WO2014115352A1 - 船舶の航行速度を決定するための装置、プログラム、記録媒体および方法 - Google Patents
船舶の航行速度を決定するための装置、プログラム、記録媒体および方法 Download PDFInfo
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- WO2014115352A1 WO2014115352A1 PCT/JP2013/067648 JP2013067648W WO2014115352A1 WO 2014115352 A1 WO2014115352 A1 WO 2014115352A1 JP 2013067648 W JP2013067648 W JP 2013067648W WO 2014115352 A1 WO2014115352 A1 WO 2014115352A1
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- navigation
- fuel consumption
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
Definitions
- the present invention relates to a technique for determining the navigation speed of a ship.
- the navigation speed of a ship depends on the weather and marine environment (wind speed, wind direction, wave height, tidal current, etc.) that the ship encounters while navigating. Therefore, for example, even if the same ship sails on the same route with the same load under the same condition that the output of the drive device (engine etc.) that drives the propeller of the ship is constant or the speed of the watercraft is constant, the ship The time required to navigate is not necessarily the same.
- Patent Document 1 A technique for avoiding the above disadvantages has been proposed.
- the ship speed reaches the destination at the scheduled arrival time, and the speed of the ship against water is constant in any section with respect to the tide of the speed predicted for each of the plurality of sections constituting the route.
- a mechanism has been proposed in which the ship speed of each section satisfying the condition is calculated by solving simultaneous equations and the wing angle of the ship is automatically controlled so that the ship navigates at the calculated ship speed.
- the amount of fuel consumed to navigate a ship varies depending on the distribution of the ship's navigation speed (ship speed). For example, even if the same ship navigates the same route at the same time, it is common to navigate at a constant speed throughout the entire journey, and when sailing at high speed in the first half and at low speed in the second half. In particular, the latter increases the fuel consumption.
- an object of the present invention is to provide a means that makes it possible to manage the navigation of a ship so that the fuel consumption does not exceed a value planned in advance.
- the present invention provides means for acquiring planned fuel consumption data indicating fuel consumption planned for navigation of a ship from a departure point to a destination point, and the purpose from the departure point of the ship.
- Fuel consumption data indicated by the planned fuel consumption data is obtained by means for obtaining fuel consumption data and fuel consumption predicted for navigation from the current point to the destination point performed by the ship in an environment indicated by the environmental data.
- the navigation speed from the current point of the ship to the destination point is set so as not to exceed the fuel consumption obtained by subtracting the fuel consumption indicated by the spent fuel consumption data from the amount.
- the means for determining the navigation speed specifies a fuel consumption predicted for navigation performed by the ship under the environment indicated by the environmental data for each of the plurality of navigation speeds, and the specified fuel consumption A configuration may be adopted in which a navigation speed that results in a fuel consumption that does not exceed a fuel consumption indicated by the planned fuel consumption data among the quantities is determined as a navigation speed from the current point of the ship to the destination point. .
- the means for determining the navigation speed may be, for each environment, indicating fuel consumption related to navigation performed at the navigation speed with respect to each of the plurality of navigation speeds.
- the fuel consumption data for each speed is stored, and the means for determining the navigation speed is based on the fuel consumption data for each speed for each environment, and the fuel consumption predicted for the navigation performed by the ship under the environment indicated by the environmental data.
- a configuration may be employed in which the amount is specified for each of a plurality of navigation speeds.
- a configuration may be employed in which the means for determining the navigation speed specifies the predicted fuel consumption based on the spent fuel consumption data.
- the means for determining the navigation speed assigns a navigation speed to each of two or more section routes obtained by dividing a route from the current point of the vessel to the destination point, and the vessel A total value of predicted fuel consumption related to navigation performed at each of the two or more section routes at a navigation speed assigned to the section route is specified as a predicted fuel consumption related to navigation from the current location to the destination location.
- the environmental data indicates a weather or sea environment for each of different timings
- the means for determining the navigation speed is a navigation speed assigned to the section navigation path for each of the two or more section navigation paths.
- the means for determining the navigation speed is a current position performed by the ship when the navigation speed of the section route is changed by an amount determined by a predetermined rule for each of the two or more section routes.
- the fuel consumption related to the navigation from the current point to the destination point is predicted, and at least one process of adopting the navigation speed that brings the minimum fuel consumption among the predicted fuel consumptions is performed.
- a configuration may be adopted in which the navigation speed is determined.
- the means for determining the navigation speed determines a navigation speed indicated by a rotation speed of a propeller used for navigation by the ship as a navigation speed from the current point of the ship to the destination point. Such a configuration may be adopted.
- the means for determining the navigation speed determines a navigation speed indicated by a blade angle of a propeller used for navigation by the ship as a navigation speed from the current point of the ship to the destination point. Such a configuration may be adopted.
- the present invention also provides a computer for acquiring planned fuel consumption data indicating fuel consumption planned for navigation of a ship from the departure point to the destination point, and from the departure point of the ship to the destination point.
- the fuel consumption amount indicated by the planned fuel consumption amount data is a process for obtaining consumption amount data and a fuel consumption amount predicted for navigation from the current point to the destination point performed by the ship in the environment indicated by the environmental data.
- the navigation speed from the current point of the ship to the destination point is set so as not to exceed the fuel consumption reduced by the fuel consumption indicated by the spent fuel consumption data. It provides a program for executing a process of constant to.
- the present invention also provides a computer for acquiring planned fuel consumption data indicating fuel consumption planned for navigation of a ship from the departure point to the destination point, and from the departure point of the ship to the destination point.
- the fuel consumption amount indicated by the planned fuel consumption amount data is a process for obtaining consumption amount data and a fuel consumption amount predicted for navigation from the current point to the destination point performed by the ship in the environment indicated by the environmental data.
- the navigation speed from the current point of the ship to the destination point is set so as not to exceed the fuel consumption reduced by the fuel consumption indicated by the spent fuel consumption data.
- a computer-readable recording medium for persistently storing a program for executing a process of constant to.
- a method comprising determining the sailing speed from standing position to the said destination point.
