Mooring cable monitoring device, mooring control system, and mooring cable monitoring program

Abstract

To monitor an extending direction of a mooring cable from a hull to a mooring post without using strain gauges.SOLUTION: A processing circuit of a mooring cable monitoring device according to one aspect is configured to acquire hardware coordinate information indicating a positional coordinate of a mooring hardware in a hull coordinate system that is the coordinate system relative to a hull, acquire first mooring post coordinate information indicating a positional coordinate of a mooring post in an absolute coordinate system, acquire hull coordinate information indicating a positional coordinate of the hull in the absolute coordinate system, acquire hull azimuth information indicating a hull direction in the absolute coordinate system, acquire second mooring post coordinate information by converting the positional coordinate indicated by the first mooring post coordinate information to the hull coordinate system from the absolute coordinate system based on the hull coordinate information and on the hull azimuth information, and calculate the horizontal angle that is an angle made by the extending direction of the mooring cable with respect to the hull direction seen from the vertical direction based on the second mooring post coordinate and the hardware coordinate information.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a mooring line monitoring device, a mooring control system, and a mooring line monitoring program. [Background technology]

[0002] When a ship is moored at a destination such as a quay or an offshore base, a mooring line is hung over at least one mooring hardware on the ship's hull, and the end of the mooring line is fastened to a mooring post located at the destination. The mooring line is wound in and out by a mooring machine installed on the ship's hull.

[0003] There is a known device that calculates the direction in which a mooring line extends from a hull to a mooring bollard. For example, the ship disclosed in Patent Document 1 is equipped with multiple winches that reel in and pay out each mooring line via multiple capstans, and each capstan is equipped with a strain gauge. The device in Patent Document 1 uses values ​​obtained from the strain gauges to solve simultaneous equations related to the vertical angle between the hull and the mooring line and the horizontal angle between the hull and the mooring line, thereby calculating the vertical angle and the horizontal angle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 61-207290 Summary of the Invention [Problem to be solved by the invention]

[0005] In the method disclosed in Patent Document 1, a capstan equipped with a strain gauge is required to determine the direction in which the mooring line extends from the hull to the mooring post.

[0006] The present disclosure aims to provide a mooring line monitoring device, a mooring control system, and a mooring line monitoring program that can monitor the direction in which a mooring line extends from a hull to a mooring post without using a strain gauge. [Means for solving the problem]

[0007] A mooring line monitoring device according to one embodiment of the present disclosure is a mooring line monitoring device that monitors mooring lines extending from mooring hardware on a hull to a mooring bollard at a mooring destination, the mooring line monitoring device having a processing circuit, which is configured to acquire hardware coordinate information indicating the position coordinate of the mooring hardware in a hull coordinate system, which is a coordinate system based on the hull, acquire first mooring bollard coordinate information indicating the position coordinate of the mooring bollard in an absolute coordinate system, acquire hull coordinate information indicating the position coordinate of the hull in the absolute coordinate system, acquire hull heading information indicating the orientation of the hull in the absolute coordinate system, acquire second mooring bollard coordinate information by converting the position coordinate indicated by the first mooring bollard coordinate information from the absolute coordinate system to the hull coordinate system based on the hull coordinate information and the hull heading information, and calculate a horizontal angle, which is the angle made by the extension direction of the mooring line with respect to the orientation of the hull when viewed vertically, using the second mooring bollard coordinate and the hardware coordinate information.

[0008] A mooring control system according to one embodiment of the present disclosure is a mooring control system comprising the mooring line monitoring device, a propulsion motor mounted on the hull and outputting thrust to move the hull, and a mooring machine arranged on the hull and capable of winding and paying out the mooring line, wherein the processing circuit of the mooring line monitoring device is configured to control at least one of the propulsion motor or the mooring machine based on the calculated horizontal angle.

[0009] A mooring line monitoring program according to one embodiment of the present disclosure is a mooring line monitoring program for monitoring mooring lines extending from mooring hardware on a hull to a mooring bollard at a mooring destination, and causes a computer to perform the following operations: acquire hardware coordinate information indicating the position coordinate of the mooring hardware in a hull coordinate system, which is a coordinate system based on the hull; acquire first mooring bollard coordinate information indicating the position coordinate of the mooring bollard in an absolute coordinate system; acquire hull coordinate information indicating the position coordinate of the hull in the absolute coordinate system; acquire hull orientation information indicating the direction of the hull in the absolute coordinate system; acquire second mooring bollard coordinate information by converting the position coordinate indicated by the first mooring bollard coordinate information from the absolute coordinate system to the hull coordinate system based on the hull coordinate information and the hull orientation information; and calculate a horizontal angle, which is the angle made by the extension direction of the mooring line with respect to the direction of the hull when viewed vertically, using the second mooring bollard coordinate and the hardware coordinate information. Effect of the Invention

