JPWO2020049702A1 - Draft estimation system, draft estimation device, information transmission device, and cargo handling simulation device - Google Patents

Abstract

Provided are a draft estimation system, a draft estimation device, an information transmission device, and a cargo handling simulation device capable of efficiently performing cargo handling without interrupting cargo handling for draft measurement. A photographing means for photographing the vicinity of the draft on the berthing side of the berthed ship, an inclination acquiring means for acquiring the inclination of the ship, a draft on the berthing side identified based on an image of the vicinity of the draft photographed by the photographing means, and The present invention relates to a draft estimation system including a draft estimation means for estimating the draft of a ship on the sea side based on the acquired inclination.

Description

The present invention relates to a draft estimation system capable of estimating the draft of a ship on the sea side. The present invention relates to a draft estimation device capable of estimating the draft of a ship on the sea side. Further, the present invention can estimate the draft of the ship on the sea side, and other computer devices can provide information on the draft of the vicinity of the draft, the inclination, the draft on the berthing side, and the estimated draft on the sea side. Regarding an information transmission device that can be transmitted to. Furthermore, the present invention relates to a cargo handling simulation device capable of estimating the load capacity or the remaining load capacity of the cargo loaded on the ship.

In the cargo handling of loading bulk cargo such as grains and ores onto a berthed cargo ship, it is required to maximize the loading quantity and minimize the cargo handling time. When loading cargo on a ship, for example, for the purpose of reducing work, speeding up, and reducing costs while ensuring safety, the load weight is calculated, and the water intake, stability, and stress are calculated. At the same time, a ship cargo handling business support method has been proposed in which calculations are performed to obtain the loading capacity of each shipyard and the loading plan is edited and created based on these calculation results (for example, patent documents). 1).

By the way, when carrying out cargo handling, usually, at the start, middle, or just before the end of cargo handling, the cargo handling is temporarily interrupted, and the draft is confirmed at a plurality of places on the ship. By measuring the draft at multiple points on the ship, it is possible to understand whether the ship is tilted due to the weight of the load and how much more load can be loaded on the ship. ..

However, in order to check the draft, it is necessary to disembark from the ship to the quay and visually check it. Further, the draft on the land side of the ship can be visually grasped from the land side, but the draft on the sea side needs to be confirmed by turning to the sea side of the ship with a small ship or the like. Therefore, there is a problem that it takes time to confirm the draft and the total cargo handling time is long.

International Publication No. 2006/003708

The present invention has been made in view of such a problem. That is, an object of the present invention is to provide a draft estimation system, a draft estimation device, an information transmission device, and a cargo handling simulation device capable of efficiently performing cargo handling without interrupting cargo handling for draft measurement. Is.

As a result of diligent studies, the present inventors have found that the draft on the berthing side and the sea side of a berthed ship can be efficiently specified or estimated, and have completed the present invention. The gist of the present invention is as follows.

[1] A photographing means for photographing the vicinity of the draft on the berthing side of the berthed ship, an inclination acquiring means for acquiring the inclination of the ship, and a draft on the berthing side specified based on an image of the vicinity of the draft photographed by the photographing means. , And a draft estimation system including a draft estimation means for estimating the draft of the ship on the sea side based on the acquired inclination.

[2] The predetermined position on the berthing side of the ship is specified based on the relative positional relationship between the position of the ship and the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. The draft estimation system according to the above [1], further comprising a position specifying means and a photographing control means for controlling the position and / or direction of the photographing means so that the photographing means can photograph a specified predetermined position.

[3] The predetermined position on the berthing side of the ship is specified based on the relative positional relationship between the position of the ship and the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. The draft according to the above [1], comprising a position specifying means and a display means for displaying an image corresponding to a predetermined position specified by the position specifying means on a display device among images in the vicinity of the draft taken by the photographing means. Estimate system.

[4] A draft specifying means for specifying the draft on the berthing side is provided based on an image of the vicinity of the draft taken by the photographing means, and the draft estimating means is based on the specified draft on the berthing side and the acquired inclination. The draft estimation system according to any one of [1] to [3] above, which estimates the draft on the sea side based on the draft.

[5] Draft estimation including a tilt acquisition means for acquiring the inclination of the ship, a draft on the berthing side of the berthed ship, and a draft estimation means for estimating the draft on the sea side of the ship based on the acquired inclination. Device.

[6] Based on the relative positional relationship between the position acquisition means for acquiring the position of the ship, the acquired position of the ship, and the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. Then, a position specifying means for specifying a predetermined position on the berthing side of the ship and a signal for controlling the position and / or direction of the photographing means are transmitted so that the photographing means can photograph the specified predetermined position. Control signal transmitting means, tilt acquisition means for acquiring the tilt of the ship, draft on the berthing side identified based on the image of the vicinity of the draft taken by the photographing means, and the acquired tilt of the ship. A draft estimation device including a draft estimation means for estimating draft on the sea side.

