JP2006137309A - Support method and system of ship for entering/departing port and reaching/leaving pier - Google Patents

Support method and system of ship for entering/departing port and reaching/leaving pier Download PDF

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JP2006137309A
JP2006137309A JP2004328867A JP2004328867A JP2006137309A JP 2006137309 A JP2006137309 A JP 2006137309A JP 2004328867 A JP2004328867 A JP 2004328867A JP 2004328867 A JP2004328867 A JP 2004328867A JP 2006137309 A JP2006137309 A JP 2006137309A
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ship
unit
information
port
distance
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JP4716214B2 (en
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Hiroyuki Oda
博行 織田
Koji Hyodo
孝司 兵頭
Shunsuke Horie
俊輔 堀江
Narihisa Hamamoto
成久 浜本
Hajime Morioka
肇 森岡
Taiji Kawamori
泰司 河盛
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Osaka Gas Co Ltd
Akishima Laboratories Mitsui Zosen Inc
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Osaka Gas Co Ltd
Akishima Laboratories Mitsui Zosen Inc
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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 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To easily and accurately grasp positional relation between a ship and a quay, speed and direction of the ship for entering/departing port and reaching/leaving pier. <P>SOLUTION: In a ship position computing unit 46 of a computing control unit 38, a present position computing unit 56 obtains position of the ship on the basis of information from a GPS satellite d a static satellite, and outputs it to a distance computing unit 48 and a display control unit 50. The distance computing unit 48 obtains a distance between a pier and the ship on the basis of the ship position obtained by the present position computing unit 56 and information stored in a harbors information memory unit 60 of an information memory unit 52, and sends it to the display control unit 50. The display control unit 50 reads out the information stored in the harbors information memory unit 60 and a ship information memory unit 62, and displays a bird's-eye view of the ship, while overlapping it with a bird's-eye view of a harbor facility, in a display unit 42, and displays speed detected by a speed detecting unit 14, direction of the bow detected by a direction detecting unit 16 and the distance between the ship and the pier obtained by the distance computing unit 48. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、船舶が岸壁や桟橋に離着桟するのを支援する方法に係り、特に大型タンカーや大型ＬＮＧ船の離着桟を支援するのに好適な船舶の入出港離着桟支援方法およびシステムに関する。   TECHNICAL FIELD The present invention relates to a method for supporting a ship to be attached to and detached from a quay or a pier, and more particularly to a method for supporting a ship entering and leaving a port, which is suitable for supporting a large tanker or a large LNG ship. About the system.

近年、船舶が海洋を航行する場合、全地球測位システム（Global Positioning System）を利用した操船支援システムが広く用いられている。この操船支援システムは、ＧＰＳ衛星が送信する位置情報と時刻情報とから船舶（自船）の位置を常時検出し、船舶が海図上におけるどの位置を航行しているかを容易に知ることができるようになっている。そして、特許文献１には、ＧＰＳ受信装置によって船舶の位置を検出し、予め記憶している海底データ等の鳥瞰図に船舶の鳥瞰図を重畳して表示する操船支援システムが開示されている。これによって、海底地形と船舶との関係を容易に把握でき、座礁などの危険を回避することができる。   In recent years, when a ship navigates the ocean, a marine vessel maneuvering support system using a global positioning system has been widely used. This ship maneuvering support system always detects the position of the ship (own ship) from the position information and time information transmitted by the GPS satellite, and can easily know which position the ship is navigating on the chart. It has become. Patent Document 1 discloses a marine vessel maneuvering support system that detects the position of a ship with a GPS receiver and superimposes and displays the bird's-eye view of the ship on a pre-stored bird's-eye view such as seabed data. As a result, the relationship between the seabed topography and the ship can be easily grasped, and dangers such as grounding can be avoided.

しかし、ＧＰＳによる位置検出は、一般に１０ｍ程度の誤差を生ずることが知られている。このため、ＧＰＳによる位置検出を着桟に利用しようとすると、船舶が岸壁または桟橋（以下、両者を総称して単に岸壁ということがある）に衝突するおそれがある。特に、原油などを輸送する大型タンカーやＬＮＧ（液化天然ガス）を輸送する大型ＬＮＧ船などの場合、岸壁に衝突して損傷すると、原油やＬＮＧが漏れ出す危険性がある。このため、船舶が接岸する場合、船舶の大きさに応じた限界接岸速度が決められており、船舶が大型になればなるほどゆっくりした速度で接岸するようになっている。   However, it is known that position detection by GPS generally causes an error of about 10 m. For this reason, if the position detection by GPS is used for the landing berth, there is a possibility that the ship collides with a quay or a pier (hereinafter, both may be collectively referred to as a quay). In particular, in the case of a large tanker that transports crude oil or the like or a large LNG ship that transports LNG (liquefied natural gas), there is a risk that crude oil or LNG will leak if it collides with a quay and is damaged. For this reason, when a ship is berthing, the limit berthing speed according to the size of the ship is determined, and the berthing is made at a slower speed as the ship becomes larger.

しかも、船舶の接岸速度は、各基地によって規定されているが、おおむね岸壁からの距離によって異なっており、岸壁に接近するほど接岸速度を小さくしなければならない。例えば、５０万トン級のタンカーが接岸する場合、岸壁から５０ｍ離れているときは、接岸速度が７ｃｍ／ｓ以下、岸壁から２０ｍ離れているときは、接岸速度が６ｃｍ以下、岸壁からの距離が１０ｍ以下のときは、接岸速度が３ｃｍ／ｓ以下である。このため、特許文献１に記載の操船支援システムは、船舶の検出位置の誤差が１０ｍもあるため、離着桟時の操船に適用することができない。   In addition, the berthing speed of a ship is regulated by each base, but generally varies depending on the distance from the quay, and the berthing speed must be reduced as the quay is approached. For example, when a 500,000-ton class tanker is berthing, when the pier is 50m away from the quay, the berthing speed is 7cm / s or less, and when it is 20m away from the quay, the berthing speed is 6cm or less, and the distance from the quay is When it is 10 m or less, the berthing speed is 3 cm / s or less. For this reason, the boat maneuvering support system described in Patent Document 1 cannot be applied to maneuvering at the time of takeoff and landing because there is an error of 10 m in the detection position of the ship.

そこで、従来は、例えば日本の港において離着桟する場合、ＧＰＳによる位置検出を行なうとともに、海上保安庁（基地局）が送信する補正信号を受信し、ＧＰＳによって検出した船舶の位置を修正して離着桟するようにしている。しかし、この方法は、各国ごとに補正信号の周波数が異なることと、補正後の測位精度が２ｍないし５ｍ程度のため、岸壁への接岸時には使用しにくく、かつ１つの受信装置で全世界の港における離着桟に利用することができない。そこで、船舶に複数のカメラを船長方向の異なる位置に設置し、これらのカメラによって岸壁のビットなどの目標物を撮影し、船舶と目標物との位置関係を演算により求めて画面上に表示する離接岸用操船支援装置が提案されている（特許文献２）。
特開２００４−２１２１９２号公報 特開２００４−１７５１８７号公報 Thus, conventionally, for example, when taking off and landing at a Japanese port, GPS position detection is performed and a correction signal transmitted by the Japan Coast Guard (base station) is received to correct the position of the ship detected by GPS. I try to take off and take off. However, this method is difficult to use at the time of berthing due to the fact that the frequency of the correction signal varies from country to country and the positioning accuracy after correction is about 2m to 5m. Cannot be used as a landing rail in Therefore, multiple cameras are installed on the ship at different positions in the direction of the captain, and these cameras are used to photograph targets such as quay bits, and the positional relationship between the ship and the target is calculated and displayed on the screen. A marine vessel maneuvering support device has been proposed (Patent Document 2).
JP 2004-212192 A JP 2004-175187 A

上記特許文献２に記載の離接岸用操船支援装置は、カメラによって岸壁に設置された目標物を撮影して目標物と船舶との相対位置関係を求めるようにしているため、夜間や雨天、霧の発生などの場合に利用することができない。また、特許文献２に記載の操船支援装置は、ビットなどの目標物と船舶との相対位置関係を求めるようになっており、岸壁と船舶との位置関係でないため、岸壁に対する船舶の位置を正確に求めることができず、最終的に人が岸壁との距離を直接視認しなければならない。   Since the ship maneuvering support device for the berthing and piercing described in Patent Document 2 captures the target placed on the quay by a camera and obtains the relative positional relationship between the target and the ship, it can be used at night, rainy weather, fog It cannot be used in the event of an outbreak. In addition, the ship maneuvering support device described in Patent Document 2 is designed to obtain a relative positional relationship between a target such as a bit and the ship, and is not a positional relationship between the quay and the ship. In the end, the person must visually check the distance from the quay.

