WO2019093416A1 - Sailing support system for ship - Google Patents

Sailing support system for ship Download PDF

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Publication number
WO2019093416A1
WO2019093416A1 PCT/JP2018/041467 JP2018041467W WO2019093416A1 WO 2019093416 A1 WO2019093416 A1 WO 2019093416A1 JP 2018041467 W JP2018041467 W JP 2018041467W WO 2019093416 A1 WO2019093416 A1 WO 2019093416A1
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WO
WIPO (PCT)
Prior art keywords
ship
image
vessel
processor
composite image
Prior art date
Application number
PCT/JP2018/041467
Other languages
French (fr)
Japanese (ja)
Inventor
修二 宮井
篤司 空
Original Assignee
Ｍｏｌエンジニアリング株式会社
Ｊｒｃｓ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ｍｏｌエンジニアリング株式会社, Ｊｒｃｓ株式会社 filed Critical Ｍｏｌエンジニアリング株式会社
Priority to JP2019552373A priority Critical patent/JPWO2019093416A1/en
Priority to CN201880071958.6A priority patent/CN111315649A/en
Priority to SG11202003701RA priority patent/SG11202003701RA/en
Priority to KR1020207012813A priority patent/KR20200077525A/en
Publication of WO2019093416A1 publication Critical patent/WO2019093416A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
    • B63B43/20—Feelers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing

Definitions

  • the present invention relates to a navigation support system for a ship, and more particularly to a navigation support system for a ship that is suitable for use at the time of arrival or departure of the ship (hereinafter simply referred to as "offset").
  • the ship operator operates the propulsion device, the steering device, and the side thruster of the ship while watching the image at the time of departure and landing etc., and operates the tug boat to move the ship more appropriately. Instructions may be given to the side tug boat operator (e.g. the direction to push or roll the ship and its power etc).
  • the ship operation support facility performing on the land side the operation of related vessels to support the operation of vessels, the operation of land facilities, and the safety management of vessels, the records at the time of departure and arrival of vessels are particularly appropriate It was not accumulated.
  • the ship operator can easily grasp the surrounding situation including the ship while viewing the image of the image system, but the instruction from the ship operator Is usually by voice communication such as a transceiver, so the tug boat operator, the quayside driver's assistant, or the work operator of the related ship or related offshore equipment, for example, both on the starboard side and the port side of the ship.
  • voice communication such as a transceiver
  • the tug boat operator, the quayside driver's assistant, or the work operator of the related ship or related offshore equipment for example, both on the starboard side and the port side of the ship.
  • an object of this invention is to provide the navigation assistance system of a suitable ship, using it for the ship which can solve the above-mentioned problem.
  • the navigation support system for a ship is disposed on the side of the hull of the ship at a distance from each other in the full length direction of the hull, and photographs the situation around the hull respectively
  • a plurality of cameras for outputting the image signal, the ship is provided, and an integrated composite image including the hull and the periphery of the hull is created based on the image signals of the plurality of cameras, and a signal including the composite image is
  • a processor having an output function, a first display unit provided on the vessel, receiving an output of the processor, and displaying an image including the composite image, and provided on an associated vessel or associated offshore facility separate from the vessel
  • a second display unit for receiving an output of the processor and displaying an image including the composite image.
  • an integrated composite image including the hull and the periphery of the hull created by the processor based on the image signals of the plurality of cameras is provided on the vessel First display unit and related vessels (eg tugs or attached vessels) separate from the said vessels or related offshore equipment (eg offshore oil equipment, offshore wind power equipment, floating piers or other floating structure etc.) Is displayed on both of the second display units provided in. Therefore, the ship operator can appropriately operate the ship propulsion device, the steering device, the side thruster, etc.
  • related vessels eg tugs or attached vessels
  • offshore equipment eg offshore oil equipment, offshore wind power equipment, floating piers or other floating structure etc.
  • the operator of the ship or the related offshore equipment can easily grasp the situation around the ship by looking at the image displayed on the second display unit, and therefore, at the time of the work of leaving the ship to the shore of the ship, or At the time of connection work to related offshore facilities, etc., it is possible to share information about the surrounding conditions of the ship, whereby communication between the ship operator and the operator of the related vessel or related offshore facilities is greatly improved. To improve the safety and efficiency of the takeoff / landing operation or the contact operation.
  • the navigation support system for a vessel further includes a course detection unit provided on the vessel for detecting the traveling direction of the vessel, and the processor receives the output of the course detection unit and combines with the composite image. It can be configured to output a signal including an image indicating the traveling direction of the ship.
  • the first display unit and the second display unit can display an image including the traveling direction of the ship together with the composite image.
  • the navigation support system for a ship includes a ship speed detection unit provided on the ship to detect and output the speed of the ship, and the processor receives the output of the ship speed detection unit. It may be configured to output a signal including an image indicating the speed of the vessel together with the composite image.
  • the first display unit and the second display unit can display an image including the speed of the ship together with the composite image.
  • the navigation support system for a ship is provided in the ship and detects a course detection unit that detects and outputs the traveling direction of the ship, and is provided in the ship and detects and outputs the speed of the ship
  • the processor is configured to receive the outputs of the course detection unit and the ship speed detection unit and output a signal including the composite image and an image indicating the traveling direction and speed of the ship. can do.
  • the first display unit and the second display unit can display an image including the traveling direction and the speed of the ship together with the composite image, so that the operator of the ship and the ship The operator of the relevant ship or relevant offshore facility can accurately grasp the direction, speed, or direction and speed of travel of the ship.
  • the processor may be configured to output a signal obtained by superimposing an image of an arrow indicating the traveling direction and the speed of the ship on the composite image.
  • the first display unit and the second display unit display an image of an arrow indicating the traveling direction and speed of the ship superimposed on the image including the hull of the ship and the periphery of the same hull.
  • the navigation support system for a ship comprises a wind direction and wind speed detection unit provided on the ship and detecting and outputting a wind direction and wind speed around the ship, the processor further comprising: the wind direction and wind speed detection unit , And outputs a signal including an image indicating the wind direction and the wind speed together with the composite image.
  • the first display unit and the second display unit display the image including the wind direction and the wind speed around the ship together with the image including the hull of the ship and the periphery of the ship. Therefore, the operator of the ship operator and the related ship or related offshore equipment can accurately grasp the wind direction and the wind speed around the ship.
  • the processor may be configured to output a signal obtained by superimposing an image of an arrow indicating the wind direction and the wind speed on the composite image.
  • an image including an arrow indicating the wind direction and the wind speed around the vessel is superimposed on the image including the hull of the vessel and the periphery of the same vessel. As it is displayed, the wind direction and the wind speed around the ship can be easily grasped visually in relation to the ship.
  • the navigation support system for a vessel includes a driving situation detection unit provided on the vessel and detecting and outputting a driving situation of a drive device of the vessel, the processor being a controller of the driving situation detection unit. It may be configured to receive an output and output a signal including an image indicative of the driving situation together with the composite image.
  • the first display unit and the second display unit can be configured to display an image including the driving situation together with the composite image.
  • the operator of the ship operator and the related ship or related offshore equipment can accurately grasp the operating condition of the drive device of the ship together with the image including the hull of the ship and the periphery of the ship.
  • the first display unit and the second display unit have a communication function with the processor including a command to the processor, and the second display unit is the processor
  • the processor may be configured to perform display indicating the reception on a display device provided in the vicinity of the first display unit or the display unit.
  • the second display unit provided on the related ship or related offshore facility receives the output of the processor and displays an image including the composite image. It is possible to know that the ship operator can communicate with the operator of the related ship or related offshore facility on the premise thereof.
  • the processor outputs, as numerical data, information related to the voyage and the engine of the ship at the time of shooting by the plurality of cameras in association with the output composite image.
  • a storage unit provided in the vessel, receiving information about the voyage and engine of the vessel output by the processor, and sequentially storing the received information together with the composite image. Can be further provided.
  • the operation method can be improved, for example, the economic operation method, by analyzing the information on the operation and the environment of the ship stored in the storage unit together with the composite image in association with the composite image. Or we can improve the operation method to improve safety.
  • the navigation support system of another ship of the present invention is disposed on the side of the hull of the ship at a distance from each other in the full length direction of the hull, and photographs the situation around the hull and its image signal
  • a plurality of cameras for outputting an image, a function provided on the vessel, and generating an integrated composite image including the hull and the periphery of the hull based on image signals of the plurality of cameras, and outputting a signal including the composite image
  • a second display unit for displaying an image including the composite image.
  • an integrated composite image including the hull and the periphery of the hull created by the processor based on image signals of the plurality of cameras is provided on the vessel.
  • the navigation support system of still another ship of the present invention is disposed on the side of the hull of the ship at a distance from each other in the full length direction of the hull, and photographs the situation around the hull and images thereof
  • a processor having a function, a first display unit provided on the vessel, receiving an output of the processor, and displaying an image including the composite image, and a ship operation support facility on a land side, the output of the processor
  • a second display unit is provided to receive and display an image including the composite image.
  • the processor further relates to information on the voyage and the engine of the ship at the time of photographing by the plurality of cameras in association with the composite image to be output, and further outputs a function as numerical data.
  • a storage unit arranged in the vessel operation support facility to receive the information on the voyage and engine of the vessel output by the processor, and sequentially storing the received information together with the composite image Can be further provided.
  • the ship operator can appropriately operate the ship propulsion device, the steering device, the side thruster, etc. while looking at the image displayed on the first display unit.
  • the operator of the related ship or related offshore equipment separate from the ship can easily grasp the situation around the ship by looking at the image displayed on the second display unit. It is possible to share information about the surrounding situation, thereby significantly improving the communication between the ship operator and the operator of the related ship or related offshore equipment, and the safety of the takeoff / landing work or connection work. And efficiency can be improved.
  • the ship operator appropriately operates a ship propulsion device, a steering device, a side thruster, etc. while looking at an image displayed on the first display unit. Because the operator of the related equipment on the quayside can easily grasp the situation around the vessel by looking at the image displayed on the second display unit, the situation around the vessel can be performed. Information can be shared, thereby significantly improving the communication between the ship operator and the operator of the related equipment on the wharf side, and improving the safety and efficiency of the takeoff operation .
  • the ship operation support facility on the land side can accurately grasp the takeoff and landing situation of the ship, and by analyzing the takeoff and arrival situation of each ship , Improvement of operation methods, for example, improvement of economic operation methods or operation methods for enhancing safety.
  • FIG. 2 It is a side view of the ship concerning one example of the present invention. It is a top view of the ship 2 shown by FIG. It is a block diagram which shows the flow of the signal in the said one Example. It is explanatory drawing which shows an example of the display apparatus in the said one Example. It is a flowchart which shows the image processing in the said one Example. It is a general view including the ship concerning another example of the present invention.
  • FIG. 1 to 5 show an embodiment of the present invention.
  • a ship 2 which is a large cargo ship is provided on the hull 4 and the rear of the ship, and has a bridge 6 on which a pilot of the ship 2 and a ship operator such as a captain who takes command of maneuvers reside. ing.
  • each of the cameras C1 to C10 is configured to be directed downward to photograph the situation around the hull 4, that is, the water surface W including a part of the hull 4 and to output an image signal thereof. For this reason, the cameras C1 to C10 are provided to protrude outside the hull 4.
  • the imaging areas R1 to R10 of the cameras C1 to C10 are set so that the entire area surrounded by the thick frame is covered as shown in FIG. 3 and the imaging areas of adjacent cameras partially overlap. It is done.
  • a draft detection unit 10 is provided at the upper edge of the left side surface substantially at the center in the full length direction of the hull 4.
  • the draft detection unit 10 is configured of a Doppler radar that detects a distance from the detection unit 10 to the water surface W and outputs a signal.
  • the draft detection unit 10 can also be configured as a pressure-sensitive detection unit that measures the pressure acting on the outer surface of the hull 4 and calculates the draft of the hull based on the measured pressure. Furthermore, it is also possible to constitute by a detection unit that calculates the draft value of the hull based on the weight of the load loaded on the hull 4 and the amount of ballast water in the ballast tank of the hull 4.
  • the cameras C1 to C10 are connected to the PoE hub 12 via a LAN cable.
  • the same PoE hub 12 has a processor 14 having a function of synthesizing an integrated overhead image including the hull 4 and the periphery of the hull 4 based on image signals of the cameras C1 to C10 and outputting a signal including the overhead image. It is connected.