- the fuel consumption predicted to be used in the navigation from the current point to the destination point is specified according to the weather and the environment related to the sea state that the ship is expected to encounter.
- the target speed of the ship is determined so that the sum of the fuel consumption already used and the fuel consumption expected to be used in the future does not exceed the fuel consumption planned for the entire cruise. . If the ship navigates at the target speed, the actual fuel consumption will not exceed the planned fuel consumption (threshold).
- the ship speed determination system 1 is configured so that the amount of fuel used from the departure point to the destination point is equal to or less than the fuel consumption previously planned for the navigation at the start and during the navigation of the ship. This is a system for continuously notifying a ship operator of a desired ship speed (navigation speed).
- FIG. 1 is a diagram schematically showing the overall configuration of the ship speed determination system 1.
- the ship speed determination system 1 includes a ship terminal device 11 that is mounted on a ship 9 and operated by a ship operator of the ship 9. The ship 9 navigates on the route from the departure point S to the destination point E.
- the ship speed determination system 1 performs wireless data communication with the ship terminal device 11 via the communication satellite 8, and a desired navigation speed (hereinafter “target navigation speed”) of the ship 9 with respect to the ship terminal apparatus 11.
- a navigation speed determination server device 12 for transmitting target navigation speed data which is data indicating the above.
- the target navigation speed is the fuel consumption used in the entire journey from the departure point S to the destination point E.
- it is a speed predicted not to exceed “planned fuel consumption”.
- the method for determining the target navigation speed will be described in the description of the operation described later.
- the ship speed determination system 1 is provided with a weather sea state forecast data distribution server device 13 that distributes weather sea state forecast data (playing the role of environmental data) to the navigation speed determination server device 12.
- the meteorological and oceanographic forecast data is data related to the weather and sea conditions that are predicted for various timings during the navigation period of the ship 9 on the route of the ship 9, and is provided by operators that forecast weather and sea conditions around the world. It is.
- the ship terminal device 11, the navigation speed determination server device 12, and the weather and sea state forecast data distribution server device 13 are general computers including communication means for performing data communication with other information processing devices via a communication network. is there. That is, the ship terminal device 11, the navigation speed determination server device 12, and the weather and sea state forecast data distribution server device 13 each store basic programs such as a CPU 101 and a BIOS that perform various data processing according to the program, as shown in FIG.
- ROM 102 that stores data
- RAM 103 that temporarily stores data and is used as a work area by CPU 101
- HDD 104 that stores programs such as an OS and application programs, and other various data, and communication that performs data communication with other information processing apparatuses
- An IF (InterFace) 105 and an input / output IF 106 for inputting / outputting various data to / from external devices such as a display and a keyboard are provided.
- FIG. 3 is a diagram schematically showing a functional configuration of the ship terminal device 11. That is, the ship terminal device 11 functions as a device including the functional configuration unit illustrated in FIG. 3 by executing processing according to an application program stored in the HDD 104 of the ship terminal device 11.
- the ship terminal device 11 includes a navigation log data receiving unit 111 that receives navigation log data from a sensor group 91 included in the ship 9 as a functional component.
- the navigation log data refers to the environment related to marine conditions such as weather and waves that the ship 9 actually encountered in the navigation from the departure point S to the current point of the ship 9 (hereinafter referred to as “current point K”),
- Reference numeral 9 denotes data indicating the route of actual navigation. More specifically, the navigation log data includes data indicating the current position of the ship 9, data indicating the speed of the ship against the ground and the speed of water, data indicating the wind direction and speed, data indicating the wave height, wave direction, and wave period.
- the sensor group 91 is a group of various sensors provided in the ship 9 in order to generate the above-described navigation log data.
- the sensor group 91 includes, for example, a GPS that measures the current position of the ship 9, a water speed sensor that measures the speed of the ship 9 against water, a wind sensor that measures the wind direction and speed, a wave height, a wave direction, and a wave period.
- a wave sensor for measuring, an azimuth sensor for measuring the direction of the bow of the ship 9, a fuel flow rate sensor for measuring fuel consumption, and the like are included.
- the ship terminal device 11 includes, as a function configuration unit, a navigation log data transmission unit 112 that transmits the navigation log data received by the navigation log data reception unit 111 from the sensor group 91 to the navigation speed determination server device 12, and the navigation log data.
- a navigation log data transmission unit 112 that transmits the navigation log data received by the navigation log data reception unit 111 from the sensor group 91 to the navigation speed determination server device 12, and the navigation log data.
- the target navigation speed data receiving means 113 for receiving the target navigation speed data transmitted from the navigation speed determination server device 12 in response to the transmission of the transmission means 112, and the target navigation speed data received by the target navigation speed data receiving means 113.
- a notification means 114 for notifying the operator of the ship 9 of the indicated target navigation speed is provided.
- FIG. 4 is a diagram schematically illustrating a functional configuration of the navigation speed determination server device 12. That is, the navigation speed determination server device 12 functions as a device including the functional configuration unit shown in FIG. 4 by executing processing according to the application program stored in the HDD 104 of the navigation speed determination server device 12.
- the navigation speed determination server device 12 includes a navigation parameter acquisition unit 121 (which serves as a unit for acquiring planned fuel consumption data) that receives a navigation parameter as a functional component.
- the navigation parameters are data that basically does not change during the navigation of the ship 9. Specifically, the navigation data that indicates the route of the ship 9, the departure time data that indicates the departure time, and the target arrival time that indicates the target arrival time.
- Artificially determined parameters such as data and planned fuel consumption data indicating the planned fuel consumption, draft data indicating the draft of the ship 9, trim data indicating the trim (inclination in the front-rear direction) of the ship 9, and the hull It is composed of parameters indicating the state of the ship 9 (parameters causing change in performance) such as data indicating the degree of dirt, data indicating the degree of propeller dirt, and data indicating the number of revolutions of the propeller.
- the draft data and trim data are, for example, data input by the ship operator and the like by visually observing the hull at the time when loading of the ship 9 is completed, or the trim sensor included in the sensor group 91 Is the data specified by measurement and transmitted to the ship terminal device 11.
- the draft data and trim data are transmitted from the ship terminal device 11 to the target speed determination server device 12 via the communication satellite 8, for example, before the start of navigation.