本発明は、前記従来技術の欠点を解消するためになされたもので、入出港、離着桟時における船舶と岸壁（または桟橋）との距離を人が直接視認する必要がなく、船舶と岸壁（または桟橋）との位置関係、船舶の速度や方位などを容易、正確に把握できるようにするようにすることを目的としている。   The present invention has been made to eliminate the drawbacks of the prior art, and it is not necessary for a person to visually recognize the distance between the ship and the quay (or pier) at the time of entry / exit and departure / arrival berths. The purpose is to make it possible to easily and accurately grasp the positional relationship with (or the pier), the speed and direction of the ship, and the like.

また、本発明は、ＧＰＳ衛星が送信する情報と静止衛星が送信する補正情報とを受信できる全海域でメートル以下の精度をもって測位でき、世界中の港における入出港、離着桟の操船を支援できるようにすることを目的としている。
そして、本発明は、世界中の港において安全に入出港、離着桟できるようにすることを目的としている。 In addition, the present invention is capable of positioning with sub-meter accuracy in all sea areas that can receive the information transmitted by GPS satellites and the correction information transmitted by geostationary satellites, and supports the maneuvering of entry / exit ports and landing berths at ports around the world. The purpose is to be able to.
An object of the present invention is to enable safe entry / exit and arrival / departure at ports all over the world.

上記の目的を達成するために、本発明に係る船舶の入出港離着桟支援方法は、複数のＧＰＳ衛星の送信する位置情報および時間情報と静止衛星が送信する補正情報とに基づいて求めた船舶の位置を、予め求めてある離着桟する港湾の画像に重ねて表示するとともに、前記船舶が離着桟する岸壁または桟橋と前記船舶との距離、および検出した前記船舶の対地速度、船首方位を表示することを特徴としている。   In order to achieve the above-described object, the ship entry / exit berth support method according to the present invention is obtained based on position information and time information transmitted by a plurality of GPS satellites and correction information transmitted by geostationary satellites. The position of the ship is displayed in an overlapped manner with the image of the port where the ship is required to be detached, and the distance between the ship and the quay or pier where the ship is attached and detached, and the detected ground speed of the ship, bow It is characterized by displaying the direction.

船舶の対地速度は、船舶の任意の位置についての対地速度であることが望ましく、岸壁または桟橋と船舶との距離は、目標離着桟位置と船舶との距離、船舶の任意の位置と岸壁または桟橋との距離を含むようにするのがよい。   The ground speed of the ship is preferably the ground speed at an arbitrary position of the ship, and the distance between the quay or jetty and the ship is the distance between the target takeoff / pier position and the ship, the arbitrary position of the ship and the quay or It is recommended to include the distance to the pier.

また、港湾の画像は、避険線情報および標準航路情報を含めることができる。そして、港湾の画像に重ねて表示される船舶の位置は、現在位置と所定時間後の予測位置とであってよい。すなわち、船舶の現状からｎ秒先を予測して表示する。さらに、港湾の画像に重ねて表示される船舶の位置は、過去の予め定めた時間内における複数の位置を含めることが望ましい。また、船舶の位置と港湾の画像とを重ねて表示した画面に、基地局から取得した離着桟する港湾の風に関する情報、海象に関する情報を表示するとよい。   In addition, harbor images can include evacuation line information and standard route information. And the position of the ship displayed on the image of the harbor may be the current position and the predicted position after a predetermined time. That is, n seconds ahead from the current state of the ship is predicted and displayed. Furthermore, it is desirable that the position of the ship displayed over the harbor image includes a plurality of positions within a predetermined time in the past. Moreover, it is good to display the information regarding the wind of the harbor which takes off and arrives from the base station, and the information regarding a marine condition on the screen which displayed the position of the ship and the image of the harbor superimposed.

そして、上記の船舶の入出港離着桟支援方法を実施する入出港離着桟支援システムは、船舶に搭載されてＧＰＳ衛星の送信する位置情報および時間情報と静止衛星の送信する補正情報とを受信する受信部と、前記受信部が受信した前記各衛星からの情報に基づいて、前記船舶の現在位置を求める船舶位置演算部と、前記船舶が離着桟する港湾の情報を記憶している港湾情報記憶部と、前記船舶位置演算部が求めた船舶位置と前記港湾情報記憶部が記憶している港湾情報とに基づいて、前記船舶が離着桟する岸壁または桟橋と前記船舶との距離を求める距離演算部と、前記船舶の対地速度を求める船速検出部と、前記船舶の船首方位を求める方位検出部と、前記港湾情報記憶部に記憶されている港湾情報に基づいた港湾画像に前記船舶位置演算部の求めた船舶位置を重ねた画像と、前記距離演算部が求めた距離、前記船速検出部が求めた対地速度、前記方位検出部が求めた船首方位とを操船支援情報として表示部に表示する表示制御部と、を有することを特徴としている。   An entry / exit / departure / departure support system for carrying out the above-mentioned ship entry / exit / departure support system includes position information and time information transmitted from a GPS satellite and correction information transmitted from a geostationary satellite. Based on information received from the respective satellites received by the receiving unit, a ship position calculating unit that obtains the current position of the ship, and information on a port to which the ship departs and departs is stored. Based on the port information storage unit, the ship position obtained by the ship position calculation unit, and the port information stored in the port information storage unit, the distance between the ship and the quay or pier where the ship is attached to and detached from the ship A port image based on port information stored in the port information storage unit, a ship speed detection unit for determining the ground speed of the ship, a direction detection unit for determining the heading of the ship, and a port information storage unit. Ship position calculation The image obtained by overlaying the ship position obtained by the above, the distance obtained by the distance calculation unit, the ground speed obtained by the ship speed detection unit, and the heading obtained by the direction detection unit are displayed on the display unit as ship maneuvering support information. And a display control unit.

港湾情報は、港湾における避険線情報と前記船舶の標準航路情報とを含めることができる。また、距離演算部は、船舶の目標離着桟位置と船舶との距離を求める離着桟距離演算部を有するように構成するとよい。さらに、表示制御部は、送信部に接続され、表示部に表示した操船支援情報を、送信部を介して表示パネルを備えた携帯端末に転送するように構成することが望ましい。そして、表示制御部は、通信部に接続され、通信部を介して受信した基地局からの風に関する情報と海象情報とを表示部に操船支援情報の一部として表示するとともに、表示部に表示した操船支援情報を基地局に送信するように構成できる。なお、入出港、離着桟の操船状況を録画・再生部を設けて録画、再生可能にすることにより、船会社などにおいて操船情報のデータベースを構築することができ、船舶の運行管理に供することができる。   The port information may include information on the safety line in the port and the standard route information of the ship. In addition, the distance calculation unit may be configured to include a desorption beam distance calculation unit that obtains a distance between the target desorption beam position of the ship and the ship. Further, it is desirable that the display control unit is connected to the transmission unit and configured to transfer the marine vessel maneuvering support information displayed on the display unit to a portable terminal having a display panel via the transmission unit. The display control unit is connected to the communication unit, and displays the information on the wind from the base station and the sea state information received via the communication unit on the display unit as a part of the ship maneuvering support information, and also displays on the display unit. The ship maneuvering support information can be configured to be transmitted to the base station. In addition, it is possible to build a database of ship operation information at shipping companies, etc. by providing a recording / reproduction unit to record and replay the ship maneuvering status of entry / exit ports and landing berths, and provide for ship operation management. Can do.

