Mooring monitoring device, mooring control system, mooring monitoring method, and storage medium

Abstract

The invention provides a tether monitoring device, a mooring control system, a tether monitoring method, and a storage medium. The tether monitoring device can monitor the extending direction of a tether from a hull to a mooring column without using a strain gauge. A processing circuit of a mooring rope monitoring device according to one embodiment is configured to: acquire metal piece coordinate information indicating position coordinates of a mooring metal piece in a hull coordinate system, which is a coordinate system using a hull as a reference; obtaining first mooring column coordinate information, wherein the first mooring column coordinate information represents position coordinates of a mooring column under the absolute coordinate system; obtaining ship body coordinate information, wherein the ship body coordinate information represents the position coordinates of the ship body under the absolute coordinate system; ship body azimuth information is obtained, wherein the ship body azimuth information represents the orientation of the ship body under the absolute coordinate system; acquiring second mooring column coordinate information by converting position coordinates indicated by the first mooring column coordinate information from an absolute coordinate system to a ship body coordinate system on the basis of the ship body coordinate information and the ship body azimuth information; a horizontal angle, which is an angle formed by the extension direction of the mooring rope with respect to the orientation of the hull when viewed in the vertical direction, is calculated from the second mooring column coordinates and the fitting coordinate information.

Description

Technical Field

[0001] The present disclosure relates to a mooring cable monitoring device, a mooring control system, a mooring cable monitoring method and a storage medium. Background Art

[0002] When a ship is moored at a mooring place such as a dock or an offshore base, a mooring cable is installed on at least one mooring metal part on the ship and the tip of the mooring cable is fixed on a mooring column arranged at the mooring place. The mooring cable is wound or unwound by a mooring device arranged on the ship.

[0003] There are known devices for calculating the direction in which the mooring cable extends from the hull to the mooring post. For example, the ship disclosed in Patent Document 1 is equipped with a plurality of winches for respectively winding and pulling out each mooring cable through a plurality of capstans, and a strain gauge is attached to each capstan. In the device of Patent Document 1, the values ​​obtained from the strain gauges are used to solve the simultaneous equations related to the vertical angle formed by the hull and the mooring cable and the horizontal angle formed by the hull and the mooring cable, and the vertical angle and the horizontal angle are calculated.

[0004] Prior art literature: Patent Literature: Patent document 1: Japanese Patent Application Laid-Open No. 61-207290. Summary of the invention

[0005] Problems to be solved by the invention: According to the method disclosed in Patent Document 1, a capstan equipped with a strain gauge is required in order to estimate the direction in which the mooring cable extends from the hull to the mooring post.

[0006] The object of the present disclosure is to provide a mooring cable monitoring device, a mooring control system, a mooring cable monitoring method and a storage medium which can monitor the direction in which the mooring cable extends from the hull to the mooring column without using a strain gauge.

[0007] Means of solving the problem: The mooring cable monitoring device of one form of the present disclosure is a mooring cable monitoring device for monitoring a mooring cable extending from a mooring metal piece on a ship hull to a mooring post at a mooring location, the mooring cable monitoring device having a processing circuit, the processing circuit being configured to: obtain metal piece coordinate information, the metal piece coordinate information representing the position coordinates of the mooring metal piece in a coordinate system based on the ship hull, that is, in a ship hull coordinate system; obtain first mooring post coordinate information, the first mooring post coordinate information representing the position coordinates of the mooring post in an absolute coordinate system; obtain ship hull coordinate information, the ship hull coordinate information representing the position coordinates of the mooring post in an absolute coordinate system; The position coordinates of the hull in the absolute coordinate system are used to obtain hull orientation information, which indicates the orientation of the hull in the absolute coordinate system; based on the hull coordinate information and the hull orientation information, the position coordinates indicated by the first mooring column coordinate information are converted from the absolute coordinate system to the hull coordinate system to obtain second mooring column coordinate information; and the angle formed by the extension direction of the mooring cable relative to the orientation of the hull when observed in the vertical direction, that is, the horizontal angle, is calculated using the second mooring column coordinates and the metal part coordinate information.

[0008] The present invention discloses a mooring control system in one form, which comprises: a mooring cable monitoring device; a propeller mounted on the hull and outputting a thrust for moving the hull; and a mooring device arranged on the hull and capable of winding and withdrawing the mooring cable; the processing circuit of the mooring cable monitoring device is configured to control at least one of the propeller or the mooring device based on the calculated horizontal angle.

[0009] A mooring cable monitoring method according to one aspect of the present disclosure is a mooring cable monitoring method for monitoring a mooring cable extending from a mooring metal fitting on a hull to a mooring post at a mooring location, the method comprising: acquiring metal fitting coordinate information, the metal fitting coordinate information indicating position coordinates of the mooring metal fitting in a coordinate system based on the hull, i.e., a hull coordinate system; acquiring first mooring post coordinate information, the first mooring post coordinate information indicating position coordinates of the mooring post in an absolute coordinate system; acquiring hull coordinate information, the hull coordinate information indicating position coordinates of the hull in the absolute coordinate system; acquiring hull orientation information, the hull orientation information indicating an orientation of the hull in the absolute coordinate system; acquiring second mooring post coordinate information by converting position coordinates indicated by the first mooring post coordinate information from the absolute coordinate system to the hull coordinate system based on the hull coordinate information and the hull orientation information; and calculating an angle, i.e., a horizontal angle, formed by an extending direction of the mooring cable relative to an orientation of the hull when viewed in a vertical direction, using the second mooring post coordinate information and the metal fitting coordinate information.

