JP7294255B2 - Docking route generation method - Google Patents

Description

The present disclosure relates to a docking route generation method.

2. Description of the Related Art Conventionally, there is known a device that records the trajectory of a ship that has entered a port to a target docking position as an ideal docking trajectory, and instructs a ship operator to move the ship along the trajectory (for example, See Patent Document 1, etc.).

JP 2011-128943 A

The ideal docking route varies depending on the environment such as wind, waves or currents. Also, the ideal docking route varies depending on port conditions. Even if the past trajectory is used as the docking route, for example, there is a risk of collision or grounding due to port modification or the like.

An object of the present disclosure, which has been made in view of such circumstances, is to improve safety when a ship moves to a target docking position.

A docking route generation method according to an embodiment of the present disclosure acquires a docking maneuver start point and a target docking point of a ship, and generates a first straight line connecting the docking maneuver start point and the target docking point. calculating a second straight line rotated at a predetermined offset angle with the maneuvering starting point as a fulcrum; and setting it as at least a part of a docking route for navigating from the docking maneuver start point to the target docking point.

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

It is a figure which shows an example of the docking route of a ship. 1 is a block diagram showing a configuration example of a docking route generation device and a vessel according to an embodiment of the present disclosure; FIG. FIG. 2 is a plan view showing an example of arrangement of propulsion devices on a ship; 4 is a flow chart showing a procedure example of a docking route generating method; FIG. 4 is a diagram showing the relationship between a docking route and a return route; 4 is a flow chart showing an example of a procedure of a ship maneuvering control method;

As shown in FIG. 1, a vessel 10 needs to move to dock at a docking facility 80, such as a quay wall or jetty, without contacting structures in the harbor, the seabed, other vessels, or the like. . The vessel 10 sails from the docking maneuver start point indicated by a0 toward the target docking point indicated by b, and berths at the target docking point. The vessel 10 positioned at the docking vessel maneuvering start point (a0) is represented by a solid line as a vessel 10a. The ship 10 docked at the target docking point (b) is represented by a two-dot chain virtual line as a ship 10b.

The vessel 10 travels along a predetermined route from the docking start point (a0) and reaches the docking target point (b). The predetermined route that the ship 10 navigates until it berths at the docking facility 80 is also called a docking route. If the ship 10 moves linearly from the docking maneuver start point (a0) to the docking target point (b), the ship 10 may come into contact with an obstacle such as a moored ship. It is required that the docking route be set so that the ship 10 can move to the target docking point (b) without coming into contact with any obstacles. The docking route is set as follows, for example.

In the example of FIG. 1, a first straight line connecting the docking maneuver starting point (a0) and the target docking point (b) is assumed. The first straight line is denoted by L1. Also, a second straight line is assumed to be inclined by a predetermined angle represented by θ1 with respect to the first straight line (L1). A second straight line is denoted by L2. Also, the boundary line of the target docking area including the target docking point (b) is assumed. The boundary is denoted by d. The intersection of the boundary line (d) and the second straight line (L2) is called the temporary target point of the ship 10 and is denoted by e. A third straight line connecting the temporary target point (e) and the docking target point (b) is assumed. A third straight line is denoted by L3.

The ship 10 navigates from the docking start point (a0) to the temporary target point (e) along the second straight line (L2). The ship 10 navigates from the temporary target point (e) to the target docking point (b) along the third straight line (L3). In other words, the berthing route is to navigate along the second straight line (L2) from the berthing maneuver start point (a0) to the temporary target point (e), and along the third straight line (L3) from the temporary target point (e) to the berth. It is set as a route to navigate to the target point (b).

A docking 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. where n and m are natural numbers. n and m may be the same value or different values. The ship 10 navigates to the target docking point (b) while passing through each waypoint.

A docking route generation device 1 according to an embodiment of the present disclosure generates a docking route as shown in FIG. 1, for example. Furthermore, the docking route generation device 1 may control the vessel 10 so that the vessel 10 navigates along the generated docking route.

