KR20200004628A - System and method for providing optimized vessel seaway and computer-readable recording medium thereof - Google Patents

Abstract

According to an embodiment of the present invention, a system for deriving an optimal course of a ship derives an optimal course of a ship by a ship optimal course deriving device to derive an optimal course of a ship and a device database to store various data of the ship optimal course deriving device. The device database stores data of the ship, sailing information and limiting conditions, a two-dimensional resistance response function for measuring or analyzing a resistance response of a ship in accordance with the frequency and direction of an environmental factor, and two-dimensional environment spectrum information representing the distribution of the environmental factor taking into consideration the characteristics of the sea in accordance with the frequency and direction at a prescribed location. The ship optimal course deriving device uses the data of the ship and the sailing information to calculate an initial sailing path, and divides the calculated initial sailing path into a plurality of unit distances to derive optimized paths for the divided unit distances. The derivation of the optimized paths derives a plurality of candidate courses for each unit distance and selects a path minimizing fuel oil consumption (FOC) by the two-dimensional resistance response function and the two-dimensional environment spectrum information among the derived plurality of candidate courses as a final path candidate.

Description

SYSTEM AND METHOD FOR PROVIDING OPTIMIZED VESSEL SEAWAY AND COMPUTER-READABLE RECORDING MEDIUM THEREOF}

The present invention relates to a system and method for deriving an optimal route for a vessel that can increase the accuracy of deriving an optimal route in consideration of environmental changes in a sea area that changes according to a vessel's flight path, and a computer program for executing the method on a computer. And a computer readable recording medium.

A ship is a general term for a structure that can move on water, and broadly for transportation on water. The conventional route system has only searched and provided the shortest route on the electronic chart, but recently, a technology for providing an economic route using weather information has been developed.

Korean Patent Laid-Open No. 2011-0103082 (Patent Document 1) discloses a ship route providing method and a ship route providing system that can provide an economic navigation route based on fuel consumption. In Patent Document 1, a plurality of flight paths are generated on the basis of flight information as a starting point and a destination, and weather information about the generated flight paths is acquired to predict fuel consumption for each of the flight paths, Disclosed are a method and a system for selecting a navigation route for which fuel consumption is predicted as an economic route.

In the case of Patent Document 1, there is a problem that the fuel consumption may be changed differently from the predicted value before sailing due to the real-time change of weather information.

In order to solve this problem, Korean Patent No. 10-1556723 (Patent Document 2) uses the fuel consumption history data stored in the database to generate an energy map corresponding to the real-time weather information, and to the generated energy map and cargo load Correspondingly, a device for determining the optimum route of a ship is disclosed which takes into account risk information such as the depth of the ship being submerged.

However, even in the case of Patent Document 2, in generating an energy map corresponding to real-time weather information, the fuel consumption history data that is actually consumed is constructed as a database, or based on the fuel consumption value converted into a value within a predetermined range based on this. It is only described as deriving through the fuel consumption according to the real-time weather information, that is, a method for obtaining a ship's operating performance is not specifically disclosed.

On the other hand, the engine of the ship predicts the operating performance of the vessel, it is selected to a capacity that can satisfy the required operating performance. The operating performance of these vessels can be determined by multiplying the water's performance by a certain sea margin by environmental effects such as wind, waves, and tides, or by using a one-dimensional environmental spectrum that is a function of the idealized frequency in the entire sea area in which the vessel operates. It is calculated by the prediction formula.

However, since conditions such as waves, wind, tidal currents, and scales vary depending on the route of the ship, it is necessary to consider the environmental changes according to the sea area according to the ship's route in order to derive the optimum route.

1 is a diagram schematically showing a method for obtaining a calculation of environmental influence (resistance) according to a conventional method.

As shown in FIG. 1, in order to predict the environmental impact on a ship, the resistance response function measured or analyzed by a model test or a simulation test of a ship's resistance response according to a frequency and a product of an environmental spectrum indicating a distribution of environmental factors The environmental factors may be waves (including shells), wind, and the like. In this case, the one-dimensional environmental spectrum is a value that does not take into account the ship's flight path and uses Pearson Moskovitch's one-dimensional spectrum as a function of the frequency ideally derived over the entire sea area in which the ship operates. It uses a one-dimensional spectrum recommended by the OCIMF (Oil Companies International Marin Forum).

