JP2022012574A - Berthing route generation method - Google Patents

Abstract

To provide a method for generating a berthing route that enhances safety when a ship moves to a berthing target position.SOLUTION: A berthing route generation method comprises: acquiring a berthing start point a0 and a berthing target point b of a marine 10; calculating a first straight line L1 connecting the berthing start point a0 and the berthing target point b, and a second straight line L2 rotated at a predetermined offset angle θ1 with the berthing start point a0 as a fulcrum; and setting, within the second straight line L2, an intersection e with a boundary line d of a berthing target area including the berthing target point b as at least a part of the berthing route on which the marine 10 sails from the berthing start point a0 to the berthing target point b.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a method for generating a berthing route.

Conventionally, there is known a device that records a locus of a ship that has entered a port and has passed to a berthing target position as an ideal berthing locus, and instructs a ship operator to maneuver the vessel so that the vessel moves along the locus (for example,). See Patent Document 1 etc.).

Japanese Unexamined Patent Publication No. 2011-128943

The ideal berthing route varies depending on the environment such as wind, waves or tidal currents. In addition, the ideal berthing route will change depending on the conditions of the port. Even if a past track is used as a berthing route, there may be a risk of collision or grounding due to, for example, remodeling of a port.

The purpose of the present disclosure made in view of such circumstances is to enhance the safety when the ship moves to the berthing target position.

The method for generating a berthing route according to an embodiment of the present disclosure is to acquire a berthing start point and a berthing target point of a ship, and to berth the first straight line connecting the berthing start point and the berthing target point. The ship calculates a second straight line rotated at a predetermined offset angle with the ship maneuvering start point as a fulcrum, and the ship reaches the intersection of the second straight line with the boundary line of the berthing target area including the berthing target point. This includes setting as at least a part of a berthing route navigating from the berthing start point to the berthing target point.

According to the berthing route generation method according to the embodiment of the present disclosure, the safety when the ship moves to the berthing target position can be enhanced.

It is a figure which shows an example of the berthing route of a ship. It is a block diagram which shows the structural example of the berthing route generator and the ship which concerns on one Embodiment of this disclosure. It is a top view which shows the arrangement example of the propulsion device in a ship. It is a flowchart which shows the procedure example of the berthing route generation method. It is a figure which shows the relationship between the berthing route and the return route. It is a flowchart which shows the procedure example of the ship maneuvering control method.

As shown in FIG. 1, in order to berth at a berthing facility 80 including a quay or a pier, the ship 10 needs to move so as not to come into contact with structures, the seabed, or other ships in the port. .. Vessel 10 sails from the berthing start point indicated by a0 toward the berthing target point indicated by b and berths at the berthing target point. The ship 10 located at the berthing maneuvering start point (a0) is represented by a solid line as the ship 10a. The ship 10 berthed at the berthing target point (b) is represented by a virtual line of a two-dot chain line as the ship 10b.

Vessel 10 sails along a predetermined route from the berthing maneuvering start point (a0) to reach the berthing target point (b). The predetermined route that the ship 10 navigates until it berths at the berthing facility 80 is also referred to as a berthing route. If the ship 10 moves linearly from the berthing start point (a0) to the berthing target point (b), the ship 10 may come into contact with an obstacle such as a moored ship. It is required that the berthing route is set so that the vessel 10 can move to the berthing target point (b) without touching an obstacle. The berthing route is set as follows, for example.

In the example of FIG. 1, a first straight line connecting the berthing start point (a0) and the berthing target point (b) is assumed. The first straight line is represented by L1. Further, a second straight line inclined by a predetermined angle represented by θ1 with respect to the first straight line (L1) is assumed. The second straight line is represented by L2. Further, the boundary line of the berthing target area including the berthing target point (b) is assumed. The boundary line is represented by d. The intersection of the boundary line (d) and the second straight line (L2) is referred to as a tentative target point of the ship 10 and is represented by e. Further, a third straight line connecting the provisional target point (e) and the berthing target point (b) is assumed. The third straight line is represented by L3.