[0010] 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] FIG. 1 is a diagram showing a schematic configuration of a ship equipped with a mooring line monitoring device according to one embodiment. [Diagram 2] FIG. 2 is a block diagram showing a schematic configuration of the mooring control system. [Diagram 3] FIG. 3 is a block diagram showing a functional configuration of the mooring line monitoring device. [Figure 4] FIG. 4 is a flowchart showing the flow of the mooring line monitoring process. [Diagram 5] FIG. 5 is a diagram for explaining a method for calculating the angle that a mooring rope makes with respect to the direction of the bow when viewed vertically. [Figure 6] FIG. 6 is a table showing examples of combinations of mooring hardware and mooring bollards corresponding to mooring destinations. [Figure 7]FIG. 7 is a diagram for explaining a method for calculating the angle that a mooring line makes with respect to a horizontal plane. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 1 is a diagram showing a schematic configuration of a ship 1 equipped with a mooring line monitoring device 10 according to one embodiment. The ship 1 comprises a hull 2, a plurality of propulsion units 3 that output thrust to move the hull 2, and a plurality of mooring units 4. Hereinafter, the horizontal direction from the stern to the bow of the hull 2 ​​will be referred to as the "forward direction", the horizontal direction from the bow to the stern will be referred to as the "rearward direction", and the horizontal direction perpendicular to the fore-aft direction will be referred to as the "lateral direction".

[0013] In this embodiment, the multiple propulsion units 3 include a main propulsion unit 3A and a side thruster 3B. The main propulsion unit 3A includes a combination of a controllable pitch propeller and a rudder. The main propulsion unit 3A can output both longitudinal thrust and lateral thrust depending on the direction of the rudder. The main propulsion unit 3A is disposed on the stern side of the hull 2. The side thruster 3B is disposed on the bow side of the hull 2. The side thruster 3B outputs lateral thrust to the hull 2. Note that the at least one propulsion unit 3 is not limited to the above, and a side thruster may be disposed on each of the bow side and the stern side of the hull 2, or a slew type thruster may be disposed on at least one of the bow side and the stern side of the hull 2.

[0014] Each mooring machine 4 winds and unwinds a corresponding mooring rope 5. In this embodiment, four mooring machines 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 machines 4 can be changed as appropriate.

[0015] A plurality of mooring hardware 6 are arranged on the hull 2. A plurality of mooring posts 7 are also arranged at the mooring destination P. When mooring, each mooring line 5 is hung on at least one mooring hardware 6, and the end of the mooring line 5 is anchored to the mooring post 7. In FIG. 1, all of the mooring lines 5 are hung on two mooring hardware 6, but the number of mooring hardware 6 across which each mooring line 5 is hung may be one or three or more.

[0016] The mooring hardware 6 is, for example, a stand roller, a fairlead, a deck roller, or a chock. The mooring post 7 is, for example, a bitt, a bollard, or a quick release hook. The mooring line 5 may be a fiber rope or a metal wire. Examples of the material for the fiber rope include nylon and ultra-high molecular weight polyethylene (HMPE). The mooring line 5 may have a tip portion made of a fiber rope and the majority of the remaining portion made of wire.

[0017] The ship 1 is equipped with a mooring line monitoring device 10. When the ship 1 is moored by a mooring line 5 to a mooring destination P such as a quay or an offshore base, the mooring line monitoring device 10 monitors the extension direction of the mooring line 5, which is the direction extending from a mooring hardware 6 on the hull 2 ​​to a mooring post 7 at the mooring destination P. When the mooring line 5 is hung across multiple mooring hardware 6, the extension direction of the mooring line 5 is the direction extending from the mooring hardware 6 that is closest to the mooring post 7 among the multiple mooring hardware 6 along the mooring line 5 to the mooring post 7.

[0018] The mooring line monitoring device 10 calculates, for each mooring line 5, a horizontal angle α (see symbols α1, α2, 3, and α4 in FIG. 1) which is the angle that the extension direction of the mooring line 5 makes with respect to the direction of the bow of the hull 2 ​​(i.e., the forward direction) F when viewed vertically, and a vertical angle β (see FIG. 7 described below) which is the angle that the extension direction of the mooring line 5 makes with respect to a horizontal plane, as the extension direction of the mooring line 5. In this embodiment, the mooring line monitoring device 10 constitutes part of a mooring control system S which controls at least one control object mounted on the hull 2 ​​based on the calculated horizontal angle α and vertical angle β.

