JPS61163409A - Unmanned sailing control device of ship - Google Patents

Abstract

PURPOSE:To realize the unmanned sailing control of a ship by using a present status analyzing and judging and processing device having a knowledge base and an estimation mechanism storing by processing the information of knowledge, experience, sense or the like of the captain required for the sailing of a ship. CONSTITUTION:When a leaving preparation command is inputted to an external communication control device 1a of an unmanned sailing control device 1 from land, the command is inputted to a present status analyzing and judging and processing device 1c, thereby a sailing mode change over command is outputted, and through an internal communication control device 1f to the necessary devices of respective control devices 2-10. The operating condition of these control devices is informed to the device 1. After judging to be capable of sailing, the device 1 controls the sailing based on a sailing plan stored in a data controlling and storing device 1e. After completing the separation from a pier, a sailing mode is changed over to a departure mode, a narrow channel mode, and thereafter, the sailing is executed based on an information required for the sailing in the device 1f.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to an unmanned vessel operation control system.

[Conventional technology]

Conventionally, when operating a ship, a great deal depends on the knowledge of the captain, and the ship is operated based on the captain's judgment.

[Problem that the invention seeks to solve]

However, in recent years, there has been an increase in the need for labor saving among ship crew members, and there is a shift from full-time to multi-purpose crew members, and the equipment that replaces crew members has become increasingly automated, and is now operating in various locations on ships. However, it has not yet reached the point of becoming unmanned, even eliminating the captain.

The present invention aims to solve these problems by further reducing the number of ship crew members and making it possible to operate an unmanned ship. The purpose of the present invention is to provide unmanned ship operation control*i that allows the introduction of fully automated equipment as an alternative to other crew members.

[Means for solving problems]

For this reason, the unmanned operation control device for a ship of the present invention includes a propulsion device control device for controlling a propulsion device, a steering control device for controlling a rudder, and an attitude control device for controlling the attitude of a ship. , a marine and meteorological monitoring and evaluation device that monitors and evaluates sea conditions and weather, and a collision prevention device that prevents collisions based on information from radar.
It is equipped with a grounding prevention device for preventing grounding based on information from sonar, a storage device that stores information necessary for ship operation, and the above-mentioned marine and meteorological monitoring and evaluation device, the above-mentioned collision prevention device, and the above-mentioned grounding prevention device. and the signal from the storage device, the propulsion device control device makes an inference and judgment;
6 [Function] The above-described unmanned operation control device for a ship according to the present invention is characterized in that it is provided with a current state analysis/judgment processing device that sends control signals to the above-mentioned rudder control device and the above-mentioned attitude control device. By processing the information, experience, intuition, etc. of the captain necessary for the ship and storing it in a storage device, and adding factors both inside and outside the ship, the current situation analysis and judgment processing device equipped with an inference mechanism allows the captain to make judgments that were not possible in the past. The same result as determined is derived, and control commands are issued to each automatic control device based on the derived result, allowing unmanned operation control of the ship.

〔Example〕

Hereinafter, embodiments of the present invention will be explained with reference to the drawings.
Figures 1 and 2 show an unmanned vessel operation control system as an embodiment of the present invention. Figure 1 is a schematic block diagram of its overall configuration, and Figure 2 is a storage device and current status analysis/control system. FIG. 2 is a block diagram showing an unmanned flight overall control device equipped with a judgment processing device.

As shown in FIG. 1, the unmanned other ship 100 includes an unmanned operation general control device 11, a marine meteorological monitoring and evaluation device 2, and a radar 3.
A collision prevention device 3 performs collision prevention based on information etc. from the sonar 48, a grounding prevention device 4 prevents grounding based on information etc. from the sonar 48, and a ship earth station 5 communicates data with land.
The data communication control device 5 and the take-off and landing aircraft via a
An automatic control system f16 for unmooring and dumping anchor, a cargo handling control/load maintenance/automatic control system 7, and an automatic attitude control system 8 that monitors the state of the hull and automatically controls the attitude using fins, etc.
, a propulsion device automatic control device 9 that controls the propeller 11, and a steering automatic control device 10 that controls the rudder 12 via a steering mechanism.

In addition, as shown in FIG.
, a current situation analysis/judgment processing device 1c equipped with an inference mechanism, a data output processing device 1d, a data management/storage device 1e as a storage device, and an inboard communication management device 1f.

The unmanned operation general control device 1 includes each control device 2 to 1.
0 through a data transmission cable 20.

Since the unmanned operation control system for a ship as an embodiment of the present invention is configured as described above,
When navigating along the flow of domestic voyage, ocean voyage, port entry, mooring, and cargo handling, these operation modes are based on the current state analysis and judgment of the unmanned operation general control system 1, which processes and stores the knowledge of the captain. The processing device IC is connected to each control device rR.
While exchanging data with 2 to 10, decisions are made and switching is made.

That is, when the ship is in the stopped state ~1, when a departure preparation command is input from land via the ship earth station 5a and through the data communication control device 5 to the outboard communication management device 1a of the unmanned operation general control device 1, the The command passes through the data input processing device 1b and is input to the current situation analysis/judgment processing device 1c, which issues an operation mode switching command and sends the command to the onboard communication management device 1.
It is transmitted to each of the control devices 2 to 10 that is determined to be necessary through f.