  • navigational instruments 16 such as GPS, compass, bathymetry and wind direction / anemometer, and engine information detector 18 such as steering angle, rotation speed of propulsion shaft, and rotation speed of stance raster / bout raster are communication converters. 20 are connected to the PoE hub 12.
  • the GPS of the navigation instrument 16 can detect the course and speed of the ship 2.
  • an access point A1 to which a display terminal D1 as a display device disposed in the boat bridge 6 can be connected wirelessly, and an access to which a display terminal D2 as a display device disposed outdoors can be connected wirelessly Point A2 is connected.
  • a plurality of access points A1 and A2 are provided as needed.
  • a draft detection unit 10 is connected to the PoE hub 12.
  • the uninterruptible power supply 22 supplies power to the PoE hub 12, the processor 14, and the communication converter 20.
  • the first display unit D1 is provided in the bridge 6 of the ship 2
  • the second display unit D2 is provided in the steering room of the tugboat T.
  • the tug boat T corresponds to the relevant ship in the present invention.
  • FIG. 4 shows an example of the first display unit D1 or the second display unit D2.
  • the periphery of the hull 4 and the hull 4 synthesized by the processor 14 based on the image signals of the cameras C1 to C10 is An integral bird's-eye view image 26 is displayed.
  • the overhead image 26 includes a tug boat T that assists the movement of the ship 2 and a quay B on which the ship 2 is landed.
  • the processor 14 controls the remaining part of the display 24 based on the signals from the navigation instrument 16 and the engine information detection unit 18 described above, and the current latitude, longitude, course, ship speed, water depth, draft value of the ship 2.
  • the processor 14 displays the arrow 28 corresponding to the course and the arrow 30 corresponding to the wind direction on the center of gravity of the hull 4 of the overhead image 26.
  • the lengths of the arrow 28 and the arrow 30 can be made to correspond to the boat speed and the wind speed, respectively.
  • the processor 14 includes an input / output device, a storage device, a central processing unit, a timer, and the like for executing the above-described image combining process, and the storage device stores a command for executing the image combining process. doing.
  • the processor 14 takes in the image signals of the cameras C1 to C10 (step S1).
  • the processor 14 synthesizes one overhead image including the hull 4 according to a known method based on the image signals of the cameras C1 to C10 received in step S1 (step S2).
  • the composition of the overhead view image by the processor 14 in this step S2 can use any known method, for example, the method shown in Patent Document 1 can be used.
  • the processor 14 takes in the output signals of the navigation instrument 16 and the engine information detector 18 (step S3) and, together with the overhead image synthesized in step S2, the current latitude of the ship 2 as described further according to FIG.
  • a composite image is generated to display superimposedly the longitude, course, ship speed, water depth, draft value, steering angle, rotation number of propulsion shaft, and rotation number of stance raster / bow thruster (step S4).
  • the composite image signal is output to the first and second display units D1 and D2 via the access points A1 and A2 (step S5).
  • a composite image as shown in FIG. 4 is displayed on the display 24 of each of the first and second display units D1 and D2.
  • each display 24 of the first and second display units D1 and D2 has a touch panel function capable of sending a signal to the processor 14 by touching the screen.
  • a camera C11 directed to the deck D of the hull 4 to monitor cargo handling work on the deck D is provided at the center of the front end of the bridge 6 or at a position higher than the bridge 6.
  • the camera C11 is connected to the PoE hub 12 via a LAN cable.
  • the operation display 32 is configured to display the operation button 32, and when the operator touches the operation button 32, a state on the deck D of the hull 4 photographed by the camera C11 is displayed on the entire display 24. It is done.
  • the first and second display units D1 and D2 enlarge a part of the bird's-eye view image including the position by touching an arbitrary position of the peripheral region of the hull 4 on the screen of each display 24. And has a function to display on the screen. This function can be provided for each display unit D1 or D2. Furthermore, instead of enlarging and displaying a part of the overhead image, the photographed image of one of the cameras C1 to C10 closest to an arbitrary position in the peripheral area is enlarged as it is and displayed on the screen of each display 24. It is also possible to configure. As a result, the operator or the operator can magnify and display the image of the specific part on the screen, so that details of the specific part can be more easily viewed.
  • a thin line corresponding to each imaging area of each of the cameras C1 to C10 is displayed on the peripheral area of the ship 2 on the screen of the display 24 to facilitate specification of an area for enlarging the image of the operator or the operator. It is also possible to configure.
  • the processor 14 performs a display indicating the operation of the second display unit D2 on the first display unit D1 when the second display unit D2 receives the output of the processor 14 and displays an image including the composite image. Is configured. Specifically, the display unit 34 on the display 24 of the first display unit D1 is turned on. Alternatively, the display unit 34 may be provided near the outer side of the first display unit D1.
  • the processor 14 generates a composite image including the hull 4 created based on the image signals of the plurality of cameras C1 to C11 and the periphery of the same hull. It is displayed on both the first display unit D1 provided on the ship 2 and the second display unit D2 provided on the tugboat T. Therefore, the ship operator of the ship 2 can appropriately operate the propulsion device, the steering device, the side thruster, etc. of the ship 2 while watching the image displayed on the first display unit D1, and the tug boat T side. The tugboat pilot can properly be instructed, while the tugboat pilot can grasp the instruction from the ship pilot and its background more accurately while looking at the image displayed on the second display unit D2. be able to.
  • the tug boat operator corresponds to the operator of the relevant ship of the present invention. That is, since the image displayed on the second display unit D2 includes the hull 4 of the ship 2 and the periphery of the same hull, the tug boat operator can check the situation on the opposite side of the tug boat T of the ship 2 or the tug boat T The situation around the tugboat itself including the orientation of the ship to the ship can be sufficiently grasped, whereby the instruction contents from the ship operator and the background thereof can be grasped more accurately.
  • the processor 14 outputs a signal indicating the traveling direction and speed of the ship 2 together with the composite image
  • the first display unit D1 and the second display unit D2 are the hull 4 and the same hull. Since the image including the traveling direction and the velocity of the ship 2 is displayed together with the composite image including the circumference of the tug, the tug boat operator can grasp the current traveling direction and the velocity of the ship 2.
  • the processor 14 displays an image obtained by superimposing the arrow 28 indicating the traveling direction and speed of the ship 2 on the composite image, the ship operator and the tugboat operator can control the traveling direction and speed of the ship 2 of the same ship. It can be easily grasped visually in relation to the orientation.
  • the processor 14 outputs a signal including the wind direction and the wind speed around the ship 2 together with the composite image, and the first display unit D1 and the second display unit D2 combine the composite image.
  • the ship operator and the tugboat pilot can grasp the current wind direction and the wind speed.
  • the processor 14 displays an image obtained by superimposing the image of the arrows indicating the wind direction and the wind speed around the ship 2 on the composite image, the ship operator and the tugboat operator share the wind direction and the wind speed around the ship 2. It can be easily grasped visually in relation to the direction of the ship.
  • the navigation support system for a ship includes a driving situation detection unit 18 provided on the ship 2 for detecting and outputting the driving situation of the drive device of the ship 2, and the processor 14 is a driving situation detection unit Since the first display unit D1 and the second display unit D2 display the image indicating the driving condition together with the composite image, the tug boat operator receives the 18 outputs and outputs the signal indicating the driving condition together with the composite image. The operating condition of the drive device of the ship 2 can be grasped.
  • the first display unit D1 and the second display unit D2 have a communication function with the processor 14 including a command for the processor 14, and the second display unit D2 performs image processing
  • the processor 14 is configured to perform display indicating the reception on the display unit 34 provided in the first display unit D1 or in the vicinity thereof.
  • the ship operator can know that the second display unit D2 of the tugboat T receives the output of the processor 14 and displays an image including a composite image, and the ship operator assumes that You can give instructions to the tugboat pilot.
  • a storage unit M1 is provided on the bridge 6 of the ship 2.
  • the processor 14 receives navigation information such as GPS, compass, depth of flight, wind direction / anemometer, etc. obtained from the navigation instrument 16 as well as steering angle obtained from the engine information detector 18, rotation speed of the propulsion axis, and stance raster / brows raster
  • the engine information such as the number of revolutions of the engine is associated with the signal of the combined screen and output as numerical information to the storage unit M1.
  • the storage unit M1 can store the received navigation information and engine information in association with the composite image and continuously store them chronologically.
  • the tug T for assisting the takeoff and landing of the ship 2 is one, two or more tugs may assist the takeoff and landing of the ship 2.
  • the third display unit D3 is installed in the second or more tug boat, and the third display unit D3 transmits to the processor 14 via the access point A2. Configured to connect.
  • the third display unit D3 has the same function as the second display unit D2.
  • a second display unit is additionally provided on the display 24 of the display terminal D1 or in the vicinity thereof, and the third display unit D3 receives an output of the image processing unit 14 and an image including a composite image Is displayed, the processor 14 is configured to provide a display indicating the reception on the second display unit 34 provided in the first display unit D1 or in the vicinity thereof.
  • the ship operator is aware that the tug T and the second and third display units D2 and D3 of the second tug boat are receiving the output of the processor 14 and displaying an image including a composite image
  • the ship operator can give instructions to the tug boat operator on the basis of it.
  • the second display unit D2 is installed in the tug boat T, but instead, the second display unit D2 is not shown, but the related offshore equipment to which the ship 2 is connected, for example, offshore oil equipment , The offshore wind power generation facility, the floating pier, or other floating structure, etc., and when the ship 2 contacts the relevant offshore facility, the operator of the relevant offshore facility operates the second display unit D2 It can be configured to be viewable.
  • the operator of the related offshore facility can easily grasp the situation around the ship by looking at the image displayed on the second display unit.
  • it is possible to share information about the situation around the ship thereby significantly improving the communication between the ship operator and the operator of the relevant offshore facility, and the connection work. Safety and efficiency can be improved.
  • the second display unit D2 may be disposed on another related ship in which the ship 2 is connected instead of the tugboat T.
  • the ship 2 is a fueling vessel
  • the fueling vessel needs to be connected to the related ship, but the operator of the related ship is to supply the fuel by looking at the image displayed on the second display unit.
  • the situation around the ship can be easily grasped, and the safety and efficiency of the connection work can be improved.
  • the second display unit D2 is installed on the tug boat T, but instead, the display unit D2 is disposed on the quay B side where the ship 2 departs and lands, and the operator on the quay B
  • the second display unit D2 can be configured to be viewable.
  • the worker on the quayside B side can grasp the instruction content from the ship operator and the background thereof more accurately while looking at the image displayed on the second display unit D2. That is, since the image displayed on the second display unit D2 includes the hull 4 of the ship 2 and the periphery of the hull 4, the worker on the quayside B side is the situation on the opposite side to the quayside B of the craft 2 And the situation around the ship 2 can be sufficiently grasped, whereby the instruction content from the ship operator and the background thereof can be grasped more accurately.
  • a display unit having the same function as the second display unit D2 is disposed in both the tug boat T and the quay B, and as a result, the tug boat operator and the quay side operator are equivalent to the first display unit D1. It is also possible to make it possible to view the image of. In that case, it is possible to arrange a required number of display units according to the number of tug boats T and the number of workers of the quaywall B.
  • FIG. 6 shows another embodiment.
  • the processor 14 receives navigation information such as GPS, compass, depth of flight, wind direction / anemometer, etc. obtained from the navigation instrument 16 as well as steering angle obtained from the engine information detector 18, rotation speed of the propulsion axis, and stance raster / brows raster
  • the engine information such as the number of rotations is associated with the signal of the combined screen and can be output as numerical information from the access point A2.
  • the ship operation support facility S on the ground side is provided with a second display unit D2 and a storage unit M2.
  • the second display unit D2 can receive the navigation information or the engine information as numerical data from the access point A2 together with the signal of the combined screen.
  • the storage unit M2 can continuously store received information together with the composite image in time series.