[7] The computer device functions as an inclination acquisition means for acquiring the inclination of the ship, a draft on the berthing side of the berthed ship, and a draft estimation means for estimating the draft on the sea side of the ship based on the acquired inclination. Draft estimation program.

[8] The computer device is relative to the position acquisition means for acquiring the position of the ship, the acquired position of the ship, and the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. To control the position and / or direction of the positioning means for specifying a predetermined position on the berthing side of the ship and the photographing means so that the photographing means can photograph the specified predetermined position based on the positional relationship. Based on the control signal transmitting means for transmitting the signal of A draft estimation program that functions as a draft estimation means for estimating the draft on the sea side of a ship.

[9] A draft estimation method executed in a computer device, in which a step of acquiring the draft of a ship, a draft on the berthing side of a berthed ship, and a draft on the sea side of a ship based on the acquired tilt are obtained. A draft estimation method having a step of estimating.

[10] A draft estimation method executed in a computer device, in which a step of acquiring a position of a ship, a position of the acquired ship, and a predetermined position of a ship to be photographed by a photographing means with respect to the position of the ship. The step of identifying a predetermined position on the berthing side of the ship based on the relative positional relationship with the position of, and the position of the photographing means and / or so that the photographing means can photograph the specified predetermined position. Based on the step of transmitting a signal to control the direction, the step of acquiring the inclination of the ship, the draft on the berthing side identified based on the image near the draft taken by the photographing means, and the acquired inclination. A draft estimation method comprising a step of estimating the draft of a ship on the sea side.

[11] For the image acquisition means for acquiring an image of the vicinity of the draft on the berthing side of the berthed ship, the inclination acquisition means for acquiring the inclination of the ship, the draft on the berthing side of the berthed ship, and the acquired inclination. Based on the draft estimation means for estimating the draft on the sea side of the ship, the acquired image of the vicinity of the draft, the inclination, and the draft on the berthing side, and the information on the estimated draft on the sea side are provided by other computer devices. An information transmitting device including an information transmitting means for transmitting to.

[12] Draft on the berthing side of a berthed ship based on the correspondence between the load capacity of the cargo loaded on the ship and the draft on the berthing side and the draft on the sea side of the ship, which changes according to the load capacity of the ship. And the load capacity estimation means for estimating the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship from the estimated draft on the sea side, and the information transmission means can be used for the estimated load capacity and the load capacity of the ship. / Or the information transmission device according to the above [11], which transmits information on the remaining loadable capacity to another computer device.

[13] Based on the correspondence between the predetermined cargo handling time and the amount of cargo that can be loaded on the ship in the predetermined cargo handling time, the cargo was loaded from the estimated cargo handling capacity and / or the remaining load capacity. It is equipped with a cargo handling time estimation means that estimates the cargo handling time required for the cargo to reach the maximum load capacity, and the information transmission means provides information on the cargo handling time required for the loaded cargo to reach the maximum load capacity. The information transmission device according to the above [12], which is transmitted to the computer device of the above.

[14] Computer equipment
Based on the image acquisition means for acquiring an image of the vicinity of the draft on the berthing side of the berthed ship, the inclination acquisition means for acquiring the inclination of the ship, the draft on the berthing side of the berthed ship, and the acquired inclination. A draft estimation means for estimating the draft on the sea side of a ship, an image of the acquired draft vicinity, inclination, and draft on the berthing side, and information on the estimated draft on the sea side are transmitted to other computer devices. An information transmission program that functions as an information transmission means.

[15] An information transmission method executed by a computer device, which is a step of acquiring an image of the vicinity of the draft on the berthing side of a berthed ship, a step of acquiring the inclination of the ship, and a berthing side of the berthed ship. Steps to estimate the draft of the ship on the sea side based on the draft and the acquired draft, the image taken near the acquired draft, the tilt, the draft on the berthing side, and the estimated draft on the sea side. A method of transmitting information, which comprises a step of transmitting information about the information to another computer device.

[16] An inclination acquisition means for acquiring the inclination of the ship, a draft on the berthing side of the berthed ship, and a draft estimation means for estimating the draft on the sea side of the ship based on the acquired inclination, and loading the ship. Based on the correspondence between the load capacity of the ship and the draft on the berthing side and the draft on the sea side of the ship, which changes according to the load capacity of the ship, the draft on the berthing side and the estimated draft on the sea side of the berthed ship. A cargo handling simulation device including a load capacity estimation means for estimating the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship.

