WO2021075363A1 - Ship steering assistance system and method - Google Patents

Abstract

This ship steering assistance system, when a ship is assisted by at least one tugboat and leaves from or docks at a quay wall, includes: a voice recognition unit which acquires a voice signal and converts the voice signal to a text string; an acquisition unit which acquires the position and azimuth of the ship, and the position and azimuth of the tugboat; a storage unit which stores shape characteristics of the ship and shape characteristics of the tugboat; and a display output unit which displays and outputs a ship steering assistance screen. The ship steering assistance screen includes a ship diagram shown on a sea chart on the basis of the position, the azimuth and the shape characteristics of the ship, a tugboat diagram shown on the sea chart on the basis of the position, the azimuth and the shape characteristics of the tugboat, and the text string.

Description

Ship maneuvering support system and method

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.

Conventionally, when a large vessel (vessel) such as a cargo ship or a passenger ship berths / departs from a quay at a port, 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. In addition, 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.

In the above-mentioned tugboat-assisted berthing and berthing maneuvers, the parties involved in the berthing and berthing maneuvering are currently communicating via wireless transceivers based on each other's visual information. As a result, the parties involved in berthing and berthing may not be able to fully share the necessary information, and the communication details of both parties may not be accurately communicated (miscommunication), which enables efficient berthing and berthing. It is a challenge to do. Therefore, Patent Document 1 proposes a communication tool for solving such a problem in berthing and berthing maneuvering.

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 displays 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. In the corner of the big screen, the following instructions to the tugboat are displayed in text. Among the tugboats shown on the large screen, the tugboat in which the device is arranged is shown in a manner that can be identified from other tugboats. The magnitude of the thrust required for the tugboat is displayed in text, and the position of the ship to be pushed and the direction to be pulled are indicated by arrow figures.

Public Relations No. 61-105298

Patent Document 1 describes that the instruction from the ship is displayed in text on the device, but it is not clear how the instruction is input to the device from the ship. The communication from the tugboat to the ship is input by pressing a plurality of keys provided on the device.

In the conventional command communication during berthing and berthing, the commander (captain or pilot) issues a command to the microphone of the transceiver, and the tag operator listens to the voice emitted from the speaker of the transceiver and repeats the voice. It is done by doing. While such verbal command of maneuvering is familiar and easily accepted by the parties, miscommunication can occur as described above.

The present invention proposes a technique for preventing miscommunication while following the conventional method of oral ship maneuvering command as described above.

The ship maneuvering support system according to one aspect of the present invention is a ship maneuvering support system when the ship leaves or berths at the quay while being supported by at least one tugboat.
A voice recognition unit that acquires a voice signal and converts the voice signal into a character string,
An acquisition unit that acquires the position and direction of the ship and the position and direction of the tugboat.
A storage unit in which the shape characteristics of the ship and the shape characteristics of the tugboat are stored, and
It is equipped with a display output unit that displays and outputs the ship maneuvering support screen.
Then, the ship maneuvering support screen is based on the ship figure shown on the nautical chart based on the position and orientation of the ship and the shape characteristics of the ship, the position and orientation of the tugboat, and the shape characteristics of the tugboat. The tugboat figure shown on the nautical chart and the character string are included.

Further, the ship maneuvering support method according to one aspect of the present invention is a ship maneuvering support method when the ship leaves or berths at the quay while being supported by at least one tugboat.
Acquiring an audio signal and converting the audio signal into a character string,
Acquiring the position and direction of the ship and the position and direction of the tugboat, and
Includes displaying and outputting the ship maneuvering support screen.
Then, the ship maneuvering support screen includes the ship figure shown on the nautical chart based on the position and orientation of the ship, the tugboat figure shown on the nautical chart based on the position and orientation of the tugboat, and the character string. including.

According to the above-mentioned ship maneuvering support system and method, for example, the voice signal is the voice of the command issued by the commander (captain or pilot), and the display output unit is a party other than the commander (captain, pilot, tag). In a situation provided in a device operated by an operator (and at least one of the ground workers), the voice of the command issued by the conductor is transmitted to the parties as a text display. As a result, while following the conventional method of verbal command of maneuvering, the assistance of text display prevents the parties from overhearing or misunderstanding the command, and miscommunication between the parties (for example, between the captain and the tag operator). Can be avoided. By supporting communication between the parties in this way, smoother and more efficient berthing and berthing maneuvers become possible.

According to the present invention, it is possible to prevent miscommunication between the parties while following the conventional method of verbal command of maneuvering a ship. As a result, it is possible to support the parties involved in berthing and berthing maneuvers.

FIG. 1 is a diagram showing a schematic configuration of a ship maneuvering support system according to the first embodiment. FIG. 2 is a block diagram showing a configuration of an information terminal. 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 processing device. FIG. 5 is a block diagram showing a processing flow of the ship maneuvering support system according to the first embodiment. FIG. 6 is a block diagram showing a processing flow of the ship maneuvering support system according to the first embodiment. FIG. 7 is a diagram showing an example of a ship maneuvering support screen. FIG. 8 is a diagram showing an example of a ship maneuvering support screen. FIG. 9 is a diagram showing a text display unit on the ship maneuvering support screen. FIG. 10 is a diagram showing a text display unit on the ship maneuvering support screen. FIG. 11 is a block diagram showing the configuration of the ship maneuvering support system according to the first modification of the first embodiment. FIG. 12 is a block diagram showing a processing flow of the ship maneuvering support system according to the first modification of the first embodiment. FIG. 13 is a diagram showing a schematic configuration of a ship maneuvering support system according to the second embodiment. FIG. 14 is a block diagram showing a processing flow of the ship maneuvering support system according to the second embodiment. FIG. 15 is a block diagram showing a processing flow of the ship maneuvering support system according to the second embodiment. FIG. 16 is a diagram showing a schematic configuration of a ship maneuvering support system according to a third embodiment. FIG. 17 is a block diagram showing a processing flow of the ship maneuvering support system according to the third embodiment.

