Route plan generation system, and power-generating float

Abstract

To provide a route plan generation system capable of generating a route plan in a power-generating float that uses a kite to generate wind power to ensure efficient power generation at sea.SOLUTION: A route plan generation system 10 includes: a route planning generation unit 13 that generates a route plan for sailing a power-generating float 100 at a predetermined sailing angle based on wind conditions for a power-generating float 100 that generates wind power using a kite 111 while sailing on the sea; and a current determination unit 12 determines whether there is a countercurrent based on wind conditions. The route planning generation unit 13 is configured so as to, when determining that there is an opposing current, generate a route plan so that the power-generating float 100 sails at a sailing angle that maximizes power generation efficiency in opposing currents.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of a route plan generation system that generates a route plan for a ship, and a power-generating float that includes the route plan generation system. [Background technology]

[0002] As a system of this kind, a technique has been proposed for calculating at least one of the route and destination of a ship based on wind direction and speed, tidal currents, and the like (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-164090 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned Patent Document 1, the relationship between wind conditions and tidal currents is not taken into consideration when calculating the moving course, etc. In particular, for a power-generating float that generates wind power using kites at sea, it is required to utilize the natural environment, including wind, to maximize the efficiency of power generation at sea.

[0005] An object of the present invention is to provide a route plan generation system, etc., that generates a route plan so that power generation can be performed efficiently at sea on a power-generating float that generates wind power using kites. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, one aspect of the route plan generation system of the present invention is provided with a route plan generation unit that generates a route plan for at least one power-generating float that generates wind power using kites while sailing on the sea at a predetermined sailing angle based on wind conditions, and a tidal current determination unit that determines whether there is a tidal current in a direction opposite to the wind direction based on the wind conditions, and when it is determined that there is a tidal current, the route plan generation unit generates the route plan so that the power-generating float will proceed in the sea area with the tidal current at the sailing angle that will increase the power generation efficiency of the wind power generation.

[0007] In order to solve the above-mentioned problems, one aspect of the power-generating float of the present invention is a power-generating float that generates wind power using kites while sailing on the sea, and is provided with a route plan generation unit that generates a route plan for sailing the power-generating float at a predetermined sailing angle based on wind conditions, and a tidal current determination unit that determines whether there is a tidal current in a direction opposite to the wind direction based on the wind conditions, and when it is determined that there is a tidal current, the route plan generation unit generates the route plan so that the power-generating float will proceed in the sea area with the tidal current at the sailing angle that will increase the power generation efficiency of the wind power generation. [Effects of the Invention]

[0008] According to one aspect of the route plan generation system of the present invention, wind power generation using kites can be performed in sea areas where there is a tidal current in the direction opposite to the wind direction. For example, in wind power generation using kites, the more wind the kites receive, the greater the amount of power generated. Therefore, power generation in sea areas where there is a tidal current in the direction opposite to the wind direction can be more efficient than power generation in sea areas where there is no tidal current. Furthermore, according to one aspect of the power-generating float of the present invention, the route plan generation system of the present invention can be realized.

[0009] Such effects of the present invention will become more apparent from the embodiments of the invention described below. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a block diagram showing an example of the configuration of a power-generating float according to the present invention. [Figure 2] 1 is a flowchart showing an example of a power generation cycle route along which the power generating float according to the present invention travels. [Figure 3A] FIG. 1 is a schematic diagram showing the relationship between opposing tidal currents and power cycle routes. [Figure 3B] FIG. 1 is a schematic diagram showing the relationship between parallel tidal currents and power cycle routes. [Figure 4] 5 is a flowchart showing an example of a route plan generation process in the first embodiment. [Figure 5] FIG. 10 is a diagram illustrating an example of wind direction information. [Figure 6] FIG. 10 is a diagram illustrating an example of power flow information. [Figure 7] FIG. 1 is a schematic diagram showing an example of a fleet formed by a plurality of power-generating floats. [Figure 8] FIG. 1 is an explanatory diagram illustrating changes in the sailing state of a power-generating float sailing at a constant sailing angle. [Figure 9] This is an explanatory diagram illustrating the changes in sailing conditions for a power-generating float sailing in a fixed GPS coordinate direction. [Figure 10] 10 is a flowchart showing an example of a route plan generation process in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1. First embodiment First, a power-generating float 100 according to the present invention will be described with reference to FIG. 1. The power-generating float 100 may be a sailing-type float capable of sailing on the sea. The power-generating float 100 may be configured to be capable of sailing on the sea (i.e., sailing) using wind energy received by a sail 121 as a power source. The power-generating float 100 may generate wind power using kites 111 connected to the hull 101 via tethers 112. An example of the configuration of the power-generating float 100 will be described in more detail. For example, as shown in FIG. 1, the power-generating float 100 may include a power generation unit 110, a navigation unit 120, a storage unit 130, a float communication unit 150, and a float control unit 160.

