CN114466788B - Ship maneuvering support system - Google Patents
Ship maneuvering support system Download PDFInfo
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- CN114466788B CN114466788B CN202080069424.7A CN202080069424A CN114466788B CN 114466788 B CN114466788 B CN 114466788B CN 202080069424 A CN202080069424 A CN 202080069424A CN 114466788 B CN114466788 B CN 114466788B
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- 239000013598 vector Substances 0.000 claims abstract description 119
- 238000000034 method Methods 0.000 claims description 16
- 230000007613 environmental effect Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 description 26
- 230000008859 change Effects 0.000 description 10
- 238000011156 evaluation Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
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- 238000004364 calculation method Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
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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
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/66—Tugs
- B63B35/68—Tugs for towing
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/66—Tugs
- B63B35/70—Tugs for pushing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
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- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
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- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Audible And Visible Signals (AREA)
- User Interface Of Digital Computer (AREA)
- Selective Calling Equipment (AREA)
Abstract
The ship operation support system according to an embodiment of the present invention is used when a main ship is assisted by at least 1 tug, and includes a display device (32) and a control device (31). The control device (31) displays a main vessel contour line (10) representing the position and orientation of the main vessel, at least 1 tug contour line (20) representing the position and orientation of at least 1 tug, target propulsion vectors (71, 72 in the illustration) of at least 1 propeller of the main vessel, and target propulsion vectors (81-83 in the illustration) of at least 1 tug on a screen of the display device (32).
Description
Technical Field
The present invention relates to a vessel handling support system for use when a host vessel is assisted by at least 1 tug.
Background
For example in an estuary, the main vessel is mostly assisted by at least 1 tug. The main vessel is sometimes an autonomous drivable vessel comprising at least 1 propeller, and sometimes an autonomous drivable vessel not comprising a propeller or a failure of a propeller.
In general, in an estuary, a ship guide or a commander of the captain of the main ship or the like commands how the main ship and/or the tug should handle the ship. For example, as a method for assisting a tug, there are pushing, dragging, parallel, and the like, and a commander instructs a tug of a timely assisting method.
For example, patent document 1 discloses a portable tug indicating device having a screen. In this screen, a ship-shaped figure indicating the main ship and an arrow figure indicating the relative position and relative orientation of each of the plurality of tugs with respect to the main ship are displayed. Therefore, a person who views the screen can grasp which of the pushing and pulling of the main boat by the tug, and the position and direction thereof.
Prior art literature
Patent literature
Patent document 1: japanese laid-open patent publication No. 61-105298
Disclosure of Invention
Problems to be solved by the invention
However, as in the tug indicating device disclosed in patent document 1, if only the arrow graphic indicating the relative position and relative orientation of each tug with respect to the host ship is displayed on the screen, the person who views the screen cannot clearly grasp how the host ship operates.
Accordingly, an object of the present invention is to provide a ship operation support system that enables a person viewing a screen of a display device to clearly grasp the operation of a host ship.
Means for solving the problems
In order to solve the above-described problems, a ship operation support system according to an aspect of the present invention is a ship operation support system for use when a main ship including at least 1 propeller is assisted by at least 1 tug, comprising: at least 1 display device having a screen; and a control device that obtains master ship position and orientation information related to the position and orientation of the master ship and tug position and orientation information related to the position and orientation of the at least 1 tug, and displays a master ship outline representing the position and orientation of the master ship and at least 1 tug outline representing the position and orientation of the at least 1 tug on the screen, the control device calculating a target propulsion vector of at least 1 propeller of the master ship and a target propulsion vector of the at least 1 tug, and displaying a target propulsion vector of at least 1 propeller of the master ship and a target propulsion vector of the at least 1 tug on the screen.
According to the above configuration, not only the target propulsion vector of the tug but also the target propulsion vector of the propeller of the main vessel are displayed on the screen. Therefore, the person viewing the screen of the display device can clearly grasp the operation of the host ship by taking into consideration the thrust of the propeller provided in the host ship itself.
In addition, a ship manipulation support system according to another aspect of the present invention is a ship manipulation support system for use when a host ship is assisted by at least 1 tug, the ship manipulation support system comprising: at least 1 display device having a screen; and a control device that obtains master ship position/orientation information related to the position and orientation of the master ship and tug position/orientation information related to the position and orientation of the at least 1 tug, and displays a master ship outline representing the position and orientation of the master ship and at least 1 tug outline representing the position and orientation of the at least 1 tug on the screen, wherein the control device calculates an expected position and expected orientation of the master ship after a predetermined time, and displays a master ship expected outline representing the expected position and expected orientation on the screen.
According to the above configuration, a person viewing the screen of the display device can imagine a change in the position and orientation of the host ship after a predetermined time. Therefore, a person who views the screen of the display device can clearly grasp the operation of the host ship.
In addition, a ship operation support system according to still another aspect of the present invention is a ship operation support system for use when a main ship is assisted by a plurality of tugs, comprising: at least 1 display device having a screen; and a control device that obtains master ship position/orientation information related to the position and orientation of the master ship and tug position/orientation information related to the position and orientation of the plurality of tugs, and displays a master ship outline representing the position and orientation of the master ship and a plurality of tug outline representing the position and orientation of the plurality of tugs on the screen, wherein the control device calculates a planned propulsion vector of the master ship on a straight line passing through a turning center position of the master ship and a planned turning moment of the master ship around the turning center position, and displays the planned propulsion vector and the planned turning moment on the screen.
According to the above configuration, the movement based on the turning center position of the main vessel is visualized. Therefore, a person who views the screen of the display device can clearly grasp the operation of the host ship.
Effects of the invention
According to the present invention, a person who views a screen of the display device can clearly grasp the operation of the host ship.