[0010] Effect of the invention: According to the present disclosure, the direction in which the mooring line extends from the hull to the mooring post can be monitored without using strain gauges. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 1 is a diagram showing a schematic structure of a ship equipped with a mooring rope monitoring device according to an embodiment; Figure 2 is a block diagram showing a schematic structure of a mooring control system; Figure 3 is a block diagram showing the functional structure of a mooring cable monitoring device; Figure 4 is a flow chart showing the flow of a mooring cable monitoring process; Figure 5 is a diagram for explaining a method for calculating the angle formed by the mooring line relative to the bow direction when viewed in the vertical direction; Figure 6 is a table showing examples of combinations of mooring metal fittings and mooring posts corresponding to mooring locations; Figure 7 This is a diagram for explaining a method for calculating the angle formed by the mooring cable with respect to the horizontal plane. DETAILED DESCRIPTION

[0012] Figure 1 1 is a diagram showing a schematic structure of a ship 1 equipped with a mooring monitoring device 10 according to an embodiment. The ship 1 includes a hull 2, a plurality of thrusters 3 that output thrust to move the hull 2, and a plurality of mooring devices 4. Hereinafter, the horizontal direction from the stern toward the bow of the hull 2 ​​is referred to as "forward", the horizontal direction from the bow toward the stern is referred to as "rear", and the horizontal direction orthogonal to the front-rear direction is referred to as "lateral".

[0013] In this embodiment, the plurality of propellers 3 include a main propeller 3A and a side thruster 3B. The main propeller 3A includes a combination of a variable pitch propeller and a rudder. The main propeller 3A can output both thrust in the front-rear direction and thrust in the lateral direction according to the direction of the rudder. The main propeller 3A is arranged on the stern side of the hull 2. The side thruster 3B is arranged on the bow side of the hull 2. The side thruster 3B outputs lateral thrust to the hull 2. In addition, at least one propeller 3 is not limited to the above, and a side thruster may be arranged on the bow side and the stern side of the hull 2, respectively, or a rotary propeller may be arranged on at least one of the bow side and the stern side of the hull 2.

[0014] Each mooring device 4 winds and unwinds the corresponding mooring rope 5. In this embodiment, four mooring devices 4 are arranged on the port and starboard sides of the bow and on the port and starboard sides of the stern, but the number and positions of the mooring devices 4 can be changed as appropriate.

[0015] A plurality of mooring metal parts 6 are arranged on the hull 2. A plurality of mooring posts 7 are arranged at the mooring place P. When the ship is moored, each mooring cable 5 is laid on at least one mooring metal part 6, and the tip end of the mooring cable 5 is stopped at the mooring post 7. Figure 1 In the embodiment, all the mooring cables 5 are installed on two mooring metal parts 6, but the number of mooring metal parts 6 installed on each mooring cable 5 may be one or more than three.

[0016] The mooring metal parts 6 are, for example, stand rollers, fairleads, deck rollers, chocks, etc. The mooring posts 7 are, for example, bitts, bollards, quick release hooks, etc. The mooring cable 5 can be a fiber rope or a metal wire. Examples of the material of the fiber rope include nylon and ultra-high molecular weight polyethylene (HMPE). The mooring cable 5 can be a fiber rope at the tip portion and a metal wire at the rest.

[0017] The ship 1 is equipped with a mooring cable monitoring device 10. When the ship 1 is moored to a mooring place P such as a dock or an offshore base by means of a mooring cable 5, the mooring cable monitoring device 10 monitors the direction extending from the mooring metal fitting 6 on the hull 2 ​​to the mooring post 7 of the mooring place P, that is, the extending direction of the mooring cable 5. In addition, when the mooring cable 5 is installed on a plurality of mooring metal fittings 6, the extending direction of the mooring cable 5 is the direction extending from the mooring metal fitting 6 closest to the mooring post 7 along the mooring cable 5 among the plurality of mooring metal fittings 6 to the mooring post 7.

[0018] The mooring cable monitoring device 10 calculates the horizontal angle α (see Figure 1 The signs of α1, α2, α3, α4) and the vertical angle β (see below Figure 7 ), the horizontal angle α is the angle formed by the extension direction of the mooring cable 5 relative to the direction (i.e., the front) F of the bow of the hull 2 ​​when viewed in the vertical direction, and the vertical angle β is the angle formed by the extension direction of the mooring cable 5 relative to the horizontal plane. In this embodiment, the mooring cable monitoring device 10 constitutes a part of the mooring control system S, which controls at least one control object loaded on the hull 2 ​​based on the calculated horizontal angle α and vertical angle β.

[0019] Figure 2 is a block diagram showing a schematic structure of a mooring control system S. Figure 2As shown, the mooring control system S includes a mooring cable monitoring device 10, a thruster 3, a mooring device 4, an input interface 21, a position sensor 22, an orientation sensor 23, a ship-to-land communication device 24, and a display device 25. The thruster 3, the mooring device 4, the input interface 21, the position sensor 22, the orientation sensor 23, the ship-to-land communication device 24, and the display device 25 are connected to the mooring cable monitoring device 10 by wire or radio.

