WO2018123947A1 - Système de pilotage automatique pour navire, navire et procédé de pilotage automatique pour navire - Google Patents

Système de pilotage automatique pour navire, navire et procédé de pilotage automatique pour navire Download PDF

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Publication number
WO2018123947A1
WO2018123947A1 PCT/JP2017/046383 JP2017046383W WO2018123947A1 WO 2018123947 A1 WO2018123947 A1 WO 2018123947A1 JP 2017046383 W JP2017046383 W JP 2017046383W WO 2018123947 A1 WO2018123947 A1 WO 2018123947A1
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WIPO (PCT)
Prior art keywords
ship
information
maneuvering
mode
positional relationship
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Application number
PCT/JP2017/046383
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English (en)
Japanese (ja)
Inventor
航 村田
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三井造船株式会社
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Publication of WO2018123947A1 publication Critical patent/WO2018123947A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/50—Slowing-down means not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems

Definitions

  • the present invention relates to a ship autopilot system, a ship, and a ship autopilot method for automatically maneuvering the ship in accordance with the trend of the target ship.
  • the avoidance maneuvering can be performed easily, and the ARPA device (collision prevention assist device) is used every predetermined time to reduce the burden on the ship operator.
  • the direction of the other ship is designated as the direction of the ship
  • a marine vessel maneuvering support device has been proposed in which an evacuation route is sent to a marine vessel maneuvering device and automatically maneuvered toward the azimuth of the center position of another vessel or toward the stern.
  • the present invention has been made in view of the above-described situation, and the purpose of the present invention is to determine the position of the other ship even when the other ship intentionally changes the course or the speed of the ship.
  • a ship's automatic maneuvering system which can change the course and speed of its own ship by automatic maneuvering so as to detect the advancing direction and speed and maintain a preset relative positional relationship between the ship and other ships And providing a method for automatically maneuvering a ship.
  • An automatic ship maneuvering system for achieving the above object is based on other ship information detecting means for detecting other ship information relating to navigation of other ships, and other ship information obtained by the other ship information detecting means.
  • the own ship information calculation stage for calculating own ship information for own ship navigation and the ship maneuvering information for realizing the own ship navigation based on the own ship information calculated by the own ship information calculating means are calculated.
  • a ship maneuvering information calculation means, and an automatic ship maneuvering system comprising ship maneuvering means for maneuvering the ship according to the ship maneuvering information calculated by the ship maneuvering information calculation means, wherein the other ship information includes the position, traveling direction and speed of the other ship.
  • the ship information calculation means includes a true direction or a relative direction of another ship viewed from the ship, a separation distance between the ship and the other ship, a positional relationship between the ship and the protection target, a route of the ship Or own ship combining any two or more of courses With respect to the relative positional relationship that satisfies the stipulated conditions that define the relative position with other ships, it has one or more preset relative positional relationship modes, and you can select from the single or multiple relative positional relationship modes It is configured to calculate own ship information including the position, course, and speed of the own ship for maintaining the relative positional relationship mode.
  • the ship's course and speed can be changed by automatic boat maneuvering so as to maintain a preset relative positional relationship between the two.
  • the own ship information calculation stage as the relative position relation mode, maintains a preset tracking relative direction or a tracking true direction and a preset parallel running route,
  • a parallel running monitoring positional relationship mode and a blocking monitoring positional relationship mode in which the own ship enters between a protection target and another ship set in advance are provided.
  • the adoption of the position-related mode for side-by-side monitoring can prevent other ships from entering the other side of the side-to-side path across the parallel path where the ship navigates, and also prevent By adopting the monitoring positional relationship mode, it is possible to prevent other ships from entering the inside of the blocking circle across the circumference of the blocking circle where the ship navigates.
  • the ship information calculation stage arranges the protection target in a preset blocking area as the blocking monitoring positional relationship mode, and automatically moves the outer periphery of the blocking area.
  • a blocking area position mode in which the ship navigates a blocking course position relationship mode in which a preset blocking course is maintained, and the other ship is maintained in the preset true direction of the own ship, and the own ship and the other ship.
  • the true azimuth maintaining position relationship mode that maintains the separation distance between the ship and the ship, the other ship is maintained in the ship's preset relative direction, and the separation distance between the ship and the other ship is set in advance. Any or some combination or all of the relative azimuth maintaining position relation modes for maintaining the set distance are provided.
  • the position monitoring mode for blocking monitoring it is possible to prevent other ships to be blocked from entering the inside of the blocking circle across the circumference of the blocking circle where the ship navigates.
  • the blocking course position relationship mode it is possible to prevent other ships to be blocked from entering the opposite side of the blocking course across the blocking course on which the ship navigates.
  • the true orientation maintaining position relationship mode it is possible to always see this other ship in the true direction from its own ship with respect to the other ship to be blocked, and automatically keep the distance from this other ship. Can be prevented by maneuvering.