上記のようになっている本発明は、ＧＰＳ衛星からの情報ばかりでなく、静止衛星から補正情報を得て船舶の位置を求めるようにしているため、船舶の位置を１０ｃｍ程度の計測誤差で高精度に求めることができる。したがって、予め求めてある港湾の画像に重ねて表示部に表示することにより、人が直接視認することなく、船舶と岸壁との距離などの位置関係を容易、正確に把握することができる。しかも、同時に船舶の対地速度や船首方向を表示することにより、船舶の操船状態が視覚的に確認することができ、船舶の入出港、離着桟を安全、確実に行なうことができる。そして、ＧＰＳによって求めた船舶位置の補正情報を静止衛星から得るようにしているため、ＧＰＳ衛星、静止衛星からの情報を受信可能な海域を安全に航行できるばかりでなく、船舶が入出港する世界各地の港湾情報を予め求めておくことにより、世界中の港における入出港時、離着桟時の操船を容易、安全に行なうことができる。   In the present invention as described above, not only the information from the GPS satellite but also the correction information is obtained from the geostationary satellite so as to obtain the position of the ship, the position of the ship is increased with a measurement error of about 10 cm. The accuracy can be obtained. Therefore, it is possible to easily and accurately grasp the positional relationship such as the distance between the ship and the quay without direct visual recognition by the person by directly displaying the image on the display port on the display unit. In addition, by simultaneously displaying the ground speed and bow direction of the ship, the ship maneuvering state can be visually confirmed, and the ship can enter and leave the port and take off and take off at a safe place. And since the correction information of the ship position obtained by GPS is obtained from the geostationary satellite, not only can the sea that can receive the information from the GPS satellite and the geostationary satellite be safely navigated, but also the world where the ship enters and leaves the port. By obtaining the port information of each place in advance, it is possible to easily and safely operate the ship at the time of entering / leaving at the ports around the world and at the time of taking off and landing.

さらに、船舶の任意の位置の対地速度、目標離着桟位置と船舶との距離、船舶の任意の位置と岸壁などとの距離を表示することにより、船舶をどのように操船すればよいかを容易に知ることができ、より安全な操船をすることができる。また、避険線情報や標準航路情報を表示することにより、操船が容易となるとともに、座礁などの危険を避けることができる。さらに、所定時間後の船舶の予測位置を表示することにより、岸壁（または桟橋）との衝突の危険や、他船との関係などを事前に把握することが可能で、操船の安全性を向上することができる。また、過去の複数の船舶位置を表示することにより、操船状態を的確に把握することができ、過去の操船結果に基づいたエンジン出力、操舵の修正などを容易、適切に行なえ、タグボート使用時のタグボート操船者に対して適切な操船指令を行なうことができる。そして、風や海象の情報を表示することにより、これらが船舶に与える影響を勘案した操船を行なうことができ、より安全な操船が可能となる。   In addition, how to operate the ship by displaying the ground speed at any position of the ship, the distance between the target take-off pier position and the ship, the distance between any position of the ship and the quay, etc. It is easy to know and you can operate the ship safely. Further, by displaying the evacuation line information and the standard route information, it is possible to easily operate the ship and to avoid danger such as grounding. In addition, by displaying the predicted position of the ship after a predetermined time, it is possible to know in advance the danger of collision with the quay (or jetty) and the relationship with other ships, improving the safety of the ship operation. can do. In addition, by displaying the past multiple ship positions, it is possible to accurately grasp the ship maneuvering state, making it easy and appropriate to correct engine output and steering based on past ship maneuvering results, and when using a tugboat An appropriate maneuvering instruction can be issued to the tugboat operator. And by displaying the information on wind and sea conditions, it is possible to perform the ship maneuvering in consideration of the influence of these on the ship, and safer maneuvering becomes possible.

なお、表示部に表示した操船支援情報を携帯端末に転送することにより、船舶の船首や船尾に配置した操船補助者やタグボートの操船者などに操船状態を知らせることができ、より安全、適切な入出港、離着桟を行なうことができる。また、操船支援情報を地上の基地局に送信することにより、基地局において船舶の入出港、離着桟の状態を正確に把握することが可能で、万一、事故が生じたときなどに迅速な対応をとることができる。   In addition, by transferring the maneuvering support information displayed on the display unit to the mobile terminal, it is possible to inform the ship maneuvering assistant or tugboat maneuver placed at the bow or stern of the ship, which is safer and more appropriate. You can enter and leave the port and take off and take off. In addition, by sending ship maneuvering support information to the base station on the ground, it is possible for the base station to accurately grasp the state of entry / exit of vessels and landing / leaving berths. Can take a good response.

本発明に係る船舶の入出港離着桟支援方法およびシステムの好ましい実施の形態を、添付図面に基づいて詳細に説明する。
図２は、本発明の実施の形態に係る船舶の入出港離着桟支援システムの概略ブロック図である。図２において、入出港離着桟支援システム（以下、単に支援システムという）１０は、船舶に搭載した支援装置部１２、船速検出部１４、方位検出部１６、港の地上に設けた基地局１８などから構成してある。支援装置部１２は、ＧＰＳ衛星２０、静止衛星（実施形態の場合、インマルサット）２２の送信信号を受ける受信アンテナ２４と、受信アンテナ２４に接続した受信ユニット２６、受信ユニット２６が受信した信号を受ける本体部２８と、１つ以上の携帯端末３０とを有している。 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a ship entry / exit berth support method and system according to the present invention will be described in detail with reference to the accompanying drawings.
FIG. 2 is a schematic block diagram of a ship entrance / exit / off berth support system according to an embodiment of the present invention. In FIG. 2, an entry / exit berthing support system (hereinafter simply referred to as a support system) 10 includes a support device unit 12, a ship speed detection unit 14, a direction detection unit 16, and a base station provided on the port ground. 18 or the like. The support device unit 12 receives a reception antenna 24 that receives transmission signals of a GPS satellite 20 and a geostationary satellite (Inmarsat in the embodiment) 22, a reception unit 26 connected to the reception antenna 24, and a signal received by the reception unit 26 The main body 28 and one or more portable terminals 30 are included.

受信ユニット２６は、実施形態の場合、受信アンテナ２４とともに船外に設置されており、受信アンテナ２４に接続した受信部である衛星信号受信部３２と、衛星信号受信部３２の出力側に設けた特定小電力無線機３４とから構成してある。一方、本体部２８は、実施形態の場合、船内に設置してあり、特定小電力無線機３４が出力する送信信号を受信する特定小電力無線機３６を備えている。また、本体部２８は、特定小電力無線機３６の出力側に設けた詳細を後述する演算制御部３８、演算制御部３８に接続した通信部４０、表示部４２、表示選択部４３を有している。表示部４２は、演算制御部３８によって表示制御され、船舶と岸壁（または桟橋）との位置関係、船速、船舶の方位（船首の方向）などを表示できるようになっている。表示選択部４３は、表示部４２に表示させたい内容（操船支援情報）を選択する信号、表示部４２に表示した内容を携帯端末３０に転送する指令などを演算制御部３８に入力できるようになっている。   In the case of the embodiment, the receiving unit 26 is installed outside the ship together with the receiving antenna 24, and is provided on the output side of the satellite signal receiving unit 32 that is a receiving unit connected to the receiving antenna 24 and the satellite signal receiving unit 32. The specific low power radio 34 is configured. On the other hand, in the case of the embodiment, the main body portion 28 is installed on the ship and includes a specific low power radio 36 that receives a transmission signal output from the specific low power radio 34. In addition, the main body unit 28 includes an arithmetic control unit 38 which will be described later in detail provided on the output side of the specific low-power radio device 36, a communication unit 40 connected to the arithmetic control unit 38, a display unit 42, and a display selection unit 43. ing. The display unit 42 is display-controlled by the arithmetic control unit 38 and can display the positional relationship between the ship and the quay (or pier), the ship speed, the direction of the ship (the direction of the bow), and the like. The display selection unit 43 can input a signal for selecting content (maneuvering support information) to be displayed on the display unit 42, a command for transferring the content displayed on the display unit 42 to the portable terminal 30, and the like to the arithmetic control unit 38. It has become.

