WO2021070802A1

WO2021070802A1 - Ship maneuvering assistance system

Info

Publication number: WO2021070802A1
Application number: PCT/JP2020/037827
Authority: WO
Inventors: 武憲檜野; 芳輝原田; 悠介絹川; 毅古賀; 健太郎坂田
Original assignee: 川崎重工業株式会社
Priority date: 2019-10-07
Filing date: 2020-10-06
Publication date: 2021-04-15
Also published as: CN114466788A; JP2021059225A; JP7437129B2; KR20220062654A

Abstract

A ship maneuvering assistance system according to one embodiment of the present invention is used when a ship is assisted by at least one tugboat, and comprises a display device 32 and a control device 31. The control device 31 displays, on the screen of the display device 32, a ship outline 10 indicating the position and orientation of the ship, at least one tugboat outline 20 indicating the position and orientation of the at least one tugboat, target propulsion vectors (71, 72 in the drawings) for at least one propulsion machine of the ship, and target propulsion vectors (81 to 83 in the drawings) for the at least one tugboat.

Description

Ship maneuvering support system

The present invention relates to a ship maneuvering support system used when the ship is assisted by at least one tugboat.

For example, in a port, the vessel is often assisted by at least one tugboat. The vessel may be a self-propelled vessel that includes at least one propulsion device, or may be a self-propelled vessel that does not include a propulsion device or has a failed propulsion device.

Generally, in a port, a pilot or a commander such as the captain of the ship commands how to maneuver the ship and / or the tugboat. For example, the tugboat assist method includes pushing, towing, and parallel running, and the conductor instructs the tugboat on the assist method in a timely manner.

For example, Patent Document 1 discloses a portable tugboat instruction device having a screen. On the screen, a ship-shaped figure showing the ship and an arrow figure showing the relative positions and directions of the plurality of tugboats with respect to the ship are displayed. Therefore, the person who sees the screen can grasp whether the tugboat pushes or pulls the tugboat, and its position and direction.

Jitsukaisho 61-10528

However, as in the towing instruction device disclosed in Patent Document 1, if only the arrow figures indicating the relative positions and relative directions of each tugboat with respect to the ship are displayed on the screen, the person who sees the screen will see how the ship looks. I can't clearly figure out if it works.

Therefore, an object of the present invention is to provide a ship maneuvering support system that allows a person who sees the screen of the display device to clearly grasp the movement of the ship.

In order to solve the above problems, the ship maneuvering support system from one aspect of the present invention is a ship maneuvering support system used when the ship including at least one tugboat is assisted by at least one tugboat. Acquires at least one display device having a screen, the position and orientation information of the ship regarding the position and orientation of the ship, and the position and orientation information of the tugboat regarding the position and orientation of the at least one tugboat, and obtains the position and orientation of the ship. A control device for displaying the outline of the ship and at least one tugboat outline indicating the position and orientation of the tugboat on the screen, and the control device comprises at least one propulsion of the tugboat. The target propulsion vector of the aircraft and the target propulsion vector of the at least one tugboat are calculated, and the target propulsion vector of at least one propulsion machine of the ship and the target propulsion vector of the at least one tugboat are displayed on the screen. It is characterized by doing.

According to the above configuration, not only the target propulsion vector of the tugboat but also the target propulsion vector of the propulsion machine of the ship is displayed on the screen. Therefore, the person who sees the screen of the display device can take into consideration the thrust of the propulsion unit provided in the ship itself, and can clearly grasp the movement of the ship.

Further, the ship maneuvering support system from another aspect of the present invention is a ship maneuvering support system used when the ship is assisted by at least one tugboat, and includes at least one display device having a screen and the ship. The ship's position and orientation information regarding the position and direction of the ship, and the tag boat position and direction information regarding the position and orientation of at least one tugboat are acquired, and the outline of the ship indicating the position and direction of the ship, and the tugboat of at least one of the above. A control device for displaying at least one tugboat outline indicating a position and an orientation on the screen is provided, and the control device calculates an expected position and an expected direction of the ship after a predetermined time, and calculates the expected position and the expected direction. The ship's predicted outline indicating the predicted direction is displayed on the screen.

According to the above configuration, a person who sees the screen of the display device can imagine a change in the position and direction of the ship up to a predetermined time. Therefore, the person who sees the screen of the display device can clearly grasp the movement of the ship.

Further, the ship maneuvering support system from yet another aspect of the present invention is a ship maneuvering support system used when the ship is assisted by a plurality of tag boats, and is a ship maneuvering support system having at least one display device having a screen and the ship. The ship's position and direction information regarding the position and direction of the ship, and the tag boat position and direction information regarding the positions and directions of the plurality of tag boats are acquired, and the outline of the ship indicating the position and direction of the ship, and the positions and directions of the plurality of tag boats. A control device for displaying a plurality of tag boat outlines indicating directions on the screen, the control device includes a planned propulsion vector of the ship on a straight line passing through a centering position of the ship, and the centering. It is characterized in that the planned turning moment of the ship around the position is calculated and the planned propulsion vector and the planned turning moment are displayed on the screen.

According to the above configuration, the movement based on the turning position of the ship is visualized. Therefore, the person who sees the screen of the display device can clearly grasp the movement of the ship.

According to the present invention, a person who sees the screen of the display device can clearly grasp the movement of the ship.