  • the ship information calculation stage sets the blocking area in a blocking area positional relationship mode, and arranges the protection target at the center of a blocking circle having a preset radius. Including the blocking circle position relationship mode in which the ship navigates on the circumference of the blocking circle allows the blocking area to be set very simply by this blocking circle position relationship mode.
  • the automatic ship maneuvering means automatically sets the defining condition for defining each relative positional relationship based on the relative position with respect to another ship at the timing when the positional relationship mode is selected.
  • the set specified conditions it is very easy and accurate that the tracking relative direction or the tracking true direction, the parallel running route, the center of the stopping circle It becomes possible to set prescribed conditions such as position, blocking radius, blocking course, true bearing, and separation distance.
  • a ship for achieving the object as described above is provided with the above-described ship autopilot system, and can exhibit the effect of the ship autopilot system.
  • the ship automatic control system detects the other ship information related to the navigation of the other ship, and calculates the own ship information for the own ship based on the other ship information.
  • the step of calculating ship maneuvering information for realizing navigation of the ship based on the own ship information, and the step of maneuvering the ship in accordance with the ship maneuvering information includes the position, traveling direction and speed of the other ship, and the own ship information includes the true or relative orientation of the other ship as seen from the own ship, the distance between the own ship and the other ship, the own ship and the object to be protected.
  • Set single or multiple positional relationships A method characterized in that it includes the one or more pre-selected relative positional relationship own ship position and course and speed maintaining among the relative positional relationship.
  • the ship's course and speed can be changed by automatic maneuvering so as to maintain a preset relative positional relationship between
  • the course and speed of the ship can be changed by automatic maneuvering so as to detect the traveling direction and the speed and to maintain a preset relative positional relationship between the ship and the other ship.
  • FIG. 1 is a diagram schematically showing a configuration of an automatic ship piloting system according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing a configuration of own ship information calculation means in the ship automatic control system of FIG.
  • FIG. 3 is a diagram showing an example of a control flow of the ship automatic control method according to the embodiment of the present invention.
  • FIG. 4 is a diagram schematically illustrating the state of the boat maneuvering in the relative orientation monitoring position relationship mode in the monitoring position relationship mode.
  • FIG. 5 is a diagram schematically showing a state of the ship maneuvering in which the course of the own ship is constant in the parallel running monitoring positional relation mode in the monitoring positional relation mode.
  • FIG. 1 is a diagram schematically showing a configuration of an automatic ship piloting system according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing a configuration of own ship information calculation means in the ship automatic control system of FIG.
  • FIG. 3 is a diagram showing an example of a control flow of the ship automatic control method according
  • FIG. 6 is a diagram schematically illustrating a state of the boat maneuvering that holds the navigation route of the boat maneuvering in the parallel running monitoring positional relationship mode in the monitoring positional relationship mode.
  • FIG. 7 is a diagram schematically showing the status of the ship maneuvering in the blocking circle position relationship mode in the blocking monitoring position relationship mode.
  • FIG. 8 is a diagram schematically showing the state of the ship maneuvering in the blocking course position related mode in the blocking monitoring position related mode.
  • FIG. 9 is a diagram schematically showing the state of the ship maneuvering in the true heading maintenance positional relationship mode and the other bow forward direction positional relationship mode in the inhibition monitoring positional relationship mode.
  • FIG. 10 is a diagram schematically showing the state of the boat maneuvering in the other stern direction positional relationship mode in the true azimuth maintaining positional relationship mode in the prevention monitoring positional relationship mode.
  • FIG. 11 is a diagram schematically showing the state of the ship maneuvering in the other ship right front / side maintenance position relation mode in the escort position relation mode.
  • FIG. 12 is a diagram schematically illustrating the state of the ship maneuvering in the other ship left front / side maintenance position relation mode in the escort position relation mode.
  • FIG. 13 is a diagram schematically illustrating examples of determination areas of a normal evacuation area, an emergency evacuation area, and an emergency stop area.
  • FIG. 14 is a diagram illustrating an example of a configuration of a ship maneuvering device.
  • the ship of embodiment of this invention is a ship provided with the automatic control system of the ship of embodiment of this invention.
  • a ship maneuvering system having an input device having a movement information input unit constituted by a joystick or the like and a turning information input unit constituted by a dial or the like is a two-axis two-steer vessel.
  • the ship 1 includes a ship maneuvering system 100 as shown in FIG.
  • the marine vessel maneuvering system 100 includes two propulsion systems, a port side propulsion system 31 including a port side propulsion device 31a and a port side rudder 31b, and a starboard side propulsion system 32 including a starboard side propulsion device 32a and a starboard side rudder 32b.
  • the systems 31 and 32 are provided on the stern.
  • Both the port side propulsion device 31a and the starboard side propulsion device 32a are constituted by variable propellers.
  • the propeller may be configured with a fixed pitch propeller, but is preferably configured with a variable pitch propeller because the thrust can be easily changed. Further, although not particularly illustrated, a bow thruster or a stern thruster may be provided as a turning assist device.