- data indicating artificially determined parameters such as route data is determined by a land operator in charge of managing the navigation of the ship 9 and directly input to the navigation speed determination server device 12.
- data indicating the state of the ship 9 such as data indicating the degree of hull contamination is estimated based on, for example, the age of use of the ship 9 by a person in charge of land operation, and the navigation speed determination server device 12 receives the data. It is input directly.
- the navigation speed determination server device 12 functions as a functional component, and meteorological sea state forecast data receiving means 122 (plays a role as a means for acquiring environmental data) that receives meteorological sea state forecast data from the weather sea state forecast data distribution server device 13. And navigation log data receiving means 123 (playing the role of means for acquiring spent fuel consumption data) for receiving the navigation log data transmitted from the ship terminal device 11. Further, the navigation speed determination server device 12 determines the target navigation speed based on the navigation parameters, the navigation log data, and the weather and sea forecast data, and generates the target navigation speed data (means for determining the navigation speed). The target navigation speed data transmission means 125 for transmitting the target navigation speed data to the ship terminal device 11 is provided.
- the target navigation speed determination means 124 of the navigation speed determination server device 12 has a storage means 1241 and stores case data indicating the fuel consumption of the ship 9 under various conditions (the role of fuel consumption data for each speed per environment).
- a case DB DataBase which is a database to be stored is stored in the storage unit 1241.
- FIG. 5 shows the data structure of the case DB.
- Case data stored in the case DB are parameters indicating conditions for navigation of the ship 9, such as wind direction, wind speed, wave height, wave direction, wave period, tide speed, tide direction, draft, trim, degree of hull contamination, propeller contamination
- Each of the case data stored in the case DB is, for example, a parameter indicated by the wind direction to the ground speed for a physical simulation model of a ship 9 built in a computer (it is a known technique and its explanation is omitted). Is input, and the data generated by recording the fuel consumption calculated by the computer.
- FIG. 6 is a diagram showing a flow of processing executed by the boat speed determination system 1 for determining the target navigation speed before the navigation of the ship 9 is started.
- the processing of the boat speed determination system 1 before the start of navigation is started, for example, by the input of navigation parameters to the navigation speed determination server device 12 by a person in charge of land operation as a trigger.
- the navigation speed determination server device 12 Request data for instructing transmission of forecast data is generated and transmitted to the meteorological and sea forecast data distribution server device 13 (S002). This request data includes route data included in the navigation parameters.
- the meteorological and sea state forecast data distribution server device 13 sends the latest meteorological and sea state forecast data regarding each of the areas through which the route indicated by the route data included in the request data received from the navigation speed determination server device 12 passes to the navigation speed determination server device 12. Transmit (S003).
- the target navigation speed determination means 124 of the navigation speed determination server device 12 starts the series of processes for determining the target navigation speed when acquiring the weather sea state prediction data transmitted from the weather sea state prediction data distribution server device 13. .
- the target navigation speed determining means 124 sets the ship speed for each of the sections (hereinafter referred to as “legs”) obtained by dividing the route from the departure point S to the destination point E in determining the target navigation speed, A predicted value of fuel consumption when the ship 9 navigates according to the set ship speed is calculated.
- the i-th leg (i is a natural number satisfying 1 ⁇ i ⁇ n) in the navigation direction is referred to as leg (i).
- end points (start point, end point) of each leg on the route are determined by the ship operator or land operator, and the end point of each leg is included in the route data input to the navigation speed determination server device 12. Contains data to show.
- FIG. 7 is a diagram showing the relationship between the legs and the ship speed and the like corresponding to each leg.
- the distances l i to l n of the legs (1) to (n) are fixed values specified by data indicating the end points of the legs included in the route data.
- the target navigation speed desired to be finally specified by the target navigation speed determination means 124 is a desirable ship speed (ground ship speed) v 1 to v n (the ship speed to ground) when the ship 9 navigates each of the legs (1) to (n).
- ship speed group (referred to as v 1 to v n )”.
- the desirable ship speed group v 1 to v n means that the consumption of fuel used for navigation is the planned fuel consumption.
- the ship speed group v 1 to v n does not exceed.
- the target navigation speed determining means 124 sets speeds v 1 to v n that satisfy the following conditions as initial values of the temporary target navigation speed (S004).
- the temporary target navigation speed is a group of speeds that are candidates for the target navigation speed.
- the predicted arrival time (t n described later) matches the target arrival time.
- the target navigation speed determination means 124 calculates the navigation times T 1 to T n of the legs (1) to (n) according to the following formulas. (Where i is an arbitrary natural number of 1 ⁇ i ⁇ n)
- the target navigation speed determining means 124 calculates predicted values of times t 1 to t n at which the ship 9 arrives at the end points of the legs (1) to (n) according to the following formula. (However, time t 0 is the time when ship 9 departs departure point S)
- the target navigation speed determination means 124 is a parameter indicating the conditions related to the weather and sea conditions that the ship 9 is expected to encounter at the timing of navigating each of the legs (1) to (n) based on the weather and sea state forecast data.
- the parameters indicating conditions relating to weather and sea conditions are values indicating wind direction, wind speed, wave height, wave direction, wave period, tide speed, and tide direction.
- these parameter groups specified for the leg (i) will be referred to as a parameter group E i .
- the target region and the leg for which the meteorological and oceanographic forecast data indicate parameters such as wind direction do not necessarily match.
- the parameter indicated by the weather and sea state forecast data may indicate a value such as a wind direction related to an area extending over a plurality of legs.
- a plurality of parameters such as a plurality of wind directions may be given to one leg.
- the target navigation speed determination means 124 specifies the parameter corresponding to the leg by performing a weighted average of the values of the two or more parameters according to the ratio of the area corresponding to each parameter occupying the leg.
- the target navigation speed determination means 124 specifies the fuel consumption e i of the fuel used when the ship 9 navigates the leg (i) based on the case DB (FIG. 5). More specifically, when the data indicating the draft and the data indicating the trim included in the navigation parameters are the parameter group S, and the data indicating the degree of hull contamination and the data indicating the degree of propeller contamination are the parameter group D, the target navigation is performed.
