Vessel maneuvering support system, vessel, vessel maneuvering support method, and vessel maneuvering support program

Abstract

To provide a vessel maneuvering support system capable of accurately performing automatic measurement of distance when travelling in parallel, a vessel, a vessel maneuvering support method, and a vessel maneuvering support program.SOLUTION: In a maneuvering support system 10 for supporting offshore replenishing work carried out with a receiving vessel receiving offshore replenishing from an underway replenishing vessel by travelling in parallel with the underway replenishing vessel, the underway replenishment vessel and the replenished vessel each include data processors 100, transmission units 41, and one or a plurality of satellite positioning antennas, each data processing unit 100 derives a hull reference point of the self vessel expressed by relative coordinates from a bow direction and a relative coordinates from an original point based an arbitrary original point of the self vessel and positioning information acquired by the respective satellite positioning antennas, acquires a hull reference point and a bow direction of the other vessel through the transmission unit 41 of the other vessel, and derives a positional derivation between the own vessel and the other vessel based on a hull reference point and a bow direction of the other vessel expressed by the relative coordinates from the original point of the own vessel.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a ship maneuvering support system, a ship, a ship maneuvering support method, and a ship maneuvering support program. [Background technology]

[0002] When a ship receives supplies at sea from a supply ship, it approaches the supply ship, which is sailing at a constant course and speed, and travels alongside it while maintaining a predetermined relative distance, speed, and heading, receiving fuel and other materials from the supply ship, and then increases the relative distance and moves away.

[0003] When traveling side by side, the supply ship and the receiving ship measure their relative distance. Distance measurements when traveling side by side are carried out by deploying a cable between the supply ship and the receiving ship, which is used for distance measurement and also as a telephone line and has a flag or other marker attached to it. The cable is then manually let out and reeled in by the crew, and the deployment and operation of the cable is carried out in the exposed bow of the ship, and depending on the weather conditions, the ship's hull may move significantly and be exposed to wind and waves, which places a heavy burden on the workers and poses safety risks.

[0004] In relation to this, in order to eliminate the need for distance telephone lines during distance measurement, Patent Document 1 discloses that a light wave rangefinder is used to detect the relative distance between a supply ship and a receiving ship. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 7139127 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the invention of Patent Document 1 uses an optical rangefinder to measure distances when the ships are traveling side by side, which has the problem that it can be difficult to measure the exact position due to the motion of the ship's hull. Also, there are problems that distance measurement itself can be difficult depending on the position of the sun.

[0007] Furthermore, in order to prevent the location of the ship from being revealed to others, replenishment at sea is sometimes carried out during radio silence or radio wave transmission restrictions, which poses the problem of not being able to use radio or radio waves to measure distances.

[0008] The present disclosure has been made in consideration of the above circumstances, and aims to provide a ship maneuvering support system, a ship, a ship maneuvering support method, and a ship maneuvering support program that are capable of automatic distance measurement with high accuracy when traveling side by side. [Means for solving the problem]

[0009] In order to solve the above problems, the ship maneuvering support system, ship, ship maneuvering support method, and ship maneuvering support program disclosed herein employ the following means. The ship maneuvering support system disclosed herein supports at-sea replenishment operations carried out between a supply ship and a receiving ship that travels alongside the supply ship and receives at-sea replenishment from the supply ship, and the supply ship and the receiving ship each have a data processing unit, a transmitter / receiver unit, and one or more satellite positioning antennas, and each data processing unit derives the ship's hull reference point expressed in relative coordinates from an arbitrary origin of the ship and positioning information acquired by each of the satellite positioning antennas of the ship, acquires the hull reference point and bow heading of another ship via the transmitter / receiver unit of the other ship, and derives the position deviation between the ship and the other ship based on the ship's hull reference point and bow heading of the ship and the hull reference point and bow heading of the other ship expressed in relative coordinates from the ship's origin.

[0010] The ship of the present disclosure is equipped with the aforementioned ship maneuvering support system.

[0011] The ship maneuvering support method disclosed herein is a ship maneuvering support method for supporting at-sea replenishment operations carried out between a supply ship and a receiving ship that travels alongside the supply ship and receives at-sea replenishment from the supply ship, wherein the supply ship and the receiving ship are each equipped with a transmitter / receiver and one or more satellite positioning antennas, and a computer executes the following steps: deriving the ship's hull reference point expressed in relative coordinates from an arbitrary origin of the ship and positioning information acquired by each of the satellite positioning antennas of the ship; acquiring the hull reference point and bow heading of another ship via the transmitter / receiver of the other ship; and deriving the positional deviation between the ship and the other ship based on the ship's hull reference point and bow heading of the ship and the hull reference point and bow heading of the other ship expressed in relative coordinates from the ship's origin.