It is a schematic block diagram of the ship maneuvering support system which concerns on 1st Embodiment of this invention. This is an example of the screen of the display device of the terminal device in the ship maneuvering support system. It is a schematic block diagram of the terminal device. It is a figure for demonstrating a certain ship maneuvering pattern. It is a figure for demonstrating another ship maneuvering pattern. It is a figure for demonstrating another ship maneuvering pattern. It is a figure which shows the modification of the screen of a display device. It is a figure which shows another modification of the screen of a display device. It is a schematic block diagram of the terminal apparatus in the ship maneuvering support system which concerns on 2nd Embodiment of this invention. It is a top view of the 2nd input device. This is an example of the screen of the display device when the ship does not include a propulsion machine. It is a figure which shows the modification of the screen of a display device.

(First Embodiment)
FIG. 1 shows a ship maneuvering support system 4 according to the first embodiment of the present invention. This ship maneuvering support system 4 is used when the ship 1 is assisted by at least one tugboat 2. FIG. 1 illustrates a case where there are two tugboats 2 as an example.

In this embodiment, it is premised that the tugboat 2 assists the ship 1 in the port. However, the tugboat 2 may assist the ship 1 in the open ocean. Further, in the present embodiment, the ship maneuvering support system 4 includes a terminal device 3 which is carried by a pilot or installed on land equipment and is independent of the ship 1 and at least one tugboat 2. Further, in the present embodiment, it is assumed that the ship 1 and at least one tugboat 2 are manned ships.

The ship 1 is equipped with a control device 11, a display device 12 (corresponding to the ship display device of the present invention), and a communication device 13. Similarly, at least one tugboat 2 is equipped with a control device 21, a display device 22 (corresponding to the tugboat display device of the present invention), and a communication device 23. These devices together with the terminal device 3 constitute the ship maneuvering support system 4. For example, the control device 11 and the display device 12 of the ship 1 are incorporated in the bridge console of the ship 1, and the control device 21 and the display device 22 of the tugboat 2 are incorporated in the bridge console of the tugboat 2.

As shown in FIGS. 1 and 3, the terminal device 3 includes an input device 35, a control device 31, a display device 32 (corresponding to the terminal display device of the present invention), and a communication device 33. For example, the terminal device 3 may be a portable tablet computer or a notebook computer.

The control device 31 has, for example, a memory such as a ROM or RAM, a storage such as an HDD, and a CPU, and the program stored in the ROM or the HDD is executed by the CPU. The control device 11 mounted on the ship 1 and the control device 21 mounted on at least one tugboat 2 have the same configuration.

Although details will be described later, in the present embodiment, the control device 31 of the terminal device 3 determines a ship maneuvering pattern including an assist method for at least one tugboat 2. Therefore, as shown in FIG. 3, the control device 31 includes a database 34 that stores various types of information.

However, the determination of the ship maneuvering pattern and the like may be made by the control device 11 mounted on the ship 1 or the control device 21 mounted on one tugboat 2. In this case, the database 34 may be included in the control device (11 or 21) that determines the maneuvering pattern. Alternatively, even when the determination of the ship maneuvering pattern is performed by the control device 11 mounted on the ship 1 or the control device 21 mounted on one tugboat 2, the database 34 is included in the control device 31 of the terminal device 3 and the database. The information stored in 34 may be transmitted to the control device (11 or 21) that determines the ship maneuvering pattern by wireless communication described later.

The communication device 33 of the terminal device 3 is capable of wireless communication with the communication device 13 of the ship 1 and the communication device 23 of at least one tugboat 2. This wireless communication may be communication via AIS (Automatic Identification System), direct communication between ships, or land-to-ship communication via a ground base station. It may be.

The control device 11 of the ship 1 stores the position and direction information of the ship regarding the position and direction of the ship 1 in real time. The position of the ship 1 is measured by GNSS (Global Navigation Satellite System), and the orientation of the ship 1 is measured by the directional meter provided on the ship 1. The ship position / direction information is transmitted from the communication device 13 of the ship 1 to the communication device 33 of the terminal device 3.

The control device 21 of at least one tugboat 2 stores the tugboat position and orientation information regarding the position and orientation of the tugboat 2 in real time. The position of the tugboat 2 is measured by GNSS, and the orientation of the tugboat 2 is measured by an azimuth meter provided on the tugboat 2. At least one tugboat position / orientation information is transmitted from the communication device 13 of the tugboat 2 to the communication device 33A of the terminal device 3.

The control device 31 of the terminal device 3 acquires the ship position / direction information and the tugboat position / direction information described above via the communication device 33.

The input device 35 is for the user to input the transit point information of the vessel including the starting point and the ending point of the vessel 1. By this input, the control device 31 acquires the transit point information of the ship. For example, the input device 35 may be a touch panel or a keyboard.

The ship transit point information includes not only the position of the departure point but also the direction and speed of the ship 1 at the departure point. Similarly, the ship transit point information includes not only the position of the end point but also the direction and speed of the ship 1 at the end point. The ship transit point information may include an intermediate point (the position of the intermediate point, and the direction and speed of the ship 1 at the intermediate point).

Further, the control device 31 also acquires weather information such as wind information in the harbor and / or environmental information including sea condition information such as wave information and tidal current information in the harbor. For example, the control device 31 acquires environmental information from an external organization such as the Japan Meteorological Agency or NOAA (National Ocean and Atmospheric Administration) via the communication device 33 and the Internet. Alternatively, the control device 31 may acquire the wind information among the environmental information from the anemometer mounted on the ship 1.