Drawings
Fig. 1 is a schematic configuration diagram of a ship operation support system according to embodiment 1 of the present invention.
Fig. 2 is an example of a screen of a display device of the terminal device in the ship steering support system.
Fig. 3 is a schematic configuration diagram of the terminal device.
Fig. 4 is a view for explaining a certain ship steering mode.
Fig. 5 is a view for explaining another ship operation mode.
Fig. 6 is a view for explaining still another ship steering mode.
Fig. 7 is a diagram showing a modification of the screen of the display device.
Fig. 8 is a diagram showing another modification of the screen of the display device.
Fig. 9 is a schematic configuration diagram of a terminal device in the ship operation support system according to embodiment 2 of the present invention.
Fig. 10 is a plan view of the 2 nd input device.
Fig. 11 is an example of a screen of the display device in the case where the host ship does not include a propeller.
Fig. 12 is a diagram showing a modification of the screen of the display device.
Detailed Description
(Embodiment 1)
Fig. 1 shows a ship operation support system 4 according to embodiment 1 of the present invention. The vessel handling support system 4 is used when the main vessel 1 is assisted by at least 1 tug 2. In fig. 1, as an example, a case where there are two tugs 2 is depicted.
In the present embodiment, the support of the main vessel 1 by the tug 2 is performed in the estuary. The assistance of the tug 2 to the main vessel 1 may also be done in the ocean. In the present embodiment, the ship operation support system 4 includes a terminal device 3 that is carried by the ship guiding person or provided in the land facility and is independent of the host ship 1 and at least 1 tug 2. In the present embodiment, the main vessel 1 and at least 1 tug 2 are assumed to be a manned vessel.
A control device 11, a display device 12 (corresponding to the main ship display device of the present invention), and a communication device 13 are mounted on the main ship 1. Also, a control device 21, a display device 22 (corresponding to the tug display device of the present invention), and a communication device 23 are mounted on at least 1 tug 2. These devices together with the terminal device 3 constitute a vessel maneuvering support system 4. For example, the control device 11 and the display device 12 of the main vessel 1 are assembled into the bridge console of the main vessel 1, and the control device 21 and the display device 22 of the tug 2 are assembled into the bridge console of the tug 2.
As shown in fig. 1 and 3, the terminal device 3 includes an input device 35, a control device 31, a display device 32 (corresponding to the terminal display device of the present invention), and a communication device 33. For example, the terminal device 3 may be a portable tablet computer or a notebook computer.
The control device 31 includes, for example, a memory such as a ROM or a RAM, a memory such as an HDD, and a CPU, and executes a program stored in the ROM or the HDD by the CPU. The control device 11 mounted on the main vessel 1 and the control device 21 mounted on at least 1 tug 2 have the same configuration.
Although the details will be described later, in the present embodiment, the control device 31 of the terminal device 3 determines a ship steering mode or the like including an assist method of at least 1 tug 2. Thus, as shown in fig. 3, the control device 31 includes a database 34 storing various information.
However, the determination of the ship steering mode and the like may be performed by the control device 11 mounted on the main ship 1 or the control device 21 mounted on the 1 tug 2. In this case, the database 34 may also be included in the control device (11 or 21) that determines the ship's handling mode. Or even when the determination of the ship steering mode is performed by the control device 11 mounted on the host ship 1 or the control device 21 mounted on the 1 tug 2, the control device 31 of the terminal device 3 may include the database 34, and the information stored in the database 34 may be transmitted to the control device (11 or 21) for determining the ship steering mode by wireless communication described later.
The communication means 33 of the terminal device 3 are capable of wireless communication with the communication means 13 of the host vessel 1 and with the communication means 23 of at least 1 tug 2. The wireless communication may be communication via an AIS (Automatic Identification System: automatic ship identification device), direct communication between ships, or communication between ships and land via an above-ground base station.
The control device 11 of the host ship 1 stores the host ship position and orientation information related to the position and orientation of the host ship 1 in real time. The position of the host vessel 1 is determined by GNSS (Global Navigation Satation System: global navigation satellite System), and the azimuth of the host vessel 1 is determined by an azimuth meter provided on the host vessel 1. The master ship position and orientation information is transmitted from the communication device 13 of the master ship 1 to the communication device 33 of the terminal device 3.
The tug position and orientation information relating to the position and orientation of the tug 2 is stored in real time in the control means 21 of at least 1 tug 2. The position of the tug 2 is determined by GNSS, and the azimuth of the tug 2 is determined by an azimuth meter provided to the tug 2. At least 1 tug position and orientation information is transmitted from the communication means 23 of the tug 2 to the communication means 33 of the terminal means 3.
The control device 31 of the terminal device 3 acquires the main ship position and orientation information and the tug position and orientation information via the communication device 33.
The input means 35 is used for a user to input the main vessel transit point information including the departure point and the destination point of the main vessel 1. By this input, the control device 31 acquires the master ship transit point information. For example, the input device 35 may be a touch panel or a keyboard.
The host vessel via the point information contains not only the location of the departure point but also the position and speed of the host vessel 1 at the departure point. Likewise, the host vessel via the point information contains not only the location of the terminal point but also the azimuth and the speed of the host vessel 1 at the terminal point. The main vessel transit point information may also contain intermediate points (the position of the intermediate points and the azimuth and speed of the main vessel 1 at the intermediate points).
The control device 31 also acquires environmental information including weather information such as wind information in an estuary and/or sea state information such as wave information and tide information in an estuary. For example, the control device 31 obtains environmental information from an external facility such as a weather department, NOAA (National Oceanand Atmospheric Administory: national ocean and atmosphere administration) via the communication device 33 and the internet. Alternatively, the control device 31 may acquire wind information from the wind direction anemometer mounted on the host ship 1.
