WO2021075319A1 - Système d'aide à la manœuvre de navire et procédé - Google Patents

Système d'aide à la manœuvre de navire et procédé Download PDF

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Publication number
WO2021075319A1
WO2021075319A1 PCT/JP2020/037895 JP2020037895W WO2021075319A1 WO 2021075319 A1 WO2021075319 A1 WO 2021075319A1 JP 2020037895 W JP2020037895 W JP 2020037895W WO 2021075319 A1 WO2021075319 A1 WO 2021075319A1
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WO
WIPO (PCT)
Prior art keywords
ship
tugboat
maneuvering support
information
ship maneuvering
Prior art date
Application number
PCT/JP2020/037895
Other languages
English (en)
Japanese (ja)
Inventor
武憲 檜野
芳輝 原田
健太郎 坂田
貴之 八木
貴士 西東
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 CN202080072477.4A priority Critical patent/CN114599580B/zh
Priority to KR1020227016043A priority patent/KR20220079667A/ko
Publication of WO2021075319A1 publication Critical patent/WO2021075319A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/66—Tugs
    • 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 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules

Definitions

  • the present invention uses at least one tugboat to assist the berthing and berthing of a ship (the ship), the parties involved in the berthing and berthing maneuvering (that is, the pilot, the captain of the ship, the tag operator, and the ground worker, etc.). Regarding systems and methods to support.
  • At least one tugboat may support the navigation of the vessel.
  • the tugboat will tow and tow the tugboat on the tugline passed to and from the tugboat.
  • the tugboat pushes the ship by bringing itself into direct contact with the ship via a fender (tires, etc.).
  • the captain of the ship operates the ship while being towed by the tugboat. Pilots often board the ship, use nautical instruments such as GPS positioning devices as appropriate, and assist the captain of the ship while contacting tag operators and ground workers via international VHF radio for the purpose of the ship. Guide safely to the location of.
  • Patent Documents 1 to 4 propose communication tools for solving such problems in berthing and berthing maneuvers.
  • Patent Document 1 discloses a device that is arranged on a tugboat and instructs a tug operator on the work that the tugboat should perform on the ship.
  • This device has a microphone and speaker for communicating in the same way as a conventional radio, a small screen that shows instructions from the ship to the tugboat in text, the position and direction of travel of the tugboat with respect to the ship, and the ship. It has a large screen that graphically represents the distinction between pushing and pulling tugboats to be performed.
  • each terminal device is carried by a ship operator and a supporter, and the plurality of terminal devices communicate with each other to exchange information such as ship maneuvering support information and ship maneuvering command information, and each terminal device. It is disclosed that common information is retained in the above.
  • Patent Document 3 the bird's-eye view of the port facility where the ship departs and berths is superimposed and displayed, and the position of the ship, the distance between the shore bridge and the ship, the ground speed of the ship, the bow orientation, and the avoidance line are displayed.
  • a support system equipped with a display unit for displaying information, standard route information, and information on the wind and sea conditions of the port is disclosed.
  • Patent Document 4 a bird's-eye view image of the hull and its surroundings is obtained from a captured image of the hull and its surroundings in a first display unit provided on the ship and a second display unit provided on the tugboat and related equipment. Is displayed.
  • Patent Documents 1 to 4 display the position and orientation of the ship and the tugboat, as well as the presence or absence of thrust of the tugboat propulsion machine and its direction (hereinafter referred to as "current state of the tugboat") in an easy-to-understand manner. Is not disclosed.
  • the current state of the tugboat propulsion machine can be said to be important information for estimating the thrust acting on the tugboat and the movement of the tugboat. Therefore, if the parties can grasp this information and share it between the parties, smoother, safer and more efficient berthing and berthing maneuvers will be possible.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is the situation of each propulsion machine mounted on the tugboat together with the position and orientation of the tugboat and the tugboat with respect to the parties involved in the berthing and berthing maneuvering of the tugboat.
  • an object of the present invention is the situation of each propulsion machine mounted on the tugboat together with the position and orientation of the tugboat and the tugboat with respect to the parties involved in the berthing and berthing maneuvering of the tugboat.
  • the ship maneuvering support system is a ship maneuvering support system when the ship leaves or berths at the quay while being supported by at least one tugboat.
  • a storage device that stores a sea map image including the quay, a ship figure, and a tugboat figure, at least one detection device that detects the position and direction of the ship, and the position and direction of the tugboat, and at least one display.
  • the display is provided with a processor for displaying a ship maneuvering support screen.
  • the ship maneuvering support screen includes the sea map image, the ship figure arranged on the sea map image based on the position and orientation of the ship detected by the detection device, the position of the tugboat detected by the detection device, and the position of the tugboat.
  • the tugboat figure arranged on the sea map image based on the orientation, and the propulsion force generated by the tugboat propulsion machine for each of the plurality of tugboat propulsion machines arranged on the tugboat figure and mounted on the tugboat. It is characterized by including tugboat propulsion machine information indicating the direction.
  • At least the processor of the information terminal that supports the maneuvering of the ship and the tugboat when the ship leaves or berths at the quay while being supported by at least one tugboat.
  • Including the step of displaying the ship maneuvering support screen on one display The ship maneuvering support screen is arranged on the sea map image including the quay, the ship figure arranged on the sea map image corresponding to the position and orientation of the ship, and the position and orientation of the tugboat.
  • the "tugboat propulsion machine information arranged on the tugboat figure” includes the tugboat propulsion machine information arranged so as to visually overlap with the tugboat figure on the screen.
  • Information on the tugboat propulsion device placed close to the tugboat figure on the sea map image may be included so that the correspondence with the mounted tugboat propulsion machine becomes visually clear.
  • the positional relationship between the ship and the tugboat is shown by the ship figure and the tugboat figure shown on the sea map image displayed on the display, and the tugboat propulsion machine information is used for each tugboat propulsion machine.
  • the direction of the propulsive force generated by the tugboat propulsion machine is shown.
  • the information showing the positional relationship between the ship and the tugboat and the information showing the status of the tugboat propulsion machine are shown together on one screen displayed on the display, so the party who saw this screen It is possible to intuitively grasp these mutual relationships.
  • the status of the tugboat propulsion machine is important information for estimating the thrust acting on the tugboat and its direction, and the parties can intuitively and easily grasp this information to enable smoother and more efficient berthing and berthing maneuvering. It becomes.
  • the positions and directions of the tugboat and the tugboat and the situation of each propulsion machine mounted on the tugboat are presented in an intuitively understandable manner to the parties involved in the berthing and berthing maneuvering of the tugboat. It can help the parties understand the situation and assist in berthing and berthing maneuvers.
  • FIG. 1 is a diagram showing a schematic configuration of a ship maneuvering support system according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing a schematic configuration of a tugboat.
  • FIG. 3 is a block diagram showing the configuration of the information collecting device.
  • FIG. 4 is a block diagram showing a configuration of an information terminal.