[First Embodiment]
Next, the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a ship maneuvering support system 1A according to the first embodiment. The ship maneuvering support system 1A 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. The ship maneuvering support system 1A according to the present embodiment connects a plurality of information terminals 20, a plurality of information collecting devices 30, an information processing device 40, and a wireless communication network 5 that connects these to each other so as to be able to transmit and receive information. Be prepared. 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.

As shown in FIG. 1, the information processing device 40 is installed on the ship 2. The information collecting device 30 is mounted on each ship. The information processing device 40 may be installed on either the tugboat 3 or the ground. The information terminal 20 is carried by the parties involved in the berthing and berthing maneuvering, including the pilot, the master of the ship, the crew of the ship, the tag operator, and the ground workers.

[Configuration of information terminal 20]
FIG. 2 is a block diagram showing the configuration of the information terminal 20. The information terminal 20 shown in FIG. 2 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 (corresponding to a “display output unit” in the claims) and a loudspeaker 242. The loudspeaker 242 may be at least one of various loudspeakers such as earphones, headphones, stereo speakers, and speakers with built-in screens of the display 241.

As the information terminal 20 having the above configuration, a device in which a display 241 and a loudspeaker 242 are integrated, such as a laptop computer, a tablet computer, and a smartphone, may be adopted as the information terminal 20 or a desktop computer. A device including an independent display 241 and a loudspeaker 242 may be adopted as the information terminal 20. A storage device 25 such as a hard disk or a storage medium is connected to the disk control unit 215. A wireless communication device 26 (corresponding to the "communication unit" in the claims) 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. A GPS positioning device 27 may be connected to the interface 217. The GPS positioning device 27 receives the time and position (latitude and longitude) and transmits this positioning information to the processor 211.

The processor 211 of the information terminal 20 executes a 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 stored in the memory 212 and the storage device 25 from the outside via the communication device 26. Arithmetic processing is performed using at least one of the acquired information and 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.

A voice transmission program, a character string display program, and a voice reproduction program are pre-installed in the information terminal 20. The information terminal 20 has functions as each functional unit of the voice transmission unit 61, the screen generation unit 62, and the voice reproduction unit 63 by the processor 211 executing these software programs.

[Configuration of information collecting device 30]
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 and various engine information detectors 33 are communicably connected to the computer 31. The computer 31 transmits the information and data acquired from the navigation instrument 32 and the engine information detector 33 together with the ship identification information to the information processing device 40 via the communication device 35 and the wireless communication network 5.

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 number of revolutions of the screw of the azimuth thruster, the screw axial direction, and the like.

The information collecting device 30 may use an AIS (Automatic Identification System) conventionally mounted on a ship. In this case, 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.

[Configuration of information processing device 40]
FIG. 4 is a block diagram showing the configuration of the information processing device 40. The information processing device 40 shown in FIG. 4 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 may be, for example, a keyboard, a touch panel, a pointing device, or the like. An output device 44 is connected to the output control unit 414. The output device 44 may be, for example, a display, a loudspeaker, or the like. A storage device 45 such as a hard disk or a storage medium is connected to the disk control unit 415. A wireless communication device 46 (corresponding to the "communication unit" in the claims) 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. A GPS positioning device 47 is connected to the interface 417. The GPS positioning device 47 receives the time and position (latitude and longitude) and transmits this positioning information to the processor 411. 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 of the information processing device 40.

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 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. In particular, 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 motion characteristics include the performance (type and rated output) of the mounted propulsion machine, the calculation model for obtaining the maneuvering state, and the like.

In the voyage information database, 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 information processing device 40 serves as each functional unit of the voice recognition unit 51, the display data generation unit 53, and the determination unit 54 by the processor 411 reading and executing the program stored in the memory 412 and the storage device 45. It has a function. The voice recognition unit 51 is further subdivided into functional units of the text conversion unit 51a and the extraction unit 51b. However, the function of the extraction unit 51b of the voice recognition unit 51 is not essential.

[Processing flow of ship maneuvering support system 1A]
Hereinafter, the flow of processing by the ship maneuvering support system 1A will be described with reference to a specific example. 5 and 6 are block diagrams showing a processing flow of the ship maneuvering support system 1A according to the first embodiment. In FIGS. 5 and 6, the flow of information is indicated by arrows. In the example described below, each of the commander (captain or pilot) and tag operator operates the information terminal 20, and the parties other than the commander (captain, pilot, seafarer, and ground worker) are Desirably, the information terminal 20 is carried.

As shown in FIG. 5, the conductor emits the voice of the conductor toward the microphone 232 of the information terminal 20 operated by the conductor. The command voice generally consists of information identifying the tugboat 3 to be commanded and the command text, such as "Tugboat A, starboard, tow in the right 120 ° direction." However, when there is only one tugboat 3, the information for identifying the tugboat 3 to be commanded may be omitted.

The information terminal 20 converts the command voice (analog signal) picked up by the microphone 232 into a command voice digital signal and acquires it. The voice transmission unit 61 of the information terminal 20 wirelessly transmits the command voice digital signal together with the identification information (hereinafter referred to as “conductor identification information”) of the information terminal 20 that has acquired the command voice and the command time when the command voice has been acquired. It is transmitted to the information processing device 40 via the communication network 5.