  • the input device 20 includes a movement information input unit 21 configured with a joystick or the like, and a turning information input unit 22 configured with a dial (turning dial) or the like.
  • the maneuvering control device 30 includes a tilting direction (steering direction: ship moving direction) from the movement information input unit 21, a tilt angle data of the magnitude of the tilt angle of the joystick in that direction, and a turning information input unit 22. Enter the dial turning direction and dial angle.
  • the steering control device 30 includes position information and speed information of the ship 1 from a GPS device, logs, etc., heading information from a gyro device, information from an anemometer, an underwater positioning device Information from the radar, information from the radar, information from the distance measuring device or ranging communication device, etc., and selection and generation of forward or reverse in the port side propulsion device 31a and starboard side propulsion device 32a, respectively
  • the command of the magnitude of the thrust to be output is output to the control devices 31ac and 32ac of the respective propellers, thereby generating the water flow W and obtaining the thrusts Ta and Tb.
  • the maneuvering control device 30 is moved from the movement information input unit 21.
  • the propulsion devices 31a, 32a and the rudders 31b, 32b are integrated and controlled by receiving the tilt direction and tilt angle data and the dial turn direction and dial angle data from the turn information input unit 22. Maneuvering such as reverse, translation, diagonally forward, diagonally backward, and turning around on the spot.
  • this ship's maneuvering system 100 is comprised including the ship's automatic maneuvering system 10 of embodiment concerning this invention.
  • the ship automatic maneuvering system 10 includes other ship information detecting means 11, own ship information calculating means 12, ship maneuvering information calculating means 13, and automatic ship maneuvering means 14.
  • the other ship information detecting means 11 is information on other ships related to the navigation of the other ship 2 such as a water target to be monitored and the other ship 4 to be escorted, for example, position, course (traveling direction), navigation speed (speed). It is a means for detecting various data such as turning speed, turning angular speed, navigation speed, navigation acceleration. In particular, it is important that the other ship information includes the positions of the other ships 2 and 4, the traveling direction (head course), and the speed (navigation speed). These other ship information can be easily obtained by following the time-series change of the position information of the other ship obtained by a radar or the like while correcting the position change of the ship 1.
  • the own ship information calculation means 12 is based on the other ship information obtained by the other ship information detection means 11, and own ship information for navigating the own ship 1, such as position, course (traveling direction), navigation speed. (Speed), and in addition to these, it is a means for calculating various data such as turning speed, turning acceleration, and navigation acceleration.
  • the own ship information has a plurality of relative position relation modes as shown in FIG. 2 set in advance with respect to the relative position relation between the other ships 2, 4, 5 and the own ship 1, It is important to include the position, course (traveling direction) and speed (navigation speed) of the ship 1 for maintaining the relative positional relationship in the relative positional relationship mode selected from the positional relationship modes.
  • the own ship information calculation unit 12 includes a relative position relationship setting unit 12a, a relative position relationship information calculation unit 12b, and a collision avoidance information calculation unit 12c.
  • the relative positional relationship setting means 12a selects one relative positional relationship mode from various relative positional relationship modes based on a selection command input from the operator, and defines the relative positional relationship and the relative positional relationship. Set conditions.
  • the relative positional relationship information calculation means 12b calculates own ship information for maintaining the relative positional relationship in the relative positional relationship mode based on the selected relative positional relationship mode. The specific contents of the relative positional relationship mode will be described later.
  • the collision avoidance information calculation means 12c is configured to perform normal evacuation information, emergency evacuation information, based on the distance and direction between the own ship 1 and the other ship 2 to be monitored or the other ship 4 to be escorted. It is means for calculating emergency stop information.
  • the ship maneuvering information calculating means 13 is means for calculating ship maneuvering information for realizing the navigation of the own ship 1 based on the own ship information calculated by the own ship information calculating means 12.
  • the navigation data of the ship 1 such as the turning speed, the turning acceleration, and the navigation acceleration are input, and the control data of the steering machine that manipulates the rudder angle of the rudder 31b, 32b, the bow Control data to the propulsion device systems 31 and 32 such as the thruster, the stern thruster, and the propellers 31a and 32a are output.
  • the relationship between the input navigation data and control data is based on feed-forward control that outputs a calculated value for input data by creating a correspondence map or setting a correspondence function by experiment or calculation in advance.
  • a known control method such as feedback control for bringing the measurement value corresponding to the input navigation data close to the target value can be used.
  • these control data are also output.
  • the automatic ship maneuvering means 14 is a means for driving the propulsion systems 31 and 32 according to the control data which is the ship maneuvering information calculated by the ship maneuvering information calculating means 13. Thereby, the own ship 1 is automatically operated.
  • the relative position relationship setting means 12 in order to automatically maneuver the movement of the other ship 2 to be monitored and the other ship 4 to be escorted, the relative position relationship setting means 12 a A monitoring position relation mode for monitoring the ship 2 from a certain distance, a blocking monitoring position relation mode for constantly maintaining a position relation based on the true direction and the separation distance with respect to the other ship 2 to be blocked, escort An escort position relationship mode for always maintaining the relative position relationship of the target with respect to the other ship 4 is provided.