However, since the whole sea area of the earth is calculated with only one spectrum, it cannot reflect regional or sea area influences or seasonal influences along the route, and two-dimensional distribution of environmental factors, that is, the direction and period of incidence of wind or waves There is a problem that can not be considered.

As a result, according to the conventional method, the environmental factors may be interpreted as affecting the ship by condensing in one direction, resulting in overestimation of the force exerted on the ship by environmental factors. Also has a problem of low prediction accuracy.

Therefore, in deriving the optimum route of the ship, there is a demand for a method that can accurately predict the operational performance required for the ship according to the navigation route, and it is urgent to develop a method for deriving the optimal route that reflects the operational performance.

The present invention has been made to solve the problems of the prior art, an object of the present invention is to use the two-dimensional environmental spectrum in consideration of the characteristics of the sea area according to the navigation route of the ship to utilize the ship's operating performance prediction more accurately The present invention provides a computer-readable recording medium having recorded thereon a system and method for predicting flight performance and deriving an optimum flight path of a ship, and a computer program for executing the method on a computer.

The optimal route prediction system of a ship according to an aspect of the present invention, the vessel optimum route deriving apparatus for deriving the optimum route of the vessel and the device to store various data of the vessel optimum route deriving apparatus by the device database that stores the optimal route of the vessel A system for deriving, wherein the device database includes a two-dimensional resistance response function that measures or interprets the resistance response of the ship according to the ship's data, navigation information and constraint conditions, the frequency and direction of environmental factors, and the frequency at a predetermined position. Two-dimensional environment spectrum information indicating the distribution of environmental factors in consideration of the characteristics of the sea area according to the direction and the direction is stored, and the ship optimal route derivation device calculates the initial flight route using the data and operation information of the vessel The divided unit by dividing the calculated initial flight route into a plurality of unit distances Each of the optimization paths is derived, and the derivation of the optimization paths is performed by deriving a plurality of candidate routes at each unit distance and by using the two-dimensional resistance response function and the two-dimensional environment spectrum information in the derived plurality of candidate routes. It is characterized by selecting a path that minimizes the fuel oil consumption (FOC) as a final path candidate.

In addition, the ship's data includes any one or more of the ship's linear information, the ship's propeller information, the ship's submerged superstructure information, the ship's speed and direction information, the surface area and the main resources of the engine, the flight information It includes a point and an arrival point, the restriction may include any one or more of sailing time, exercise conditions, land zone status, dangerous zone status and borderline.

In addition, the initial flight route may be the physically shortest distance.

In addition, the environmental factors include waves and wind, the predetermined position is specified by the longitude and latitude, the FOC can be calculated through the following equation.

Further, the derivation of the optimization path derives a plurality of candidate routes in a combination of directions and velocities for each of the divided unit distances, and at the positions specified in the longitude and latitude for each of the derived plurality of candidate routes. The final path candidate may be selected by comparing the environmental resistance value obtained by integrating the product of the 2D environmental spectrum information and the 2D resistance response function.

Further, the derivation of the optimization path derives a plurality of candidate routes in a combination of directions and velocities for each of the divided unit distances, and at the positions specified in the longitude and latitude for each of the derived plurality of candidate routes. The final path candidate may be selected by comparing the environmental resistance value obtained by integrating the product of the 2D environmental spectrum information and the 2D resistance response function.

In addition, it is possible to determine whether the path selected as the final path candidate violates the restriction condition, and if the path is not violated, it may be derived as the optimal route of the ship.

In addition, the method for deriving the optimum route of the ship according to an aspect of the present invention, the environmental factor considering the two-dimensional resistance response function of the ship according to the frequency and direction of the environmental factor and the sea area characteristics according to the frequency and direction at a predetermined position CLAIMS 1. A method for deriving an optimum route of a ship through two-dimensional environment spectrum information representing a distribution of the first method, comprising: a first step of inputting data and navigation information of the ship; A second step of calculating an initial flight route based on the input vessel data and operation information; Dividing the calculated initial flight route into a plurality of unit distances; And a fourth step of deriving an optimization path for each of the divided unit distances. And a fourth step of deriving the optimization path comprises deriving a plurality of candidate routes at each of the unit distances, and extracting the two-dimensional resistance response function and the two-dimensional environment spectrum information from the plurality of candidate routes. Through this, the path that minimizes the FOC is selected as the final path candidate.