[0012] The ship maneuvering assistance program of the present disclosure causes a computer to execute the above-mentioned ship maneuvering assistance method. [Effects of the Invention]

[0013] According to the present disclosure, distance measurement during at-sea replenishment of ships can be performed automatically and accurately. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 illustrates a ship maneuvering assistance system according to some embodiments of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a data processing unit according to some embodiments of the present disclosure. [Figure 3] FIG. 2 illustrates a data processing unit in some embodiments of the present disclosure. [Figure 4] FIG. 2 illustrates a data processing unit in some embodiments of the present disclosure. [Figure 5] FIG. 10 illustrates ranging of hull reference points in some embodiments of the present disclosure. [Figure 6] FIG. 10 illustrates ranging between refueling and receiving points in some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of a ship maneuvering support system, a ship, a ship maneuvering support method, and a ship maneuvering support program according to the present disclosure will be described with reference to the drawings. Hereinafter, an embodiment of the present disclosure will be described with reference to FIG. FIG. 1 is a diagram illustrating a ship maneuvering support system according to some embodiments of the present disclosure. The ship 1 is equipped with a ship maneuvering support system 10. In this disclosure, the ships 1 are, for example, a supply ship 1A and a receiving ship 1B. The ship maneuvering support system 10 includes satellite positioning antennas 71 and 72, an antenna receiver 60, a data processing unit 100, and a transceiver unit 41.

[0016] The ship maneuvering support system 10A of the supply ship 1A comprises satellite positioning antennas 71A and 72A, an antenna receiver 60A, a data processing unit 100A, and a transceiver unit 41A. The ship maneuvering support system 10B of the receiver ship 1B comprises satellite positioning antennas 71B and 72B, an antenna receiver 60B, a data processing unit 100B, and a transceiver unit 41B. The transceiver unit 41A of the supply ship 1A and the transceiver unit 41B of the receiver ship 1B transmit and receive data. In Figure 1, the supply ship 1A and the receiver ship 1B are assumed to be in positions where they can transmit and receive data.

[0017] In the following explanation, when distinguishing between each ship 1, ship maneuvering support system 10, satellite positioning antennas 71 and 72, antenna receiver 60, data processing unit 100, and transmitter / receiver unit 41, either A or B is added to the end, and when not distinguishing between each ship 1, ship maneuvering support system 10, satellite positioning antennas 71 and 72, antenna receiver 60, data processing unit 100, and transmitter / receiver unit 41, A or B is omitted.

[0018] Replenishment ship 1A supplies fuel and other supplies to receiving ship 1B at sea. Replenishment at sea is carried out by supply ship 1A sailing at a constant course and speed, while receiving ship 1B sails alongside supply ship 1A while maintaining the relative distance and speed to supply ship 1A.

[0019] The ship maneuvering support system 10 is a system that supports the maneuvering of the ship 1, but in this disclosure it is mainly used to provide support for replenishment at sea.

[0020] The satellite positioning antennas 71 and 72 are, for example, GNSS (Global Navigation Satellite System). The GNSS performs highly accurate positioning using satellites. In the present disclosure, the number of satellite positioning antennas 71 and 72 is two, but this is an example and there may be one or more. The satellite positioning antennas 71 and 72 measure their own antenna positions (latitude, longitude) and acquire them as positioning information.

[0021] The antenna receiver 60 receives the positioning information obtained by the satellite positioning antennas 71 and 72, and converts it into an appropriate data format that can be handled by the data processing unit 100, which will be described later.

[0022] The data processing unit 100 acquires information on the positioning of the ship itself measured by the satellite positioning antennas 71 and 72, as well as information on other ships, and derives the position deviation between the ship itself and other ships. Details of the data processing unit 100 will be described later.