  • the monitoring position relation mode includes a relative azimuth monitoring position relation mode and a parallel running monitoring position relation mode.
  • the relative azimuth monitoring position relation mode as shown in FIG. In this mode, the heading is controlled so that the ship 1 is captured in a preset relative direction (front in FIG. 4). In this mode, no automatic maneuvering regarding the separation distance between the other ship 2 and the own ship 1 is performed.
  • the position control of the ship 1 is automatically controlled when the ship is stopped, but the position of the ship 1 is manually changed to control the heading of the ship at that position. To do.
  • the relative orientation ⁇ or the true orientation (relative orientation in FIGS. 5 and 6) arbitrarily set by the vessel operator is set with respect to the other ship 2 that is a monitoring target such as a surface target.
  • This is a convenient mode for monitoring while maintaining.
  • the parallel running route L1 is set.
  • the navigation speed and navigation acceleration of the ship 1 are controlled so that the tracking relative azimuth ⁇ with the other ship 2 is maintained at the same time.
  • the control data is calculated so that the bow direction of the ship 1 maintains the parallel running path L1 and the tracking relative direction ⁇ (or true direction) regardless of the course of the other ship 2.
  • the tracking relative azimuth ⁇ (or true azimuth) is the relative tracking azimuth relative to other ships ⁇ (or true azimuth) at the timing when the parallel monitoring position relation mode is selected. Alternatively, it is preferable to automatically set the true orientation). Further, it is preferable that the tracking relative azimuth ⁇ (or true azimuth) can be changed to a value instructed by numerical input or the like while the parallel monitoring position relation mode is selected.
  • the parallel running route L1 has a function of automatically setting the parallel running route L1 of the ship 1 as a route in which the course at that time is constant at the timing when the parallel monitoring position relationship mode is selected. .
  • this parallel running route L1 as shown in FIG. 5, it is a straight route with a constant course of its own ship 1, or a circular route with a center and a radius as shown in FIG. 6, not shown. Is selected from several preset routes such as a zigzag (sawtooth) route, or entered by the operator using a route graphic input device that avoids certain terrain. It is more preferable to provide a function of making a route.
  • the parallel running route L1 may be configured to be able to be changed to a value instructed by numerical input or dial operation of the turning information input unit 22 while the parallel running monitoring positional relationship mode is selected. preferable.
  • the boat maneuvering mode is automatically switched to the manual maneuvering mode.
  • this manual boat maneuvering mode for example, the propeller rotation speed of the own ship 1 or the pitch angle and rudder angle of the variable pitch propeller, the tilt direction and tilt angle of the joystick of the movement information input unit 21, and the rotation of the dial of the turning information input unit 22
  • the operation is performed according to the operation amount such as the amount, and thereby the course and navigation speed of the ship 1 are controlled.
  • the boat 1 is configured so as not to be turned by the automatic maneuvering of the ship 1. That is, the boat operator confirms the situation and performs the turning operation by switching to the manual control mode or normal boat operation.
  • an approach warning line La and an avoidance warning line Lb are set at a preset distance on the side where the other ship 2 is located with respect to the own ship 1 on the parallel running route L1, and these warning lines La and Lb are set.
  • an approach warning and an avoidance warning are issued respectively.
  • the avoidance operation is performed by the operator confirming the situation and switching to the manual ship operation mode or the normal ship operation without performing the avoidance maneuvering in the automatic ship operation.
  • 5 and 6 show that the state of (3) is in the approach alarm state, and that the state of (4) is in the avoidance alarm state.
  • the approach distance and the avoidance distance between the approach warning line La and the avoidance alert line Lb may be automatically changed according to the relative speed between the own ship 1 and the other ship 2. Further, it is preferable that the parallel running monitoring position relationship mode can be appropriately changed to a value instructed by numerical input or the like while the parallel running monitoring position relation mode is selected.
  • the blocking position relationship mode always occupies the position of own ship 1 at the intersection of a straight line connecting the other ship 2 to be monitored and the protected object 3 to be protected and the boundary of the blocking area set in advance.
  • the navigation speed and the object to be protected 3 are maintained so that the position of the ship 1 is maintained inside the ship 1 relative to the ship 2, that is, on the opposite side of the ship 1 from the ship 2.
  • the navigation acceleration is automatically maneuvered.
  • the blocking position relationship mode includes a blocking region position relationship mode, a blocking course position relationship mode, and a true orientation maintaining position relationship mode.
  • a blocking area when the ship 1 navigates while monitoring and monitoring the other ship 2 is set.
  • the own ship 1 navigates on the outer edge of the blocking area so as to prevent the other ship 2 from entering the blocking area.
  • the blocking area is described as a circle in the following, but it is not necessarily circular, and may be an ellipse, a polygon, or a figure input by the operator. .