In the information processing device 40 that has received the command voice digital signal, first, the text conversion unit 51a converts the command voice digital signal into command text data. For example, the text conversion unit 51a converts the input voice into sound waves, acoustically analyzes the sound waves to identify phonemes, matches the sequence of phonemes with a pre-registered dictionary, converts them into words, and converts them. Output the text as text data. A voice recognition technique using machine learning is widely known, and the text conversion unit 51a is configured by using a known speech recognition technique. When the voice signal processed by the information processing device 40 is limited to that of a specific person (for example, a specific conductor or a specific tag operator), the text conversion unit 51a is provided with the voice characteristics of the specific person. May be trained to improve the voice recognition accuracy of the text conversion unit 51a.

The extraction unit 51b extracts a character string related to ship maneuvering command from the command text data. Traditional conducting terms are known, and a pre-registered dictionary of conducting terms is used to extract strings related to conducting. The extraction unit 51b matches the text data with the dictionary registered in advance, and extracts a character string related to the command from the text data. The entire text data may be extracted as the corresponding character string, or one or more parts of the text data may be extracted as the corresponding character string. The determination unit 54 stores a character string related to the extracted command (hereinafter, referred to as “extracted command character string”).

In the above, the character string related to the ship maneuvering command extracted by the extraction unit 51b is at least one of the command of the arrangement of the tugboat 3, the command of the preparation of the ship maneuvering support work and the start and end of the work, and the command of how to pull and push. It may be one. The command regarding the towing method and the pushing method may include information on the propulsive force and the propulsion direction of the tugboat 3 and information on the position where the tugboat 3 pushes the ship 2. However, the character string related to the ship maneuvering command extracted by the extraction unit 51b may be limited to the character string of the command related to the propulsion force and the propulsion direction. In such a case, the extraction unit 51b may extract a character string from the text data and then convert the extracted character string into specific numerical values of propulsion force and propulsion direction. The extracted command character string in this case is a character string consisting of or including a numerical value.

The ship maneuvering state calculation unit 55 obtains the maneuvering state of the ship 2 and the tugboat 3 by using the extracted command character string. The ship maneuvering state calculation unit 55 applies the information acquired from the information collecting device 30 and the extracted command character string to the calculation model for obtaining the ship maneuvering state, and applies the current maneuvering state of the ship 2 and the tugboat 3 and the extracted command character. Obtain the maneuvering status of the ship 2 and the tugboat 3 that reflect the command contents of the line. The maneuvering state includes the positions and directions of the ship 2 and the tugboat 3, the propulsive force acting on the ship 2 and the tugboat 3, the rotational moment, and the propulsion direction.

The display data generation unit 53 generates command display data including the extracted command character string, commander identification information, command time, and ship maneuvering status information. The maneuvering state information includes the maneuvering state of the ship 2 and the tugboat 3, the position information, the directional information, and the shape characteristics of the ship 2 and the tugboat 3, and the nautical chart information including the quay for berthing and berthing. The information processing device 40 transmits the command voice digital signal and the command display data to the information terminal 20 of the parties via the wireless communication network 5.

The voice reproduction unit 63 of the information terminal 20 of the parties converts the acquired command voice digital signal into sound (vibration), reproduces it, and outputs the voice from the loudspeaker 242. The parties can hear the command voice output from the loudspeaker 242 of the information terminal 20.

Further, the screen generation unit 62 of the information terminal 20 of the parties causes the display 241 to display and output the ship maneuvering support screen S1 that presents the information included in the acquired command display data. FIG. 7 shows an example of the ship maneuvering support screen S1 displayed on the display 241. As shown in FIG. 7, the ship maneuvering support screen S1 is provided with a text display unit 81 and a ship maneuvering status display unit 82.

On the text display unit 81 of the ship maneuvering support screen S1, the extracted command character string 93 is shown in text together with the commander information 91 and the command time 92. The conductor information 91 is the conductor identification information or the corresponding information. The command time 92 is the time when the command voice is acquired. The screen generation unit 62 may translate the extracted command character string 93 into an arbitrary language and display it in order to help the operator of the information terminal 20 understand it, or may display it in a plurality of different languages. The parties can see the information displayed on the display 241 of the information terminal 20.

The ship maneuvering state display unit 82 shows the current maneuvering state or the maneuvering state in which the command of the extracted command character string 93 is reflected. The nautical chart image 60 including the harbor is displayed on the nautical chart image 60 based on the nautical chart information. In addition to the quay 59, the nautical chart image 60 shows buoys, obstacles (all not shown), and the like. The nautical chart image 60 may show depths and isolines. On the ship maneuvering state display unit 82, a figure representing the ship 2 (hereinafter referred to as “ship figure 2s”) is displayed superimposed on the nautical chart image 60 based on the position information, the directional information, and the shape characteristics of the ship 2. To. The actual position and direction of the ship 2 correspond to the position and direction of the ship figure 2s on the nautical chart image of the ship maneuvering state display unit 82. On the boat maneuvering status display unit 82, a figure representing the tugboat 3 (hereinafter referred to as “tugboat figure 3s”) is displayed superimposed on the nautical chart image 60 based on the position information, the directional information, and the shape characteristics of the tugboat 3. To. 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 ship maneuvering state display unit 82 correspond to each other. The ship maneuvering status display unit 82 also displays the rudder figure 67 of the ship 2, the screw figure 68 of the tugboat 3, the ship thrust vector 65, the tugboat thrust vector 66, the speed vector 69 of the ship 2, and the like.