As shown in FIG. 2 , the docking 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 docking route generation device 1 may be communicably connected to the ship 10 by the control unit 2 .

The position information acquisition unit 3 acquires position information specifying the position of the vessel 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 a position sensor. The position sensor may include a receiver compatible with a satellite positioning system. The receiver compatible with the satellite positioning system may include, for example, a GPS (Global Positioning System) receiver, but is not limited to this and may include other various 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 landmark such as a buoy. The position of the ship 10 is not limited to these examples, and may be specified in various formats.

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

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

Control unit 2 may include one or more processors. In this embodiment, the "processor" is a general-purpose processor, a dedicated processor specializing in specific processing, or the like, but is not limited to these. 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 including, for example, a semiconductor memory, a magnetic memory, an optical memory, or the like. The storage unit 6 may be configured including an electromagnetic storage medium such as a magnetic disk. The storage unit 6 is not limited to these, and may be configured including other various storage devices. The storage unit 6 may function, for example, as a main storage device, an auxiliary storage device, or a cache memory. Storage unit 6 may include a non-transitory computer-readable medium. The storage unit 6 stores arbitrary information used for the operation of each component of the docking route generation device 1 . For example, the storage unit 6 may store system programs, application programs, or the like. Storage unit 6 may be included in control unit 2 .

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

The docking route generation device 1 may further include an output unit 7, although this is not essential. The docking route generation device 1 may be communicably connected to the vessel 10 at the output unit 7 . The control unit 2 may output control information of the ship 10 to the ship 10 via the output unit 7 .

The output unit 7 may be configured including a display device. The control section 2 may notify the operator of the vessel 10 of the control information of the vessel 10 by causing the output section 7 to display the control information of the vessel 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 displays of other various types. The display device may be configured integrally with the input device as a touch panel.

(Configuration example of ship 10)
As shown in FIGS. 2 and 3, the vessel 10 includes a first propulsion device 31, a second propulsion device 32, and a third propulsion device 33. As shown in FIGS. The first propulsion device 31 and the second propulsion device 32 apply propulsive force in the forward or backward direction to the ship 10 . The third propulsion device 33 applies a lateral thrust 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 include, for example, a turning type propulsion device such as a propeller, or may include a water jet propulsion device. The propulsion device is not limited to these examples, and may be configured including various devices such as a pod drive or an inboard/outboard motor.

Vessel 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 called actuators. The actuator may include, for example, a motor or an engine that rotates the propeller. The actuator may include a pump itself for ejecting water from the water jet propulsion device, or may include a device for controlling the pump.

The ship 10 can move forward or 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 . The ship 10 can also turn left and right due to the difference between the propulsion force of the first propulsion device 31 and the propulsion force of the second propulsion device 32 . By controlling the propulsion force of each propulsion device, the control unit 2 can control the position, speed, and bearing of the ship 10 , and can control forward movement, retreat, or turning of the ship 10 .

In the example of Figures 2 and 3, the vessel 10 comprises three propulsion devices. Vessel 10 may be provided with at least two independently controllable propulsion devices to change the position and speed and heading of vessel 10 . That is, the control unit 2 can control the position, speed, and heading of the ship 10 by controlling the propulsion forces of at least two propulsion devices, and can control the forward movement, retreat, or turning of the ship 10 .

The ship 10 may be controlled based on the control information output by the control section 2 of the docking route generation device 1 . The control information output by the controller 2 may include information for controlling each actuator. The docking route generation device 1 may or may not be mounted on the vessel 10 . If the docking route generation device 1 is not mounted on the vessel 10 , it may transmit control information to each actuator of the vessel 10 by wirelessly communicating with the vessel 10 . The docking route generation device 1 may be configured including a communication interface. The docking route generation device 1 may include a communication interface as the output unit 7 . The configuration for generating the control information for the vessel 10 may be provided separately from the docking route generation device 1 .