Each of the control devices 2 to 10 that received the command starts operating in accordance with the command, and transmits the status to the data transmission cable 20.
It replies to the unmanned flight control system 1 through

The unmanned operation general control device 1 inputs the returned information to the current status analysis/judgment processing device IC via the onboard communication management device 1f and the data input processing device 1b, and then checks whether the commands from shore can be followed. make a judgment.

Judgment is made based on the content of the normal/abnormal response, and whether the control device 2 to 10 that has responded as abnormal is essential for operation in response to commands from land, and if it is essential, further details of the abnormality are provided. A request is made to control units 2 to 10, and the response results are judged again.

Based on this judgment, it is determined whether the flight is possible or not.
The results are loaded onto the data management/storage device 1e and transmitted to land via the outboard communication management device 1a.

The data management/storage device 1e stores the sensor input information 1/analysis results etc. from each of the control devices 2 to 10 as needed as a data structure that can be shared via the inboard communication management device 1f and the data input processing device 1b.

Therefore, each of the control devices 2 to 10 can take out shared data necessary for control from the data management/storage device 1e via the inboard communication management device 1f every time the operation mode is switched.

After the unmanned operation control unit 1 determines that operation is possible,
It controls the flight based on the flight plan received from land and stored in the data management/W loading device 1e.

First, the current situation analysis/judgment processing device IC switches the operation mode to the unmooring mode and gives an operation command to the automatic control device 6 for unberthing, unberthing, unmooring, and throwing anchor.

After the unberthing and mooring is completed, the current situation analysis/judgment processing device 1e switches the operation mode to the anchor lifting mode, and after the anchor is completed to the unberthing mode, and the automatic control device 6 performs related controls according to each mode, and transmits a completion report to the unmanned operation general control device 1 each time each mode is completed.

During this time, the unmanned navigation general control device 1 monitors the position of the own ship, the movements of other ships, the presence or absence of the risk of grounding, etc. based on the ship position, direction, ship speed information, etc. that is updated and stored in the data management/storage device fR1e. (Each control device 2~
Control 10.

After the unberthing is completed, the mode is changed to the departure mode, and after the completion of the departure from the port, the mode is changed to the narrow waterway mode. Completion reports from each control device II 2 to 10 and current information such as ship position and ship speed in the data management/storage device 1e are combined. The unmanned operation general control device 1 switches the operation mode and manages the operation of the ship safely and economically even when the ship is unmanned.

〔Effect of the invention〕

As described in detail above, according to the unmanned ship operation control device of the present invention, the ship includes a propulsion device control device that controls the propulsion device, a steering control device that controls the rudder, and a posture that controls the attitude of the ship. It is equipped with a control device, a marine and meteorological monitoring and evaluation device that monitors and evaluates sea conditions and weather, a collision prevention device that prevents collisions based on information from radar, and a collision prevention device that prevents collisions based on information from sonar. It is equipped with a grounding prevention device to prevent groundings, and a storage device that stores information necessary for ship operation, and signals from the marine and meteorological monitoring and evaluation device, the collision prevention device, and the grounding prevention device and the storage device. The present invention has a simple structure in which a current analysis/judgment processing device is provided, which receives and infers the signals and sends control signals to the propulsion control device, the steering control device, and the attitude control device. Or you can get some benefits.

(1) By using a current situation analysis/judgment processing device with a knowledge base and inference mechanism that processes and stores the knowledge, experience, intuition, etc. of the captain necessary for ship operation, it becomes an alternative means for the captain. .

(2) Complete automation can be achieved by appropriately combining various automatic control devices that are determined by the device described in item 1 above and operated according to the results.

[Brief explanation of the drawing]

Figures 1 and 2 show an unmanned vessel operation control system as an embodiment of the present invention. Figure 1 is a schematic block diagram of its overall configuration, and Figure 2 is a storage device and current status analysis/control system. FIG. 2 is a block diagram showing an unmanned flight overall control device equipped with a judgment processing device. 1... Unmanned operation general control device, 1a... Outboard communication management device, 1b... Data input processing device, IC... Current status analysis/judgment processing device equipped with reasoning mechanism, 1d... Data output processing device, 1e...・Data management φ storage device as a storage device, 1f... Ship communication management device, 2... Marine weather monitoring and evaluation device, 3... Collision prevention device, 3a... Radar, 4...
- Grounding prevention device, 4a... Sonar, 5... Data communication control device, 5a... Ship earth station, 6... Takeoff and landing aircraft, mooring,
Automatic control of floating anchor! 1g1 (automatic control system for mooring r11),
7. Cargo handling control/load maintenance/automatic control device (cargo handling, etc. automatic control device), 8. Automatic control device for posture, etc., 9. Automatic propulsion control device, 10. Automatic steering control device, 11. Propeller. , 12... Rudder, 20... Data transmission cable, 1
00... Unmanned other ship. Sub-Agent Patent Attorney Yoshihiko Iinuma Figure 2

Claims (1)

[Claims] Marine and meteorological systems are equipped with a propulsion control device that controls the propulsion device, a steering control device that controls the rudder, and an attitude control device that controls the attitude of the ship, as well as monitoring and evaluating sea conditions and weather. Equipped with a monitoring and evaluation device, a collision prevention device to prevent collisions based on information from radar, and a grounding prevention device to prevent groundings based on information from sonar, it provides information necessary for ship operation. receiving and inferring the signals from the storage device for storage, the marine and meteorological monitoring and evaluation device, the collision prevention device, and the grounding prevention device, and the signals from the storage device; An unmanned vessel operation control system, characterized in that it is provided with a current status analysis/judgment processing device that sends control signals to the attitude control device.