The party who saw the screen S1 can visually recognize the current ship maneuvering state or the ship maneuvering state in which the command of the extracted command character string 93 is reflected, in addition to the content of the command. Then, not only the command is uttered by voice, but also the content of the command is transmitted as a text display, so that it is possible to prevent the parties operating the information terminal 20 from misunderstanding or overhearing. Further, the command information can be shared not only by the tag operator of the tugboat 3 who received the command, but also by the parties involved in the takeoff and berthing maneuvering who recognized the output voice and the output display of the information terminal 20. As a result, the parties can infer the future behavior of the ship 2 from the movement of the tugboat 3 under the command.

Instead of the ship maneuvering support screen S1, a ship maneuvering support screen S3 that combines a text and a ship maneuvering state may be displayed on the display 241 as shown in FIG. On the screen S3, the ship maneuvering state is shown in the same manner as the above-mentioned ship maneuvering state display unit 82, and the identification information graphic 97 representing the identification information of the information terminal 20 is displayed at the position of the information terminal 20 on the nautical chart image 60. .. Then, the extracted command character string 93 is shown by a balloon from the conductor's identification information figure 97. On such a screen S3, it is possible to intuitively grasp the position of each information terminal 20 and which information terminal 20 the displayed extraction command character string 93 is output from.

As shown in FIG. 6, the tag operator of the tugboat 3 who received the command repeats the command. The tag operator's information terminal 20 converts the repetitive voice (analog signal) picked up by the microphone 232 into a repetitive voice digital signal and acquires it. The voice transmission unit 61 of the information terminal 20 transmits the repeat voice digital signal together with the identification information (hereinafter, referred to as “repeater identification information”) of the information terminal 20 obtained by acquiring the repeat voice with the microphone 232 and the repeat time. It is transmitted to the information processing apparatus 40 via 5.

In the information processing device 40 that has received the repeated voice digital signal, first, the text conversion unit 51a converts the repeated voice digital signal into the repeated text data. The extraction unit 51b extracts a character string related to the command from the repeat text data. Here, the method of extracting the character string is the same as the method of extracting the character string from the command text data.

The determination unit 54 acquires a character string related to the command extracted from the repeat text data (hereinafter referred to as “extracted repeat command character string”), and compares the stored extracted command character string with the extracted repeat command character string. And determine the match / mismatch.

The display data generation unit 53 generates repeat display data including the extracted repeat command character string, repeater identification information, repeat time, and match / mismatch determination information. The information processing device 40 transmits the repeat voice digital signal and the repeat display data to the information terminal 20 of the parties via the wireless communication network 5.

The voice reproduction unit 63 of the information terminal 20 of the party reproduces the acquired repeat voice digital signal and outputs it from the loudspeaker 242. The parties can hear the repeat voice output from the loudspeaker 242 of the information terminal 20.

The screen generation unit 62 of the information terminal 20 of the parties causes the display 241 to output the screen S1 in which the information included in the acquired repeat display data is displayed in text. As shown in FIG. 9, the text display unit 81 of the ship maneuvering support screen S1 displayed on the display 241 shows the extracted repeat command character string 96 together with the repeater information 94 and the repeat time 95. The repeater information 94 is the repeater identification information or the corresponding information. The repeat time 95 is the time when the repeat voice is acquired. The screen generation unit 62 may translate the extracted repeat command character string 96 into an arbitrary language and display it to the operator of the information terminal 20, or may display it in a plurality of different languages. On the screen S1, a character string set consisting of the extracted command character string 93 based on the command issued by the conductor is followed by a character string set consisting of the extracted repeat command character string 96 based on the repeat of the tag operator. , It is displayed in the so-called chat method.

Match / mismatch information is further displayed on the screen S1 on which the extracted repeat command character string 96 is displayed. In the case of a match, the match may be indicated by text display or other means, or no additional information may be indicated. On the other hand, in the case of a mismatch, as shown in FIG. 10, the mismatch is indicated by text display or other method, and a warning is issued. This allows the parties, including the conductor and the tag operator, to confirm whether the tag operator correctly recognizes the command. Then, when miscommunication occurs, it can be immediately recognized and corrected.

<Modification example>
A modified example of the ship maneuvering support system 1A according to the first embodiment of the present invention will be described. The ship maneuvering support system 1A'according to the first modification of the first embodiment includes a transceiver 70 which has been conventionally used as a voice transmission means for ship maneuvering, in addition to the configuration of the ship maneuvering support system 1A described above.

FIG. 11 is a block diagram showing the configuration of the ship maneuvering support system 1A'according to the first modification of the first embodiment. The ship maneuvering support system 1A'according to the first modification includes an information terminal 20 and a portable transceiver 70a operated by the conductor, an information processing device 40, and an information terminal 20 and a portable transceiver 70b operated by a party other than the conductor. To be equipped. The portable transceivers 70a and 70b may be fixed wireless transceivers installed on the ship 2 or the tugboat 3. The portable transceivers 70a and 70b function as an audio output unit of the ship maneuvering support system 1A'.

FIG. 12 is a block diagram showing a processing flow of the ship maneuvering support system 1A according to the first modification of the first embodiment. As shown in FIG. 12, the conductor emits a commanding voice toward the portable transceiver 70a operated by the conductor. This command voice is also picked up by the microphone 232 arranged in the vicinity of the portable transceiver 70a. The information terminal 20 converts the command voice (analog signal) picked up by the microphone 232 into a command voice digital signal and acquires it. The voice transmission unit 61 of the information terminal 20 transmits a command voice digital signal together with the conductor identification information and the command time to the information processing device 40 via the wireless communication network 5.

