KR20220079667A - Shipbuilding support systems and methods - Google Patents

Abstract

The shipbuilding support system includes a storage device storing a chart image, a ship figure and a figure of a tug boat, a detection device for detecting the position and orientation of the ship and the tug boat, at least one display, and a processor for displaying a shipbuilding support screen on the display to provide The shipbuilding support screen includes a chart image including a quay wall, a ship figure disposed on the chart image based on the position and orientation of the ship, a figure of a tug boat disposed on the chart image based on the position and orientation of the tug boat, and a tug It is disposed on the boat figure and includes tug boat thruster information indicating the direction of propulsive force generated by the tug boat thruster for each of the plurality of tug boat thrusters mounted on the tug boat.

Description

Shipbuilding support systems and methods

The present invention, when supporting the arrival and departure of a vessel (main vessel) using at least one tugboat, the parties (i.e., pilotager, vessel master, tug) operators, and ground crews, etc.).

Conventionally, when a large ship (main ship), such as a cargo ship or a passenger ship, begins to move from a port to a quay wall, at least one tug boat supports the navigation of a main ship. The tug boat tows and tows the main vessel with the tug line passed between the main vessel and the main vessel. In addition, the tug boat pushes the ship by directly contacting the ship through anti-glare objects (tires, etc.). While receiving the push and drag by the tug boat, the main ship captain ships the main ship. In most cases, the pilot boards the ship and, using navigation instruments such as GPS positioning devices appropriately, communicates with the tug operator and ground crew by international VHF radio, assists the ship's captain, and brings the ship to the destination lead safely to

In shipbuilding on arrival and departure by tug boat support as described above, in the present situation, communication between the parties is conducted through a wireless transceiver based on each other's visual information. Therefore, the parties to the transfer plan cannot fully share the necessary information, and the communication between the two parties may not be transmitted accurately (miscommunication), which is a problem for them to realize the effective transfer plan. is becoming Accordingly, in Patent Documents 1 to 4, communication tools for solving the problems in such a shipbuilding are proposed.

Patent Document 1 discloses an apparatus disposed on a tug boat and instructing a tug operator of a task to be performed by the tug boat on the main ship. These devices, like the conventional radio, have a microphone and a speaker to communicate with each other, a small screen that shows the text instructions from the main ship to the tug boat, the position and direction of the tug boat with respect to the main ship, and the A large screen is provided that shows the distinction between the pushing operation and the dragging operation of the tug boat.

In Patent Document 2, each terminal device is carried by a shipbuilder and a supporter, and the plurality of terminal devices communicate with each other to exchange information such as shipbuilding support information and shipbuilding command information, and information common to each terminal device. It is disclosed to retain

In Patent Document 3, a bird's eye view of a ship is superimposed on a bird's eye view of a port facility where a ship arrives and departs, and at the same time, the position of the ship, the distance between the bridge and the ship, the speed of the ship on the ground, the bow A support system provided with a display unit for displaying bearing information, test vessel information, standard route information, and information on winds and seas in a port is disclosed.

In Patent Document 4, a looking-down image of the hull and its surroundings from the captured image of the hull and its surroundings is displayed on the first display unit installed in the ship and the second display unit installed in the tug boat and related facilities. is displayed

Japanese Utility Model Real Publication No. 61-105298 International publication WO2004/019302A1 pamphlet Japanese Patent Laid-Open No. 2019-512428 International publication WO2019/093416A1 pamphlet

In Patent Documents 1 to 4, in addition to the position and direction of the main ship and the tug boat, the presence or absence of thrust of the thruster of the tug boat and the direction thereof (hereinafter referred to as “the present state of the thruster”) in an easy-to-understand manner are not disclosed at a glance. . The current status of the tug boat thruster is important information for estimating the thrust acting on the tug boat and the movement of the tug boat. Therefore, if the parties can grasp this information and share it between the parties, smoother, safer, and more efficient shipbuilding on arrival and departure is possible.

The present invention has been made in view of the above circumstances, and its purpose is to intuitively understand the position and direction of the ship and the tug boat as well as the situation of each thruster mounted on the tug boat for the parties involved in shipbuilding during the departure and arrival of the ship. By presenting it in the form, it helps the parties to understand the situation and supports the shipbuilding on the land.

A shipbuilding support system according to an aspect of the present invention is a shipbuilding support system when a ship is supported by at least one tug boat and moved to or focused on a quay wall, and a chart image including the quay wall, a ship figure, and a tug A storage device storing a boat figure, at least one detection device for detecting the position and orientation of the main ship, and the position and orientation of the tug boat, at least one display, and a shipbuilding support screen on the display A processor for displaying is provided. The shipbuilding support screen includes the chart image, the ship figure arranged on the chart image based on the position and orientation of the ship detected by the detection device, the position of the tug boat detected by the detection device, and Based on the orientation, the direction of the propulsion force generated by the tug boat thruster for each of the tug boat figure arranged on the sea-island image and the plurality of tug boat thrusters mounted on the tug boat figure on the tug boat figure It is characterized in that it includes information about the tug boat propeller indicating.

In addition, in the shipbuilding support method according to an aspect of the present invention, the processor of the information terminal supporting the shipbuilding of the main ship and the tug boat when the main ship is supported by at least one tug boat and is moved to or focused on the quay wall is at least one displaying a shipbuilding support screen on a display, wherein the shipbuilding support screen includes a chart image including the quay wall, a ship figure disposed on the chart image corresponding to the position and orientation of the ship, and the tug boat The propulsion force generated by the tug boat propulsion device for each of the tug boat figure disposed on the sea-island image and the tug boat propulsion device disposed on the tug boat figure and mounted on the tug boat in correspondence with the position and orientation It is characterized in that it includes information about the tug boat thruster indicating the direction.

In the shipbuilding support system and method, in the "tug boat thruster information disposed on the tug boat figure", in addition to the tug boat thruster information arranged to visually overlap the tug boat figure on the screen, tug boat propulsion mounted on the tug boat Even if the correspondence with the tile is made visually clear, information on the tug boat thruster disposed close to the tug boat figure on the image may be included.

According to the shipbuilding support system and method, after the positional relationship between the ship and the tug boat is shown by the ship figure and the tug boat figure shown on the chart image displayed on the display, The direction of the thrust generated by the tugboat thruster is shown. As described above, on one screen displayed on the display, information indicating the positional relationship between the main ship and the tug boat and information indicating the status of the tug boat thruster are shown together. can figure out The status of the tug boat thruster is important information for estimating the thrust or its direction acting on the tug boat, and by intuitively and easily grasping this information, smoother and more efficient shipbuilding on arrival and departure is possible.

According to the present invention, the position and direction of the ship and the tug boat and the situation of each propulsion unit mounted on the tug boat are presented in an intuitively understandable aspect for the parties involved in the ship's departure and arrival. By helping you understand the situation, you can support the shipbuilding on arrival and departure.

1 is a diagram showing a schematic configuration of a shipbuilding support system according to an embodiment of the present invention.
[Fig. 2] Fig. 2 is a view showing a schematic configuration of a tug boat.
[Fig. 3] Fig. 3 is a block diagram showing the configuration of an information collection device.
[Fig. 4] Fig. 4 is a block diagram showing the configuration of an information terminal.
[Fig. 5] Fig. 5 is a block diagram showing the configuration of a processing device.
[Fig. 6] Fig. 6 is a view showing a shipbuilding support screen.
[Fig. 7] Fig. 7 is a view showing a shipbuilding support screen.
[Fig. 8] Fig. 8 is a view showing a shipbuilding support screen.
[FIG. 9A] FIG. 9A is a diagram showing a pushing point set on a main line.
[Fig. 9B] Fig. 9B is a diagram showing a drag point set in the main line.
[Fig. 10] Fig. 10 is a diagram illustrating a shipbuilding support screen.
[FIG. 11] FIG. 11 is a diagram illustrating a shipbuilding support screen.
[Fig. 12] Fig. 12 is a view showing a shipbuilding support screen.
[Fig. 13] Fig. 13 is a diagram illustrating a shipbuilding support screen.
[Fig. 14] Fig. 14 is a diagram illustrating a shipbuilding support screen.
[Fig. 15] Fig. 15 is a diagram illustrating a shipbuilding support screen.
[Fig. 16] Fig. 16 is a diagram illustrating a shipbuilding support screen.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a shipbuilding support system 1 . The shipbuilding support system 1 shown in FIG. 1 may be used for docking shipbuilding of a large ship (hereinafter referred to as "main ship 2") supported by at least one tug boat 3 .