The database 34 stores the ship information regarding the specifications of the ship 1, the combination information regarding the number of tugboats set according to the ship information, and the tugboat information regarding the specifications of at least one tugboat 2. The specifications of the ship 1 include, for example, the shape, weight and draft of the ship 1, the number of propulsion machines, the position and capacity, and the tugboat connectable position.

The number of tugboats 2 used for assist is predetermined according to the type of ship 1, port rules, sea conditions, etc. The combination information is related to this number. The specifications of the tugboat 2 are, for example, the shape of the tugboat 2, the number and capacity of propulsion machines, and the like.

The information stored in the database 34 may be updated with information related to the ship 1 (ship information, combination information and tugboat information) each time the ship 1 enters the port. Alternatively, the database 34 may store in advance information about all the vessels 1 that are expected to enter the port.

Based on the acquired ship position / orientation information and tugboat position / direction information, the control device 31 has, as shown in FIG. 2, the ship outline 10 indicating the position and direction of the ship 1, the position of at least one tugboat 2, and the position of at least one tugboat 2. At least one tugboat outline 20 indicating the direction is displayed on the screen of the display device 32.

For example, the outline line 10 of the ship is a polygon (pentagon in FIG. 2) that approximates the shape of the ship 1, and the outline 20 of the tugboat is a polygon that approximates the shape of the tugboat 2 (triangle in FIG. 2). It is the outline of.

In the present embodiment, the control device 31 determines the ship maneuvering pattern as described above. When the tugboat 2 pulls the tugboat 1, the control device 31 also displays the tagline 15 connecting the tugboat 1 and the tugboat 2 on the screen of the display device 32.

The above-mentioned database 34 may also store land information including the shape of the quay 61. In this case, the control device 31 reads the land information from the database 34, and when the position of the ship 1 is close to the quay 61, the quay 61 is also displayed on the screen of the display device 32.

In the present embodiment, the control device 31 calculates the planned propulsion vector 53 of the ship 1 on a straight line passing through the centering position 51 of the ship 1 and the planned turning moment 54 of the ship 1 around the centering position 51. Therefore, the control device 31 also displays the center of rotation position 51, the calculated planned propulsion vector 53, and the planned turning moment 54 on the screen of the display device 32.

In the example shown in FIG. 2, the plan propulsion vector 53 is indicated by a linear arrow starting from the center of rotation position 51. However, the planned propulsion vector 53 may be displayed by an arrow starting from a position away from the outline line 10 of the ship. Alternatively, the plan propulsion vector 53 may be represented by a long triangle instead of an arrow, or may be represented by a plurality of triangles arranged in a straight line (in this case, the number of triangles indicates the size of the vector). You may. Further, the direction and size of the plan propulsion vector 53 may be displayed in letters and numbers. This point is the same in the vector display described later.

Further, in the example shown in FIG. 2, the planned turning moment 54 is indicated by an arc-shaped arrow centered on the center of rotation position 51 of the ship 1. However, the planned turning moment 54 does not necessarily have to be indicated by an arrow, and the direction and size thereof may be indicated by letters and numbers, for example.

Further, in the present embodiment, the ship 1 includes at least one propulsion machine, and the control device 31 calculates the target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tugboat 2. .. Therefore, the control device 31 also displays the calculated target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tugboat 2 on the screen of the display device 32.

The target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tugboat 2 are the decompositions of the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 described above. In other words, the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 are a combination of the target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tugboat 2.

Regarding the decomposition of the planned turning moment 54, the planned turning moment 54 is a straight line passing through the point of action (point to be pulled) of the tugboat 2 on the ship 1 and tangent to the circle centered on the center of rotation position 51 of the ship 1. It is converted into a force on a straight line extending in the pushing direction or the pulling direction of the tugboat 2.

FIG. 2 is an example of the screen of the display device 32 when the ship 1 includes the main propulsion machine 1a and the ladder 1b and the side propulsion machine 1c as shown in FIGS. 4 to 6. In the example shown in FIG. 2, the ship 1 is assisted by three tugboats 2. One of the three tugboats 2 pushes the ship 1, and the remaining two pull the ship 1 through the tugline 15.

In the example shown in FIG. 2, the target propulsion vector 71 of the main propulsion machine 1a of the ship 1 is indicated by an arrow starting from the position of the main propulsion machine 1a in the outline 10 of the ship, and the side propulsion of the ship 1 is performed. The target propulsion vector 72 of the machine 1c is indicated by an arrow starting from the position of the side propulsion machine 1c within the outline 10 of the ship. Further, in the example shown in FIG. 2, each of the target propulsion vectors 81 to 83 of the three tugboats 2 is indicated by arrows starting from the center in the tugboat outline 20.

Further, in the present embodiment, the control device 31 calculates the predicted position and the predicted direction of the ship 1 after a predetermined time, and the ship's predicted outline 55 indicating the calculated predicted position and the predicted direction is also displayed on the screen of the display device 32. indicate.

Next, with reference to FIG. 3, the processing performed by the control device 31 of the terminal device 3 will be described. The following processes are sequentially performed in real time.