[0023] The transmitter / receiver 41 transmits information about its own ship obtained via the data processor 100 and receives information about other ships transmitted from other ships. The transmitter / receiver in the present disclosure uses, for example, a wireless LAN. The transmitter / receiver 41 may be a communication means having a communication distance sufficient to transmit and receive data throughout the entire process of replenishment at sea, from the time the replenishment at sea operation begins (when the receiver ship 1B recognizes the supply ship 1A and begins approaching), to the time the receiver ship 1B and the supply ship 1A connect to perform replenishment at sea, and after replenishment is completed, the receiver ship 1B and the supply ship 1A disconnect and move away, ending the replenishment at sea operation. In other words, the upper limit of the communication distance should be equal to or greater than the distance between the two ships at the time the replenishment at sea operation begins or ends. Specifically, the distance is approximately 500 m to 1000 m.

[0024] FIG. 2 is a diagram illustrating an example of a hardware configuration of a data processing unit according to some embodiments of the present disclosure. As shown in FIG. 2, the data processing unit (controller) 100 (100A, 100B) is a computer system including, for example, a CPU (Central Processing Unit: processor) 1100, a secondary storage device (ROM, Secondary storage: memory) 1200, a main storage device (RAM, Main Memory) 1300, a hard disk drive (HDD) 1400 as a large-capacity storage device, and a communication unit 1500 for connecting to a network or the like. Note that a solid-state drive (SSD) may also be used as the large-capacity storage device. These units are connected via a bus 1800.

[0025] The CPU 1100 controls the entire data processing unit 100 using, for example, an operating system (OS) stored in a secondary storage device 1200 connected via a bus 1800, and executes various processes by executing various programs stored in the secondary storage device 1200. One or more CPUs 1100 may be provided, and may work together to realize processes.

[0026] The main memory device 1300 is composed of writable memory such as cache memory and RAM (Random Access Memory), and is used as a working area for reading out programs executed by the CPU 1100 and writing data processed by the programs.

[0027] The secondary storage device 1200 is a non-transitory computer-readable storage medium. Examples of the secondary storage device 1200 include a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, and a semiconductor memory. Examples of the secondary storage device 1200 include a read-only memory (ROM), a hard disk drive (HDD), and a solid-state drive (SSD) flash memory. The secondary storage device 1200 stores, for example, an operating system (OS) for controlling the entire information processing device, such as Windows (registered trademark), iOS (registered trademark), or Android (registered trademark), a basic input / output system (BIOS), various device drivers for operating peripheral devices, various application software, and various data and files. The secondary storage device 1200 also stores programs for implementing various processes and various data required for implementing the various processes. A plurality of secondary storage devices 1200 may be provided, and the above-described programs and data may be stored separately in each secondary storage device 1200.

[0028] The data processing unit 100 may also include an input unit such as a keyboard or a mouse, a display unit such as a liquid crystal display device that displays data, etc. The data processing unit 100 may also include a notification unit such as a speaker that includes the display unit and outputs a lamp, sound, especially an alarm sound.

[0029] The data processing unit 100 may be a PC or the like, and in this disclosure, a notebook PC is used, for example.

[0030] 3 and 4 are diagrams illustrating an example of the functionality of a data processing unit in some embodiments of the present disclosure. 3 and 4, the data processing unit 100 includes an origin setting unit 31, a ship's own coordinate conversion unit 32, a position correction unit 33, an other ship's coordinate conversion unit 34, a latitude and longitude conversion unit 35, and a calculation unit 36. Fig. 3 shows the data processing unit 100A of the supply ship 1A, and Fig. 4 shows the data processing unit 100B of the receiving ship 1B.

[0031] Positioning information, specifically, ship's heading information 11, ship's latitude and longitude information 12, and ship's roll pitch information 13, is input to the data processing unit 100 via satellite positioning antennas 71 and 72 and antenna receiver 60.

[0032] The data processing unit 100 receives input of other ship latitude and longitude information 21 and other ship direction information 22 via the transmitter / receiver units 41 of the other ship and the ship itself.

[0033] A series of processes for realizing the functions of the data processing unit 100 is stored, for example, in the form of a program in the secondary storage device 1200 (see FIG. 2), and the CPU (processor) 1100 (see FIG. 2) reads this program into the main storage device 1300 (see FIG. 2) and executes information processing and arithmetic processing to realize various functions. Note that the program may be pre-installed in the secondary storage device 1200, provided in a state stored in another non-transitory computer-readable storage medium, or distributed via wired or wireless communication means. Examples of non-transitory computer-readable storage media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, and semiconductor memories.