[17] Based on the correspondence between the predetermined cargo handling time and the amount of cargo that can be loaded on the ship in the predetermined cargo handling time, the cargo was loaded from the estimated cargo handling capacity and / or the remaining load capacity. The cargo handling simulation apparatus according to the above [16], further comprising a cargo handling time estimating means for estimating the cargo handling time required for the ship to reach the maximum load capacity.

[18] A computer device is used as an inclination acquisition means for acquiring the inclination of the ship, a draft on the berthing side of the berthed ship, and a draft estimation means for estimating the draft on the sea side of the ship based on the acquired inclination. Based on the correspondence between the load capacity of the cargo loaded on the ship and the draft on the berthing side and the draft on the sea side of the ship, which changes according to the load capacity of the ship, the draft on the berthing side of the berthed ship was estimated. A cargo handling simulation program that functions as a load capacity estimation means for estimating the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship from the draft on the sea side.

[19] A cargo handling simulation method executed in a computer device, in which a step of acquiring the inclination of a ship, a draft of a berthed ship on the berthing side, and a draft of a ship on the sea side based on the acquired inclination are obtained. Based on the estimated steps, the load capacity of the cargo loaded on the ship, and the draft on the berthing side and the draft on the sea side of the ship, which changes according to the load capacity of the ship, the berthing side of the berthed ship. A cargo handling simulation method comprising a step of estimating the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship from the draft of the ship and the estimated draft on the sea side.

According to the present invention, cargo handling can be efficiently performed without interrupting cargo handling for measurement of draft.

It is an example of the figure which shows the outline of the draft estimation system which concerns on embodiment of this invention. It is an example of the block diagram which shows the structure of the computer apparatus which concerns on embodiment of this invention. It is an example of the figure which shows the flowchart of the draft estimation process which concerns on embodiment of this invention. This is an example of a diagram showing a photographed image when the vicinity of the draft of a ship is photographed. It is sectional drawing in the plane perpendicular to the traveling direction of a ship when the sea side of a ship is inclined so as to float. It is sectional drawing in the plane perpendicular to the traveling direction of a ship when the berthing side of a ship is inclined so as to float. It is sectional drawing in the plane perpendicular to the horizontal plane and parallel to the traveling direction of a ship when the front of a ship is inclined so as to float.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The description of the effects in the following embodiments is one aspect of the effects of the present invention and is not limited to those described herein. In addition, the order of each process constituting the flowchart described below is random as long as there is no contradiction or inconsistency in the process contents.

FIG. 1 is an example of a diagram showing an outline of a draft estimation system according to an embodiment of the present invention. The draft estimation system of the present invention includes, for example, a camera device 1, a ship 2, and a computer device 3. Vessel 2 berths on land 4. An automatic identification system (AIS) is installed on the ship 2, and data such as the ship name and position (hereinafter referred to as "AIS data") is transmitted wirelessly from the automatic identification system. Can be done. When the computer device 3 receives the AIS data from the ship 2 by wireless communication, the computer device 3 can specify the reference position 21 of the ship 2 based on the AIS data.

The camera device 1 is installed on land 4, for example. When the ship 2 berths at the land 4, the computer device 3 identifies the shooting position 22 to be shot by the camera device 1 based on the reference position 21. When the shooting position 22 is specified, the camera devices 1a to 1c are controlled so that the shooting positions 22a to 22c can be shot. By photographing the photographing positions 22a to 22c with the camera devices 1a to 1c, it is possible to photograph the vicinity of the draft on the berthing side (land side) of the berthed ship 2.

For example, the photographing position 22a is behind the berthing side of the ship 2, and the photographing position 22b is the center of the berthing side of the ship 2. The shooting position 22c is in front of the berthing side of the ship 2. The camera device 1a photographs the vicinity of the draft at the photographing position 22a, and the camera device 1b photographs the vicinity of the draft at the photographing position 22b. The camera device 1c photographs the vicinity of the draft at the imaging position 22c. In this way, the camera devices 1a to 1c photograph the vicinity of the draft in front, the center, and the rear of the berthing side of the ship 2. The draft on the berthing side can be identified based on the captured image data near the draft, and the draft on the sea side of the vessel 2 can be estimated based on the identified draft on the berthing side and the inclination of the vessel 2. can.

Next, the configuration of the computer device 3 will be described. FIG. 2 is an example of a block diagram showing a configuration of a computer device according to an embodiment of the present invention. The computer device 3 includes a control unit 31, a RAM 32, a storage unit 33, a sound processing unit 34, a graphics processing unit 35, a communication interface 36, and an interface unit 37, each of which is connected by an internal bus.