(Generation operation of docking 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 ship 10 is also referred to as the current ship position. The control unit 2 stores the current ship position in the storage unit 6 as a docking ship maneuver start point (a0). The control unit 2 acquires the target docking point (b). Information on the target docking point (b) may be stored in the storage unit 6 in advance. The target docking point (b) may be input by the user through the operation unit 5 .

The control unit 2 calculates a first straight line (L1) connecting the docking start point (a0) and the target docking point (b). The control unit 2 calculates a second straight line (L2) by rotating the first straight line (L1) by an angle represented by θ1 with the docking start point (a0) as a fulcrum. The angle represented by θ1 is also called an offset angle. The vessel 10 may come into contact with an obstacle such as a moored vessel when moving linearly from the docking maneuver start point (a0) to the docking target point (b). The control unit 2 generates a docking route so that the ship 10 can move to the target docking point (b) without coming into contact with obstacles. The control unit 2 adjusts the offset angle (θ1 ).

The control unit 2 sets a target docking area including the target docking point (b). Specifically, the control unit 2 sets the boundary line (d) of the target docking area. The control unit 2 sets the target docking area so that the vessel 10 can move linearly toward the target docking point (b) without coming into contact with obstacles within the range of the target docking area. The target docking area may be set as a circular area centered at the target docking point (b).

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

The control unit 2 sets n waypoints (e1 to en) on the second straight line (L2) between the docking start point (a0) and the temporary target point (e). The ship 10 navigates with waypoints (e1 to en) as targets. The control unit 2 may generate control information for the vessel 10 and output it to the vessel 10 so that the vessel 10 navigates to the provisional target point (e) with the waypoints (e1 to en) as targets.

The control unit 2 acquires the current ship position and determines whether the current ship position is within the target docking 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 target docking point (b). The control unit 2 sets the third straight line (L3) as the docking route. The control unit 2 sets m via points (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). The ship 10 navigates with the waypoints (b1 to bm) as targets, and berths at the docking facility 80 . The control unit 2 may generate control information for the vessel 10 and output it to the vessel 10 so that the vessel 10 navigates to the target docking point (b) with the waypoints (b1 to bm) as targets.

The control unit 2 may set any current vessel position as the docking vessel maneuver start point (a0) so that a docking route in which the vessel 10 does not come into contact with an obstacle can be generated. The control unit 2 may guide the vessel 10 to the docking vessel maneuver start point (a0) where a docking route can be generated in which the vessel 10 does not come into contact with an obstacle.

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

<An example of the flow chart of the docking route generation method>
The control unit 2 of the docking route generation device 1 may execute the docking route generation method including the procedure of the flowchart illustrated in FIG. The docking route generation method may be implemented as a docking route generation program that is executed by the processor of the control unit 2 . The docking route generation program may be stored in a non-transitory computer-readable medium.

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

The control unit 2 calculates a second straight line (step S2). Specifically, the control unit 2 sets the current ship position as the docking ship maneuver start point. The control unit 2 calculates a first straight line that connects the docking maneuver start point and a preset docking target point. The control unit 2 calculates a second straight line obtained by rotating the first straight line by a predetermined offset angle with the berthing ship maneuvering starting point as a fulcrum.

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

The control unit 2 sets a line segment connecting the docking ship maneuvering start point and the temporary target point as the docking route (step S4).

The control unit 2 controls the ship 10 to sail to the temporary target point (step S5).

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

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

The control unit 2 controls the ship 10 to navigate to the target docking point (step S8). After executing the procedure of step S8, the control unit 2 ends the execution of the procedure of the flowchart of FIG.

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

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

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

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

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

<Control of Vessel 10 Heading to Waypoint>
The docking route generation device 1 can control the ship 10 as follows, for example, so that the ship 10 navigates along the docking route.

The control unit 2 acquires the current ship position from the position information acquisition unit 3 . The control unit 2 sets a via point close to the current vessel position as a target via point. A target waypoint is also referred to as a target waypoint. The control unit 2 controls the propulsion force of the propulsion device of the ship 10 so that the current ship position approaches the target waypoint. When the current ship position is within a predetermined range including the target waypoint, the control unit 2 sets the next waypoint as a new target waypoint. The control unit 2 repeats the control of the ship 10 until the ship 10 reaches the target docking point.