通信部４０は、実施形態の場合、携帯電話と同様の送受信機能を有しており、図示しない送受信アンテナに接続してあって、このアンテナと無線基地局４４とを介して港湾施設（図示せず）などに設けた基地局１８とデータの授受ができるようになっている。なお、通信部４０に特定小電力無線機を装備し、特定小電力無線機によって情報の授受をできるようにしてもよい。そして、演算制御部３８は、基地局１８からの要求に基づいて、または図示しない操作部からの送信命令により、表示部４２に表示された操船支援情報を基地局１８に送信できるようにしてある。また、通信部４０は、無線ＬＡＮ機能を備えていて、演算制御部３８が表示部４２に表示した画像のデータ（操船支援情報）を携帯端末３０に転送し、携帯端末３０の図示しない表示パネルにその画像を表示する。   In the case of the embodiment, the communication unit 40 has a transmission / reception function similar to that of a mobile phone, and is connected to a transmission / reception antenna (not shown), and a port facility (not shown) via this antenna and the radio base station 44. Etc.) can exchange data with the base station 18 provided in the network. Note that the communication unit 40 may be equipped with a specific low power radio so that information can be exchanged by the specific low power radio. The arithmetic control unit 38 can transmit the ship maneuvering support information displayed on the display unit 42 to the base station 18 based on a request from the base station 18 or by a transmission command from an operation unit (not shown). . Further, the communication unit 40 has a wireless LAN function, transfers image data (maneuvering support information) displayed on the display unit 42 by the calculation control unit 38 to the portable terminal 30, and a display panel (not shown) of the portable terminal 30. Display the image.

なお、実施形態の場合、受信ユニット２６を船外に設置し、本体部２８を船内に設置する場合について説明したが、受信ユニット２６を本体部２８とともに船内に設置してもよい。この場合、特定小電力無線機３４、３６を省略して受信ユニットと本体部を一体化し、衛星信号受信部３２の出力を直接演算制御部３８に入力してよい。また、本体部２８または支援装置部１２は、船舶に固定した据置き型でもよく、任意の船舶に搬入できる可搬型にしてもよい。   In the embodiment, the case where the receiving unit 26 is installed outside the ship and the main body 28 is installed on the ship has been described. However, the receiving unit 26 may be installed together with the main body 28 on the ship. In this case, the specific low power radios 34 and 36 may be omitted, the receiving unit and the main body unit may be integrated, and the output of the satellite signal receiving unit 32 may be directly input to the arithmetic control unit 38. Further, the main body 28 or the support device 12 may be a stationary type fixed to a ship or a portable type that can be carried into any ship.

船速検出部１４は、実施形態の場合、ドップラーソナーから構成してあって、検出した船舶の対地速度を本体部２８の演算制御部３８に入力する。また、方位検出部１６は、ジャイロスコープから形成してあって、船舶の船首の方向を検出して演算制御部３８に入力する。なお、船速検出部１４は、ジャイロスコープを用いた慣性航法装置や、ＧＰＳ衛星を利用したものなどであってもよい。また、方位検出部１６を構成するジャイロは、圧電振動子を用いた振動ジャイロ、高速回転するコマを用いた機械式ジャイロ、光ファイバなどを用いた光学式ジャイロなどを用いることができる。   In the case of the embodiment, the ship speed detection unit 14 is configured by a Doppler sonar, and inputs the detected ground speed of the ship to the calculation control unit 38 of the main body unit 28. In addition, the direction detection unit 16 is formed of a gyroscope, detects the direction of the bow of the ship, and inputs the detected direction to the calculation control unit 38. The ship speed detection unit 14 may be an inertial navigation device using a gyroscope, a device using a GPS satellite, or the like. As the gyro that constitutes the azimuth detecting unit 16, a vibration gyro using a piezoelectric vibrator, a mechanical gyro using a frame rotating at high speed, an optical gyro using an optical fiber, or the like can be used.

演算制御部３８は、図１に示したように、船舶位置演算部４６、距離演算部４８、表示制御部５０、情報記憶部５２、船舶位置記憶部５４を有している。なお、図１においては、図２に示した特定小電力無線機３４、３６が省略してある。   As shown in FIG. 1, the calculation control unit 38 includes a ship position calculation unit 46, a distance calculation unit 48, a display control unit 50, an information storage unit 52, and a ship position storage unit 54. In FIG. 1, the specific low power radios 34 and 36 shown in FIG. 2 are omitted.

船舶位置演算部４６は、衛星信号受信部３２が受信したＧＰＳ衛星２０からの時刻情報と位置情報、静止衛星２２からの時刻と位置との補正情報が入力するようになっており、現在位置演算部５６と予測位置演算部５８とから構成してある。現在位置演算部５６は、各衛星２０、２２の送信信号に基づいて、船舶の現在位置（中心位置）を１０ｃｍ程度の誤差で時々刻々求め、求めた船舶位置を距離演算部４８と表示制御部５０とに出力するとともに、船舶位置記憶部５４に書き込む。予測位置演算部５８は、現在位置演算部５６が求めた船舶の現在位置が入力するとともに、船速検出部１４と方位検出部１６との検出信号が入力するようになっていて、これらに基づいて所定時間後の船舶の予測位置を演算する。   The ship position calculator 46 receives time information and position information from the GPS satellite 20 received by the satellite signal receiver 32 and correction information of time and position from the geostationary satellite 22, and calculates the current position. The unit 56 and the predicted position calculation unit 58 are configured. The current position calculation unit 56 obtains the ship's current position (center position) from time to time with an error of about 10 cm based on the transmission signals of the satellites 20 and 22, and the calculated ship position is the distance calculation unit 48 and the display control unit. 50 and write to the ship position storage unit 54. The predicted position calculation unit 58 inputs the current position of the ship obtained by the current position calculation unit 56, and receives detection signals from the ship speed detection unit 14 and the direction detection unit 16, based on these. The predicted position of the ship after a predetermined time is calculated.

情報記憶部５２は、データベースを構成していて、船舶が入港する世界の港湾に関する情報を記憶している港湾情報記憶部６０と、船舶に関する情報を記憶している船舶情報記憶部６２とを備えている。港湾情報記憶部６０には、予め測量などによって求めた、船舶が入港して離着桟する岸壁などの地球上における位置が港湾情報として記憶させてある。この港湾情報には、目標離着桟位置の情報、ブイの位置情報、避険線情報、標準航路情報、水深、等深線などを含んでいる。また、船舶情報記憶部６２には、船舶の外径寸法や中心位置、形状などが記憶させてある。なお、船舶情報記憶部６２には、支援装置部１２を搭載した船舶を所有する船会社などに所属するすべての船舶の情報を記憶させ、支援装置部１２を搭載した船舶の情報を選択して設定することができるようになっている。   The information storage unit 52 comprises a database, and includes a port information storage unit 60 that stores information about the world ports where ships enter the port, and a ship information storage unit 62 that stores information about ships. ing. In the harbor information storage unit 60, the position on the earth such as a quay where a ship enters and leaves and arrives and departs, which is obtained in advance by surveying or the like, is stored as harbor information. The port information includes information on the target take-off pier position, buoy position information, evacuation line information, standard route information, water depth, and contour lines. Further, the ship information storage unit 62 stores the outer diameter size, center position, shape, and the like of the ship. The ship information storage unit 62 stores information on all ships belonging to the shipping company that owns the ship on which the support apparatus unit 12 is installed, and selects information on the ship on which the support apparatus unit 12 is installed. It can be set.

距離演算部４８は、船舶位置演算部４６が求めた船舶の現在位置または予測位置が入力するようになっており、情報記憶部５２の港湾情報記憶部６０、船舶情報記憶部６２に記憶されている港湾情報と船舶情報とを読み出し、選択された船舶の任意の位置（個所）と離着桟する岸壁（または桟橋）との距離を求めて表示制御部５０に送出する。また、距離演算部４８は、図示しない離着桟距離演算部を有していて、船舶の目標離着桟位置との距離を求めることができるようになっている。   The distance calculation unit 48 receives the current position or predicted position of the ship obtained by the ship position calculation unit 46, and is stored in the port information storage unit 60 and the ship information storage unit 62 of the information storage unit 52. The port information and the ship information are read out, and the distance between an arbitrary position (location) of the selected ship and the quay (or jetty) to be detached is sent to the display control unit 50. In addition, the distance calculation unit 48 includes an unillustrated landing / branch distance calculation unit (not shown) so that a distance from the target landing / branch position of the ship can be obtained.