In the information processing device 40 that has received the command voice digital signal, first, the text conversion unit 51a of the voice recognition unit 51 converts the command voice digital signal into command text data. The extraction unit 51b extracts a character string related to the command from the command text data obtained by the text conversion unit 51a. The display data generation unit 53 generates command display data including the extracted command character string, the conductor identification information, and the command time. The information processing device 40 transmits the command display data to the information terminal 20 of the parties via the wireless communication network 5. Further, the information processing device 40 transmits the extracted command character string to the information terminal 20 of the parties via the wireless communication network 5.

The screen generation unit 62 of the information terminal 20 of the parties displays and outputs the screen S1 that presents the information included in the acquired command display data on the display 241. The screen S1 is substantially the same as that described in the first embodiment, and detailed description thereof will be omitted.

The command voice analog signal acquired by the conductor's portable transceiver 70a is converted into a digital signal (or remains as an analog signal) and transmitted as a command voice signal to the party's portable transceiver 70b via the wireless communication network 5. Will be done. In the portable transceiver 70b of the party who acquired the command voice signal, the acquired command voice signal is converted into sound (vibration) and output. The parties can hear the command voice output from the built-in speaker of the portable transceiver 70b.

In the processing of the repeat voice of the tag operator corresponding to the above command, the voice transmission is performed via the transceiver 70 as in the processing of the command voice. As shown in the first modification, since the voice transmission related to the command and the repeat is performed by the transceiver 70 as before, it is expected that the ship maneuvering support system 1A', which is a new system, can be introduced without any discomfort for the parties concerned.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. FIG. 13 is a diagram showing a schematic configuration of the ship maneuvering support system 1B according to the second embodiment. In the description of the present embodiment, the same members as those in the first embodiment described above are designated by the same reference numerals in the drawings, and the description thereof will be omitted.

In the ship maneuvering support system 1B shown in FIG. 13, an information processing device 40, at least one information terminal 20, a plurality of information collecting devices 30, and a wireless communication network 5 that connects these to each other so as to be able to transmit and receive information are connected. Be prepared. 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.

The ship maneuvering support system 1B according to the second embodiment is applied to a mode in which the ship 2 is automatically maneuvered by the automatic maneuvering device 6 and the tugboat 3 is maneuvered by the tug operator. Therefore, the ship maneuvering support system 1B according to the second embodiment is significantly different from the ship maneuvering support system 1A according to the first embodiment in that the command is not input by voice. The automatic ship maneuvering device 6 is known, and detailed description of the configuration of the automatic ship maneuvering device 6 will be omitted.

The information processing device 40 is mounted on the ship 2 or installed on the ground. The information collecting device 30 is mounted on each ship. The information terminal 20 is carried by the seafarers, pilots, tag operators, and the parties involved in berthing and berthing maneuvers, including ground workers. The configurations of the information terminal 20 and the information collecting device 30 are substantially the same as those described in the first embodiment, and detailed description of the configuration of the information terminal 20 will be omitted.

The information processing device 40 is connected to the automatic ship maneuvering device 6 via the interface 417, and information can be transmitted and received between the information processing device 40 and the automatic ship maneuvering device 6. The configuration of the information processing device 40 is substantially the same as that described in the first embodiment, and detailed description of the configuration of the information processing device 40 will be omitted.

[Processing flow of ship maneuvering support system 1B]
Hereinafter, the flow of processing by the ship maneuvering support system 1B will be described with reference to a specific example. 14 and 15 are block diagrams illustrating a processing flow of the ship maneuvering support system 1B. The arrows in FIGS. 14 and 15 indicate the flow of information. In the example described below, the tag operator operates the information terminal 20, and the pilot and the ground worker preferably carry the information terminal 20.

As shown in FIG. 14, the automatic ship maneuvering device 6 inputs command information to the information processing device 40. The command information includes a command character string and a corresponding command voice digital signal. The content of the command character string consists of information identifying the tugboat 3 and the command text. The command information may not include the command voice digital signal, and the information processing device 40 may generate a command voice digital signal from the command character string.

The determination unit 54 of the information processing device 40 that has received the command information stores the command character string. The ship maneuvering state calculation unit 55 obtains the maneuvering state of the ship 2 and the tugboat 3 by using the extracted command character string. Further, the display data generation unit 53 of the information processing apparatus 40 generates command display data including the extracted command character string, the commander identification information, the command time, and the ship maneuvering state information. Further, the information processing device 40 transmits the command voice digital signal and the command display data to the information terminal 20 of the parties via the wireless communication network 5.

The voice reproduction unit 63 of the information terminal 20 of the party reproduces the acquired command voice digital signal and outputs the voice from the loudspeaker 242. The parties can hear the command voice output from the loudspeaker 242 of the information terminal 20.

Further, the screen generation unit 62 of the information terminal 20 of the parties causes the display 241 to display and output the screen S1 that presents the information included in the acquired command display data. The screen S1 is substantially the same as that described in the first embodiment, and detailed description thereof will be omitted.

As shown in FIG. 15, the tag operator of the tugboat 3 who received the command repeats the command toward the microphone 232 of the information terminal 20 operated by himself / herself. The tag operator's information terminal 20 converts the repetitive voice (analog signal) picked up by the microphone 232 into a repetitive voice digital signal and acquires it. The voice transmission unit 61 of the information terminal 20 transmits the repeat voice digital signal together with the repeater identification information and the repeat time to the information processing device 40 via the wireless communication network 5.

In the information processing device 40 that has received the repeated voice digital signal, first, the text conversion unit 51a converts the repeated voice digital signal into the repeated text data. The extraction unit 51b extracts a character string related to the command from the repeat text data. The determination unit 54 acquires the extracted repeat command character string, compares the stored extracted command character string with the extracted repeat command character string, and determines a match / mismatch.