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

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

The control unit 2 acquires the current ship position from the position information acquisition unit 3 . Assume that the current ship position is represented by a. When the vessel 10 moves from the initial position (a0) due to disturbances such as wind or waves regardless of the control of the control unit 2, the current vessel position (a) moves with respect to the initial position (a0). there is

The control unit 2 acquires the current bearing of the ship 10 from the bearing information acquisition unit 4 . The current ship 10 heading is also referred to as the current ship heading. The unit vector representing the current ship heading is also called the current ship heading vector and is denoted by p. The control unit 2 sets the current ship heading vector (p) to a unit vector representing the target ship heading. A unit vector representing a target ship heading is also referred to as a target ship heading vector. The target ship heading corresponds to a target for the control unit 2 to control the heading of the ship 10 . The control unit 2 temporarily sets the current ship bearing vector as the target ship bearing vector, but updates the target ship bearing vector as described later.

The control unit 2 sets a return route for the vessel 10 that has deviated from the docking route to return to the docking route. The point at which the vessel 10 returns to the docking route is denoted by e(x) and is also referred to as the return point. . That is, the control unit 2 sets a line segment that starts from the current ship position (a) and intersects the docking route at e(x) 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 manner, the ship 10 can return to the docking route by sailing 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 the return point.

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

The control unit 2 controls the propulsion output from each propulsion device of the vessel 10 so that the current vessel azimuth vector (p) approaches the target vessel azimuth vector (p1) and the vessel 10 approaches a point on the docking route. Control the magnitude of the force. The control unit 2 acquires the current ship position and the current ship heading at a predetermined timing, and repeats the above-described control. The predetermined timing may be determined periodically or may be determined irregularly.

In addition, the ship 10 does not necessarily move straight in the bow direction even if a straight propulsive force is applied in the bow direction. That is, the direction of the propulsive force vector of the ship 10 (matching the direction of p1) and the velocity vector of the ship 10 do not match. This is because an external force is applied to the ship 10 by wind, tidal currents, or the like. The ship 10 advances in the direction of the resultant force of the propulsive force of the ship 10 and the external force while being swept by an external force such as wind or tidal current. The direction of the velocity vector of the ship 10 matches the direction of the resultant force of the propulsive force of the ship 10 and the external force. In FIG. 5, the velocity vector of the ship 10 is represented by V. As shown in FIG. A vector of external forces acting on the vessel 10 is represented by F. Assuming that the vector represented by p1 corresponds to the propulsive force vector of the ship 10, the velocity vector (V) of the ship 10 is the propulsive force vector (p1) of the ship 10 and the vector of the external force acting on the ship 10 ( F). Also, when the external force changes in the opposite direction, the vector p1 starting at the point a changes the direction of the vector p starting at the point a and the point a and the point e(x) according to the state quantity θ2. θ3 is calculated so as to point between the connecting dashed lines.

<Example of flow chart of ship maneuvering control method>
The control unit 2 of the docking route generation device 1 may return the ship 10 that has deviated from the docking route to the docking route by executing the ship maneuvering control method including the procedures of the flowchart illustrated in FIG. The marine vessel maneuvering control method may be implemented as a marine vessel maneuvering control program that is executed by the processor of the control unit 2 . The ship maneuvering control program may be stored in a non-transitory computer-readable medium.

The control unit 2 acquires information on the docking route and waypoints 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 bearing from the direction information acquisition unit 4 (step S12).

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

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

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

The control unit 2 controls the ship 10 to return to the docking route (step S16).

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

When the vessel 10 has returned to the docking route (step S17: YES), the control unit 2 ends the execution of the procedure of the flowchart of FIG.