In addition, the ship's data includes one or more of the ship's linear information, the ship's propeller information, the ship's submerged superstructure information, the ship's speed and direction information, the surface area and the main resources of the engine, the operation information is the departure It may include a point of arrival and a point of arrival.

In addition, the second step of calculating the initial flight path may be to calculate the physically shortest distance as the initial flight path.

In addition, the environmental factors include waves and wind, the predetermined position is specified by the longitude and latitude, the FOC can be calculated through the following equation.

In addition, the fourth step of deriving the optimization path derives a plurality of candidate routes in a combination of directions and velocities for each of the divided unit distances, and specifies the longitude and latitude for each of the derived plurality of candidate routes. By comparing the environmental resistance value obtained by integrating the product of the two-dimensional environmental spectral information and the two-dimensional resistance response function at a predetermined position, it may be to select a path that minimizes the environmental resistance value as a final path candidate.

The method may further include a fifth step of determining whether the path selected as the final path candidate violates the constraint.

In addition, in the fifth step, when it is determined that the path selected as the final path candidate does not violate the constraint, the path selected as the final path candidate is derived as the optimum route of the ship, and as the final path candidate. If it is determined that the selected path violates the constraint, the path having the smallest FOC after the path selected as the final path candidate may be selected as the final path candidate.

In addition, the restriction conditions may include any one or more of the sailing time, exercise conditions, whether the land area, whether the danger zone and whether the border line.

In addition, a computer-readable recording medium having a computer program recorded thereon for executing the method for deriving an optimum route of a ship according to the present invention can be provided.

According to an embodiment of the present invention, by improving the conventional method of analyzing the ship navigation performance using the one-dimensional spectrum according to the frequency component, by utilizing the two-dimensional spectrum in consideration of the frequency and direction that changes according to the ship's flight route It is possible to predict the operating performance of the ship more accurately and to obtain the exact resistance applied to the hull according to the flight route, so that the fuel consumption can be accurately predicted and the optimal route that maximizes the fuel savings can be derived.

In addition, the one-dimensional spectrum tends to overestimate the influence of the environment because it cannot consider the directional distribution of the environment compared to the two-dimensional spectrum, but in the present invention, it is possible to accurately predict the required flight performance by utilizing the two-dimensional spectrum. This can reduce overestimated engine capacity.

1 is a diagram schematically showing a method for obtaining a calculation of environmental influence (resistance) according to a conventional method.
2 is a diagram schematically showing a method for obtaining a calculation of environmental influence (resistance) according to the present invention.
3 is a block diagram of a system for deriving an optimum route of a ship according to the present invention.
4 is a view schematically showing a method for deriving an optimum route of a ship according to the present invention.
5 is a diagram showing an example of measuring or analyzing the resistance response of the ship according to the frequency and direction.
6 is a diagram showing a two-dimensional environmental spectrum showing the distribution of environmental factors in consideration of the characteristics of the sea area according to frequency and direction.

As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description.

However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

When the term and / or appears, this includes any combination of a plurality of related description items or a plurality of related description items.

When a component is said to be “connected” or “connected” to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in the middle. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, the term “comprises” or “having” is intended to indicate that there is a feature, number, step, action, component part, or combination thereof described in the specification, and that one or more other features It should be understood that it does not exclude in advance the possibility of the presence or addition of numbers, steps, operations, components, parts or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and are not construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, with reference to Figures 2 to 6 will be described in detail the system and method for deriving the optimum route of the ship according to an embodiment of the present invention.

2 is a view schematically showing a method for calculating the environmental impact (resistance) according to the present invention, Figure 3 is a block diagram of the system for deriving the optimum route of the ship according to the present invention, Figure 4 is a ship according to the present invention 5 is a diagram schematically illustrating a method of deriving an optimal route of FIG. 5, which is a view illustrating an example of measuring or analyzing a resistance response of a ship according to frequency and direction, and FIG. 6 illustrates characteristics of a sea area according to frequency and direction. It is a figure which shows the two-dimensional environmental spectrum which shows distribution of environmental factors.

To calculate the ship's operating performance, multiply the environmental performance such as wind, waves, and tidal currents by a certain sea margin, or as a function of the frequency representing the idealized distribution of environmental factors in the sea area where the ship operates. It should be calculated with the environmental resistance value derived by integrating the product of the resistance response function measured or interpreted by the vessel's resistance response according to the 1-dimensional spectrum and frequency. It is characteristic that two-dimensional environmental spectral information is considered.