  • FIG. 5 is a block diagram showing a configuration of a processing device.
  • FIG. 6 is a diagram showing a ship maneuvering support screen.
  • FIG. 7 is a diagram showing a ship maneuvering support screen.
  • FIG. 8 is a diagram showing a ship maneuvering support screen.
  • FIG. 9A is a diagram showing a push point set on the ship.
  • FIG. 9B is a diagram showing a towing point set on the ship.
  • FIG. 9A is a diagram showing a push point set on the ship.
  • FIG. 9B is a diagram showing a towing point set on the ship.
  • FIG. 9A is a diagram showing
  • FIG. 10 is a diagram showing a ship maneuvering support screen.
  • FIG. 11 is a diagram showing a ship maneuvering support screen.
  • FIG. 12 is a diagram showing a ship maneuvering support screen.
  • FIG. 13 is a diagram showing a ship maneuvering support screen.
  • FIG. 14 is a diagram showing a ship maneuvering support screen.
  • FIG. 15 is a diagram showing a ship maneuvering support screen.
  • FIG. 16 is a diagram showing a ship maneuvering support screen.
  • FIG. 1 is a diagram showing a schematic configuration of a ship maneuvering support system 1.
  • the ship maneuvering support system 1 shown in FIG. 1 can be used for berthing and berthing maneuvering of a large ship (hereinafter referred to as “ship 2”) supported by at least one tugboat 3.
  • ship 2 berthing and berthing maneuvering of a large ship supported by at least one tugboat 3.
  • FIG. 2 is a diagram showing a schematic configuration of a tugboat 3.
  • the tugboat 3 according to the present embodiment includes a hull 38 having a pair of left and right propulsion machines 68. Inside the hull 38, a crew room area, an engine room, and the like are formed (both are not shown).
  • a mast 39 is erected on the hull 38, and a remote camera 34 is installed on the mast 39.
  • the remote camera 34 can take an image of the front of the tugboat 3.
  • Each propulsion machine 68 is, for example, an azimuth thruster equipped with a variable pitch propeller capable of turning 360 degrees.
  • the adjustment of the propulsion direction can be adjusted by adjusting the turning angle of the variable pitch propeller, and the propulsive force can be adjusted by adjusting the pitch angle of the variable pitch propeller.
  • the above configuration is merely an example, and the present invention can be applied to ship maneuvering support using a tugboat 3 equipped with a propulsion device such as a general azimuth thruster or Schneider propeller.
  • the ship maneuvering support system 1 connects a plurality of information terminals 20, a plurality of information collecting devices 30, and an information processing device 40 so as to be able to transmit and receive information to each other. It is provided with a wireless communication network 5.
  • the information processing device 40 is arranged on the ship 2.
  • the information processing device 40 may be arranged on land or may be arranged on the tugboat 3.
  • the information processing device 40 may be operated by a pilot or the captain of the ship.
  • the information terminal 20 may be mounted on the ship 2 and each tugboat 3, or may be carried by a party including a pilot, the captain of the ship, a tag operator, and a ground worker.
  • the information collecting device 30 is mounted on the ship 2, each tugboat 3, and other ships in the port.
  • the term "ship” may be used when referring to the ship 2, each tugboat 3, and other ships in the port without distinction.
  • the communication by the wireless communication network 5 may be a communication via a radio base station 50 on land or on a ship, or may be a communication via a mobile base station on a ship.
  • FIG. 3 is a block diagram showing the configuration of the information collecting device 30.
  • the information collecting device 30 shown in FIG. 3 includes a computer 31 and a wireless communication device 35.
  • Various navigation instruments 32, various engine information detectors 33, and a remote camera 34 are communicably connected to the computer 31.
  • the computer 31 transmits information and data acquired from the navigation instrument 32, the engine information detector 33, and the remote camera 34 to the information processing device 40 via the communication device 35 and the wireless communication network 5 together with the ship identification information. ..
  • the navigation instrument 32 includes, for example, a GPS positioning device including a positioning antenna installed at a predetermined position of a ship, a gyro compass (direction meter), a water depth meter, a wind direction / anemometer, a ship speed meter, and a draft meter.
  • the GPS positioning device receives the time (Coordinated Universal Time) and the position (latitude / longitude), and can obtain the ground speed and the course from the information.
  • the gyro compass can detect the bow direction and obtain the turning angular velocity from the turning angle of the ship obtained from this information.
  • the engine information detector 33 of the ship 2 includes detectors such as a rudder angle, a rotation speed of a propulsion shaft, and a rotation speed of a side thruster (stance thruster / bow thruster).
  • the engine information detector 33 of the tugboat 3 includes a detector for the rotation speed of the propeller of the azimuth thruster, the propeller axial direction, and the like.
  • the remote camera 34 is installed at an appropriate position on the ship (see FIG. 1).
  • the remote camera 34 mounted on the ship 2 may be installed so that the quay can be imaged from the side portion of the ship 2.
  • the remote camera 34 is also mounted on the tugboat 3 as described above.
  • the information collecting device 30 may use an AIS (Automatic Identification System) conventionally mounted on a ship.
  • AIS Automatic Identification System
  • a VHS communication device (not shown) provided by AIS may be used as the communication device 35.
  • the AIS is a device for automatically transmitting and receiving ship data by VHF radio waves and grasping the movement of surrounding ships.
  • the information transmitted and received by the AIS generally includes dynamic information, static information, and voyage-related information of the onboard ship.
  • Dynamic information generally includes time (Coordinated Universal Time), position (latitude / longitude), ground speed, course, position accuracy information, bow direction, turning angular velocity, and voyage status.
  • Static information generally includes the MMSI number (Maritime Mobile Service Identity), call sign and ship name, ship type, IMO number, positioning antenna position, and hull length and beam width.
  • the voyage-related information generally includes the draft of the vessel, the destination and the estimated arrival date / time of the destination, and the type of dangerous goods to be loaded. Since AIS is known, further detailed description of AIS will be omitted.
  • FIG. 4 is a block diagram showing the configuration of the information terminal 20.
  • the information terminal 20 shown in FIG. 4 includes a computer 21, an input device 23, an output device 24, a storage device 25, and a communication device 26.
  • the computer 21 includes a processor 211, a memory 212 such as RAM and ROM, an input control unit 213, an output control unit 214, a disk control unit 215, a communication control unit 216, and various other interfaces 217.
  • An input device 23 is connected to the input control unit 213.
  • the input device 23 includes a touch panel 231 and a microphone 232.
  • the input device 23 may include at least one of a keyboard, a pointing device, and a button or stick-type operating tool.
  • An output device 24 is connected to the output control unit 214.
  • the output device 24 includes a display 241 and a speaker 242.
  • a storage device 25 such as a hard disk is connected to the disk control unit 215.
  • a wireless communication device 26 is connected to the communication control unit 216.
  • the communication device 26 has a transmission / reception antenna, and can transmit / receive information to / from another information terminal 20 or an information processing device 40 via the antenna and the radio base station 50.