  • a composite image including the hull 4 and the periphery of the same hull 4 created by the processor 14 based on the image signals of the plurality of cameras C1 to C10 is provided on the vessel 2
  • the first display unit D1 and the second display unit D2 disposed on the ship operation support facility S on the land side are displayed. Therefore, in the ship operation support facility S on the land side, the landing situation of the ship 2 can be accurately grasped. Furthermore, in the ship operation support facility S on the land side, the operation method is improved, for example, economically, by analyzing the information on the operation and environment of the ship 2 stored together with the composite image in the storage unit M2 in association with the composite image. Operation methods or operation methods that enhance safety can be improved.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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  • Ocean & Marine Engineering (AREA)
  • Public Health (AREA)
  • Health & Medical Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

This sailing support system for a ship is provided with: a plurality of cameras arranged on the side part of a ship body of a ship at intervals along the entire length direction of the ship body, each of the plurality of cameras imaging the surroundings of the ship body and outputting image signals pertaining thereto; a processor that creates an integrated synthesized image including the ship body and the surroundings of the ship body on the basis of the image signals from the plurality of cameras provided to the ship, the processor having a function for outputting a signal including the synthesized image; a first display unit provided to the ship body, the first display unit receiving the output from the processor and displaying an image that includes the synthesized image; and a second display unit provided to an associated ship separate from the ship or to an associated floating facility, the second display unit receiving the output from the processor and displaying an image that includes the synthesized image.

Description

船舶の航行支援システムShip navigation support system
　本発明は、船舶の航行支援システム、特に船舶の着岸または離岸時（以下、単に「離着岸」と称す）等に用いて好適な船舶の航行支援システムに関する。 The present invention relates to a navigation support system for a ship, and more particularly to a navigation support system for a ship that is suitable for use at the time of arrival or departure of the ship (hereinafter simply referred to as "offset").
　船舶の離着岸に際し、例えば、大型船では、サイドスラスターが用いられたり、タグボートによる船体の移動が行われたり、あるいは岸壁側から係船索を用いて船体が引き寄せられたり等の、離着岸作業が実行されている。 In the case of large ships, for example, side thrusters are used to move ships, or the tugboats are used to move the hull, or the hulls are pulled from the quayside using the mooring cords, etc. It is running.
　このような離着岸の作業時に、船上にカメラを設け、船舶操縦者が船舶と岸壁との位置
関係を示す画像を見ることができる画像システムが提案されている。 There has been proposed an image system in which a camera is provided on a ship at the time of such work of leaving and receiving the ship, and a ship operator can view an image showing a positional relationship between the ship and the wharf.
特開２０１０－４１３０号公報JP, 2010-4130, A
　この画像システムによれば、船舶操縦者は、離着岸時等において、その画像を見ながら、船舶の推進装置、舵取り装置、さらにはサイドスラスターを操作すると共に、船舶をさらに適切に移動させるべくタグボート側のタグボート操縦者へ指示（例えば船舶を押すまたは曳く方向及びその力等）を出すことができる。 According to this image system, the ship operator operates the propulsion device, the steering device, and the side thruster of the ship while watching the image at the time of departure and landing etc., and operates the tug boat to move the ship more appropriately. Instructions may be given to the side tug boat operator (e.g. the direction to push or roll the ship and its power etc).
　また岸壁側では係船索をビット等の係留設備に係留する作業がある。その作業は、係留策を固定するビット、順番などは船舶操縦者と岸壁側の運航支援者間にて連絡を取りながら実施される。さらに、船舶（自船）とは別個の関連船舶（例えばタグボートあるいは接舷する船舶）または関連洋上設備（例えば、洋上石油設備、洋上風力発電設備、あるいは他の浮体構造体など）への接舷作業も、船舶操縦者と前記関連船舶または関連洋上設備の作業運用者にて連絡を取りながら実施される。 In addition, on the quayside there is work to moor the mooring lines to mooring equipment such as bits. The work is carried out while securing the mooring bit, the order, etc., between the ship operator and the operation support person on the wharf side. In addition, connection to a related vessel (for example, a tug boat or a ship that is connected) separate from the vessel (the own vessel) or an associated offshore facility (for example, an offshore oil facility, an offshore wind power facility, or other floating structure) The work is also carried out in contact with the ship operator and the work operator of the related ship or related offshore facility.
　またさらに、船舶の運航を支援するための関連船舶の運航、陸上設備の運用及び船舶の安全管理を陸上側にて行う船舶運航支援設備では、特に船舶の離着岸時の記録を適切な形で蓄積されていなかった。 Furthermore, with the ship operation support facility performing on the land side the operation of related vessels to support the operation of vessels, the operation of land facilities, and the safety management of vessels, the records at the time of departure and arrival of vessels are particularly appropriate It was not accumulated.
　上述したように、特許文献１の前記画像システムによれば、船舶操縦者は同画像システムの画像を見ながら、自船を含む周囲の状況を容易に把握できるが、同船舶操縦者からの指示は、通常、トランシーバ等の音声通信によるものであるために、タグボート操縦者、岸壁側の運転支援者、または前記関連船舶あるいは関連洋上設備の作業運用者が例えば本船の右舷側と左舷側の両方の状況を正確に把握するのに時間を要する等の問題があった。 As described above, according to the image system of Patent Document 1, the ship operator can easily grasp the surrounding situation including the ship while viewing the image of the image system, but the instruction from the ship operator Is usually by voice communication such as a transceiver, so the tug boat operator, the quayside driver's assistant, or the work operator of the related ship or related offshore equipment, for example, both on the starboard side and the port side of the ship. The problem is that it takes time to grasp the situation of
　また陸上側の船舶運航支援設備では、離着岸時の種々の状況における船舶の姿勢等の解析のために、適切なデータの蓄積が望まれている。 In addition, in the ship operation support facility on the land side, accumulation of appropriate data is desired for analyzing the attitude of the ship in various situations at the time of departure and arrival.
　そこで本発明は、上述の問題を解決できる、船舶に用いて好適な船舶の航行支援システムを提供することを目的とする。 Then, an object of this invention is to provide the navigation assistance system of a suitable ship, using it for the ship which can solve the above-mentioned problem.
　上記目的を達成するため、本発明の船舶の航行支援システムは、船舶の船体側部に同船体の全長方向に相互に間隔をあけて配設され、それぞれ該船体の周囲の状況を撮影してその画像信号を出力する複数のカメラ、前記船舶に設けられ、前記複数のカメラの画像信号を基に前記船体及び同船体の周囲を含む一体の合成画像を作成し、同合成画像を含む信号を出力する機能を有するプロセッサ、前記船舶に設けられ、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第１表示ユニット、及び前記船舶とは別個の関連船舶または関連洋上設備に設けられ、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第２表示ユニットを備えたことを特徴としている。 In order to achieve the above object, the navigation support system for a ship according to the present invention is disposed on the side of the hull of the ship at a distance from each other in the full length direction of the hull, and photographs the situation around the hull respectively A plurality of cameras for outputting the image signal, the ship is provided, and an integrated composite image including the hull and the periphery of the hull is created based on the image signals of the plurality of cameras, and a signal including the composite image is A processor having an output function, a first display unit provided on the vessel, receiving an output of the processor, and displaying an image including the composite image, and provided on an associated vessel or associated offshore facility separate from the vessel A second display unit for receiving an output of the processor and displaying an image including the composite image.
　本発明の船舶の航行支援システムによれば、前記プロセッサにより、前記複数のカメラの画像信号を基に作成された前記船体及び同船体の周囲を含む一体の合成画像が、前記船舶上に設けられた第１表示ユニット及び前記船舶とは別個の関連船舶（例えばタグボートあるいは接舷する船舶）または関連洋上設備（例えば、洋上石油設備、洋上風力発電設備、浮体型桟橋、あるいは他の浮体構造体等）に設けられた第２表示ユニットの両方に表示される。したがって、船舶操縦者は、第１表示ユニットに表示された画像を見ながら、船舶の推進装置、舵取り装置、さらにはサイドスラスター等を適切に操作することができると共に、前記船舶とは別個の関連船舶または関連洋上設備の運用者は、第２表示ユニットに表示された画像を見ることにより、前記船舶の周囲の状況を容易に把握できるため、前記船舶の岸壁への離着岸作業時、または前記関連洋上設備への接舷作業時等に、前記船舶の周囲の状況について情報を共有することができ、これにより、前記船舶操縦者と前記関連船舶または関連洋上設備の運用者とのコミュニケーションが格段に向上し、前記離着岸作業または接舷作業の安全性及び効率を向上することができる。 According to the navigation support system of a vessel of the present invention, an integrated composite image including the hull and the periphery of the hull created by the processor based on the image signals of the plurality of cameras is provided on the vessel First display unit and related vessels (eg tugs or attached vessels) separate from the said vessels or related offshore equipment (eg offshore oil equipment, offshore wind power equipment, floating piers or other floating structure etc.) Is displayed on both of the second display units provided in. Therefore, the ship operator can appropriately operate the ship propulsion device, the steering device, the side thruster, etc. while watching the image displayed on the first display unit, and the association separate from the ship The operator of the ship or the related offshore equipment can easily grasp the situation around the ship by looking at the image displayed on the second display unit, and therefore, at the time of the work of leaving the ship to the shore of the ship, or At the time of connection work to related offshore facilities, etc., it is possible to share information about the surrounding conditions of the ship, whereby communication between the ship operator and the operator of the related vessel or related offshore facilities is greatly improved. To improve the safety and efficiency of the takeoff / landing operation or the contact operation.
　また、本発明の船舶の航行支援システムは、前記船舶に設けられ、同船舶の進行方向を検出する針路検出ユニットを備え、前記プロセッサは、前記針路検出ユニットの出力を受信して前記合成画像と共に前記船舶の進行方向を示す画像を含む信号を出力するように構成することができる。 The navigation support system for a vessel according to the present invention further includes a course detection unit provided on the vessel for detecting the traveling direction of the vessel, and the processor receives the output of the course detection unit and combines with the composite image. It can be configured to output a signal including an image indicating the traveling direction of the ship.
　このような構成によれば、前記第１表示ユニット及び前記第２表示ユニットが、前記合成画像と共に前記船舶の進行方向を含む画像を表示することができる According to such a configuration, the first display unit and the second display unit can display an image including the traveling direction of the ship together with the composite image.
　さらに、本発明の船舶の航行支援システムは、前記船舶に設けられ、同船舶の速度を検出して出力する船速検出ユニットを備え、前記プロセッサは、前記船速検出ユニットの出力を受信して前記合成画像と共に前記船舶の速度を示す画像を含む信号を出力するように構成することができる。 Furthermore, the navigation support system for a ship according to the present invention includes a ship speed detection unit provided on the ship to detect and output the speed of the ship, and the processor receives the output of the ship speed detection unit. It may be configured to output a signal including an image indicating the speed of the vessel together with the composite image.
　このような構成によれば、前記第１表示ユニット及び前記第２表示ユニットが、前記合成画像と共に前記船舶の速度を含む画像を表示することができる。 According to such a configuration, the first display unit and the second display unit can display an image including the speed of the ship together with the composite image.
　またさらに、本発明の船舶の航行支援システムは、前記船舶に設けられ、同船舶の進行方向を検出して出力する針路検出ユニット、及び前記船舶に設けられ、同船舶の速度を検出して出力する船速検出ユニットを備え、前記プロセッサは、前記針路検出ユニット及び船速検出ユニットの出力を受信して前記合成画像と共に前記船舶の進行方向及び速度を示す画像を含む信号を出力するように構成することができる。 Furthermore, the navigation support system for a ship according to the present invention is provided in the ship and detects a course detection unit that detects and outputs the traveling direction of the ship, and is provided in the ship and detects and outputs the speed of the ship And the processor is configured to receive the outputs of the course detection unit and the ship speed detection unit and output a signal including the composite image and an image indicating the traveling direction and speed of the ship. can do.
　このような構成によれば、前記第１表示ユニット及び前記第２表示ユニットが、前記合成画像と共に前記船舶の進行方向及び速度を含む画像を表示することができるので、前記船舶の操縦者及び前記関連船舶または関連洋上設備の運用者は、船舶の進行方向、速度、または進行方向及び速度を正確に把握することができる。 According to such a configuration, the first display unit and the second display unit can display an image including the traveling direction and the speed of the ship together with the composite image, so that the operator of the ship and the ship The operator of the relevant ship or relevant offshore facility can accurately grasp the direction, speed, or direction and speed of travel of the ship.
　また、本発明の船舶の航行支援システムは、前記プロセッサは、前記合成画像上に前記船舶の進行方向及び速度を示す矢印の画像を重合した信号を出力するように構成することができる。 In the navigation support system for a ship according to the present invention, the processor may be configured to output a signal obtained by superimposing an image of an arrow indicating the traveling direction and the speed of the ship on the composite image.