As shown in FIG. 3, an optimal route deriving system of a ship according to an aspect of the present invention includes an apparatus for deriving a vessel optimum route for deriving an optimal route of a vessel and various data of the vessel optimum route deriving apparatus. It consists of a database.

The device database includes a two-dimensional resistance response function that measures or interprets the vessel's data, navigation information, and constraints, the resistance response of the vessel according to the frequency and direction of the environmental factors, and the sea area according to the frequency and direction at a predetermined position. Two-dimensional environmental spectral information indicating the distribution of environmental factors considering the characteristics of is stored.

The environmental factors may be waves, winds, algae or scales, preferably waves or winds.

The ship's data may include any one or more of ship's linear information, ship's propeller information, ship's submerged superstructure information, ship's speed and direction information, surface area and engine's primary resources.

The flight information may include the ship's departure point and arrival point.

Constraints may include any one or more of sailing time, exercise conditions, land zones, hazardous areas and borderlines, and include information that may limit the establishment of the vessel's route. It is not limited to the matter.

The ship optimum route deriving apparatus calculates an initial flight route using the data and the navigation information of the ship. In this case, the initial flight route may be the physically shortest distance. However, the present invention is not limited thereto, and the initial flight path may be calculated by applying various methods and algorithms according to a known technique.

Subsequently, the vessel optimum route deriving apparatus divides the initial flight route into a plurality of unit distances and derives each optimization route in the divided unit distances.

Here, the unit distance means a distance that divides a plurality of sections at equal intervals and becomes the minimum unit among a plurality of divided sections in determining the route of the ship in consideration of the departure point and the arrival point of the vessel. It may be a distance that can be operated during or 200km, and is not limited thereto, and of course, the section may be divided into an appropriate distance according to the operating distance of the ship.

The optimum route deriving device derives each optimization path in the divided unit distance. At this time, the optimization path derives a plurality of candidate routes at each unit distance, and the FOC (Fuel Oil Consumption) is derived from the two-dimensional environmental spectrum information and the two-dimensional resistance response function of the region in which the corresponding routes are located. The minimum path is selected as the final path candidate.

As mentioned above, the spectrum representing the distribution of environmental factors uses the one-dimensional spectrum according to the frequency in calculating the operational performance of the conventional vessel. I'm using Spectrum, and https://wikiwaves.org/Ocean-Wave_Spectra See.

However, since both spectra are one-dimensional spectra that are a function of the idealized frequency in the entire sea area in which the vessel operates, the directionality is not considered at all.

In the present invention, the environmental factors such as waves, wind, etc. are characterized by using a two-dimensional spectrum as a function of considering not only frequency but also directionality.

This two-dimensional environmental spectrum represents the distribution of environmental factors in consideration of the characteristics of the sea area according to the frequency and direction at a predetermined position, and the corresponding information can be obtained from the Meteorological Administration of each country. At this time, the predetermined position where the two-dimensional environmental spectrum can be specified may be specified by the longitude and latitude.

Specifically, in estimating ship operating performance, an initial flight route of a ship is calculated, and the initial flight route is divided into a plurality of unit distances to derive a plurality of candidate routes by combining a direction and a speed in each of the divided unit distances. If the longitude and latitude are specified for each of the candidate routes thus obtained, the vessel optimum route derivation apparatus may include two-dimensional environment spectrum information and two-dimensional environment representing the distribution of the environmental factors in the previously specified vessel path, that is, the position. The resistance response function is retrieved from the device database and the product of these are integrated to derive the final environmental resistance value.

In other words, a plurality of candidate routes are derived from a combination of directions and velocities in the divided unit distances, and the environmental resistance is integrated by integrating a product of two-dimensional resistance response function and two-dimensional environmental spectrum information for each of the plurality of candidate routes thus obtained. The final path candidate is selected as a path that minimizes the obtained environmental resistance.

It is determined whether the path selected as the final path candidate violates the above constraints, and finally it is derived to the optimal route of the ship.

On the other hand, the two-dimensional resistance response function of the ship can be derived through the model test or simulation test of the ship, it is a value uniquely determined by the ship. That is, it is the characteristic function value derived from model test or simulation of the resistance applied to the ship when wind acts on the ship at 1m / s.