[0012] The power generating unit 110 may include multiple elements used for wind power generation. The power generating unit 110 may include, for example, a winch 113 and a generator 114 in addition to the above-mentioned tether 112 and kite 111. The winch 113 has a rotating shaft 113a as a rotation axis, and the rotating shaft 113a is connected to the rotation axis of the generator 114. The tether 112 is wound around the rotating shaft 113a. When the kite 111 rises, the tether 112 is released from the winch 113 in conjunction with this rise. This releasing action of the tether 112 rotates the rotating shaft 113a. The rotation of the kite 111 when it rises rotates the rotation axis of the generator 114, thereby generating power. Furthermore, when the rotating shaft 113a rotates in a direction to reel in the tether 112, the tether 112 is retrieved and the kite 111 descends. When the tether 112 is retrieved, the generator 114 may rotate the rotating shaft 113a in response to a control command from the floating body control unit 160.

[0013] The navigation unit 120 may include multiple elements for sailing the power-generating float 100 on the sea. In addition to the sail 121 described above, the navigation unit 120 may be provided with, for example, a mast 122 to which the sail 121 is attached, a rudder 123 that determines the direction of the hull 101, and a centerboard 124 that generates lateral force. The sail 121 may be configured to change its direction relative to the wind, its tension (i.e., tightening or loosening), etc., in response to control commands from the float control unit 160. The mast 122 may be, for example, a rotation mast that can rotate together with the sail 121 in response to control commands from the float control unit 160.

[0014] Furthermore, the power-generating float 100 may have, as the navigation unit 120, for example, a thruster 126 and a motor 125 as a power source so that it can move not only by wind power but also by electricity. The motor 125 may be driven, for example, by electricity generated by the power generation unit 110. Furthermore, the navigation unit 120 may include sensors necessary for navigation. The sensors may include, for example, a wind direction and speed sensor, an acceleration sensor, an angular velocity sensor, and a speed sensor. For example, each element of the navigation unit 120 may be controlled by a control command from the float control unit 160 based on the route so that the power-generating float 100 navigates along a predetermined route.

[0015] The storage unit 130 may include multiple elements for storing the electrical energy generated by the power generation unit 110. For example, the storage unit 130 may be configured to store the electrical energy as a hydrogen carrier. The storage unit 130 may include, for example, a hydrogen carrier generation unit (not shown). The hydrogen carrier generation unit may be configured to obtain a hydrogen carrier by electrolyzing water using the electrical energy generated by the power generation unit 110. Any hydrogen carrier may be used, such as liquid hydrogen, ammonia, or methylcyclohexane. The storage unit 130 may store the hydrogen carrier using an appropriate storage method depending on the hydrogen carrier used. For example, if the hydrogen carrier is hydrogen gas, the hydrogen gas may be stored in a hydrogen storage alloy tank.

[0016] The float communication unit 150 may be configured to enable wireless communication of information transmitted from other elements to the float control unit 160 and information (including control instructions) transmitted from the float control unit 160 to other elements. The "other elements" may include, for example, facilities other than the power-generating float 100, systems other than the route plan generation system, etc. Furthermore, when two or more power-generating floats 100 are provided, the "other elements" may include other power-generating floats 100. The float communication unit 150 may be configured to be able to acquire various position information from a GNNS (Global Navigation Satellite System) device, a GPS (Global Positioning System) device, etc. to obtain its own position information.

[0017] The float control unit 160 controls various processes in the power generating float 100. The float control unit 160 may be configured as a control unit including, for example, a CPU (Central Processing Unit), a memory device and an input / output interface required for the CPU's operation. The memory device may include, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), and a data storage. The float control unit 160 may be connected to each of the units 110, 120, 130, and 150 via, for example, an input / output interface and a data bus. The float control unit 160 may control various operations performed by each of the units 110, 120, 130, and 150. The memory device may store various information required for each process performed by the power generating float 100. The memory device may store, for example, a float ID. The float ID may be unique information for identifying the power generating float 100. For example, various information (including control instructions) output from the power-generating float 100 may include a float ID to indicate the source of the output.

[0018] The ROM may store, for example, a computer program for realizing processing in the float control unit 160. The float control unit 160 may read a computer program stored in the ROM or data storage. Alternatively, the float control unit 160 may acquire (i.e., download) a computer program from a device (not shown) arranged outside the power-generating float 100 via the float communication unit 150, and read the acquired computer program. The float control unit 160 executes the read computer program. As a result, logical function blocks for controlling the operation of the power-generating float 100 are realized within the float control unit 160.

[0019] FIG. 1 shows, as examples of functional blocks realized in the float control unit 160, a navigation control unit 161, an information acquisition unit 11, a tidal current determination unit 12, and a route plan generation unit 13. The navigation control unit 161 may, for example, control the navigation unit 120 to move the power-generating float 100 along a predetermined route. The navigation control unit 161 may, for example, control the sail 121, the rudder 123, etc. to sail the power-generating float 100, and may, as necessary, drive the motor 125 to move the power-generating float 100. The navigation control unit 161 may, for example, adjust the orientation and tension of the sail 121 (so-called sail trim) depending on the direction of the wind received by the power-generating float 100. The navigation control unit 161 may, for example, control the rotation of the mast 122 to adjust the orientation of the sail 121. Furthermore, the navigation control unit 161 may also control the movement of the power-generating float 100 by the motor 125.