2 is a diagram showing a schematic configuration of the tug boat 3 . As shown in Fig. 2, the tug boat 3 according to this embodiment has a hull 38 having a pair of left and right thrusters 68. Inside the ship body 38, a crew room area, an engine room, etc. are formed (all are not shown in figure). A mast 39 is erected on the hull 38 , and a remote camera 34 is installed on the mast 39 . In the remote camera 34 , it is possible to image the front of the tug boat 3 . Each thruster 68 is, for example, an azimuth thruster with a variable pitch propeller capable of 360 degree pivoting. Adjustment of the propulsion direction can be adjusted by the turning angle of the variable-pitch propeller, and the propulsion force can be adjusted by adjusting the pitch angle of the variable-pitch propeller. However, the above configuration is only an example, and the present invention can be applied to shipbuilding support using a tug boat 3 equipped with a thruster such as a general Azimus thruster or Schneider propeller.

Returning to FIG. 1 , the shipbuilding support system 1 according to the present embodiment includes a plurality of information terminals 20 , a plurality of information collection devices 30 , and an information processing device 40 , and they transmit and receive information to and from each other. It is provided with a wireless communication network (5) for connecting possible.

The information processing device 40 is arranged on the main ship 2 . The information processing device 40 may be disposed on land or may be disposed on the tug boat 3 . The information processing device 40 may be operated by a pilot or a ship captain. In addition, although the information terminal 20 is mounted on the main ship 2 and each tug boat 3, you may carry it by party including a pilot, a ship captain, a tug operator, and a ground worker. The information collection device 30 is mounted on each of the main ship 2 , each tug boat 3 , and other ships in the port. Hereinafter, when demonstrating without distinguishing between the main ship 2, each tug boat 3, and other ships in a port, a "ship" may be called. Communication via the wireless communication network 5 may be communication via the wireless base station 50 on land or on board, or communication via a mobile base station on board.

[Information collection device 30]

3 is a block diagram showing the configuration of the information collection device 30 . The information collection device 30 shown in FIG. 3 includes a computer 31 and a wireless communication device 35 . To the computer 31, various navigation instruments 32, various engine information detectors 33, and a remote camera 34 are communicatively connected. The computer 31 processes information or data obtained from the navigation instrument 32 , the engine information detector 33 , and the remote camera 34 together with the identification information of the vessel through the communication device 35 and the wireless communication network 5 . to the device 40 .

The navigation instrument 32 includes, for example, a GPS positioning device including a positioning antenna installed at a predetermined position on the ship, a gyro compass, a water depth gauge, a wind direction/anemometer, a speed gauge, and a water gauge. include The GPS positioning device may receive the time (coordinated universal time) and position (latitude/longitude), and obtain the ground speed and the ground course from these information. The gyro compass detects the heading, and the angular velocity of the turn head can be obtained from the turning angle of the vessel obtained from this information. The engine information detector 33 of the main ship 2 contains detectors, such as a steering angle, the rotation speed of a propulsion shaft, and the rotation speed of a side thruster (stern thruster/bow thruster). The engine information detector 33 of the tug boat 3 includes a detector such as the rotation speed of the propeller of the azimus thruster and the propeller axial direction.

The remote camera 34 is installed at an appropriate location on the vessel (see FIG. 1 ). The remote camera 34 mounted on the main ship 2 may be installed so that an image can be taken of the quay wall from the side of the main ship 2 . The remote camera 34 is also mounted on the tug boat 3 as described above.

The information collection device 30 may use a conventional AIS (Automatic Identification System) mounted on a ship. In this case, as the communication device 35, a VHS communication device (not shown) included in AIS may be used. AIS is a device that automatically transmits and receives ship data through VHF radio waves to determine the identity of nearby ships. The information transmitted/received by the AIS generally includes dynamic information, static information, and navigation-related information of an onboard vessel. The dynamic information generally includes time (coordinated universal time), position (latitude/longitude), ground speed, ground course, information about position accuracy, heading bearing, angular velocity of the turn, and navigation status. Static information typically includes an MMSI number (Maritime Mobile Service Identification Number), calling code and vessel name, type of vessel, IMO number, and location of the positioning antenna. and hull length and line width. The voyage-related information generally includes the number of ships, the destination and the predicted date and time of arrival at the destination, and the type of dangerous substances loaded. Since AIS is known, further detailed description of AIS will be omitted.

[Information terminal (20)]

4 is a block diagram showing the configuration of the information terminal 20. As shown in FIG. The information terminal 20 shown in FIG. 4 includes a computer 21 , an input device 23 , an output device 24 , a storage device 25 , and a communication device 26 . The computer 21 includes a processor 211 , a memory 212 such as RAM or ROM , an input control unit 213 , an output control unit 214 , a disk control unit 215 , a communication control unit 216 and , and other various interfaces 217 . An input device 23 is connected to the input control unit 213 . The input device 23 includes a touch panel 231 and a microphone 232 . The input device 23 may include at least one of a keyboard, a pointing device, and a button or stick-type operation tool. An output device 24 is connected to the output control unit 214 . The output device 24 includes a display 241 and a speaker 242 . A storage device 25 such as a hard disk is connected to the disk control unit 215 . A wireless communication device 26 is connected to the communication control unit 216 . The communication device 26 includes a transmission/reception antenna, and can transmit/receive information to and from another information terminal 20 or information processing device 40 through the antenna and the radio base station 50 .

In the information terminal 20, the display program 7 is installed in advance. The processor 211 executes the program stored in the memory 212 , and through the information input through the input device 23 , the information stored in the memory 212 and the storage device 25 , and the communication device 26 . Calculation processing is performed using at least one of information obtained from the outside and information obtained from outside through the interface 217 , and the result is output to the output device 24 and/or the communication device 26 . .

[Information processing device 40]

5 is a block diagram showing the configuration of the information processing apparatus 40. As shown in FIG. The information processing device 40 shown in FIG. 5 includes a computer 41 , an input device 43 , an output device 44 , a storage device 45 , and a communication device 46 . The computer 41 includes a processor 411, a memory 412 such as RAM or ROM, an input control unit 413, an output control unit 414, a disk control unit 415, a communication control unit 416, Other various interfaces 417 are provided. An input device 43 is connected to the input control unit 413 . The input device 43 includes a touch panel 431 and a microphone 432 . The input device 43 may include at least one of a keyboard, a pointing device, and a button or stick-type operation tool. An output device 44 is connected to the output control unit 414 . The output device 44 includes a display 441 and a speaker 442 . A storage device 45 such as a hard disk is connected to the disk control unit 415 . A wireless communication device 46 is connected to the communication control unit 416 . The communication device 46 includes a transmission/reception antenna, and can transmit/receive information to/from another information terminal 20 or information processing device 30 through the antenna and the radio base station 50 . The processor 411 executes the program stored in the memory 412 , information input through the input device 43 , information stored in the memory 412 and the storage device 45 , and the communication device 46 through the Calculation processing is performed using at least one of information obtained from the outside and information obtained from outside through the interface 417 , and the result is output to the output device 44 and/or the communication device 46 . .