[0034] The origin setting unit 31 shown in FIGS. 3 and 4 sets an origin used to derive the ship's position and, ultimately, the hull reference point (hull center) 2. The origin can be set arbitrarily. The origin setting unit 31 sets an origin (0,0) for converting the latitude and longitude data of the ship 1 into relative coordinate values ​​(X,Y) in the Earth-fixed plane coordinate system from the arbitrary origin position. The origin (0,0) of the Earth-fixed plane coordinate system is the antenna position (latitude, longitude) of the satellite positioning antenna 71 or 72 received when the ship maneuvering support system 10 is started. In the present disclosure, the antenna position (latitude, longitude) of the satellite positioning antenna 71 is set as the origin (0,0) of the Earth-fixed plane coordinate system. The antenna position (latitude, longitude) may be set as a unique point by the antenna receiver 60 taking an average value or an intermediate point based on the antenna positions of the multiple satellite positioning antennas 71 and 72.

[0035] When the distance between the ship and the origin exceeds a predetermined threshold value due to the ship's navigation, the origin setting unit 31 sets the latitude and longitude of the ship's position at that time as a new origin.

[0036] Since the Earth's surface is curved, when using an Earth-fixed plane coordinate system, the error increases the further away from the origin. Therefore, a predetermined threshold is set in advance, and the origin is updated when the distance between the ship and the origin exceeds the predetermined threshold.

[0037] The ship's coordinate conversion unit 32 sets the origin (latitude, longitude) set by the origin setting unit 31 as the reference point (0,0) of the Earth-fixed plane coordinate system, obtains the antenna position (latitude, longitude) of the sequential satellite positioning antenna 71 from the ship's latitude and longitude information 12, and converts it into relative coordinate values ​​(X,Y) in the Earth-fixed plane coordinate system. The X axis of the Earth-fixed plane coordinate system is toward the North Pole, and the Y axis is toward the East. The coordinate value X is positive in the North direction and negative in the South direction. The coordinate value Y is positive in the East direction and negative in the West direction. The conversion to relative coordinate values ​​(X,Y) in the Earth-fixed plane coordinate system is performed using a known formula.

[0038] The position correction unit 33 corrects for roll direction oscillations based on the relative coordinate values ​​(X, Y) of the antenna position of the satellite positioning antenna 71 converted by the ship's own coordinate conversion unit 32 and parameters related to roll direction oscillations including the roll angle obtained from the ship's own roll pitch information 13A, and also corrects for pitch direction oscillations based on parameters related to pitch direction oscillations including the pitch angle, thereby correcting for the effects of ship oscillations.

[0039] The satellite positioning antennas 71 and 72 are often installed at a position extending skyward (upward) from the center of the hull (hull reference point) 2, such as the tip of a mast. When the hull oscillates due to the influence of waves, wind, etc., an error occurs between the installation positions of the satellite positioning antennas 71 and 72 and the center of oscillation. This error is corrected by the position correction unit 33. If there is an error between the center of oscillation and the hull center 2, the relative coordinate values ​​(X, Y) of the antenna position of the satellite positioning antenna 71 are further corrected to derive the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2. Corrections for oscillation in the roll direction, corrections for oscillation in the pitch direction, and corrections for errors between the center of oscillation and the hull center 2 are performed using known formulas.

[0040] The other ship coordinate conversion unit 34 sets the origin (latitude, longitude) set by the origin setting unit 31 as the reference point (0,0) of the Earth-fixed plane coordinate system, sequentially acquires the hull centers (latitude, longitude) of other ships from the other ship latitude and longitude information 21, and converts them into relative coordinate values ​​(X,Y) in the Earth-fixed plane coordinate system.

[0041] The latitude and longitude conversion unit 35 converts the relative coordinate values ​​(Xcrp, Ycrp) of the ship's hull center 2, based on the origin corrected by the position correction unit 33, into latitude and longitude. The conversion from the relative coordinate values ​​to latitude and longitude is performed using known formulas.