[0020] The input interface 21 receives input from a user who is a boat operator and outputs an operation signal corresponding to the user's operation. The input interface 21 is implemented by, for example, a joystick, a button, a lever, a mechanical switch, a touch panel display, a mouse or a keyboard, or a sound input device. When the input interface 21 is a touch panel display, the touch panel may further include a display device 25. The input interface 21 may be integrally formed with the mooring monitoring device 10.

[0021] In this embodiment, the user can select a mooring point P from a plurality of predetermined mooring points P via the input interface 21 . The mooring line monitoring device 10 receives the mooring point designation information indicating the mooring point P selected by the user from the input interface 21 .

[0022] The position sensor 22 is a sensor that detects position information indicating the current position of the hull 2 ​​on the earth. Specifically, the position sensor 22 obtains the hull longitude information, the hull latitude information, and the hull height information as the current position of the hull 2. The hull longitude information, the hull latitude information, and the hull height information respectively indicate the latitude, longitude, and height of a specified part of the hull 2. The hull height information is, for example, information related to the altitude or the height that can be converted to the altitude. The specified part of the hull 2 ​​is, for example, the part on the hull 2 ​​where the position sensor 22 is located. The part on the hull 2 ​​where the position sensor 22 is located is not specifically limited.

[0023] The azimuth sensor 23 is a sensor for detecting the bow azimuth of the ship 2. In this embodiment, the azimuth sensor 23 acquires ship azimuth information about the angle (hereinafter referred to as ship azimuth angle ψ) formed by the front of the ship 2 with respect to a predetermined azimuth (eg, true north).

[0024] The position sensor 22 and the azimuth sensor 23 may be integrally formed or may be independent of each other. For example, the position sensor 22 and the azimuth sensor 23 may be a GNSS compass that obtains the longitude and latitude of the hull 2, the height of a predetermined part of the hull 2, and the azimuth of the bow based on radio waves received from the GNSS (Global Navigation Satellite System). That is, the position sensor 22 may be a GNSS receiver built into the GNSS compass. In addition, for example, the position sensor 22 may be a GNSS receiver, and the azimuth sensor 23 may be a geomagnetic sensor independent of the GNSS receiver.

[0025] The ship-to-land communication device 24 communicates with the communication device located at the land base. The ship-to-land communication device 24 can receive various information required for mooring from the communication device located at the land base.

[0026] The display device 25 displays the input contents and calculation results input to the mooring cable monitoring device 10 via the input interface 21. The calculation results include the horizontal angle α and the vertical angle β calculated for each mooring cable 5. The display device 25 adopts at least one well-known display device among various display devices such as a liquid crystal display, a touch panel display, and a head-mounted display. The display device 25 can be integrally formed with the mooring cable monitoring device 10.

[0027] The mooring cable monitoring device 10 has a processor, a memory, an I / O interface, etc. in terms of hardware. The mooring cable monitoring device 10 may have a single processor for centralized control or a plurality of processors for decentralized control. The memory includes, for example, storage such as a hard disk and a flash memory; and a main memory as a RAM. The memory stores various programs executed by the processor. The processor and the memory, etc., of the mooring cable monitoring device 10 are an example of a processing circuit.

[0028] Figure 3 1 is a block diagram showing the functional structure of the mooring cable monitoring device 10. The mooring cable monitoring device 10 functionally includes a data selection unit 11, a projection coordinate acquisition unit 12, a coordinate conversion unit 13, a horizontal angle calculation unit 14, a height difference acquisition unit 15, and a vertical angle calculation unit 16. The data selection unit 11, the projection coordinate acquisition unit 12, the coordinate conversion unit 13, the horizontal angle calculation unit 14, the height difference acquisition unit 15, and the vertical angle calculation unit 16 are realized by the processor performing a calculation process on the mooring cable monitoring program read from the storage to the main memory. The mooring cable monitoring process for calculating the horizontal angle α and the vertical angle β is executed by each of the functional units 11, 12, 13, 14, 15, and 16.

[0029] (Mooring cable monitoring process) For mooring monitoring procedures, refer to Figures 4 to 7 Provide explanation. Figure 4 2 is a flowchart showing the flow of mooring monitoring processing. The mooring monitoring processing of the mooring monitoring device 10 is performed to perform the following mooring operation: when the ship 1 is docked at a mooring place P such as a pier, the mooring rope 5 is stopped at the mooring column 7 of the mooring place P, and the ship 2 is slowly approached to the pier while winding the mooring rope 5 through the mooring equipment 4. In the mooring monitoring processing, the horizontal angle α and the vertical angle β are calculated.

[0030] Figure 52 is a diagram for explaining a method for calculating the horizontal angle α, which is the angle formed by the mooring cable 5 relative to the direction of the bow of the hull 2 ​​when viewed in the vertical direction. Figure 5 In order to simplify the drawings, only one set of mooring cables 5, mooring metal parts 6 and mooring posts 7 is shown among a plurality of sets of mooring cables 5, mooring metal parts 6 and mooring posts 7.