- each data of wind-tide direction is in the vicinity of the group of parameters E i (a predetermined width to Chuchi a value indicating parameter group E i is
- Each of the draft and trim data is in the vicinity of the parameter group S (takes a value within a predetermined range with the value indicated by the parameter group S as an intermediate value)
- Each example of data indicating the degree of propeller contamination is in the vicinity of the parameter group D (takes a value within a predetermined range with the value indicated by the parameter group D as an intermediate value)
- Perform specific fuel consumption e i by performing the interpolation process known in fuel consumption of a plurality of case data.
- the target cruising speed determining means 124 fuel consumption predicted to be used in each leg when navigating each leg (1) to leg (n) in the temporary target cruising speed v 1 ⁇ v n
- the amount of fuel consumption predicted for each leg f 1 to f n as a quantity is calculated according to the following formula.
- the target navigation speed determination means 124 is used when the ship 9 navigates at the temporary target navigation speeds v 1 to v n on the route from the current point K (in this case, the departure point S) to the destination point E.
- the temporary predictive fuel consumption F F is the fuel consumption that is predicted to calculate according to the following equation (S005).
- the target cruising speed determining means 124 calculates the provisional estimated usage fuel consumption F F when the ship 9 makes a sail in accordance with the tentative target cruising speed, followed by temporary predictive Fuel consumption was calculated F F is equal to or less planned fuel consumption F MAX (S006).
- the planned fuel consumption amount F MAX is a value indicated by the planned fuel consumption amount data included in the navigation parameters.
- step S006 if the provisional estimated usage fuel consumption F F exceeds planned fuel consumption F MAX (S006; No), the target navigation speed determining means 124 in the present provisional target cruising speed v 1 ⁇ v n one boat speed v i sequentially selected, temporary predictive fuel used when reduced selected boat speed v i by a predetermined ratio (or change by an amount determined by the predetermined rule as decreased by a predetermined amount) of calculating the consumption F F, to identify the smallest of the calculated n number of hypothetical estimated usage fuel consumption F F.
- the target navigation speed determination means 124 substitutes 1 for a variable i (S007). Subsequently, the target navigation speed determining means 124 multiplies v i by a predetermined constant c (c ⁇ 1) (S008). Subsequently, the target navigation speed determination means 124 calculates a temporary predicted used fuel consumption F F (i) corresponding to the temporary target navigation speeds v 1 to v n including v i multiplied by the constant c in step S008 ( S009).
- the procedure of calculation of the provisional estimated usage fuel consumption F F (i) at step S009 is the same as the procedure for calculating the provisional estimated usage fuel consumption F F at step S005 described above.
- the target navigation speed determination unit 124 temporarily stores the temporary predicted used fuel consumption F F (i) calculated in step S009 in the storage unit 1241 (S010), and v i is multiplied by the constant c first. V i is divided by a constant c (S011). Subsequently, the target navigation speed determination means 124 determines whether or not the current i is n (S012). If the current i is not n (S012; No), the target navigation speed determination means 124 adds 1 to i (S013), and then repeats the processes of steps S008 to S012. As a result, the storage unit 1241 temporarily stores the temporary predicted used fuel consumption amount F F (1) to the temporary predicted used fuel consumption amount F F (n).
- the storage unit 1241 stores the temporary predicted used fuel consumption amount F F (j) (which takes a minimum value from the temporary predicted used fuel consumption amount F F (1) to the temporary predicted used fuel consumption amount F F (n) ( However, j specifies an arbitrary natural number satisfying 1 ⁇ j ⁇ n (S014).
- the target navigation speed determination means 124 uses v j that has been previously returned to the original value in S011 to calculate the temporary predicted use fuel consumption F F (j) that takes the minimum value. In order to return to j again, v j is multiplied by a constant c (S015).
- the target navigation speed determining means 124 sets the temporary predicted used fuel consumption amount F F (j) specified in step S014 as the new temporary predicted used fuel consumption amount F F , that is, the temporary predicted used fuel consumption. the amount F F it is determined whether or less planned fuel consumption F MAX.
- step S006 temporary predictive until use fuel consumption F F becomes less planned fuel consumption F MAX
- steps S006 ⁇ S015 are repeated. If it is determined in step S006 that the temporary predicted used fuel consumption FF is equal to or less than the planned fuel consumption F MAX (S006; Yes), the target navigation speed determination means 124 is set as the temporary target navigation speed at that time.
- the ship speed groups v 1 to v n are determined as the target navigation speeds v 1 to v n (S016).
- the navigation speed determination server device 12 uses the target navigation speed data indicating the target navigation speeds v 1 to v n to the ship. It transmits to the terminal device 11 (S017).
- the ship terminal device 11 is connected to the ship terminal device 11 for the first leg, that is, the ship speed v 1 of the leg (1) among the target navigation speeds indicated by the target navigation speed data received from the navigation speed determination server apparatus 12. It is displayed on the display (S018).
- FIG. 8 is a diagram schematically showing an example of a screen displayed on the display connected to the ship terminal device 11 in step S018.
- the boat operator can know the desired boat speed when navigating the leg (1).
- the boat speed to be notified to the operator is the boat speed in the leg that the ship 9 is sailing from now or the leg that is currently sailing. Therefore, the target navigation speed data transmitted from the navigation speed determination server device 12 to the ship terminal device 11 in step S017 does not have to indicate all of the target navigation speeds v 1 to v n determined in step S016. Of these, data indicating the ship speed v 1 related to the leg (1) may be used.
- the target arrival time does not necessarily have to be observed when the ship 9 navigates in accordance with the target navigation speed determined by the ship speed determination system 1.
- the ship speed determination system 1 it is an absolute condition that the amount of fuel actually used in navigation does not exceed the planned fuel consumption, and the target arrival time must be changed depending on the meteorological conditions and sea conditions encountered. It is positioned that there may not be.
- the vessel operator starts navigation of the ship 9 from the departure point S, that is, the starting point of the leg (1) at the target navigation speed displayed on the screen illustrated in FIG.