  • the display program 7 is pre-installed on the information terminal 20.
  • the processor 211 executes the program stored in the memory 212, and the information input via the input device 23, the information stored in the memory 212 and the storage device 25, and the information acquired from the outside via the communication device 26. Then, arithmetic processing is performed using at least one of the information acquired from the outside via the interface 217, and the result is output to the output device 24 and / or the communication device 26.
  • FIG. 5 is a block diagram showing the configuration of the information processing device 40.
  • the information processing device 40 shown in FIG. 5 includes a computer 41, an input device 43, an output device 44, a storage device 45, and a communication device 46.
  • the computer 41 includes a processor 411, a memory 412 such as RAM and ROM, an input control unit 413, an output control unit 414, a disk control unit 415, a communication control unit 416, and various other interfaces 417.
  • An input device 43 is connected to the input control unit 413.
  • the input device 43 includes a touch panel 431 and a microphone 432.
  • the input device 43 may include at least one of a keyboard, a pointing device, and a button or stick-type operating tool.
  • An output device 44 is connected to the output control unit 414.
  • the output device 44 includes a display 441 and a speaker 442.
  • a storage device 45 such as a hard disk is connected to the disk control unit 415.
  • a wireless communication device 46 is connected to the communication control unit 416.
  • the communication device 46 has a transmission / reception antenna, and can transmit / receive information to / from the information terminal 20 and the information collection device 30 via the antenna and the radio base station 50.
  • the processor 411 executes the program stored in the memory 412, and the information input via the input device 43, the information stored in the memory 412 and the storage device 45, and the information acquired from the outside via the communication device 46. Then, arithmetic processing is performed using at least one of the information acquired from the outside via the interface 417, and the result is output to the output device 44 and / or the communication device 46.
  • a port information database, a hull information database, and a voyage information database are constructed in the storage device 45.
  • the port information database stores information about the port where the ship 2 enters the port.
  • Information about harbors includes nautical charts including harbors, types of quays to berth and berth, target berthing positions, buoy positions, refuge lines, standard shipping lanes, water depths, contour lines, tidal currents, and structures such as shallow waters and shores. Things), necessary transit points for vessels to navigate, navigation prohibited areas, intrusion prohibited areas for each vessel, and local meteorological charts of ports.
  • the standard route may be determined and stored in advance for each quay or for each ship.
  • the quay may also include a sea berth provided on the deep sea.
  • the hull information database stores information on the characteristics of the ship in association with the identification information of the ship.
  • Information about ship characteristics includes ship-specific shape and motion characteristics.
  • the shape characteristics include the length, width, outer shape, relative position of the reference point on the hull, and the relative position of the positioning antenna on the hull.
  • the shape characteristics of the ship 2 further include the relative position of the push point called the strong point and the relative position of the towing point provided with the bollard.
  • the kinetic characteristics include the on-board propulsion device, its performance (type and rated output), and the calculation model for obtaining thrust.
  • the information acquired from the information collecting device 30 mounted on the ship in the port is stored in association with the ship identification information. Further, in the voyage information database, the information acquired from the AIS mounted on the ship in the port may be stored in association with the identification information of the ship.
  • the computer 41 of the information processing device 40 executes a program stored in the memory 412 or the storage device 45 to execute an information acquisition module, a predicted position calculation module, a collision avoidance module, a route planning module, a thrust calculation module, and a voice call module. And, it has a function as a display data generation module.
  • the information acquisition module acquires the information transmitted from each information collecting device 30 and stores it in the voyage information database.
  • the information in the voyage information database is read out and used by other arithmetic processing.
  • the predicted position calculation module obtains the position (predicted position) of the ship after a predetermined time from time to time from the current position of the ship and the speed and direction of the ship.
  • the takeoff and berthing distance calculation module calculates the distance between the ship and the quay from the current position of the ship, port information, and shape characteristic information of the ship.
  • the distance between the ship and the quay may be the smallest of the distances between the ship and the quay.
  • the takeoff and berthing distance calculation module may obtain the distance between the ship and the target berthing position.
  • the collision avoidance module sends information to the target vessel so that it will take evasive action in accordance with the rules of vessel operation to prevent vessel collisions at sea.
  • the collision avoidance module calculates the risk of collision between ships from the current position and predicted position of the ships. Further, the collision avoidance module obtains the collision risk between the ship and the obstacle from the current position and the predicted position of the ship and the position of the obstacle. Collision risk is expressed, for example, numerically or at a level.
  • the collision avoidance module When the collision risk exceeds a predetermined threshold value, the collision avoidance module generates warning information and transmits it to the information terminal 20 via the wireless communication network 5.
  • the warning information may include information on which vessel should be instructed when and what avoidance action, in addition to information on the vessel subject to the collision warning.
  • the route planning module is based on the required transit point information (position, direction, ship speed), navigation prohibited area information, marine weather (wind / tidal force), and the ship's operating characteristics. Set the recommended route.
  • the recommended route setting information includes a plurality of waypoints, the direction and speed of the ship 2 at each waypoint, and the timing of connecting and disconnecting the tag line.
  • the route planning module is configured to find a suitable route by calculation using, for example, a model in which the weather and sea conditions of the port and the positions of other vessels are variables, and set the recommended route. ..
  • a suitable route may be a suitable route from a specific viewpoint such as safety and economy.
  • the route planning module is configured to set one of several prefabricated route candidates as the recommended route based on the weather and sea conditions of the port and the location of other vessels. Good.
  • the voyage planning module may be configured to set a voyage plan instructed by the captain or pilot as a recommended route.
  • the voyage planning module may be configured to set a pre-stored standard route as the recommended route.
  • the thrust calculation module calculates the thrust currently generated by the propulsion machine and side thrusters (stance thruster / bow thruster) of the ship 2 and the thrust currently generated by the azimuth thruster of the tugboat 3. Thrust includes translational thrust and turning moment thrust.
  • the thrust calculation module obtains thrust from the output (rotation speed) of the propulsion machine (or side thruster or azimuth thruster) using a calculation model given in advance.
  • the thrust calculation module further combines the thrust generated by the propulsion machine (including the side thrusters) of the ship 2 and the thrust generated by the propulsion machine of the tugboat 3, and the thrust acting on the ship 2 (the thrust acting on the ship 2). The combined thrust of the ship) is calculated.
  • the voice call module digitally converts the sound picked up by the microphone 432 into voice data, and transmits it to the information terminal 20 of the voice call destination via the communication device 46. Further, the voice call module converts the voice data sent from the information terminal 20 of the voice call destination into analog and outputs it from the speaker 442.
  • the ship maneuvering status data generation module generates ship maneuvering status data.
  • the ship maneuvering status data includes information posted on various ship maneuvering support screens displayed on the display 441 of the information processing device 40 and the display 241 of the information terminal 20.
  • the computer 41 of the information processing device 40 transmits the generated ship maneuvering status data to each information terminal 20 via the communication control unit 416 and the wireless communication network 5.