The database 34 stores main ship information related to the specifications of the main ship 1, combined information related to the number of tugs set in accordance with the main ship information, and tug information related to the specifications of at least 1 tug 2. The specifications of the main vessel 1 are, for example, the shape, weight and draft of the main vessel 1, the number, position and capacity of the propellers, the connectable position of the tug, etc.
The number of tugs 2 used in the assistance is predetermined according to the kind of the main vessel 1, the estuary regulations, sea conditions, etc. The combined information relates to the quantity. The specifications of the tug 2 are, for example, the shape of the tug 2, the number and capacity of the propellers, etc.
The information stored in the database 34 may be updated to information (main ship information, combined information, and tug information) related to the main ship 1 when the main ship 1 enters the estuary. Alternatively, information about all host ships 1 who have envisaged entry may be stored in advance in the database 34.
As shown in fig. 2, the control device 31 displays the main ship outline 10 indicating the position and orientation of the main ship 1 and at least 1 tug outline 20 indicating the position and orientation of at least 1 tug 2 on the screen of the display device 32 based on the acquired main ship position and orientation information and tug position and orientation information.
For example, the main ship profile 10 is a polygonal (pentagonal in fig. 2) profile approximating the shape of the main ship 1, and the tug profile 20 is a polygonal (triangular in fig. 2) profile approximating the shape of the tug 2.
In the present embodiment, the control device 31 determines the ship operation mode as described above. When the tug 2 is towing the host vessel 1, the control device 31 also displays a towing line 15 connecting the host vessel 1 and the tug 2 on the screen of the display device 32.
The database 34 may store land information including the shape of the bank wall 61. In this case, the control device 31 reads the land information from the database 34, and when the position of the host ship 1 is close to the bulkhead 61, the bulkhead 61 is also displayed on the screen of the display device 32.
In the present embodiment, the control device 31 calculates a planned propulsion vector 53 of the main vessel 1 on a straight line passing through the turning center position 51 of the main vessel 1 and a planned turning moment 54 of the main vessel 1 around the turning center position 51. Therefore, the control device 31 also displays the center of rotation position 51, and the calculated planned propulsion vector 53 and planned turning moment 54 on the screen of the display device 32.
In the example shown in fig. 2, the plan advancement vector 53 is indicated by a linear arrow starting from the rotational center position 51. The planned propulsion vector 53 may be represented by an arrow starting from a position distant from the main ship outline 10. Alternatively, the plan-pushing vector 53 may be represented by a triangle in a long form instead of the arrow, or by a plurality of triangles arranged in a straight line (in this case, the number of triangles indicates the size of the vector). The plan advance vector 53 may be expressed in terms of its direction and magnitude by letters and numerals. The same applies to the expression of the vector described later.
In the example shown in fig. 2, the planned turning moment 54 is indicated by an arc-shaped arrow centered on the turning center position 51 of the main vessel 1. The planned turning moment 54 need not necessarily be represented by an arrow, but may be represented by an alphanumeric character, for example, in direction and magnitude.
Furthermore, in the present embodiment, the host vessel 1 comprises at least 1 thruster, and the control device 31 calculates a target propulsion vector of at least 1 thruster of the host vessel 1 and a target propulsion vector of at least 1 tug 2. Thus, the control device 31 also displays the calculated target propulsion vectors of the at least 1 propulsion of the main vessel 1 and the target propulsion vectors of the at least 1 tug 2 on the screen of the display device 32.
The target propulsion vectors of at least 1 propeller of the main vessel 1 and the target propulsion vectors of at least 1 tug 2 are obtained by decomposing the planned propulsion vectors 53 and the planned turning moments 54 of the main vessel 1. In other words, the planned propulsion vectors 53 and the planned turning moments 54 of the main vessel 1 are obtained by combining the target propulsion vectors of at least 1 propeller of the main vessel 1 and the target propulsion vectors of at least 1 tug 2.
In addition, regarding the decomposition of the planned turning moment 54, the planned turning moment 54 is converted into a force on a straight line passing through the point of action (point to be pulled) of the tug 2 in the main vessel 1, which is tangent to a circle centered on the turning center position 51 of the main vessel 1, that is, a force on a straight line extending in the pushing direction or the pulling direction of the tug 2.
Fig. 2 is an example of a screen of the display device 32 in the case where the main ship 1 includes the main propeller 1a, the rudder 1b, and the side propeller 1c as shown in fig. 4 to 6. In the example shown in fig. 2, the main vessel 1 is assisted by 3 tugs 2.1 of the 3 tugs 2 pushes against the main vessel 1, the remaining two tugs the main vessel 1 via a tug line 15.
In the example shown in fig. 2, the target propulsion vector 71 of the main propulsion 1a of the main vessel 1 is represented by an arrow starting from the position of the main propulsion 1a in the main vessel contour 10, and the target propulsion vector 72 of the side propulsion 1c of the main vessel 1 is represented by an arrow starting from the position of the side propulsion 1c in the main vessel contour 10. In the example shown in fig. 2, the target propulsion vectors 81 to 83 of the 3 tugs 2 are indicated by arrows starting from the center in the tug profile line 20, respectively.
In the present embodiment, the control device 31 calculates the expected position and the expected azimuth of the host ship 1 after a predetermined time, and also displays the host ship expected shape line 55 indicating the calculated expected position and the calculated expected azimuth on the screen of the display device 32.
Next, a process performed by the control device 31 of the terminal device 3 will be described with reference to fig. 3. The following processes are sequentially performed in real time.
First, the control device 31 determines a ship steering mode including an assistance method of at least 1 tug 2 and an optimal route of the host ship 1 based on the acquired host ship transit point information and environment information and information stored in the database 34. In the present embodiment, as described above, the main vessel 1 includes at least 1 propeller. The ship steering mode thus comprises a method of use of at least 1 propeller of the main ship 1.