- the target navigation speed is updated at regular time intervals during the navigation of the ship 9. Below, the process which the ship speed determination system 1 performs during the navigation of the ship 9 is demonstrated.
- FIG. 9 is a diagram showing a flow of processing executed by the ship speed determination system 1 for updating the target navigation speed while the ship 9 is navigating.
- Most of the processing flow shown in FIG. 9 (processing flow during navigation of the ship 9) is common or similar to the processing flow shown in FIG. 6 (processing flow before navigation of the ship 9). Therefore, in FIG. 9, the same or similar processing as the processing in FIG. 6 is performed by adding “′” to the step number used in FIG. 6.
- step S002 ′ in FIG. 9 indicates that the process is common or similar to step S002 in FIG.
- the current point K of the vessel 9 that is sailing is a distance l k ⁇ a (where a is 0 ⁇ a ⁇ 1) from the starting point of the leg (k) (where k is an arbitrary natural number satisfying 1 ⁇ k ⁇ n). Any real number))).
- the ship terminal device 11 generates navigation log data according to data continuously received from the sensor group 91 of the ship 9, and transmits the newly generated navigation log data to the navigation speed determination server device 12 every elapse of a predetermined time.
- the navigation log data includes data indicating the fuel consumption (fuel flow rate) actually used by the ship 9 for navigation.
- the navigation speed determination server device 12 stores the navigation log data received from the ship terminal device 11 in the storage unit 1241 (S102).
- the target navigation speed determination means 124 of the navigation speed determination server device 12 is triggered by reception and storage of navigation log data transmitted from the ship terminal device 11 every elapse of a predetermined time. A series of processes for updating is started.
- the target navigation speed determination unit 124 first determines that the ship 9 is based on the navigation log data (data indicating the fuel flow rate included in the navigation) from the departure point S to the current point K stored in the storage unit 1241. calculating the actual spent fuel consumption F P is a fuel consumption that is used for navigation to the current point K from (S103).
- the target navigation speed determination means 124 requests the weather and sea state forecast data distribution server device 13 for the weather and sea state forecast data regarding the route from the current point K to the destination point E (S002 '), and the weather and sea state forecast data distribution server device.
- 13 transmits the latest weather and sea state forecast data to the navigation speed determination server device 12 (S003 ').
- the target navigation speed determination means 124 uses the current target navigation speeds v k to v n as the temporary target navigation speeds, based on the latest meteorological sea state forecast data received in step S003 ′, according to the following formula:
- the used fuel consumption FF is calculated (S005 ').
- step S005 ′ the target navigation speed determination means 124 uses the fuel consumption (the first term of the above equation) predicted to be required for the navigation of the non-navigating part of the currently navigating leg (k), the leg ( consumption of k + 1) fuel is expected to take on the sailing-leg (n) the sum of the (second term in the above formula), it is calculated as the temporary estimated usage fuel consumption F F at the current point K.
- Steps S007 ′ to S015 ′ are different from steps S007 to S015 in that the temporary target navigation speed is the speed group v 1 to v n in steps S007 to S015, whereas steps S007 ′ to S015. in the process of 'are only in temporary target cruising speed is the speed group v k ⁇ v n.
- Step S006 ' in the determination of the provisional prediction if using fuel consumption F F is less than or equal to the amount obtained by subtracting the spent fuel consumption F P from the planned fuel consumption F MAX (S006'; Yes) , the target navigation speed determining means 124 for determining the ship speed group v k ⁇ v n that is set at this time as the temporary target cruising speed as a new target cruising speed v k ⁇ v n (S016 ' ).
- step S016 when the target cruising speed v k ⁇ v ship according n 9 is determined in step S016 'is sailing, showing the relationship between time and the fuel consumption from the start point S up to the destination point E FIG.
- a provisional predicted fuel consumption amount FF that does not exceed the planned fuel consumption amount F MAX is specified.
- the temporary target cruising speed v k ⁇ v n provide temporary predictive Fuel consumption F F identified is determined as a new target cruising speed v k ⁇ v n.
- the target indicating the target cruising speed determining means 124 determines a new target cruising speed v k ⁇ v n by is performed, sailing speed determining server device 12 the new target cruising speed v k ⁇ v n
- the navigation speed data is transmitted to the ship terminal device 11 (S017 ′), and the ship terminal device 11 instructs the display to update the contents of the screen illustrated in FIG. 8 according to the received new target navigation speed data (S018 ′).
- the ship speed determination system 1 if the operator of the ship 9 operates the ship 9 so as to navigate at the target navigation speed displayed on the display, the entire navigation from the departure point S to the destination point E is performed. Thus, the consumption of fuel actually used by the ship 9 is suppressed to a fuel consumption (planned fuel consumption) or less planned in advance.
- the navigation speed determination server device 12 is arranged on the ground and adopts a configuration in which data communication is performed with the ship terminal device 11 via the communication satellite 8. .
- the navigation speed determination server device 12 is mounted on the ship 9, and the ship terminal device 11 and the navigation speed determination server device 12 are arranged, for example, in the same casing (for example, the same computer is connected to the ship terminal device).
- 11 and an application program for the navigation speed determination server device 12 may be employed.
- the ship terminal device 11 and the navigation speed determination server device 12 do not require data communication via the communication satellite 8, and when configured as devices in different housings, they are mutually connected via a LAN installed in the ship 9.
- Data communication may be performed, and when configured as devices in the same casing, data may be transferred to each other via a data bus.
- the navigation speed determination server device 12 mounted on the ship 9 may be configured to perform data communication with the meteorological sea state forecast data distribution server device 13 via the communication satellite 8.
- a function expression indicating the relationship between the parameter and the fuel consumption is provided instead of using the case data generated using the physical simulation model to determine the target navigation speed, for example, based on the case data calculated according to the physical simulation model.
- a configuration may be adopted in which the fuel efficiency corresponding to the parameter is calculated in accordance with a function formula in advance in determining the target navigation speed.
- case data generated from the navigation log data in the same navigation is replaced with other case data (example data generated by a physical simulation model, or case data generated from navigation log data of different past navigations). )
- case data that correctly indicates the characteristics of the ship 9 in the navigation is accumulated in the case DB. It will be used to specify the target navigation speed for subsequent navigation.