This two-dimensional resistance response function

It can be calculated from the equation, where ω means period (frequency) and α means direction. RAO stands for Response Amplitude Operator.

As shown in FIG. 5, the distribution of the force (motion, y-axis) can be displayed according to the period (x-axis) and the direction (deg), and the two-dimensional resistance response function of FIG. Can be displayed as:

On the other hand, the two-dimensional environmental spectrum is a two-dimensional spectrum in consideration of the sea area characteristics according to the frequency and direction at a predetermined latitude and longitude,

Where ω means wave and wind period (frequency), α means wave and wind direction, g means gravity acceleration and K means constant.

As shown in FIG. 6, the density spectral distribution can be displayed according to a period (shown in the center of FIG. 6) and a direction (shown in the right portion of FIG. 6), and converted to a two-dimensional form in FIG. 6. It may be displayed as shown in the left part.

Hereinafter, a method for deriving an optimum route of a ship according to the present invention will be described with reference to FIG. 4.

First, enter the ship's data and flight information. The ship's data includes, but is not limited to, one or more of ship's linear information, ship's propeller information, ship's submerged superstructure information, ship's speed and direction information, surface area, and engine's primary resources. Flight information includes a departure point and an arrival point.

The initial flight route may be calculated based on the input data and the navigation information of the vessel, and the initial flight route may be the physically shortest distance. However, the present invention is not limited thereto, and the initial flight path may be calculated by applying various methods and algorithms according to a known technique.

Next, the previously calculated initial flight route is divided into a plurality of unit distances.

The unit distance means a distance that divides the entire route into plural intervals at equal intervals and determines the minimum unit among the plural intervals in determining the route of the vessel in consideration of the departure point and the arrival point of the vessel. In general, the vessel may be operated for 6 hours or 200 km, and the present invention is not limited thereto, and the segment may be divided into an appropriate distance according to the operation distance of the vessel, as described above.

Next, an optimization path is derived for each of these divided unit distances.

At this time, the derivation of the optimization path derives a plurality of candidate routes for each unit distance, and the path that minimizes the FOC as the final path candidate through the two-dimensional resistance response function and the two-dimensional environmental spectrum information in the derived plurality of candidate routes. Select.

The environmental factors may be waves and winds, and two-dimensional environmental spectrum information representing the distribution of these environmental factors may be specified according to the latitude and longitude of the derived candidate route.

The FOC can be calculated through the following equation.

More specifically, deriving an optimization path derives a plurality of candidate routes using a combination of directions and velocities for each of a plurality of divided unit distances, and for each of the plurality of candidate routes thus obtained, the position of the corresponding route, that is, the longitude and The environmental resistance value is obtained by integrating the product of the two-dimensional environmental spectrum information and the two-dimensional resistance response function at the latitude-specified location. The path that minimizes the determined unit distance at the predetermined unit distance is selected as the final path candidate at the unit distance.

In the final path candidate selected as described above, it may be further determined whether or not a violation of the constraint condition is performed. In this case, if it is determined that the constraint is not violated, the path selected as the final path candidate is derived as the optimum route of the ship, and conversely, when the path selected as the final path candidate is determined to be in violation of the constraint. Next to the path selected as the final path candidate, the path for which the FOC is minimized is selected as the final path candidate and it is determined whether the constraint is again violated. This repeated route is derived as the optimum route of the ship for each unit distance.

The present invention has been described above with reference to the embodiments shown in the drawings. However, the present invention is not limited thereto, and various modifications or other embodiments falling within the scope equivalent to the present invention are possible by those skilled in the art. Therefore, the true scope of protection of the present invention should be defined by the following claims.

100: ship optimal route derivation device 200: device database

Claims (15)