Vessel 10 sails from the berthing start point (a0) to the provisional target point (e) along the second straight line (L2). Vessel 10 sails from the temporary target point (e) to the berthing target point (b) along the third straight line (L3). That is, the berthing route sails from the berthing start point (a0) to the tentative target point (e) along the second straight line (L2), and berths from the tentative target point (e) along the third straight line (L3). It is set as a route to navigate to the target point (b).

The berthing route has a waypoint. It is assumed that the waypoints located on the second straight line (L2) include n points from e1 to en. It is assumed that the waypoints located on the third straight line (L3) include m points from b1 to bm. Here, n and m are natural numbers. n and m may have the same value or may have different values. Vessel 10 sails to the berthing target point (b) while passing through each waypoint.

The berthing route generation device 1 according to the embodiment of the present disclosure generates a berthing route as shown in FIG. 1, for example. Further, the berthing route generation device 1 may control the ship 10 so that the ship 10 navigates along the generated berthing route.

As shown in FIG. 2, the berthing route generation device 1 includes a control unit 2, a position information acquisition unit 3, a direction information acquisition unit 4, an operation unit 5, and a storage unit 6. The berthing route generator 1 may be communicably connected to the ship 10 by the control unit 2.

The position information acquisition unit 3 acquires position information that specifies the position of the ship 10. The position information acquisition unit 3 may include a position sensor that detects the position of the ship 10 and outputs it as position information. The position information acquisition unit 3 may acquire position information from the position sensor. The position sensor may include a receiver corresponding to the satellite positioning system. The receiver corresponding to the satellite positioning system may include, for example, a GPS (Global Positioning System) receiver, but is not limited to this, and may include various other receivers. The position of vessel 10 may be specified by latitude and longitude. The position of the vessel 10 may be specified as a relative position from a predetermined mark such as a buoy. The position of the vessel 10 is not limited to these examples, and may be specified in various forms.

The directional information acquisition unit 4 acquires directional information that specifies the directional of the ship 10. The directional information acquisition unit 4 may include a directional sensor that detects the directional of the ship 10 and outputs it as directional information. The directional information acquisition unit 4 may acquire directional information from the directional sensor. The azimuth sensor may be configured to include various sensors such as a geomagnetic sensor. The direction of the ship 10 means the direction in which the bow of the ship 10 faces. The orientation of the vessel 10 may be specified as an angle with respect to a predetermined direction. The predetermined direction may be, for example, any of the north, south, east, and west directions. The orientation of the ship 10 may be specified as 8 orientations or 16 orientations including north, south, east and west.

The control unit 2 acquires information from each component of the berthing route generation device 1 and outputs information for controlling each component. The control unit 2 acquires position information for specifying the current position of the ship 10 from the position information acquisition unit 3. The control unit 2 acquires information for specifying the berthing target point of the ship 10. The control unit 2 generates a berthing route based on the current position of the ship 10 and the berthing target point. The control unit 2 sets a waypoint on the berthing route. The control unit 2 controls the movement of the ship 10 so that the ship 10 approaches the berthing target point by targeting the waypoint. The control unit 2 generates information for controlling the ship 10 and outputs the information to the ship 10.

The control unit 2 may include one or more processors. In the present embodiment, the "processor" is a general-purpose processor, a dedicated processor specialized for a specific process, or the like, but is not limited thereto. The control unit 2 may include one or more dedicated circuits. The dedicated circuit may include, for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The control unit 2 may include a dedicated circuit instead of the processor, or may include a dedicated circuit together with the processor.

The storage unit 6 may be configured to include, for example, a semiconductor memory, a magnetic memory, an optical memory, or the like. The storage unit 6 may be configured to include an electromagnetic storage medium such as a magnetic disk. The storage unit 6 is not limited to these, and may be configured to include various other storage devices. The storage unit 6 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 6 may include a non-temporary computer-readable medium. The storage unit 6 stores arbitrary information used for the operation of each component of the berthing route generation device 1. For example, the storage unit 6 may store a system program, an application program, or the like. The storage unit 6 may be included in the control unit 2.