- the case data generated from the navigation log data in the same navigation is not used preferentially, for example, even if the fuel consumption is the same, it can arrive at a time closer to the target arrival time, etc. More desirable navigation can be achieved.
- the target navigation speed is determined in units of sections (legs) obtained by dividing the route into n.
- the length of this leg can be set arbitrarily. For example, if the length of each leg is set to a short distance of about 0.1 nautical miles (185.2 meters) to 1 nautical mile (1852 meters), the target navigation speed will be substantially increased with the passage of time or the progress of navigation. Is specified as a continuously changing value.
- the length of the leg is desirably set so long that the decrease in the fuel efficiency accompanying such a change in the ship speed is not affected.
- the target navigation speed it is not essential to divide the route into legs.
- a function formula that calculates fuel consumption according to parameters wind direction to ground speed
- the rate such that less amount obtained by subtracting the spent fuel consumption F P provisionally estimated usage fuel consumption F F from the planned fuel consumption F MAX, for example, may be configured to identify is adopted for each predetermined time.
- the target navigation speed is expressed not as a unit of leg but as a group of ship speeds given every predetermined time.
- this invention it is also possible to apply this invention to a part of all the navigations of one navigation. In this case, at least one of the departure point and the destination point is set as a halfway point of the entire route.
- the ship terminal apparatus 11 instructs the display of the target navigation speed indicated by the target navigation speed data acquired from the navigation speed determination server apparatus 12 to the operator of the ship 9.
- a configuration for notifying the target navigation speed is adopted.
- the propeller rotational speed required for the ship terminal device 11 to achieve the target navigation speed and the blade angle (when the ship 9 adopts a variable pitch propeller) are calculated and calculated.
- a configuration is adopted in which instruction data for instructing increase / decrease of the propeller rotation speed and increase / decrease of the blade angle is output to the control device for controlling the propeller rotation speed and the blade angle of the ship 9 so that the propeller rotation speed and the blade angle are obtained. Also good.
- the target navigation speed determined by the sailing speed determination server device 12 is configured to be expressed in the form of velocity groups v k ⁇ v n is employed.
- the speed of a ship using a fixed pitch propeller (vs. water speed) is generally a monotonically increasing function of the propeller speed. Accordingly, the target navigation speed is changed to a propeller rotational speed group r k to r n (where r k is the propeller rotational speed in the leg (k)) instead of the ship speed group v k to v n.
- a configuration expressed by the number of rotations may be employed.
- the speed (vs. water speed) of the ship using a fixed pitch propeller is determined by a combination of the propeller rotational speed and the blade angle. Therefore, the target navigation speed is changed to the propeller rotation speed group r k to r n (where r k is the propeller rotation speed in the leg (k)) and the blade angle p k instead of the ship speed group v k to v n. ⁇ P n ( where pk is the blade angle in leg (k)), (r k , p k ), (r k + 1 , p k + 1 ), ..., (r n , p n )
- a configuration expressed in a form may be adopted. In this case, the case data (FIG.
- the target navigation speed determination means 124 indicates the target navigation speed.
- the configuration may be such that case data corresponding to the combination of the propeller rotational speed and the blade angle set to the temporary target navigation speed is extracted and used.
- the update processing (FIG. 9) of the target navigation speed during the navigation of the ship 9 is the navigation log data that is performed from the ship terminal apparatus 11 to the navigation speed determination server apparatus 12 every predetermined time.
- a configuration is employed in which transmission is performed as a trigger.
- Various other triggers may be employed as triggers for updating the target navigation speed during navigation of the ship 9. For example, regardless of the timing of transmission of the navigation log data from the ship terminal device 11 to the navigation speed determination server device 12, the target navigation speed update process is executed every predetermined time set in the navigation speed determination server device 12. The structure which is made may be adopted.
- the weather and sea state forecast data distribution server device 13 periodically transmits the weather and sea state forecast data to the navigation speed determination server device 12 without waiting for a request from the navigation speed determination server device 12.
- the navigation speed determination server device 12 may be configured to execute the update process of the target navigation speed with the reception of the weather and sea state forecast data as a trigger.
- the ship terminal device 11 and the navigation speed determination server device 12 adopt a configuration realized by causing a general computer to execute processing according to an application program.
- at least one of the ship terminal device 11 and the navigation speed determination server device 12 is configured as a so-called dedicated device that implements a functional configuration unit schematically illustrated in FIG. 3 or FIG. 4 in hardware. Also good.
- the target navigation speed determining means 124 configured not to perform a search for desirable more temporary predictive fuel consumption F F is employed.
- the temporary predictive Fuel consumption F F which is more than the amount that the target cruising speed determining means 124 by subtracting the used fuel consumption F P from the planned fuel consumption F MAX plurality particular, the plurality of temporary Of the predicted use fuel consumption FF , the most desirable according to a predetermined standard (for example, the predicted arrival time t n closest to the target arrival time, or the provisional predicted use fuel consumption FF is the smallest ones) may be configured to be used as temporary predictive fuel consumption F F used for determining a target cruising speed.
- a predetermined standard for example, the predicted arrival time t n closest to the target arrival time, or the provisional predicted use fuel consumption FF is the smallest ones
- a crossover ship speed is constant in all sailing boat speed group such as arrival time t n coincides with the target arrival time is predicted v 1 to v n are used as the initial temporary target navigation speed (S004). Further, in determining the target navigation speed during navigation, the target navigation speed set at that time is used as the temporary target navigation speed.
- the method of determining the temporary target navigation speed is not limited to this, and various other determination methods can be adopted. For example, based on the case data, the ship speed adopted under similar conditions in the past navigation may be specified for each leg, and the specified ship speed group may be used as the initial value of the temporary target navigation speed.
- the temporary predicted usage fuel consumption is obtained by subtracting one speed selected from a plurality of speeds constituting the temporary target navigation speed by a predetermined ratio. repeatedly calculating a F F, the method of repeating the selecting a minimum one from among the plurality of temporary predictive fuel consumption F F calculated (S006 ⁇ S015, or S006 ' ⁇ S015'), planned fuel consumption configured to search for a temporary predictive fuel consumption F F which is more than the amount obtained by subtracting the spent fuel consumption F P from the amount F MAX is employed.