First, the control device 31 determines the ship maneuvering pattern including the assist method of at least one tugboat 2 and the optimum route of the ship 1 based on the acquired information on the waypoints of the ship and the environment and the information stored in the database 34. To do. In this embodiment, as described above, the ship 1 includes at least one propulsion machine. Therefore, the maneuvering pattern includes the use of at least one propulsion machine of the ship 1.

FIGS. 4 to 6 show three different maneuvering patterns when the ship 1 berths. 4 and 6 show an example when the ship 1 is assisted by two tugboats 2, and FIG. 5 shows an example when the ship 1 is assisted by one tugboat 2. In FIGS. 4 to 6, the propulsion machine of the ship 1 and the tugboat 2 that are used are shown by solid lines, and those that are not used are shown by broken lines.

In the examples shown in FIGS. 4 to 6, the ship 1 includes the main propulsion machine 1a and the side propulsion machine 1c. Further, in the examples shown in FIGS. 4 to 6, the axial direction of the main propulsion machine 1a cannot be changed, and the ship 1 includes the ladder 1b. However, the ship 1 may include only the main propulsion machine 1a without including the side propulsion machine 1c. Further, the axial direction of the main propulsion machine 1a may be changed without providing the ladder 1b.

The example shown in FIG. 4 is an example of using the side propulsion machine 1c when the speed of the ship 1 becomes sufficiently low. Specifically, in the example shown in FIG. 4, at a position far from the quay 61, the tugboat 2 runs in parallel with the ship 1 because appropriate navigation is possible only with the main propulsion machine 1a and the ladder 1b of the ship 1. When the ship 1 approaches the quay 61, the two tugboats 2 push the ship 1 from both sides because appropriate turning performance and deceleration performance cannot be obtained only by the main propulsion machine 1a and the ladder 1b of the ship 1.

After that, the main propulsion machine 1a of the ship 1 is stopped, and the ship 1 is run on a pilgrimage. When the speed of the ship 1 is sufficiently reduced, the side propulsion machine 1c of the ship 1 is used while the two tugboats 2 move and push the ship 1 from one side toward the quay 61.

In the example shown in FIG. 5, unlike the example shown in FIG. 4, the ladder 1b of the ship 1 is not operated. In the example shown in FIG. 5, when the ship 1 approaches the quay 61, one tugboat 2 pushes the ship 1 from one side. At this time, the tugboat 2 and the ship 1 are connected by the tag line 15.

After that, the main propulsion machine 1a of the ship 1 is stopped, and the ship 1 is run on a pilgrimage. At this time, the tugboat 2 controls the pilgrimage and direction of the ship 1 while pulling the ship 1 through the tag line 15.

In the example shown in FIG. 6, from the time when the ship 1 approaches the quay 61, two tugboats 2 pull the ship 1 from one side and berth the ship 1.

Returning to FIG. 3, the control device 31 first calculates the external force acting on the ship 1 (external force in the front-rear direction, external force in the left-right direction, and external force in the turning direction) based on the environmental information. The control device 31 then decides what assist method of the tugboat 2 is best when such an external force acts on the ship 1, and at least one propulsion machine (eg, main propulsion machine 1a and side) of the ship 1. The maneuvering pattern and the optimum route are determined while determining what kind of usage of the propulsion machine 1c) is the best.

For example, the control device 31 regards the ship 1 and at least one tugboat 2 as one virtual hull, and the required time is as short as possible while avoiding the danger that the virtual hull may come into contact with the quay or another ship. Moreover, the maneuvering pattern and the optimum route may be determined so that the combustion consumption is suppressed as much as possible. Specifically, the control device 31 uses an evaluation function including an evaluation value regarding the energy consumption of the virtual hull and an evaluation value regarding the safety of the virtual hull, and executes an optimum value search algorithm that minimizes this evaluation function. To determine the maneuvering pattern and optimal route. As a result, the maneuvering pattern and the optimum route can be determined so as to ensure safety while suppressing the energy consumption of the virtual hull.

For example, the controller 31 obtains the thrust required to virtual hull at a plurality of marine vessel maneuvering patterns and a plurality of routes, a change rate square value V ₁ of the thrust of virtual hull, the thrust of the virtual hull square summing value V ₂ When a first risk evaluation value V ₃ according to the distance to an obstacle such as virtual hull and the quay or other vessels, the second risk evaluation value V ₄ corresponding to the relative velocity of the virtual hull with respect to the obstacle The total value S (= V ₁ + V ₂ + V ₃ + V ₄ ) may be used as the evaluation function.

Further, the control device 31 calculates the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 when the ship 1 navigates along the optimum route, and obtains the calculated planned propulsion vector 53 and the planned turning moment 54 of the ship 1. It is displayed on the screen of the display device 32.

The control device 31 stores the calculated thrust plan information of the ship 1 regarding the planned propulsion vector 53 and the planned turning moment 54 of the ship 1. Then, the terminal device 3 constructs a server-client system in which the terminal device 3 is a server and the ship 1 and / or at least one tugboat 2 is a client.

That is, the control device 11 of the ship 1 can acquire the thrust plan information of the ship from the terminal device 3. When the control device 11 acquires the ship thrust plan information, the control device 31 of the terminal device 3 displays the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 on the screen of the display device 12 via the control device 11 of the ship 1. indicate.