A port information database, a hull information database, and a navigation information database are constructed in the storage device 45 .

In the port information database, information about the port into which the main ship 2 enters a port is stored. Port-related information includes charts including harbors, the types of quay walls for landing and landing, target landing positions, buoy positions, test vessels, standard routes, water depths, contour lines, currents, obstacles (eg, shallow shallows and live fish tanks, etc.). structures), a necessary transit point of a navigating vessel, a navigation-prohibited area, an intrusion-prohibited area for each vessel, and a local meteorological sea of a port, etc. are included. The standard route may be determined for each quay wall or for each ship, and may be memorized in advance. The quay wall may also include a sea berth installed in the deep sea.

The ship body information database stores the identification information of the ship and the information regarding the characteristic of the ship associated with it. The information regarding the characteristics of the vessel includes shape characteristics and motion characteristics for each vessel. The shape characteristics include the length, width, outer shape, the hull relative position of the reference point, and the hull relative position of the positioning antenna. In particular, the shape characteristics of the ship 2 further include a hull relative position of a pushing point called a strong point and a hull relative position of a drag point provided with a bollard. The motion characteristics include a mounted thruster, its performance (type and rated output), a calculation model for calculating thrust, and the like.

In the navigation information database, information acquired from the information collection device 30 mounted on a ship in a port is stored in association with identification information of a ship. In addition, the information acquired from AIS mounted on the ship in a port is matched with the identification information of a ship, and may be stored in the navigation information database.

The computer 41 of the information processing device 40 executes the program stored in the memory 412 or the storage device 45, so that an information acquisition module, a predicted position calculation module, a collision avoidance module, a route planning module, and a thrust calculation module , a voice call module, and a function as a display data generating module.

The information acquisition module acquires the information transmitted from each information collection device 30, and stores it in a navigation information database. The information in the navigation information database is read and used in other arithmetic processing.

The predicted position calculation module obtains the position (predicted position) of the vessel after a predetermined time from the current position of the vessel and the speed and bearing of the vessel from time to time.

The landing distance calculation module obtains the distance between the ship and the quay wall from the current position of the ship, the port information, and the shape characteristic information of the ship. The distance between the ship and the quay wall may be the smallest of the distances between the ship and the quay wall. The landing distance calculation module may calculate the distance between the vessel and the target landing position.

The collision avoidance module transmits information to a target vessel to take an avoidance action according to the rules of vessel operation for preventing vessel collision at sea. A collision avoidance module calculates|requires the collision risk between ships from the present position and predicted position of a ship. In addition, the collision avoidance module obtains a collision list between the vessel and the obstacle from the current position and predicted position of the vessel and the position of the obstacle. The collision list is displayed, for example, by a number or a level. The collision avoidance module generates warning information when the collision risk exceeds a predetermined threshold, and transmits it to the information terminal 20 via the wireless communication network 5 . The warning information may include information about which ship should be instructed when and what avoidance action in addition to the ship information to be warned of a collision.

The route planning module selects the recommended route of the landing or the opposite wall of the ship 2 based on the necessary stopover point information (position, direction, speed), the navigation zone information, the maritime weather (wind and tidal force), and the ship operation characteristics. set The recommended route setting information includes a plurality of waypoints, the bearing and speed of the main ship 2 at each waypoint, and timing of connection and disconnection of the tug line. The route planning module is configured to obtain an appropriate route by calculation using a model using, for example, the weather and sea of the port and the positions of other ships as variables, and set it as a recommended route. A suitable route may be a route suitable from specific viewpoints, such as safety and economical efficiency. Alternatively, the route planning module may be configured to set one of several route candidates prepared in advance as a recommended route based on the weather and sea conditions of the port and the positions of other ships. Alternatively, the voyage planning module may be configured to set the voyage plan instructed by the captain or the pilot as the recommended route. Alternatively, the navigation planning module may be configured to set a standard route stored in advance as a recommended route.

The thrust calculation module calculates the thrust currently occurring in the thruster or side thruster (stun thruster/bow thruster) of the main ship 2, and the thrust currently occurring in the azimus thruster of the tug boat 3 . Thrust includes translational thrust and turning moment thrust. The thrust calculation module calculates|requires a thrust from the output (rotational speed) of a thruster (or a side thruster, an azimus thruster) using the calculation model given in advance. The thrust calculation module further acts on the ship 2, in which the thrust generated by the thruster (including the side thruster) of the ship 2 and the thrust generated by the thruster of the tug boat 3 are synthesized Find the thrust (composite thrust of the ship).

The voice call module digitally converts the sound picked up by the microphone 432 into voice data, and transmits it to the information terminal 20 of the voice call destination via the communication device 46 . In addition, the voice communication module analog-converts the voice data sent from the information terminal 20 of the voice communication destination and outputs it from the speaker 442 .

The shipbuilding situation data generation module generates shipbuilding situation data. The shipbuilding situation data includes information posted on various shipbuilding support screens displayed on the display 441 of the information processing device 40 and the display 241 of the information terminal 20 . The computer 41 of the information processing device 40 transmits the generated shipbuilding situation data to each information terminal 20 via the communication control unit 416 and the wireless communication network 5 . In the computer 21 of each information terminal 20, the received shipbuilding situation data is stored in the memory 212, and the processor 211 executes the display program 7 to display ( 241) to display at least one type of shipbuilding support screen. Here, the display program 7 similar to that of the information terminal 20 may be installed also in the computer 41 of the information processing device 40 . In this case, the processor 411 of the computer 41 of the information processing device 40 executes the display program 7 to display at least one kind of shipbuilding support screen on the display 441 based on the shipbuilding situation data. do. The shipbuilding support screen displayed on the display 241 of the information terminal 20 and the shipbuilding support screen displayed on the display 441 of the information processing device 40 may be synchronized. Since the various shipbuilding support screens output by the computers 21 and 41 and their display methods are substantially the same, the screen display on the display 241 of the information terminal 20 will be described in detail, and the information processing device 40 ), a description of the screen display of the display 441 will be omitted.

6 is an example of the shipbuilding support screen (S) displayed on the display (241). The shipbuilding support screen (S) includes a current status display unit (98). On the current status display unit 98, a chart image 60 including only ports is displayed based on the chart information. In addition to the quay wall 61, a buoy, an obstacle (all are not shown), etc. are displayed in the sea-island image 60. As shown in FIG. The sea-island image 60 may display a depth of field or a contour line.

In the lower left part of the current status display unit 98, a quay wall type figure 62 indicating the type of quay wall on which the main ship 2 arrives and departs is displayed. Types of quay walls generally include gravity quay walls, board pile quay walls, pier-type quay walls, and floating piers. In FIG. 6, as the quay wall classification figure 62, the side schematic diagram of a pier-type quay wall is shown. By representing the quay wall classification figure 62 as a figure in this way, the person concerned can intuitively grasp the type of the quay wall that is difficult to read from the sea-island image 60 which is a bird's eye view.

At the lower right of the current status display unit 98, a current vector 63 indicating the flow (direction) of the current based on the current information is displayed. The direction of the arrow of the current vector 63 indicates the flow (direction) of the current, and the size of the arrow of the current vector 63 indicates the size of the current. In this way, the current is displayed as a figure rather than text, so that the person can intuitively grasp the current from the current status display unit 98 .

In the current status display unit 98, based on the position information, direction information, and shape characteristics of the main ship 2, a figure schematically representing the main ship 2 (hereinafter referred to as "main ship figure 2s") is displayed on a chart. It is displayed superimposed on the image 60 . The main line figure 2s is a figure obtained by drawing the outline of the main line 2 as seen from the plane, for example. The actual position and orientation of the main ship 2 and the position and orientation of the main ship figure 2s on the chart image 60 of the current state display unit 98 correspond.