The operation unit 5 includes an input device that receives an operation input by the user of the berthing route generation device 1. The input device may include, for example, a keyboard or physical keys, or may include a pointing device such as a touch panel or touch sensor or a mouse. The input device may include, for example, a microphone or the like that accepts voice input. The input device is not limited to these examples, and may include various other devices.

The berthing route generator 1 may further include an output unit 7, although it is not essential. The berthing route generator 1 may be communicably connected to the ship 10 at the output unit 7. The control unit 2 may output the control information of the ship 10 to the ship 10 via the output unit 7.

The output unit 7 may be configured to include a display device. The control unit 2 may notify the operator of the ship 10 of the control information of the ship 10 by causing the output unit 7 to display the control information of the ship 10. The display device may include a light emitting device such as an LED (Light Emission Diode). The display device may be, for example, a liquid crystal display (LCD). The display device may be an organic EL (Electro-Luminescence) display or an inorganic EL display. The display device may be a plasma display (PDP: Plasma Display Panel). The display device is not limited to these displays, and may be various other types of displays. The display device may be integrally configured with the input device as a touch panel.

(Structure example of ship 10)
As shown in FIGS. 2 and 3, the ship 10 includes a first propulsion device 31, a second propulsion device 32, and a third propulsion device 33. The first propulsion device 31 and the second propulsion device 32 apply propulsive force in the forward direction or the backward direction to the ship 10. The third propulsion device 33 applies a propulsive force in the left-right direction to the ship 10. The first propulsion device 31, the second propulsion device 32, and the third propulsion device 33 are also collectively referred to as propulsion devices. The propulsion device may be configured to include, for example, a swivel propulsion device such as a propeller, or may be configured to include a water jet propulsion device. The propulsion device is not limited to these examples, and may be configured to include various devices such as a pod drive or an inboard / outboard unit.

The ship 10 further includes a first actuator 21, a second actuator 22, and a third actuator 23. The first actuator 21 controls the propulsive force output by the first propulsion device 31. The second actuator 22 controls the propulsive force output by the second propulsion device 32. The third actuator 23 controls the propulsive force output by the third propulsion device 33. The first actuator 21, the second actuator 22, and the third actuator 23 are also collectively referred to as actuators. The actuator may be configured to include, for example, a motor or engine that rotates the propeller. The actuator may be configured to include the pump itself that ejects water from the water jet propulsion device, or may include a device that controls the pump.

Vessel 10 can move forward and backward by the propulsive force of the first propulsion device 31 or the second propulsion device 32. The ship 10 can turn left and right by the propulsive force of the third propulsion device 33. Further, the ship 10 can turn left and right even if the propulsive force of the first propulsion device 31 and the propulsive force of the second propulsion device 32 are different. By controlling the propulsive force of each propulsion device, the control unit 2 can control the position and speed of the ship 10 and the direction, and can control the forward, backward, or turn of the ship 10.

In the examples of FIGS. 2 and 3, the ship 10 comprises three propulsion devices. Vessel 10 can change the position, speed, and direction of Vessel 10 by providing at least two independently controllable propulsion devices. That is, the control unit 2 can control the position and speed of the ship 10 and the direction, and control the forward, backward, or turn of the ship 10 by controlling the propulsive force of at least two propulsion devices.

The ship 10 may be controlled based on the control information output by the control unit 2 of the berthing route generation device 1. The control information output by the control unit 2 may include information for controlling each actuator. The berthing route generator 1 may or may not be mounted on the ship 10. When the berthing route generation device 1 is not mounted on the ship 10, control information may be transmitted to each actuator of the ship 10 by wirelessly communicating with the ship 10. The berthing route generator 1 may be configured to include a communication interface. The berthing route generator 1 may include a communication interface as an output unit 7. The configuration for generating the control information of the ship 10 may be provided separately from the berthing route generation device 1.