  • the computer 21 of each information terminal 20 stores the received ship maneuvering status data in the memory 212, and the processor 211 executes the display program 7 to display at least one type of ship maneuvering support screen on the display 241 based on the ship maneuvering status data. Display it.
  • the computer 41 of the information processing apparatus 40 may also have the same display program 7 as the information terminal 20 installed.
  • the processor 411 of the computer 41 of the information processing device 40 executes the display program 7 to display at least one type of ship maneuvering support screen on the display 441 based on the ship maneuvering status data.
  • the ship maneuvering support screen displayed on the display 241 of the information terminal 20 and the ship maneuvering support screen displayed on the display 441 of the information processing device 40 may be synchronized. Since the various ship maneuvering support screens output by the computers 21 and 41 and their display methods are substantially the same, the screen display of the display 241 of the information terminal 20 will be described in detail, and the screen of the display 441 of the information processing device 40 will be described in detail. The description of the display will be omitted.
  • FIG. 6 is an example of the ship maneuvering support screen S displayed on the display 241.
  • the ship maneuvering support screen S includes the current status display unit 98.
  • the nautical chart image 60 including the port is displayed on the current status display unit 98 based on the nautical chart information.
  • the nautical chart image 60 in addition to the quay 61, buoys, obstacles (all not shown) and the like are shown.
  • the nautical chart image 60 may show depths and isolines.
  • a quay type figure 62 showing the type of quay on which the ship 2 departs and berths is displayed.
  • Types of quays generally include gravity quay sheet pile quays, pier quays, and floating piers.
  • FIG. 6 a schematic side view of the pier type quay is shown as a quay type figure 62.
  • a tidal current vector 63 representing the tidal current flow (direction) is shown based on the tidal current information.
  • the direction of the arrow of the tidal current vector 63 represents the flow (direction) of the tidal current, and the size of the arrow of the tidal current vector 63 represents the magnitude of the tidal current.
  • ship figure 2s On the current status display unit 98, a figure schematically representing the ship 2 (hereinafter referred to as “ship figure 2s”) is superimposed on the nautical chart image 60 based on the position information, the directional information, and the shape characteristics of the ship 2. Is displayed.
  • the ship figure 2s is, for example, a graphic representation of the contour of the ship 2 in a plan view.
  • the actual position and direction of the ship 2 and the position and direction of the ship figure 2s on the nautical chart image 60 of the current state display unit 98 correspond to each other.
  • a figure schematically representing the tugboat 3 (hereinafter referred to as “tugboat figure 3s”) based on the position information, orientation information, and shape characteristics of the tugboat 3 is superimposed on the nautical chart image 60. Is displayed.
  • the tugboat figure 3s is, for example, a graphic representation of the contour of the tugboat 3 in a plan view.
  • the actual position and direction of the tugboat 3 and the position and direction of the tugboat figure 3s on the nautical chart image 60 of the current state display unit 98 correspond to each other.
  • a rudder figure 67 that schematically represents the rudder is displayed superimposed on the ship figure 2s based on the information on the rudder angle of the ship 2.
  • the rudder figure 67 arranged on the ship figure 2s has a correspondence with the rudder of the ship 2 in addition to the rudder figure 67 arranged so as to visually overlap with the ship figure 2s on the current status display unit 98.
  • a rudder figure 67 arranged in close proximity to the ship figure 2s on the sea map image 60 may be included so as to be visually apparent.
  • the relative positional relationship between the ship figure 2s and the rudder figure 67 on the current status display unit 98 corresponds to the relative positional relationship between the ship 2 and the rudder mounted on the ship 2.
  • the rudder figure 67 is a line segment that imitates a rudder plate in a plan view, and is arranged on the ship figure 2s at an angle corresponding to the rudder angle of the rudder plate with respect to the hull of the ship 2.
  • the ship propulsion machine figure 70 schematically representing the propulsion machine is displayed superimposed on the ship figure 2s based on the information of the propulsion machine of the ship 2.
  • the relative positional relationship between the ship figure 2s and the ship propulsion machine figure 70 on the current status display unit 98 corresponds to the relative positional relationship between the ship 2 and the propulsion device mounted on the ship 2.
  • the ship propulsion machine figure 70 is shown by a chain line quadrangle having a longitudinal direction and a lateral direction, and is displayed on the ship figure 2s corresponding to the position of the side thruster on the hull of the ship 2. Have been placed.
  • the appearance of the ship propulsion machine figure 70 is not limited to the above.
  • the ship 2 is provided with a main propulsion machine and a side thruster (or azimuth thruster) as propulsion machines.
  • a side thruster or azimuth thruster
  • the ship propulsion machine figure 70 representing the main propulsion machine may be displayed on the current status display unit 98.
  • the ship propulsion machine figure 70 is displayed on the current state display unit 98 so that the current state of the propulsion machine of the ship 2 can be intuitively grasped.
  • the propulsion machine of the ship 2 is a side thruster
  • the axial angle of the propeller of the side thruster with respect to the ship 2 that is, the propulsion direction with respect to the ship 2 is constant.
  • the propulsion machine of the ship 2 is an azimuth thruster
  • the axial angle of the propeller of the azimuth thruster with respect to the ship 2 is variable, and the propulsion direction with respect to the ship 2 changes.
  • the tugboat propulsion machine information 68s indicating the direction of the propulsive force generated by the tugboat 68 is arranged on the tugboat figure 3s.
  • the tugboat propulsion machine information 68s arranged on the tugboat figure 3s is mounted on the tugboat 3 in addition to the tugboat propulsion machine information 68s arranged so as to visually overlap with the tugboat figure 3s on the current status display unit 98.
  • the tugboat propulsion machine information 68s arranged in the vicinity of the tugboat figure 3s on the sea map image 60 may be included so that the correspondence with the tugboat propulsion machine 68 becomes clear visually.
  • the relative positional relationship between the tugboat figure 3s on the current status display unit 98 and the tugboat propulsion machine information 68s corresponds to the relative positional relationship between the tugboat 3 and the propulsion machine 68 mounted on the tugboat 3.
  • the direction of the propulsive force generated by the azimuth thruster is substantially parallel to the propeller axis direction. In such a case, the direction of the propulsive force generated by the propulsion machine 68 can be obtained from the information in the propeller axial direction.
  • the direction of the propulsive force generated by the screw propeller is determined by the direction of the rudder mounted together with the screw propeller. In such a case, the direction of the propulsive force generated by the propulsion machine 68 can be obtained from the information on the direction of the rudder.
  • FIG. 6 a figure schematically showing the propeller is displayed as the tugboat propulsion machine information 68s overlaid on the tugboat figure 3s based on the information in the propeller axial direction.
  • the tag boat propulsion machine information 68s is a line segment that imitates the rotating surface of the propeller in a plan view, and the direction orthogonal to this line segment represents the propeller axial direction (that is, the direction of the propulsive force generated by the propulsion machine 68).