The control unit 31 is composed of a CPU and a ROM, executes a program stored in the storage unit 33, and controls the computer device 3. The RAM 32 is a work area of the control unit 31. The storage unit 33 is a storage area for storing programs and data, and in the present invention, the draft estimation program for estimating the draft on the sea side of the ship 2 and the loading of the cargo actually loaded on the ship 2. A cargo handling simulation program for estimating the amount and / or the remaining load capacity is stored.

The control unit 31 processes the program and data loaded in the RAM 32 and the input data from the input unit 39, outputs a sound output instruction to the sound processing unit 34, and outputs a drawing command to the graphics processing unit 35. do. When the control unit 31 outputs a sound output instruction to the sound processing unit 34, the sound processing unit 34 outputs a sound signal to the sound output device 38. The graphics processing unit 35 expands the image in the frame memory and displays the image on the display device 40.

The communication interface 36 can be connected to a communication network wirelessly or by wire, and can transmit and receive data to and from the camera device 1 via the communication network. The data received via the communication interface 36 is loaded into the RAM 32 and used by the control unit 31 for arithmetic processing. An input unit 39 (for example, a mouse, a keyboard, etc.) is connected to the interface unit 37, and operation input by the user is possible.

FIG. 3 is an example of a diagram showing a flowchart of draft estimation processing according to the embodiment of the present invention. First, the AIS data is transmitted from the berthed ship 2 to the computer device 3 (step S1). Next, when the computer device 3 receives the AIS data (step S2), the reference position 21 of the ship 2 is specified (step S3).

The relative positional relationship between the reference position 21 of the ship 2 and the draft shooting position 22 on the ship 2 is preset, and the draft shooting position 22 is specified based on this positional relationship (step S4). .. The positional relationship between the reference position 21 of the ship 2 and the shooting position 22 of the draft on the ship 2 may be stored in the computer device 3 for each ship 2. Further, the data related to the positional relationship stored in the automatic ship identification system may be transmitted from the automatic ship identification system to the computer device 3 as AIS data for use.

Further, in order to specify the draft shooting position 22 in step S4, not only the reference position 21 specified based on the AIS data but also data such as the tide level can be used. In this case, the position of the shooting position 22 in the height direction (Z-axis direction) is controlled based on the tide level. As the tide level, the predicted value of the tide level obtained by analyzing the tide level data observed in the past may be used, and the measured value of the tide level observed at the time of specifying the shooting position 22 of the draft in step S4. Can be used. The tide level is observed by radio wave type and float type tide gauges and radio wave type and sound wave type tsunami observers. The data regarding the observed tide level is transmitted to the computer device 3 by wireless or wired communication, and is used to identify the draft shooting position 22 in step S4.

Next, the computer device 3 transmits a control signal to the camera device 1 (step S5). When the camera device 1 receives the control signal (step S6), the camera device 1 is controlled to shoot the specified shooting position 22 (near the draft) (step S7).

The camera device 1 may be fixed at a predetermined position on the land 4. When the camera device 1 receives the control signal in step S6, the orientation of the camera device 1 in the horizontal direction or the height direction, the position of the camera device 1, and the like are controlled. When a plurality of camera devices 1 are used, for example, each of the three camera devices 1 corresponds to the front, center, and rear positions on the berthing side of the ship 2, depending on the control signal. , The direction of the camera device 1 in the line-of-sight direction is controlled, and the vicinity of the draft is photographed.

Further, when one camera device 1 is used, for example, the camera device 1 can move on a linear rail installed parallel to the traveling direction (or shore) of the ship, and can be used as a control signal. Accordingly, the camera device 1 can move on the rail and control its position. For example, when the camera device 1 receives the control signal, the camera device 1 moves to a position closest to the photographing position 22c in front of the berthing side of the ship 2, and photographs the draft in front of the berthing side of the ship 2. Then, the camera device 1 moves to the position closest to the central shooting position 22b on the berthing side of the ship 2, photographs the draft in the center of the berthing side of the ship 2, and finally, behind the berthing side of the ship 2. The camera device 1 moves to a position closest to the photographing position 22a of the ship 2, and photographs the draft behind the berthing side of the ship 2.

Further, as the camera device 1, a portable camera device 1 may be used. Further, the camera device 1 mounted on an unmanned aerial vehicle such as a drone may be used.

The captured image data in the vicinity of the draft is transmitted from the camera device 1 to the computer device 3 (step S8). When the computer device 3 receives the image data (step S9), the captured image in the vicinity of the draft is displayed on the display device 40 connected to the computer device 3 (step S10), and the draft on the berthing side is specified (step S10). Step S11).