(Generation operation of berthing route)
The control unit 2 acquires the current position of the ship 10 from the position information acquisition unit 3. The current position of the vessel 10 is also referred to as the current vessel position. The control unit 2 stores the current ship position in the storage unit 6 as a berthing maneuvering start point (a0). The control unit 2 acquires the berthing target point (b). The information of the berthing target point (b) may be stored in the storage unit 6 in advance. The berthing target point (b) may be input by the user from the operation unit 5.

The control unit 2 calculates a first straight line (L1) connecting the berthing start point (a0) and the berthing target point (b). The control unit 2 calculates a second straight line (L2) obtained by rotating the first straight line (L1) by an angle represented by θ1 with the berthing start point (a0) as a fulcrum. The angle represented by θ1 is also referred to as an offset angle. When the ship 10 moves linearly from the berthing start point (a0) to the berthing target point (b), the ship 10 may come into contact with an obstacle such as a mooring ship. The control unit 2 generates a berthing route so that the ship 10 can move to the berthing target point (b) without touching an obstacle. The control unit 2 has an offset angle (θ1) so that a straight route of the ship 10 can be generated with sufficient margin from obstacles or the like even if it is affected by an error in the detection result of the wind, the tidal current, or the position or direction of the ship 10. ) Is set.

The control unit 2 sets a berthing target area including the berthing target point (b). Specifically, the control unit 2 sets the boundary line (d) of the berthing target area. The control unit 2 sets the berthing target area so that the ship 10 can move linearly toward the berthing target point (b) within the range of the berthing target area without touching an obstacle. The berthing target area may be set as a circular area centered on the berthing target point (b).

The control unit 2 calculates the intersection of the second straight line (L2) and the boundary line (d) as the provisional target point (e). That is, the second straight line (L2) connects the berthing start point (a0) and the provisional target point (e). The control unit 2 sets the second straight line (L2) up to the provisional target point (e) as at least a part of the berthing route.

The control unit 2 sets n waypoints (e1 to en) on the second straight line (L2) between the berthing start point (a0) and the provisional target point (e). Vessel 10 sails toward a waypoint (e1 to en). The control unit 2 may generate control information of the ship 10 and output it to the ship 10 so that the ship 10 navigates to the temporary target point (e) with the target of the waypoints (e1 to en).

The control unit 2 acquires the current ship position and determines whether the current ship position is within the berthing target area. That is, the control unit 2 determines whether the ship 10 has reached the boundary line (d). When the ship 10 reaches the boundary line (d), the control unit 2 calculates a third straight line (L3) connecting the current ship position and the berthing target point (b). The control unit 2 sets the third straight line (L3) as the berthing route. The control unit 2 sets m waypoints (b1 to bm) on the third straight line (L3). That is, the control unit 2 updates the waypoints for controlling the ship 10 from the waypoints (e1 to en) to the waypoints (b1 to bm). Vessel 10 sails at the transit point (b1 to bm) and berths at the berthing facility 80. The control unit 2 may generate control information of the ship 10 and output it to the ship 10 so that the ship 10 navigates to the berthing target point (b) with the transit point (b1 to bm) as the target.

The control unit 2 may set an arbitrary current ship position as the berthing maneuvering start point (a0) so that the ship 10 can generate a berthing route that does not come into contact with obstacles. The control unit 2 may guide the ship 10 to the berthing maneuvering start point (a0) where the ship 10 can generate a berthing route that does not come into contact with obstacles.

As described above, the control unit 2 can set an arbitrary current ship position as the berthing maneuvering start point (a0) and generate a berthing route. By doing so, the control unit 2 can determine the berthing and maneuvering start point (a0) according to the situation when the ship 10 is berthing and maneuvering. As a result, a berthing route from the berthing start point (a0) to the berthing target point (b) whose safety was confirmed immediately before is generated without relying on the fixed past ideal berthing trajectory.

<Example of flowchart of berthing route generation method>
The control unit 2 of the berthing route generation device 1 may execute the berthing route generation method including the procedure of the flowchart illustrated in FIG. The berthing route generation method may be realized as a berthing route generation program to be executed by the processor of the control unit 2. The berthing route generation program may be stored on a non-temporary computer-readable medium.