A system for deriving an optimum route of a ship by using a vessel optimal route deriving apparatus for deriving an optimal route of a vessel and a device database storing various data of the vessel optimal route deriving apparatus,
The device database includes a two-dimensional resistance response function that measures or interprets the vessel's data, navigation information, and constraints, the resistance response of the vessel according to the frequency and direction of the environmental factors, and the sea area according to the frequency and direction at a predetermined position. Two-dimensional environment spectrum information indicating the distribution of environmental factors considering the characteristics of is stored.
The ship optimum route deriving apparatus calculates an initial flight route using the data and the navigation information of the vessel, divides the calculated initial flight route into a plurality of unit distances, and calculates each optimized route in the divided unit distance. But not
The derivation of the optimization path derives a plurality of candidate routes at each of the unit distances, and a minimum of FOC (Fuel Oil Consumption) is obtained through the two-dimensional resistance response function and the two-dimensional environment spectrum information in the derived plurality of candidate routes. An optimal route deriving system of a ship, characterized in that the route is selected as a final route candidate. The method of claim 1,
The ship's data includes one or more of ship's linear information, ship's propeller information, ship's submerged superstructure information, ship's speed and direction information, surface area and engine's main resources,
The flight information includes a departure point and an arrival point,
The restriction condition is the optimum route deriving system of the ship, characterized in that any one or more of the sailing time, athletic conditions, whether the land area, whether the danger zone and whether the border line. The method of claim 1,
The initial flight route is the optimal route deriving system, characterized in that the physically the shortest distance. The method of claim 1,
The environmental factors include waves and wind,
The predetermined position is specified by longitude and latitude,
The FOC is the optimal route deriving system, characterized in that it is calculated through the following equation.

The method of claim 4, wherein
The derivation of the optimization path derives a plurality of candidate routes in a combination of directions and velocities for each of the divided unit distances, and the 2 at positions specified in the longitude and latitude for each of the derived plurality of candidate routes. Comparing the environmental resistance value obtained by integrating the product of the two-dimensional environmental spectral information and the two-dimensional resistance response function to select the path of the minimum environmental resistance value as the final route candidate system. The method of claim 5,
The system determines the best route of the ship, characterized in that it is determined to determine whether the path selected as the final path candidate violates the constraint condition, if not violated. Derivation of ship's optimal route through two-dimensional environmental spectrum information showing the distribution of environmental factors considering the two-dimensional resistance response function of the ship according to the frequency and direction of the environmental factors and the sea area according to the frequency and direction at a given position As a way to,
A first step of inputting data and operation information of the vessel;
A second step of calculating an initial flight route based on the input vessel data and operation information;
Dividing the calculated initial flight route into a plurality of unit distances; And
A fourth step of deriving an optimization path for each of the divided unit distances;
Including,
In the fourth step of deriving the optimization path, a plurality of candidate routes are derived at each of the unit distances, and the FOC is minimized through the two-dimensional resistance response function and the two-dimensional environment spectrum information in the derived plurality of candidate routes. Method for deriving the optimal route of the ship, characterized in that for selecting the route to be the final route candidate. The method of claim 7, wherein
The ship's data includes one or more of ship's linear information, ship's propeller information, ship's submerged superstructure information, ship's speed and direction information, surface area and engine's main resources,
The navigation information is a method for deriving an optimal route of a ship, characterized in that it comprises a departure point and an arrival point. The method of claim 7, wherein
The second step of calculating the initial flight route is the optimal route derivation method of the ship, characterized in that the physically calculated the shortest distance as the initial flight path. The method of claim 7, wherein
The environmental factors include waves and wind,
The predetermined position is specified by longitude and latitude,
The FOC is an optimal route derivation method of a ship, characterized in that calculated through the following equation.

The method of claim 10,
The fourth step of deriving the optimization path
Deriving a plurality of candidate routes using a combination of directions and velocities for each of the divided unit distances, and the two-dimensional environment spectrum information and the position at a location specified by the longitude and latitude for each of the derived plurality of candidate routes A method of deriving an optimum route of a ship, characterized in that a path for minimizing the environmental resistance value is selected as a final path candidate by comparing environmental resistance values obtained by integrating a product of a two-dimensional resistance response function. The method of claim 11,
And a fifth step of determining whether the path selected as the final path candidate violates the restriction condition. The method of claim 12,
In the fifth step, if it is determined that the path selected as the final path candidate does not violate the constraint, the path selected as the final path candidate is derived as the optimal route of the ship,
If it is determined that the path selected as the final path candidate violates the constraint, the optimal path of the ship is selected as the final path candidate next to the path selected as the final path candidate. Derivation method. The method of claim 12,
The restriction condition is a method for deriving an optimum route of a ship, characterized in that any one or more of the sailing time, athletic conditions, whether the land area, whether the danger zone and whether the border line. A computer-readable recording medium having recorded thereon a computer program for executing on a computer the method for deriving an optimum route of a ship according to any one of claims 7 to 14.

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