[0019] Fig. 2 is a block diagram showing a schematic configuration of the mooring control system S. As shown in Fig. 2, the mooring control system S includes a mooring line monitoring device 10, a propulsion machine 3, a mooring machine 4, an input interface 21, a position sensor 22, an orientation sensor 23, a ship-to-shore communication device 24, and a display device 25. The propulsion machine 3, the mooring machine 4, the input interface 21, the position sensor 22, the orientation sensor 23, the ship-to-shore communication device 24, and the display device 25 are electrically connected to the mooring line monitoring device 10 by wire or wirelessly.

[0020] The input interface 21 accepts input from a user who is the vessel operator, and outputs an operation signal according to the user's operation. The input interface 21 is realized, for example, by a joystick, a button, a lever, a mechanical switch, a touch panel display, a mouse or a keyboard, or a voice input device. When the input interface 21 is a touch panel display, the touch panel may also include the display device 25. The input interface 21 may be configured integrally with the mooring line monitoring device 10.

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

[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 acquires hull longitude information, hull latitude information, and hull height information as the current position of the hull 2. The hull longitude information, hull latitude information, and hull height information indicate the longitude, latitude, and height at which a specific point of the hull 2 ​​is located, respectively. The hull height information is, for example, information on altitude or height that can be converted to altitude. The specific point of the hull 2 ​​is, for example, the location at which the position sensor 22 on the hull 2 ​​is located. There is no particular limitation on the location at which the position sensor 22 on the hull 2 ​​is located.

[0023] The orientation sensor 23 is a sensor that detects the bow orientation of the hull 2. In this embodiment, the orientation sensor 23 acquires hull orientation angle information relating to the angle (hereinafter referred to as the hull orientation angle ψ) that the forward direction of the hull 2 ​​makes with respect to a predetermined orientation (e.g., due north).

[0024] The position sensor 22 and the orientation sensor 23 may be configured as an integral unit or may be separate from each other. For example, the position sensor 22 and the orientation sensor 23 may be a single GNSS compass that acquires the longitude and latitude of the hull 2, the height of a specific point on the hull 2, and the heading direction based on radio waves received from a Global Navigation Satellite System (GNSS). In other words, the position sensor 22 may be a GNSS receiver built into the GNSS compass. Also, for example, the position sensor 22 may be a GNSS receiver, and the orientation sensor 23 may be a geomagnetic sensor that is separate from the GNSS receiver.

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

[0026] The display device 25 displays the input contents inputted to the mooring line monitoring device 10 via the input interface 21, the calculation results, and the like. The calculation results include the horizontal angle α and the vertical angle β calculated for each mooring line 5. At least one type of known display device selected from various display devices such as a liquid crystal display, a touch panel display, and a head-mounted display is adopted as the display device 25. The display device 25 may be configured integrally with the mooring line monitoring device 10.

[0027] In terms of hardware, the mooring line monitoring device 10 has a processor, a memory, an I / O interface, and the like. The mooring line monitoring device 10 may have a single processor that performs centralized control, or may have multiple processors that perform distributed control. The memory includes, for example, storage such as a hard disk or flash memory, and a main memory such as RAM. The storage stores various programs executed by the processor. The processor and the memory possessed by the mooring line monitoring device 10 are examples of processing circuits.

[0028] 3 is a block diagram showing the functional configuration of the mooring line monitoring device 10. In terms of functions, the mooring line monitoring device 10 has a data selection unit 11, a projected coordinate acquisition unit 12, a coordinate conversion unit 13, a horizontal angle calculation unit 14, an elevation difference acquisition unit 15, and a vertical angle calculation unit 16. The data selection unit 11, the projected coordinate acquisition unit 12, the coordinate conversion unit 13, the horizontal angle calculation unit 14, the elevation difference acquisition unit 15, and the vertical angle calculation unit 16 are realized by the processor performing calculations on a mooring line monitoring program read from the storage to the main memory. The functional units 11, 12, 13, 14, 15, and 16 execute a mooring line monitoring process for calculating the horizontal angle α and the vertical angle β.

[0029] (Mooring line monitoring process) The mooring line monitoring process will be described with reference to Figs. 4 to 7 as appropriate. Fig. 4 is a flowchart showing the flow of the mooring line monitoring process. The mooring line monitoring process by the mooring line monitoring device 10 is executed in order to perform mooring work when the ship 1 is docked at a mooring destination P such as a quay, in which the mooring line 5 is secured to a mooring post 7 at the mooring destination P, and the mooring machine 4 is used to reel in the mooring line 5 while slowly moving the hull 2 ​​closer to the quay. In the mooring line monitoring process, a horizontal angle α and a vertical angle β are calculated.