[0020] The information acquisition unit 11, the tidal current determination unit 12, and the route plan generation unit 13 constitute the route plan generation system 10 according to the present invention. The information acquisition unit 11 may, for example, acquire various information used in the route plan generation system 10 from an external information source via the floating communication unit 150. The tidal current determination unit 12 may, for example, determine the relationship between the wind direction and the tidal current direction. The route plan generation unit 13 may, for example, generate a route plan that improves power generation efficiency based on wind conditions.

[0021] An example of a route plan generated by the route plan generating unit 13 will now be described. FIG. 2 shows an example of a route planned based on wind conditions to improve the power generation efficiency of the power-generating float 100. As shown in FIG. 2, the route of the power-generating float 100 may be set so as to repeatedly trace a power generation cycle route ECR in a predetermined sea area. The power generation cycle route ECR may alternately repeat a power generation route ER and a recovery route WR. The power generation route ER may be, for example, a route on which the power-generating float 100 is sailed diagonally as close to the windward side of the natural wind W as possible (e.g., in a close-hold state). The recovery route WR may be, for example, a route on which the power-generating float 100 is sailed with the natural wind W as a tailwind (e.g., in a running state). On the power generation route ER, power generation may be performed by raising the kites 111. On the other hand, on the recovery route WR, the tether 112 may be recovered to lower the kites 111. On the power generation route ER, the power generation float 100 always sails upwind, so that the amount of wind that the kites 111 receive increases, thereby improving power generation efficiency.

[0022] In this way, the power generation cycle route ECR is set based on the wind direction to increase power generation efficiency. The power generating float 100 may sail at a sailing angle relative to the wind that corresponds to each route ER, WR. The sailing angle may be the angle of the traveling direction relative to the wind received by the power generating float 100 (i.e., the "apparent wind"). The wind direction and wind speed of the apparent wind may be detected, for example, by a wind direction and wind speed sensor provided on the power generating float 100. The navigation control unit 161 may, for example, appropriately control the operation of the rudder 123, mast 122, sail 121, etc. so that the power generating float 100 sails at the sailing angle set according to the route. The navigation control unit 161 may also perform sail trim according to the apparent wind to optimize the traveling direction.

[0023] The route plan generation system 10 according to the present invention generates a route plan for a power-generating float by taking into account not only wind conditions but also tidal currents to further improve power generation efficiency. In the drawings used in the following description, the area enclosed by a dashed line indicates a sea area with tidal currents. For example, as shown in FIG. 3A, when the direction of natural wind W and the direction of tidal current T1 are opposite, the route plan may be generated so that the power-generating float 100 remains in the sea area SA1 corresponding to tidal current T1 and repeatedly traces the power generation cycle route ECR. The area enclosed by a dashed line indicates a sea area with tidal currents. In this case, the power-generating float 100 is pushed upwind of the natural wind W by the tidal current T1. Therefore, the amount of wind received by the kites 111 is greater than when the tidal current T1 is absent, thereby improving power generation efficiency. Note that "opposing" does not necessarily mean that the direction of tidal current T1 and the direction of natural wind W are completely opposite. The range of the direction of the tidal current T1 in which the amount of wind received by the kite 111 is greater than a predetermined standard compared to when there is no tidal current T1 may be considered to be "opposing" the natural wind W. Hereinafter, the tidal current T1 that is opposite to the direction of the natural wind W will be referred to as the opposing tidal current T1.

[0024] On the other hand, for example, as shown in FIG. 3B, when the direction of the natural wind W and the direction of the tidal current T2 are the same, the power-generating float 100 is pushed downwind of the natural wind W by the tidal current T2. Therefore, the amount of wind received by the kites 111 is smaller than when there is no tidal current T2, resulting in lower power generation efficiency. Therefore, for example, a route plan may be generated so that the power-generating float 100 repeatedly traces the power generation cycle route ECR outside the sea area SA2 corresponding to the tidal current T2 (e.g., in a sea area SA3 where there is no tidal current). Note that "the same direction" does not necessarily mean that the direction of the tidal current T2 and the direction of the natural wind W are completely aligned. The range of the direction of the tidal current T2 in which the amount of wind received by the kites 111 is smaller than a predetermined standard compared to when there is no tidal current T2 may be defined as "the same direction" as the natural wind W. Hereinafter, a tidal current T2 in the same direction as the natural wind W is referred to as a parallel tidal current T2.

[0025] An example of the route plan generation process performed by the route plan generation system 10, which includes the information acquisition unit 11, the tidal current determination unit 12, and the route plan generation unit 13, will be described with reference to Fig. 4. For example, the route plan generation process may be performed when determining the sea area where the power-generating float 100 will generate power (i.e., the sea area where the power generation cycle route ECR will be performed). For example, the route plan generation process may be performed even when the power-generating float 100 is sailing according to an existing route plan.

[0026] First, the information acquisition unit 11 of the route plan generation system 10 may acquire wind direction information and tidal current information (step S20). The wind direction information may be, for example, information about the wind direction in a predetermined sea area including the home base, as shown in FIG. 5. The acquired wind direction information may include wind direction forecast information. The information acquisition unit 11 may acquire wind direction information via the float communication unit 150 from a public institution that provides wind direction information. The tidal current information may be, for example, information about tidal currents in a predetermined sea area including the home base, as shown in FIG. 6. The tidal current information may include, for example, information about shallow tidal currents that affect the power-generating float 100. The tidal current information may include, for example, the direction and speed of the tidal current. The acquired tidal current information may include forecast information about tidal currents.