Examples of the method of specifying the draft on the berthing side in step S10 include a method of specifying the draft by image analysis and a method of identifying by a person looking at an image displayed on the display device 40. When a person looks at the image displayed on the display device 40 and identifies the draft on the berthing side, an administrator who can identify the draft visually identifies the draft and operates the input unit 39. The specified draft is input to the computer device 3. Further, as will be described later, when the computer device 3 has a function of transmitting information such as an image taken in the vicinity of the draft to another computer device by wireless communication, the administrator displays the display screen of the other computer device. You can check the image near the draft and identify the draft. In this case, the administrator inputs the draft value by operating the input unit of the other computer device, and the input draft value is transmitted from the other computer device to the computer device 3.

As a method of performing image analysis in the vicinity of the draft, there is a method of recognizing a display provided on the surface of the hull of the ship 2 and specifying the draft based on this display. FIG. 4 is an example of a diagram showing a photographed image when the vicinity of the draft in front of the land side of the ship is photographed. The captured image 5 shows the hull and water of the ship 2. Since the height of the water surface 51 changes with time due to the influence of waves, for example, the position of the water surface when the water surface 51 becomes the lowest in a predetermined unit time is set as the position of the water surface 51 for specifying draft. Can be identified.

A number 23 for identifying the draft is displayed on the surface of the hull of the ship 2, and the number in the image can be recognized by the computer device 3 by the image recognition program. The image recognition program can specify the draft based on the positional relationship between the position of the water surface 51 and the number 23.

In addition, in step S10, as a method of identifying the draft from the image in the vicinity of the draft, a neural network (CNN, CONVOLUTION NEURAL NETWORK) technique including a convolutional layer and a pooling layer can be used. For example, by machine learning with CNN using images of multiple drafts and actual draft values as a data set, characteristic information can be extracted from the images near the drafts and the draft values can be calculated. Can be identified.

Here, the method of identifying the draft when a number is displayed on the surface of the hull has been described. For example, on the surface of the hull, a plurality of straight lines (lines) of different colors indicating the draft value are provided. If so, it is also possible to identify the draft by the color recognition program of the computer device 3.

Next, the draft on the sea side of the ship 2 is estimated based on the specified draft on the berthing side, the inclination of the ship 2, and the width of the ship 2 (step S12). FIG. 5 is a cross-sectional view of a plane perpendicular to the traveling direction of the ship when the ship is inclined so as to float on the sea side. In FIG. 5, the land exists on the left side of the ship 2. The draft is the distance from the bottom surface of the ship to the water surface, and since the draft of the ship 2 is inclined so as to float, the draft on the berthing side is larger than the draft on the sea side.

When the inclination (heel) of the ship 2 in the left-right direction is θ, the draft on the berthing side is x, and the width of the ship 2 is a, the draft y on the sea side is calculated by (x−a × tan θ). can do. Therefore, the draft in front of the sea side is specified from the draft in front of the berthing side of the ship 2, and the draft in the center on the sea side is specified from the draft in the center on the berthing side of the ship 2. Further, the draft behind the sea side is specified from the draft behind the berthing side of the ship 2. In this way, the draft on the sea side at the corresponding position can be estimated from the draft on the berthing side. Since the bow and stern of ship 2 are narrower than the center, when calculating the draft y on the sea side by (x−a × tan θ), the width a at the center is used for calculation. However, it is calculated using a value obtained by multiplying the width a by a predetermined correction coefficient k. More specifically, the draft y on the sea side in front of or behind the ship 2 can be calculated by (x−a × k × tan θ).

The heel of the ship 2 is measured by the trim heel meter mounted on the ship 2 in step S12, and is transmitted from the ship 2 to the computer device 3 by wireless communication. Further, the width of the ship 2 may be received as AIS data from the automatic identification system of the ship 2 by the computer device 3, or may be registered in advance for each ship 2 in the storage area of the computer device 3. ..

In addition to the method using a trim heel meter, the heel can be specified from the draft on the berthing side and the draft on the sea side of the ship 2. For example, the draft on the berthing side and the draft on the sea side in the center of the ship 2 are measured, and the heel of the ship 2 is estimated from the width of the center of the ship 2. Based on the estimated heel, the drafts in front of and behind the berthing side of the ship 2 can be estimated from the drafts in front of and behind the sea side. In order to measure the heel with a trim heel meter, it is necessary to adjust the zero point without inclination, but the error tends to be large and it is difficult to adjust the zero point accurately. Therefore, if the draft is estimated after measuring the draft on the berthing side and the draft on the sea side of the ship 2, the heel can be obtained more accurately.