[0031] In the moored ship monitoring process of the present embodiment, an absolute coordinate system Σe and a hull coordinate system Σs based on the orientation of the hull 2 ​​are used. In the present embodiment, as the absolute coordinate system Σe, the Universal Transverse Mercator (UTM) coordinate system, which is one of the projection coordinate systems for projecting the earth onto a plane, is adopted. In the absolute coordinate system Σe of this example, the north is the Xe axis and the east is the Ye axis. Furthermore, in the hull coordinate system Σs of this example, the predetermined reference point of the hull 2 ​​(hereinafter referred to as the hull reference point) is taken as the origin, the front of the hull 2 ​​is the Xs axis, and the right side of the hull 2 ​​is the Ys axis. In addition, the positional relationship between the hull reference point and the position sensor 22 is preset. For example, the hull reference point can be consistent with the position of the position sensor 22.

[0032] like Figure 4 As shown, in the mooring monitoring process, first, the processor of the mooring monitoring device 10 obtains various information (step S1). Specifically, the mooring monitoring device 10 receives the mooring point designation information indicating the mooring point P input by the user via the input interface 21. In addition, the mooring monitoring device 10 receives the ship's longitude information, the ship's latitude information, and the ship's height information from the position sensor 22. In addition, the mooring monitoring device 10 receives the ship's azimuth angle information from the azimuth sensor 23.

[0033] The mooring line monitoring device 10, more specifically the data selection unit 11, selects a data set corresponding to the mooring point P indicated by the mooring point designation information from among a plurality of data sets related to the combination of the mooring post 7 and the mooring metal fitting 6 based on the received mooring point designation information (step S2).

[0034] For data sets related to the combination of mooring column 7 and mooring metal 6, refer to Figure 6 Provide explanation. Figure 6 : is a table showing examples of combinations of mooring metal fittings 6 and mooring posts 7 corresponding to mooring places P. A plurality of data sets are stored in the memory of the mooring line monitoring device 10. The plurality of data sets correspond to a plurality of different mooring places P, respectively. Each data set includes relevant information on the combination of mooring posts 7 and mooring metal fittings 6 of the mooring place P that are mutually erected during the mooring operation at the mooring place P. In this way, for each mooring place P, it is preset which mooring post 7 of the mooring place P and which mooring metal fitting 6 of the hull 2 ​​is to be erected by the mooring line 5. In addition, Figure 6In FIG. 1 , two examples of port A and offshore base B are shown as mooring places P, and two data sets corresponding to the mooring places P are shown, respectively. However, the number of data sets stored in the memory may be three or more.

[0035] Furthermore, each data set includes mooring post longitude information, mooring post latitude information, mooring post height information and metal part coordinate information. The mooring post longitude information indicates the longitude of the mooring post 7, the mooring post latitude information indicates the latitude of the mooring post 7, and the mooring post height information indicates the height h2 of the mooring post 7, that is, the position of the mooring post 7 in the vertical direction. For example, the mooring post height information is information related to the height of the mooring post 7, such as the altitude or the height that can be converted to the altitude. The metal part coordinate information indicates the position coordinates (Xs_m, Ys_m) of the mooring metal part 6 in the hull coordinate system Σs. In this way, by selecting the data set corresponding to the mooring location P, the position information of multiple combinations of mooring posts 7 and mooring metal parts 6 corresponding to each other can be obtained. As Figure 3 As shown, the mooring post longitude information and the mooring post latitude information are used for calculation in the projection coordinate acquisition unit 12 , the mooring post height information is used for calculation in the height difference acquisition unit 15 , and the metal member coordinate information is used for calculation in the horizontal angle calculation unit 14 and the vertical angle calculation unit 16 .

[0036] return Figure 4 The mooring cable monitoring device 10, more specifically, the projection coordinate acquisition unit 12 converts the latitude and longitude of the ship 2 and the latitude and longitude of the mooring column 7 into position coordinates of the absolute coordinate system Σe (step S3).

[0037] Specifically, the projection coordinate acquisition unit 12 converts the longitude and latitude of the hull 2 ​​received from the position sensor 22 into the position coordinates of the position sensor 22 in the absolute coordinate system Σe. The projection coordinate acquisition unit 12 obtains the hull reference point coordinates (Xe_0, Ye_0) in the absolute coordinate system Σe based on the obtained position coordinates of the position sensor 22 in the absolute coordinate system Σe and the predetermined positional relationship between the hull reference point and the position sensor 22. For example, when it is set that the position of the hull reference point is consistent with the position of the position sensor 22, the projection coordinate acquisition unit 12 obtains the position coordinates of the position sensor 22 in the absolute coordinate system Σe obtained by the coordinate conversion as the hull reference point coordinates (Xe_0, Ye_0). In addition, the projection coordinate acquisition unit 12 converts the longitude and latitude of the mooring post 7 in the data set into the position coordinates of the absolute coordinate system Σe, and obtains the mooring post coordinates (Xe_bit, Ye_bit) in the absolute coordinate system Σe (see also). Figure 5 ). In addition, the information representing the coordinates (Xe_bit, Ye_bit) of the mooring column in the absolute coordinate system Σe can also be referred to as the first mooring column coordinate information. Figure 3As shown, information related to the hull reference point coordinates (Xe_0, Ye_0) and information related to the mooring column coordinates (Xe_bit, Ye_bit) in the absolute coordinate system Σe are used for calculation in the coordinate conversion unit 13.