　このような構成によれば、第１表示ユニット及び第２表示ユニットには、船舶の船体及び同船体の周囲を含む画像に、船舶の進行方向及び速度を示す矢印の画像が重合して表示されるので、前記船舶操縦者及び前記関連船舶または関連洋上設備の運用者は、前記船舶の進行方向及び速度を同船舶との関連において視覚的にも容易に把握できる。 According to such a configuration, the first display unit and the second display unit display an image of an arrow indicating the traveling direction and speed of the ship superimposed on the image including the hull of the ship and the periphery of the same hull. Thus, the ship operator and the operator of the related ship or related offshore equipment can easily grasp the traveling direction and speed of the ship visually in relation to the ship.
　さらに、本発明の船舶の航行支援システムは、前記船舶に設けられ、同船舶の周囲の風向及び風速を検出して出力する風向及び風速検出ユニットを備え、前記プロセッサは、前記風向及び風速検出ユニットの出力を受信して前記合成画像と共に前記風向及び風速を示す画像を含む信号を出力するように構成することができる。 Furthermore, the navigation support system for a ship according to the present invention comprises a wind direction and wind speed detection unit provided on the ship and detecting and outputting a wind direction and wind speed around the ship, the processor further comprising: the wind direction and wind speed detection unit , And outputs a signal including an image indicating the wind direction and the wind speed together with the composite image.
　このような構成によれば、前記第１表示ユニット及び前記第２表示ユニットが、前記船舶の船体及び同船体の周囲を含む画像と共に、同船舶の周囲の風向及び風速を含む画像が表示されるので、前記船舶操縦者及び前記関連船舶または関連洋上設備の運用者は、船舶の周囲の風向及び風速を正確に把握できる。 According to such a configuration, the first display unit and the second display unit display the image including the wind direction and the wind speed around the ship together with the image including the hull of the ship and the periphery of the ship. Therefore, the operator of the ship operator and the related ship or related offshore equipment can accurately grasp the wind direction and the wind speed around the ship.
　また、本発明の船舶の航行支援システムは、前記プロセッサは、前記合成画像上に前記風向及び風速を示す矢印の画像を重合した信号を出力するように構成することができる。 In the navigation support system for a vessel of the present invention, the processor may be configured to output a signal obtained by superimposing an image of an arrow indicating the wind direction and the wind speed on the composite image.
　このような構成によれば、前記第１表示ユニット及び第２表示ユニットには、船舶の船体及び同船体の周囲を含む画像に、船舶の周囲の風向及び風速を示す矢印の画像が重合して表示されるので、前記船舶の周囲の風向及び風速を同船舶との関連において視覚的にも容易に把握できる。 According to such a configuration, in the first display unit and the second display unit, an image including an arrow indicating the wind direction and the wind speed around the vessel is superimposed on the image including the hull of the vessel and the periphery of the same vessel. As it is displayed, the wind direction and the wind speed around the ship can be easily grasped visually in relation to the ship.
　またさらに、本発明の船舶の航行支援システムは、前記船舶に設けられ、同船舶の駆動装置の運転状況を検出して出力する運転状況検出ユニットを備え、前記プロセッサは、前記運転状況検出ユニットの出力を受信して前記合成画像と共に前記運転状況を示す画像を含む信号を出力するように構成することができる。 Furthermore, the navigation support system for a vessel according to the present invention includes a driving situation detection unit provided on the vessel and detecting and outputting a driving situation of a drive device of the vessel, the processor being a controller of the driving situation detection unit. It may be configured to receive an output and output a signal including an image indicative of the driving situation together with the composite image.
　このような構成によれば、前記第１表示ユニット及び前記第２表示ユニットが、前記合成画像と共に前記運転状況を含む画像を表示するように構成することができる。これにより、前記船舶操縦者及び前記関連船舶または関連洋上設備の運用者は、船舶の船体及び同船体の周囲を含む画像と共に、船舶の駆動装置の運転状況を正確に把握できる。 According to such a configuration, the first display unit and the second display unit can be configured to display an image including the driving situation together with the composite image. Thereby, the operator of the ship operator and the related ship or related offshore equipment can accurately grasp the operating condition of the drive device of the ship together with the image including the hull of the ship and the periphery of the ship.
　また、本発明の船舶の航行支援システムは、前記第１表示ユニット及び第２表示ユニットは、前記プロセッサに対する指令を含む、同プロセッサとの通信機能を有し、前記第２表示ユニットが前記プロセッサの出力を受信して前記合成画像を含む画像を表示すると、前記プロセッサが、前記第１表示ユニットまたはその近傍に設けられた表示装置に該受信を示す表示を行うように構成することができる。 Further, in the navigation support system for ships according to the present invention, the first display unit and the second display unit have a communication function with the processor including a command to the processor, and the second display unit is the processor When the output is received and the image including the composite image is displayed, the processor may be configured to perform display indicating the reception on a display device provided in the vicinity of the first display unit or the display unit.
　このような構成によれば、船舶操縦者は、前記関連船舶または関連洋上設備に設けられた第２表示ユニットが、前記プロセッサの出力を受信して、前記合成画像を含む画像を表示していることを知ることができ、前記船舶操縦者はそれを前提に前記関連船舶または関連洋上設備の運用者と連絡することができる。 According to such a configuration, in the ship operator, the second display unit provided on the related ship or related offshore facility receives the output of the processor and displays an image including the composite image. It is possible to know that the ship operator can communicate with the operator of the related ship or related offshore facility on the premise thereof.
　また、本発明の船舶の航行支援システムは、前記プロセッサは、前記複数のカメラによる撮影時の前記船舶の航海及び機関に関する情報を、前記出力される合成画像と関連付けて、数値データとして出力する機能をさらに有し、及び前記船舶に設けられ、前記プロセッサにより出力された前記船舶の航海及び機関に関する情報を受信し、該受信した情報を前記合成画像と共に連続して時系列的に記憶する記憶ユニットをさらに備えるように構成することができる。 Further, in the navigation support system for a ship according to the present invention, the processor outputs, as numerical data, information related to the voyage and the engine of the ship at the time of shooting by the plurality of cameras in association with the output composite image. And a storage unit provided in the vessel, receiving information about the voyage and engine of the vessel output by the processor, and sequentially storing the received information together with the composite image. Can be further provided.
　このような構成によれば、前記記憶ユニットに前記合成画像に関連付けて同合成画像と共に記憶された前記船舶の運転及び環境に関する情報を解析することで、運航方法の改善、例えば経済的な運用方法または安全性を高める運航方法の改善を図ることができる。 According to such a configuration, the operation method can be improved, for example, the economic operation method, by analyzing the information on the operation and the environment of the ship stored in the storage unit together with the composite image in association with the composite image. Or we can improve the operation method to improve safety.
　また、本発明の別の船舶の航行支援システムは、船舶の船体側部に同船体の全長方向に相互に間隔をあけて配設され、それぞれ該船体の周囲の状況を撮影してその画像信号を出力する複数のカメラ、前記船舶に設けられ、前記複数のカメラの画像信号を基に前記船体及び同船体の周囲を含む一体の合成画像を作成し、同合成画像を含む信号を出力する機能を有するプロセッサ、前記船舶に設けられ、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第１表示ユニット、及び前記船舶が着岸する岸壁側に配置され、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第２表示ユニットを備えたことを特徴としている。 In addition, the navigation support system of another ship of the present invention is disposed on the side of the hull of the ship at a distance from each other in the full length direction of the hull, and photographs the situation around the hull and its image signal A plurality of cameras for outputting an image, a function provided on the vessel, and generating an integrated composite image including the hull and the periphery of the hull based on image signals of the plurality of cameras, and outputting a signal including the composite image A first display unit provided on the vessel, receiving an output of the processor and displaying an image including the composite image, and disposed on a quay side on which the vessel is docked, receiving an output of the processor And a second display unit for displaying an image including the composite image.
　この船舶の航行支援システムによれば、前記プロセッサにより、前記複数のカメラの画像信号を基に作成された前記船体及び同船体の周囲を含む一体の合成画像が、前記船舶上に設けられた第１表示ユニット及び前記船舶が離着岸する岸壁側に設けられた第２表示ユニットの両方に表示される。したがって、船舶操縦者は、第１表示ユニットに表示された画像を見ながら、船舶の推進装置、舵取り装置、さらにはサイドスラスター等を適切に操作することができると共に、前記岸壁側の作業者は、第２表示ユニットに表示された画像を見ることにより、前記船舶の周囲の状況を容易に把握できるため、前記船舶の岸壁への離着岸作業時等に、前記船舶の周囲の状況について情報を共有することができ、これにより、前記船舶操縦者と前記岸壁側の作業者とのコミュニケーションが格段に向上し、前記離着岸作業の安全性及び効率を向上することができる。 According to the navigation support system for a ship, an integrated composite image including the hull and the periphery of the hull created by the processor based on image signals of the plurality of cameras is provided on the vessel. (1) Displayed on both the display unit and the second display unit provided on the quay side at which the ship departs from and docks. Therefore, the ship operator can appropriately operate the ship propulsion device, the steering device, the side thruster, etc. while watching the image displayed on the first display unit, and the quayside worker can Since the situation around the ship can be easily grasped by looking at the image displayed on the second display unit, the information about the situation around the ship at the time of the takeoff and landing work on the quay of the ship, etc. It is possible to share the communication, thereby significantly improving the communication between the ship operator and the operator on the quayside, and improving the safety and efficiency of the takeoff and landing operation.
　また、本発明のさらに別の船舶の航行支援システムは、船舶の船体側部に同船体の全長方向に相互に間隔をあけて配設され、それぞれ該船体の周囲の状況を撮影してその画像信号を出力する複数のカメラ、前記船舶に設けられ、前記複数のカメラの画像信号を基に前記船体及び同船体の周囲を含む一体の合成画像を作成し、同合成画像を含む信号を出力する機能を有するプロセッサ、前記船舶に設けられ、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第１表示ユニット、及び陸上側の船舶運航支援設備に配置され、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第２表示ユニットを備えたことを特徴としている。 In addition, the navigation support system of still another ship of the present invention is disposed on the side of the hull of the ship at a distance from each other in the full length direction of the hull, and photographs the situation around the hull and images thereof A plurality of cameras for outputting signals, provided on the ship, and based on image signals of the plurality of cameras, an integrated composite image including the hull and the periphery of the hull is created, and signals including the composite image are output A processor having a function, a first display unit provided on the vessel, receiving an output of the processor, and displaying an image including the composite image, and a ship operation support facility on a land side, the output of the processor A second display unit is provided to receive and display an image including the composite image.
　この船舶の航行支援システムによれば、前記プロセッサにより、前記複数のカメラの画像信号を基に作成された前記船体及び同船体の周囲を含む合成画像が、前記船舶上に設けられた第１表示ユニット及び前記陸上側の船舶運航支援設備に配置された第２表示ユニットの両方に表示される。したがって、前記陸上側の船舶運航支援設備において、船舶の着岸状況を正確に把握することができ、各船舶の着岸状況をその合成画像と共に解析することで、運航方法の改善、例えば経済的な運用方法または安全性を高める運航方法の改善を図るのに有用である。 According to the navigation support system of the ship, the first display in which the composite image including the hull and the periphery of the hull created by the processor based on the image signals of the plurality of cameras is provided on the ship It is displayed on both the unit and the second display unit arranged on the ship operation support facility on the land side. Therefore, in the ship operation support facility on the land side, the landing situation of the ship can be accurately grasped, and by analyzing the landing situation of each ship together with the composite image, improvement of the operation method, for example, economic operation It is useful for improving the method of operation or the method of operation that enhances safety.
　また、この船舶の航行支援システムにおいて、前記プロセッサは、前記複数のカメラによる撮影時の前記船舶の航海及び機関に関する情報を、前記出力される合成画像と関連付けて、数値データとして出力する機能をさらに有し、及び前記船舶運航支援設備に配置され前記プロセッサにより出力された前記船舶の航海及び機関に関する情報を受信し、該受信した情報を前記合成画像と共に連続して時系列的に記憶する記憶ユニットをさらに備えるように構成することができる。 Further, in the navigation support system for a ship, the processor further relates to information on the voyage and the engine of the ship at the time of photographing by the plurality of cameras in association with the composite image to be output, and further outputs a function as numerical data. And a storage unit arranged in the vessel operation support facility to receive the information on the voyage and engine of the vessel output by the processor, and sequentially storing the received information together with the composite image Can be further provided.