[0042] The calculation unit 36 ​​calculates the position deviation Dsx between the own ship and the other ships in the longitudinal direction based on the bow-and-stern direction of the own ship, based on the Earth-fixed plane coordinate values ​​(X, Y) of the hull center 2 of the own ship, the Earth-fixed plane coordinate values ​​(X, Y) of the hull center 2 of the other ships, the bow heading of the own ship, and the bow headings of the other ships. The calculation unit 36 ​​also calculates the position deviation Dsy between the own ship and the other ships in the lateral direction based on the side direction of the own ship, based on the Earth-fixed plane coordinate values ​​(X, Y) of the hull center 2 of the own ship, the Earth-fixed plane coordinate values ​​(X, Y) of the hull center 2 of the other ships, the bow heading of the own ship, and the bow headings of the other ships. Specific methods for calculating the position deviations Dsx and Dsy will be described later.

[0043] In the following explanation, when distinguishing between each origin setting unit 31, own ship coordinate conversion unit 32, position correction unit 33, other ship coordinate conversion unit 34, latitude and longitude conversion unit 35, calculation unit 36, own ship heading information 11, own ship latitude and longitude information 12, own ship roll pitch information 13, other ship latitude and longitude information 21, and other ship heading information 22, either A or B is added to the end, and when not distinguishing between each origin setting unit 31, own ship coordinate conversion unit 32, position correction unit 33, other ship coordinate conversion unit 34, latitude and longitude conversion unit 35, calculation unit 36, own ship heading information 11, own ship latitude and longitude information 12, own ship roll pitch information 13, other ship latitude and longitude information 21, and other ship heading information 22, A or B is omitted.

[0044] Next, the data processing flow of the data processing unit 100A of the supply ship 1A shown in FIG. 3 will be described. 3, the data processing unit 100A acquires positioning information, such as own ship heading information 11A, own ship latitude and longitude information 12A, and own ship roll pitch information 13A, from the satellite positioning antenna 71A and the antenna receiver 60A. The data processing unit 100A also acquires other ship latitude and longitude information 21A and other ship heading information 22A via the transmitter / receiver 41B of the receiver ship 1B.

[0045] The ship's heading information 11A is heading information of the supply ship 1A measured by the satellite positioning antenna 71A. The heading of the supply ship 1A can be obtained from the heading information of the supply ship 1A.

[0046] The ship's latitude and longitude information 12A is the antenna position (latitude, longitude) of the satellite positioning antenna 71A of the supply ship 1A, the position of which is measured by the satellite positioning antenna 71A.

[0047] The ship's own roll pitch information 13A is a parameter relating to the roll direction fluctuation including the roll angle of the satellite positioning antenna 71 of the supply ship 1A whose position is measured by the satellite positioning antenna 71A, and a parameter relating to the pitch direction fluctuation including the pitch angle.

[0048] The other ship's latitude and longitude information 21A is the hull center (hull reference point) 2B (latitude, longitude) of the recipient ship 1B.

[0049] The other ship's direction information 22A is the direction information of the receiver ship 1B measured by the satellite positioning antenna 71B.

[0050] The origin setting unit 31A of the data processing unit 100A sets the antenna position (latitude, longitude) of the satellite positioning antenna 71A at the start of data processing to the origin (0,0) of the Earth-fixed plane coordinate system. The start of data processing is, for example, the start of at-sea replenishment.

[0051] The ship's coordinate conversion unit 32A converts the ship's latitude and longitude information 12A into relative coordinate values ​​(X, Y) in the Earth-fixed plane coordinate system based on the origin (0, 0) set by the origin setting unit 31A.

[0052] The relative coordinate values ​​(X, Y) of the antenna position of the satellite positioning antenna 71A of the supply ship 1A are input to the position correction unit 33 and corrected to the relative coordinate values ​​(Xcrp, Ycrp) of the hull center (hull reference point) 2A of the supply ship 1A based on the ship's own roll pitch information 13A. The relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2A of the supply ship 1A are input to the latitude / longitude conversion unit 35A and the calculation unit 36A.

[0053] Meanwhile, the other ship coordinate conversion unit 34A converts the other ship latitude and longitude information 21A into relative coordinate values ​​(Xcrp, Ycrp) in the Earth-fixed plane coordinate system based on the origin (0, 0) of the supply ship 1A. The converted relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B are input to the calculation unit 36A.

[0054] The calculation unit 36A calculates the position deviations Dsx and Dsy using the bow direction of the supply ship 1A, the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2A of the supply ship 1A, the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiver ship 1B, and the bow direction of the receiver ship 1B as inputs. The calculated position deviations Dsx and Dsy are output to the display unit 42A together with the hull center 2A (latitude, longitude) of the supply ship 1A, the bow direction of the supply ship 1A, the hull center 2B (latitude, longitude) of the receiver ship 1B, and the bow direction of the receiver ship 1B, which are output by the latitude / longitude conversion unit 35A described below. The display unit 42A displays this information.