Similarly, the control device 21 of at least one tugboat 2 can acquire the ship's thrust plan information from the terminal device 3. When the control device 21 acquires the ship's thrust plan information, the control device 31 of the terminal device 3 displays the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 on the screen of the display device 22 via the control device 21 of the tugboat 2. indicate.

Further, the control device 31 calculates the planned propulsion vector 53 and the planned turning moment 54 of the ship 1, and then acquires the environmental information, the ship position / orientation information and the tag boat position / orientation information, and the ship maneuvering pattern information regarding the determined ship maneuvering pattern, described above. Based on the ship's thrust plan information and the information stored in the database 34, the target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tag boat 2 are calculated. As a result, the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 are distributed between at least one propulsion machine of the ship 1 and at least one tugboat 2 (assuming that one tugboat 2 is one propulsion machine). Can be done.

For example, the control device 31 calculates the target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tugboat 2 so that the following evaluation function J is minimized.

r: Total thrust command (planned propulsion vector 53 and planned turning moment 54 of the ship 1)
u: Total thrust of the ship's propulsion machine and tugboat v ₀ : Predetermined thrust (front-back / left-right direction of the hull) and turning moment (the number of elements is three times the number of thrust sources) of the ship's propulsion machine and tugboat )
v: Thrust to be generated by the propulsion machine and tugboat of the ship (front-back / left-right direction of the hull) and turning moment (same as above)
W ₁ , W ₂ : Weight matrix (3 × 3)
W ₃ : Weight matrix (square matrix, number of elements equal to twice the number of thrust sources)
T: Evaluation period (several seconds to hundreds of seconds)

The first term on the right side of Equation 1 reduces the difference between the total thrust command, which is the thrust required for maneuvering the ship plus the external force of the hull, and the combined thrust after distribution. The second term on the right-hand side of Equation 1 is the weighted sum of squares of the sum of the thrusts after allocation from the time of calculation execution (t = 0) to the predetermined time T, and reduces the generated thrust itself. It is a thing. The third term on the right side of the equation 1 is for reducing the difference between the thrust of each propulsion unit after allocation and the predetermined value given in advance.

The control device 31 displays the calculated target propulsion vector of at least one propulsion unit of the ship 1 and the calculated target propulsion vector of at least one tugboat 2 on the screen of the display device 32.

Further, the control device 31 calculates the predicted position and the predicted direction of the ship 1 after a predetermined time, and displays the above-mentioned ship predicted outline 55 on the screen of the display device 32. For example, the control device 31 determines the predicted position of the ship 1 after a predetermined time and the predicted position after a predetermined time based on the hull model (including displacement, ship shape, etc.) of the ship 1, the above-mentioned thrust plan information of the ship, environmental information, and the underwater topography. Calculate the expected orientation.

The control device 31 includes not only the ship's thrust plan information, but also the ship's generated thrust information regarding the target propulsion vector of at least one propulsion machine of the ship 1 and the tag boat generated thrust related to the target propulsion vector of at least one tag boat 2. Information and the like may be transmitted to the control device 11 of the ship 1 via the communication device 33 and the communication device 13 of the ship 1. In this case, the screen of the display device 12 of the ship 1 may be the same as that of FIG.

Similarly, the control device 31 transmits not only the ship's thrust planning information but also the ship's generated thrust information and the tugboat generated thrust information to the tugboat 2's control device 21 via the communication device 33 and the tugboat 2's communication device 23. You may. In this case, the screen of the display device 22 mounted on at least one tugboat 2 may be the same as that in FIG.

As described above, in the ship maneuvering support system 4 of the present embodiment, not only the target propulsion vector of the tugboat 2 but also the target propulsion vector of the propulsion machine of the ship 1 is displayed on the screen of the display device 32. Therefore, a person who sees the screen of the display device 32 can take into consideration the thrust of the propulsion unit provided in the ship 1 itself, and can clearly grasp the movement of the ship 1.

Moreover, in the present embodiment, the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 are also displayed on the screen of the display device 32, and the movement based on the center of rotation position 51 of the ship 1 is visualized. Therefore, a person who sees the screen of the display device 32 can more clearly grasp the movement of the ship 1.

Further, in the present embodiment, the ship's expected outline 55 is also displayed on the screen of the display device 32. Therefore, a person who sees the screen of the display device 32 can imagine a change in the position and direction of the ship 1 until after a predetermined time.

<Modification example>
In the above embodiment, the control device 31 of the terminal device 3 displays not only the target propulsion vector of at least one propulsion unit of the ship 1 and the target propulsion vector of at least one tugboat 2 on the screen of the display device 32, but also the ship. The planned propulsion vector 53 and the planned turning moment 54 of 1 and the expected outline line 55 of the ship are also displayed. However, as shown in FIG. 7, the display of the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 and the expected outline line 55 of the ship may be omitted.

Alternatively, as shown in FIG. 8, only the ship's expected outline 55 is displayed on the screen of the display device 32, and the target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tugboat 2. The display of the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 may be omitted. Even in this case, a person who sees the screen of the display device 32 can imagine a change in the position and direction of the ship up to a predetermined time. Therefore, a person who sees the screen of the display device 32 can clearly grasp the movement of the ship 1.

Note that these modifications can also be applied to the second embodiment.