In the current status display unit 98, a figure schematically representing the tug boat 3 based on the position information, orientation information, and shape characteristics of the tug boat 3 (hereinafter referred to as "tug boat figure 3s") This chart is superimposed on the image 60 and displayed. The tug boat image 3s is, for example, a graphic form of the planar outline of the tug boat 3 . The actual position and orientation of the tug boat 3 and the position and orientation of the tug boat figure 3s on the chart image 60 of the status display unit 98 correspond.

Based on the information on the rudder angle of the main vessel 2, the other figure 67 schematically showing the rudder is displayed on the current status display unit 98 superimposed on the main ship figure 2s. In the other figure 67 arranged on the main ship figure 2s, in addition to the other figure 67 arranged so as to be visually superimposed on the main ship figure 2s on the status display unit 98, the other figure of the main ship 2 is Even to make the correspondence of , the other figure 67 disposed close to the main line figure 2s on the image 60 may be included.

The relative positional relationship between the main ship figure 2s and the other figure 67 on the current status display unit 98 corresponds to the relative positional relationship between the main ship 2 and the rudder mounted thereon. The rudder figure 67 is a line segment which modeled the rudder board in planar view, and is arrange|positioned on the main ship figure 2s at the angle corresponding to the rudder angle of the rudder board with respect to the hull of the main ship 2 .

In the present state display unit 98, based on the information of the thruster of the main ship 2, the main ship thruster figure 70 schematically showing the thruster is displayed superimposed on the main ship figure 2s. The relative positional relationship between the ship figure 2s and the ship thruster figure 70 on the current status display unit 98 corresponds to the relative positional relationship between the ship 2 and the thruster mounted thereon. In the current status display unit 98 illustrated in FIG. 6 , the main ship thruster figure 70 is displayed as a chain rectangle having a long side direction and a short side direction, and the main ship figure corresponding to the position of the side thruster on the hull of the main ship 2 ( 2s) is placed on it. However, the appearance of the ship propulsion figure 70 is not limited to the above. Here, the main ship 2 is provided with a main thruster and a side thruster (or azimus thruster) as thrusters, but in the current status display unit 98 according to the present embodiment, Only the main ship thruster figure 70 is shown. The main thruster figure 70 showing the main thruster may be displayed on the current state display unit 98 .

The main ship propeller figure 70 is displayed on the current status display unit 98 so that the current status of the main ship 2 can be intuitively grasped. When the thruster of the main ship 2 is a side thruster, the axial angle of the propeller of the side thruster with respect to the main ship 2 , that is, the propulsion direction with respect to the main ship 2 is constant. When the thruster of the main ship 2 is an azimus thruster, the axial angle of the propeller of the azimus thruster with respect to the main ship 2 is variable, and the propulsion direction with respect to the main ship 2 is changed. Therefore, in this embodiment, so that the propulsion direction with respect to the main ship 2 of the thruster of the main ship 2 becomes clear, the in-plane direction of the rotation surface of the propeller of the thruster with respect to the main ship 2 and the main ship figure 2s The long side direction of the main ship propulsion figure 70 for Korea corresponds.

In the current status display unit 98, for each thruster 68 of the tug boat 3, tug boat thruster information 68s indicating the direction of the propulsion force generated by the thruster 68 is disposed on the tug boat figure 3s. has been In addition to the tug boat thruster information 68s arranged on the tug boat figure 3s, the tug boat thruster information 68s arranged to visually overlap the tug boat figure 3s on the status display unit 98, the tug boat Even if the correspondence with the tugboat thruster 68 mounted in (3) is made visually clear, the tugboat thruster information 68s disposed close to the tugboat figure 3s on the image 60 may be included.

The relative positional relationship between the tug boat figure 3s and the tug boat thruster information 68s on the current status display unit 98 corresponds to the relative positional relationship between the tug boat 3 and the thruster 68 mounted thereon. As shown in FIG. 2 , when the thruster 68 mounted on the tug boat 3 is an azimus thruster, the direction of the thrust generated in the azimus thruster is substantially parallel to the propeller axial direction. In such a case, the direction of the thrust generated in the thruster 68 can be obtained from the information of the propeller axial direction. In addition, when the thruster 68 mounted on the tug boat 3 is a screw propeller, the direction of the thrust generated in the screw propeller is determined by the direction of the rudder mounted together with the screw propeller. In such a case, the direction of the driving force generated by the thruster 68 can be obtained from the information on the direction of the rudder.

In FIG. 6, based on the information of the propeller axial direction, the figure which showed a propeller schematically is superimposed and displayed on the tug boat figure 3s as tugboat thruster information 68s. The tug boat thruster information 68s is a line segment modelling the rotational surface of the propeller in a plan view, and the direction orthogonal to this line segment indicates the propeller axial direction (that is, the direction of the thrust generated in the thruster 68). Each tug boat 3 according to the present embodiment is equipped with two thrusters 68 , and tug boat thruster information 68s is displayed for each thruster 68 . In this way, the tug boat thruster information 68s is the status of the thrusters 68 of the tug boat 3, in particular, the number (or operation status) of the thrusters 68, or the tug boat 3 based on It is displayed on the status display unit 98 so that the direction of generation of the thrust of each thruster 68 can be intuitively grasped. The party who acknowledged this status display unit 98, based on the generation direction of the thrust of each thruster 68 displayed on the screen by the respective tug boat thruster information 68s, acts on the tug boat 3 The direction of thrust can be estimated.

In the current status display unit 98, based on the distance between the main vessel 2 and the quay wall obtained by the departure and arrival distance calculation module, numerical values and arrows indicating the distance 64 between the main vessel 2 and the quay wall 61 are chart images. (60) is superimposed. In this way, since the distance 64 between the main vessel 2 and the quay wall 61 is clearly displayed numerically, the vessel captain or pilot can conduct shipbuilding in consideration of this distance 64 .

A speed vector 69 indicating the traveling direction and speed of the main vessel 2 is displayed on the current status display unit 98 based on the course and land speed of the main vessel 2 . The speed vector 69 is an arrow having a length corresponding to the speed, with the bow of the main ship figure 2s as the starting point, and heading in the traveling direction. The speed of the ship 2 may also include the speed at the time of continuing movement in the direction taken by the rudder force after stopping the engine of the ship (walking angle). Here, in addition to the speed vector 69, the ship speed of the main ship 2 may be numerically displayed.

Connection instruction text 73a instructing to connect the tug boat 3 and the main ship 2 with the tug line is displayed on the status display unit 98 . The connection instruction text 73a is displayed, for example, at the timing when the main ship 2 and the tug boat 3 become the connection positions based on the connection position information of the main ship 2 and the tug boat 3 . Similarly, the disconnection instruction text 73b (see FIG. 7 ) instructing to disconnect the tugline is displayed on the status display unit 98 . The disconnection instruction text 73b is, for example, based on the disconnection position information of the main line 2 and the tug boat 3, at the timing when the main vessel 2 and the tug boat 3 become the disconnection positions. is displayed The connection position information and the disconnection position information are derived from the recommended route and may be included in the recommended route setting information, and the operator of the information processing device 40 operates the information processing device 40 to connect at an arbitrary timing. The instruction text 73a and the connection disconnection instruction text 73b may be displayed.

On the shipbuilding support screen S, the channel indication text 71 indicating information of the VHF channel used by the radio transceiver is displayed.

On the shipbuilding support screen S, a call button 72 is provided. When the call button 72 is selected, the computer 21 receives an operation input for initiating a call and activates the voice call module. The operator of the information terminal 20 can make a voice call with the information processing device 40 and other information terminals 20 . Similarly, the operator of the information processing apparatus 40 can make a voice call with any one or a combination of a plurality of information terminals 20 . In addition, when the camera for a call is mounted in the information processing apparatus 40 and the some information terminal 20. Video calls are possible.