Fig. 4 to 6 show different 3 ship steering modes when the main ship 1 is on shore. Fig. 4 and 6 show an example of the case where the main vessel 1 is assisted by two tugs 2, and fig. 5 shows an example of the case where the main vessel 1 is assisted by 1 tug 2. In fig. 4 to 6, the vessels to be used among the propeller of the main vessel 1 and the tug 2 are shown by solid lines, and the vessels not to be used are shown by broken lines.
In the examples shown in fig. 4 to 6, the main vessel 1 includes a main propeller 1a and a side propeller 1c. In the examples shown in fig. 4 to 6, the main propulsion device 1a cannot change its axial direction, and the main ship 1 includes a rudder 1b. However, the main vessel 1 may include only the main propeller 1a without the side propeller 1c. In addition, the axial direction of the main propeller 1a may be changed without providing the rudder 1b.
The example shown in fig. 4 is an example in which the side propeller 1c is used when the speed of the main vessel 1 is sufficiently low. Specifically, in the example shown in fig. 4, the tug 2 is parallel to the main vessel 1 because appropriate sailing can be performed only by the main propulsion device 1a and the rudder 1b of the main vessel 1 at a position away from the quay wall 61. When the main vessel 1 approaches the quay wall 61, proper cornering performance and deceleration performance cannot be obtained only by the main propulsion 1a and rudder 1b of the main vessel 1, and thus the two tugs 2 push the main vessel 1 from both sides.
After that, the main propulsion 1a of the main vessel 1 is stopped, and the main vessel 1 is caused to float. If the speed of the main vessel 1 is sufficiently reduced, the side thruster 1c of the main vessel 1 is used while moving the two tugs 2 to press the main vessel 1 from one side toward the quay wall 61.
In the example shown in fig. 5, unlike the example shown in fig. 4, the rudder 1b of the main vessel 1 is not operated. In the example shown in fig. 5, 1 tug 2 pushes the main vessel 1 from a single side when the main vessel 1 approaches the quay wall 61. At this time, the tug boat 2 and the main boat 1 are connected by the towing line 15.
After that, the main propulsion 1a of the main vessel 1 is stopped, and the main vessel 1 is caused to float. At this time, the main vessel 1 is controlled to float and orient while the tug 2 is towing the main vessel 1 via the towing line 15.
In the example shown in fig. 6, from when the main vessel 1 approaches the shore wall 61, two tugs 2 draw the main vessel 1 from one side and land the main vessel 1.
Returning to fig. 3, the control device 31 first calculates external forces (external forces in the front-rear direction, external forces in the left-right direction, and external forces in the turning direction) acting on the host ship 1 based on the environmental information. Next, when such external force acts on the main vessel 1, the control device 31 determines the ship steering mode and the optimal course while determining which assistance method of the tug 2 is optimal and which method of using at least 1 propeller (e.g., the main propeller 31a and the side propeller 1 c) of the main vessel 1 is optimal.
For example, the control device 31 may consider the main vessel 1 and at least 1 tug 2 as 1 virtual hull, and determine the vessel maneuvering mode and the optimal course in such a manner that the required time is reduced as much as possible and the combustion consumption is suppressed as much as possible while avoiding the risk of the virtual hull coming into contact with the shore wall or other vessels. Specifically, the control device 31 uses an evaluation function including an evaluation value related to the consumed energy of the virtual hull and an evaluation value related to the safety of the virtual hull, and executes an optimal value search algorithm that minimizes the evaluation function to determine the ship steering mode and the optimal path. Thus, the ship steering mode and the optimal course can be determined in such a manner that the consumed energy of the virtual hull is suppressed and the safety is ensured.
For example, the control device 31 may determine the thrust required for the virtual hull in the plurality of ship maneuvering modes and the plurality of routes, and set the sum total value S (=v 1+V2+V3+V4) of the change rate square value V 1 of the thrust of the virtual hull, the square sum value V 2 of the thrust of the virtual hull, the 1 st risk evaluation value V 3 corresponding to the distance between the virtual hull and the obstacle such as the shore wall or the other ship, and the 2 nd risk evaluation value V 4 corresponding to the relative speed of the virtual hull to the obstacle as the evaluation function.
Next, the control device 31 calculates a planned propulsion vector 53 and a planned turning moment 54 of the host ship 1 when the host ship 1 is sailing along the optimal course, and displays the calculated planned propulsion vector 53 and planned turning moment 54 of the host ship 1 on the screen of the display device 32.
The control device 31 stores main vessel thrust planning information relating to the calculated planned propulsion vectors 53 and planned turning moments 54 of the main vessel 1. Then, the terminal apparatus 3 constructs a server client system as follows: the server client system takes the terminal device 3 as a server and the host vessel 1 and/or at least 1 tug 2 as clients.
That is, the control device 11 of the main vessel 1 can obtain main vessel thrust planning information from the terminal device 3. When the control device 11 acquires the main ship thrust planning information, the control device 31 of the terminal device 3 displays the planned thrust vector 53 and the planned turning moment 54 of the main ship 1 on the screen of the display device 12 via the control device 11 of the main ship 1.
Also, the control device 21 of at least 1 tug 2 is able to obtain main vessel thrust planning information from the terminal device 3. When the control device 21 acquires the main vessel thrust planning information, the control device 31 of the terminal device 3 displays the planned thrust vector 53 and the planned turning moment 54 of the main vessel 1 on the screen of the display device 22 via the control device 21 of the tug 2.