[0038] Next, the mooring monitoring device 10, more specifically, the coordinate conversion unit 13 converts the position coordinates of the mooring post 7 in the absolute coordinate system Σe, i.e., the mooring post coordinates (Xe_bit, Ye_bit), into the position coordinates of the mooring post 7 in the hull coordinate system Σs, i.e., the mooring post coordinates (Xs_bit, Ys_bit) (step S4). Specifically, the coordinate conversion unit 13 obtains the mooring post coordinates in the hull coordinate system Σs by the following formula (1).

[0039] [Formula 1]

[0040] Here, Xe_0 is the Xe coordinate of the hull reference point in the absolute coordinate system Σe, and Ye_0 is the Ye coordinate of the hull reference point in the absolute coordinate system Σe. Xe_bit is the Xe coordinate of the mooring column 7 in the absolute coordinate system Σe, and Ye_bit is the Ye coordinate of the mooring column 7 in the absolute coordinate system Σe. Xs_bit is the Xs coordinate of the mooring column 7 in the hull coordinate system Σs, and Ys_bit is the Ys coordinate of the mooring column 7 in the hull coordinate system Σs. ψ is the hull azimuth, which indicates how much the Xe axis of the absolute coordinate system Σe must be rotated clockwise to match the direction of the Xs axis of the hull coordinate system Σs.

[0041] In addition, the information related to the position coordinates (Xs_bit, Ys_bit) of the mooring column 7 in the ship coordinate system Σs can also be referred to as the second mooring column coordinate information. Figure 3 As shown, information on the position coordinates (Xs_bit, Ys_bit) of the mooring column 7 in the ship coordinate system Σs is used for calculations in the horizontal angle calculation unit 14 and the vertical angle calculation unit 16 .

[0042] like Figure 4 As shown, after obtaining the position coordinates (Xs_bit, Ys_bit) of the mooring post 7 in the hull coordinate system Σs, the mooring cable monitoring device 10, more specifically, the horizontal angle calculation unit 14, calculates the horizontal angle α (step S5) based on the position coordinates (Xs_bit, Ys_bit) of the mooring post 7 in the hull coordinate system Σs and the position coordinates (Xs_m, Ys_m) of the mooring metal fitting 6 in the hull coordinate system Σs obtained in step S2. Specifically, the horizontal angle calculation unit 14 obtains the horizontal angle α by the following formula (2).

[0043] [Formula 2] α=atan2(Ys_bit-Ys_m,Xs_bit-Xs_m)(2)

[0044] Next, the mooring rope monitoring device 10, more specifically, the vertical angle calculation unit 16 calculates the vertical angle β (step S6).

[0045] For the calculation method of the vertical angle β, refer to Figure 7 Provide explanation. Figure 7 2 shows a state where the mooring metal fitting 6 and the mooring post 7 are installed between the mooring metal fitting 6 and the mooring post 7 in a direction perpendicular to and horizontal to the portion between the mooring metal fitting 6 and the mooring post 7 on the mooring cable 5. The height difference acquisition unit 15 calculates the height of the mooring metal fitting 6 based on a predetermined portion of the hull 2 ​​indicated by the hull height information received from the position sensor 22, in this example, the height h1 of the position sensor 22. Since the positional relationship between the position sensor 22 and the mooring metal fitting 6 is predetermined, it is easy to calculate the height of the mooring metal fitting 6 based on the height h1 of the position sensor 22. For example, when the mooring metal fitting 6 and the position sensor 22 are located at the same height, the height h1 detected by the position sensor 22 can be used as the height of the mooring metal fitting 6.

[0046] The height difference acquisition unit 15 calculates the height difference H between the mooring metal fitting 6 and the mooring post 7 based on the obtained height of the mooring metal fitting 6 and the height h2 of the mooring post 7 indicated by the mooring post height information of the data set. The height difference information indicating the calculated height difference H is used for calculation by the vertical angle calculation unit 16 (see Figure 3 ).

[0047] The vertical angle calculation unit 16 calculates the distance in the horizontal direction between the mooring metal fitting 6 and the mooring post 7, that is, the horizontal distance L. The vertical angle calculation unit 16 obtains the horizontal distance L by the following equation (3).

[0048] [Formula 3]

[0049] The vertical angle calculation unit 16 calculates the vertical angle β based on the horizontal distance L between the mooring metal fitting 6 and the mooring post 7 and the height difference H between the mooring metal fitting 6 and the mooring post 7. Specifically, the vertical angle calculation unit 16 obtains the vertical angle β using the following equation (4).

[0050] [Formula 4]

[0051] In addition, the aforementioned steps S3 to S6 are performed for all mooring cables 5 used when mooring the ship, that is, all combinations of mooring posts 7 and mooring metal parts 6 including the data set. By repeatedly executing steps S1 to S6, the horizontal angle α and the vertical angle β can be monitored in real time. In addition, the selection of the data set in step S2 only needs to be performed once at the beginning, and can be skipped thereafter.