[0055] The display unit 42A displays the positions of the supply ship 1A and the receiver ship 1B using relative coordinates in an Earth-fixed plane coordinate system based on the origin (0,0), allowing the user to easily grasp the relative positions of the user's ship (supply ship 1A) and the other ship (receiver ship 1B). The user can grasp the positions more intuitively than if the positions of the supply ship 1A and the receiver ship 1B were expressed in latitude and longitude.

[0056] The latitude and longitude conversion unit 35A converts the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2A of the supply ship 1A, which have been converted by the own ship coordinate conversion unit 32A and the position correction unit 33A, into the hull center 2A (latitude, longitude) of the supply ship 1A. The converted hull center 2A (latitude, longitude) of the supply ship 1A is output to the transmitter / receiver unit 41A together with the bow heading of the supply ship 1A. The hull center 2A (latitude, longitude) of the supply ship 1A is used as the other ship latitude and longitude information 21B in Figure 4, and the bow heading of the supply ship 1A is used as the other ship heading information 22B in Figure 4.

[0057] Next, the data processing flow of the data processing unit 100B of the receiver ship 1B shown in FIG. 4 will be described. 4, the data processing unit 100B acquires own ship direction information 11B, own ship latitude and longitude information 12B, and own ship roll pitch information 13B from the satellite positioning antenna 71B and antenna receiver 60B. The data processing unit 100B also acquires other ship latitude and longitude information 21B and other ship direction information 22B via the transmitter / receiver 41A of the supply ship 1A.

[0058] The own ship's heading information 11B is heading information of the receiver ship 1B measured by the satellite positioning antenna 71B. The heading of the receiver ship 1B can be obtained from the heading information of the receiver ship 1B.

[0059] The ship's latitude and longitude information 12B is the antenna position (latitude, longitude) of the satellite positioning antenna 71B of the receiver ship 1B, as determined by the satellite positioning antenna 71B.

[0060] The own ship roll pitch information 13B is a parameter relating to the roll direction fluctuation including the roll angle of the satellite positioning antenna 71 of the receiver ship 1B whose position is measured by the satellite positioning antenna 71B, and a parameter relating to the pitch direction fluctuation including the pitch angle.

[0061] The other ship's latitude and longitude information 21B is the hull center 2A (latitude, longitude) of the supply ship 1A.

[0062] The other ship's direction information 22B is the direction information of the supply ship 1A measured by the satellite positioning antenna 71A.

[0063] The origin setting unit 31B of the data processing unit 100B sets the antenna position (latitude, longitude) of the satellite positioning antenna 71B at the start of data processing to the origin (0,0) of the Earth-fixed plane coordinate system. The start of data processing is, for example, the start of at-sea replenishment.

[0064] The ship's coordinate conversion unit 32B converts the ship's latitude and longitude information 12B into relative coordinate values ​​(X, Y) in the Earth-fixed plane coordinate system based on the origin (0, 0) set by the origin setting unit 31B.

[0065] The relative coordinate values ​​(X, Y) of the antenna position of the satellite positioning antenna 71B of the receiving ship 1B are input to the position correction unit 33 and corrected to the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B based on the ship's own roll pitch information 13B. The relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B are input to the latitude / longitude conversion unit 35B and the calculation unit 36B.

[0066] Meanwhile, the other ship coordinate conversion unit 34B converts the other ship latitude and longitude information 21B into relative coordinate values ​​(Xcrp, Ycrp) in the Earth-fixed plane coordinate system based on the origin (0, 0) of the supply ship 1B. The converted relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2A of the supply ship 1A are input to the calculation unit 36B.

[0067] The calculation unit 36B calculates the position deviations Dsx and Dsy using the bow direction of the receiving ship 1B, the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B, the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2A of the supply ship 1A, and the bow direction of the supply ship 1A as inputs. The calculated position deviations Dsx and Dsy are output to the display unit 42B together with the hull center 2B (latitude, longitude) of the receiving ship 1B, the bow direction of the receiving ship 1B, the hull center 2A (latitude, longitude) of the supply ship 1A, and the bow direction of the supply ship 1A, which are output by the latitude / longitude conversion unit 35B described below. The display unit 42B displays this information.