The display data generation unit 53 generates repeat display data including an extracted repeat command character string, repeater identification information, repeat information, and match / mismatch determination information. The information processing device 40 transmits the repeat voice digital signal and the repeat display data to the information terminal 20 of the parties via the wireless communication network 5. Further, the information processing device 40 outputs the match / mismatch determination information to the automatic ship maneuvering device 6.

The voice reproduction unit 63 of the information terminal 20 of the party reproduces the acquired repeat voice digital signal and outputs it from the loudspeaker 242. The parties can hear the repeat voice output from the loudspeaker 242 of the information terminal 20. Further, the screen generation unit 62 of the information terminal 20 of the parties displays and outputs the screen S1 for presenting the information included in the acquired repeat display data on the display 241. Such a screen S1 is substantially the same as that described in the first embodiment, and detailed description thereof will be omitted.

The automatic ship maneuvering device 6 that has acquired the match / mismatch determination information continues the scheduled takeoff and berthing maneuvering operation if there is a match. On the other hand, in the case of a mismatch, the automatic ship maneuvering device 6 temporarily suspends the scheduled takeoff and berthing maneuvering operation, and repeats the command until the matching information is obtained. In this way, miscommunication between the automatic ship maneuvering device 6 and the tag operator can be prevented.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. FIG. 16 is a diagram showing a schematic configuration of the ship maneuvering support system 1C according to the third embodiment. In the description of the present embodiment, the same members as those in the first embodiment described above are designated by the same reference numerals in the drawings, and the description thereof will be omitted.

In the ship maneuvering support system 1C shown in FIG. 16, an information processing device 40, at least one information terminal 20, a plurality of information collecting devices 30, and a wireless communication network 5 that connects these to each other so as to be able to transmit and receive information are connected. Be prepared. 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.

The ship maneuvering support system 1C according to the third embodiment is applied to a mode in which the ship 2 is maneuvered by the captain of the ship and the tugboat 3 is automatically maneuvered by the automatic ship maneuvering device 7. Therefore, the ship maneuvering support system 1C according to the third embodiment is significantly different from the ship maneuvering support system 1A according to the first embodiment in that the tugboat 3 is automatically maneuvered according to the command. The automatic ship maneuvering device 7 is known, and detailed description of the configuration of the automatic ship maneuvering device 7 will be omitted.

The information processing device 40 is mounted on the ship 2 or installed on the ground. The information collecting device 30 is mounted on each ship. The information terminal 20 is carried by the parties involved in the takeoff and berthing maneuvering, including the pilot, the master of the ship, the crew of the ship, and the ground workers. The configurations of the information terminal 20 and the information collecting device 30 are substantially the same as those described in the first embodiment, and detailed description of the configuration of the information terminal 20 will be omitted.

The information processing device 40 is connected to the automatic ship maneuvering device 7 via a wireless communication network 5 so as to be able to send and receive information. The configuration of the information processing device 40 is substantially the same as that described in the first embodiment, and detailed description of the configuration of the information processing device 40 will be omitted.

[Processing flow of ship maneuvering support system 1C]
Hereinafter, the flow of processing by the ship maneuvering support system 1C will be described with a specific example. FIG. 17 is a block diagram illustrating a processing flow of the ship maneuvering support system 1C. The arrows in FIG. 17 indicate the flow of information. In the example described below, the commander (captain or pilot) operates the information terminal 20, and the parties other than the commander (captain, pilot, seafarer, and ground worker) are preferably the information terminal 20. Carry.

As shown in FIG. 17, the conductor emits the voice of the conductor. The information terminal 20 converts the command voice (analog signal) picked up by the microphone 232 into a command voice digital signal and acquires it. The voice transmission unit 61 of the information terminal 20 transmits a command voice digital signal together with the conductor identification information and the command time to the information processing device 40 via the wireless communication network 5.

In the information processing device 40 that has received the command voice digital signal, first, the text conversion unit 51a converts the command voice digital signal into command text data. The extraction unit 51b extracts a character string related to the command from the command text data obtained by the text conversion unit 51a. The ship maneuvering state calculation unit 55 uses the extracted command character string (extracted command character string) to obtain the maneuvering state of the ship 2 and the tugboat 3. The display data generation unit 53 generates command display data including the extracted command character string, commander identification information, command time, and ship maneuvering status information. The information processing device 40 transmits a command voice digital signal and command display data to the information terminal 20 of the parties via the wireless communication network 5. Further, the information processing device 40 transmits the extracted command character string to the automatic ship maneuvering device 7 of the tugboat 3 commanded via the wireless communication network 5. The automatic ship maneuvering device 7 of the tugboat 3 that has acquired the extracted command character string operates the tugboat 3 according to the contents of the extracted command character string.

The voice reproduction unit 63 of the information terminal 20 of the party reproduces the acquired command voice digital signal and outputs the voice from the loudspeaker 242. The parties can hear the command voice output from the loudspeaker 242 of the information terminal 20. Further, the screen generation unit 62 of the information terminal 20 of the parties displays and outputs the screen S1 that presents the information included in the acquired command display data on the display 241. Such a screen S1 is substantially the same as that described in the first embodiment, and detailed description thereof will be omitted.