FIG. 6 is a cross-sectional view of a plane perpendicular to the traveling direction of the ship when the berthing side of the ship is inclined so as to float. In FIG. 6, since the berthing side of the ship 2 is inclined so as to float, the draft on the sea side has a larger value than the draft on the berthing side. When the inclination (heel) of the ship 2 in the left-right direction is θ, the draft on the berthing side is x, and the width of the ship 2 is a, the draft y on the sea side is calculated by (x + a × tan θ). Can be done. Similar to FIG. 5, from the drafts on the berthing side in front, the center, and the rear of the ship 2, the drafts on the sea side at the corresponding positions, that is, the drafts on the sea side in front, the center, and the rear of the ship 2 are estimated. be able to. Since the bow and stern of ship 2 are narrower than the center, when calculating the draft y on the sea side by (x + a × tan θ), the width a at the center may be used for calculation. Instead, it is calculated using a value obtained by multiplying the width a by a predetermined correction coefficient k. More specifically, the draft y on the sea side in front of or behind the ship 2 can be calculated by (x + a × k × tan θ).

In addition, the vicinity of the draft in any one of the front, the center, and the rear on the berthing side is photographed, the draft at that position is specified based on the photographed image, and the remaining two berths are obtained from the identified draft. It is also possible to estimate the draft on the side. In this case as well, the draft on the sea side is estimated from the draft on the berthing side obtained. More specifically, for example, the draft in the center of the ship 2 on the berthing side is specified from the image taken by the camera device 1, and based on the inclination (trim) of the ship 2 in the front-rear direction and the length of the ship 2 in the traveling direction. In addition, the draft on the front or rear of the ship 2 on the berthing side can be estimated, and the draft on the sea side can be estimated based on the draft on the berthing side.

FIG. 7 is a cross-sectional view of a plane perpendicular to the horizontal plane and parallel to the traveling direction of the ship when the front of the ship is inclined so as to float. In FIG. 7, since the front of the ship 2 is inclined so as to float, the draft in the rear is larger than the draft in the front. When the inclination (trim) of the ship 2 in the front-rear direction is ω, the draft in the center of the berthing side of the ship 2 is x, and the distance from the center of the traveling direction of the ship 2 to the front is b, the front of the berthing side. Draft x'can be calculated by (x−b × tan ω). Similarly, when the draft in the center of the berthing side is x and the distance from the center to the rear of the ship 2 in the traveling direction is c, the draft x ”in the rear of the berthing side is calculated by (x + c × tan ω). Can be done.

Here, the drafts in front of and behind the berthing side were calculated based on the draft in the center of the berthing side of Vessel 2, but the drafts at other positions were calculated based on the draft in front of the berthing side of Vessel 2. It is also possible to calculate the draft at another position based on the draft behind the berthing side of the ship 2.

The trim of the ship 2 is measured by the trim / heel meter mounted on the ship 2 in step S12, and is transmitted from the ship 2 to the computer device 3 by wireless communication. The distance from the center of the traveling direction of the ship 2 to the front or the rear, that is, the distance between the position where the draft is specified by the image and the position where the draft is estimated is obtained from the automatic identification system of the ship 2 as AIS data. It may be received by the computer device 3, or may be registered in advance for each ship 2 in the storage area of the computer device 3.

When the draft on the sea side is estimated in step 12, the computer device 3 further estimates the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship (step S13), and the berthing side. -The draft on the sea side and the load capacity / remaining load capacity of the ship are displayed on the display device 40 (step S14), and the series of processes is completed.

The load capacity and remaining load capacity of the load in step S13 are the total amount of the load of the load loaded on the ship and the remaining amount of ballast water, and the draft on the berthing side and the sea side of the ship that change according to the total amount. It can be estimated from the drafts on the berthing side and the sea side based on the correspondence with the drafts of. For example, for each ship, the total amount of cargo loaded and the remaining amount of ballast water, and the correspondence with the draft are stored in advance. Therefore, the total amount of the load capacity of the ship and the remaining amount of ballast water can be calculated, and further, the load capacity of the ship load or the remaining load capacity can be calculated.

For example, when the draft is 5 m, the load capacity is 10,000 tons, when the draft is 5.2 m, the load capacity is 12,000 tons, and when the draft is 5.4 m, the load capacity is 14,000 tons. A correspondence table showing the correspondence between the load capacity of the ship and the draft is stored in advance in the computer device 3 or the automatic ship identification device, and the load is loaded based on this correspondence table. The amount can be calculated. It is also possible to store a mathematical formula for calculating the load capacity from the draft value in the computer device 3 or the automatic ship identification system in advance, and use this mathematical formula to calculate the load capacity of the ship.

When the ship is tilted by loading the cargo, the drafts of the front, center, and rear of the berthing side of the ship 2 and the drafts of the front, center, and rear of the sea side may be different. Therefore, when calculating the load capacity of the cargo, the load capacity may be calculated based on the average value of these plurality of draft values.