  • a blocking circle that is a circle centered on the protection target 3 and having a set distance (blocking radius) R1 as a radius.
  • a blocking area is set.
  • the course of the ship 1 is always controlled so as to be directed in the circumferential direction of the blocking circle C1, and the position on the circumference of the blocking circle C1 of the own ship 1 is always protected against the center Cc of the blocking circle C1.
  • the navigation speed is automatically maneuvered so as to be the intersection of the straight line connecting the object 3 and the other ship 2.
  • the center Cc and the blocking radius R1 of the blocking circle C1 can be arbitrarily set. However, after selecting the position of the center Cc of the blocking circle C1, the timing at which the blocking circle positional relationship mode is selected is as follows. It is preferable that the distance between the center Cc of the protection object 3 and the ship 1 is automatically set as the blocking radius R1.
  • the blocking radius R1 is preferably configured so that it can be changed to a value instructed by numerical input while the blocking circle positional relationship mode is selected.
  • the automatic boat maneuvering mode is automatically switched to the manual boat maneuvering mode.
  • this manual marine vessel maneuvering mode for example, the rotation speed of the propeller of the ship 1 or the pitch angle and rudder angle of the variable pitch propeller, the tilt direction and tilt angle of the joystick of the movement information input unit 21, and the dial of the turning information input unit 22
  • the operation is performed according to the operation amount such as the rotation amount, and thereby the course and navigation speed of the ship 1 are controlled.
  • the mode is configured to return when the blocking circle position relationship mode is selected again without automatically shifting to the blocking circle position relationship mode again.
  • the own ship 2 Even if the other ship 2 changes its course as shown in (5) of FIG. 7 and the course between the own ship 1 and the other ship 2 is reversed, the own ship It is configured not to perform turning or the like by 1 automatic ship maneuvering. In other words, the boat operator confirms the situation and performs the turning operation by switching to the manual mode or normal boat operation.
  • An avoidance alarm circle) Cb is set, and when the other ship 2 approaches the own ship 1 beyond these alarm lines Ca and Cb, an approach alarm and an avoidance alarm are issued respectively.
  • the avoidance maneuvering is not performed by the automatic maneuvering, but the avoidance operation is performed by the operator confirming the situation and switching to the manual maneuvering mode or normal maneuvering.
  • FIG. 7 shows that the state (2) is in the approach warning state, and the state (4) shows that it is in the avoidance alarm state.
  • the approach radius and the avoidance radius of the approach warning line Ca and the avoidance warning line Cb may be automatically changed according to the relative speed between the own ship 1 and the other ship 2, and the blocking circle position relationship mode It is preferable that the value can be changed to a value designated by numerical input or the like while is selected.
  • the blocking area is not circular, a figure separated by an approach distance and an avoidance distance set in advance on the outside thereof is set as an approach alarm line and an avoidance alarm line.
  • the blocking area (blocking area) is set for the protection target 3 as in the parallel monitoring position relation mode.
  • the own ship 1 maintains the blocking course L2 regardless of the course of the other ship 2, and at the same time, the position of the own ship 1 on the blocking course L2 always connects the other ship 2 and the protection object 3.
  • the navigation speed is automatically controlled to be at the intersection with the straight line.
  • the blocking course L2 can be set arbitrarily, but after setting the protection object 3, the course of the ship 1 is automatically set as the blocking course L2 at the timing when the blocking course positional relationship mode is selected. It is preferable to set to.
  • the blocking course L2 is preferably configured to be able to be changed to a value instructed by numerical input or dial operation of the turning information input unit 22 while the blocking course position relationship mode is selected.
  • the automatic maneuvering is performed.
  • this manual boat maneuvering mode which preferably switches the mode to the manual boat maneuvering mode, for example, the rotation speed of the propeller of the own ship 1 or the pitch angle or rudder angle of the variable pitch propeller is set to the inclination of the joystick of the movement information input unit 21.
  • the operation is performed according to the operation amount such as the direction and the inclination angle and the rotation amount of the dial of the turning information input unit 22, thereby controlling the course and the navigation speed of the ship 1.
  • the mode is configured to return when the blocking course position relationship mode is selected again without automatically shifting to the blocking course position relationship mode again.
  • the own ship 2 is configured not to perform turning or the like by 1 automatic ship maneuvering.
  • the boat operator confirms the situation and performs the turning operation by switching to the manual mode or normal boat operation.
  • an approach warning line Lc and an avoidance warning line Ld of a preset distance are set for the own ship 1 on the blocking course L2, and the other ship 2 passes over these alarm lines Lc and Ld and the own ship 1
  • the avoidance operation is performed by the ship operator confirming the situation and switching to the manual mode or the normal ship operation without performing the avoidance maneuvering automatically.
  • the state of (3) shows that it is an approach warning state
  • the state of (4) shows that it is in an avoidance alarm state.