As described above, the ship maneuvering support systems 1A to 1C according to the first to third embodiments are the ship maneuvering support systems 1A to 1C when the ship 2 leaves or berths on the quay while being supported by at least one tugboat 3. The voice recognition unit 51 that acquires the voice signal and converts the voice signal into a character string, and the acquisition unit that acquires the position and orientation of the ship 2 and the position and orientation of the tugboat 3 (information collecting device 30, In particular, the navigation instrument 32), the storage unit (storage device 45) in which the shape characteristics of the ship 2 and the shape characteristics of the tugboat 3 are stored, and the display output unit (display 241) for displaying and outputting the ship maneuvering support screen. , Prepare. The ship maneuvering line-of-sight screen (screen S1) shows the ship figure 2s shown on the nautical chart based on the position and direction of the ship 2 and the shape characteristics of the ship 2, the position and direction of the tugboat 3, and the shape characteristics of the tugboat 3. Based on this, the tugboat figure 3s shown on the nautical chart and the character string are included.

Here, the voice recognition unit 51, the acquisition unit (nautical instrument 32), the storage unit (storage device 45), and the display output unit (display 241) may be configured as devices independent of each other, and a plurality of these may be configured. May be configured on one device. In the ship maneuvering support systems 1A to 1C according to the first to third embodiments, the voice recognition unit 51 and the storage unit (storage device 45) are provided in the information processing device 40, and the acquisition unit (nautical instrument 32) is an information collection device. The display output unit (display 241) is provided in the information processing device 40 and the information terminal 20 capable of transmitting and receiving information via the wireless communication network 5. The ship maneuvering support systems 1A to 1C are provided with communication devices 26 and 46 (communication units) for transmitting information including a character string between the information processing device 40 and the information terminal 20 using the wireless communication network 5. ..

Further, the ship maneuvering support method according to the first to third embodiments is a ship maneuvering support method when the ship 2 leaves or berths at the quay while being supported by at least one tugboat 3, and obtains an audio signal and corresponds to the ship maneuvering support method. It includes converting the audio signal into a character string, acquiring the position and direction of the ship 2 and the position and direction of the tugboat 3, and displaying and outputting the ship maneuvering support screen (screen S1). Then, the ship maneuvering support screen includes a ship figure 2s shown on the nautical chart based on the position and orientation of the ship 2, a tugboat figure 3s shown on the nautical chart based on the position and orientation of the tugboat 3, and a character string. including.

According to the above-mentioned ship maneuvering support systems 1A to 1C and the method, the voice signal is the voice of the command issued by the commander, and the output device 24 is a party other than the commander (captain of the ship, pilot, tag operator, and ground worker). In the situation provided in the device operated by (at least one of the conductors), the voice of the conductor uttered by the conductor is transmitted to the parties as a text display. As a result, while following the conventional method of verbal command of maneuvering a ship, the assistance of text display prevents missed or misunderstood by the parties and avoids miscommunication between the parties. Further, a person skilled in the art who visually recognizes the display 241 can recognize the maneuvering state shown as a picture and the character string shown as a text, and can receive command while grasping the maneuvering state of the ship 2.

Furthermore, by giving the above output device 24 to each party involved in ship maneuvering support, the command of the captain can be shared not only by the tag operator who receives the command but also by the parties. By supporting communication between the parties in this way, smoother and more efficient berthing and berthing maneuvers become possible.

Further, in the ship maneuvering support systems 1A to 1C according to the first to third embodiments, the character string for the first audio signal acquired at the first time and the second audio acquired at the second time after the first time. A determination unit 54 for comparing with a character string for a signal and determining these differences may be further provided. The above-mentioned difference determination result may be displayed on the display 241.

In such a configuration, the first audio signal is a command audio signal, the character string for the first audio signal is an extraction command character string, the second audio signal is a repeat audio signal, and the second audio signal. This is especially useful in situations where the string is an extracted repeat command string. Whether or not communication is established between the conductor who is the conductor and the tag operator who receives the command by determining the difference between the extracted command character string and the extracted repeat command character string in this way. Becomes clear.

Then, a person skilled in the art who visually recognized the display 241 that a miscommunication occurred between the speaker of the first voice signal and the speaker of the second voice signal by displaying the difference determination result on the display 241. Can be grasped immediately. Then, when miscommunication occurs, it can be corrected immediately.

Further, in the ship maneuvering support systems 1A to 1C, the voice recognition unit 51 includes a text conversion unit 51a that converts a voice signal into text data, and an extraction unit 51b that extracts a character string related to ship maneuvering from the text data. In this case, the character string extracted by the extraction unit 51b may be propulsion force command information including information on the propulsion force and the propulsion direction of the tugboat 3. Further, the extraction unit 51b may be configured to convert the propulsive force command information into a numerical value.

By extracting the information on the propulsion force and the propulsion direction of the tugboat 3 as the extraction command character string in this way, only the information necessary for the tugboat maneuvering support by the tugboat 3 is displayed on the output device 24. And, by showing the propulsive force and the propulsion direction numerically, ambiguity is removed from the command. Further, the information necessary for the automatic maneuvering of the tugboat 3 can be provided by the numerical values indicating the propulsive force and the propulsion direction.

Further, in the ship maneuvering support systems 1A to 1C according to the first to third embodiments, information on the position, direction and speed of the ship 2, information on the motion characteristics of the ship 2, information on the position, direction and speed of the tugboat 3, and propulsion. Based on the force command information, the ship maneuvering state calculation unit 55 for obtaining the position and direction of the ship 2 and the position and direction of the tugboat 3 reflecting the command included in the propulsion command information and the corresponding operation of the tugboat 3 is further provided. Then, the display 241 displays the ship's figure 2s and the tugboat figure 3s on which the command is reflected on the ship maneuvering support screen S1.

This makes it easier for the party who visually recognizes the display 241 to guess how the ship 2 will behave in the maneuvering state where the command is reflected.