表示制御部５０は、船速検出部１４、方位検出部１６の検出信号が入力するとともに、船舶位置演算部４６が求めた船舶位置、距離演算部４８が求めた船舶と岸壁との距離などが入力するようになっている。また、表示制御部５０は、情報記憶部５２と船舶位置記憶部５４との記憶内容を読み出すことができるようになっている。そして、表示制御部５０は、表示選択部４３からの選択信号に基づいて、種々の操船支援情報、例えば港湾施設の鳥瞰図に船舶の鳥瞰図を重ねた画像、船速、方船舶の方位、船舶と岸壁の距離などを表示部４２に表示する。また、表示制御部５０は、表示部４２に表示した内容を通信部４０に送出する。通信部４０は、基地局１８との間で携帯電話と同様に情報の授受を行なう送受信部６４と、操船支援情報を携帯端末３０に転送するための無線ＬＡＮ部６６とを備えている。   The display control unit 50 receives detection signals from the boat speed detection unit 14 and the azimuth detection unit 16, and the ship position obtained by the vessel position calculation unit 46, the distance between the vessel and the quay obtained by the distance calculation unit 48, and the like. It comes to input. Further, the display control unit 50 can read the stored contents of the information storage unit 52 and the vessel position storage unit 54. Based on the selection signal from the display selection unit 43, the display control unit 50 performs various ship maneuvering support information, for example, an image obtained by superimposing the bird's-eye view of the ship on the bird's-eye view of the port facility, ship speed, direction of the ship, The quay distance and the like are displayed on the display unit 42. In addition, the display control unit 50 sends the content displayed on the display unit 42 to the communication unit 40. The communication unit 40 includes a transmission / reception unit 64 that transmits / receives information to / from the base station 18 in the same manner as a mobile phone, and a wireless LAN unit 66 for transferring ship maneuvering support information to the mobile terminal 30.

上記のごとくなっている実施形態の作用を、船舶の入港、着桟時を例にして説明する。
演算制御部３８を構成している情報記憶部５２には、船舶が入出港する港湾の情報と、支援システム１０の支援装置部１２を搭載した船舶の情報とが記憶させてある。すなわち、情報記憶部５２の港湾情報記憶部６０には、世界各地の港湾の情報、例えば岸壁や桟橋の寸法、形状、離着桟する位置、ブイの位置などが予め測量して求めてあり、これらの地球上における位置が避険線情報、標準航路情報などとともに記憶させてある。また、情報記憶部５２の船舶情報記憶部６２には、船舶の全長、幅、形状、中心位置、受信アンテナの設置位置などが予め記憶させてある。これらの港湾情報、船舶情報は、各港湾または各海域ごと、船舶ごとに、ＣＤ−ＲＯＭなどの交換可能な記録媒体に記録しておいてもよい。また、船舶ごとに港湾情報などを組み合わせて交換可能な記録媒体に記録することもできる。 The operation of the embodiment as described above will be described with reference to an example of when a ship enters and leaves a port.
The information storage unit 52 constituting the arithmetic control unit 38 stores information on the port where the ship enters and exits and information on the ship on which the support device unit 12 of the support system 10 is mounted. That is, in the port information storage unit 60 of the information storage unit 52, information on ports around the world, for example, the dimensions and shapes of quays and piers, the position of the detachment pier, the position of the buoy, and the like are obtained by pre-measurement, These positions on the earth are memorized together with the evacuation line information and the standard route information. Further, the ship information storage unit 62 of the information storage unit 52 stores in advance the total length, width, shape, center position, installation position of the receiving antenna, and the like of the ship. These port information and ship information may be recorded on an exchangeable recording medium such as a CD-ROM for each port or each sea area and for each ship. Moreover, it can also record on the exchangeable recording medium combining port information etc. for every ship.

船舶が入港時に、表示選択部４３を用いて入港しようとする港を選択し、入出港支援モードを選択して表示制御部５０に与えると、表示制御部５０が該当する港湾施設の情報が表示部４２に表示される。すなわち、本体部２８の演算制御部３８は、情報記憶部５２の港湾情報記憶部５２から選択された港に関する情報を読み出し、図３に示したように、港湾施設の鳥瞰図を表示部４２の「ＭＡＰ」欄に表示する。この鳥瞰図として表示された港湾情報には、防波堤７０、桟橋７２、港湾内のブイ７４、避険線７６、標準航路７８などが含まれている。このため、操船者は、船舶が標準航路７８上を進むように操船すればよいため、操船が容易であるとともに、安全な操船を行なうことができる。   When a ship enters a port, the port to be ported is selected using the display selection unit 43, and when the port entry / exit support mode is selected and given to the display control unit 50, the display control unit 50 displays information on the corresponding port facility. Displayed on the unit 42. That is, the arithmetic and control unit 38 of the main body 28 reads information on the selected port from the port information storage unit 52 of the information storage unit 52, and displays a bird's-eye view of the port facility on the display unit 42 as shown in FIG. Displayed in the “MAP” column. The harbor information displayed as a bird's eye view includes a breakwater 70, a pier 72, a buoy 74 in the harbor, an evacuation line 76, a standard route 78, and the like. For this reason, since it is only necessary for the operator to operate the ship so that the ship proceeds on the standard route 78, it is easy to operate the ship and can perform safe operation.

一方、船舶の外に設置した受信ユニット２６は、衛星信号受信部３２が受信アンテナ２４の受けた複数のＧＰＳ衛星２０からの位置情報と時刻情報、静止衛星２２からの補正情報を受信する。また、受信ユニット２６は、特定小電力無線機３４が衛星信号受信部３２の受信した情報を船内に設置した本体部２８に送信する。本体部２８の特定小電力無線機３６は、受信ユニット２６の特定小電力無線機３４の送信した情報を受信する。特定小電力無線機３６の受信した各衛星２０、２２からの情報は、演算制御部３８を構成している船舶位置演算部４６に入力される。   On the other hand, the receiving unit 26 installed outside the ship receives position information and time information from the plurality of GPS satellites 20 received by the receiving antenna 24 by the satellite signal receiving unit 32 and correction information from the stationary satellite 22. Further, the receiving unit 26 transmits the information received by the specific low power radio 34 by the satellite signal receiving unit 32 to the main body unit 28 installed in the ship. The specific low power radio device 36 of the main body 28 receives the information transmitted from the specific low power radio device 34 of the receiving unit 26. Information from each of the satellites 20 and 22 received by the specific low-power radio device 36 is input to the ship position calculation unit 46 constituting the calculation control unit 38.

船舶位置演算部４６は、通常、現在位置演算部５６が船舶の現在位置（中心位置）を時々刻々求め、求めた船舶の現在位置を表示制御部５０、距離演算部４８に送出するとともに、船舶位置記憶部５４に求めた船舶位置を時刻に対応させて書き込む。表示制御部５０は、現在位置演算部５６が求めた船舶の現在位置と、情報記憶部５２の船舶情報記憶部６２に記憶されている船舶情報とに基づいて、図３に示したように船舶８０の現在位置の鳥瞰図を作成し、港湾情報の画像に重ねて表示する。また、表示制御部５０は、船舶位置記憶部５４に記憶されている過去の所定時間内における船舶の位置を読み出し、その過去の船舶の複数位置を航跡８０ａとして同時に表示する。これにより、操船者は、操船状態を把握することができ、エンジン出力の調整や操舵の修正を適切に行なうことが可能で、安全、正確に入港、着桟をすることができる。また、現在位置演算部５６が求めた船舶８０の緯度、経度の値は、表示部４２下部の位置表示部８２に表示される。   The ship position calculation unit 46 usually obtains the current position (center position) of the ship from time to time by the current position calculation unit 56, sends the obtained current position of the ship to the display control unit 50 and the distance calculation unit 48, and The ship position obtained in the position storage unit 54 is written in correspondence with the time. As shown in FIG. 3, the display control unit 50 is based on the current position of the ship obtained by the current position calculation unit 56 and the ship information stored in the ship information storage unit 62 of the information storage unit 52. A bird's eye view of the current position of 80 is created and displayed superimposed on the port information image. Further, the display control unit 50 reads the position of the ship in the past predetermined time stored in the ship position storage unit 54, and simultaneously displays the plurality of positions of the past ship as the wake 80a. Thereby, the ship operator can grasp the ship maneuvering state, can appropriately adjust the engine output and correct the steering, and can enter and leave the port safely and accurately. Further, the latitude and longitude values of the ship 80 obtained by the current position calculation unit 56 are displayed on the position display unit 82 below the display unit 42.