(Second Embodiment)
Next, the ship maneuvering support system according to the second embodiment of the present invention will be described with reference to FIG. In this embodiment, the terminal device 3 includes a control device 31'as shown in FIG. Further, the terminal device 3 inputs the first input device 36 for the user to input the ship maneuvering pattern information described in the first embodiment, and the ship thrust plan information also described in the first embodiment. A second input device 37 for the purpose is included.

For example, the first input device 36 may be a touch panel or a keyboard. For example, as shown in FIG. 10, the second input device 37 includes a turning dial 37a for inputting the direction (left-turning TL or right-turning TR) and magnitude of the planned turning moment 54, and a planned propulsion vector 53. A joystick 37b for inputting the orientation and size of the joystick 37b may be included. Regarding the joystick 37b, one side and the other side in the direction in which the turning dial 37a and the joystick 37b are lined up are the port side L and the starboard direction R of the ship 1, respectively, and one side in the direction orthogonal to the port direction F is the bow direction F of the ship 1. is there.

The control device 31'of the present embodiment is different from the control device 31 of the first embodiment in that the ship maneuvering pattern and the optimum route are not determined, and the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 are calculated. The point is not to do it.

Specifically, the control device 31'acquires the ship maneuvering pattern information by the input using the first input device 36, and the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 by the input using the second input device 37. Acquire the ship's thrust plan information regarding. Then, the control device 31'is based on the environmental information, the ship position / direction information, the tugboat position / direction information, the ship maneuvering pattern information, the ship thrust plan information, and the information stored in the database 34, as in the first embodiment. , Calculate the target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tugboat 2.

Also in this embodiment, the screen of the display device 32 is the same as that in FIG. That is, the control device 31'displays the center of rotation position 51, the planned propulsion vector 53 of the ship 1, and the planned turning moment 54 on the screen of the display device 32, as in the first embodiment. The control device 31'also displays the target propulsion vector of at least one propulsion machine of the ship 1 and the target propulsion vector of at least one tugboat 2 on the screen of the display device 32. Further, the control device 31'also displays the ship's expected outline 55 on the screen of the display device 32.

In this embodiment as well, the same effect as in the first embodiment can be obtained. Further, since the second input device 37 is adopted in the present embodiment, the user can change the ship's thrust plan information to be input while checking the screen of the display device 32.

(Other embodiments)
The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

For example, the ship 1 does not have to include a propulsion machine. In this case, as shown in FIG. 11, if the control device (31 or 31') of the terminal device 3 displays at least the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 on the screen of the display device 32, the ship 1 The movement based on the eccentric position 51 of is visualized. Therefore, a person who sees the screen of the display device 32 can clearly grasp the movement of the ship 1.

If the ship 1 does not include a propulsion machine, the ship 1 is assisted by a plurality of tugboats 2. In this case, the maneuvering pattern includes an assist method for a plurality of tugboats 2. Further, the control device (31 or 31') has a plurality of tugboats based on environmental information, ship position / direction information, tugboat position / direction information, ship maneuvering pattern information, ship thrust plan information, and information stored in the database 34. Calculate the target propulsion vector for each tugboat.

In the above case, as shown in FIG. 11, the control device (31 or 31') displays the target propulsion vectors of the plurality of tugboats 2 together with the planned propulsion vector 53 of the ship 1 and the planned turning moment 54 on the screen of the display device 32. It may be displayed above. In the example shown in FIG. 11, each of the target propulsion vectors 84 to 86 of the three tugboats 2 is indicated by arrows starting from the center in the tugboat outline 20. Further, in the example shown in FIG. 11, the ship's predicted outline line 55 showing the predicted position and the predicted direction of the ship 1 after a predetermined time is also displayed. As shown in FIG. 12, the display of the target propulsion vector and the expected outline line 55 of the plurality of tugboats 2 may be omitted, and only the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 may be displayed.

The target propulsion vector of the plurality of tugboats 2 is a decomposition of the planned propulsion vector 53 and the planned turning moment 54 of the ship 1. In other words, the planned propulsion vector 53 and the planned turning moment 54 of the ship 1 are a combination of the target propulsion vectors of a plurality of tugboats 2.

Further, as described in the first embodiment, when the control device 11 mounted on the ship 1 or the control device 21 mounted on the tugboat 2 determines the maneuvering pattern of the ship 1 and the like, the control thereof is performed. The device (11 or 21) is configured in the same manner as the control device 31 shown in FIG. 2 or the control device 31'shown in FIG. In this case, the ship maneuvering support system 4 does not have to include the terminal device 3. However, if the ship maneuvering support system 4 includes the terminal device 3 as in the first embodiment or the second embodiment, the conductor can see the screen of the display device 32 of the terminal device 3 without boarding the ship 1 or the tugboat 2. However, it is possible to command the ship maneuver.

Also, the vessel 1 may be an unmanned vessel. In this case, the display device 12 mounted on the ship 1 is unnecessary. Further, the tugboat 2 may also be an unmanned ship. In this case, the display device 22 mounted on the tugboat 2 is unnecessary.

(Summary)
The ship maneuvering plan support device from one aspect of the present invention is a ship maneuvering support system used when the ship including at least one propulsion machine is assisted by at least one tugboat, and at least one having a screen. The display device, the tugboat position and orientation information regarding the position and orientation of the ship, and the tugboat position and orientation information regarding the position and orientation of at least one tugboat are acquired, and the outline of the ship indicating the position and orientation of the ship, and the above. A control device for displaying at least one tugboat outline indicating the position and orientation of at least one tugboat on the screen, the control device includes a target propulsion vector of at least one tugboat of the ship, and a target propulsion vector of the tugboat. The target propulsion vector of at least one tugboat is calculated, and the target propulsion vector of at least one propulsion machine of the ship and the target propulsion vector of at least one tugboat are displayed on the screen. ..