Further, in the ship maneuvering support systems 1A to 1C according to the first to third embodiments, the ship maneuvering state calculation unit 55 has a propulsion force acting on the ship 2 reflecting the operation of the tugboat 3 based on the command included in the propulsion force command information. It is configured to ask for the direction of propulsion. Then, the display 241 displays the ship maneuvering support screen S1 on the ship maneuvering support screen S1 by superimposing the command on the ship figure 2s and the tugboat figure 3s and showing the propulsion force and the propulsion direction acting on the ship 2.

As a result, the party who visually recognizes the display 241 can easily guess what kind of thrust will be applied to the ship 2 in the maneuvering state where the command is reflected.

Further, in the ship maneuvering support systems 1A to 1C according to the first to third embodiments, the display 241 displays a plurality of character string sets as a character string set on the ship maneuvering support screen S1 in chronological order. It is configured to do.

In this way, by displaying the extracted character strings in a chat format, it is possible to easily understand the flow of ship maneuvering command by tracing the arranged character string sets. In addition, when the extracted character string of the conducting voice and the extracted character string of the repeating voice of the conducting are displayed in a chat format, it is possible to intuitively grasp whether or not the conducting is correctly transmitted.

Although the preferred embodiment of the present invention has been described above, the present invention may include modified details of the specific structure and / or function of the above embodiment without departing from the idea of the present invention. ..

For example, in each of the above embodiments, 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. It may have been done. Further, one computer having the functions of the information processing device 40 and the information terminal 20 may be operated by the pilot or the captain of the ship.

Further, for example, in each of the above embodiments, the information processing device 40 includes the determination unit 54, but the function of the determination unit 54 may be arbitrarily switched on and off. For example, the function of the determination unit 54 may be turned off when the conductor continuously emits voice or when a conversation other than conducting is performed.

1A to 1C: Ship maneuvering support system 2: Ship 2s: Ship figure 3: Tugboat 3s: Tugboat figure 5: Wireless communication network 24: Output devices 25, 35: Communication device (communication unit)
51: Voice recognition unit 52: Extraction unit 54: Judgment unit 55: Ship maneuvering state calculation unit 60: Quay 65: Ship thrust vector 241: Display (display output unit)
242: Loudspeaker

Claims (11)

1. It is a ship maneuvering support system when the ship leaves or berths on the quay while being supported by at least one tugboat.
   A voice recognition unit that acquires a voice signal and converts the voice signal into a character string,
   An acquisition unit that acquires the position and direction of the ship and the position and direction of the tugboat.
   A storage unit in which the shape characteristics of the ship and the shape characteristics of the tugboat are stored, and
   Equipped with a display output unit that displays and outputs the ship maneuvering support screen
   The ship maneuvering support screen is displayed on a nautical chart based on the ship's figure shown on the nautical chart based on the position and orientation of the ship and the shape characteristics of the ship, and the position and orientation of the tugboat and the shape characteristics of the tugboat. Including the tugboat figure shown in the above and the character string.
   Ship maneuvering support system.
2. The character string of the first audio signal acquired at the first time is compared with the character string of the second audio signal acquired at the second time after the first time, and these are compared. A determination unit for determining the difference between the two is further provided.
   The ship maneuvering support system according to claim 1.
3. The display output unit displays the determination result of the difference on the ship maneuvering support screen.
   The ship maneuvering support system according to claim 2.
4. The voice recognition unit includes a text conversion unit that converts the voice signal into text data, and an extraction unit that extracts the character string related to ship maneuvering from the text data.
   The ship maneuvering support system according to any one of claims 1 to 3.
5. The character string is propulsion command information including information on the propulsion force and propulsion direction of the tugboat.
   The ship maneuvering support system according to claim 4.
6. The extraction unit converts the propulsion command information into numerical values.
   The ship maneuvering support system according to claim 5.
7. Based on the information on the position, direction and speed of the ship, the motion characteristic information of the ship, the information on the position, direction and speed of the tugboat, and the propulsion command information, the command included in the propulsion command information Further, a ship maneuvering state calculation unit for obtaining the position and direction of the ship and the position and direction of the tugboat reflecting the corresponding operation of the tugboat is provided.
   The display output unit displays the ship figure and the tugboat figure reflecting the command on the ship maneuvering support screen.
   The ship maneuvering support system according to claim 5 or 6.
8. The ship maneuvering state calculation unit obtains the propulsive force, the moment, and the propulsion direction acting on the ship, which reflects the operation of the tugboat based on the command included in the propulsive force command information.
   The display output unit displays the propulsive force acting on the ship and the thrust vector of the ship indicating the propulsion direction superimposed on the ship figure and the tugboat figure reflecting the command on the ship maneuvering support screen.
   The ship maneuvering support system according to claim 7.
9. The display output unit sets the character string for each audio signal as a character string set, arranges a plurality of the character string sets in chronological order, and displays them on the ship maneuvering support screen.
   The ship maneuvering support system according to any one of claims 1 to 8.
10. A communication unit that transmits information including the character string to a device including the display output unit using a wireless communication network is further provided.
    The ship maneuvering support system according to any one of claims 1 to 9.
11. It is a method of supporting maneuvering when the ship leaves or berths on the quay while being supported by at least one tugboat.
    Acquiring an audio signal and converting the audio signal into a character string,
    Acquiring the position and direction of the ship and the position and direction of the tugboat, and
    Including displaying and outputting the ship maneuvering support screen
    The ship maneuvering support screen includes a ship figure shown on a nautical chart based on the position and orientation of the ship, a tugboat figure shown on a nautical chart based on the position and orientation of the tugboat, and the character string. ,
    Ship maneuvering support method.

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