  • Each tugboat 3 according to the present embodiment is equipped with two propulsion machines 68, and the tugboat propulsion machine information 68s is displayed for each propulsion machine 68.
  • the tugboat propulsion machine information 68s describes the current state of the propulsion machine 68 of the tugboat 3, particularly the number (or operating status) of the propulsion machines 68 and the generation of the propulsive force of each propulsion machine 68 based on the tugboat 3. It is displayed on the current status display unit 98 so that the direction can be intuitively grasped.
  • the party who visually recognizes the current status display unit 98 can estimate the direction of the thrust acting on the tugboat 3 based on the direction in which the propulsive force of each tugboat 68 is generated, which is indicated on the screen by the tugboat propulsion machine information 68s. it can.
  • a numerical value and an arrow representing the distance 64 between the ship 2 and the quay 61 are displayed superimposed on the nautical chart image 60 based on the distance between the ship 2 and the quay obtained by the takeoff and berthing distance calculation module. Ru.
  • the distance 64 between the ship 2 and the quay 61 is clearly indicated by a numerical value, the master of the ship and the pilot can operate the ship in consideration of this distance 64.
  • the current status display unit 98 displays a speed vector 69 representing the traveling direction and speed of the ship 2 based on the course to the ground and the speed to the ground of the ship 2.
  • the speed vector 69 is an arrow starting from the bow of the ship's figure 2s, facing the traveling direction, and having a length corresponding to the speed.
  • the speed of the ship 2 may also include the speed (going leg) when the ship continues to move in the direction in which it is steered by coasting force after the engine of the ship is stopped.
  • the speed of the ship 2 may be displayed numerically.
  • the status display unit 98 displays a connection instruction text 73a instructing the tugboat 3 and the ship 2 to be connected by a tag line.
  • the connection instruction text 73a is displayed at the timing when the ship 2 and the tugboat 3 are connected, for example, based on the connection position information of the ship 2 and the tugboat 3.
  • the status display unit 98 displays the connection disconnection instruction text 73b (see FIG. 7) instructing the tag line to be disconnected.
  • the connection disconnection instruction text 73b is displayed at the timing when the ship 2 and the tugboat 3 are in the connection disconnection position, for example, based on the connection disconnection position information of the ship 2 and the tugboat 3.
  • connection position information and the connection disconnection position information are derived from the recommended route and may be included in the setting information of the recommended route, or the operator of the information processing device 40 operates the information processing device 40 to arbitrarily operate the information processing device 40.
  • the connection instruction text 73a and the connection disconnection instruction text 73b may be displayed at the timing.
  • a channel instruction text 71 showing information on the VHF channel used by the wireless transceiver is displayed.
  • a call button 72 is provided on the ship maneuvering support screen S.
  • the computer 21 receives the operation input for starting a call and activates the voice call module.
  • the operator of the information terminal 20 can make a voice call with the information processing device 40 and another information terminal 20.
  • the operator of the information processing apparatus 40 can make a voice call with any one or a plurality of combinations of the plurality of information terminals 20. Further, when the information processing device 40 and the plurality of information terminals 20 are equipped with a call camera, a video call can be made.
  • the ship maneuvering support screen S is provided with a display item switching unit 99 displaying a plurality of switching buttons.
  • the display item switching unit 99 can switch the display / non-display of the item shown in the current status display unit 98.
  • the button for switching the display / non-display of the information related to the ship speed, the rudder direction, and the thrust of the ship 2 and the tag boat 3 A button is displayed to switch the display / non-display of the information related to the ship speed and thrust. In this way, the current status display unit 98 can reduce the displayed information and cut out and display desired information.
  • Information on the speed of the ship 2 and information on the speed of the tugboat 3 are displayed on the current status display unit 98a of the ship maneuvering support screen S shown in FIG. 7, and the direction of the rudder of the ship 2, the ship 2 and the tugboat 3 are displayed.
  • the information related to the thrust of is hidden.
  • the current status display unit 98a displays a speed vector 69 representing the speed of the ship 2 based on the course to the ground and the speed to the ground of the ship 2. Further, the tugboat speed vector 96 representing the tugboat speed is displayed on the current status display unit 98a based on the tugboat course and ground speed.
  • the tugboat speed vector 96 is an arrow that starts from the bow of the tugboat figure 3s, faces the course of the tugboat 3, and has a length corresponding to the ground speed of the tugboat 3. However, in addition to the tugboat speed vector 96, the tugboat 3 may be indicated by a numerical value.
  • Information on the thrust of the ship 2 and information on the thrust of the tugboat 3 are displayed on the current status display unit 98b of the ship maneuvering support screen S shown in FIG. 8, and the direction of the rudder of the ship 2 and the ships of the ship 2 and the tugboat 3 are displayed. Information related to speed is hidden.
  • the current status display unit 98b has a thrust vector 65a representing the direction and magnitude of the thrust acting on the ship 2 based on the thrusts of the ship 2 and the tugboat 3 obtained by the thrust calculation module, and the direction of the thrust acting on the tugboat 3. And the tugboat thrust vector 66a showing the magnitude are displayed.
  • the ship's combined thrust 75 may be displayed on the current status display unit 98b.
  • the ship's thrust vector 65a is a solid arrow (directed line segment) having a length corresponding to the magnitude of the translational thrust, starting from the position of the propulsion unit of the ship 2 and facing the direction of the translational thrust.
  • the tugboat thrust vector 66a is a solid arrow that starts from the position of the propulsion machine of the tugboat 3, faces the direction in which the translational thrust is generated, and has a length corresponding to the magnitude of the translational thrust.
  • the current status display unit 98b includes a ship thrust command vector 65b indicating the direction and magnitude of the thrust command to the ship 2 and a tag boat thrust command vector 66b indicating the direction and magnitude of the thrust command to the tag boat 3. May be displayed.
  • the thrust command vector 65b of the ship is an arrow of a chain line having a length corresponding to the thrust, starting from the point of action 86 (pushing point or towing point) of the thrust, facing the direction of the thrust.
  • the tugboat thrust command vector 66b is a chain line arrow that starts from the position of the propulsion machine of the tugboat 3, faces the direction of thrust generation, and has a length corresponding to the magnitude of the thrust.
  • the content of the command is displayed in text in the vicinity of the ship thrust command vector 65b and the tugboat thrust command vector 66b.
  • the content of the command is displayed as an absolute value with units “N" and "PS”.
  • the content of the directive is displayed as a percentage of the rated output.
  • the content of the command is displayed in conventional tugboat command terms such as "forward throw" and "forward full”.
  • the ship's thrust vector 65a and the ship's thrust command vector 65b are shown superimposed. Further, the tugboat thrust vector 66a and the tugboat thrust command vector 66b are shown superimposed. Thereby, the thrust currently generated (that is, the output value) can be compared with the thrust that can be generated in response to the command (that is, the indicated value).