The control unit 2 acquires the current ship position from the position information acquisition unit 3 and acquires the current ship direction from the direction information acquisition unit 4 (step S1).

The control unit 2 calculates the second straight line (step S2). Specifically, the control unit 2 sets the current ship position at the berthing and maneuvering start point. The control unit 2 calculates a first straight line connecting the berthing start point and the preset berthing target point. The control unit 2 calculates the first straight line as the second straight line rotated at a predetermined offset angle with the berthing start point as a fulcrum.

The control unit 2 calculates the intersection of the second straight line and the boundary line of the berthing target area as a provisional target point (step S3).

The control unit 2 sets a line segment connecting the berthing maneuvering start point and the provisional target point in the berthing route (step S4).

The control unit 2 controls the maneuvering of the ship 10 so as to navigate to the temporary target point (step S5).

The control unit 2 determines whether the ship 10 has reached the provisional target point (step S6). When the ship 10 has not reached the provisional target point (step S6: NO), the control unit 2 returns to the procedure of step S5.

When the ship 10 reaches the temporary target point (step S6: YES), the control unit 2 forms a berthing route from the temporary target point to the berthing target point (step S7). Specifically, the control unit 2 calculates a line segment connecting the provisional target point and the berthing target point and sets the berthing route.

The control unit 2 controls the maneuvering of the ship 10 so as to navigate to the berthing target point (step S8). After executing the procedure in step S8, the control unit 2 ends the execution of the procedure shown in the flowchart of FIG.

By executing the berthing route generation method described above, a berthing route in which the ship 10 does not come into contact with an obstacle is generated.

<Summary>
As described above, the berthing route generation device 1 according to the embodiment can generate a berthing route from two points, the berthing target point (b) and the berthing maneuvering start point (a0) of the ship 10. Specifically, the control unit 2 of the berthing route generator 1 is the first that is inclined at a predetermined offset angle (c) with respect to the straight line connecting the berthing target point (b) and the berthing maneuvering start point (a0). Set a straight line. The control unit 2 sets the waypoints discretely on the first straight line after the offset. The control unit 2 moves the ship 10 toward a waypoint on the first straight line after offsetting. When the ship 10 enters the range of the berthing target area defined by the boundary line (d) including the berthing target point (b), the control unit 2 starts from the current ship position (a) to the berthing target point (b). On the second straight line connecting the above, the waypoints are set discretely and the waypoints are updated.

In other words, the berthing route generation device 1 is provided with a detection means for detecting the position information of the ship 10 and the direction of the ship, and generates a berthing route from two points, a preset berthing target point and a berthing maneuvering start point of the ship 10. Execute the berthing route generation method. The berthing route generation method includes the berthing route generation device 1 calculating a first straight line offset by a predetermined angle with respect to a line segment connecting the berthing maneuvering start point and the berthing target point with a straight line. The berthing route generation method includes that the berthing route generation device 1 forms a berthing route by a line segment connecting the intersection of the first straight line and the boundary line of the berthing target area including the berthing target point and the berthing maneuvering start point. ..

Further, in the berthing route generation method, at least one of the predetermined offset angle or the boundary line of the berthing target area including the berthing target position is variably set according to the distance between the berthing start point and the berthing operation start point. May be further included.

(Control of ship 10)
The berthing route generation device 1 may generate control information for controlling the navigation of the ship 10 based on the generated berthing route and output it to the ship 10. Hereinafter, the operation of controlling the navigation of the ship 10 will be described.

<Control of ship 10 toward the waypoint>
The berthing route generation device 1 can control the vessel 10 so that the vessel 10 navigates along the berthing route, for example, as follows.

The control unit 2 acquires the current ship position from the position information acquisition unit 3. The control unit 2 sets a waypoint near the current ship position as a target waypoint. The target waypoint is also called the target waypoint. The control unit 2 controls the propulsive force of the propulsion device of the ship 10 so that the current ship position approaches the target waypoint. When the current vessel position falls within a predetermined range including the target transit point, the control unit 2 sets the next transit point as a new target transit point. The control unit 2 repeats the control of the ship 10 until the ship 10 reaches the berthing target point.

