the current position of the target ship T, the passing points are set to P1 to Pn-1, the reaching points are set to Pn, and the target ship is affected by the disturbance. The estimated route, which is the route of T, is calculated.

Next, the compensation angle calculation unit 109 calculates the angle formed by the route section S and the line segment connecting the position P0 and the position Pn as the compensation angle C, as shown in FIG. 14, based on the estimated route. (S404). According to this compensation angle C, as shown in FIG. 15, by changing the needle of the target ship T by -C with respect to the current navigation direction, the target ship while eliminating the deviation of the arrival point due to the influence of the disturbance. It is possible to make T navigate a route in consideration of disturbance.

As explained above, by estimating the disturbance vector on the route section based on the disturbance vector calculated by the other ship, it is possible to estimate the disturbance with higher accuracy than before, and by extension, the target. The route of the ship can be optimized from the viewpoint of navigation time and energy consumption.

The embodiments of the present invention are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

10 Disturbance estimation device 103 Acquisition unit 104 Time determination unit 105 Disturbance estimation unit 106 Disturbance interpolation unit 108 Guessing route calculation unit 109 Compensation angle calculation unit

Claims (7)

It is a disturbance estimation device that infers the disturbance vector for the target ship navigating the preset set route.
Acquires different from at least one or more other vessels, viewed including the position of the disturbance vector and said other vessels for the another ship calculated in said other ship, ship information transmitted from the other ship and the target ship Acquisition department and
A disturbance estimation device including a disturbance estimation unit that estimates a disturbance vector at a predetermined point located in front of the target ship on the set route based on the ship information. The disturbance estimation unit first obtains ship information in the ship information in which the position included in the ship information is within the first range having a first distance in each of the left and right directions of the target ship with respect to the set route. Claim 1 is selected as ship information, and the disturbance vector included in the first ship information is set as the disturbance vector at one point on the set route closest to the position included in the first ship information. Disturbance estimation device described in. The acquisition unit acquires the ship information from at least two or more other ships, and obtains the ship information.
The disturbance estimation unit is within a second range of the ship information in which the position included in the ship information has a second distance larger than the first distance in each of the left and right directions of the target ship with respect to the set route. A plurality of certain ship information is selected as the second ship information, and the disturbance vector at the intersection of the line segment connecting the positions included in each of the plurality of second ship information and the set route is the end point of the line segment. position and calculates, based on the disturbance vectors contained in each of the plurality of second vessels that contain disturbance guess device according to請Motomeko 2. The ship information further includes time information indicating the calculation time of the disturbance vector with respect to the other ship in front.
Further, a time determination unit for determining whether or not the ship information including the time information is valid based on the time information is provided.
The disturbance estimation unit according to any one of claims 1 to 3, wherein the disturbance estimation unit estimates a disturbance vector at a predetermined point on the set route based on the ship information determined to be valid. Disturbance guesser. The disturbance estimation unit estimates disturbance vectors at a plurality of estimation points on the set route, and estimates the disturbance vectors.
Claims 1 to 1, further comprising a disturbance interpolation unit that calculates a disturbance vector at a point between the plurality of estimated points on the set route by linear interpolation based on the disturbance vector at the plurality of estimated points. The disturbance estimation device according to any one of claims 4. Based on the disturbance vector estimated by the disturbance estimation unit and the disturbance vector calculated by the disturbance interpolation unit, the estimated route calculation unit that calculates the estimated route, which is the route considering the disturbance on the set route, is further added. The disturbance estimation device according to claim 5, further comprising. The disturbance estimation according to claim 6, further comprising a compensation angle calculation unit for calculating the compensation angle formed by the line segment connecting the starting point and the arrival point of the target ship in the estimated route and the set route. apparatus.

Images