- the method for searching the temporary estimated usage fuel consumption F F which is more than the amount obtained by subtracting the spent fuel consumption F P from the planned fuel consumption F MAX is not limited to the method employed in the embodiment described above, Various other methods can be employed. As an example, a new temporary target navigation speed is set by arbitrarily increasing / decreasing a plurality of speeds arbitrarily selected from a plurality of speeds constituting the temporary target navigation speed within a predetermined range. by calculating the provisional estimated usage fuel consumption F F corresponding to the target cruising speed, the provisional estimated usage fuel consumption F F which is more than the amount obtained by subtracting the spent fuel consumption F P from the planned fuel consumption F MAX A method of searching can be considered.
- the case data (FIG. 5) includes data indicating the tide speed and tide direction, and also includes data indicating the ground speed.
- the case data does not include data indicating the tide speed and the tide direction, and includes data indicating the water speed versus water instead of the data indicating the ground speed.
- the target navigation speed determination means 124 indicates the temporary target navigation speed in the target navigation speed determination process according to the navigation direction indicated by the route data and the tide speed and tide indicated by the weather and sea forecast data. What is necessary is just to set it as the structure which calculates the anti-water ship speed according to the ground ship speed, and extracts the example data according to the calculated anti-water ship speed.
- the apparatus exemplified by the ship terminal device 11 and the navigation speed determination server apparatus 12 the system exemplified by the ship speed determination system 1, and the computer function as the ship terminal apparatus 11 or the navigation speed determination server apparatus 12.
- a program, a computer-readable recording medium for continuously storing the program, and each device (a ship terminal device 11, a navigation speed determination server device 12, a meteorological sea state forecast data distribution server device 13) constituting the ship speed determination system 1 It is grasped as each of the processing methods to be executed.
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Abstract
Description
以下に本発明の一実施形態にかかる船速決定システム1を説明する。船速決定システム1は、船舶の航行開始時および航行中において、出発地点から目的地点に到着するまでに使用する燃料の消費量が予めその航行に対し計画された燃料消費量以下となるように、船舶の操船者に対し望ましい船速(航行速度)を継続的に通知するシステムである。
まず、船速決定システム1の構成を説明する。図1は、船速決定システム1の全体構成を模式的に示した図である。船速決定システム1は、まず、船舶9に搭載され、船舶9の操船者に操作される船舶端末装置11を備えている。なお、船舶9は、出発地点Sから目的地点Eに至る航路上を航行する。
続いて、船速決定システム1の動作を説明する。図6は、船速決定システム1が、船舶9の航行の開始前に目標航行速度の決定のために実行する処理のフローを示した図である。航行の開始前における船速決定システム1の処理は、例えば、陸の運航担当者による航行速度決定サーバ装置12に対する航行パラメータの入力をトリガとして開始される。陸の運航担当者により、航行速度決定サーバ装置12に対する航行パラメータの入力が行われ、航行速度決定サーバ装置12による航行パラメータの取得が行われると(S001)、航行速度決定サーバ装置12は気象海象予報データの送信を指示する要求データを生成し、気象海象予報データ配信サーバ装置13に送信する(S002)。この要求データは、航行パラメータに含まれる航路データを含んでいる。
(条件1)予測到着時刻(後述のtn)が目標到着時刻と一致する。
(条件2)仮目標航行速度v1~vnが一定。(すなわち、v1=v2=・・・=vn)
上述した実施形態は本発明の一具体例であって、本発明の技術的思想の範囲内で様々に変形することができる。以下にそれらの変形の例を示す。
Claims (12)
- 出発地点から目的地点に至る船舶の航行に関し計画された燃料消費量を示す計画燃料消費量データを取得する手段と、
前記船舶の前記出発地点から前記目的地点に至る航路上の気象または海象の環境を示す環境データを取得する手段と、
前記船舶の航行中に、前記船舶が前記出発地点から現在地点に至る航行において使用した燃料消費量を示す使用済み燃料消費量データを取得する手段と、
前記環境データが示す環境下で前記船舶が行う現在地点から前記目的地点までの航行に関し予測される燃料消費量が、前記計画燃料消費量データが示す燃料消費量から前記使用済み燃料消費量データが示す燃料消費量を減じた燃料消費量を超えないように、前記船舶の現在地点から前記目的地点までの航行速度を決定する手段と