In the status display unit 98, the information on the ship speed, rudder direction and thrust of the main ship 2 can be displayed/not displayed. Similarly, in the status display unit 98, information on the ship speed and thrust of the tug boat 3 can be displayed/not displayed. In the shipbuilding support screen S, a display item switching unit 99 displaying a plurality of switching buttons is provided. In the display item switching unit 99 , display/non-display of the item displayed on the current status display unit 98 can be switched. When a status button is selected from among a plurality of switching buttons of the display item switching unit 99, a button for switching display/non-display of information about the ship speed, rudder direction and thrust of the main ship 2, and a tug boat 3 A button for switching the display/non-display of information on ship speed and thrust is displayed. In this way, in the status display unit 98, the displayed information can be reduced, and desired information can be cut out and displayed.

In the current status display unit 98a of the shipbuilding support screen S shown in FIG. 7, information about the ship speed of the main ship 2 and information about the ship speed of the tug boat 3 are displayed, and the rudder of the main ship 2 is displayed. Information regarding direction, ship (2) and thrust of tugboat (3) is not shown.

The speed vector 69 indicating the ship speed of the main ship 2 is displayed on the current status display unit 98a based on the course of the ship 2 on the ground and the speed on the ground. Furthermore, the tug speed vector 96 indicating the ship speed of the tug boat 3 is displayed on the status display unit 98a based on the ground course and the ground speed of the tug boat 3 . The tug speed vector 96 is an arrow having a length corresponding to the ground speed of the tug boat 3, starting from the bow of the tug boat figure 3s, and heading to the ground course of the tug boat 3 . However, in addition to the tug velocity vector 96, the velocity of the tug boat 3 may be expressed in numerical values.

In the current status display unit 98b of the shipbuilding support screen S shown in FIG. 8 , information about the thrust of the main ship 2 and information about the thrust of the tug boat 3 are displayed, and the rudder of the main ship 2 is displayed. Information regarding the direction, vessel 2 and speed of the tug boat 3 is not shown.

In the current status display unit 98b, on the basis of the thrust of the main ship 2 and the tug boat 3 obtained by the thrust calculation module, the main ship thrust vector 65a indicating the direction and magnitude of the thrust acting on the main ship 2, A tug boat thrust vector 66a indicating the direction and magnitude of the thrust acting on the tug boat 3 is displayed. The main ship combined thrust 75 may be displayed on the current status display unit 98b. The main ship thrust vector 65a is a solid arrow (direction line segment) having a length corresponding to the magnitude of the translation thrust, starting with the position of the thruster of the main ship 2 as a starting point, and pointing in the direction of the translational thrust. The tug boat thrust vector 66a is a solid arrow having a length corresponding to the magnitude of the translation thrust, with the position of the thruster of the tug boat 3 as a starting point, and directed toward the generation direction of the translation thrust.

Further, in the current status display unit 98b, the onboard thrust command vector 65b indicating the direction and magnitude of the thrust command to the main ship 2 and the tug boat thrust command vector indicating the direction and magnitude of the thrust command to the tug boat 3 are provided. (66b) may be displayed.

The main-line thrust command vector 65b is a chain arrow having a length corresponding to the thrust, with the thrust action point 86 (a pushing point or a pulling point) as a starting point and directed in the direction of the thrust. The tug boat thrust command vector 66b is a chain arrow having a length corresponding to the magnitude of the thrust, with the position of the thruster of the tug boat 3 as a starting point, and directed toward the generation direction of the thrust.

In the vicinity of the ship thrust command vector 65b and the tug boat thrust command vector 66b, the contents of the command are displayed as text. For example, the content of the command is expressed as an absolute value with units "N" and "PS" attached. For example, the content of the directive is expressed as a percentage of the rated output. For example, the content of the command is expressed in conventional command terms of tugs such as "forward slow" and "forward pull".

In the current status display unit 98b, the onboard thrust vector 65a and the onboard thrust command vector 65b are superimposed and displayed. In addition, the tug boat thrust vector 66a and the tug boat thrust command vector 66b are shown to be superimposed. Accordingly, it is possible to compare the currently generated thrust (ie, the output value) with the thrust that may be generated in the future according to the command (ie, the indicated value). In addition, the party who saw the current status display unit 98b can intuitively recognize a change in thrust in the future. In this way, it is possible to prevent misunderstanding of the instruction by the parties, and also to share the perception of the instruction between the parties.

The direction and magnitude of the thrust command to the ship 2 and the direction and magnitude of the thrust acting on the tug boat 3 are obtained from the information terminal 20 or information processing device 40 operated by the ship captain (or pilot). is input In other words, in the information terminal 20 or the information processing device 40 operated by the ship captain (or pilot), the input of the command regarding thrust is permitted.

FIG. 9A is a diagram showing a push point 36 set on the main line 2 , and FIG. 9B is a view showing a drag point 37 set on the main line 2 . As shown in Fig. 9A, when the tug boat 3 presses the main vessel 2, the pushing point 36 on the main vessel 2 that the tug boat 3 comes into contact with, and as shown in Fig. 9B, The drag point 37 on the main ship 2 to which the tug boat is connected is predetermined for each ship. The push and drag command of the tug boat 3 consists of the relative position of the pushing point 36 or the drag point 37 on the hull, and the magnitude and direction of the thrust to be applied thereto. In order to facilitate the input of the command, the command of the position of the push point 36 or the drag point 37 is the push point 36 and the drag point 37 displayed on the display 441 of the information processing device 40 . ) may be configured to be selectable from among Moreover, you may be comprised so that the command of the magnitude|size and direction of the thrust force may be received by the input device 43, and it may be displayed on the display 441 as a vector or a numerical value.

In the current status display unit 98 of the shipbuilding support screen S, information regarding shipbuilding instructions may be displayed. 10 is a diagram illustrating a shipbuilding support screen S3 on which information regarding shipbuilding instructions is displayed. The shipbuilding support screen S3 is displayed on the display 441 when the processor 411 of the computer 41 of the information processing device 40 executes the display program 7 . In the display item switching unit 99 of the shipbuilding support screen S3 , display/non-display of information regarding the shipbuilding instruction displayed on the current status display unit 98 can be selected. Information regarding shipbuilding instructions is, for example, thrust, push position, drag position and path for each tug boat. In the current status display unit 98 of the shipbuilding support screen S3 illustrated in FIG. 10 , on the chart image 60 , the main ship figure 2s showing the position and orientation of the main ship 2 , and the tug boat 3 . The tug boat figure 3s showing the position and orientation is displayed, and further, information about the shipbuilding instruction is displayed.

When a plurality of tug boat figures 3s are displayed on the shipbuilding support screen S3, they are displayed in association with each other so that the combination of the tug boat figures 3s and the thrust command vector 87 becomes clear. As a method of association, the combination of the tug boat figure 3s and the corresponding thrust command vector 87 is distinguished by color, and a label indicating the sharpness of the tug boat 3 is attached to the thrust command vector 87 , connecting the starting point (action point 86) of the thrust command vector 87 and the tug boat figure 3s with a chain line are exemplified. In the terminal operated by the conductor (pilot or ship captain), input of the thrust instruction is allowed on the shipbuilding support screen S3, and the thrust given by the tug boat 3 to the main ship 2 is used as the thrust command vector 87. can be entered.

The captured image 82 of the remote camera 34 may be displayed on the status display unit 98 of the shipbuilding support screen S. Returning to FIG. 6 , when a monitor button is selected from a plurality of switching buttons installed in the display item switching unit 99 of the shipbuilding support screen S, the computer 21 sends a display item switching unit provided with a monitor selecting button ( 99) to display the shipbuilding support screen (S2) including.