The control device calculates the planned propulsion vector of the ship and the planned turning moment of the ship around the turning position on a straight line passing through the centering position of the ship, and obtains the planned propulsion vector and the planned turning moment. The target propulsion vector of at least one propulsion machine of the ship and the target propulsion vector of the at least one tag boat displayed on the screen may be a decomposition of the planned propulsion vector and the planned turning moment. .. According to this configuration, the movement based on the turning position of the ship is visualized. Therefore, the person who sees the screen of the display device can grasp the movement of the ship more clearly.

The control device may calculate the predicted position and the predicted direction of the ship after a predetermined time, and display the predicted position and the predicted outline of the ship indicating the predicted direction on the screen. According to this configuration, a person who sees the screen of the display device can imagine a change in the position and direction of the ship up to a predetermined time.

For example, the control device includes a database that stores the ship information regarding the specifications of the ship and the tugboat information regarding the specifications of at least one tugboat, and includes environmental information including weather information and / or sea condition information, and the ship. Position and orientation information, the tugboat position and orientation information, the ship's planned propulsion vector on a straight line passing through the center of rotation of the ship, and the thrust plan information of the ship regarding the planned turning moment of the ship around the center of rotation. At least one of the ships based on the maneuvering pattern information regarding the maneuvering pattern including the method of using at least one propulsion machine of the ship and the method of assisting the at least one tugboat, and the information stored in the database. The target propulsion vector of the propulsion machine and the target propulsion vector of at least one tugboat may be calculated.

The ship maneuvering support system from another aspect of the present invention is a ship maneuvering support system used when the ship is assisted by at least one tugboat, and the at least one display device having a screen and the position of the ship. And the ship's position and direction information regarding the direction, and the tag boat position and direction information regarding the position and orientation of the at least one tugboat, the ship outline indicating the position and direction of the ship, and the position and orientation of the at least one tugboat. A control device for displaying at least one tugboat outline indicating the direction on the screen is provided, and the control device calculates the predicted position and the predicted direction of the ship after a predetermined time, and calculates the predicted position and the predicted position. It is characterized in that the expected outline of the ship indicating the direction is displayed on the screen.

According to the above configuration, the person who sees the screen can imagine the change in the position and direction of the ship until after a predetermined time. Therefore, the person who sees the screen can clearly grasp the movement of the ship.

For example, the at least one display device may include a terminal display device included in a terminal device independent of the ship and the at least one tugboat. Further, the at least one display device may include at least one of a ship display device mounted on the ship and at least one tugboat display device mounted on the at least one tugboat.

The ship maneuvering plan support device from yet another aspect of the present invention is a ship maneuvering support system used when the ship is assisted by a plurality of tag boats, and is a ship maneuvering support system having at least one display device having a screen and the ship. The ship's position and direction information regarding the position and direction, and the tag boat position and direction information regarding the positions and directions of the plurality of tag boats are acquired, and the ship outline indicating the position and direction of the ship, and the positions and directions of the plurality of tag boats. A control device for displaying a plurality of tag boat outlines indicating the above on the screen, the control device includes a planned propulsion vector of the ship on a straight line passing through the directional position of the ship, and the directional position. It is characterized in that the planned turning moment of the ship around the ship is calculated, and the planned propulsion vector and the planned turning moment are displayed on the screen.

For example, the control device calculates the target propulsion vector of the plurality of tugboats for each tugboat, displays the target propulsion vector on the screen, and the target propulsion vector of the plurality of tugboats is the plan of the ship. The propulsion vector and the planned turning moment may be decomposed.

For example, the control device includes a database that stores the ship information regarding the specifications of the ship and the tugboat information regarding the specifications of the plurality of tugboats, environmental information including weather information and / or sea condition information, and the position of the ship. The azimuth information, the tugboat position azimuth information, the planned propulsion vector of the ship on a straight line passing through the center of rotation of the ship, the planned turning moment of the ship around the center of rotation, and the thrust plan information of the ship, and the above. The target propulsion vector of the plurality of tugboats may be calculated based on the ship maneuvering pattern information regarding the ship maneuvering pattern including the assist method of the plurality of tugboats and the information stored in the database.

For example, the at least one display device may include a terminal display device included in a terminal device independent of the ship and the plurality of tugboats. Further, the at least one display device may include a plurality of tugboat display devices mounted on the plurality of tugboats.

The ship maneuvering support system may further include an input device for the user to input the ship's thrust plan information. According to this configuration, the user can change the thrust plan information of the ship to be input while checking the screen of the display device.