  • the party who sees the current status display unit 98b can intuitively recognize the change in thrust in the future. This prevents the parties from misidentifying the directive and allows the parties to share their awareness of the directive.
  • the direction and magnitude of the thrust command to the ship 2 and the direction and magnitude of the thrust acting on the tugboat 3 are input from the information terminal 20 or the information processing device 40 operated by the captain (or pilot) of the ship.
  • the information terminal 20 or the information processing device 40 operated by the master (or pilot) of the ship is allowed to input commands related to thrust.
  • FIG. 9A is a diagram showing a push point 36 set on the ship 2
  • FIG. 9B is a diagram showing a tow point 37 set on the ship 2.
  • the push point 36 on the ship 2 that the tugboat 3 comes into contact with when the tugboat 3 presses the ship 2 and the tag line when the tugboat 3 tows the ship 2 as shown in FIG. 9B.
  • the tug point 37 on the ship 2 to which the ship 2 is connected is predetermined for each ship.
  • the push-pull command of the tugboat 3 consists of the relative position of the hull at the push point 36 or the pull point 37, and the magnitude and direction of the thrust to be applied to the relative position of the hull.
  • the command at the position of the push point 36 or the pull point 37 can be selected from the push point 36 and the pull point 37 displayed on the display 441 of the information processing apparatus 40. It should be done. Further, it is preferable that the command of the magnitude and direction of the thrust to be given is received by the input device 43 and displayed on the display 441 as a vector or a numerical value.
  • FIG. 10 is a diagram showing a ship maneuvering support screen S3 in which information regarding a ship maneuvering instruction is displayed.
  • the ship maneuvering support screen S3 is displayed on the display 441 when the processor 411 of the computer 41 of the information processing device 40 executes the display program 7.
  • the display item switching unit 99 of the ship maneuvering support screen S3 it is possible to select display / non-display of information related to the ship maneuvering instruction displayed on the current status display unit 98.
  • Information about maneuvering instructions is, for example, thrust, push position, tow position, and route for each tugboat.
  • the ship figure 2s showing the position and direction of the ship 2 and the tag boat figure 3s showing the position and direction of the tugboat 3 are displayed on the nautical chart image 60. Is displayed, and information regarding the maneuvering instruction is also displayed.
  • a plurality of tugboat figures 3s are displayed on the ship maneuvering support screen S3, they are displayed in association with each other so that the combination of the tugboat figure 3s and the thrust command vector 87 becomes clear.
  • the combination of the tugboat figure 3s and the corresponding thrust command vector 87 is distinguished by color, the thrust command vector 87 is labeled with the name of the tugboat 3, and the starting point of the thrust command vector 87 ( An example is that the point of action 86) and the tugboat figure 3s are connected by a chain line.
  • the input of the thrust instruction is permitted on the ship maneuvering support screen S3, and the thrust given by the tugboat 3 to the ship 2 can be input as the thrust command vector 87.
  • the current state display unit 98 of the ship maneuvering support screen S can show the captured image 82 of the remote camera 34.
  • the computer 21 has a display item switching unit 99 provided with a button for selecting a monitor.
  • the ship maneuvering support screen S2 including the above is displayed.
  • FIG. 11 is a diagram showing a ship maneuvering support screen S2 provided with a button for selecting a monitor.
  • a button for switching the captured image 82 to be displayed on the current status display unit 98 is displayed.
  • the monitors of the tugboats 3 of the tag 1, the tag 2, and the tag 3 are turned on.
  • a plurality of captured images 82 are displayed side by side so that they can be listed.
  • Each photographed image 82 is labeled with "TAG1", “TAG2", and "TAG3".
  • the label indicates the identification information of the tugboat 3 on which the remote camera 34 in which the image is captured is mounted.
  • the remote camera 34 is installed forward on the bow of each tugboat 3, and a photographed image 82 looking forward from each tugboat 3 is displayed.
  • the captured image 82 was captured by a remote camera 34 arranged on the mast 39 in the center of the tugboat 3 so as to look ahead from the sky of the tugboat 3. From the current status display unit 98 on which the photographed image 82 was shown, the tugboat 3 labeled "TAG1" was pulled from the bow of the ship 2 connected by the tag line and labeled "TAG2".
  • the tugboat 3 is pushing the front side of the ship 2 and the tugboat 3 labeled "TAG3" is pushing the rear side of the ship 2.
  • TAG3 the tugboat 3 labeled "TAG3"
  • the pilot and the captain of the ship who saw the ship maneuvering support screen S2 can grasp the situation of looking ahead from the sky of the tugboat 3 in almost real time, and can grasp the situation of the tugboat operator without going back and forth between the bridges. It can be estimated and instructed to the tugboat operator.
  • the plurality of captured images 82 are captured by the remote camera 34 mounted on the tugboat 3, but may include captured images 82 of the remote camera 34 arranged on the ship 2 or the quay.
  • the route plan can be shown on the current status display unit 98 of the ship maneuvering support screen S.
  • the computer 21 provides the display 241 with a button for switching the display / non-display of the route plan. Display screen S4.
  • FIG. 12 is a diagram showing a ship maneuvering support screen S4 provided with a button for switching display / non-display of the route plan.
  • the display item switching unit 99 of the ship maneuvering support screen S4 is provided with a button for switching the display / non-display of the route plan to the current status display unit 98.
  • a speed vector 69 representing the ship speed of the ship 2 is displayed based on the course to the ground and the ground speed of the ship 2. Further, on the ship maneuvering support screen S4, a tag ship speed vector 96 representing the ship speed of the tugboat 3 is displayed based on the course and ground speed of the tugboat 3.
  • the recommended route 84 of the ship 2 is displayed superimposed on the chart image 60 based on the recommended route set by the route planning module.
  • the recommended route 84 is shown as a continuous chain line from the current position of the ship figure 2s to the target berthing position.
  • a plurality of waypoints 97 are displayed on the recommended route 84. Waypoints 97 are indicated by hull form and circled numbers in this example.
  • the current status display unit 98 of the ship maneuvering support screen S4 is provided with a zoom-in / zoom-out magnification change button 83.
  • zoom-in is selected with the magnification change button 83
  • the computer 41 accepts a command to change the display magnification of the ship maneuvering support screen S4, and the ship maneuvering support screen S4 displays the partially enlarged ship maneuvering support screen S5 on the display 241.
  • the magnification of the screen may be automatically changed so that the details of the waypoint 97 are displayed.
  • Those who have seen such ship maneuvering support screens S4 and S5 can grasp the entire route from the arrival of the ship 2 to the berthing and the relationship between the ship 2 and the tugboat 3 at each waypoint 97. Can be done. Although not particularly described, at least the current status display unit 98 of the ship maneuvering support screen S can be enlarged or reduced as a whole or partially.
  • FIG. 13 is a diagram showing a ship maneuvering support screen S5 showing a route plan.
  • the current status display unit 98 of the ship maneuvering support screen S5 shows the third waypoint (circle 3), the fourth waypoint (circle 4), and the fifth waypoint (circle 5) out of the plurality of waypoints 97. ing.