[0027] In the route plan generation process of Fig. 4, when wind direction information and tidal current information are acquired, the tidal current determination unit 12 of the route plan generation system 10 may determine whether or not there is an opposing tidal current T1 based on the wind direction information and tidal current information (step S22). When determined based on the wind direction information of Fig. 5 and the tidal current information of Fig. 6 (source: created by processing the "Marine Bulletin" on the website of the Japan Coast Guard (https: / / www1.kaiho.mlit.go.jp / KANKYO / KAIYO / qboc / )), it may be determined that there is an opposing tidal current T1 against the natural wind W in the sea area SA1 off the east coast of Chiba Prefecture. If the determination in step S22 is affirmative (step S22: Yes), the route plan generation unit 13 of the route plan generation system 10 may generate, for example, a route plan A (step S24). 3A, the route plan A may be planned so that the power generation cycle route ECR is performed in a sea area SA1 corresponding to an opposing tidal current T1. The route plan generating unit 13 may identify GPS information for the sea area SA1 (e.g., off the east coast of Chiba Prefecture) based on GPS information (i.e., position information in GPS coordinates consisting of longitude and latitude) obtained from wind direction information and tidal current information.

[0028] The route plan A may include, for example, GPS information and sailing angles for moving from the current position to the sea area SA1 and repeating the power generation cycle route ECR in the sea area SA1. When the power generating float 100 is in the sea area SA1, the route plan A may be generated so that the power generating float 100 remains in the sea area SA1 and repeats the power generation cycle route ECR. Next, the route plan generation unit 13 may determine whether the wind direction in the sea area SA1 will change significantly within a predetermined time period, for example, based on forecast information regarding wind direction (step S26). The route plan generation unit 13 may determine, for example, whether the wind direction in the sea area SA1 will become the same direction as the oncoming tidal current T1. If the determination in step S26 is negative (step S26: No), the route plan generation system 10 may set the route plan A as the route plan to be executed by the power generating float 100 (step S38). In this case, the navigation control unit 161 may control each element of the navigation unit 120 of the power-generating float 100 based on the route plan A. After step S38, the route plan generation system 10 may end the route plan generation process this time.

[0029] If the determination in step S26 is affirmative (step S26: Yes), the route plan generation unit 13 may, for example, generate a route plan A' (step S28). The route plan A' may be planned so that the power-generating float 100 moves to a sea area without tidal currents before the wind direction changes midway through the route plan A. Once the route plan A' is generated, the route plan generation system 10 may, for example, set the route plan A' as the route plan to be executed by the power-generating float 100 (step S38). In this case, the navigation control unit 161 may control each element of the navigation unit 120 of the power-generating float 100 based on the route plan A'. After step S38, the route plan generation system 10 may terminate the route plan generation process for this time.

[0030] On the other hand, if the determination in step S22 is negative (step S22: No), the tidal current determination unit 12 may determine whether or not there is a parallel tidal current T2 based on the wind direction information and tidal current information (step S30). If the determination in step S30 is negative (step S30: No), the route plan generation system 10 may terminate the current route plan generation process. In this case, the navigation control unit 161 may, for example, continue to execute the currently executing route plan. If the determination in step S30 is positive (step S30: Yes), the route plan generation unit 13 may, for example, generate route plan B (step S32). Route plan B may be planned so that the power generation cycle route ECR is performed in a sea area SA3 without tidal currents, as shown in FIG. 3B.

[0031] The route plan generation unit 13 may identify GPS information for the sea area SA3, for example, based on GPS information obtained from wind direction information and tidal current information. The route plan B may include, for example, GPS information and sailing angles for traveling from the current position to the sea area SA3 and for repeating the power generation cycle route ECR in the sea area SA3. Once the route plan B is generated, the route plan generation system 10 may set the route plan B as the route plan to be executed by the power-generating float 100 (step S38). In this case, the navigation control unit 161 may control each element of the navigation unit 120 of the power-generating float 100 based on the route plan B. After step S38, the route plan generation system 10 may terminate the route plan generation process.

[0032] The route plan generation system 10 is not limited to being installed on the power-generating float 100. The route plan generation system 10 may be installed, for example, separately on the power-generating float 100 and other facilities. The route plan generation system 10 may be realized, for example, by cloud computing. When a plurality of power-generating floats 100 sail in a fleet, for example, the route plan generation process (FIG. 4) may be executed on each power-generating float 100. In addition to or instead of GPS position information, GNNS position information may be used.

[0033] 2. Second embodiment The method of determining the tidal current is not limited to the method based on wind direction information and tidal current information as in the first embodiment. In the second embodiment, the tidal current is determined by a method different from that of the first embodiment. Below, differences from the first embodiment will be mainly described, and other parts will be omitted as appropriate. Components similar to those in the first embodiment will be described with the same reference numerals as in the first embodiment.