The remaining loadable amount can be calculated by subtracting the calculated loadable amount from the maximum loadable amount of the ship 2.

In step S14, the draft on the berthing side / sea side, the load capacity of the cargo, the remaining load capacity, and the like are displayed on the display device 40. It is possible to proceed with loading and unloading work of cargo. For example, if it is confirmed that there is a difference in draft at each position of the ship 2 and the ship 2 is tilted, the cargo can be loaded so as to correct the tilt. can.

As described above, the computer device 3 according to the embodiment of the present invention estimates the draft of the ship 2 on the sea side based on the draft of the berthed ship 2 on the berthing side and the inclination of the ship 2. However, it may have a function of transmitting information about the draft of the vicinity of the draft, the inclination of the ship 2, the draft on the berthing side, and the draft on the sea side to another computer device by wireless communication.

The other computer device is not particularly limited, but a portable terminal such as a smartphone or a tablet terminal can be used. For example, in ship 2, if the administrator has a smartphone or tablet terminal, the information transmitted from the computer device 3 can be confirmed on the display screen of the smartphone or tablet terminal, so that the information transmitted from the berthing side and the sea side can be confirmed in real time. It is possible to supervise the loading and unloading work of the cargo while grasping the draft and the load capacity of the cargo.

1 Camera device 2 Ship 21 Reference position 22 Shooting position 23 Number 3 Computer device 4 Land 5 Shooting image 51 Water surface

Claims (19)