The control unit 2 may calculate the ship speed vector based on the change in the current ship position and use it as the target ship speed vector. The control unit 2 may control the propulsive force of the propulsion device of the ship 10 so that the current ship speed vector matches the target ship speed vector.

<Control of vessel 10 deviating from the berthing route>
The berthing route generation device 1 can control the vessel 10 so as to return the vessel 10 to the berthing route when the vessel 10 deviates from the berthing route due to a disturbance, for example, as follows. As shown in FIG. 5, it is assumed that the berthing start point (a0) and the waypoints (e1 to en) of the ship 10 are set. The control unit 2 controls the ship 10 so that the ship 10 navigates toward the waypoints (e1 to en). The line segment connecting the berthing maneuvering start point (a0) and each waypoint (e1 to en) corresponds to the berthing route of the ship 10.

The control unit 2 acquires the current ship position from the position information acquisition unit 3. The current ship position is represented by a. The current ship position (a) moves with respect to the initial position (a0) because the ship 10 moves from the initial position (a0) due to disturbance such as wind or waves regardless of the control of the control unit 2. There is.

The control unit 2 acquires the current direction of the ship 10 from the direction information acquisition unit 4. The current azimuth of the ship 10 is also referred to as the current azimuth of the ship. The unit vector representing the current ship direction is also referred to as the current ship direction vector and is represented by p. The control unit 2 sets the current ship direction vector (p) as a unit vector representing the target ship direction. The unit vector representing the target ship direction is also referred to as the target ship direction vector. The target ship direction corresponds to a target for the control unit 2 to control the direction of the ship 10. The control unit 2 once sets the current ship directional vector as the target ship directional vector, but updates the target ship directional vector as described later.

The control unit 2 sets a return route for the vessel 10 deviating from the berthing route to return to the berthing route. The point where the vessel 10 returns to the berthing route is represented by e (x) and is also referred to as a return point. .. That is, the control unit 2 sets the line segment intersecting the berthing route at e (x) starting from the current ship position (a) as the return route. The control unit 2 sets the return route so that the length of the line segment connecting a and e (x) is a predetermined distance represented by s. By setting the return route in this way, the ship 10 can return to the berthing route by navigating for a predetermined distance (s) from the current ship position (a). It can be said that the control unit 2 sets e (x) at which e (x) −a = s holds as a return point.

The angle between the berthing route and the return route is represented by θ2. The control unit 2 updates the target vessel direction vector so that θ2 approaches 0 as soon as possible. Specifically, the control unit 2 calculates a vector obtained by rotating the current ship direction vector (p) at an angle θ3 larger than θ2 and sets it as a new target ship direction vector. The magnitude of θ3 is determined based on the magnitude of θ2. The vector obtained by rotating the current ship direction vector (p) by θ3 is represented by p1. That is, the target ship direction vector is updated to the vector represented by p1.

The control unit 2 is a propulsion output by each propulsion device of the ship 10 so that the current ship direction vector (p) approaches the target ship direction vector (p1) and the ship 10 approaches a point on the berthing route. Control the magnitude of the force. The control unit 2 acquires the current ship position and the current ship direction at a predetermined timing, and repeats the above-mentioned control. The predetermined timing may be set periodically or irregularly.

Further, even if the ship 10 exerts a straight propulsive force in the bow direction, it does not necessarily go straight in the bow direction. That is, the direction of the propulsive force vector of the ship 10 (corresponding to the direction of p1) and the velocity vector of the ship 10 do not match. This is because an external force due to wind, tidal current, or the like is applied to the ship 10. The ship 10 advances in the direction of the resultant force of the propulsive force and the external force of the ship 10 while being swept by an external force such as a wind or a tidal current. The direction of the velocity vector of the ship 10 coincides with the direction of the resultant force between the propulsive force and the external force of the ship 10. In FIG. 5, the velocity vector of the vessel 10 is represented by V. The vector of the external force acting on the ship 10 is represented by F. Assuming that the vector represented by p1 corresponds to the propulsion vector of the ship 10, the velocity vector (V) of the ship 10 is the propulsion vector (p1) of the ship 10 and the vector of the external force acting on the ship 10 ( It becomes the sum with F). When the external force changes in the opposite direction, the vector p1 starting from the point a determines the direction of the vector p starting from the point a and the points a and e (x) according to the state quantity of θ2. Θ3 is calculated so as to face between the broken line and the connecting line.