[0034] In this embodiment, a case where multiple power-generating floats 100 form a fleet and move will be described. For example, as shown in FIG. 7, ten power-generating floats 100a-100j may form a fleet FT. The power-generating floats 100a-100j may form a fleet FT and move, for example, in search of a sea area where a power-generating cycle route ECR is to be performed. The number of power-generating floats 100 forming the fleet FT is not limited to 10 and may be any appropriate number according to demand. The configuration of each power-generating float 100a-100j may be the same as the configuration shown in FIG. 1. Each power-generating float 100a-100j may be identified, for example, by a float ID. Hereinafter, when it is not necessary to distinguish between the power-generating floats 100a-100j, they will be referred to as a power-generating float 100.

[0035] The power-generating floats 100 may communicate with each other and send and receive information. For example, the power-generating floats 100 may communicate their own positions with each other, so that the navigation control unit 161 of each power-generating float 100 may navigate the power-generating float 100 while controlling the distance to adjacent power-generating floats 100. Furthermore, the power-generating floats 100 may share status information about each power-generating float 100 with each other. The status information may be, for example, at least one of information indicating the sailing status and information indicating the power generation status of the power-generating float 100. Details of the status information will be described later.

[0036] The navigation control unit 161 of the power-generating float 100 may be configured to be able to measure not only its own position in GPS coordinates (latitude and longitude) but also information about the course in GPS coordinates (direction of travel and / or angle of travel) based on GPS information from the GPS. Hereinafter, information about the course in GPS coordinates will be referred to as "GPS course information." In addition, a power generation amount sensor that monitors the amount of power generated by the generator 114 of the power-generating float 100 may be provided.

[0037] In a sea area without a tidal current, the sailing state and power generation state of each power-generating float 100 are similar. When the power-generating float 100 enters a sea area with a tidal current, the sailing state and power generation state of the power-generating float 100 change. The route plan generation system 10 in this embodiment may determine the tidal current based on the difference in sailing state or power generation state between the power-generating floats 100. Figure 7 shows how the sailing state and power generation state of the four power-generating floats 100g-100j change as they enter sea area SA1, which corresponds to an opposing tidal current T1. In sea area SA1, the direction of the natural wind W and the direction of the opposing tidal current T1 are opposite, so the power-generating floats 100g-100j are pushed upwind of the natural wind W by the opposing tidal current T1, and the sailing state of the power-generating floats 100g-100j changes. For example, the amount of wind received by the power-generating floats 100g-100j increases, causing the sailing speed of the power-generating floats 100g-100j to be greater than the sailing speed of the other power-generating floats 100a-100f. Furthermore, the amount of wind received by the kites 111 also increases, causing the amount of power generated per unit time by the power-generating floats 100g-100j (hereinafter simply referred to as "power generation amount") to be greater than the amount of power generated by the other power-generating floats 100a-100f. In this way, when multiple power-generating floats 100 are sailing together in a fleet FT, the route plan generation system 10 may determine the tidal current by, for example, detecting differences in the sailing state or power generation state between the power-generating floats 100.

[0038] This section explains a case where the route plan generation system 10 determines the tidal current by detecting differences in sailing conditions between power-generating floats. The sailing conditions for which the differences are detected may include sailing speed, sailing angle, information on GPS coordinates, etc. The sailing conditions may vary depending on the sailing method adopted for the power-generating float 100. As the sailing method for the power-generating float 100, for example, Method 1, in which the power-generating float 100 is sailed at a fixed sailing angle, or Method 2, in which the power-generating float 100 is sailed in a fixed GPS coordinate direction (i.e., the direction of travel in GPS coordinates), may be adopted.

[0039] The change in sailing condition when the power-generating float 100 employing method 1 enters the sea area SA1 with an opposing tidal current T1 will be explained using Figure 8. When the power-generating float 100 sailing at a constant sailing angle θ enters the sea area SA1, the apparent wind volume increases, as described above, and the sailing speed changes (increases). In addition, the power-generating float 100 is pushed upwind of the natural wind W by the opposing tidal current T1, which changes the apparent wind conditions (wind direction and wind speed) experienced by the power-generating float 100. As the apparent wind conditions change, the course (e.g., direction of travel) of the power-generating float 100 sailing at the sailing angle θ changes on the GPS coordinates.

[0040] In the example of Figure 8, sailing states SS1a and SS2a are shown as sailing states of the power-generating float 100 sailing at a sailing angle θ. The direction of the arrow in each sailing state SS1a, SS2a indicates the direction of travel in GPS coordinates. The thickness of the arrow in each sailing state SS1a, SS2a indicates the sailing speed, with the thicker the arrow, the faster the sailing speed. In the example of Figure 8, the power-generating float 100 is shown sailing in sailing state SS1a, and when it enters sea area SA1, it sails in sailing state SS2a, where the sailing speed and direction of travel have changed. Note that the sailing state SS1a' (dotted arrow) in sea area SA1 indicates the sailing state if the sailing state SS1a were to continue.

[0041] In the case of Method 1, in addition to the sailing angle, for example, sailing speed and GPS course information may be shared as status information between the power-generating floats 100. The route plan generation system 10 may determine the tidal current by detecting differences in sailing speed and / or differences in GPS course information.