11 is a view showing a shipbuilding support screen (S2) provided with a button for selecting a monitor. In the display item switching unit 99 of the shipbuilding support screen S2, a button for switching the captured image 82 displayed on the current status display unit 98 is displayed. In the display item switching unit 99 of the shipbuilding support screen S2 illustrated in FIG. 11 , the monitors of the tug boats 3 of tug 1, tug 2, and tug 3 are turned on. Then, in the current status display unit 98 of the shipbuilding support screen S2, in addition to the chart image 60, the ship figure 2s, and the tug boat figure 3s, a plurality of captured images 82 (videos) can be listed. They are displayed side by side so that

Each of the captured images 82 is labeled with "TAG1", "TAG2", and "TAG3". The label indicates identification information of the tug boat 3 on which the remote camera 34 from which the image was captured is mounted. In this example, the remote camera 34 is installed forward at the bow of each tug boat 3 , and the photographed image 82 seen forward from each tug boat 3 is displayed. Such a photographed image 82 is photographed with a remote camera 34 disposed on the mast 39 in the center of the tug boat 3 so as to look forward from the sky above the tug boat 3 . In this way, from the status display unit 98 in which the photographed image 82 is shown, the tug boat 3 labeled "TAG1" drags the bow of the main ship 2 connected by the tug line, and the label "TAG2" is displayed. It becomes clear that the attached tug boat 3 is pushing the front side of the main ship 2, and the tug boat 3 labeled "TAG3" is pushing the rear side of the main ship 2 . Accordingly, the pilot or the ship captain, who saw the shipbuilding support screen S2, can grasp the situation looking forward from the sky of the tug boat 3 in almost real time, and recommend the situation of the tug shipbuilder without going back and forth on the bridge. and can give instructions to the tug shipbuilder.

In the above, the plurality of captured images 82 were captured by the remote camera 34 mounted on the tug boat 3, but include images 82 captured by the remote camera 34 arranged on the main ship 2 or the quay wall. it may be good

In the current status display unit 98 of the shipbuilding support screen S, the route plan may be displayed. Returning to FIG. 6 , when the route planning button is selected from the switching button installed in the display item switching unit 99 , the computer 21 supports shipbuilding in which a button for switching the display/non-display of the route plan is installed on the display 241 . The screen S4 is displayed.

12 is a view showing a shipbuilding support screen (S4) provided with a button for switching display/non-display of the route plan. In the display item switching unit 99 of the shipbuilding support screen S4 , a button for switching the display/non-display of the route plan to the current status display unit 98 is provided.

On the current status display unit 98 of the shipbuilding support screen S4 illustrated in FIG. 12 , a speed vector 69 indicating the ship speed of the main vessel 2 is displayed based on the course and land speed of the main vessel 2 . . Furthermore, on the shipbuilding support screen S4 , a tug speed vector 96 indicating the ship speed of the tug boat 3 based on the ground course and ground speed of the tug boat 3 is displayed.

On the current status display unit 98 of the shipbuilding support screen S4, the recommended route 84 of the main ship 2 is displayed overlaid on the chart image 60 based on the recommended route set in the route planning module. In this example, the recommended route 84 is shown by a continuous chain line from the position of the current main ship figure 2s to the target point of interest. On the recommended route 84, a plurality of waypoints 97 are displayed. Waypoints 97 are indicated by linear and circular numbers in this example.

A zoom-in/zoom-out magnification change button 83 is provided in the present state display unit 98 of the shipbuilding support screen S4. When zoom in is selected with the magnification change button 83, the computer 41 receives a command to change the display magnification of the shipbuilding support screen S4, and the shipbuilding support screen S4 is partially enlarged the shipbuilding support screen S5. to be displayed on the display 241. However, when the main line 2 approaches the waypoint 97, the screen magnification may be automatically changed so that the details of the waypoint 97 are displayed. The party who sees such shipbuilding support screens S4 and S5 can grasp the entire route from when the main ship 2 enters a port until it starts, and at the same time, at each waypoint 97, the main ship 2 and the main ship 2 The relationship between the tug boat 3 can be grasped. Here, although not specifically described, at least the current status display unit 98 of the shipbuilding support screen S can be arbitrarily enlarged or reduced in whole or in part.

13 is a diagram illustrating a shipbuilding support screen S5 in which a route plan is displayed. A third waypoint (circle 3), a fourth waypoint (circle 4), and a fifth waypoint (circle 5) appear among the plurality of waypoints 97 on the status display unit 98 of the shipbuilding support screen S5. have. The fifth way point (circle 5) corresponds to the target target position. At each waypoint 97, a main line graphic 2s is displayed, and a velocity vector 69 and another graphic 67 are superimposed and displayed on this main line graphic 2s. In addition, at the fourth waypoint (circle 4) and the fifth waypoint (circle 5), a tug boat figure 3s showing the tug boat 3 supporting the main line 2 is displayed.

From the first waypoint (circle 1) to the third waypoint (circle 3), the main vessel 2 travels without the support of the tug boat 3 . During this period, the ship 2 is gaining propulsion from its thrusters and is moving from the first waypoint (circle 1) to the third waypoint (circle 3) at an appropriate location (eg where it entered the harbor). The thruster stops. While the thruster of the main ship 2 is operating, it is necessary to separate the tug boat 3 from the main ship 2 in order to avoid contact between the main ship 2 and the tug boat 3 . Accordingly, the information processing apparatus 40 and the information terminal 20 can display an evacuation instruction for the tug boat 3 that may come into contact with the main ship 2 on the displays 241 and 441 .

14 is a diagram illustrating a shipbuilding support screen S6 in which an evacuation instruction is displayed. On the current status display unit 98 of the shipbuilding support screen S6, the main ship figure 2s, the tug boat figure 3s, and the intrusion prohibition area 93 are displayed. The intrusion prohibition area 93 is preset. The intrusion prohibition area 93 may be set in absolute coordinates or may be set in relative coordinates with respect to the main ship 2 . In the example shown in Fig. 14, the intrusion prohibition area 93 is a rectangular area surrounding the main line figure 2s, but the intrusion prohibition area 93 may have any shape. Moreover, the intrusion prohibition area 93 may be comprised so that the range can be set on the display 441 of the information processing apparatus 40. As shown in FIG.

In the current status display unit 98 of the shipbuilding support screen S6, a warning is displayed for the tug boat 3 existing in the intrusion prohibition area 93. In the example shown in Fig. 14, the tug boat 3 existing in the intrusion prohibition area 93 is displayed in a color different from that of the tug boat 3 existing outside the intrusion prohibition area 93, and is flashed and further. A speech bubble of the text "need to evacuate" is displayed. In this way, the tug boat 3 to be evacuated from the intrusion prohibition area 93 appears clearly on the shipbuilding support screen S6.

The party operates the information processing device 40 and each information terminal 20 to arbitrarily display a shipbuilding support screen S6 indicating an evacuation instruction on the display 241 (and/or the display 441 ). can In addition, the information processing device 40 monitors the position of the main ship 2 and each tug boat 3 in the portion where the intrusion prohibition area 93 is set in the route, and the tug boat in the intrusion prohibition area 93 is located. When (3) invades, it is possible to forcefully display the shipbuilding support screen S6 indicating the evacuation instruction on the information processing device 40 and each information terminal 20 .

Returning to Fig. 13, at the fourth waypoint (circle 4), the tug boat 3 of TAG1 moves to the position where the main vessel 2 is pushed, and until the position where the tug boat 3 of TAG2 pulls the main vessel 2 It moves and connects to the tugline. The information processing device 40 and the information terminal 20 display a shipbuilding support screen S7 showing the route of the tug boat 3 when the tug boat 3 approaches the main ship 2 on displays 241 , 441 . ) can be displayed.