Next, after calculating the planned propulsion vector 53 and the planned turning moment 54 of the main vessel 1, the control device 31 calculates a target propulsion vector of at least 1 propulsion of the main vessel 1 and a target propulsion vector of at least 1 tug 2 based on the acquired environmental information, the main vessel position and orientation information, the tug position and orientation information, the vessel steering mode information related to the determined vessel steering mode, the main vessel thrust plan information, and the information stored in the database 34. Thereby, the planned propulsion vectors 53 and the planned turning moments 54 of the main vessel 1 can be distributed among at least 1 propeller and at least 1 tug 2 of the main vessel 1 (assuming 1 tug 2 as 1 propeller).
For example, the control device 31 calculates the target propulsion vectors of at least 1 propeller of the main vessel 1 and the target propulsion vectors of at least 1 tug 2 in such a way that the following evaluation function J is at a minimum.
[ 1]
R: aggregate thrust command (planned propulsion vector 53 and planned turning moment 54 of main vessel 1)
U: total thrust value of propeller and tug of main ship
V 0: predetermined thrust (forward and backward, left and right directions of hull) of propeller and tug of main boat and turning moment (number of elements is 3 times of number of thrust generation sources)
V: thrust (fore-and-aft, left-and-right direction of hull) to be generated by the propeller of the main vessel and the tug, and turning moment (same as above)
W 1、W2: weight matrix (3X 3)
W 3: weight matrix (square matrix, number of elements equal to 2 times of number of thrust generation sources)
T: evaluation period (several seconds to several hundred seconds)
The right item 1 of expression 1 is a term for reducing a difference between a total thrust command obtained by adding external force to the hull to the thrust required for the main boat steering and a value obtained by adding the distributed thrust. The right 2 nd term of expression 1 is a term obtained by taking a weighted square sum of the total values of the distributed thrust forces in a period from the calculation execution time (t=0) to the predetermined time T, and is a term for reducing the generated thrust force itself. The right 3 rd item of expression 1 is an item for reducing a difference between the thrust force of each pusher after being distributed and a predetermined value given in advance.
The control means 31 displays the calculated target propulsion vectors of the at least 1 propulsion of the main vessel 1 and the calculated target propulsion vectors of the at least 1 tug 2 on a screen of the display means 32.
Next, the control device 31 calculates the expected position and expected azimuth of the host ship 1 after a predetermined time, and displays the host ship expected shape line 55 on the screen of the display device 32. For example, the control device 31 calculates the expected position and the expected azimuth of the main vessel 1 after a predetermined time based on the hull model (including the displacement, the ship shape, and the like) of the main vessel 1, the main vessel thrust planning information, the environmental information, the subsurface topography, and the like.
The control device 31 may transmit not only the main vessel thrust planning information to the control device 11 of the main vessel 1 via the communication device 33 and the communication device 13 of the main vessel 1, but also main vessel generated thrust information related to the target thrust vector of at least 1 propeller of the main vessel 1, tug generated thrust information related to the target thrust vector of at least 1 tug 2, and the like to the control device 11 of the main vessel 1 via the communication device 33 and the communication device 13 of the main vessel 1. In this case, the screen of the display device 12 of the host ship 1 may be the same as that of fig. 2.
Similarly, the control device 31 may transmit not only the main ship thrust planning information to the control device 21 of the tug 2 via the communication device 33 and the communication device 23 of the tug 2, but also the main ship generated thrust information, the tug generated thrust information, and the like to the control device 21 of the tug 2 via the communication device 33 and the communication device 23 of the tug 2. In this case, the screen of the display device 22 mounted on at least 1 tug 2 may be the same as that of fig. 2.
As described above, in the ship operation support system 4 according to the present embodiment, not only the target propulsion vector of the tug 2 but also the target propulsion vector of the propeller of the main vessel 1 are displayed on the screen of the display device 32. Therefore, the person viewing the screen of the display device 32 can clearly grasp the operation of the host ship 1 by taking into consideration the thrust of the propeller provided in the host ship 1 itself.
In the present embodiment, the planned propulsion vector 53 and the planned turning moment 54 of the host vessel 1 are also displayed on the screen of the display device 32, and the operation based on the turning center position 51 of the host vessel 1 is visualized. Therefore, a person who views the screen of the display device 32 can grasp the operation of the host ship 1 more clearly.
In the present embodiment, the main ship expected outline 55 is also displayed on the screen of the display device 32. Therefore, a person viewing the screen of the display device 32 can imagine a change in the position and orientation of the host ship 1 after a prescribed time.
< Modification >
In the above embodiment, the control device 31 of the terminal device 3 displays not only the target propulsion vectors of at least 1 propeller of the host ship 1 and the target propulsion vectors of at least 1 tug 2, but also the planned propulsion vectors 53 and the planned turning moments 54 of the host ship 1 and the host ship predicted outline 55 on the screen of the display device 32. However, as shown in fig. 7, the planned propulsion vector 53 and the planned turning moment 54 of the host ship 1 and the display of the predicted outline 55 of the host ship may be omitted.
Alternatively, as shown in fig. 8, only the main ship predicted outline 55 may be displayed on the screen of the display device 32, and the display of the target propulsion vectors of at least 1 propeller of the main ship 1, the target propulsion vectors of at least 1 tug 2, the planned propulsion vectors 53 of the main ship 1, and the planned turning moment 54 may be omitted. Even in this case, a person viewing the screen of the display device 32 can imagine a change in the position and orientation of the host ship after a prescribed time. Therefore, a person who views the screen of the display device 32 can clearly grasp the operation of the host ship 1.
Further, these modifications can be applied to embodiment 2.
(Embodiment 2)
Next, a ship operation support system according to embodiment 2 of the present invention will be described with reference to fig. 9. In the present embodiment, the terminal apparatus 3 includes a control apparatus 31' shown in fig. 9. The terminal device 3 further includes: 1 st input means 36 for a user to input the ship operation mode information described in embodiment 1; and a2 nd input device 37 for a user to input the main vessel thrust planning information also described in embodiment 1.