[0042] The change in sailing condition when the power-generating float 100 employing method 2 enters the sea area SA1 with an opposing tidal current T1 will be explained using Figure 9. In a sea area without tidal currents, the power-generating float 100 employing method 2 may sail at a sailing angle θ corresponding to the direction of travel in GPS coordinates. When the power-generating float 100 sailing in a fixed direction of travel enters the sea area SA1 with an opposing tidal current T1, the apparent wind volume increases, as described above, and the sailing speed changes (increases). In addition, the power-generating float 100 is pushed upwind of the natural wind W by the opposing tidal current T1, which changes the apparent wind conditions (wind speed and wind direction) experienced by the power-generating float 100. As the apparent wind conditions change, the sailing angle θ changes to a sailing angle θ' in order to maintain the direction of travel of the power-generating float 100.

[0043] In the example of Figure 9, sailing states SS1b and SS2b are shown as sailing states of the power-generating float 100 moving in a fixed direction. The direction of the arrow in each sailing state SS1b, SS2b indicates the direction of movement in GPS coordinates. The thickness of the arrow in each sailing state SS1b, SS2b indicates the sailing speed, with the thicker the arrow, the faster the sailing speed. In the example of Figure 9, the power-generating float 100 is shown sailing in sailing state SS1b, and when it enters sea area SA1, it sails in sailing state SS2b, where the sailing speed and sailing angle have changed.

[0044] In the case of Method 2, in addition to GPS course information, for example, sailing speed and apparent wind information (information on wind direction and wind speed) may be shared as status information. The route plan generation system 10 may determine the tidal current by detecting differences in sailing speed and / or apparent wind information. Note that the apparent wind information may be information obtained, for example, based on sail trim, which adjusts the sail 121 according to the wind conditions.

[0045] An example of the route plan generation process in the second embodiment will be described with reference to Fig. 10. The route plan generation process may be executed by the route plan generation system 10 of each power-generating float 100. For example, the route plan generation process may be performed while each power-generating float 100 is sailing based on an existing route plan. For example, the route plan generation process may be performed while each power-generating float 100 is sailing in a sea area with no tidal current.

[0046] First, the tidal current determination unit 12 of the route plan generation system 10 may determine whether there is a difference in state (here, a difference in sailing condition) between the power-generating floats 100 in the fleet FT (step S21). If Method 1 is adopted as the sailing method, the tidal current determination unit 12 may determine that there is a difference in sailing condition when a difference is detected in the sailing speed and / or GPS course information. If Method 2 is adopted as the sailing method, the tidal current determination unit 12 may determine that there is a difference in sailing condition when a difference is detected in the sailing speed and / or apparent wind information. The detected difference may be a difference equal to or greater than a predetermined lower limit. Furthermore, the tidal current determination unit 12 may determine that there is a difference when, for example, the number of power-generating floats 100 whose sailing condition has changed is two or more (e.g., a predetermined number or more). This increases the accuracy of the determination in step S21.

[0047] If a negative judgment is made in step S21 (step S21: No), the route plan generation system 10 may terminate the current route plan generation process. In this case, the navigation control unit 161 may, for example, continue to execute the route plan that is currently being executed. If a positive judgment is made in step S21 (step S21: Yes), the tidal current determination unit 12 may, for example, determine whether the difference in sailing condition is due to an opposing tidal current T1 (step S22). For example, if the change in sailing speed is large, the tidal current determination unit 12 may determine that the difference in sailing condition is due to an opposing tidal current T1. If a positive judgment is made in step S22 (step S22: Yes), the route plan generation unit 13 of the route plan generation system 10 may, for example, generate a route plan A (step S24).

[0048] The route plan A may include, for example, a route plan for moving from the current position to the sea area SA1 and repeating the power generation cycle route ECR in the sea area SA1. For the power generating float 100 in the sea area SA1, the route plan A may be generated so that the power generating float 100 remains in the sea area SA1 and repeats the power generation cycle route ECR. The route plan A may include GPS course information and sailing angle, etc., depending on the adopted sailing method and route. For example, the route plan generation unit 13 may identify the position of the sea area SA1 (for example, the position in GPS coordinates) based on the position of the power generating float 100 when the sailing condition changes.

[0049] Next, the route plan generating unit 13 may determine, for example, based on forecast information on wind direction, whether the wind direction in the sea area SA1 will change significantly within a predetermined time period (step S26). The route plan generating unit 13 may determine, for example, whether the wind direction in the sea area SA1 will become the same direction as the opposing tidal current T1. The forecast information on wind direction may be acquired by the information acquiring unit 11 from, for example, an external information source. If a negative judgment is made in step S26 (step S26: No), the route plan generating system 10 may set, for example, route plan A as the route plan to be executed by the power-generating float 100 (step S38). In this case, the navigation control unit 161 may control each element of the navigation unit 120 of the power-generating float 100 based on the route plan A. After step S38, the route plan generating system 10 may terminate this route plan generation process.

[0050] If the determination in step S26 is affirmative (step S26: Yes), the route plan generation unit 13 may, for example, generate a route plan A' (step S28). The route plan A' may be planned so that the power-generating float 100 moves to a sea area without tidal currents before the wind direction changes midway through the route plan A. Once the route plan A' is generated, the route plan generation system 10 may, for example, set the route plan A' as the route plan to be executed by the power-generating float 100 (step S38). In this case, the navigation control unit 161 may control each element of the navigation unit 120 of the power-generating float 100 based on the route plan A'. After step S38, the route plan generation system 10 may terminate the route plan generation process for this time.