15 is a view showing a shipbuilding support screen S7 showing the route of the tug boat 3 when one tug boat 3 approaches the main ship 2 . On the current status display unit 98 of the shipbuilding support screen S7, a main ship figure 2s showing the position and orientation of the main ship 2 and a tug boat figure 3s showing the position and orientation of the tug boat 3 are displayed. do. The arrival point 90 and at least one waypoint 89 when the tug boat 3 approaches the main ship 2 are displayed on the current status display unit 98 of the shipbuilding support screen S7. By complementing between the waypoints 89 and between the waypoints 89 and the arrival point 90 with an appropriate complement function, from the tug boat figure 3s to the arrival point 90 through the waypoint 89 It is possible to plan the approach route 88 to the In the shipbuilding support screen S7, the approach route 88 is indicated by a dashed line. The tug operator may ship the tug boat 3 so that the shipbuilding support screen S7 is recognized and the tug boat 3 navigates along the approach route 88 .

On the current status display unit 98 of the shipbuilding support screen S7, the actual route 88' of the tug boat 3 is displayed in a superimposed manner on the approach route 88. The approach route 88 and the actual route 88' are displayed in different forms. In this example, the approach route 88 is represented by a chain line, and the actual route 88' is represented by a solid line. The difference becomes clear by comparing the approach route 88 with the actual route 88'.

16 : is a figure which shows the shipbuilding support screen S8 which shows the route of the tug boat 3 when the tug boat 3 of several ships approaches the main ship 2. As shown in FIG. Even if the number of tug boats 3 approaching the main ship 2 increases, the approach route 88 is displayed corresponding to each tug boat 3 as described above. However, when one approach route 88 and another approach route 88 intersect, or the approach routes 88 are closer than a predetermined threshold value, the alert area 92 is displayed on the shipbuilding support screen S8. ) is displayed, and at the same time, a speech bubble of the text “Attention to contact” is displayed.

The shipbuilding support screens S7 and S8 are displayed on the display 241 when the processor 211 of the information terminal 20 executes the display program 7 . Further, the information processing device 40 monitors the position of the main vessel 2 and each tug boat 3 , and immediately before the tug boat 3 starts approaching the main vessel 2 , the information processing unit 40 ) and each information terminal 20 may be forced to display the shipbuilding support screens S7 and S8.

Returning to FIG. 13 , from the fourth waypoint (circle 4) to the fifth waypoint (circle 5), the main ship 2 navigates along the recommended route through the bay with the support of the tug boat 3 . At the fifth waypoint (circle 5), the connection between the main line 2 and the tug boat 3 of TAG2 is released, and the main line 2 receives support from only the tug boat 3 of TAG1. Here, on the shipbuilding support screens S6, S7, and S8, when the main ship 2 is pushed and pulled by the tug boat 3, the thrust given by the tug boat 3 to the main ship 2 is displayed as a thrust vector. may be

As described above, the shipbuilding support system 1 according to the present embodiment is a shipbuilding support system 1 when the main ship 2 is supported by at least one tug boat 3 while moving in or focusing on the quay wall. , a storage device (memories 212, 412, storage devices 25, 45) storing the chart image 60 including the quay wall, the ship figure 2s and the tug boat figure 3s, and the ship 2 at least one detection device (navigation instrument 32) for detecting the position and orientation of the tug boat 3 and at least one display 241; 441; A processor (211; 411) for displaying the shipbuilding support screen (S) is provided. The processor (211; 411) displays the shipbuilding support screen (S) on the display (241; 441) based on the shipbuilding situation data by executing the display program (7).

The shipbuilding support screen S is arranged on the chart image 60 on the basis of the chart image 60 including the quay 61 stored in the storage device, and the position and orientation of the ship 2 detected by the detection device. On the basis of the main ship figure 2s, the position and orientation of the tug boat 3 detected by the detection device, the tug boat figure 3s and the tug boat figure 3s arranged on the sea-island image 60 are disposed on For each of the plurality of tugboat thrusters 68 mounted on the tug boat 3, the tug boat thruster information 68s indicating the direction of the thrust generated by the tugboat thrusters 68 is included. This tug boat thruster information 68s is such that the relative position of the tug boat thruster 68 with respect to the tug boat 3 and the relative position of the tug boat thruster information 68s with respect to the tug boat figure 3s correspond, It is arranged on the support screen S.

In addition, the shipbuilding support method according to the present embodiment supports the shipbuilding of the main ship 2 and the tug boat 3 when the ship 2 is supported by at least one tug boat 3 and moved to or focused on the quay wall. and causing the processor (211; 411) of the information terminal (20; 40) to display the shipbuilding support screen (S) on at least one display (241; 441). The shipbuilding support screen S includes the chart image 60 including the quay wall, the ship figure 2s arranged on the chart image 60 based on the position and orientation of the ship 2 , and the tug boat 3 . A tug boat figure (3s) arranged on the sea-island image (60) based on the position and orientation, and a plurality of tug boat thrusters (68) arranged on the tug boat figure (3s) and mounted on the tug boat (3) and for each tugboat thruster information 68s indicating the direction of the thrust generated by the tugboat thruster 68 in question. Here, the tug boat thruster information 68s corresponds to the relative position of the tug boat thruster 68 with respect to the tug boat 3 and the relative position of the tug boat thruster information 68s for the tug boat figure 3s. It is disposed on the display unit 98 .

According to the shipbuilding support system 1 and method, the ship 2 and the tug boat (2) and the tug boat ( After showing the positional relationship of 3), the current status of the individual thrusters mounted on the tug boat 3 (eg, the operation status of the thrusters and the direction of generation of the thrust) is displayed by the tug boat thruster information 68s. In this way, information indicating the positional relationship between the main ship 2 and the tug boat 3 and information indicating the status of individual thrusters of the tug boat 3 are displayed on one screen displayed on the displays 241 and 441 as described above. Since they are shown together, a party who has seen such a screen can intuitively understand their mutual relationship. The current status of the individual thrusters mounted on the tug boat 3 is important information for estimating the thrust acting on the tug boat 3, and by intuitively and easily grasping this information, a smoother and more efficient landing and landing is possible. becomes

Further, in the shipbuilding support system 1 according to the present embodiment, the shipbuilding support screen S is disposed on the ship figure 2s, and the shipboard rudder figure 67 showing the rudder angle mounted on the ship 2 . contains

In this way, by displaying the other figure 67 in addition to the above elements on the shipbuilding support screen S, the person who has seen this screen can intuitively grasp the direction of the rudder of the main ship 2 .

Further, in the shipbuilding support system 1 according to the present embodiment, the shipbuilding support screen S is disposed on the chart image 60, and a speed vector 69 indicating the traveling direction and speed of the ship 2 is further added. include

By plotting the speed vector 69 in this way, the party can intuitively grasp the traveling direction and speed of the main vessel 2 . The speed is important information for determining the thrust to be given from the tug boat (3) to the main ship (2), and by intuitively and easily grasping this information by the person concerned, smoother and more efficient landing and shipbuilding is possible.

In the shipbuilding support system 1 according to the present embodiment, the shipbuilding support screen S is a ship thrust vector 65a (and/or ship thrust command vector 65b) indicating the direction and magnitude of the thrust acting on the ship 2 . )), and a tug boat thrust vector 66a (and/or a tug boat thrust command vector 66b) indicating the direction and magnitude of the thrust acting on the tug boat 3 .

In this way, the thrust acting on the main ship 2 and the thrust acting on the tug boat 3 are displayed together on one screen, so that the person concerned can comprehensively grasp the thrust acting on the system.