For example, the 1 st input device 36 may be a touch panel or a keyboard. For example, as shown in fig. 10, the 2 nd input device 37 may include: a turn dial 37a for inputting the direction (left turn TL or right turn TR) and magnitude of the planned turning moment 54; and a joystick 37b for inputting the direction and magnitude of the planned propulsion vector 53. In addition, regarding the joystick 37b, one side and the other side of the direction in which the turn dial 37a and the joystick 37b are arranged are the port direction L and the starboard direction R of the main boat 1, respectively, and one side of the direction orthogonal thereto is the bow direction F of the main boat 1.
The control device 31' of the present embodiment is different from the control device 31 of embodiment 1 in that: the ship operation mode and the optimal route are not determined; the calculation of the planned propulsion vector 53 and the planned turning moment 54 of the host ship 1 is not performed.
Specifically, the control device 31' obtains the ship steering mode information by using the input of the 1 st input device 36, and obtains the main ship thrust planning information on the planned propulsion vector 53 and the planned turning moment 54 of the main ship 1 by using the input of the 2 nd input device 37. Then, as in embodiment 1, the control device 31' calculates a target propulsion vector of at least 1 propeller of the host vessel 1 and a target propulsion vector of at least 1 tug 2 based on the environmental information, the host vessel position and orientation information, the tug position and orientation information, the ship steering mode information, the host vessel thrust plan information, and the information stored in the database 34.
In the present embodiment, the screen of the display device 32 is also the same as that of fig. 2. That is, as in embodiment 1, the control device 31' displays the turning center position 51, the planned propulsion vector 53 of the host vessel 1, and the planned turning moment 54 on the screen of the display device 32. In addition, the control device 31' also displays the target propulsion vectors of at least 1 propulsion of the main vessel 1 and the target propulsion vectors of at least 1 tug 2 on the screen of the display device 32. The control device 31 'also displays the main ship's predicted outline 55 on the screen of the display device 32.
In this embodiment, the same effects as those of embodiment 1 can be obtained. In the present embodiment, since the 2 nd input device 37 is used, the user can change the main vessel thrust planning information to be input while checking the screen of the display device 32.
(Other embodiments)
The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.
For example, the main vessel 1 may not include a propeller. In this case, as shown in fig. 11, the control device (31 or 31') of the terminal device 3 can visualize the operation based on the turning center position 51 of the main boat 1 as long as at least the planned propulsion vector 53 and the planned turning moment 54 of the main boat 1 are displayed on the screen of the display device 32. Therefore, a person who views the screen of the display device 32 can clearly grasp the operation of the host ship 1.
In addition, in case the main vessel 1 does not contain a propeller, the main vessel 1 is assisted by a plurality of tugs 2. In this case, the ship handling mode includes an auxiliary method of a plurality of tugs 2. The control device (31 or 31') calculates a target propulsion vector for each of a plurality of tugs based on the environmental information, the master ship position/orientation information, the tug position/orientation information, the ship steering mode information, the master ship thrust plan information, and the information stored in the database 34.
In the above case, as shown in fig. 11, the control device (31 or 31') may display the target propulsion vectors of the plurality of tugs 2 on the screen of the display device 32 together with the planned propulsion vector 53 and the planned turning moment 54 of the host vessel 1. In the example shown in fig. 11, the target propulsion vectors 84 to 86 of the 3 tugs 2 are indicated by arrows starting from the center in the tug profile line 20, respectively. In the example shown in fig. 11, a main ship predicted outline 55 indicating the predicted position and the predicted azimuth of the main ship 1 after a predetermined time is also shown. As shown in fig. 12, the display of the target propulsion vectors of the plurality of tugs 2 and the main ship predicted outline 55 may be omitted, and only the planned propulsion vector 53 and the planned turning moment 54 of the main ship 1 may be displayed.
The target propulsion vectors of the plurality of tugs 2 are obtained by decomposing the planned propulsion vector 53 and the planned turning moment 54 of the main vessel 1. In other words, the planned propulsion vectors 53 and the planned turning moments 54 of the main vessel 1 are synthesized by combining the target propulsion vectors of the plurality of tugs 2.
As described in embodiment 1, when the control device 11 mounted on the host vessel 1 or the control device 21 mounted on the 1 tug 2 determines the ship operation mode or the like of the host vessel 1, the control device (11 or 21) is configured in the same manner as the control device 31 shown in fig. 3 or the control device 31' shown in fig. 9. In this case, the ship operation support system 4 may not include the terminal device 3. However, as in embodiment 1 or embodiment 2, if the ship operation support system 4 includes the terminal device 3, the commander can perform the ship operation command while viewing the screen of the display device 32 of the terminal device 3 without having to sit on the host ship 1 or the tug 2.
The host ship 1 may be an unmanned ship. In this case, the display device 12 mounted on the host ship 1 is not required. The tug boat 2 may be an unmanned boat. In this case, the display device 22 mounted on the tug 2 is not required.
(Summary)
A ship handling support system according to an aspect of the present invention is for use when a main ship including at least 1 propeller is assisted by at least 1 tug, characterized in that the ship handling support system has: at least 1 display device having a screen; and a control device that acquires master ship position/orientation information related to the position and orientation of the master ship and tug position/orientation information related to the position and orientation of the at least 1 tug, displays a master ship outline representing the position and orientation of the master ship and at least 1 tug outline representing the position and orientation of the at least 1 tug on the screen, calculates a target propulsion vector of at least 1 propeller of the master ship and a target propulsion vector of the at least 1 tug, and displays a target propulsion vector of at least 1 propeller of the master ship and a target propulsion vector of the at least 1 tug on the screen.