[0052] The mooring cable monitoring device 10 is configured to control at least one of the thrusters 3 or the mooring equipment 4 based on the calculated horizontal angle α and vertical angle β. For example, the mooring cable monitoring device 10 can control a plurality of thrusters 3, a plurality of mooring equipment 4, or a plurality of thrusters 3 and a plurality of mooring equipment 4 in such a manner that the calculated horizontal angle α and vertical angle β are close to the preset horizontal angle and vertical angle when the mooring operation is completed. Thus, the automation of the mooring operation or partial automation of the mooring operation can be realized, and the burden on the user during the mooring operation can be reduced.

[0053] As described above, the mooring cable monitoring device 10 of the present embodiment can calculate the horizontal angle α and the vertical angle β, which are the angles formed by the extending direction of the mooring cable 5 relative to the direction of the bow of the hull 2 ​​when viewed in the vertical direction, and the vertical angle β, which are the angles formed by the extending direction of the mooring cable 5 relative to the horizontal plane, based on the position of the hull 2, the azimuth of the hull 2, the position of the mooring metal fitting 6 on the hull 2, and the position of the mooring post 7. Therefore, the extending direction of the mooring cable from the mooring metal fitting 6 of the hull 2 ​​to the mooring post can be monitored without using a strain gauge.

[0054] Furthermore, in this embodiment, a data set related to the combination of the mooring post 7 and the mooring metal fitting 6 installed by the mooring rope 5 corresponding to the mooring place P is stored in advance, so the user can save the time of determining the combination of the mooring post 7 and the mooring metal fitting 6.

[0055] (Other embodiments) The present disclosure is not limited to the aforementioned embodiments, and the structures thereof may be changed, added or deleted.

[0056] For example, in the above-mentioned embodiment, the mooring cable monitoring device 10 calculates both the horizontal angle α and the vertical angle β, but the mooring cable monitoring device 10 may also calculate only the horizontal angle α of the horizontal angle α and the vertical angle β. At this time, the processor of the mooring monitoring device 10 may not obtain information related to the height of the mooring column and information related to the height of the mooring metal member that are not used in the calculation of the horizontal angle α. For example, the data set may not include the mooring column height information. For example, when a ship with a low height of the mooring metal member is moored, even if the positional relationship between the ship and the mooring place changes, the height difference between the mooring metal member and the mooring column does not change much. Therefore, the angle formed by the extension direction of the mooring cable relative to the horizontal plane can be removed from the monitoring object. The mooring cable monitoring device 10 can control at least one of the thruster 3 or the mooring equipment 4 based on the calculated horizontal angle α.

[0057] In the above implementation, the UTM coordinate system is used as the absolute coordinate system, but the absolute coordinate system is not limited thereto. For example, the absolute coordinate system may also be a Universal Polar Stereographic (UPS) coordinate system, a Cartesian coordinate system or other known projection coordinate systems.

[0058] In the above embodiment, the user selects a mooring point P from a plurality of predetermined mooring points P via the input interface, and the data selection unit 11 selects a data set corresponding to the mooring point P selected by the user from a plurality of data sets related to the combination of the mooring column 7 and the mooring metal member 6. However, the mooring point P may not be selected manually by the user, but may be automatically selected by the mooring line monitoring device. In this case, the processor of the mooring line monitoring device may specifically specify a mooring point near the hull position information based on the hull position information obtained from the position sensor such as the GNSS sensor, and may also select a data set corresponding to the specifically specified mooring point from a plurality of data sets. Furthermore, the user may also select a data set itself for mooring monitoring processing from a plurality of data sets, instead of a mooring point.

[0059] Furthermore, the plurality of data sets related to the combination of the mooring post 7 and the mooring metal fitting 6 may not be pre-stored in the memory of the mooring line monitoring device 10. For example, the mooring line monitoring device 10 may receive a data set corresponding to the mooring location from other devices on the ship or from a land base via the ship-to-land communication device 24 before or during the mooring operation, and store the data set in the memory. When the mooring line monitoring device 10 receives the data set from the land base, the process of selecting a data set corresponding to the mooring location from the plurality of data sets related to the combination of the mooring post and the mooring metal fitting may be executed in a computer on the land base.

[0060] The method of obtaining the height difference between the mooring metal fitting and the mooring column is not limited to that described in the above embodiment. For example, the height of the mooring metal fitting may not be obtained from the ship height information obtained by the position sensor 22. The position sensor may not obtain the ship height information.

[0061] For example, the height of the mooring metal part may change according to the tide level. The mooring cable monitoring device 10 may also obtain tide level information related to the tide level of the harbor of the mooring location P, and use the tide level information to obtain the height difference between the mooring metal part and the mooring column. For example, the mooring cable monitoring device 10 may receive tide level information from a land base via the ship-to-land communication device 24. For example, the mooring cable monitoring device 10 may pre-store correspondence information indicating the correspondence between the tide level and the height difference between the mooring metal part and the mooring column, and may refer to the correspondence information to obtain the height difference corresponding to the tide level.