<Example of flowchart of ship maneuvering control method>
The control unit 2 of the berthing route generation device 1 may return the vessel 10 deviating from the berthing route to the berthing route by executing the ship maneuvering control method including the procedure of the flowchart illustrated in FIG. The ship maneuvering control method may be realized as a ship maneuvering control program to be executed by the processor of the control unit 2. The maneuvering control program may be stored on a non-temporary computer-readable medium.

The control unit 2 acquires information on the berthing route and waypoint of the ship 10 from the storage unit 6 (step S11).

The control unit 2 acquires the current ship position from the position information acquisition unit 3 and acquires the current ship direction from the direction information acquisition unit 4 (step S12).

The control unit 2 sets the target ship direction (step S13). Specifically, the control unit 2 sets the current ship direction vector as the target ship direction vector.

The control unit 2 calculates the return route (step S14). Specifically, the control unit 2 calculates the return route so that the vessel 10 can return to the berthing route at a point separated by a predetermined distance (s) from the current vessel position (a).

The control unit 2 updates the target ship direction (step S15). Specifically, the control unit 2 determines the angle (θ3) for rotating the target ship directional vector based on the angle (θ2) between the berthing route and the return route, and updates the target ship directional vector.

The control unit 2 controls the maneuvering of the ship 10 so as to return it to the berthing route (step S16).

The control unit 2 determines whether the ship 10 has returned to the berthing route (step S17). If the ship 10 has not returned to the berthing route (step S17: NO), the control unit 2 returns to the procedure of step S12.

When the ship 10 returns to the berthing route (step S17: YES), the control unit 2 ends the execution of the procedure shown in the flowchart of FIG.

<Summary>
The berthing route generation device 1 according to the embodiment may control the maneuvering of the ship 10. When the berthing route generation device 1 controls the maneuvering of the ship 10, the berthing route generation device 1 is also referred to as a ship maneuvering control device. The ship maneuvering control device controls the ship 10 so that the ship 10 navigates along the generated berthing route. Specifically, the ship maneuvering control device determines the optimum direction and the optimum speed vector of the ship 10 based on the wind direction, the wind speed, the tidal current, etc. so as to move the ship 10 along the waypoint of the generated berthing route. And calculate. The ship maneuvering control device controls the propulsion device by outputting control information to the actuator so that the direction of the ship 10 and the speed vector match the calculation result.

Further, the ship maneuvering control device sets the berthing target point and the transit point close to the current vessel position as the target transit point among the one or a plurality of transit points on the berthing route generated by the berthing channel generator 1. The ship maneuvering control device controls the ship 10 to move to the target waypoint. The ship maneuvering control device calculates the ship speed vector based on the change in the current ship position and uses it as the target ship speed vector, and acquires the current ship direction and sets it as the target ship direction. The ship maneuvering control device controls the propulsion force of the propulsion device of the ship 10 so that the current ship direction and the current ship speed vector match the target ship direction and the target ship speed.

(Other embodiments)
<Ship maneuvering display device>
Vessel 10 may be operated by an operator. The output unit 7 or the control unit 2 of the berthing route generation device 1 operates the ship maneuvering device of the ship 10 that the operator should input in order to bring the current ship direction and the current ship speed vector closer to the generated target ship direction and target ship speed. The amount may be displayed. In this case, the berthing route generation device 1 is also referred to as a ship maneuvering display device. The ship maneuvering device of the ship 10 includes a device in which the operator of the ship 10 operates each actuator. The maneuvering device of the ship 10 may include, for example, a lever for controlling the propulsive force of the propulsion device. The maneuvering device of the ship 10 may include a steering device for inputting a turning angle of the direction of the ship 10.