[0051] On the other hand, if a negative judgment is made in step S22 (step S22: No), the tidal current judgment unit 12 may, for example, judge whether the difference in sailing condition is due to a parallel tidal current T2 (Figure 3B) (step S30). For example, if the change in sailing speed is small, the tidal current judgment unit 12 may determine that the difference in sailing condition is due to a parallel tidal current T2. If a negative judgment is made in step S30 (step S30: No), the route plan generation system 10 may, for example, terminate the current route plan generation process. In this case, the navigation control unit 161 may, for example, continue to execute the route plan currently being executed.

[0052] If the determination in step S30 is affirmative (step S30: Yes), the route plan generating unit 13 may generate, for example, route plan B (step S32). Route plan B may be planned, for example, to avoid the parallel tidal current T2. Route plan B may be planned, for example, to move the power-generating float 100 in the direction of a sea area without a tidal current. GPS course information and sailing angles, etc. may be set in route plan B according to the adopted sailing method. For example, based on the position of the power-generating float 100 whose sailing state has changed, the route plan generating unit 13 may identify the position of the sea area SA2 (for example, the position in GPS coordinates) and determine a direction to avoid the sea area SA2. Once route plan B is generated, the route plan generating system 10 may set, for example, route plan B as the route plan to be executed by the power-generating float 100 (step S38). In this case, the navigation control unit 161 may control each element of the navigation unit 120 of the power-generating float 100 based on the route plan B. After step S38, the route plan generation system 10 may end the route plan generation process this time.

[0053] As described above, in a sea area where there is an opposing tidal current T1 (FIG. 7), the amount of power generated by the power-generating float 100 increases. On the other hand, in a sea area where there is a parallel tidal current T2 (FIG. 3B), the amount of wind received by the kites 111 decreases, resulting in a decrease in the amount of power generated by the power-generating float 100. In this way, the state of the amount of power generated by the power-generating float 100 changes depending on the tidal current. The route plan generation system 10 may determine the tidal current by detecting differences in the power generation state between the power-generating floats 100. The power generation state in which the difference is detected may include, for example, the amount of power generated by the generators 114 of each power-generating float 100. In this case, the state information shared between the power-generating floats 100 may include information regarding the amount of power generated.

[0054] The route plan generation process performed in relation to a difference in power generation status will now be described. In step S21, the tidal current determination unit 12 of the route plan generation system 10 may determine whether or not there is a difference in status (here, a difference in power generation status) between the power-generating floats 100 based on the shared status information. The tidal current determination unit 12 may determine that there is a difference in power generation status when, for example, a difference in power generation amount is detected. In step S22, the tidal current determination unit 12 may determine that the difference in power generation status is due to the opposing tidal current T1, for example, if the change in power generation amount increases. If the determination in step S22 is negative (step S22: No), the tidal current determination unit 12 may determine whether or not the difference in power generation status is due to the parallel tidal current T2 (FIG. 3B) (step S30). For example, if the change in power generation amount decreases, the tidal current determination unit 12 may determine that the difference in power generation status is due to the parallel tidal current T2. Other processes may be similar to those described above.

[0055] The route plan generation system 10 may determine the tidal current, for example, when a difference is detected in both the sailing state and the power generation state. In this case, the shared state information may include the sailing state and the power generation state. In the route plan generation process (FIG. 10), in step S22, the tidal current determination unit 12 may determine that the difference in the power generation state is due to an opposing tidal current T1, for example, when both the sailing speed and the power generation amount are increasing. In addition, in step S30, the tidal current determination unit 12 may determine that the difference in the power generation state is due to a parallel tidal current T2, for example, when both the sailing speed and the power generation amount are decreasing.

[0056] Of the multiple power-generating floats 100 that form the fleet FT, one power-generating float 100 may function as a master float. The route plan generation system 10 may be provided in the float control unit 160 of the master float. In this case, status information and position information of each power-generating float 100 in the fleet FT may be collected in the master float. Furthermore, the route progress generation process may be executed in the master float, and a route plan may be generated and provided for each power-generating float 100.

[0057] Additional notes The following additional notes are provided regarding the above-described embodiment.

[0058] [Appendix 1] The route plan generation system described in Appendix 1 is a power-generating float that generates wind power using kites while sailing on the sea, and is provided with a route plan generation unit that generates a route plan for sailing the power-generating float at a predetermined sailing angle based on wind conditions, and a tidal current determination unit that determines whether there is a tidal current in a direction opposite to the wind direction based on the wind conditions.When it is determined that there is a tidal current, the route plan generation unit generates the route plan so that the power-generating float will proceed in the sea area with the tidal current at the sailing angle that will increase the power generation efficiency of the wind power generation.

[0059] According to the route plan generation system described in Appendix 1, wind power generation using kites can be performed in sea areas where there is a tidal current in the direction opposite to the wind direction. For example, in wind power generation using kites, the more wind the kites receive, the greater the amount of power generated. For example, when a power-generating float is sailed upwind during power generation, power generation efficiency can be improved if power is generated in sea areas where there is a tidal current in the direction opposite to the wind, compared to power generation in sea areas without a tidal current.