<Summary>
The docking route generation device 1 according to one embodiment may control the maneuvering of the vessel 10 . When the docking route generation device 1 controls the maneuvering of the ship 10, the docking route generation device 1 is also called a ship maneuvering control device. The ship maneuvering control device controls the ship 10 so that the ship 10 navigates along the generated docking route. Specifically, the ship maneuvering control device determines the optimum azimuth and the optimum speed vector of the ship 10 based on the wind direction, wind speed, tidal current, or the like so as to move the ship 10 along the generated waypoint of the docking route. and The marine vessel maneuvering control device outputs control information to the actuators to control the propulsion device so that the azimuth and velocity vector of the marine vessel 10 match the calculated results.

Further, the ship maneuvering control device sets the target docking point and the waypoint closest to the current ship position to the target waypoint among the one or more waypoints on the docking route generated by the docking route generation device 1 . The ship maneuvering control device controls the ship 10 to move to the target waypoint. The ship maneuvering control device calculates a ship speed vector based on a change in the current ship position and sets it as a target ship speed vector, and acquires the current ship heading to set it as a target ship heading. The ship maneuvering control device controls the propulsive force of the propulsion device of the ship 10 so that the current ship heading and current ship speed vector match the target ship heading and 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 docking route generating device 1 provides the operation of the ship 10 to be input by the operator in order to bring the current ship heading and current ship speed vector close to the generated target ship heading and target ship speed. quantity may be displayed. In this case, the docking route generation device 1 is also called a ship maneuvering display device. The marine vessel 10 maneuvering device includes a device that allows an operator of the marine vessel 10 to operate each actuator. The marine vessel 10 maneuvering device may include, for example, a lever or the like for controlling the propulsive force of the propulsion device. The steering device of the marine vessel 10 may include a steering device for inputting a turning angle of the azimuth of the marine vessel 10 .

<Other aspects of docking route generation>
The control unit 2 of the docking route generating device 1 or the ship maneuvering control device sets the nearest waypoint in the docking direction as a new target on the docking route when the ship 10 reaches within a predetermined range of the target waypoint. You can set it as a waypoint.

When the ship 10 enters the target docking area including the target docking point, the control unit 2 of the docking route generation device 1 sets a third straight line (L3) connecting the current ship position to the target docking point, and may be updated to the third straight line (L3).

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

The control unit 2 of the docking 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 docking 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 is equal to or less than a predetermined maximum acceleration.

The controller 2 of the docking route generation device 1 may predict the traveling speed and traveling direction of the vessel 10 based on the propulsion force of the propulsion device operated while the vessel 10 is sailing. The control unit 2 may calculate the deviation of the current traveling speed and traveling direction of the ship 10 obtained from the azimuth information acquiring unit 4 and the position information acquiring unit 3 from 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 target docking area based on the calculation results.

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

Further, the control unit 2 may calculate a line segment connecting the start point of the docking operation and the intermediate point, and set the calculated line segment as the docking route. The control unit 2 calculates a straight line obtained by rotating a straight line connecting a midway point and a target docking point by a predetermined angle with the midway waypoint as a fulcrum, and determines the calculated straight line from the midway waypoint as the boundary line of the target docking area. A line segment connecting up to the point of intersection may be set as the docking route.

The control unit 2 of the docking 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 within a predetermined range from the target docking point or the target waypoint. can be controlled to

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

1 Docking Route Generation Device (2: Control Unit, 3: Position Information Acquisition Unit, 4: Direction Information Acquisition Unit, 5: Operation Unit, 6: Storage Unit, 7: Output Unit)
10 Ship (21 to 23: 1st to 3rd actuators, 31 to 33: 1st to 3rd propulsion devices)
80 Berthing facilities

Claims (1)

Acquiring a docking maneuver start point and a docking target point of the ship;
calculating a second straight line obtained by rotating a first straight line connecting the start point of berthing maneuvering and the target berthing point by a predetermined offset angle with the start point of berthing maneuvering as a fulcrum;
A portion of the second straight line up to an intersection with a boundary line of a target docking area including the target docking point is set as at least a part of a docking route along which the ship navigates from the docking maneuver start point to the target docking point. A docking route generation method including

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