  • the fifth waypoint (circle 5) corresponds to the target berthing position.
  • a ship figure 2s is displayed at each waypoint 97, and a speed vector 69 and a rudder figure 67 are superimposed and displayed on the ship figure 2s.
  • a tugboat figure 3s representing a tugboat 3 supporting the ship 2 is displayed.
  • the vessel 2 From the 1st waypoint (circle 1) to the 3rd waypoint (circle 3), the vessel 2 sails without the support of the tugboat 3. During this time, Vessel 2 is getting propulsion from its own propulsion machine, and the propulsion machine is at an appropriate position (for example, when entering the port) from the first waypoint (circle 1) to the third waypoint (circle 3). Stops. While the propulsion machine of the ship 2 is operating, it is necessary to keep the tugboat 3 away from the ship 2 in order to avoid contact between the ship 2 and the tugboat 3. Therefore, the information processing device 40 and the information terminal 20 can display the evacuation instructions for the tugboat 3, which may come into contact with the ship 2, on the displays 241, 441.
  • FIG. 14 is a diagram showing a ship maneuvering support screen S6 in which an evacuation instruction is shown.
  • the intrusion prohibited area 93 is preset.
  • the intrusion prohibition area 93 may be set in absolute coordinates or may be set in relative coordinates with respect to the ship 2.
  • the intrusion prohibition area 93 is a rectangular area surrounding the ship figure 2s, but the intrusion prohibition area 93 may have an arbitrary shape. Further, the intrusion prohibition area 93 may be configured so that the range can be set on the display 441 of the information processing device 40.
  • a warning is displayed for the tugboat 3 existing in the intrusion prohibited area 93.
  • the tugboat 3 existing in the intrusion prohibited area 93 is displayed in a different color from the tugboat 3 existing outside the intrusion prohibited area 93, is displayed in a blinking manner, and further, the text of “evacuation required” is displayed. A balloon is displayed. In this way, the tugboat 3 to be evacuated from the intrusion prohibited area 93 is clearly shown on the ship maneuvering support screen S6.
  • the parties can operate the information processing device 40 and each information terminal 20 to display the ship maneuvering support screen S6 indicating the evacuation instruction on the display 241 (and / or the display 441). Further, the information processing device 40 monitors the positions of the ship 2 and each tugboat 3 in the portion of the route where the intrusion prohibited area 93 is set, and when the tugboat 3 invades the intrusion prohibited area 93, information processing is performed.
  • the ship maneuvering support screen S6 indicating the evacuation instruction can be forcibly displayed on the device 40 and each information terminal 20.
  • the tugboat 3 of TAG1 moves to the position where the tugboat 2 is pushed, the tugboat 3 of TAG2 moves to the position where the tugboat 2 is pulled, and is connected by a tag line. ..
  • the information processing device 40 and the information terminal 20 can display the ship maneuvering support screen S7 showing the route of the tugboat 3 when the tugboat 3 approaches the ship 2 on the displays 241, 441.
  • FIG. 15 is a diagram showing a ship maneuvering support screen S7 showing the route of the tugboat 3 when one tugboat 3 approaches the ship 2.
  • a ship figure 2s showing the position and direction of the ship 2 and a tugboat figure 3s showing the position and direction of the tugboat 3 are displayed.
  • the current status display unit 98 of the ship maneuvering support screen S7 shows an arrival point 90 and at least one waypoint 89 when the tugboat 3 approaches the ship 2.
  • the approach route 88 is indicated by a chain line.
  • the tugboat operator can visually recognize the tugboat maneuvering support screen S7 and maneuver the tugboat 3 so that the tugboat 3 navigates along the approach route 88.
  • the actual route 88'of the tugboat 3 is displayed superimposed on the approach route 88.
  • the approach route 88 and the actual route 88' are displayed in different modes.
  • the approach route 88 is indicated by a chain line
  • the actual route 88' is indicated by a solid line.
  • FIG. 16 is a diagram showing a ship maneuvering support screen S8 showing the route of the tugboat 3 when a plurality of tugboats 3 approach the ship 2. Even if the number of tugboats 3 approaching the ship 2 increases, the approach route 88 is displayed corresponding to each tugboat 3 as described above. However, when one approach route 88 intersects with another approach route 88, or when the approach routes 88 are closer than a predetermined threshold value, the caution area 92 is displayed on the ship maneuvering support screen S8. At the same time, a balloon with the text "Caution for contact" is displayed.
  • the ship maneuvering support screens S7 and S8 are displayed on the display 241 when the processor 211 of the information terminal 20 executes the display program 7. Further, the information processing device 40 monitors the positions of the ship 2 and each tugboat 3, and immediately before the tugboat 3 starts approaching the ship 2, the information processing device 40 and each information terminal 20 display the ship maneuvering support screens S7 and S8. Can be forcibly displayed.
  • the vessel 2 sails in the bay along the recommended route with the support of the tugboat 3.
  • the connection between the ship 2 and the tugboat 3 of the TAG2 is disconnected, and the ship 2 receives support only from the tugboat 3 of the TAG1.
  • the thrust given by the tugboat 3 to the ship 2 when the tugboat 2 is pulled by the tugboat 3 may be displayed as a thrust vector.
  • the ship maneuvering support system 1 is a ship maneuvering support system 1 when the ship 2 is supported by at least one tugboat 3 and leaves or berths at the quay.
  • the storage device (memory 212, 412, storage devices 25, 45) storing the sea map image 60, the ship figure 2s, and the tugboat figure 3s including the sea map image 60, the position and orientation of the ship 2, and the position and orientation of the tugboat 3 are detected. It includes at least one detection device (nautical instrument 32), at least one display (241; 441), and a processor (211; 411) for displaying the ship maneuvering support screen S on the display (241; 441). By executing the display program 7, the processor (211; 411) displays the ship maneuvering support screen S on the display (241; 441) based on the ship maneuvering status data.
  • the ship maneuvering support screen S is a sea map image 60 including the quay 61 stored in the storage device, a ship figure 2s arranged on the sea map image 60 based on the position and orientation of the ship 2 detected by the detection device, and a detection device.
  • a detection device About each of the tugboat figure 3s arranged on the nautical chart image 60 based on the detected position and orientation of the tugboat 3 and the plurality of tugboat propulsion machines 68 arranged on the tugboat figure 3s and mounted on the tugboat 3.
  • the tugboat propulsion machine information 68s indicating the direction of the propulsive force generated by the tugboat propulsion machine 68 is included.
  • the tugboat propulsion machine information 68s is arranged on the ship maneuvering support screen S so that the relative position of the tugboat propulsion machine 68 with respect to the tugboat 3 and the relative position of the tugboat propulsion machine information 68s with respect to the tugboat figure 3s correspond to each other. There is.