なお、船舶位置演算部４６は、図示しない操作部から予測位置演算命令を受けると、予測位置演算部５８が現在位置演算部５６の出力する船舶の現在位置を読み込むとともに、船速検出部１４が検出した船速、方位検出部１６の求めた船首の向き、船舶の移動方向（進行方向）を読み込み、例えば現在から１秒後、５秒後、１０秒後などの船舶の予測位置を算出するようになっている。この船舶の予測位置も同時に表示することができ、船舶の減速状態などを視覚的に確認することができる。予測位置演算部５８が求めた予測位置は、現在位置とともに「ＭＡＰ」欄に表示される。   When the ship position calculation unit 46 receives a predicted position calculation command from an operation unit (not shown), the predicted position calculation unit 58 reads the current position of the ship output from the current position calculation unit 56, and the ship speed detection unit 14 The detected ship speed, the heading direction obtained by the azimuth detector 16 and the moving direction (traveling direction) of the ship are read, and for example, the predicted position of the ship such as 1 second, 5 seconds and 10 seconds from the present is calculated. It is like that. The predicted position of the ship can also be displayed at the same time, and the deceleration state of the ship can be visually confirmed. The predicted position obtained by the predicted position calculation unit 58 is displayed in the “MAP” column together with the current position.

距離演算部４８の図示しない離着桟距離演算部は、現在位置演算部５６が求めた船舶現在位置と、情報記憶部５２の港湾情報記憶部６０に記憶されている港湾情報とから、船舶８０の目標着桟位置までの距離を求め、表示制御部５０に出力する。この距離演算部４８が求めた目標着桟位置までの距離は、残距離として表示部４２に前記の鳥瞰図とともに表示される。図３に示された残距離２．６Ｌは、目標着桟位置までの距離が船舶８０の全長の何倍であるかを示しており、実際の距離がメートル（ｍ）で表示される。また、距離演算部４８は、船舶８０の中心Ｃが標準航路７８とどれだけずれているかを演算し、表示制御部５０に出力する。船舶８０と標準航路７８とのずれ量は、航路変位として表示される。したがって、操船者は、船舶８０が標準航路７８上を進んでいるか否かを容易に把握することができ、操船が容易となる。   An unillustrated landing pier distance calculation unit (not shown) of the distance calculation unit 48 is based on the ship current position obtained by the current position calculation unit 56 and the port information stored in the port information storage unit 60 of the information storage unit 52. The distance to the target landing position is obtained and output to the display control unit 50. The distance to the target landing position obtained by the distance calculation unit 48 is displayed as a remaining distance on the display unit 42 together with the bird's eye view. The remaining distance 2.6L shown in FIG. 3 indicates how many times the total distance of the ship 80 is to the target landing position, and the actual distance is displayed in meters (m). Further, the distance calculation unit 48 calculates how much the center C of the ship 80 is deviated from the standard route 78 and outputs it to the display control unit 50. A deviation amount between the ship 80 and the standard route 78 is displayed as a route displacement. Therefore, the ship operator can easily grasp whether or not the ship 80 is traveling on the standard route 78, and maneuvering becomes easy.

さらに、表示制御部５０は、船速検出部１４の検出した船速（船舶８０の対地速度）と、方位検出部１６の検出した船首の方位とを表示部４２に表示する。そして、図示しない着桟時間演算部は、現在の船速と目標着桟位置までの距離とから、着桟に要する時間（推定残時間）を演算し、表示制御部５０を介して表示部４２に表示する。また、表示部４２には、方位検出部１６などによって求めた船舶８０の進行方向（進路方向）８４と、エンジン出力、対地速度（船速）進路方向などに基づいた演算などによって求めた船舶８０に作用する外力方向が矢印によって表示される（外力方向は図示せず）。また、表示制御部５０は、この港における現在の潮の状態や波の状態などの海象情報、風の状況などを表示部４２に表示する。これらの海象情報、風の情報などは、通信部４０の送受信部６４が基地局１８と通信して基地局１８から得るようになっている。   Further, the display control unit 50 displays the ship speed (ground speed of the ship 80) detected by the ship speed detection unit 14 and the bow direction detected by the direction detection unit 16 on the display unit 42. A landing time calculation unit (not shown) calculates a time required for the landing (estimated remaining time) from the current ship speed and the distance to the target landing position, and displays the display unit 42 via the display control unit 50. To display. Further, the display unit 42 displays the ship 80 obtained by calculation based on the traveling direction (route direction) 84 of the ship 80 obtained by the azimuth detecting unit 16 and the like, the engine output, the ground speed (ship speed) course direction, and the like. The direction of the external force acting on is indicated by an arrow (the direction of the external force is not shown). In addition, the display control unit 50 displays the sea state information such as the current tide state and wave state at this port, the wind state, and the like on the display unit 42. The sea state information, wind information, and the like are obtained from the base station 18 by the transmission / reception unit 64 of the communication unit 40 communicating with the base station 18.

なお、表示部４２に表示されている「画面」の欄は、「ＭＡＰ」欄に表示する港湾の範囲を選択する欄である。すなわち、例えば、「画面１」が選択されると、「ＭＡＰ」欄に港湾の一部拡大画像が表示され、「画面２」が選択されると図３の「ＭＡＰ」欄のような画像が表示され、「画面３」を選択すると、より広い範囲が表示されるようになっている。また、表示部４２に表示された「航跡時間」は、何秒ごとの過去の船舶位置を表示するかが選択できるようになっている。すなわち、「航跡時間１」ならば、１秒ごとの船舶位置が航跡８０ａとして表示され、「航跡時間１０」ならば１０秒ごとの船舶位置が航跡８０ａとして表示されるようになっている。   The “screen” column displayed on the display unit 42 is a column for selecting a port range to be displayed in the “MAP” column. That is, for example, when “screen 1” is selected, a partially enlarged image of the port is displayed in the “MAP” field, and when “screen 2” is selected, an image like the “MAP” field in FIG. When “screen 3” is selected, a wider range is displayed. The “wake time” displayed on the display unit 42 can select how many seconds the past ship position is displayed. That is, if “wake time 1”, the ship position every second is displayed as a wake 80a, and if “wake time 10”, the ship position every 10 seconds is displayed as the wake 80a.

船舶８０が桟橋７２に接近し、着桟が近くなって表示選択部４３よりに離着桟支援モードの表示が選択されると、図４に示したような画像が表示される。この離着桟支援モードにおいては、表示部４２の「ＭＡＰ」欄に桟橋７２の目標着桟位置の部分が大きく表示されるとともに、船舶８０の着桟状態９０、船舶８０の回頭が可能な回頭円９２が表示される。さらに、表示部４２には、船舶８０の鳥瞰図とともに船舶８０の船首側、中央、船尾側の桟橋７２との距離、移動速度などが船首側表示部９４、中央表示部９６、船尾側表示部９８などに表示される。   When the ship 80 approaches the pier 72 and the landing berth is near and the display selection unit 43 selects the display of the detachment pier support mode, an image as shown in FIG. 4 is displayed. In this take-off and landing pier support mode, the portion of the target berthing position of the pier 72 is displayed large in the “MAP” column of the display unit 42, and the landing state 90 of the ship 80 and the turning that allows the ship 80 to turn are possible. A circle 92 is displayed. Further, the display unit 42 includes a bird's-eye view of the ship 80, a distance to the pier 72 on the bow side, the center, and the stern side of the ship 80, a moving speed, and the like, a bow side display unit 94, a center display unit 96, and a stern side display unit 98. Is displayed.