[0030] Fig. 5 is a diagram explaining a method for calculating the horizontal angle α, which is the angle that the mooring rope 5 makes with respect to the direction of the bow of the hull 2 ​​when viewed vertically. Note that, in order to simplify the drawing, Fig. 5 shows only one set of the mooring rope 5, mooring hardware 6, and mooring post 7 out of multiple sets of the mooring rope 5, mooring hardware 6, and mooring post 7.

[0031] In the mooring monitoring process of this embodiment, an absolute coordinate system Σe and a hull coordinate system Σs based on the orientation of the hull 2 ​​are used. In this embodiment, the Universal Transverse Mercator (UTM) coordinate system, which is one of the projected coordinate systems in which the Earth is projected onto a flat surface, is used as the absolute coordinate system Σe. In the absolute coordinate system Σe of this example, the north is the Xe axis and the east is the Ye axis. In addition, in the hull coordinate system Σs of this example, a predetermined reference point of the hull 2 ​​(hereinafter referred to as the hull reference point) is the origin, the forward direction of the hull 2 ​​is the Xs axis, and the rightward direction of the hull 2 ​​is the Ys axis. Note that the positional relationship between the hull reference point and the position sensor 22 is predetermined. For example, the hull reference point may coincide with the position of the position sensor 22.

[0032] As shown in Fig. 4, in the mooring line monitoring process, first, the processor of the mooring line monitoring device 10 acquires various information (step S1). Specifically, the mooring line monitoring device 10 receives mooring destination designation information indicating the mooring destination P input by the user via the input interface 21. The mooring line monitoring device 10 also receives hull longitude information, hull latitude information, and hull height information from the position sensor 22. The mooring line monitoring device 10 also receives hull azimuth angle information from the orientation sensor 23.

[0033] The mooring line monitoring device 10, more specifically the data selection unit 11, selects one data set corresponding to the mooring destination P indicated by the mooring destination designation information from among multiple data sets relating to combinations of mooring posts 7 and mooring hardware 6 based on the received mooring destination designation information (step S2).

[0034] The data set relating to the combination of the mooring posts 7 and the mooring hardware 6 will be described with reference to FIG. 6. FIG. 6 is a table showing examples of combinations of the mooring hardware 6 and the mooring posts 7 corresponding to the mooring destination 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 destinations P, respectively. Each data set includes information on the combination of the mooring posts 7 and the mooring hardware 6 of the mooring destination P that are crossed over each other during mooring work at the mooring destination P. In this way, for each mooring destination P, it is predefined which mooring post 7 of the mooring destination P and which mooring hardware 6 of the hull 2 ​​are crossed over by the mooring line 5. Note that FIG. 6 shows two examples of the mooring destination P, namely, a port A and an offshore base B, and shows two data sets corresponding to these mooring destinations P, respectively, but the number of data sets stored in the memory may be three or more.

[0035] Further, each data set includes mooring post longitude information, mooring post latitude information, mooring post height information, and hardware coordinate information. The mooring post longitude information indicates the longitude of the mooring post 7, the mooring post latitude information indicates the longitude of the mooring post 7, and the mooring post height information indicates the height h2 of the mooring post 7, i.e., the position of the mooring post 7 in the vertical direction. For example, the mooring post height information is information on the mooring post 7, for example, altitude or a height convertible to altitude. The hardware coordinate information indicates the position coordinates (Xs_m, Ys_m) of the mooring hardware 6 in the hull coordinate system Σs. In this way, by selecting a data set corresponding to the mooring destination P, position information is obtained for multiple sets of mooring posts 7 and mooring hardware 6 that correspond to each other. As shown in Figure 3, the mooring bollard longitude information and mooring bollard latitude information are used for calculations in the projection coordinate acquisition unit 12, the mooring bollard height information is used for calculations in the elevation difference acquisition unit 15, and the hardware coordinate information is used for calculations in the horizontal angle calculation unit 14 and the vertical angle calculation unit 16.

[0036] Returning to FIG. 4, the mooring line monitoring device 10, more specifically the projected coordinate acquisition unit 12, converts the latitude and longitude of the hull 2 ​​and the latitude and longitude of the mooring post 7 into position coordinates in 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 acquires the hull reference point coordinates (Xe_0, Ye_0) in the absolute coordinate system Σe from the obtained position coordinates of the position sensor 22 in the absolute coordinate system Σe and the positional relationship between the predetermined hull reference point and the position sensor 22. For example, when the hull reference point is set to coincide with the position of the position sensor 22, the projection coordinate acquisition unit 12 acquires 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 bollard 7 in the data set into the position coordinates in the absolute coordinate system Σe to acquire the bollard coordinates (Xe_bit, Ye_bit) in the absolute coordinate system Σe (see also FIG. 5). The information indicating the bollard coordinates (Xe_bit, Ye_bit) in the absolute coordinate system Σe may also be referred to as first bollard coordinate information. As shown in Fig. 3, the information regarding the hull reference point coordinates (Xe_0, Ye_0) and the information regarding the bollard coordinates (Xe_bit, Ye_bit) in the absolute coordinate system Σe are used for calculations in the coordinate conversion unit 13.

