WO2021070802A1 - Système d'aide à la manœuvre d'un navire - Google Patents

Système d'aide à la manœuvre d'un navire Download PDF

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Publication number
WO2021070802A1
WO2021070802A1 PCT/JP2020/037827 JP2020037827W WO2021070802A1 WO 2021070802 A1 WO2021070802 A1 WO 2021070802A1 JP 2020037827 W JP2020037827 W JP 2020037827W WO 2021070802 A1 WO2021070802 A1 WO 2021070802A1
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WIPO (PCT)
Prior art keywords
ship
tugboat
control device
screen
planned
Prior art date
Application number
PCT/JP2020/037827
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English (en)
Japanese (ja)
Inventor
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 (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 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to CN202080069424.7A priority Critical patent/CN114466788B/zh
Priority to KR1020227013440A priority patent/KR20220062654A/ko
Publication of WO2021070802A1 publication Critical patent/WO2021070802A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/66—Tugs
    • B63B35/68—Tugs for towing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/66—Tugs
    • B63B35/70—Tugs for pushing
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
    • G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission

Definitions

  • the present invention relates to a ship maneuvering support system used when the ship is assisted by at least one tugboat.
  • 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.
  • the tugboat assist method includes pushing, towing, and parallel running, and the conductor instructs the tugboat on the assist method in a timely manner.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a person who sees the screen of the display device can clearly grasp the movement of the ship.
  • 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.
  • 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.
  • the tugboat 2 assists the ship 1 in the port.
  • the tugboat 2 may assist the ship 1 in the open ocean.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the database 34 may be included in the control device (11 or 21) that determines the maneuvering pattern.
  • 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.
  • AIS Automatic Identification System
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • NOAA National Ocean and Atmospheric Administration
  • 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.
  • the database 34 may store in advance information about all the vessels 1 that are expected to enter the port.
  • the control device 31 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.
  • the outline line 10 of the ship is a polygon (pentagon in FIG. 2) that approximates the shape of the ship 1
  • 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.
  • control device 31 determines the ship maneuvering pattern as described above.
  • 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.
  • 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.
  • 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.
  • the plan propulsion vector 53 is indicated by a linear arrow starting from the center of rotation position 51.
  • the planned propulsion vector 53 may be displayed by an arrow starting from a position away from the outline line 10 of the ship.
  • 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.
  • 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.
  • the planned turning moment 54 is indicated by an arc-shaped arrow centered on the center of rotation position 51 of the ship 1.
  • 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.
  • the ship 1 includes at least one propulsion machine
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the main propulsion machine 1a of the ship 1 is stopped, and the ship 1 is run on a stairage.
  • 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.
  • the ladder 1b of the ship 1 is not operated.
  • 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.
  • the main propulsion machine 1a of the ship 1 is stopped, and the ship 1 is run on a mitage.
  • the tugboat 2 controls the vocational and direction of the ship 1 while pulling the ship 1 through the tag line 15.
  • 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.
  • 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.
  • the maneuvering pattern and the optimum route may be determined so that the combustion consumption is suppressed as much as possible.
  • 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.
  • 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
  • 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
  • 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.
  • control device 11 of the ship 1 can acquire the thrust plan information of the ship from the terminal device 3.
  • 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.
  • control device 21 of at least one tugboat 2 can acquire the ship's thrust plan information from the terminal device 3.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the screen of the display device 22 mounted on at least one tugboat 2 may be the same as that in FIG.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first input device 36 may be a touch panel or a keyboard.
  • 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.
  • 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.
  • 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.
  • 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.
  • the ship 1 does not have to include a propulsion machine.
  • 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.
  • the ship 1 If the ship 1 does not include a propulsion machine, the ship 1 is assisted by a plurality of tugboats 2.
  • the maneuvering pattern includes an assist method for a plurality of tugboats 2.
  • 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.
  • the control device 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the ship maneuvering support system 4 does not have to include the terminal device 3.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Audible And Visible Signals (AREA)
  • Traffic Control Systems (AREA)
  • Selective Calling Equipment (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention, selon un mode de réalisation, concerne un système d'aide à la manœuvre de navire utilisé lorsqu'un navire est assisté par au moins un remorqueur, et comprenant un dispositif d'affichage (32) et un dispositif de commande (31). Le dispositif de commande (31) affiche, sur l'écran du dispositif d'affichage (32), un contour de navire (10) indiquant la position et l'orientation du navire, au moins un contour de remorqueur (20) indiquant la position et l'orientation de l'au moins un remorqueur, des vecteurs de propulsion cibles (71, 72 sur les dessins) pour au moins une machine de propulsion du navire, et des vecteurs de propulsion cibles (81 à 83 dans les dessins) pour l'au moins un remorqueur.
PCT/JP2020/037827 2019-10-07 2020-10-06 Système d'aide à la manœuvre d'un navire WO2021070802A1 (fr)

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CN202080069424.7A CN114466788B (zh) 2019-10-07 2020-10-06 船舶操纵支持系统
KR1020227013440A KR20220062654A (ko) 2019-10-07 2020-10-06 조선 지원 시스템

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JP2019184623A JP7437129B2 (ja) 2019-10-07 2019-10-07 操船支援システム
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JP2023177804A (ja) * 2022-06-03 2023-12-14 川崎重工業株式会社 着岸操船監視装置及び方法、並びに、操船システム及び方法
CN115258073B (zh) * 2022-08-09 2024-05-07 武汉理工大学 环境干扰下的船舶拖曳系统轨迹跟踪方法

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CN101612983A (zh) * 2009-06-11 2009-12-30 佟明亮 全回转拖轮协助大船靠泊与离泊的节能操船法
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JP7437129B2 (ja) 2024-02-22

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