[0060] [Appendix 2] The route plan generation system described in Appendix 2 is the route plan generation system described in Appendix 1, wherein the sailing angle at which the power generation efficiency increases is the sailing angle at which the apparent wind received by the kite becomes stronger.

[0061] According to the route plan generation system described in Appendix 2, the amount of wind received by the kites increases, and the lift of the kites increases in proportion to the amount of wind, thereby improving power generation efficiency. Therefore, a sailing angle that improves power generation efficiency can be, for example, a sailing angle that sails the power-generating float as far upwind as possible so that the amount of wind received by the kites is increased.

[0062] [Appendix 3] The route plan generation system described in Appendix 3 is the route plan generation system described in Appendix 1 or 2, further comprising an information acquisition unit that acquires information from an external source, the tidal current determination unit determines whether or not there is a tidal current based on tidal information regarding the tidal current acquired by the information acquisition unit and wind condition information regarding the wind condition acquired by the information acquisition unit, and the route plan generation unit generates the route plan based on the wind condition information.

[0063] According to the route plan generation system described in Supplementary Note 3, externally provided information (that is, wind information and tidal current information) can be used for the judgment of the tidal current judgment unit.

[0064] [Appendix 4] The route plan generation system described in Appendix 4 is a route plan generation system described in Appendix 1 or 2, wherein the multiple power-generating floats form a fleet while communicating with each other, and status information including at least one of the sailing status and power generation status of each power-generating float is shared among the multiple power-generating floats, the tidal current determination unit determines whether or not there is a tidal current based on changes in the status information of each power-generating float, and if it is determined that there is a tidal current, the route plan generation unit generates the route plan so that the sea area of ​​the tidal current is included.

[0065] According to the route plan generation system described in Appendix 4, whether or not there is a tidal current in the direction opposite to the wind direction (i.e., an opposing tidal current) is determined based on changes in the state information of each power-generating float that forms the fleet. Since sailing and power generation in the power-generating float are performed using wind power at sea, the sailing state and power generation state of the power-generating float change depending on wind conditions and the direction of the tidal current. In the route plan generation system described in Appendix 4, these changes are used to determine whether or not there is an opposing tidal current.

[0066] [Appendix 5] The power-generating float described in Appendix 5 is a power-generating float that generates wind power using kites while sailing on the sea, and is provided with a route plan generation unit that generates a route plan for sailing the power-generating float at a predetermined sailing angle based on wind conditions, and a tidal current determination unit that determines whether there is a tidal current in a direction opposite to the wind direction based on the wind conditions.When it is determined that there is a tidal current, the route plan generation unit generates the route plan so that the power-generating float will proceed in the sea area with the tidal current at the sailing angle that will increase the power generation efficiency of the wind power generation.

[0067] According to the power-generating float described in Supplementary Note 5, the route plan generation system described in Supplementary Note 1 can be realized.

[0068] The present invention can be modified as appropriate within the scope of the claims and the gist or concept of the invention that can be read from the entire specification, and route plan generation systems involving such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0069] 10 Route planning generation system 11 Information acquisition department 12 Tidal current determination section 13 Route plan generation unit 100 Power-generating Float 111 Kite

Claims

1. At least one power-generating float that generates wind power using kites while sailing on the sea, a route plan generating unit that generates a route plan for sailing the power-generating float at a predetermined sailing angle based on wind conditions; a tidal current determination unit that determines whether or not there is a tidal current in a direction opposite to the wind direction based on the wind conditions; is established, The route plan generation system, wherein when it is determined that a tidal current exists, the route plan generation unit generates the route plan so that the power-generating float proceeds at the sailing angle that increases the power generation efficiency of the wind power generation in the sea area with the tidal current.

2. 2. The route plan generation system according to claim 1, wherein the sailing angle at which the power generation efficiency increases is a sailing angle at which the apparent wind received by the kite becomes stronger.

3. An information acquisition unit is further provided to acquire information from an external source, the tidal current determination unit determines whether or not there is a tidal current based on tidal condition information related to the tidal current acquired by the information acquisition unit and wind condition information related to the wind condition acquired by the information acquisition unit; the route plan generation unit generates the route plan based on the wind condition information.

3. The route plan generation system according to claim 1 or 2.

4. The plurality of power-generating floats form a fleet while communicating with each other, Status information including at least one of a sailing status and a power generation status of each of the power generating floats is shared among the plurality of power generating floats; the tidal current determination unit determines whether or not there is a tidal current based on a change in state information of each of the power-generating floats; The route plan generation system according to claim 1 or 2, wherein, when it is determined that the tidal current exists, the route plan generation unit generates the route plan so as to include an area of ​​the sea where the tidal current exists.

5. A power-generating float that generates wind power using kites while sailing on the sea, a route plan generating unit that generates a route plan for sailing the power-generating float at a predetermined sailing angle based on wind conditions; a tidal current determination unit that determines whether or not there is a tidal current in a direction opposite to the wind direction based on the wind conditions; is established, The power-generating float, when it is determined that a tidal current exists, generates the route plan so that the power-generating float proceeds in the sea area with the tidal current at the sailing angle that increases the power generation efficiency of the wind power generation.

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