　このような構成によれば、前記陸上側の船舶運航支援設備において、船舶の離着岸状況を正確に把握することができると共に、前記記憶ユニットに前記合成画像に関連付けて同合成画像と共に記憶された前記船舶の運転及び環境に関する情報を解析することで、運航方法の改善、例えば経済的な運用方法または安全性を高める運航方法の改善を図ることができる。 According to such a configuration, in the ship operation support facility on the land side, it is possible to accurately grasp the takeoff and landing situation of the ship, and stored in the storage unit together with the composite image in association with the composite image. By analyzing the information on the operation and the environment of the ship, it is possible to improve the operating method, for example, the economical operating method or the operating method for enhancing the safety.
　本発明の船舶の航行支援システムによれば、船舶操縦者は、第１表示ユニットに表示された画像を見ながら、船舶の推進装置、舵取り装置、さらにはサイドスラスター等を適切に操作することができると共に、前記船舶とは別個の関連船舶または関連洋上設備の運用者は、第２表示ユニットに表示された画像を見ることにより、前記船舶の周囲の状況を容易に把握できるため、前記船舶の周囲の状況について情報を共有することができ、これにより、前記船舶操縦者と前記関連船舶または関連洋上設備の運用者とのコミュニケーションが格段に向上し、前記離着岸作業または接舷作業の安全性及び効率を向上することができる。 According to the navigation support system of the ship of the present invention, the ship operator can appropriately operate the ship propulsion device, the steering device, the side thruster, etc. while looking at the image displayed on the first display unit. The operator of the related ship or related offshore equipment separate from the ship can easily grasp the situation around the ship by looking at the image displayed on the second display unit. It is possible to share information about the surrounding situation, thereby significantly improving the communication between the ship operator and the operator of the related ship or related offshore equipment, and the safety of the takeoff / landing work or connection work. And efficiency can be improved.
　また本発明の別の船舶の航行支援システムによれば、船舶操縦者は、第１表示ユニットに表示された画像を見ながら、船舶の推進装置、舵取り装置、さらにはサイドスラスター等を適切に操作することができると共に、前記岸壁側の関連設備の運用者は、第２表示ユニットに表示された画像を見ることにより、前記船舶の周囲の状況を容易に把握できるため、前記船舶の周囲の状況について情報を共有することができ、これにより、前記船舶操縦者と前記岸壁側の関連設備の運用者とのコミュニケーションが格段に向上し、前記離着岸作業の安全性及び効率を向上することができる。 According to another navigation support system of a ship of the present invention, the ship operator appropriately operates a ship propulsion device, a steering device, a side thruster, etc. while looking at an image displayed on the first display unit. Because the operator of the related equipment on the quayside can easily grasp the situation around the vessel by looking at the image displayed on the second display unit, the situation around the vessel can be performed. Information can be shared, thereby significantly improving the communication between the ship operator and the operator of the related equipment on the wharf side, and improving the safety and efficiency of the takeoff operation .
　本発明のさらに別の船舶の航行支援システムによれば、前記陸上側の船舶運航支援設備において、船舶の離着岸状況を正確に把握することができ、各船舶の離着岸状況を解析することで、運航方法の改善、例えば経済的な運用方法または安全性を高める運航方法の改善を図ることができる。 According to the navigation support system of the ship according to the present invention, the ship operation support facility on the land side can accurately grasp the takeoff and landing situation of the ship, and by analyzing the takeoff and arrival situation of each ship , Improvement of operation methods, for example, improvement of economic operation methods or operation methods for enhancing safety.
本発明の一実施例に係る船舶の側面図である。It is a side view of the ship concerning one example of the present invention. 図１に示される船舶２の平面図である。It is a top view of the ship 2 shown by FIG. 前記一実施例における信号の流れを示すブロック図である。It is a block diagram which shows the flow of the signal in the said one Example. 前記一実施例における表示装置の一例を示す説明図である。It is explanatory drawing which shows an example of the display apparatus in the said one Example. 前記一実施例における画像処理を示すフローチャートである。It is a flowchart which shows the image processing in the said one Example. 本発明の別の実施例に係る船舶を含む全体図である。It is a general view including the ship concerning another example of the present invention.
　以下、図面に基づき本発明の一実施形態について説明する。 Hereinafter, an embodiment of the present invention will be described based on the drawings.
　図１～５は本発明の一実施例を示す。図１において、大型貨物船である船舶２は、船体４及び同船体の後部上に設けられ、船舶２の操縦士及び操縦の指揮をとる船長等の船舶操縦者が常駐する船橋６を有している。 1 to 5 show an embodiment of the present invention. In FIG. 1, a ship 2 which is a large cargo ship is provided on the hull 4 and the rear of the ship, and has a bridge 6 on which a pilot of the ship 2 and a ship operator such as a captain who takes command of maneuvers reside. ing.
　図１及び図２に示されるように、船体４の左側面には、その全長方向に沿って相互に間隔をあけて４台のカメラＣ１～Ｃ４が設けられ、船体４の右側面には、全長方向に沿って相互に間隔をあけて４台のカメラＣ５～Ｃ８が設けられている。また船体４の前端にはカメラＣ９が設けられ、後端にはカメラＣ１０が設けられている。これらカメラＣ１～Ｃ１０はいずれも下方に向けられて船体４の周囲の状況、すなわち船体４の一部を含む水面Ｗを撮影してその画像信号を出力するように構成されている。このため、カメラＣ１～Ｃ１０は船体４の外側にはみ出して設けられている。なお、カメラＣ１～Ｃ１０の各撮像域Ｒ１～Ｒ１０は、図３に示されるように、船体太枠で囲まれる領域を全体でカバーし、かつ隣り合うカメラの撮像域が一部重なるように設定されている。 As shown in FIGS. 1 and 2, four cameras C 1 to C 4 are provided on the left side of the hull 4 at intervals along the entire length direction, and the right side of the hull 4 is Four cameras C5 to C8 are provided at intervals along the full length direction. A camera C9 is provided at the front end of the hull 4 and a camera C10 is provided at the rear end. Each of the cameras C1 to C10 is configured to be directed downward to photograph the situation around the hull 4, that is, the water surface W including a part of the hull 4 and to output an image signal thereof. For this reason, the cameras C1 to C10 are provided to protrude outside the hull 4. The imaging areas R1 to R10 of the cameras C1 to C10 are set so that the entire area surrounded by the thick frame is covered as shown in FIG. 3 and the imaging areas of adjacent cameras partially overlap. It is done.
　また船体４の全長方向のほぼ中央における左側面の上縁部には、喫水検出ユニット１０が設けられている。同喫水検出ユニット１０は、同検出ユニット１０から水面Ｗまでの距離を検出して信号を出力するドップラーレーダにより構成されている。なお、喫水検出ユニット１０としては、船体４の外面に作用する圧力を計測し、同計測された圧力を基に船体の喫水を算出する受圧式の検出ユニットにより構成することも可能である。さらに船体４に積載された積載物の重量及び船体４のバラストタンク内のバラスト水の量に基づき船体の喫水値を算出する検出ユニットにより構成することも可能である。 A draft detection unit 10 is provided at the upper edge of the left side surface substantially at the center in the full length direction of the hull 4. The draft detection unit 10 is configured of a Doppler radar that detects a distance from the detection unit 10 to the water surface W and outputs a signal. The draft detection unit 10 can also be configured as a pressure-sensitive detection unit that measures the pressure acting on the outer surface of the hull 4 and calculates the draft of the hull based on the measured pressure. Furthermore, it is also possible to constitute by a detection unit that calculates the draft value of the hull based on the weight of the load loaded on the hull 4 and the amount of ballast water in the ballast tank of the hull 4.
　図３に示されるように、カメラＣ１～Ｃ１０は、ＬＡＮケーブルを介してＰｏＥハブ１２に接続されている。同ＰｏＥハブ１２には、カメラＣ１～Ｃ１０の画像信号を基に船体４及び同船体４の周囲を含む一体の俯瞰画像を合成し、同俯瞰画像を含む信号を出力する機能を有するプロセッサ１４が接続されている。また、例えばＧＰＳ、コンパス、水深計、及び風向／風速計等の航海計器１６、並びに舵角、推進軸の回転数、及びスタンスラスタ／バウスラスタの回転数等の機関情報検出器１８が通信変換器２０を介してＰｏＥハブ１２に接続されている。なお、航海計器１６のＧＰＳは、船舶２の針路及び速度を検出することができる。また同ＰｏＥハブ１２には、船橋６内に配置される表示装置としての表示端末Ｄ１が無線で接続できるアクセスポイントＡ１、及び屋外に配置される表示装置としての表示端末Ｄ２が無線で接続できるアクセスポイントＡ２が接続されている。アクセスポイントＡ１及びＡ２は必要に応じて複数設けられる。さらにＰｏＥハブ１２には、喫水検出ユニット１０が接続されている。なお、無停電電源装置２２が、ＰｏＥハブ１２、プロセッサ１４、及び通信変換器２０に電力を供給している。 As shown in FIG. 3, the cameras C1 to C10 are connected to the PoE hub 12 via a LAN cable. The same PoE hub 12 has a processor 14 having a function of synthesizing an integrated overhead image including the hull 4 and the periphery of the hull 4 based on image signals of the cameras C1 to C10 and outputting a signal including the overhead image. It is connected. In addition, navigational instruments 16 such as GPS, compass, bathymetry and wind direction / anemometer, and engine information detector 18 such as steering angle, rotation speed of propulsion shaft, and rotation speed of stance raster / bout raster are communication converters. 20 are connected to the PoE hub 12. The GPS of the navigation instrument 16 can detect the course and speed of the ship 2. In the same PoE hub 12, an access point A1 to which a display terminal D1 as a display device disposed in the boat bridge 6 can be connected wirelessly, and an access to which a display terminal D2 as a display device disposed outdoors can be connected wirelessly Point A2 is connected. A plurality of access points A1 and A2 are provided as needed. Further, a draft detection unit 10 is connected to the PoE hub 12. The uninterruptible power supply 22 supplies power to the PoE hub 12, the processor 14, and the communication converter 20.
　また、図３に示されるように、第１表示ユニットＤ１は船舶２の船橋６内に設けられ、そして第２表示ユニットＤ２はタグボートＴの操舵室内に設けられている。ここで、タグボートＴは、本発明における関連船舶に対応する。 Further, as shown in FIG. 3, the first display unit D1 is provided in the bridge 6 of the ship 2, and the second display unit D2 is provided in the steering room of the tugboat T. Here, the tug boat T corresponds to the relevant ship in the present invention.
　図４は、第１表示ユニットＤ１または第２表示ユニットＤ２の一例を示している。第１表示ユニットＤ１または第２表示ユニットＤ２の表示ディスプレイ２４の略左半分には、複数のカメラＣ１～Ｃ１０の画像信号を基にプロセッサ１４によって合成された、船体４及び同船体４の周囲を含む一体の俯瞰画像２６を表示する。なお、俯瞰画像２６は、船舶２の移動を補助するタグボートＴ及び船舶２が着岸する岸壁Ｂを含んでいる。さらに、プロセッサ１４は、表示ディスプレイ２４の残りの部分に、前述の航海計器１６及び機関情報検出ユニット１８からの信号に基づき船舶２の現在の緯度、経度、針路、船速、水深、喫水値、舵角、推進軸の回転数、及びスタンスラスタ／バウスラスタの回転数を表示する。なお、プロセッサ１４は、針路に相当する矢印２８を、また風向に相当する矢印３０を、俯瞰画像２６の船体４の重心上に重合表示している。矢印２８及び矢印３０については、それぞれの長さをそれぞれ船速及び風速に応じたものとすることができる。 FIG. 4 shows an example of the first display unit D1 or the second display unit D2. In the substantially left half of the display 24 of the first display unit D1 or the second display unit D2, the periphery of the hull 4 and the hull 4 synthesized by the processor 14 based on the image signals of the cameras C1 to C10 is An integral bird's-eye view image 26 is displayed. Note that the overhead image 26 includes a tug boat T that assists the movement of the ship 2 and a quay B on which the ship 2 is landed. Furthermore, the processor 14 controls the remaining part of the display 24 based on the signals from the navigation instrument 16 and the engine information detection unit 18 described above, and the current latitude, longitude, course, ship speed, water depth, draft value of the ship 2. Display the steering angle, the number of revolutions of the propulsion shaft, and the number of revolutions of the stance raster / bow thruster. The processor 14 displays the arrow 28 corresponding to the course and the arrow 30 corresponding to the wind direction on the center of gravity of the hull 4 of the overhead image 26. The lengths of the arrow 28 and the arrow 30 can be made to correspond to the boat speed and the wind speed, respectively.