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

[0039]

number

[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 bollard 7 in the absolute coordinate system Σe, and Ye_bit is the Ye coordinate of the mooring bollard 7 in the absolute coordinate system Σe. Xs_bit is the Xs coordinate of the mooring bollard 7 in the hull coordinate system Σs, and Ys_bit is the Ys coordinate of the mooring bollard 7 in the hull coordinate system Σs. ψ is the hull azimuth angle, and indicates how much the Xe axis of the absolute coordinate system Σe needs to be rotated clockwise to match the orientation of the Xs axis of the hull coordinate system Σs.

[0041] The information on the position coordinates (Xs_bit, Ys_bit) of the mooring bollard 7 in the hull coordinate system Σs may also be referred to as second mooring bollard coordinate information. As shown in Fig. 3, the information on the position coordinates (Xs_bit, Ys_bit) of the mooring bollard 7 in the hull coordinate system Σs is used for calculations by the horizontal angle calculation unit 14 and the vertical angle calculation unit 16.

[0042] As shown in Fig. 4, after the position coordinates (Xs_bit, Ys_bit) of the mooring bollard 7 in the hull coordinate system Σs are obtained, the mooring line monitoring device 10, more specifically the horizontal angle calculation unit 14, calculates the horizontal angle α from the position coordinates (Xs_bit, Ys_bit) of the mooring bollard 7 in the hull coordinate system Σs and the position coordinates (Xs_m, Ys_m) of the mooring hardware 6 in the hull coordinate system Σs obtained in step S2 (step S5). Specifically, the horizontal angle calculation unit 14 obtains the horizontal angle α by the following formula (2).

[0043]

number

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

[0045] A method for calculating the vertical angle β will be described with reference to FIG. 7. FIG. 7 shows a side view of the mooring rope 5 stretched between the mooring hardware 6 and the mooring post 7, as viewed in a vertical horizontal direction along the portion of the mooring rope 5 between the mooring hardware 6 and the mooring post 7. The height difference acquisition unit 15 calculates the height of the mooring hardware 6 from a predetermined location of the hull 2 ​​indicated by the hull height information received from the position sensor 22, which is the height h1 of the position sensor 22 in this example. Since the positional relationship between the position sensor 22 and the mooring hardware 6 is predetermined, the height of the mooring hardware 6 can be easily calculated from the height h1 of the position sensor 22. For example, when the mooring hardware 6 and the position sensor 22 are at the same height, the height h1 detected by the position sensor 22 can be used as the height of the mooring hardware 6.

[0046] The elevation difference acquisition unit 15 calculates the elevation difference H between the mooring hardware 6 and the mooring bollard 7 from the obtained height of the mooring hardware 6 and the height h2 of the mooring bollard 7 indicated by the mooring bollard height information in the data set. The elevation difference information indicating the calculated elevation difference H is used for calculations by the vertical angle calculation unit 16 (see FIG. 3).

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

[0048]

number

[0049] The vertical angle calculation unit 16 calculates the vertical angle β from the horizontal distance L between the mooring hardware 6 and the mooring post 7 and the height difference H between the mooring hardware 6 and the mooring post 7. Specifically, the vertical angle calculation unit 16 obtains the vertical angle β by the following formula (4).

[0050]

number

[0051] The above-mentioned steps S3 to S6 are performed for all mooring lines 5 used when mooring, that is, for all combinations of mooring posts 7 and mooring hardware 6 included in the data set. By repeatedly executing steps S1 to S6, the horizontal angle α and the vertical angle β are monitored in real time. The selection of the data set in step S2 only needs to be performed once at the beginning, and may be skipped thereafter.

[0052] The mooring line monitoring device 10 is configured to control at least one of the propulsion units 3 or the mooring units 4 based on the calculated horizontal angle α and vertical angle β. For example, the mooring line monitoring device 10 may control multiple propulsion units 3, multiple mooring units 4, or multiple propulsion units 3 and multiple mooring units 4 so that the calculated horizontal angle α and vertical angle β approach preset horizontal angles and vertical angles at the completion of mooring work, respectively. This realizes automation of mooring work, or automates part of the mooring work to reduce the burden on the user during mooring work.