Further, in the shipbuilding support system 1 according to the present embodiment, the shipbuilding support screen S further includes a quay wall type figure 62 indicating the type of the quay wall 61 .

Although it is difficult to intuitively grasp the type of the quay wall 61 from the chart, since the type of the quay wall 61 is shown as the quay wall classification figure 62, the person concerned can intuitively grasp the type of the quay wall 61 .

In addition, in the shipbuilding support system 1 according to the present embodiment, the shipbuilding support screen S appears when the main line 2 and the tug boat 3 are connected, and the tug boat 3 and the main line 2 It further includes a connection instruction text (73a) instructing to connect to the tugline. In addition, in the shipbuilding support system 1 according to this embodiment, the shipbuilding support screen S appears when the main ship 2 and the tug boat 3 reach the disconnection position, and instructs to release the connection of the tugline. It further includes disconnection instruction text 73b.

Accordingly, it is possible to make the timing of connection/disconnection of the tugline common to all parties who visually recognize the displays 241 and 441 . Accordingly, more smooth and efficient departure and arrival shipbuilding is possible.

Further, in the shipbuilding support system 1 according to the present embodiment, the shipbuilding support screen S further includes a channel indication text 71 indicating a VHF channel.

Usually, the channel to be used for the transceiver is set before departure and arrival, but communication may be disrupted during operation due to interference or radio wave interference. In such a case, by suggesting the channel to be used from a stable communication path, it becomes possible for the party to smoothly switch the channel used by the transceiver.

In addition, in the shipbuilding support system 1 according to the present embodiment, the shipbuilding support screens S(S7, S8) indicate that the tug boat 3 superimposed on the chart image 60 approaches the main ship 2 . It includes the planned route (that is, the approach route 88) of the tug boat 3 at the time.

In this way, the planned route (approach route 88) when the tug boat 3 approaches the main ship 2 is presented to the party, so that the approach route 88 of the tug boat 3 is displayed on the displays 241 and 441. It can be recognized in common by all parties who admit it. Accordingly, more smooth and efficient departure and arrival shipbuilding is possible.

In addition, in the shipbuilding support system 1 according to the present embodiment, the shipbuilding support screen S(S8) is superimposed on the planned route (ie, the approach route 88) and the actual route 88 of the tug boat 3 displayed. ') is further included.

As described above, since the planned route 88 and the actual route 88' of the tug boat 3 are displayed on one screen, the deviation of the actual route 88' from the planned route 88 can be easily grasped.

In addition, in the present embodiment, the tug boat 3 is a plurality of ships, and the shipbuilding support system 1 is mounted on each of the tug boat 3 and further includes a camera 34 for photographing the front of the tug boat 3 . do. In addition, the shipbuilding support screen S(S2) includes at least one captured image 82 captured by the camera 34 .

Accordingly, the pilot or the ship captain who has recognized the captured image 82 displayed on the shipbuilding support screen S(S2) can grasp the situation facing the front of the tug boat 3 in almost real time, so that the bridge You can estimate the situation of the tug boat (3) without going back and forth, and give instructions to the tug shipbuilder.

Although preferred embodiments of the present invention have been described above, changes in specific structure and/or function details of the embodiments may be included in the present invention without departing from the spirit of the present invention.

For example, in the above embodiment, although the information processing device 40 is installed on the ship 2 or onshore, the information processing device 40 is portable to be carried by a pilot or a ship captain like the information terminal 20 . You may be comprised as an information terminal.

1: Shipbuilding support system
2: Finals
2s: main line figure
3: Tug Boat
3s: Tug boat figure
20: information terminal
32: navigation instrument (an example of a detection device in the claims)
34: remote camera
37: thruster
60: chart image
61: quay wall
62: quay wall type figure
65a: main thrust vector
65b: ship thrust command vector
66a: tug boat thrust vector
66b: tug boat thrust command vector
68: Tugboat propeller information
69: speed vector
70: ship propeller figure
71: channel indication text
73: access instruction text
73a: access instruction text
73b: Disconnect Instruction Text
88: Approach route (planned route)
88: Actual route
21: computer
211: processor
212: memory (an example of a storage device in the claims)
241: display
25: storage device (an example of a storage device in the claims)
41: computer
411: processor
412: memory (an example of a storage device in the claims)
441: display
45: storage device (an example of a storage device in the claims)
98: status display unit
99: display item switching unit
Ｓ: Shipbuilding support screen

Claims (13)

As a shipbuilding support system when the main ship is supported by at least one tug boat and moved to or settled on a quay wall,
a storage device storing a chart image including the quay wall, a ship figure, and a tug boat figure;
at least one detection device for detecting the position and orientation of the ship and the position and orientation of the tug boat;
at least one display;
and a processor for displaying a shipbuilding support screen on the display;
The shipbuilding support screen includes the chart image, the ship figure arranged on the chart image based on the position and orientation of the ship detected by the detection device, the position of the tug boat detected by the detection device, and Based on the orientation, the tug boat figure arranged on the sea-island image, and the propulsion force direction generated by the tugboat thruster for each of a plurality of tugboat thrusters arranged on the tug boat figure and mounted on the tug boat Shipbuilding support system, characterized in that it includes information on the tug boat thruster representing the. According to claim 1,
The tug boat thruster information is disposed on the screen so that the relative position of the tug boat thruster with respect to the tug boat and the relative position of the tug boat thruster information with respect to the tug boat figure correspond to each other. support system. 3. The method of claim 1 or 2,
The shipbuilding support screen, disposed on the main ship figure, shipbuilding support system, characterized in that it comprises a ship ship rudder figure indicating the rudder angle mounted on the ship ship. 4. The method according to any one of claims 1 to 3,
The shipbuilding support screen, disposed on the chart image, further includes a speed vector indicating a traveling direction and speed of the main ship. 5. The method according to any one of claims 1 to 4,
The shipbuilding support screen further includes a ship thrust vector indicating the direction and magnitude of the thrust acting on the ship, and a tug boat thrust vector indicating the direction and magnitude of the thrust acting on the tug boat. system. 6. The method according to any one of claims 1 to 5,
The shipbuilding support screen, shipbuilding support system, characterized in that it further comprises a quay wall type figure indicating the type of the quay wall. 7. The method according to any one of claims 1 to 6,
The shipbuilding support screen, which appears when the main line and the tug boat reach a predetermined connection position, further comprises a connection instruction text instructing to connect the tug boat and the main ship with a tug line. 8. The method of claim 7,
The shipbuilding support screen appears when the main ship and the tug boat reach a predetermined disconnection position, and further includes a disconnection instruction text instructing to disconnect the tugline. 7. The method according to any one of claims 1 to 6,
The shipbuilding support screen further comprises a channel indication text indicating a VHF channel used by the transceiver. According to claim 1,
The shipbuilding support screen further includes a planned route of the tug boat when the tug boat superimposed on the chart image approaches the main ship. 11. The method of claim 10,
The shipbuilding support screen, shipbuilding support system, characterized in that it further comprises the actual route of the tug boat displayed overlapping the planned route. According to claim 1,
It is mounted on each of the tug boat, further comprising a camera for photographing the front of the tug boat,
The shipbuilding support screen includes at least one photographed image captured by the camera. Displaying a shipbuilding support screen on at least one display by the processor of the information terminal supporting the shipbuilding of the ship and the tug boat when the ship is supported by at least one tug boat and moved to or focused on the quay wall,
The shipbuilding support screen is a chart image including the quay wall, a ship figure disposed on the chart image corresponding to the position and orientation of the ship, and a chart disposed on the chart image corresponding to the location and orientation of the tug boat. A tug boat figure, and tug boat thruster information that is disposed on the tug boat figure and indicates the direction of the propulsion force generated by the tug boat thruster with respect to each of a plurality of tug boat thrusters mounted on the tug boat How to support shipbuilding with

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