According to the above configuration, not only the target propulsion vector of the tug but also the target propulsion vector of the propeller of the main boat are displayed on the screen. Therefore, the person viewing the screen of the display device can clearly grasp the operation of the host ship by taking into consideration the thrust of the propeller provided in the host ship itself.
The control device may calculate a planned propulsion vector of the main vessel and a planned turning moment of the main vessel around the center of rotation position on a straight line passing through the center of rotation position of the main vessel, and display the planned propulsion vector and the planned turning moment on the screen, wherein the target propulsion vector of at least 1 propulsion device of the main vessel and the target propulsion vector of at least 1 tug are obtained by decomposing the planned propulsion vector and the planned turning moment. According to this structure, the movement based on the turning center position of the main vessel is visualized. Therefore, a person who views the screen of the display device can grasp the operation of the host ship more clearly.
The control device may calculate an expected position and an expected azimuth of the host ship after a predetermined time, and may display a host ship expected outline indicating the expected position and the expected azimuth on the screen. According to this configuration, a person viewing the screen of the display device can imagine a change in the position and orientation of the host ship after a predetermined time.
For example, the control device may include a database storing main ship information related to the specification of the main ship and tug information related to the specification of the at least 1 tug, and the control device may calculate the target propulsion vector of the at least 1 propeller of the main ship and the target propulsion vector of the at least 1 tug based on environmental information including weather information and/or sea state information, the main ship position and orientation information, the tug position and orientation information, main ship thrust planning information related to a planned turning moment of the main ship around the turning center position of the main ship, main ship steering mode information related to a ship steering mode including a method of using the at least 1 propeller of the main ship and an auxiliary method of the at least 1 tug, and information stored in the database.
Another aspect of the present invention is a ship operation support system for use when a main ship is assisted by at least 1 tug, comprising: at least 1 display device having a screen; and a control device that obtains master ship position/orientation information related to the position and orientation of the master ship and tug position/orientation information related to the position and orientation of the at least 1 tug, and displays a master ship outline representing the position and orientation of the master ship and at least 1 tug outline representing the position and orientation of the at least 1 tug on the screen, wherein the control device calculates an expected position and expected orientation of the master ship after a predetermined time, and displays a master ship expected outline representing the expected position and expected orientation on the screen.
According to the above configuration, a person viewing the screen can imagine a change in the position and orientation of the host ship after a predetermined time. Therefore, the person who views the screen can clearly grasp the operation of the host ship.
For example, the at least 1 display device may include a terminal display device included in a terminal device independent from the host ship and the at least 1 tug. In addition, the at least 1 display device may include: a main ship display device mounted on the main ship; and at least one of at least 1 tug display devices mounted on the at least 1 tug.
Another aspect of the present invention is a ship manipulation support system for use when a main ship is assisted by a plurality of tugs, wherein the ship manipulation support system has: at least 1 display device having a screen; and a control device that obtains master ship position/orientation information related to the position and orientation of the master ship and tug position/orientation information related to the position and orientation of the plurality of tugs, and displays a master ship outline representing the position and orientation of the master ship and a plurality of tug outline representing the position and orientation of the plurality of tugs on the screen, wherein the control device calculates a planned propulsion vector of the master ship on a straight line passing through a turning center position of the master ship and a planned turning moment of the master ship around the turning center position, and displays the planned propulsion vector and the planned turning moment on the screen.
According to the above configuration, the movement based on the turning center position of the main vessel is visualized. Therefore, a person who views the screen of the display device can clearly grasp the operation of the host ship.
For example, the control device may calculate the target propulsion vectors of the plurality of tugs for each tug, and display the target propulsion vectors on the screen, wherein the target propulsion vectors of the plurality of tugs are obtained by decomposing the planned propulsion vectors and the planned turning moments of the host vessel.
The control device may calculate an expected position and an expected azimuth of the host ship after a predetermined time, and may display a host ship expected outline indicating the expected position and the expected azimuth on the screen. According to this configuration, a person viewing the screen of the display device can imagine a change in the position and orientation of the host ship after a predetermined time.
For example, the control device may include a database storing main ship information related to the specifications of the main ship and tug information related to the specifications of the plurality of tugs, and the control device may calculate the target propulsion vector of the plurality of tugs based on environmental information including weather information and/or sea state information, the main ship position and orientation information, the tug position and orientation information, main ship thrust planning information related to a planned propulsion vector of the main ship on a straight line passing through a turning center position of the main ship and a planned turning moment of the main ship around the turning center position, vessel steering mode information related to a vessel steering mode including an assist method of the plurality of tugs, and information stored in the database.
For example, the at least 1 display device may include a terminal display device included in a terminal device independent of the host vessel and the plurality of tugs. The at least 1 display device may include a plurality of tug display devices mounted on the plurality of tugs.
The above-described ship operation support system may further have an input device for a user to input the main ship thrust planning information. According to this configuration, the user can change the main ship thrust planning information to be input while checking the screen of the display device.
Description of the reference numerals
1: A main vessel; 10: a main ship profile; 12: display device (main ship display device); 2: towing a boat; 20: a tug profile line; 22: display device (tug display device); 31: a control device; 32: display device (terminal display device); 34: a database; 4: a vessel steering support system; 51: a swivel position; 53: planning a propulsion vector; 54: planning a turning moment; 55: the main ship predicts an outline; 71. 72, 81 to 83: target propulsion vector.
Claims (14)
1. A vessel maneuvering support system for use when a main vessel containing at least 1 propeller is assisted by at least 1 tug, wherein,
The ship maneuvering support system includes:
at least 1 display device having a screen; and
A control device that acquires master ship position/orientation information related to the position and orientation of the master ship and tug position/orientation information related to the position and orientation of the at least 1 tug, and displays a master ship outline representing the position and orientation of the master ship and at least 1 tug outline representing the position and orientation of the at least 1 tug on the screen,
The control device calculates the target propulsion vector of at least 1 propeller of the main ship and the target propulsion vector of at least 1 tugboat, and displays the target propulsion vector of at least 1 propeller of the main ship and the target propulsion vector of at least 1 tugboat on the picture.