　次に、プロセッサ１４によって実行される画像合成処理を図５にしたがって説明する。プロセッサ１４は、前述の画像合成処理を実行するための入出力装置、記憶装置、中央演算処理装置、及びタイマ等を含んでおり、当該記憶装置には、当該画像合成処理を実行するコマンドを記憶している。 Next, the image combining process executed by the processor 14 will be described according to FIG. The processor 14 includes an input / output device, a storage device, a central processing unit, a timer, and the like for executing the above-described image combining process, and the storage device stores a command for executing the image combining process. doing.
　まず、プロセッサ１４は、各カメラＣ１～Ｃ１０の画像信号を取入れる（ステップＳ１）。次いで、プロセッサ１４は、ステップＳ１で取入れられたカメラＣ１～Ｃ１０の画像信号を基に周知の方法に従って船体４を含む１枚の俯瞰画像を合成する（ステップＳ２）。このステップＳ２におけるプロセッサ１４による俯瞰画像の合成は、あらゆる周知の方法を用いることができ、例えば、特許文献１に示される方法を用いることができる。 First, the processor 14 takes in the image signals of the cameras C1 to C10 (step S1). Next, the processor 14 synthesizes one overhead image including the hull 4 according to a known method based on the image signals of the cameras C1 to C10 received in step S1 (step S2). The composition of the overhead view image by the processor 14 in this step S2 can use any known method, for example, the method shown in Patent Document 1 can be used.
　さらに、プロセッサ１４は、航海計器１６及び機関情報検出器１８の出力信号を取り入れ（ステップＳ３）、ステップＳ２で合成された俯瞰画像と共に、さらに図４に従って説明したような、船舶２の現在の緯度、経度、針路、船速、水深、喫水値、舵角、推進軸の回転数、及びスタンスラスタ／バウスラスタの回転数を重合表示する合成画像を作成する（ステップＳ４）。そして、その合成画像信号をアクセスポイントＡ１及びＡ２を介して第１及び第２表示ユニットＤ１及びＤ２に出力する（ステップＳ５）。その結果、この出力信号に基づき、例えば図４に示されるような合成画像が第１及び第２表示ユニットＤ１及びＤ２の各表示ディスプレイ２４に表示される。 Furthermore, the processor 14 takes in the output signals of the navigation instrument 16 and the engine information detector 18 (step S3) and, together with the overhead image synthesized in step S2, the current latitude of the ship 2 as described further according to FIG. A composite image is generated to display superimposedly the longitude, course, ship speed, water depth, draft value, steering angle, rotation number of propulsion shaft, and rotation number of stance raster / bow thruster (step S4). Then, the composite image signal is output to the first and second display units D1 and D2 via the access points A1 and A2 (step S5). As a result, based on this output signal, for example, a composite image as shown in FIG. 4 is displayed on the display 24 of each of the first and second display units D1 and D2.
　また本実施例において、第１表示ユニットＤ１及び第２表示ユニットＤ２は、プロセッサ１４に対する指令を含む、同プロセッサ１４との通信機能を有している。このため、第１及び第２表示ユニットＤ１及びＤ２の各表示ディスプレイ２４は、画面に触れることにより、プロセッサ１４に信号を送ることができるタッチパネル機能を有している。 Further, in the present embodiment, the first display unit D1 and the second display unit D2 have a communication function with the processor 14 including a command to the processor 14. Therefore, each display 24 of the first and second display units D1 and D2 has a touch panel function capable of sending a signal to the processor 14 by touching the screen.
　他方、船橋６の前端中央部または船橋６よりも高い位置には、船体４の甲板Ｄ上に向けられて同甲板Ｄ上での荷役作業を監視するためのカメラＣ１１が設けられており、同カメラＣ１１はＬＡＮケーブルを介してＰｏＥハブ１２に接続されている。同表示ディスプレイ２４には操作ボタン３２が表示され、同操作ボタン３２にオペレータが触れると、表示ディスプレイ２４の全体にカメラＣ１１により撮影された船体４の甲板Ｄ上の状態が表示されるように構成されている。 On the other hand, a camera C11 directed to the deck D of the hull 4 to monitor cargo handling work on the deck D is provided at the center of the front end of the bridge 6 or at a position higher than the bridge 6. The camera C11 is connected to the PoE hub 12 via a LAN cable. The operation display 32 is configured to display the operation button 32, and when the operator touches the operation button 32, a state on the deck D of the hull 4 photographed by the camera C11 is displayed on the entire display 24. It is done.
　またさらに、第１及び第２表示ユニットＤ１及びＤ２は、各表示ディスプレイ２４の画面における船体４の周辺領域の任意の位置に指等を触れることにより、その位置を含む俯瞰画像の一部を拡大して該画面上に表示させる機能を有している。この機能は、表示ユニットＤ１またはＤ２毎に設けることが可能である。さらに、俯瞰画像の一部を拡大して表示する代わりに、前記周辺領域に任意の位置に最も近いカメラＣ１～Ｃ１０のいずれかの撮影画像をそのまま拡大して各表示ディスプレイ２４の画面に表示するように構成することも可能である。これにより、操縦者または運用者は、特定部分の画像を拡大して該画面上に表示できるので、該特定部分の詳細をより容易に視認できる。なお、表示ディスプレイ２４の画面における船舶２の周辺領域に、各カメラＣ１～Ｃ１０の各撮像域に相当する細線を表示して、操縦者または運用者の画像を拡大する領域の特定を容易にするように構成することも可能である。 Furthermore, the first and second display units D1 and D2 enlarge a part of the bird's-eye view image including the position by touching an arbitrary position of the peripheral region of the hull 4 on the screen of each display 24. And has a function to display on the screen. This function can be provided for each display unit D1 or D2. Furthermore, instead of enlarging and displaying a part of the overhead image, the photographed image of one of the cameras C1 to C10 closest to an arbitrary position in the peripheral area is enlarged as it is and displayed on the screen of each display 24. It is also possible to configure. As a result, the operator or the operator can magnify and display the image of the specific part on the screen, so that details of the specific part can be more easily viewed. A thin line corresponding to each imaging area of each of the cameras C1 to C10 is displayed on the peripheral area of the ship 2 on the screen of the display 24 to facilitate specification of an area for enlarging the image of the operator or the operator. It is also possible to configure.
　また、プロセッサ１４は、第２表示ユニットＤ２がプロセッサ１４の出力を受信して前記合成画像を含む画像を表示すると、第１表示ユニットＤ１上に第２表示ユニットＤ２の作動を示す表示を行うように構成されている。具体的には、第１表示ユニットＤ１の表示ディスプレイ２４上の表示部３４を点灯させる。なお、この代わりに、表示部３４を第１表示ユニットＤ１の外側近傍に設けることも可能である。 Also, the processor 14 performs a display indicating the operation of the second display unit D2 on the first display unit D1 when the second display unit D2 receives the output of the processor 14 and displays an image including the composite image. Is configured. Specifically, the display unit 34 on the display 24 of the first display unit D1 is turned on. Alternatively, the display unit 34 may be provided near the outer side of the first display unit D1.
　以上説明したように本実施例の船舶の航行支援システムによれば、プロセッサ１４により、複数のカメラＣ１～Ｃ１１の画像信号を基に作成された船体４及び同船体の周囲を含む合成画像が、船舶２上に設けられた第１表示ユニットＤ１及びタグボートＴ上に設けられた第２表示ユニットＤ２の両方に表示される。したがって、船舶２の船舶操縦者は、第１表示ユニットＤ１に表示された画像を見ながら、船舶２の推進装置、舵取り装置、さらにはサイドスラスター等を適切に操作することができると共にタグボートＴ側のタグボート操縦者へ適切に指示することができ、他方、タグボート操縦者は、第２表示ユニットＤ２に表示された画像を見ながら、船舶操縦者からの指示内容及びその背景をより正確に把握することができる。ここで、タグボート操縦者は、本発明の関連船舶の運用者に対応する。すなわち、第２表示ユニットＤ２に表示される画像は、船舶２の船体４及び同船体の周囲を含んでいるので、タグボート操縦者は、船舶２のタグボートＴとは反対側の状況や、タグボートＴの船舶に対する向きを含むタグボート自体の周囲の状況を十分に把握でき、これにより船舶操縦者からの指示内容及びその背景をより正確に把握できる。 As described above, according to the ship navigation support system of the present embodiment, the processor 14 generates a composite image including the hull 4 created based on the image signals of the plurality of cameras C1 to C11 and the periphery of the same hull. It is displayed on both the first display unit D1 provided on the ship 2 and the second display unit D2 provided on the tugboat T. Therefore, the ship operator of the ship 2 can appropriately operate the propulsion device, the steering device, the side thruster, etc. of the ship 2 while watching the image displayed on the first display unit D1, and the tug boat T side. The tugboat pilot can properly be instructed, while the tugboat pilot can grasp the instruction from the ship pilot and its background more accurately while looking at the image displayed on the second display unit D2. be able to. Here, the tug boat operator corresponds to the operator of the relevant ship of the present invention. That is, since the image displayed on the second display unit D2 includes the hull 4 of the ship 2 and the periphery of the same hull, the tug boat operator can check the situation on the opposite side of the tug boat T of the ship 2 or the tug boat T The situation around the tugboat itself including the orientation of the ship to the ship can be sufficiently grasped, whereby the instruction contents from the ship operator and the background thereof can be grasped more accurately.
　本実施例の船舶の航行支援システムは、プロセッサ１４が、合成画像と共に船舶２の進行方向及び速度を示す信号を出力し、第１表示ユニットＤ１及び第２表示ユニットＤ２が、船体４及び同船体の周囲を含む合成画像と共に船舶２の進行方向及び速度を含む画像を表示するので、タグボート操縦者は、船舶２の現在の進行方向及び速度を把握できる。 In the ship navigation support system of the present embodiment, the processor 14 outputs a signal indicating the traveling direction and speed of the ship 2 together with the composite image, and the first display unit D1 and the second display unit D2 are the hull 4 and the same hull. Since the image including the traveling direction and the velocity of the ship 2 is displayed together with the composite image including the circumference of the tug, the tug boat operator can grasp the current traveling direction and the velocity of the ship 2.
　また、プロセッサ１４が、合成画像上に船舶２の進行方向及び速度を示す矢印２８を重合した画像を表示するので、船舶操縦者及びタグボート操縦者は、船舶２の進行方向及び速度を同船舶の向きとの関連において視覚的にも容易に把握できる。 In addition, since the processor 14 displays an image obtained by superimposing the arrow 28 indicating the traveling direction and speed of the ship 2 on the composite image, the ship operator and the tugboat operator can control the traveling direction and speed of the ship 2 of the same ship. It can be easily grasped visually in relation to the orientation.
　さらに、本実施例の船舶の航行支援システムは、プロセッサ１４が、合成画像と共に船舶２の周囲の風向及び風速を含む信号を出力し、第１表示ユニットＤ１及び第２表示ユニットＤ２が、合成画像と共に船舶２の風向及び風速を含む画像を表示するので、船舶操縦者及びタグボート操縦者は、現在の風向及び風速を把握できる。 Furthermore, in the navigation support system for a ship according to the present embodiment, the processor 14 outputs a signal including the wind direction and the wind speed around the ship 2 together with the composite image, and the first display unit D1 and the second display unit D2 combine the composite image In addition, since the image including the wind direction and the wind speed of the ship 2 is displayed, the ship operator and the tugboat pilot can grasp the current wind direction and the wind speed.
　また、プロセッサ１４が、合成画像上に船舶２の周囲の風向及び風速を示す矢印の画像を重合した画像を表示するので、船舶操縦者及びタグボート操縦者は船舶２の周囲の風向及び風速を同船舶の向きとの関連において視覚的にも容易に把握できる。 In addition, since the processor 14 displays an image obtained by superimposing the image of the arrows indicating the wind direction and the wind speed around the ship 2 on the composite image, the ship operator and the tugboat operator share the wind direction and the wind speed around the ship 2. It can be easily grasped visually in relation to the direction of the ship.