[0053] As described above, the mooring line monitoring device 10 of this embodiment can calculate the horizontal angle α, which is the angle that the extension direction of the mooring line 5 makes with respect to the direction of the bow of the hull 2 ​​when viewed vertically, and the vertical angle β, which is the angle that the extension direction of the mooring line 5 makes with respect to the horizontal plane, from the position of the hull 2, the azimuth angle of the hull 2, the position of the mooring hardware 6 on the hull 2, and the position of the mooring post 7. Therefore, the extension direction of the mooring line from the mooring hardware 6 of the hull 2 ​​to the mooring post can be monitored without using strain gauges.

[0054] In addition, in this embodiment, a data set regarding the combination of mooring posts 7 and mooring hardware 6 spanned by mooring lines 5 corresponding to the mooring destination P is pre-stored, thereby eliminating the need for the user to determine the combination of mooring posts 7 and mooring hardware 6.

[0055] (Other embodiments) The present disclosure is not limited to the above-described embodiments, and the configuration can be changed, added, or deleted.

[0056] For example, in the above embodiment, the mooring line monitoring device 10 calculates both the horizontal angle α and the vertical angle β, but the mooring line monitoring device 10 may calculate only the horizontal angle α out of the horizontal angle α and the vertical angle β. In this case, the processor of the mooring line monitoring device 10 does not need to acquire information on the height of the mooring bollard or the height of the mooring hardware that is not used in the calculation of the horizontal angle α. For example, the data set may not include mooring bollard height information. For example, when a ship with a relatively low height of the mooring hardware is moored, the height difference between the mooring hardware and the mooring bollard does not change much even if the positional relationship between the ship and the mooring destination changes. For this reason, the angle of the extension direction of the mooring line with respect to the horizontal plane may be excluded from the monitoring target. The mooring line monitoring device 10 may control at least one of the propulsion unit 3 or the mooring machine 4 based on the calculated horizontal angle α.

[0057] In the above embodiment, the UTM coordinate system is used as the absolute coordinate system, but the absolute coordinate system is not limited to this. For example, the absolute coordinate system may be a universal polar stereographic (UPS) coordinate system, a Cartesian coordinate system, or another known projected coordinate system.

[0058] In the above embodiment, the user selects one mooring destination P from among multiple predetermined mooring destinations P via an input interface, and the data selection unit 11 selects one data set corresponding to the mooring destination P selected by the user from among multiple data sets related to the combination of the mooring bollard 7 and the mooring hardware 6. However, the mooring destination P does not have to be selected manually by the user, and may be automatically selected by the mooring line monitoring device. In this case, the processor of the mooring line monitoring device may identify a mooring destination near the hull position information obtained from a position sensor such as a GNSS sensor, and may select a data set corresponding to the identified mooring destination from among the multiple data sets. Also, the user may select one data set itself to be used for the mooring monitoring process from among the multiple data sets, rather than a mooring destination.

[0059] Furthermore, the multiple data sets relating to combinations of mooring posts 7 and mooring hardware 6 do not have to be stored in advance in the memory of the mooring line monitoring device 10. For example, the mooring line monitoring device 10 may receive one data set corresponding to the mooring destination from another device on the ship or from a land base, for example via the ship-to-land communication device 24, before or during the mooring operation, and store it in memory. When the mooring line monitoring device 10 receives the one data set from the land base, the process of selecting the one data set corresponding to the mooring destination from the multiple data sets relating to combinations of mooring posts and mooring hardware may be executed in a computer at the land base.

[0060] The method of acquiring the height difference between the mooring hardware and the mooring post is not limited to that described in the above embodiment. For example, the height of the mooring hardware does not have to be acquired from the hull height information acquired by the position sensor 22. The position sensor does not have to acquire the hull height information.

[0061] For example, the height of the mooring hardware may change depending on the tide level. Therefore, the mooring line monitoring device 10 may obtain tide level information regarding the tide level of the port at the mooring destination P, and use the tide level information to obtain the elevation difference between the mooring hardware and the mooring bollard. For example, the mooring line monitoring device 10 may receive tide level information from a land base via the ship-to-land communication device 24. For example, the mooring line monitoring device 10 may store in advance correspondence relationship information indicating the correspondence relationship between the tide level and the elevation difference between the mooring hardware and the mooring bollard, and may obtain the elevation difference corresponding to the tide level by referring to the correspondence relationship information.

[0062] For example, the height of the mooring hardware may vary depending on the cargo of the ship. For this reason, the mooring rope monitoring device 10 may obtain cargo information related to the cargo of the ship and obtain the height difference between the mooring hardware and the mooring bollard using the cargo information. For example, the mooring rope monitoring device 10 may store in advance correspondence information indicating the correspondence between the weight or number of cargo and the height difference between the mooring hardware and the mooring bollard, and may obtain the height difference corresponding to the weight or number of cargo by referring to the correspondence information.