1 Ship 10 Ship outline 12 Display device (ship display device)
2 Tugboat 20 Tugboat outline 22 Display device (Tugboat display device)
3A, 3B Ship maneuvering plan support device 31 Control device 32 Display device (terminal display device)
34 Beta base 4 Ship maneuvering support system 51 Centering position 53 Planned propulsion vector 54 Planned turning moment 55 Expected outline of the

ship

71,72,81-83 Target propulsion vector

Claims

A maneuvering support system used when a vessel, including at least one propulsion aircraft, is assisted by at least one tugboat.
With at least one display device having a screen
The ship's position and direction information regarding the position and direction of the ship, and the tugboat position and direction information regarding the position and direction of at least one tugboat are acquired, and the outline of the ship indicating the position and direction of the ship, and the at least one of the ships. A control device for displaying at least one tugboat outline indicating the position and orientation of the tugboat on the screen.
The control device calculates the target propulsion vector of at least one propulsion machine of the ship and the target propulsion vector of the at least one tugboat, and the target propulsion vector of at least one propulsion machine of the ship and the at least one ship. A tugboat maneuvering support system that displays the target propulsion vector of the tugboat on the screen.
The control device calculates the planned propulsion vector of the ship and the planned turning moment of the ship around the turning position on a straight line passing through the centering position of the ship, and obtains the planned propulsion vector and the planned turning moment. Display on the screen
The ship maneuvering support system according to claim 1, wherein the target propulsion vector of at least one propulsion machine of the ship and the target propulsion vector of the at least one tugboat are obtained by decomposing the planned propulsion vector and the planned turning moment. ..
The control device according to claim 1 or 2, wherein the control device calculates the predicted position and the predicted direction of the ship after a predetermined time, and displays the predicted position and the predicted outline of the ship indicating the predicted direction on the screen. Ship maneuvering support system.
The control device includes a database that stores the ship information regarding the specifications of the ship and the tugboat information regarding the specifications of at least one tugboat, and includes environmental information including weather information and / or sea condition information, and the position and orientation of the ship. Information, the tugboat position and orientation information, the ship's thrust plan information regarding the ship's planned propulsion vector on a straight line passing through the ship's center of rotation position, the ship's planned turning moment around the center of rotation position, and the ship. At least one propulsion machine of the ship based on the maneuvering pattern information regarding the maneuvering pattern including the method of using the at least one propulsion machine and the method of assisting the at least one tugboat, and the information stored in the database. The ship maneuvering support system according to any one of claims 1 to 3, which calculates the target propulsion vector of the above and the target propulsion vector of at least one tugboat.
A maneuvering support system used when the vessel is assisted by at least one tugboat.
With at least one display device having a screen
The ship's position and direction information regarding the position and direction of the ship, and the tugboat position and direction information regarding the position and direction of at least one tugboat are acquired, and the outline of the ship indicating the position and direction of the ship, and the at least one of the ships. A control device for displaying at least one tugboat outline indicating the position and orientation of the tugboat on the screen.
The control device is a ship maneuvering support system that calculates the predicted position and the predicted direction of the ship after a predetermined time and displays the predicted position and the predicted outline of the ship indicating the predicted direction on the screen.
The ship maneuvering support system according to any one of claims 1 to 5, wherein the at least one display device includes a terminal display device included in a terminal device independent of the ship and the at least one tugboat.
Any one of claims 1 to 6, wherein the at least one display device includes at least one of a ship display device mounted on the ship and at least one tugboat display device mounted on the at least one tugboat. The ship maneuvering support system described in item 1.
A ship maneuvering support system used when the ship is assisted by multiple tugboats.
With at least one display device having a screen
The ship's position and direction information regarding the position and direction of the ship, and the tag boat position and direction information regarding the positions and directions of the plurality of tugboats are acquired, and the outline of the ship indicating the position and direction of the ship, and the tugboats of the plurality of ships. A control device for displaying a plurality of tugboat outlines indicating positions and directions on the screen is provided.
The control device calculates the planned propulsion vector of the ship on a straight line passing through the center of rotation position of the ship and the planned turning moment of the ship around the center of rotation, and the planned propulsion vector and the planned turning moment. Is displayed on the screen, a ship maneuvering support system.
The control device calculates the target propulsion vector of the plurality of tugboats for each tugboat, displays the target propulsion vector on the screen, and displays the target propulsion vector.
The ship maneuvering support system according to claim 8, wherein the target propulsion vector of the plurality of tugboats is a decomposition of the planned propulsion vector and the planned turning moment of the ship.
The control device according to claim 8 or 9, wherein the control device calculates the predicted position and the predicted direction of the ship after a predetermined time, and displays the predicted position and the predicted outline of the ship indicating the predicted direction on the screen. Ship maneuvering support system.
The control device includes a database that stores the ship information regarding the specifications of the ship and the tugboat information regarding the specifications of the plurality of tugboats, environmental information including weather information and / or sea condition information, and the position and orientation information of the ship. The tugboat position and orientation information, the planned propulsion vector of the ship on a straight line passing through the center of rotation of the ship, the thrust plan information of the ship regarding the planned turning moment of the ship around the center of rotation, and the plurality of ships. Any one of claims 8 to 10 for calculating the target propulsion vector of the plurality of tugboats based on the tugboat maneuvering pattern information including the tugboat assist method of the above and the information stored in the database. The ship maneuvering support system described in the section.
The ship maneuvering support system according to any one of claims 8 to 11, wherein the at least one display device includes a terminal display device included in a terminal device independent of the ship and the plurality of tugboats.
The ship maneuvering support system according to any one of claims 8 to 12, wherein the at least one display device includes a plurality of tugboat display devices mounted on the plurality of tugboats.
The ship maneuvering support system according to any one of claims 1 to 13, further comprising an input device for the user to input the ship's thrust plan information.