  • the true orientation maintaining position relation mode of the blocking position relation mode is true direction with respect to the other ship 2 to be blocked (the direction with respect to the topography, not the direction seen from the own ship). )
  • the movement of the ship 1 is automatically maneuvered so as to always maintain A and B and the preset separation distances D1 and D2.
  • the true azimuth maintaining position relationship mode includes the other ship bow direction position relationship mode and the other stern direction position relationship mode.
  • the own ship 1 is gradually positioned in the stern direction of the other ship 2. Then, as shown in (4), with the completion of the turning of the other ship 2, the own ship 1 also ends the turning of the steering. Similarly, control is performed to turn the rudder of the own ship 1 with respect to the turn of the other ship 2.
  • the own ship 1 is gradually positioned in the stern direction of the other ship. Then, as shown in (4), with the completion of the turning of the other ship 2, the own ship 1 also ends the turning of the steering. Similarly, control is performed to turn the rudder of the own ship 1 with respect to the turn of the other ship 2.
  • the true headings A and B and the separation distances D1 and D2 can be arbitrarily set, but after setting the other ship 2 to be blocked, the true heading maintenance position relationship mode is selected at the timing. It is preferable to automatically set the distances D1 and D2 to maintain the distance between the ship 1 and the other ship 2.
  • the true directions A and B are values instructed by numerical input or dial operation of the turning information input unit 22.
  • the true azimuths A and B and the separation distances D1 and D2 are changed to values instructed by numerical input or dial operation of the turning information input unit 22 while the true azimuth maintenance position relation mode is selected. It is preferable to make it possible.
  • this escort position relationship mode (relative bearing maintenance position relation mode) will be described.
  • this escort position relationship mode is set in advance with respect to the other ship 2 to be blocked (the direction seen from the own ship, for example, right sideways, left sideways).
  • the movement of the ship 1 is automatically maneuvered so as to always maintain the separated distances D3 and D4.
  • the relative orientation is not limited to the right side or the left side, but in any other direction. It may be a relative orientation, and may be, for example, an oblique right front orientation, an oblique right rear orientation, an oblique left front orientation, an oblique left rear orientation, etc.
  • the right front side and the left front side are taken as an example. .
  • the escort position relation mode includes the other ship's right front side maintenance position relation mode and the other ship left front side maintenance position relation mode.
  • the own ship 1 is controlled so as to always maintain.
  • control is performed so that the other ship 4 is on the right front side of the own ship 1 and the separation distance is a specific distance D3. That is, as shown in (1) of FIG. 11, the own ship 1 is controlled to a position where the other ship 2 is on the right side of the own ship 1 and the separation distance becomes a specific distance D3. Next, as shown in (2), along with the turning of the other ship 4, the own ship 1 starts the turning of the ship while increasing the speed. Even in this case, the control is performed so that the other ship 4 is always on the right side when viewed from the own ship 1 and the separation distance D3 is maintained. Next, as shown in (3), the steering is turned to the right side of the other ship 4 while maintaining the separation distance D3. Then, as shown in (4), with the completion of the turning of the other ship 4, the own ship 1 also ends the turning of the steering. Similarly, control is performed so as to turn the rudder of the own ship 1 with respect to the turning of the other ship 4.
  • control is performed so that the other ship 4 is on the left front side of the own ship 1 and the separation distance is a specific distance D4. That is, as shown in (1) of FIG. 12, the own ship 1 is controlled to a position where the other ship 2 is on the left side of the own ship 1 and the separation distance is a specific distance D4. Next, as shown in (2), along with the turning of the other ship 4, the own ship 1 starts to turn the steering while decelerating. Even in this case, control is performed so that the other ship 4 is always on the left side when viewed from the own ship 1 and the separation distance D4 is maintained. Next, as shown in (3), the steering is turned to the left side of the other ship 4 while maintaining the separation distance D4. Then, as shown in (4), with the completion of the turning of the other ship 4, the own ship 1 also ends the turning of the steering. Similarly, control is performed so as to turn the rudder of the own ship 1 with respect to the turning of the other ship 4.
  • the relative azimuth and the separation distances D3 and D4 can be arbitrarily set. However, after the other ship 4 to be escorted is set, the view from the own ship 1 at the timing when the escort position relation mode is selected. It is preferable to set the direction of the other ship 4 as a relative azimuth and to automatically set the separation distances D3 and D4 to maintain the distance between the own ship 1 and the other ship 2.
  • the relative azimuth and the separation distances D3 and D4 can be changed to values instructed by numerical input or dial operation of the turning information input unit 22 while the escort position relation mode is selected. It is preferable.
  • the collision avoidance information calculation means 12c is configured to perform normal avoidance information and emergency avoidance information based on the distance and relative orientation between the own ship 1 and the other ship 2 to be monitored and the other ship 4 to be escorted. Means for calculating emergency stop information.
  • the collision avoidance information calculation means 12c performs actions such as monitoring, prevention monitoring, and escort, depending on the movement of the other ship 2 that is the object to be monitored and the other ship 4 that is the object of the escort, the collision avoiding information calculating means 12c There is a danger.