2. The ship manipulation support system according to claim 1, wherein,
The control means calculates a planned propulsion vector of the main vessel on a straight line passing through a turning center position of the main vessel and a planned turning moment of the main vessel around the turning center position, and displays the planned propulsion vector and the planned turning moment on the screen,
The target propulsion vectors of the at least 1 propulsion of the main vessel and the target propulsion vectors of the at least 1 tugboat are obtained by decomposing the planned propulsion vectors and the planned turning moments.
3. The ship manipulation support system according to claim 1 or 2, wherein,
The control device calculates an expected position and an expected azimuth of the main ship after a predetermined time, and displays a main ship expected outline indicating the expected position and the expected azimuth on the screen.
4. The ship manipulation support system according to claim 1 or 2, wherein,
The control device comprises a database storing main vessel information relating to the specifications of the main vessel and tug information relating to the specifications of the at least 1 tug vessel,
The control device calculates a target propulsion vector of at least 1 propulsion of the main vessel and a target propulsion vector of the at least 1 tug based on environmental information including weather information and/or sea state information, the main vessel position and orientation information, the tug position and orientation information, main vessel thrust planning information related to a planned propulsion vector of the main vessel on a straight line passing through a turning center position of the main vessel and a planned turning moment of the main vessel around the turning center position, vessel steering mode information related to a vessel steering mode including a method of using at least 1 propulsion of the main vessel and an auxiliary method of the at least 1 tug, and information stored in the database.
5. The ship manipulation support system according to claim 1 or 2, wherein,
The at least 1 display device comprises a terminal display device comprised by a terminal device independent of the host vessel and the at least 1 tug.
6. The ship manipulation support system according to claim 1 or 2, wherein,
The at least 1 display device includes:
a main ship display device mounted on the main ship; and
At least one of at least 1 tug display devices mounted on the at least 1 tug.
7. The ship manipulation support system according to claim 4, wherein,
The vessel maneuvering support system further has an input device for a user to input the main vessel thrust planning information.
8. A vessel maneuvering support system for use when a host vessel is assisted by a plurality of tugs, wherein,
The ship maneuvering support system includes:
at least 1 display device having a screen; and
A control device that obtains master ship position/orientation information related to the position and orientation of the master ship and tug position/orientation information related to the position and orientation of the plurality of tugs, and displays a master ship outline indicating the position and orientation of the master ship and a plurality of tug outline indicating the position and orientation of the plurality of tugs on the screen,
The control device calculates a planned propulsion vector of the main vessel on a straight line passing through a turning center position of the main vessel and a planned turning moment of the main vessel around the turning center position, and displays the planned propulsion vector and the planned turning moment on the screen.
9. The ship manipulation support system according to claim 8, wherein,
The control means calculates a target propulsion vector for each of the plurality of tugs and displays the target propulsion vector on the screen,
The target propulsion vectors of the plurality of tugs are obtained by decomposing the planned propulsion vector and the planned turning moment of the main vessel.
10. The ship manipulation support system according to claim 8 or 9, wherein,
The control device calculates an expected position and an expected azimuth of the main ship after a predetermined time, and displays a main ship expected outline indicating the expected position and the expected azimuth on the screen.
11. The ship manipulation support system according to claim 8 or 9, wherein,
The control device comprises a database storing main vessel information related to the specifications of the main vessel and tug information related to the specifications of the plurality of tugs,
The control device calculates a target propulsion vector of the plurality of tugs based on environmental information including weather information and/or sea state information, the master ship position and orientation information, the tug position and orientation information, master ship thrust planning information related to a planned propulsion vector of the master ship on a straight line passing through a turning point of the master ship and a planned turning moment of the master ship around the turning point, ship steering mode information related to a ship steering mode including an assist method of the plurality of tugs, and information stored in the database.
12. The ship manipulation support system according to claim 8 or 9, wherein,
The at least 1 display device includes a terminal display device included in a terminal device independent of the host vessel and the plurality of tugs.
13. The ship manipulation support system according to claim 8 or 9, wherein,
The at least 1 display device includes a plurality of tug display devices mounted on the plurality of tugs.
14. The ship manipulation support system of claim 11, wherein,
The vessel maneuvering support system further has an input device for a user to input the main vessel thrust planning information.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2019184623A JP7437129B2 (en) | 2019-10-07 | 2019-10-07 | Ship maneuvering support system |
| JP2019-184623 | 2019-10-07 | ||
| PCT/JP2020/037827 WO2021070802A1 (en) | 2019-10-07 | 2020-10-06 | Ship maneuvering assistance system |
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| CN114466788A CN114466788A (en) | 2022-05-10 |
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| JP (1) | JP7437129B2 (en) |
| KR (1) | KR20220062654A (en) |
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| JP2023177804A (en) * | 2022-06-03 | 2023-12-14 | 川崎重工業株式会社 | Berthing and vessel handling monitoring device and method, and vessel handling system and method |
| CN115258073B (en) * | 2022-08-09 | 2024-05-07 | 武汉理工大学 | Ship dragging system track tracking method under environment interference |
| CN116540730B (en) * | 2023-05-30 | 2024-04-19 | 武汉理工大学 | Multi-tug cooperation berthing intelligent auxiliary system and method |
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| Publication number | Publication date |
|---|---|
| JP7437129B2 (en) | 2024-02-22 |
| CN114466788A (en) | 2022-05-10 |
| KR20220062654A (en) | 2022-05-17 |
| WO2021070802A1 (en) | 2021-04-15 |
| JP2021059225A (en) | 2021-04-15 |
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