図４に示した例においては、次の内容を示している。船首側表示部９４は、船舶８０の船首側が桟橋７２から１３９．５ｍ離れており、毎秒２２ｃｍで白抜きにした点灯矢印１００の方向に、すなわち桟橋７２側に移動していることを示している。また、船尾側表示部部９８は、船尾側が桟橋７２から１４８．８ｍ離れており、毎秒３７ｃｍで白抜きにした点灯矢印１０２の方向に移動していることを示している。   The example shown in FIG. 4 shows the following contents. The bow side display section 94 indicates that the bow side of the ship 80 is 139.5 m away from the pier 72 and is moving in the direction of the lit arrow 100 outlined at 22 cm per second, that is, toward the pier 72 side. . In addition, the stern side display unit 98 indicates that the stern side is 148.8 m away from the pier 72 and is moving in the direction of the lit arrow 102 outlined at 37 cm per second.

一方、中央表示部９６は、船舶８０の中心Ｃが０．６ノットで移動していること、すなわち船舶８０が０．６ノットの速度で前進していることを示している。また、中央表示部９６には、着桟状態９０と船舶８０の現在位置との関係が表示される。すなわち、船舶８０は、現在中心Ｃが着桟状態９０の中心Ｃ０に対して４５．１ｍ手前（進入側）に位置していることを示している。なお、中央表示部９６の白抜きの点灯矢印１０４は、船舶８０の中心Ｃが着桟中心Ｃ０に対して手前にずれていることを示し、消灯矢印１０６は中心Ｃが着桟中心Ｃ０により図の上方になると点灯し、点灯矢印１０４が消灯して行過ぎたことを示す。そして、船舶８０の鳥瞰図には、ベクトル表示を選択することにより、船舶８０の各部分の移動方向、移動速度がベクトル１１０によって示される。 On the other hand, the center display portion 96 indicates that the center C of the ship 80 is moving at 0.6 knots, that is, the ship 80 is moving forward at a speed of 0.6 knots. Further, the center display unit 96 displays the relationship between the landing state 90 and the current position of the ship 80. That is, the ship 80 indicates that the current center C is located 45.1 m before (the entry side) with respect to the center C 0 in the landing state 90. Incidentally, the white lights arrow 104 in the central display portion 96 indicates that the center C of the vessel 80 is deviated forward with respect Chaku桟中center C 0, the off arrows 106 center C Chaku桟中center C 0 When the upper part of the figure is turned on, the light is turned on, and the lighting arrow 104 is turned off to indicate that it has gone too far. In the bird's-eye view of the ship 80, the vector 110 indicates the moving direction and moving speed of each part of the ship 80 by selecting vector display.

このように実施形態の支援システム１０は、操船者が船舶８０の任意の位置（個所）と桟橋７２との距離および、船舶の移動方向、移動速度が表示されるため、船舶８０の操船状態を画像として容易、明確に把握することができ、操船を容易、安全に行なうことができる。しかも、支援システム１０は、船舶位置演算部４６がＧＰＳ衛星２０の情報と、静止衛星２２の補正情報とに基づいて船舶８０の位置を求めるようになっているため、位置の測位誤差が１０ｃｍ程度と高精度な測位を行なうことができ、世界各地の港においても離着桟を安全、容易に行なうことができる。   As described above, the support system 10 according to the embodiment displays the distance between the arbitrary position (location) of the ship 80 and the jetty 72, the moving direction of the ship, and the moving speed. The image can be easily and clearly grasped, and the ship can be maneuvered easily and safely. Moreover, in the support system 10, since the ship position calculation unit 46 obtains the position of the ship 80 based on the information of the GPS satellite 20 and the correction information of the geostationary satellite 22, the positioning error of the position is about 10 cm. It is possible to perform positioning with high accuracy, and it is possible to safely and easily perform the landing rails at ports around the world.

なお、表示制御部５０は、表示部４２に表示されている内容（操船支援情報）を通信部４０の無線ＬＡＮ部６６を介して、船舶８０の船首部や船尾部に配置した操船補助者やタグボートの操船者などが携帯している携帯端末３０に転送し、携帯端末３０の表示パネルに表示する。これにより、より一層船舶８０の離着桟を安全、適正に行なうことができる。また、タグボートの操船者に適切な操船指令を行なうことができ、タグボートの操船者はその指令を確認することができる。さらに、基地局１８においては、表示部４２に表示された操船支援情報を受信して、基地局１８に設置してある表示装置などに表示する。これにより、船舶８０の入出港、離着桟の状態を監視、把握することができ、万一の事故が発生した場合の対応などを迅速にとることができる。   In addition, the display control unit 50 includes a marine vessel maneuvering assistant who arranges the content (steering support information) displayed on the display unit 42 at the bow or stern of the ship 80 via the wireless LAN unit 66 of the communication unit 40. The data is transferred to the portable terminal 30 carried by the tugboat operator and displayed on the display panel of the portable terminal 30. As a result, it is possible to further safely and appropriately carry out the desorption bar of the ship 80. Further, it is possible to issue an appropriate ship maneuvering instruction to the tugboat operator, and the tugboat operator can confirm the instruction. Further, the base station 18 receives the ship maneuvering support information displayed on the display unit 42 and displays it on a display device installed in the base station 18. As a result, it is possible to monitor and grasp the state of entry / exit of the ship 80 and the arrival / departure pier, and it is possible to quickly take measures when an accident occurs.

前記実施形態は、本発明の一態様を示したものであって、これに限定されるものではない。例えば、前記実施形態においては、携帯端末３０を備えている場合について説明したが、携帯端末３０を設けなくともよい。また、前記実施形態においては、基地局１８から得た風に関する情報、海象情報を表示するとともに、操船支援情報を基地局１８で表示できるようにした場合について説明したが、これらの表示を行なわないようにしてもよい。   The above embodiment shows one aspect of the present invention, and the present invention is not limited to this. For example, in the embodiment, the case where the mobile terminal 30 is provided has been described, but the mobile terminal 30 may not be provided. Further, in the above-described embodiment, the case has been described in which the information about the wind obtained from the base station 18 and the sea state information are displayed, and the boat maneuvering support information can be displayed on the base station 18, but these displays are not performed. You may do it.

本発明の実施の形態に係る演算制御部のブロック図である。It is a block diagram of the calculation control part which concerns on embodiment of this invention. 本発明の実施の形態に係る入出港離着桟支援システムの概略ブロック図である。1 is a schematic block diagram of a port entry / exit support system according to an embodiment of the present invention. 実施の形態に係る表示部に表示された入出港支援モードの一例を示す図である。It is a figure which shows an example of the port entry / exit support mode displayed on the display part which concerns on embodiment. 実施の形態に係る表示部に表示された離着桟支援モードの一例を示す図である。It is a figure which shows an example of the doorway support mode displayed on the display part which concerns on embodiment.

符号の説明Explanation of symbols

１０………入出港離着桟支援システム、１２………支援装置部、１４………船速検出部、１６………方位検出部、１８………基地局、２０………ＧＰＳ衛星、２２………静止衛星、２６………受信ユニット、２８………本体部、３０………携帯端末、３２………受信部（衛星信号受信部）、３８………演算制御部、４０………通信部、４２………表示部、４６………船舶位置演算部、４８………距離演算部、５０………表示制御部、５２………情報記憶部、５４………船舶位置記憶部、６０………港湾情報記憶部、６２………船舶情報記憶部、６６………送信部（無線ＬＡＮ部）、７６………避険線、７８………標準航路、８０………船舶。   10 ......... Ports for entering and leaving the port, 12 ......... Supporting equipment, 14 ......... Ship speed detecting unit, 16 ......... Direction detecting unit, 18 ......... Base station, 20 ......... GPS satellite , 22 ......... geostationary satellite, 26 ......... receiver unit, 28 ......... main body, 30 ... ... mobile terminal, 32 ... ... receiver (satellite signal receiver), 38 ... ... calculation control unit, 40 ......... Communication unit, 42 ......... Display unit, 46 ......... Ship position calculation unit, 48 ......... Distance calculation unit, 50 ......... Display control unit, 52 ......... Information storage unit, 54 ... ... Ship position storage section, 60 ......... Port information storage section, 62 ......... Ship information storage section, 66 ......... Transmission section (wireless LAN section), 76 ......... Evacuation line, 78 ......... Standard route , 80 ... ship.