を備える装置。 - 前記航行速度を決定する手段は、前記環境データが示す環境下で前記船舶が行う航行に関し予測される燃料消費量を複数の航行速度の各々に関して特定し、当該特定した燃料消費量のうち前記計画燃料消費量データが示す燃料消費量を超えない燃料消費量をもたらす航行速度を前記船舶の現在地点から前記目的地点までの航行速度として決定する
請求項1に記載の装置。 - 前記航行速度を決定する手段は、複数の環境の各々に関し当該環境下で前記船舶が複数の航行速度の各々に関し当該航行速度で行う航行に関する燃料消費量を示す環境毎速度毎燃料消費量データを記憶し、
前記航行速度を決定する手段は、前記環境毎速度毎燃料消費量データに基づき、前記環境データが示す環境下において前記船舶が行う航行に関し予測される燃料消費量を、複数の航行速度の各々に関して特定する
請求項2に記載の装置。 - 前記航行速度を決定する手段は、前記使用済み燃料消費量データに基づき、前記予測される燃料消費量を特定する
請求項1乃至3のいずれか1項に記載の装置。 - 前記航行速度を決定する手段は、前記船舶の現在地点から前記目的地点に至る航路を区分して得られる2以上の区間航路の各々に航行速度を割り当て、前記船舶が前記2以上の区間航路の各々を当該区間航路に割り当てた航行速度で行う航行に関する予測される燃料消費量の合計値を現在地点から前記目的地点までの航行に関し予測される燃料消費量として特定する
請求項1乃至4のいずれか1項に記載の装置。 - 前記環境データは異なるタイミングの各々に関する気象または海象の環境を示し、
前記航行速度を決定する手段は、前記2以上の区間航路の各々に関し当該区間航路に割り当てた航行速度で航行を行った場合に前記2以上の区間航路の各々を前記船舶が航行するタイミングに関し前記環境データが示す環境下で前記船舶が行う航行に関する予測される燃料消費量の合計値を現在地点から前記目的地点までの航行に関し予測される燃料消費量として特定する
請求項5に記載の装置。 - 前記航行速度を決定する手段は、前記2以上の区間航路の各々に関し当該区間航路の航行速度を所定の規則で定まる量だけ変化させた場合の前記船舶が行う現在地点から前記目的地点までの航行に関する燃料消費量を予測し、当該予測した当該燃料消費量のうち最小の燃料消費量をもたらす航行速度を採用する処理を1以上行うことにより、現在地点から前記目的地点までの航行速度を決定する
請求項5または6に記載の装置。 - 前記航行速度を決定する手段は、前記船舶の現在地点から前記目的地点までの航行速度として、前記船舶が航行に用いるプロペラの回転数により示される航行速度を決定する
請求項1乃至7のいずれか1項に記載の装置。 - 前記航行速度を決定する手段は、前記船舶の現在地点から前記目的地点までの航行速度として、前記船舶が航行に用いるプロペラの翼角により示される航行速度を決定する
請求項8に記載の装置。 - コンピュータに、
出発地点から目的地点に至る船舶の航行に関し計画された燃料消費量を示す計画燃料消費量データを取得する処理と、
前記船舶の前記出発地点から前記目的地点に至る航路上の気象または海象の環境を示す環境データを取得する処理と、
前記船舶の航行中に、前記船舶が前記出発地点から現在地点に至る航行において使用した燃料の消費量を示す使用済み燃料消費量データを取得する処理と、
前記環境データが示す環境下で前記船舶が行う現在地点から前記目的地点までの航行に関し予測される燃料消費量が、前記計画燃料消費量データが示す燃料消費量から前記使用済み燃料消費量データが示す燃料消費量を減じた燃料消費量を超えないように、前記船舶の現在地点から前記目的地点までの航行速度を決定する処理と
を実行させるためのプログラム。 - コンピュータに、
出発地点から目的地点に至る船舶の航行に関し計画された燃料消費量を示す計画燃料消費量データを取得する処理と、
前記船舶の前記出発地点から前記目的地点に至る航路上の気象または海象の環境を示す環境データを取得する処理と、
前記船舶の航行中に、前記船舶が前記出発地点から現在地点に至る航行において使用した燃料の消費量を示す使用済み燃料消費量データを取得する処理と、
前記環境データが示す環境下で前記船舶が行う現在地点から前記目的地点までの航行に関し予測される燃料消費量が、前記計画燃料消費量データが示す燃料消費量から前記使用済み燃料消費量データが示す燃料消費量を減じた燃料消費量を超えないように、前記船舶の現在地点から前記目的地点までの航行速度を決定する処理と
を実行させるためのプログラムを持続的に記憶するコンピュータ読み取り可能な記録媒体。 - 装置が、出発地点から目的地点に至る船舶の航行に関し計画された燃料消費量を示す計画燃料消費量データを取得するステップと、
前記装置が、前記船舶の前記出発地点から前記目的地点に至る航路上の気象または海象の環境を示す環境データを取得するステップと、
前記装置が、前記船舶の航行中に、前記船舶が前記出発地点から現在地点に至る航行において使用した燃料の消費量を示す使用済み燃料消費量データを取得するステップと、
前記装置が、前記環境データが示す環境下で前記船舶が行う現在地点から前記目的地点までの航行に関し予測される燃料消費量が、前記計画燃料消費量データが示す燃料消費量から前記使用済み燃料消費量データが示す燃料消費量を減じた燃料消費量を超えないように、前記船舶の現在地点から前記目的地点までの航行速度を決定するステップと
を備える方法。
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JP2016078472A (ja) * | 2014-10-09 | 2016-05-16 | 三菱重工業株式会社 | 船速算出装置及び船速算出方法 |
JP2016078471A (ja) * | 2014-10-09 | 2016-05-16 | 三菱重工業株式会社 | 船速算出装置及び船速算出方法 |
WO2021106096A1 (ja) * | 2019-11-27 | 2021-06-03 | 株式会社アース・ウェザー | 船舶のルーティング予測システム、及び当該ルーティング予測システムに用いるプログラム |
JP6895700B1 (ja) * | 2019-11-27 | 2021-06-30 | 株式会社アース・ウェザー | 船舶のルーティング予測システム、及び当該ルーティング予測システムに用いるプログラム |
KR20220100073A (ko) * | 2019-11-27 | 2022-07-14 | 어스 웨더 인크. | 선박의 라우팅 예측 시스템 및 라우팅 예측 시스템에 사용되는 프로그램 |
KR102510652B1 (ko) | 2019-11-27 | 2023-03-15 | 어스 웨더 인크. | 선박의 라우팅 예측 시스템 및 라우팅 예측 시스템에 사용되는 프로그램 |
US11761768B2 (en) | 2019-11-27 | 2023-09-19 | Earth Weather, Inc. | Route navigation system for ships, and a program thereof |
CN111024090A (zh) * | 2019-12-31 | 2020-04-17 | 江苏远望仪器集团有限公司 | 船舶经济航速获取方法 |
CN113485322A (zh) * | 2021-06-10 | 2021-10-08 | 珠海云航智能技术有限公司 | 船舶航迹规划方法、终端设备及计算机可读存储介质 |
JP7375255B1 (ja) | 2022-08-22 | 2023-11-07 | 珠海翔翼航空技術有限公司 | 履歴飛行データに基づく節油方策決定方法、システム及び機器 |
Also Published As
Publication number | Publication date |
---|---|
FI20155589L (fi) | 2015-08-18 |
SG11201505773TA (en) | 2015-08-28 |
JPWO2014115352A1 (ja) | 2017-01-26 |
JP5649014B1 (ja) | 2015-01-07 |
JP2015044588A (ja) | 2015-03-12 |
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