  • the ship maneuvering support method is an information terminal (20;) that supports maneuvering of the ship 2 and the tugboat 3 when the ship 2 leaves or berths at the quay while being supported by at least one tugboat 3.
  • 40) includes a step in which the processor (211; 411) causes the ship maneuvering support screen S to appear on at least one display (241; 441).
  • the ship maneuvering support screen S is arranged on the nautical chart image 60 including the quay, the nautical chart image 2s arranged on the nautical chart image 60 based on the position and orientation of the ship 2, and the tugboat 3 on the nautical chart image 60 based on the position and orientation of the tugboat 3.
  • the tugboat figure 3s and the tugboat propulsion machine information 68s that are arranged on the tugboat figure 3s and represent the direction of the propulsive force generated by the tugboat propulsion machine 68 for each of the plurality of tugboat propulsion machines 68 mounted on the tugboat 3. including.
  • the tugboat propulsion machine information 68s is arranged on the current status display unit 98 so that the relative position of the tugboat propulsion machine 68 with respect to the tugboat 3 and the relative position of the tugboat propulsion machine information 68s with respect to the tugboat figure 3s correspond to each other. Has been done.
  • the positional relationship between the ship 2 and the tugboat 3 is shown by the ship figure 2s and the tugboat figure 3s shown on the sea map image 60 displayed on the displays 241, 441, and then the tugboat.
  • the propulsion machine information 68s indicates the current state of each propulsion machine mounted on the tugboat 3 (for example, the operating status of the propulsion machine and the direction in which the propulsive force is generated).
  • the information indicating the positional relationship between the ship 2 and the tugboat 3 and the information indicating the current state of each tugboat 3 are shown together. Therefore, the parties who see this screen can intuitively grasp these mutual relationships.
  • the current status of the individual propulsion machines mounted on the tugboat 3 is important information for estimating the thrust acting on the tugboat 3, and the parties can intuitively and easily grasp this information to make it smoother and more efficient. Offshore and berthing maneuvers are possible.
  • the ship maneuvering support screen S is arranged on the ship maneuvering figure 2s and includes the ship maneuvering figure 67 representing the rudder angle of the rudder mounted on the ship ship 2.
  • the ship maneuvering support screen S is arranged on the nautical chart image 60, and further includes a speed vector 69 representing the traveling direction and speed of the ship 2.
  • Velocity is important information for determining the thrust to be given from the tugboat 3 to the ship 2, and if the parties intuitively and easily grasp this information, smoother and more efficient berthing and berthing maneuvers will be possible. ..
  • the ship maneuvering support screen S shows the ship thrust vector 65a (and / or the ship thrust command vector 65b) indicating the direction and magnitude of the thrust acting on the ship 2 and the tag boat. It further includes a tag boat thrust vector 66a (and / or a tag boat thrust command vector 66b) representing the direction and magnitude of the thrust acting on 3.
  • the ship maneuvering support screen S further includes a quay type figure 62 showing the type of the quay 61.
  • the ship maneuvering support screen S appears when the ship 2 and the tugboat 3 are at the connection position, and a connection instruction text instructing the tugboat 3 and the tugboat 2 to be connected by a tag line. It further contains 73a. Further, in the ship maneuvering support system 1 according to the present embodiment, the ship maneuvering support screen S appears when the ship 2 and the tugboat 3 are in the disconnection position, and further adds a connection disconnection instruction text 73b instructing the tugline to disconnect. Includes.
  • the timing of connecting / disconnecting the tag line can be made common to all parties who visually recognize the displays 241 and 441. Therefore, smoother and more efficient berthing and berthing maneuvers are possible.
  • the ship maneuvering support screen S further includes a channel instruction text 71 representing a VHF channel.
  • the channel used by the transceiver is set before berthing and berthing, but communication may be disturbed during work due to interference or radio interference.
  • the parties can smoothly switch the channel used by the transceiver.
  • the ship maneuvering support screens S show the planned route of the tugboat 3 when the tugboat 3 superimposed on the nautical chart image 60 approaches the ship 2. Includes approach route 88).
  • the ship maneuvering support screen S (S8) further includes the actual route 88'of the tugboat 3 displayed superimposed on the planned route (that is, the approach route 88). ..
  • the tugboat maneuvering support system 1 is mounted on each of the tugboats 3 and further includes a camera 34 for photographing the front of the tugboat 3.
  • the ship maneuvering support screen S (S2) includes at least one captured image 82 captured by the camera 34.
  • the pilot or the captain of the ship who visually recognizes the photographed image 82 displayed on the ship maneuvering support screen S (S2) can grasp the situation overlooking the front of the tugboat 3 in almost real time and go back and forth between the bridges.
  • the situation of the tugboat 3 can be estimated without any problem, and instructions can be given to the tugboat operator.
  • the information processing device 40 is installed on the ship 2 or on land, but the information processing device 40 is configured as a portable information terminal carried by a pilot or the captain of the ship like the information terminal 20. You may.

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Abstract

La présente invention concerne un système d'aide à la manœuvre de navire comprenant : un dispositif de stockage qui stocke une image de graphique nautique, un diagramme du navire hôte et un diagramme de remorqueur ; un dispositif de détection qui détecte la position et la direction du navire et un remorqueur ; au moins un dispositif d'affichage ; et un processeur qui amène l'affichage à afficher un écran d'aide à la manœuvre de navire. L'écran d'aide à la manœuvre de navire comprend : l'image de diagramme nautique qui comprend un quai ; le diagramme de navire étant disposé sur l'image de diagramme nautique sur la base de la position et de la direction du navire ; le diagramme de remorqueur étant disposé sur l'image de diagramme nautique sur la base de la position et de la direction du remorqueur ; et des informations d'hélice de remorqueur qui sont disposées sur le diagramme de remorqueur et qui représentent, pour chacune d'une pluralité d'hélices de remorqueur montées sur le remorqueur, la direction de la force de propulsion générée par chaque hélice de remorqueur.
PCT/JP2020/037895 2019-10-17 2020-10-06 Système d'aide à la manœuvre de navire et procédé WO2021075319A1 (fr)

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Cited By (5)

* Cited by examiner, † Cited by third party
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US20210295709A1 (en) * 2020-03-20 2021-09-23 Cashman Dredging And Marine Contracting, Co., Llc Lidar vessel-to-vessel docking system and method
CN113450597A (zh) * 2021-06-09 2021-09-28 浙江兆晟科技股份有限公司 基于深度学习的船舶辅助航行方法及系统
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CN113450597A (zh) * 2021-06-09 2021-09-28 浙江兆晟科技股份有限公司 基于深度学习的船舶辅助航行方法及系统
CN114908670A (zh) * 2022-04-12 2022-08-16 哈尔滨工程大学 一种基于视觉和运动参考单元融合的栈桥自动搭接控制方法和设备
DE102022206505A1 (de) 2022-06-28 2023-12-28 Zf Friedrichshafen Ag Verfahren und Steuereinrichtung zum Steuern eines Wasserfahrzeugs

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