Claims (11)

複数のＧＰＳ衛星の送信する位置情報および時間情報と静止衛星が送信する補正情報とに基づいて求めた船舶の位置を、予め求めてある離着桟する港湾の画像に重ねて表示するとともに、前記船舶が離着桟する岸壁または桟橋と前記船舶との距離、および検出した前記船舶の対地速度、船首方位を表示することを特徴とする船舶の入出港離着桟支援方法。   The position of the ship obtained based on the position information and time information transmitted by a plurality of GPS satellites and the correction information transmitted by the geostationary satellite are displayed in an overlapping manner on the image of the harbor that is obtained in advance, and the above-mentioned A method for supporting an incoming / outgoing port for a ship, which displays a distance between the ship and a quay or pier on which the ship departs / departs, and the detected ground speed and heading of the ship. 請求項１に記載の船舶の入出港離着桟支援方法において、
前記船舶の対地速度は、前記船舶の任意の位置についての対地速度であり、
前記岸壁または前記桟橋と船舶との距離は、目標離着桟位置と前記船舶との距離、前記船舶の任意の位置と前記岸壁または前記桟橋との距離を含んでいる、
ことを特徴とする船舶の入出港離着桟支援方法。 In the method for supporting the arrival / departure berth of a ship according to claim 1,
The ground speed of the ship is a ground speed for an arbitrary position of the ship,
The distance between the quay or the jetty and the ship includes a distance between a target takeoff / pier position and the ship, an arbitrary position of the ship and a distance between the quay or the pier,
A method for supporting the arrival / departure berth of a ship characterized by that. 請求項１または請求項２に記載の船舶の入出港離着桟支援方法において、
前記港湾の画像は、避険線情報および標準航路情報を含むことを特徴とする船舶の入出港離着桟支援方法。 In the method for supporting the arrival / departure berth of a ship according to claim 1 or claim 2,
The image of the port includes evacuation line information and standard route information. 請求項１ないし請求項３のいずれか１に記載の船舶の入出港離着桟支援方法において、
前記港湾の画像に重ねて表示される前記船舶の位置は、現在位置と所定時間後の予測位置とであることを特徴とする船舶の入出港離着桟支援方法。 In the method for supporting the arrival / departure berth of a ship according to any one of claims 1 to 3,
The ship's entry / exit berthing support method, characterized in that the position of the ship displayed superimposed on the harbor image is a current position and a predicted position after a predetermined time. 請求項１ないし請求項４のいずれか１に記載の船舶の入出港離着桟支援方法において、
前記港湾の画像に重ねて表示される前記船舶の位置は、過去の予め定めた時間内における複数の位置を含むことを特徴とする船舶の入出港離着桟支援方法。 In the method for supporting a berthing / leaving port for a ship according to any one of claims 1 to 4,
The ship position displayed on the harbor image in a superimposed manner includes a plurality of positions within a predetermined time in the past, and a ship entry / exit dock support method. 請求項１ないし請求項５のいずれか１に記載の船舶の入出港離着桟支援方法において、
前記船舶の位置と前記港湾の画像とを重ねて表示した画面に、基地局から取得した前記離着桟する港湾の風に関する情報、海象に関する情報を表示することを特徴とする船舶の入出港離着桟支援方法。 In the method for supporting the arrival / departure berth of a ship according to any one of claims 1 to 5,
Entering / leaving the vessel, characterized by displaying on the screen displaying the position of the vessel and the image of the port in a superimposed manner, information on the wind at the port to be detached from the base station and information on the sea state. How to support arrival at the pier. 船舶に搭載されてＧＰＳ衛星の送信する位置情報および時間情報と静止衛星の送信する補正情報とを受信する受信部と、
前記受信部が受信した前記各衛星からの情報に基づいて、前記船舶の現在位置を求める船舶位置演算部と、
前記船舶が離着桟する港湾の情報を記憶している港湾情報記憶部と、
前記船舶位置演算部が求めた船舶位置と前記港湾情報記憶部が記憶している港湾情報とに基づいて、前記船舶が離着桟する岸壁または桟橋と前記船舶との距離を求める距離演算部と、
前記船舶の対地速度を求める船速検出部と、
前記船舶の船首方位を求める方位検出部と、
前記港湾情報記憶部に記憶されている港湾情報に基づいた港湾画像に前記船舶位置演算部の求めた船舶位置を重ねた画像と、前記距離演算部が求めた距離、前記船速検出部が求めた対地速度、前記方位検出部が求めた船首方位とを操船支援情報として表示部に表示する表示制御部と、
を有することを特徴とする船舶の入出港離着桟支援システム。 A receiving unit mounted on a ship for receiving position information and time information transmitted by a GPS satellite and correction information transmitted by a geostationary satellite;
Based on information from each of the satellites received by the receiving unit, a ship position calculating unit for obtaining a current position of the ship;
A port information storage unit that stores information of a port where the ship takes off and docks; and
A distance calculation unit for determining a distance between the ship and a quay or a pier on which the ship is detached, based on the ship position obtained by the ship position calculation unit and the port information stored in the port information storage unit; ,
A ship speed detection unit for obtaining a ground speed of the ship;
An orientation detection unit for obtaining the heading of the ship;
An image obtained by superimposing the ship position obtained by the ship position calculation unit on the harbor image based on the port information stored in the harbor information storage unit, the distance obtained by the distance calculation unit, and the ship speed detection unit obtaining A display control unit that displays the ground speed and the heading obtained by the direction detection unit on the display unit as ship maneuvering support information;
A ship entry / exit berth support system characterized by comprising: 請求項７に記載の船舶の入出港離着桟支援システムにおいて、
前記港湾情報は、前記港湾における避険線情報と前記船舶の標準航路情報とを含んでいることを特徴とする船舶の入出港離着桟支援システム。 In the ship entry / exit berth support system according to claim 7,
The port information includes a line of evacuation lines at the port and standard ship route information of the ship. 請求項７または請求項８に記載の船舶の入出港離着桟支援システムにおいて、
前記距離演算部は、前記船舶の目標離着桟位置と前記船舶との距離を求める離着桟距離演算部を有していることを特徴とする船舶の入出港離着桟支援システム。 In the entry / exit berth support system for a ship according to claim 7 or claim 8,
The said distance calculating part has the arrival / departure / departure berth support system of the ship characterized in that it has an arrival / department pier distance calculation part which calculates | requires the distance of the target takeoff / departure position of the said ship, and the said ship. 請求項７ないし請求項９のいずれか１に記載の船舶の入出港離着桟支援システムにおいて、
前記表示制御部は、送信部に接続され、前記表示部に表示した前記操船支援情報を、前記送信部を介して表示パネルを備えた携帯端末に転送することを特徴とする船舶の入出港離着桟支援システム。 In the entry / exit berthing support system of the ship according to any one of claims 7 to 9,
The display control unit is connected to a transmission unit, and transfers the marine vessel maneuvering support information displayed on the display unit to a portable terminal equipped with a display panel via the transmission unit. Arrival support system. 請求項７ないし請求項１０のいずれか１に記載の船舶の入出港離着桟支援システムにおいて、
前記表示制御部は、通信部に接続され、前記通信部を介して受信した基地局からの風に関する情報と海象情報とを前記表示部に前記操船支援情報の一部として表示するとともに、前記表示部に表示した前記操船支援情報を前記基地局に送信することを特徴とする船舶の入出港離着桟支援システム。 In the entry / exit berthing support system for a ship according to any one of claims 7 to 10,
The display control unit is connected to a communication unit, displays information about wind from a base station and sea state information received via the communication unit on the display unit as part of the ship maneuvering support information, and the display The ship maneuvering support information displayed on the section is transmitted to the base station.
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