  • the determination areas A1, A2, and A3 can be simply set to circles Ca1, Ca2, and Ca3.
  • the determination areas A1, A2, and A3 are not limited to circular shapes, but depend on the maneuvering performance of the ship 1. The size and shape of these determination areas A1, A2, and A3 are set according to the navigation speed of the ship 1.
  • the own ship information calculation means 12 allows the true ship A, B or relative direction ⁇ of the other ships 2, 4, 5 viewed from the own ship 1, (right right side, left right side), own ship 1 Two or more of any of the distances D1 to D4 between the ship 2 and the other ships 2, 4 and 5, the positional relationship between the ship 1 and the object 3 to be protected, the route C1 and L1 of the ship 1 or the course L2 of the ship 1 In relation to the relative positional relationship that satisfies the stipulated condition for defining the relative position between the own ship 1 and the other ships 2, 4, 5, a single or a plurality of relative positional relationship modes are set in advance.
  • the own ship information including the position of the own ship, the course, and the speed for maintaining the relative position relation mode selected from the single or plural relative position relation modes is calculated.
  • the method for automatically maneuvering a ship includes a step of detecting other ship information relating to the navigation of the other ships 2, 4 and 5, a step of calculating own ship information for navigation of the own ship 1 based on the other ship information,
  • This is an automatic ship maneuvering method that includes a step of calculating ship maneuvering information for realizing navigation of the own ship 1 based on the own ship information and a step of maneuvering the own ship 1 according to the ship maneuvering information.
  • the own ship 1 is combined with any one of two or more of the distances D1 to D4 from the ship 5, the positional relationship between the ship 1 and the object 3 to be protected, the route C1, L1 of the ship 1 or the course L2 of the ship 1 Set one or more specified conditions to define the relative position between the other ship 2, 4, 5 and other ships, set one or more relative positional relations that satisfy this specified condition, and
  • This is a method including the course and speed of own ship 1 that maintains the relative positional relationship selected in advance.
  • This automatic ship maneuvering method can be implemented by a control flow as illustrated in FIG.
  • the control flow shown in FIG. 3 is called from the advanced control flow when the ship (own ship) 1 according to the embodiment of the present invention is started, and is started. Returning to the control flow, it is shown as ending with the advanced control flow.
  • step S11 When the ship maneuvering of the ship 1 is started, the control flow of FIG. 3 is started, and in step S11, whether or not the automatic ship maneuvering mode by the autopilot apparatus is requested is determined by a ship maneuvering switch, a ship maneuvering touch panel, or the like. judge. If the automatic boat maneuvering mode is selected in step S11, the process goes to step S12 to determine which relative positional relationship mode is selected and stores the selected relative positional relationship mode. It is preferable to perform step S11 and step S12 simultaneously. In other words, by making it possible to determine that the automatic marine vessel maneuvering mode is automatically selected only by selecting the relative positional relationship mode, it is possible to smoothly shift to the automatic marine maneuvering mode.
  • a control course in each mode such as a monitoring positional relationship mode, a blocking monitoring positional relationship mode, an escort positional relationship mode, or the like is selected.
  • a control course in each mode such as a monitoring positional relationship mode, a blocking monitoring positional relationship mode, an escort positional relationship mode, or the like is selected.
  • the regulation information necessary for that mode is acquired or set.
  • this regulation information for example, the position and shape of the protection object 3, and this regulation information is the tracking relative direction ⁇ (or relative true direction), the parallel running route L 1, the approach warning line in the monitoring position relation mode. La and the avoidance warning line Lb.
  • the blocking circle position relationship mode of the blocking position relationship mode there are a blocking region (blocking circle: center Cc and blocking radius R1), an approach warning line (approach warning circle) Ca, and an avoidance warning line (avoidance warning circle) Cb.
  • the blocking course L2 the approach warning line Lc, and the avoidance warning line Ld are included.
  • the true azimuth maintaining position relation mode of the blocking position relation mode In the true azimuth maintaining position relation mode of the blocking position relation mode, the true azimuth A and B, and the separation distances D1 and D2.
  • the escort position relationship mode In the escort position relationship mode, the direction (right front side, left front side, etc.) of the other ship 5 viewed from the own ship 1 and the separation distances D3 and D4.
  • the other ship information detecting means 11 acquires the other ship information of the other ships 2, 4, and 5.
  • the other ship information is various data such as a course, a turning speed, a turning angular speed, a navigation speed, and a navigation acceleration, which are detected from a time-series change of position information of the other ship obtained by a radar or the like.
  • These other ship information is not only relative to the ship's own 1 but also in absolute coordinates (coordinates fixed to the terrain) by correcting the change in direction and position of the ship's 1 Get.
  • own ship information calculation means 12 calculates own ship information necessary for navigation of own ship 1.
  • the own ship information for navigation of the own ship 1 varies depending on the control course of the selected relative position relation mode, but the relative position relation setting means 12a selects the control course of the selected relative position relation mode.