[0062] For example, the height of the mooring metal part may vary according to the loading of the ship. Therefore, the mooring cable monitoring device 10 may obtain loading information related to the loading of the ship, and use the loading information to obtain the height difference between the mooring metal part and the mooring column. For example, the mooring cable monitoring device 10 may pre-store correspondence information indicating the correspondence between the weight or quantity of the loading and the height difference between the mooring metal part and the mooring column, and may refer to the correspondence information to obtain the height difference corresponding to the weight or quantity of the loading.

[0063] The mooring line monitoring device 10 may also use both tide level information and loading information to obtain the height difference between the mooring metal parts and the mooring column.

[0064] Furthermore, the height of the mooring metal fitting may be a fixed value pre-stored in the memory.

[0065] The display device 25 may not display the calculation result of the mooring rope monitoring device 10. Furthermore, the display device 25 and the mooring rope monitoring device 10 may be non-electrically connected. Furthermore, the ship-to-land communication device 24 and the mooring rope monitoring device 10 may be non-electrically connected.

[0066] The order of steps S1 to S6 of the mooring rope monitoring process described in the above embodiment is not limited to the above description.

[0067] In the above embodiment, the mooring line monitoring device 10 may not control the thruster 3 and the mooring equipment 4. The mooring line monitoring device 10 may output the calculated horizontal angle α to a device independent of the mooring line monitoring device 10 that controls the thruster 3 or the mooring equipment 4.

[0068] In the above embodiment, the mooring cable monitoring device is mounted on the ship, but the mooring cable monitoring device may also be installed on land. In this case, the mooring cable monitoring device may receive various information such as the ship's coordinate information and the ship's orientation information from the ship via the ship-to-land communication device. When the mooring cable monitoring device is installed on land, the mooring cable monitoring device generates a control command based on the horizontal angle and sends the control command to the ship, thereby remotely controlling at least one of the propulsion device or the mooring device.

[0069] The functions of the elements disclosed in this specification can be performed using a circuit or processing circuit that includes a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), an existing circuit, or any combination thereof that is constructed or programmed to perform the disclosed functions. The processor is considered to be a processing circuit or circuit because it includes transistors or other circuits. In the present disclosure, a circuit, unit, or means is hardware that performs the listed functions, or hardware that is programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or it may be other known hardware that is programmed or constructed to perform the listed functions. When the hardware is considered to be a processor of a circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used in the construction of the hardware and / or processor.

[0070] The program including the commands for executing the method disclosed in this specification can be stored in a non-transitory computer-readable storage medium. Non-transitory computer-readable storage media include, for example: disks such as hard disk drives; optical disks such as CD-ROMs, DVDs, and Blu-ray disks; read-only memories (ROMs); random access memories (RAMs); EPROMs; EEPROMs; magnetic cards; flash memory; optical cards; and any type of medium suitable for storing electronic commands.

[0071] [Public form] The following aspects are disclosures of preferred embodiments.

[0072] [Form 1] A mooring cable monitoring device is a mooring cable monitoring device for monitoring the mooring cable extending from a mooring metal part on a ship hull to a mooring post at a mooring location; The mooring cable monitoring device is provided with a processing circuit; The processing circuit is composed of: Acquiring metal component coordinate information, where the metal component coordinate information represents the position coordinates of the mooring metal component in a coordinate system based on the hull, that is, in the hull coordinate system; Acquire first mooring column coordinate information, where the first mooring column coordinate information represents the position coordinates of the mooring column in an absolute coordinate system; Acquire hull coordinate information, where the hull coordinate information represents the position coordinates of the hull in the absolute coordinate system; Acquire hull orientation information, where the hull orientation information indicates the orientation of the hull in the absolute coordinate system; Based on the hull coordinate information and the hull orientation information, acquiring second mooring column coordinate information by converting the position coordinates indicated by the first mooring column coordinate information from the absolute coordinate system to the hull coordinate system; The angle formed by the extending direction of the mooring cable relative to the direction of the hull when viewed in the vertical direction, that is, the horizontal angle, is calculated using the second mooring column coordinates and the metal member coordinate information.

[0073] According to this configuration, the extending direction of the mooring cable from the ship body to the mooring post can be monitored without using a strain gauge.

[0074] [Form 2] According to the mooring cable monitoring device described in form 1, The processing circuit is composed of: Acquiring height difference information, wherein the height difference information indicates a height difference between the mooring metal member and the mooring column; The angle formed by the extension direction of the mooring cable relative to the horizontal plane, that is, the vertical angle, is calculated using the second mooring column coordinates, the height difference information, and the metal component coordinate information.

[0075] According to this configuration, the extending direction of the mooring cable from the ship body to the mooring post can be monitored with higher accuracy.

[0076] [Form 3] According to the mooring rope monitoring device described in form 1 or 2, The processing circuit pre-stores a plurality of data sets corresponding to the plurality of mooring locations respectively; The data set includes information related to the combination of the mooring post and the mooring metal piece; The processing circuit is composed of: selecting one of the plurality of data sets; Based on the selected data set, the coordinate information of the metal part and the coordinate information of the first mooring column are obtained.

[0077] According to this configuration, since data sets related to combinations of mooring posts and mooring fittings installed by mooring cables corresponding to mooring locations are stored in advance, the user can save time and effort in determining the combinations of mooring posts and mooring fittings.