　またさらに、本実施例の船舶の航行支援システムは、船舶２に設けられ同船舶２の駆動装置の運転状況を検出して出力する運転状況検出ユニット１８を備え、プロセッサ１４が、運転状況検出ユニット１８の出力を受信して合成画像と共に運転状況を示す信号を出力し、第１表示ユニットＤ１及び第２表示ユニットＤ２が、合成画像と共に運転状況を示す画像を表示するので、タグボート操縦者は、船舶２の駆動装置の運転状況を把握できる。 Furthermore, the navigation support system for a ship according to the present embodiment includes a driving situation detection unit 18 provided on the ship 2 for detecting and outputting the driving situation of the drive device of the ship 2, and the processor 14 is a driving situation detection unit Since the first display unit D1 and the second display unit D2 display the image indicating the driving condition together with the composite image, the tug boat operator receives the 18 outputs and outputs the signal indicating the driving condition together with the composite image. The operating condition of the drive device of the ship 2 can be grasped.
　また、本実施例の航行支援システムは、第１表示ユニットＤ１及び第２表示ユニットＤ２は、プロセッサ１４に対する指令を含む、同プロセッサ１４との通信機能を有し、第２表示ユニットＤ２が画像処理ユニット１４の出力を受信して合成画像を含む画像を表示すると、プロセッサ１４が第１表示ユニットＤ１またはその近傍に設けられた表示部３４に該受信を示す表示を行うように構成されている。 Further, in the navigation support system of the present embodiment, the first display unit D1 and the second display unit D2 have a communication function with the processor 14 including a command for the processor 14, and the second display unit D2 performs image processing When the output of the unit 14 is received and an image including a composite image is displayed, the processor 14 is configured to perform display indicating the reception on the display unit 34 provided in the first display unit D1 or in the vicinity thereof.
　したがって、船舶操縦者は、タグボートＴの第２表示ユニットＤ２が、プロセッサ１４の出力を受信して、合成画像を含む画像を表示していることを知ることができ、船舶操縦者はそれを前提にタグボート操縦者に指示をすることができる。 Therefore, the ship operator can know that the second display unit D2 of the tugboat T receives the output of the processor 14 and displays an image including a composite image, and the ship operator assumes that You can give instructions to the tugboat pilot.
　なお、船舶２の船橋６には記憶ユニットＭ１が設けられている。プロセッサ１４は、航海計器１６から得たＧＰＳ、コンパス、水深計、及び風向／風速計等の航海情報、並びに機関情報検出器１８から得た舵角、推進軸の回転数、及びスタンスラスタ／バウスラスタの回転数等の機関情報を、合成画面の信号と関連付けて数値情報として記憶ユニットＭ１に出力するように構成されている。記憶ユニットＭ１は、受信した該航海情報及び機関情報を前記合成画像と共に関連付けて連続して時系列的に記憶することができる。 A storage unit M1 is provided on the bridge 6 of the ship 2. The processor 14 receives navigation information such as GPS, compass, depth of flight, wind direction / anemometer, etc. obtained from the navigation instrument 16 as well as steering angle obtained from the engine information detector 18, rotation speed of the propulsion axis, and stance raster / brows raster The engine information such as the number of revolutions of the engine is associated with the signal of the combined screen and output as numerical information to the storage unit M1. The storage unit M1 can store the received navigation information and engine information in association with the composite image and continuously store them chronologically.
　したがって、船舶２において、記憶ユニットＭ１に前記合成画像に関連付けて同合成画像と共に記憶された船舶２の運転及び環境に関する情報を利用して、過去の類似した条件（天候、積荷量など）における離着岸時の画像を解析することで、離着岸の予習を行うことができ、離着岸に係る運航方法の改善、例えば経済的な運用方法または安全性を高める運航方法の改善を図ることができる。 Therefore, in the ship 2, using the information on the operation and the environment of the ship 2 stored in the storage unit M1 in association with the composite image and stored together with the composite image, separation in the past similar conditions (weather, cargo load, etc.) By analyzing the image at the time of landing, it is possible to pre-study the departure and arrival, and improve the operation method relating to the departure and arrival, for example, improve the economical operation method or the operation method for enhancing safety.
　上述の実施例にかかる船舶の航行支援システムにおいて、船舶２の離着岸を補助するタグボートＴは１隻であるが、２隻以上のタグボートが船舶２の離着岸を補助する場合もあり得る。その場合には、第１及び第２表示ユニットＤ１及びＤ２に加えて第３表示ユニットＤ３を２隻目以上のタグボートに設置し、同第３表示ユニットＤ３がアクセスポイントＡ２を介してプロセッサ１４に接続するように構成される。第３表示ユニットＤ３は第２表示ユニットＤ２と同じ機能を有している。表示端末Ｄ１の表示ディスプレイ２４またはその近傍には、表示部３４に加えて第２の表示部を追加で設け、第３表示ユニットＤ３が画像処理ユニット１４の出力を受信して合成画像を含む画像を表示すると、プロセッサ１４が第１表示ユニットＤ１またはその近傍に設けられた前記第２の表示部３４に該受信を示す表示を行うように構成される。 In the navigation support system of the ship according to the above-described embodiment, although the tug T for assisting the takeoff and landing of the ship 2 is one, two or more tugs may assist the takeoff and landing of the ship 2. In that case, in addition to the first and second display units D1 and D2, the third display unit D3 is installed in the second or more tug boat, and the third display unit D3 transmits to the processor 14 via the access point A2. Configured to connect. The third display unit D3 has the same function as the second display unit D2. In addition to the display unit 34, a second display unit is additionally provided on the display 24 of the display terminal D1 or in the vicinity thereof, and the third display unit D3 receives an output of the image processing unit 14 and an image including a composite image Is displayed, the processor 14 is configured to provide a display indicating the reception on the second display unit 34 provided in the first display unit D1 or in the vicinity thereof.
　したがって、船舶操縦者は、タグボートＴ及び第２のタグボートの第２及び第３表示ユニットＤ２及びＤ３が、プロセッサ１４の出力を受信して、合成画像を含む画像を表示していることを知ることができ、船舶操縦者はそれを前提にタグボート操縦者に指示をすることができる。 Thus, the ship operator is aware that the tug T and the second and third display units D2 and D3 of the second tug boat are receiving the output of the processor 14 and displaying an image including a composite image The ship operator can give instructions to the tug boat operator on the basis of it.
　上述した実施例において、第２表示ユニットＤ２はタグボートＴに設置されているが、その代わりに第２表示ユニットＤ２を、図示しないが、船舶２が接舷する関連洋上設備、例えば、洋上石油設備、洋上風力発電設備、浮体型桟橋、あるいは他の浮体構造体等に配置し、船舶２が該関連洋上設備に接舷する際に、同関連洋上設備の運用者が、第２表示ユニットＤ２を見ることができるように構成することが可能である。 In the embodiment described above, the second display unit D2 is installed in the tug boat T, but instead, the second display unit D2 is not shown, but the related offshore equipment to which the ship 2 is connected, for example, offshore oil equipment , The offshore wind power generation facility, the floating pier, or other floating structure, etc., and when the ship 2 contacts the relevant offshore facility, the operator of the relevant offshore facility operates the second display unit D2 It can be configured to be viewable.
　このような構成によれば、前記関連洋上設備の運用者は、第２表示ユニットに表示された画像を見ることにより、前記船舶の周囲の状況を容易に把握できるため、前記関連洋上設備への接舷作業時等に、前記船舶の周囲の状況について情報を共有することができ、これにより、前記船舶操縦者と前記関連洋上設備の運用者とのコミュニケーションが格段に向上し、前記接舷作業の安全性及び効率を向上することができる。 According to such a configuration, the operator of the related offshore facility can easily grasp the situation around the ship by looking at the image displayed on the second display unit. At the time of connection work, etc., it is possible to share information about the situation around the ship, thereby significantly improving the communication between the ship operator and the operator of the relevant offshore facility, and the connection work. Safety and efficiency can be improved.
　さらに、船舶２が他の関連船舶に接舷する場合、第２表示ユニットＤ２を、タグボートＴの代わりに、船舶２が接舷する他の関連船舶に配置することも可能である。例えば、船舶２が給油船である場合、同給油船は関連船舶に接舷する必要があるが、同関連船舶の運用者は、第２表示ユニットに表示された画像を見ることにより、該給油船の周囲の状況を容易に把握することができ、その接舷作業の安全性及び効率を向上することができる。 Furthermore, when the ship 2 is in contact with another related ship, the second display unit D2 may be disposed on another related ship in which the ship 2 is connected instead of the tugboat T. For example, in the case where the ship 2 is a fueling vessel, the fueling vessel needs to be connected to the related ship, but the operator of the related ship is to supply the fuel by looking at the image displayed on the second display unit. The situation around the ship can be easily grasped, and the safety and efficiency of the connection work can be improved.
　また上述した実施例において、第２表示ユニットＤ２はタグボートＴに設置されているが、その代わりに表示ユニットＤ２を船舶２が離着岸する岸壁Ｂ側に配置し、岸壁Ｂ上の作業者が第２表示ユニットＤ２を見ることができるように構成することが可能である。 In the embodiment described above, the second display unit D2 is installed on the tug boat T, but instead, the display unit D2 is disposed on the quay B side where the ship 2 departs and lands, and the operator on the quay B The second display unit D2 can be configured to be viewable.
　これにより、岸壁Ｂ側の作業者は、第２表示ユニットＤ２に表示された画像を見ながら、船舶操縦者からの指示内容及びその背景をより正確に把握することができる。すなわち、第２表示ユニットＤ２に表示される画像は、船舶２の船体４及び同船体４の周囲を含んでいるので、岸壁Ｂ側の作業者は、船舶２の岸壁Ｂとは反対側の状況や船舶２の周囲の状況を十分に把握でき、これにより船舶操縦者からの指示内容及びその背景をより正確に把握できる。 Thereby, the worker on the quayside B side can grasp the instruction content from the ship operator and the background thereof more accurately while looking at the image displayed on the second display unit D2. That is, since the image displayed on the second display unit D2 includes the hull 4 of the ship 2 and the periphery of the hull 4, the worker on the quayside B side is the situation on the opposite side to the quayside B of the craft 2 And the situation around the ship 2 can be sufficiently grasped, whereby the instruction content from the ship operator and the background thereof can be grasped more accurately.
　さらに、もし必要ならば、タグボートＴ及び岸壁Ｂの両方に第２表示ユニットＤ２と同じ機能をもつ表示ユニットを配置し、結果としてタグボート操縦者及び岸壁側の作業者が第１表示ユニットＤ１と同等の画像を見ることができるように構成することも可能である。その場合、タグボートＴの数及び岸壁Ｂの作業者の数に応じて必要な数の表示ユニットを配置することが可能である。 Furthermore, if necessary, a display unit having the same function as the second display unit D2 is disposed in both the tug boat T and the quay B, and as a result, the tug boat operator and the quay side operator are equivalent to the first display unit D1. It is also possible to make it possible to view the image of. In that case, it is possible to arrange a required number of display units according to the number of tug boats T and the number of workers of the quaywall B.
　図６に別の実施例を示す。プロセッサ１４は、航海計器１６から得たＧＰＳ、コンパス、水深計、及び風向／風速計等の航海情報、並びに機関情報検出器１８から得た舵角、推進軸の回転数、及びスタンスラスタ／バウスラスタの回転数等の機関情報を、合成画面の信号と関連付けてアクセスポイントＡ２から数値情報として出力できるように構成されている。他方、地上側の船舶運航支援設備Ｓには第２表示ユニットＤ２及び記憶ユニットＭ２が設けられている。第２表示ユニットＤ２は、アクセスポイントＡ２から前記合成画面の信号と共に前記航海情報あるいは機関情報を数値データとして受信することができる。前記記憶ユニットＭ２は、受信した情報を前記合成画像と共に連続して時系列的に記憶することができる FIG. 6 shows another embodiment. The processor 14 receives navigation information such as GPS, compass, depth of flight, wind direction / anemometer, etc. obtained from the navigation instrument 16 as well as steering angle obtained from the engine information detector 18, rotation speed of the propulsion axis, and stance raster / brows raster The engine information such as the number of rotations is associated with the signal of the combined screen and can be output as numerical information from the access point A2. On the other hand, the ship operation support facility S on the ground side is provided with a second display unit D2 and a storage unit M2. The second display unit D2 can receive the navigation information or the engine information as numerical data from the access point A2 together with the signal of the combined screen. The storage unit M2 can continuously store received information together with the composite image in time series.