<Other aspects of berthing route generation>
The control unit 2 of the berthing route generation device 1 or the ship maneuvering control device sets a new target on the berthing route on the berthing route when the vessel 10 reaches within a predetermined range of the target transit point. It may be set as a waypoint.

When the vessel 10 enters the berthing target area including the berthing target point, the control unit 2 of the berthing route generator 1 sets a third straight line (L3) connecting the current vessel position to the berthing target point, and sets the berthing route. May be updated to the third straight line (L3).

The control unit 2 of the berthing route generation device 1 or the ship maneuvering control device sets the target ship orientation and the target ship speed vector, respectively, when the ship 10 reaches a predetermined range from the berthing target point or the target transit point. The control of the ship 10 may be continued by updating to the preset berthing direction and the ship speed vector.

The control unit 2 of the berthing route generation device 1 or the ship maneuvering control device may calculate the acceleration of the ship 10 when the ship 10 is controlled based on the current speed vector of the ship 10 and the target ship speed vector. The control unit 2 of the berthing route generation device 1 or the ship maneuvering control device may correct the target ship speed vector so that the acceleration of the ship 10 becomes equal to or less than a predetermined maximum acceleration.

The control unit 2 of the berthing route generation device 1 may predict the traveling speed and the traveling direction of the ship 10 based on the propulsive force of the propulsion device operated during the navigation of the ship 10. The control unit 2 may calculate the deviation of the current traveling speed and traveling direction of the ship 10 obtained from the directional information acquisition unit 4 and the position information acquisition unit 3 with respect to the predicted traveling speed and traveling direction. The control unit 2 may calculate the strength and direction of the disturbance applied to the ship 10 based on the calculated deviation, and correct the offset angle and the berthing target area based on the calculation result.

The control unit 2 of the berthing route generation device 1 may set an intermediate waypoint based on the calculation result of the strength and direction of the disturbance. The control unit 2 calculates a line segment connecting the berthing operation start point and the intermediate waypoint, and a straight line offset by a predetermined angle with respect to the line segment connecting the intermediate waypoint and the berthing target point with a straight line. A berthing route may be formed by an intersection of a straight line and a boundary line (d) of a berthing target area centered on the berthing target point and a line segment connecting the berthing maneuvering start point.

Further, the control unit 2 may calculate a line segment connecting the berthing operation start point and the intermediate waypoint, and set the calculated line segment in the berthing route. The control unit 2 calculates a straight line that rotates a straight line connecting the intermediate waypoint and the berthing target point by a predetermined angle with the intermediate waypoint as a fulcrum, and the calculated straight line is the boundary line of the berthing target area from the intermediate waypoint. The line segment connecting to the intersection may be set as the berthing route.

The control unit 2 of the berthing route generation device 1 or the ship maneuvering control device stops the ship 10 or holds the ship 10 at a fixed point when the ship 10 reaches a predetermined range from the berthing target point or the target transit point. May be controlled to.

Although the embodiments according to the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications and modifications based on the present disclosure. It should be noted, therefore, that these modifications and modifications are within the scope of this disclosure. For example, the functions included in each means or each step can be rearranged so as not to be logically inconsistent, and a plurality of means or steps can be combined or divided into one. ..

1 berthing route generator (2: control unit, 3: position information acquisition unit, 4: direction information acquisition unit, 5: operation unit, 6: storage unit, 7: output unit)
10 Ships (21-23: 1st to 3rd actuators, 31-33: 1st to 3rd propulsion devices)
80 berthing facility

Claims (1)

Acquiring the berthing start point and berthing target point of the ship,
The first straight line connecting the berthing start point and the berthing target point is calculated as the second straight line rotated by a predetermined offset angle with the berthing start point as a fulcrum.
Of the second straight line, the intersection with the boundary line of the berthing target area including the berthing target point is set as at least a part of the berthing route on which the vessel sails from the berthing maneuvering start point to the berthing target point. How to generate a berthing route, including that.

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