  • the relative position relationship information calculation means 12b calculates the predicted positions of the other ships 2, 4, and 5 after the first predicted time set in advance from the other ship information. Further, the first predicted position where the ship 1 should be after the first predicted time is calculated.
  • the first prediction time is shortened to the second prediction time, but cannot be reached, the first prediction time is lengthened to the second prediction time and this is repeated, and the shortest reachable prediction time and prediction position are reached. Ask for. Then, the navigation data of the own ship 1 that can be reached in the shortest predicted time is output as own ship information.
  • each determination area A 1 includes the normal avoidance area A 1, the emergency avoidance area A 2, and the emergency stop area A 3.
  • A2, A3, and if it is in any one of the determination areas A1, A2, A3, the ship handling and warning corresponding to each of the determination areas A1, A2, A3 are automatically taken preferentially.
  • the own ship information is output.
  • the ship maneuvering information calculating means 13 calculates ship maneuvering information for controlling specific devices such as a rudder, bow thruster, stern thruster and propulsion device from the own ship information for navigation.
  • a well-known control algorithm such as a feedforward method or a feedback method can be used, and if necessary, the own ship 1 is predicted from the current position with the predicted time.
  • the own ship information, the ship maneuvering information, and the automatic ship maneuvering may be incorporated into one control system for the control.
  • step S18 the automatic marine vessel maneuvering means 14 inputs the marine vessel maneuvering information and performs automatic marine vessel maneuvering. Then, after the automatic boat maneuvering, the process returns to step S11. At the end of the maneuvering, an interrupt returns to return to the advanced control flow, and the process ends with this advanced control flow.
  • the ship 1 of embodiment of this invention is provided with said automatic control system 10 of a ship. Therefore, since this ship 1 can be automatically maneuvered using the above-described ship autopilot system 10, an automatic ship maneuvering method that is possible with this ship autopilot system 10 can be implemented.
  • the other ships 2, 4, and 5 intentionally change the course and speed according to the trend of the ship 1. Even in such a case, the positions, traveling directions and speeds of the other ships 2, 4, 5 are detected, and the preset relative positional relationship between the other ships 2, 4, 5 and the own ship 1 is maintained. The course and speed of own ship 1 can be changed by automatic maneuvering.

Abstract

L'invention concerne un procédé de pilotage automatique pour un navire, qui détecte des informations d'autres navires concernant la navigation d'autres navires 2, 4 et 5, calcule les informations de navire hôte pour la navigation du navire hôte 1 sur la base de ces informations d'autres navires, calcule des informations de manœuvre pour obtenir une navigation du navire hôte 1 sur la base de ces informations de navire hôte, et manœuvre le navire hôte 1 conformément à ces informations de manœuvre. Les informations d'autres navires comprennent la position, la direction de déplacement et la vitesse d'autres navires 2, 4 et 5, et des informations de navire hôte comprennent la position, le cap et la vitesse du navire hôte requis pour maintenir des relations de position relative entre le navire hôte 1 et d'autres navires 2, 4 et 5, les relations de position étant stipulées par une combinaison de deux ou plus parmi : le relèvement réel ou le relèvement relatif des autres navires observés à partir du navire hôte, la distance entre le navire hôte et les autres navires, et l'itinéraire ou le cap du navire hôte. À la suite de cette configuration, la position, la direction de déplacement et la vitesse des autres navires 2, 4 et 5 sont détectées, et le cap et la vitesse du navire hôte 1 sont variés par manœuvre du navire hôte, d'une manière telle que des relations de position relative prédéfinies entre le navire hôte 1 et d'autres navires 2, 4 et 5 sont maintenues.
PCT/JP2017/046383 2016-12-28 2017-12-25 Système de pilotage automatique pour navire, navire et procédé de pilotage automatique pour navire WO2018123947A1 (fr)

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JP2016255454A JP2018103949A (ja) 2016-12-28 2016-12-28 船舶の自動操縦システム、船舶、及び船舶の自動操縦方法

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WO2020221504A1 (fr) * 2019-04-30 2020-11-05 Siemens Aktiengesellschaft Commande d'un navire
CN112203935A (zh) * 2019-03-14 2021-01-08 日本汉武西株式会社 拥挤海域的避航驾船方法及单轴双舵船的避航驾船系统
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JP2021003975A (ja) * 2019-06-26 2021-01-14 トヨタ自動車株式会社 隊列走行システム
JP7240739B2 (ja) * 2020-06-03 2023-03-16 ジャパン・ハムワージ株式会社 自動航行一軸二舵船
JP7170019B2 (ja) * 2020-11-02 2022-11-11 東京計器株式会社 追尾制御装置
JPWO2023286354A1 (fr) * 2021-07-12 2023-01-19

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CN113767351A (zh) * 2019-04-30 2021-12-07 西门子能源全球有限两合公司 船的控制
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WO2023131689A1 (fr) * 2022-01-09 2023-07-13 Mario Curcio Système de support de direction pour navires

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