　この別の実施例によれば、プロセッサ１４により、複数のカメラＣ１～Ｃ１０の画像信号を基に作成された船体４及び同船体４の周囲を含む合成画像が、船舶２上に設けられた第１表示ユニットＤ１及び陸上側の船舶運航支援設備Ｓに配置された第２表示ユニットＤ２の両方に表示される。したがって、陸上側の船舶運航支援設備Ｓにおいて、船舶２の着岸状況を正確に把握することができる。さらに陸上側の船舶運航支援設備Ｓにおいて、記憶ユニットＭ２に前記合成画像に関連付けて同合成画像と共に記憶された船舶２の運転及び環境に関する情報を解析することで、運航方法の改善、例えば経済的な運用方法または安全性を高める運航方法の改善を図ることができる。 According to this another embodiment, a composite image including the hull 4 and the periphery of the same hull 4 created by the processor 14 based on the image signals of the plurality of cameras C1 to C10 is provided on the vessel 2 The first display unit D1 and the second display unit D2 disposed on the ship operation support facility S on the land side are displayed. Therefore, in the ship operation support facility S on the land side, the landing situation of the ship 2 can be accurately grasped. Furthermore, in the ship operation support facility S on the land side, the operation method is improved, for example, economically, by analyzing the information on the operation and environment of the ship 2 stored together with the composite image in the storage unit M2 in association with the composite image. Operation methods or operation methods that enhance safety can be improved.
　　２　　船舶
　　４　　船体
　　６　　船橋
　１０　　喫水計測ユニット
　１４　　画像処理ユニット
　２４　　表示ディスプレイ
　３２　　入力ユニット
　Ａ１，Ａ２　　アクセスポイント
　Ｃ１～Ｃ１１　　カメラ
　Ｄ１，Ｄ２　　表示端末
　Ｍ１，Ｍ２　　記憶装置
　　Ｓ　　船舶運航支援設備
  2 Vessel 4 Hull 6 Bridge 10 Draft Measurement Unit 14 Image Processing Unit 24 Display Display 32 Input Unit A1, A2 Access Point C1 to C11 Camera D1, D2 Display Terminal M1, M2 Storage Device S Ship Operation Support Facility

Claims (13)

  1. 　船舶の船体側部に同船体の全長方向に相互に間隔をあけて配設され、それぞれ該船体の周囲の状況を撮影してその画像信号を出力する複数のカメラ、
    　前記船舶に設けられ、前記複数のカメラの画像信号を基に前記船体及び同船体の周囲を含む一体の合成画像を作成し、同合成画像を含む信号を出力する機能を有するプロセッサ、
    　前記船舶に設けられ、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第１表示ユニット、及び
    　前記船舶とは別個の関連船舶または関連洋上設備に設けられ、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第２表示ユニットを備えたことを特徴とする船舶の航行支援システム。     A plurality of cameras disposed on the side of the hull of the ship spaced from each other in the full length direction of the hull, respectively photographing the situation around the hull and outputting an image signal thereof;
    A processor provided on the vessel, having a function of creating an integrated composite image including the hull and the periphery of the hull based on image signals of the plurality of cameras, and outputting a signal including the composite image;
    A first display unit provided on the vessel, receiving an output of the processor and displaying an image including the composite image, and an associated vessel or offshore equipment separate from the vessel, the output of the processor being A navigation support system for a ship, comprising: a second display unit that receives and displays an image including the composite image.
  2. 　前記船舶に設けられ、同船舶の進行方向を検出する針路検出ユニットを備え、
    　前記プロセッサは、前記針路検出ユニットの出力を受信して前記合成画像と共に前記船舶の進行方向を示す画像を含む信号を出力することを特徴とする請求項１に記載の船舶の航行支援システム。     And a course detection unit provided on the vessel for detecting the traveling direction of the vessel;
    The ship navigation support system according to claim 1, wherein the processor receives an output of the course detection unit and outputs a signal including an image indicating the traveling direction of the ship together with the composite image.
  3. 　前記船舶に設けられ、同船舶の速度を検出して出力する船速検出ユニットを備え、
    　前記プロセッサは、前記船速検出ユニットの出力を受信して前記合成画像と共に前記船舶の速度を示す画像を含む信号を出力することを特徴とする請求項１に記載の船舶の航行支援システム。     And a ship speed detection unit provided on the ship for detecting and outputting the speed of the ship.
    The ship navigation support system according to claim 1, wherein the processor receives an output of the ship speed detection unit and outputs a signal including an image indicating the speed of the ship together with the composite image.
  4. 　前記船舶に設けられ、同船舶の進行方向を検出して出力する針路検出ユニット、及び
    　前記船舶に設けられ、同船舶の速度を検出して出力する船速検出ユニットを備え、
    　前記プロセッサは、前記針路検出ユニット及び船速検出ユニットの出力を受信して前記合成画像と共に前記船舶の進行方向及び速度を示す画像を含む信号を出力することを特徴とする請求項１に記載の船舶の航行支援システム。     A course detection unit provided on the vessel for detecting and outputting the traveling direction of the vessel, and a ship speed detection unit provided on the vessel for detecting and outputting the speed of the vessel.
    The processor according to claim 1, wherein the processor receives an output of the course detection unit and the ship speed detection unit and outputs a signal including an image indicating the traveling direction and speed of the ship together with the composite image. Ship navigation support system.
  5. 　前記プロセッサは、前記合成画像上に前記船舶の進行方向及び速度を示す矢印の画像を重合した信号を出力することを特徴とする請求項４項に記載の船舶の航行支援システム。 The navigation support system for a vessel according to claim 4, wherein the processor outputs a signal obtained by superimposing an image of an arrow indicating the traveling direction and speed of the vessel on the composite image.
  6. 　前記船舶に設けられ、同船舶の周囲の風向及び風速を検出して出力する風向及び風速検出ユニットを備え、
    　前記プロセッサは、前記風向及び風速検出ユニットの出力を受信して前記合成画像と共に前記風向及び風速を示す画像を含む信号を出力することを特徴とする請求項１に記載の船舶の航行支援システム。     A wind direction and wind speed detection unit provided in the vessel for detecting and outputting a wind direction and wind speed around the vessel,
    The navigation support system according to claim 1, wherein the processor receives an output of the wind direction and wind speed detection unit and outputs a signal including an image indicating the wind direction and wind speed together with the composite image.
  7. 　前記プロセッサは、前記合成画像上に前記風向及び風速を示す矢印の画像を重合した信号を出力することを特徴とする請求項６に記載の船舶の航行支援システム。 The navigation support system for a vessel according to claim 6, wherein the processor outputs a signal obtained by superimposing an image of an arrow indicating the wind direction and the wind speed on the composite image.
  8. 　前記船舶に設けられ、同船舶の駆動装置の運転状況を検出して出力する運転状況検出ユニットを備え、
    　前記プロセッサは、前記運転状況検出ユニットの出力を受信して前記合成画像と共に前記運転状況を示す画像を含む信号を出力することを特徴とする請求項１に記載の船舶の航行支援システム。     And a driving condition detection unit provided on the vessel for detecting and outputting a driving condition of a drive device of the vessel;
    The ship navigation support system according to claim 1, wherein the processor receives an output of the driving situation detection unit and outputs a signal including an image indicating the driving situation together with the composite image.
  9. 　前記第１表示ユニット及び第２表示ユニットは、前記プロセッサに対する指令を含む、同プロセッサとの通信機能を有し、
    　前記第２表示ユニットが前記プロセッサの出力を受信して前記合成画像を含む画像を表示すると、前記プロセッサが、前記第１表示ユニットまたはその近傍に設けられた表示装置に該受信を示す表示を行うことを特徴とする請求項１に記載の船舶の航行支援システム。     The first display unit and the second display unit have a communication function with the processor, including an instruction to the processor,
    When the second display unit receives the output of the processor and displays an image including the composite image, the processor performs a display indicating the reception on a display device provided in the vicinity of the first display unit or in the vicinity thereof. The navigation support system of a ship according to claim 1, characterized in that.
  10. 　前記プロセッサは、前記複数のカメラによる撮影時の前記船舶の航海及び機関に関する情報を、前記出力される合成画像と関連付けて、数値データとして出力する機能をさらに有し、及び
    　前記船舶に設けられ、前記プロセッサにより出力された前記船舶の航海及び機関に関する情報を受信し、該受信した情報を前記合成画像と共に記憶する記憶ユニットをさらに備えた請求項１に記載の船舶の航行支援システム。     The processor is further provided with a function of outputting, as numerical data, information related to the voyage and the engine of the vessel at the time of photographing by the plurality of cameras with the output composite image, The navigation support system for a vessel according to claim 1, further comprising: a storage unit that receives the information on the voyage and the engine of the vessel output by the processor and stores the received information together with the composite image.
  11. 　船舶の船体側部に同船体の全長方向に相互に間隔をあけて配設され、それぞれ該船体の周囲の状況を撮影してその画像信号を出力する複数のカメラ、
    　前記船舶に設けられ、前記複数のカメラの画像信号を基に前記船体及び同船体の周囲を含む一体の合成画像を作成し、同合成画像を含む信号を出力する機能を有するプロセッサ、
    　前記船舶に設けられ、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第１表示ユニット、及び
    　前記船舶が離着岸する岸壁側に配置され、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第２表示ユニットを備えたことを特徴とする船舶の航行支援システム。     A plurality of cameras disposed on the side of the hull of the ship spaced from each other in the full length direction of the hull, respectively photographing the situation around the hull and outputting an image signal thereof;
    A processor provided on the vessel, having a function of creating an integrated composite image including the hull and the periphery of the hull based on image signals of the plurality of cameras, and outputting a signal including the composite image;
    A first display unit provided on the vessel, receiving an output of the processor, and displaying an image including the composite image, and a quay side on which the vessel departs and docks, receives an output of the processor and receives the processor A navigation support system for a vessel comprising a second display unit for displaying an image including a composite image.
  12. 　船舶の船体側部に同船体の全長方向に相互に間隔をあけて配設され、それぞれ該船体の周囲の状況を撮影してその画像信号を出力する複数のカメラ、
    　前記船舶に設けられ、前記複数のカメラの画像信号を基に前記船体及び同船体の周囲を含む一体の合成画像を作成し、同合成画像を含む信号を出力する機能を有するプロセッサ、
    　前記船舶に設けられ、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第１表示ユニット、及び
    　陸上側の船舶運航支援設備に配置され、前記プロセッサの出力を受信して前記合成画像を含む画像を表示する第２表示ユニットを備えたことを特徴とする船舶の航行支援システム。     A plurality of cameras disposed on the side of the hull of the ship spaced from each other in the full length direction of the hull, respectively photographing the situation around the hull and outputting an image signal thereof;
    A processor provided on the vessel, having a function of creating an integrated composite image including the hull and the periphery of the hull based on image signals of the plurality of cameras, and outputting a signal including the composite image;
    A first display unit provided on the vessel, receiving an output of the processor, and displaying an image including the composite image, and disposed on a ship operation support facility on a land side, receiving an output of the processor and combining the composite A navigation support system for a vessel comprising a second display unit for displaying an image including an image.
  13. 　前記プロセッサは、前記複数のカメラによる撮影時の前記船舶の航海及び機関に関する情報を、前記出力される合成画像と関連付けて、数値データとして出力する機能をさらに有し、及び
    　前記船舶運航支援設備に配置され前記プロセッサにより出力された前記船舶の航海及び機関に関する情報を受信し、該受信した情報を前記合成画像と共に記憶する記憶ユニットをさらに備えた請求項１２に記載の船舶の航行支援システム。
     
          The processor further has a function of correlating the information on the voyage and engine of the vessel at the time of photographing by the plurality of cameras with the output composite image and outputting it as numerical data, and the vessel operation support facility The navigation support system for a vessel according to claim 12, further comprising a storage unit which receives the information on the voyage and the engine of the vessel which is arranged and outputted by the processor and stores the received information together with the composite image.

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US11964737B2 (en) 2019-09-09 2024-04-23 Furuno Electric Co., Ltd. Ship information displaying system, ship information displaying method and image generating device
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