[0063] The mooring line monitoring device 10 may obtain the height difference between the mooring hardware and the mooring bollard using both tide level information and cargo information.

[0064] In addition, the height of the mooring hardware may be a fixed value pre-stored in memory.

[0065] The display device 25 does not have to display the calculation results of the mooring line monitoring device 10. In addition, the display device 25 and the mooring line monitoring device 10 do not have to be electrically connected. In addition, the ship-to-shore communication device 24 and the mooring line monitoring device 10 do not have to be electrically connected.

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

[0067] In the above embodiment, the mooring line monitoring device 10 does not have to control the propulsion machine 3 and the mooring machine 4. The mooring line monitoring device 10 may output the calculated horizontal angle α to a device other than the mooring line monitoring device 10 that controls the propulsion machine 3 or the mooring machine 4. Alternatively, the mooring line monitoring device 10 may output the calculated horizontal angle α to a device other than the mooring line monitoring device 10 that controls the propulsion machine 3 or the mooring machine 4.

[0068] In the above embodiment, the mooring line monitoring device is mounted on the hull, but the mooring line monitoring device may be installed on land. In this case, the mooring line monitoring device may receive various information from the ship, such as hull coordinate information and hull orientation information, via a ship-to-shore communication device. If the mooring line monitoring device is installed on land, it may generate a control command based on the horizontal angle and send the control command to the ship, thereby remotely controlling at least one of the propulsion machine or the mooring machine.

[0069] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general purpose processors, special purpose processors, integrated circuits, Application Specific Integrated Circuits (ASICs), conventional circuits, or any combination thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware or processor.

[0070] A program including instructions for carrying out the methods disclosed herein may be stored in a non-transitory computer-readable storage medium, including, for example, a magnetic disk such as a hard disk drive, an optical disk such as a CD-ROM, a DVD disk, or a Blu-ray disk, a read-only memory (ROM), a random access memory (RAM), an EPROM, an EEPROM, a magnetic card, a flash memory, an optical card, or any type of medium suitable for storing electronic instructions.

[0071] [Disclosure form] Each of the following aspects is a disclosure of a preferred embodiment.

[0072] [Aspect 1] A mooring line monitoring device that monitors a mooring line extending from a mooring hardware on a ship's hull to a mooring post at a mooring destination, the mooring line monitor comprises a processing circuit; The processing circuitry includes: Obtain hardware coordinate information indicating the position coordinates of the mooring hardware in a hull coordinate system, which is a coordinate system based on the hull; acquiring first bollard coordinate information indicating a position coordinate of the bollard in an absolute coordinate system; acquiring hull coordinate information indicating a position coordinate of the hull in the absolute coordinate system; acquiring hull orientation information indicating a direction of the hull in the absolute coordinate system; obtaining second bollard coordinate information by converting the position coordinates indicated by the first bollard coordinate information from the absolute coordinate system to the hull coordinate system based on the hull coordinate information and the hull heading information; A mooring line monitoring device configured to calculate the horizontal angle, which is the angle between the extension direction of the mooring line and the orientation of the hull when viewed vertically, using the second mooring bollard coordinates and the hardware coordinate information.

[0073] With this configuration, the direction in which the mooring line extends from the hull to the mooring post can be monitored without using strain gauges.

[0074] [Aspect 2] The processing circuitry includes: Acquire elevation difference information indicating an elevation difference between the mooring hardware and the mooring bollard; A mooring line monitoring device as described in aspect 1, configured to calculate a vertical angle, which is the angle that the extension direction of the mooring line makes with respect to a horizontal plane, using the second mooring bollard coordinates, the elevation difference information, and the hardware coordinate information.

[0075] With this configuration, the direction in which the mooring line extends from the hull to the mooring post can be monitored with greater accuracy.

[0076] [Aspect 3] The processing circuit pre-stores a plurality of data sets corresponding to the plurality of mooring destinations, the data set includes information regarding combinations of the bollards and the mooring hardware; The processing circuitry includes: selecting one of the data sets from the plurality of data sets; A mooring line monitoring device as described in aspect 1 or 2, configured to obtain the hardware coordinate information and the first bollard coordinate information based on the selected data set.

[0077] With this configuration, a data set regarding the combination of mooring posts and mooring hardware that are spanned by mooring lines corresponding to the mooring destination is stored in advance, thereby saving the user the trouble of having to determine the combination of mooring posts and mooring hardware.