[0078] [Form 4] A mooring control system, comprising: A mooring rope monitoring device as described in any one of forms 1 to 3; a propeller mounted on the hull and outputting a thrust for moving the hull; and A mooring device disposed on the hull and capable of winding and drawing out the mooring cable; The processing circuit of the mooring cable monitoring device is configured to control at least one of the propulsion device and the mooring equipment based on the calculated horizontal angle.

[0079] [Form 5] A mooring cable monitoring method is used to monitor a mooring cable extending from a mooring metal part on a ship hull to a mooring post at a mooring location, comprising: Acquiring metal component coordinate information, where the metal component coordinate information represents the position coordinates of the mooring metal component in a coordinate system based on the hull, that is, in the hull coordinate system; Acquire first mooring column coordinate information, where the first mooring column coordinate information represents the position coordinates of the mooring column in an absolute coordinate system; Acquire hull coordinate information, where the hull coordinate information represents the position coordinates of the hull in the absolute coordinate system; Acquire hull orientation information, where the hull orientation information indicates the orientation of the hull in the absolute coordinate system; Based on the hull coordinate information and the hull orientation information, acquiring second mooring column coordinate information by converting the position coordinates indicated by the first mooring column coordinate information from the absolute coordinate system to the hull coordinate system; The angle formed by the extending direction of the mooring cable relative to the direction of the hull when viewed in the vertical direction, that is, the horizontal angle, is calculated using the second mooring column coordinates and the metal member coordinate information.

[0080] [Form 6] A storage medium stores a mooring cable monitoring program including instructions for the mooring cable monitoring method according to Embodiment 5 when executed by at least one computer.

Claims

1. A mooring cable monitoring device, characterized in that: It is a mooring rope monitoring device that monitors the mooring rope extending from the mooring metal parts on the hull to the mooring post at the mooring place; The mooring cable monitoring device is provided with a processing circuit; The processing circuit is composed of: Acquiring metal component coordinate information, where the metal component coordinate information represents the position coordinates of the mooring metal component in a coordinate system based on the hull, that is, in the hull coordinate system; Acquire first mooring column coordinate information, where the first mooring column coordinate information represents the position coordinates of the mooring column in an absolute coordinate system; Acquire hull coordinate information, where the hull coordinate information represents the position coordinates of the hull in the absolute coordinate system; Acquire hull orientation information, where the hull orientation information indicates the orientation of the hull in the absolute coordinate system; Based on the hull coordinate information and the hull orientation information, acquiring second mooring column coordinate information by converting the position coordinates indicated by the first mooring column coordinate information from the absolute coordinate system to the hull coordinate system; The angle formed by the extending direction of the mooring cable relative to the direction of the hull when viewed in the vertical direction, that is, the horizontal angle, is calculated using the second mooring column coordinates and the metal member coordinate information.

2. The mooring cable monitoring device according to claim 1, characterized in that: The processing circuit is composed of: Acquiring height difference information, wherein the height difference information indicates a height difference between the mooring metal member and the mooring column; The angle formed by the extension direction of the mooring cable relative to the horizontal plane, that is, the vertical angle, is calculated using the second mooring column coordinates, the height difference information, and the metal component coordinate information.

3. The mooring cable monitoring device according to claim 1 or 2, characterized in that: The processing circuit pre-stores a plurality of data sets corresponding to the plurality of mooring locations respectively; The data set includes information related to the combination of the mooring post and the mooring metal piece; The processing circuit is composed of: selecting one of the plurality of data sets; Based on the selected data set, the coordinate information of the metal part and the coordinate information of the first mooring column are obtained.

4. A mooring control system, characterized in that: The mooring control system has: The mooring cable monitoring device according to claim 1 or 2; a propeller mounted on the hull and outputting a thrust for moving the hull; and A mooring device is arranged on the hull and can perform winding and pulling out of the mooring cable; the processing circuit of the mooring cable monitoring device is configured to control at least one of the propeller or the mooring device based on the calculated horizontal angle.

5. A mooring cable monitoring method, characterized in that: The invention is a mooring rope monitoring method for monitoring a mooring rope extending from a mooring metal part on a ship hull to a mooring post at a mooring location, comprising: Acquiring metal component coordinate information, where the metal component coordinate information represents the position coordinates of the mooring metal component in a coordinate system based on the hull, that is, in the hull coordinate system; Acquire first mooring column coordinate information, where the first mooring column coordinate information represents the position coordinates of the mooring column in an absolute coordinate system; Acquire hull coordinate information, where the hull coordinate information represents the position coordinates of the hull in the absolute coordinate system; Acquire hull orientation information, where the hull orientation information indicates the orientation of the hull in the absolute coordinate system; Based on the hull coordinate information and the hull orientation information, acquiring second mooring column coordinate information by converting the position coordinates indicated by the first mooring column coordinate information from the absolute coordinate system to the hull coordinate system; and The angle formed by the extending direction of the mooring cable relative to the direction of the hull when viewed in the vertical direction, that is, the horizontal angle, is calculated using the second mooring column coordinates and the metal member coordinate information.

6. A storage medium, characterized in that: When executed by at least one computer, a mooring cable monitoring program is stored that includes instructions for implementing the mooring cable monitoring method of claim 5 .

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