A means of photographing the vicinity of the draft on the berthing side of the berthed ship, and
An inclination acquisition means for acquiring the inclination of a ship, and
A draft estimation system including a draft on the berthing side identified based on an image of the vicinity of the draft photographed by the photographing means, and a draft estimation means for estimating the draft on the sea side of the ship based on the acquired inclination. Positioning means for identifying a predetermined position on the berthing side of a ship based on the relative positional relationship between the position of the ship and the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. When,
The draft estimation system according to claim 1, further comprising a photographing control means for controlling the position and / or direction of the photographing means so that the photographing means can photograph a specified predetermined position. Positioning means for identifying a predetermined position on the berthing side of a ship based on the relative positional relationship between the position of the ship and the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. When,
The draft estimation system according to claim 1, further comprising a display means for displaying an image corresponding to a predetermined position specified by the position specifying means among the images in the vicinity of the draft taken by the photographing means on the display device. It is equipped with a draft identification means for identifying the draft on the berthing side based on the image of the vicinity of the draft taken by the photographing means.
The draft estimation means estimates the draft on the sea side based on the identified draft on the berthing side and the acquired inclination.
The draft estimation system according to any one of claims 1 to 3. An inclination acquisition means for acquiring the inclination of a ship, and
A draft estimation device including a draft on the berthing side of a berthed ship and a draft estimation means for estimating the draft on the sea side of the ship based on the acquired inclination. The position acquisition means for acquiring the position of the ship and
A position for specifying a predetermined position on the berthing side of a ship based on the acquired position of the ship and the relative positional relationship with the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. With specific means
A control signal transmitting means that transmits a signal for controlling the position and / or direction of the photographing means so that the photographing means can take a picture of the specified predetermined position.
An inclination acquisition means for acquiring the inclination of a ship, and
A draft estimation device including a draft on the berthing side identified based on an image of the vicinity of the draft photographed by the photographing means, and a draft estimating means for estimating the draft on the sea side of the ship based on the acquired inclination. Computer equipment,
An inclination acquisition means for acquiring the inclination of a ship, and
A draft estimation program that functions as a draft estimation means for estimating the draft on the sea side of a ship based on the draft on the berthing side of the berthed ship and the acquired inclination. Computer equipment,
The position acquisition means for acquiring the position of the ship and
A position for specifying a predetermined position on the berthing side of a ship based on the acquired position of the ship and the relative positional relationship with the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. With specific means
A control signal transmitting means that transmits a signal for controlling the position and / or direction of the photographing means so that the photographing means can take a picture of the specified predetermined position.
An inclination acquisition means for acquiring the inclination of a ship, and
A draft estimation program that functions as a draft estimation means for estimating the draft on the sea side of a ship based on the draft on the berthing side identified based on the image of the vicinity of the draft taken by the photographing means and the acquired inclination. A draft estimation method performed in a computer device.
Steps to get the tilt of the ship and
A draft estimation method including a draft on the berthing side of a berthed ship and a step of estimating the draft on the sea side of the ship based on the acquired inclination. A draft estimation method performed in a computer device.
Steps to get the position of the ship and
A step of specifying a predetermined position on the berthing side of a ship based on the acquired position of the ship and the relative positional relationship with the predetermined position of the ship to be photographed by the photographing means with respect to the position of the ship. When,
A step of transmitting a signal for controlling the position and / or direction of the photographing means so that the photographing means can photograph the specified predetermined position, and
Steps to get the tilt of the ship and
A draft estimation method including a draft on the berthing side identified based on an image of the vicinity of the draft photographed by the photographing means, and a step of estimating the draft on the sea side of the ship based on the acquired inclination. An image acquisition means for acquiring an image of the vicinity of the draft on the berthing side of a berthed vessel, and an image acquisition means.
An inclination acquisition means for acquiring the inclination of a ship, and
Draft estimation means for estimating the draft on the berthing side of the berthed ship and the draft on the sea side of the ship based on the acquired inclination.
An information transmission device including an image of the acquired draft vicinity, an inclination, and / or an information transmission means for transmitting information on the draft on the berthing side and / or the estimated draft on the sea side to another computer device. .. Based on the correspondence between the load capacity of the cargo loaded on the ship and the draft on the berthing side and the draft on the sea side of the ship, which changes according to the load capacity of the ship, the draft on the berthing side of the berthed ship was estimated. It is equipped with a load capacity estimation means that estimates the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship from the draft on the sea side.
The information transmitting device according to claim 11, wherein the information transmitting means transmits information on the estimated load capacity and / or the remaining load capacity to another computer device. Based on the correspondence between the predetermined cargo handling time and the amount of cargo that can be loaded on the ship in the predetermined cargo handling time, the loaded cargo is the maximum from the estimated cargo handling capacity and / or the remaining load capacity. It is equipped with a cargo handling time estimation means that estimates the cargo handling time required to reach the load capacity.
The information transmitting device according to claim 12, wherein the information transmitting means transmits information on the cargo handling time required for the loaded cargo to reach the maximum load capacity to another computer device. Computer equipment,
An image acquisition means for acquiring an image of the vicinity of the draft on the berthing side of a berthed vessel, and an image acquisition means.
An inclination acquisition means for acquiring the inclination of a ship, and
Draft estimation means for estimating the draft on the berthing side of the berthed ship and the draft on the sea side of the ship based on the acquired inclination.
An information transmission program that functions as an information transmission means for transmitting the acquired image of the draft vicinity, the inclination, the draft on the berthing side, and the estimated draft on the sea side to other computer devices. A method of transmitting information that is executed in a computer device.
The step of acquiring an image of the vicinity of the draft on the berthing side of the berthed vessel, and
Steps to get the tilt of the ship and
A step to estimate the draft on the sea side of a ship based on the draft on the berthing side of the berthed ship and the acquired inclination.
An information transmission method comprising a step of transmitting an image of the acquired draft vicinity, an inclination, and information on the draft on the berthing side and an estimated draft on the sea side to another computer device. An inclination acquisition means for acquiring the inclination of a ship, and
Draft estimation means for estimating the draft on the berthing side of the berthed ship and the draft on the sea side of the ship based on the acquired inclination.
Based on the correspondence between the load capacity of the cargo loaded on the ship and the draft on the berthing side and the draft on the sea side of the ship, which changes according to the load capacity of the ship, the draft on the berthing side of the berthed ship was estimated. A cargo handling simulation device including a load capacity estimating means for estimating the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship from the draft on the sea side. Based on the correspondence between the predetermined cargo handling time and the amount of cargo that can be loaded on the ship in the predetermined cargo handling time, the loaded cargo is the maximum from the estimated cargo handling capacity and / or the remaining load capacity. The cargo handling simulation apparatus according to claim 16, further comprising a cargo handling time estimating means for estimating the cargo handling time required to reach the load capacity. Computer equipment,
An inclination acquisition means for acquiring the inclination of a ship, and
Draft estimation means for estimating the draft on the berthing side of the berthed ship and the draft on the sea side of the ship based on the acquired inclination.
Based on the correspondence between the load capacity of the cargo loaded on the ship and the draft on the berthing side and the draft on the sea side of the ship, which changes according to the load capacity of the ship, the draft on the berthing side of the berthed ship was estimated. A cargo handling simulation program that functions as a load capacity estimation means for estimating the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship from the draft on the sea side. A cargo handling simulation method executed in a computer device.
Steps to get the tilt of the ship and
A step to estimate the draft on the sea side of a ship based on the draft on the berthing side of the berthed ship and the acquired inclination.
Based on the correspondence between the load capacity of the cargo loaded on the ship and the draft on the berthing side and the draft on the sea side of the ship, which changes according to the load capacity of the ship, the draft on the berthing side of the berthed ship was estimated. A cargo handling simulation method comprising a step of estimating the load capacity and / or the remaining load capacity of the cargo actually loaded on the ship from the draft on the sea side.

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