[0078] [Aspect 4] A mooring line monitoring device according to any one of aspects 1 to 3; A propulsion unit mounted on the hull and outputting thrust for moving the hull; A mooring control system comprising: a mooring machine arranged on the hull and capable of winding and unwinding the mooring line, A mooring control system, wherein the processing circuit of the mooring line monitoring device is configured to control at least one of the propulsion machine or the mooring machine based on the calculated horizontal angle.

[0079] [Aspect 5] A mooring line monitoring program for monitoring a mooring line extending from a mooring fitting on a ship's hull to a mooring post at a destination, comprising: On the computer, Obtaining hardware coordinate information indicating the position coordinates of the mooring hardware in a hull coordinate system, which is a coordinate system based on the hull; acquiring first bollard coordinate information indicating a position coordinate of the bollard in an absolute coordinate system; acquiring hull coordinate information indicating position coordinates of the hull in the absolute coordinate system; acquiring hull orientation information indicating a direction of the hull in the absolute coordinate system; acquiring second mooring bollard coordinate information by converting the position coordinates indicated by the first mooring bollard coordinate information from the absolute coordinate system to the hull coordinate system based on the hull coordinate information and the hull heading information; calculating a horizontal angle, which is an angle between the direction of the hull when viewed vertically and the extension direction of the mooring rope, based on the second mooring bollard coordinates and the hardware coordinate information; A mooring line monitoring program that [Explanation of symbols]

[0080] 1: Ship 2: Hull 3: Propulsion machine 4: Mooring machine 5: Mooring line 6: Mooring hardware 7: Mooring post 10: Mooring line monitoring device 21: Input interface 22: Position sensor 23: Orientation sensor

Claims

1. A mooring line monitoring device that monitors a mooring line extending from a mooring hardware on a ship's hull to a mooring post at a mooring destination, the mooring line monitor comprises a processing circuit; The processing circuitry includes: Obtain hardware coordinate information indicating the position coordinates of the mooring hardware in a hull coordinate system, which is a coordinate system based on the hull; acquiring first mooring bollard coordinate information indicating a position coordinate of the mooring bollard in an absolute coordinate system; acquiring hull coordinate information indicating a position coordinate of the hull in the absolute coordinate system; acquiring hull orientation information indicating a direction of the hull in the absolute coordinate system; obtaining second mooring bollard coordinate information by converting the position coordinates indicated by the first mooring bollard coordinate information from the absolute coordinate system to the hull coordinate system based on the hull coordinate information and the hull heading information; A mooring rope monitoring device configured to calculate the horizontal angle, which is the angle between the extension direction of the mooring rope and the orientation of the hull when viewed vertically, using the second mooring bollard coordinates and the hardware coordinate information.

2. The processing circuitry includes: Acquire elevation difference information indicating an elevation difference between the mooring hardware and the mooring bollard; A mooring line monitoring device as described in claim 1, configured to calculate a vertical angle, which is the angle that the extension direction of the mooring line makes with respect to a horizontal plane, using the second mooring bollard coordinates, the elevation difference information, and the hardware coordinate information.

3. The processing circuit pre-stores a plurality of data sets corresponding to the plurality of mooring destinations, the data set includes information regarding combinations of the bollards and the mooring hardware; The processing circuitry includes: selecting one of the data sets from the plurality of data sets; A mooring line monitoring device according to claim 1 or 2, configured to obtain the hardware coordinate information and the first bollard coordinate information based on the selected data set.

4. A mooring line monitoring device according to claim 1 or 2; A propulsion unit mounted on a hull and outputting a thrust for moving the hull; A mooring control system comprising: a mooring machine arranged on the hull and capable of winding and unwinding the mooring line, A mooring control system, wherein the processing circuit of the mooring line monitoring device is configured to control at least one of the propulsion machine or the mooring machine based on the calculated horizontal angle.

5. A mooring line monitoring program for monitoring a mooring line extending from a mooring fitting on a ship's hull to a mooring post at a destination, comprising: On the computer, Obtaining hardware coordinate information indicating the position coordinates of the mooring hardware in a hull coordinate system, which is a coordinate system based on the hull; acquiring first bollard coordinate information indicating a position coordinate of the bollard in an absolute coordinate system; acquiring hull coordinate information indicating position coordinates of the hull in the absolute coordinate system; acquiring hull orientation information indicating a direction of the hull in the absolute coordinate system; acquiring second mooring bollard coordinate information by converting the position coordinates indicated by the first mooring bollard coordinate information from the absolute coordinate system to the hull coordinate system based on the hull coordinate information and the hull heading information; calculating a horizontal angle, which is an angle between the direction of the hull when viewed vertically and the extension direction of the mooring rope, based on the second mooring bollard coordinates and the hardware coordinate information; A mooring line monitoring program that

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