[0068] The display unit 42B displays the positions of the receiving ship 1B and the supply ship 1A using relative coordinates in an Earth-fixed plane coordinate system based on the origin (0,0), allowing the user to easily understand the relative positions of their own ship (receiving ship 1B) and the other ship (supply ship 1A).

[0069] The latitude and longitude conversion unit 35B converts the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B, converted by the own ship coordinate conversion unit 32B and the position correction unit 33B, into the hull center 2B (latitude, longitude) of the receiving ship 1B. The converted hull center 2B (latitude, longitude) of the receiving ship 1B is output to the transmitter / receiver unit 41B together with the bow heading of the receiving ship 1B. The hull center 2B (latitude, longitude) of the receiving ship 1B is used as the other ship latitude and longitude information 21A in Figure 3, and the bow heading of the receiving ship 1B is used as the other ship heading information 22A in Figure 3.

[0070] The calculation of the positional deviations Dsx and Dsy by the calculation unit 36 ​​will be described with reference to FIG. FIG. 5 is a diagram illustrating ranging of hull reference points in some embodiments of the present disclosure.

[0071] The calculation unit 36A receives as input the bow direction of the supply ship 1A, the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2A of the supply ship 1A based on the origin of the supply ship 1A, the bow direction of the receiving ship 1B, and the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B based on the origin of the supply ship 1A.

[0072] The calculation unit 36A calculates the distance Dab between the hull center 2A of the supply ship 1A and the hull center 2B of the supply receiving ship 1B from the hull center 2A and the hull center 2B.

[0073] The calculation unit 36A calculates the relative orientation of the receiving ship 1B from the bow orientation of the supply ship 1A, the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2A of the supply ship 1A, and the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B.

[0074] The calculation unit 36A calculates the longitudinal position deviation Dsx based on the bow-stern direction of the supply ship 1A and the lateral position deviation Dsy based on the side direction of the supply ship 1A from the bow direction of the supply ship 1A, the relative direction of the receiving ship 1B as seen from the supply ship 1A, the hull center 2A of the supply ship 1A, and the hull center 2B of the receiving ship 1B.

[0075] The same process is performed for the calculation unit 36B.

[0076] The calculation unit 36 ​​may further calculate the positional deviations Dx and Dy between the supply point of the supply ship 1A and the receiving point of the receiving ship 1B.

[0077] The calculation of the positional deviations Dx and Dy by the calculation unit 36 ​​will be described with reference to FIG. FIG. 6 is a diagram illustrating ranging of hull reference points in some embodiments of the present disclosure. The calculation unit 36 ​​is assumed to have acquired in advance the positional relationship between the hull center 2A of the supply ship 1A and each supply station (supply point) S1, S2, S3, S4, S5, and S6, and to have set an offset amount. The calculation unit 36 ​​is also assumed to have acquired in advance the positional relationship between the hull center 2B of the receiving ship 1B and the receiving station (supply point) R, and to have set an offset amount.

[0078] The calculation unit 36A receives as input the bow direction of the supply ship 1A, the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2A of the supply ship 1A based on the origin of the supply ship 1A, the bow direction of the receiving ship 1B, and the relative coordinate values ​​(Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B based on the origin of the supply ship 1A.

[0079] The calculation unit 36A calculates the relative coordinate value of the supply station S2 using the offset amount of the supply station S2 with respect to the relative coordinate value (Xcrp, Ycrp) of the hull center 2A of the supply ship 1A with respect to the origin of the supply ship 1A. The calculation unit 36A also calculates the relative coordinate value of the supply station R using the bow heading of the receiving ship 1B and the offset amount of the receiving station R with respect to the relative coordinate value (Xcrp, Ycrp) of the hull center 2B of the receiving ship 1B with respect to the origin of the supply ship 1A. The relative coordinate value of the supply station R may be calculated by the calculation unit 36B.

[0080] The calculation unit 36A calculates the distance Ls2r between the supply station S2 and the receiving station R from the relative coordinate values ​​of the supply station S2 and the relative coordinate values ​​of the receiving station R.

[0081] The calculation unit 36A calculates the longitudinal position deviation Dx based on the bow-stern direction of the supply ship 1A between the supply station S2 and the receiving station R, and the lateral position deviation Dy based on the side direction of the supply ship 1A, from the bow direction of the supply ship 1A, the relative direction of the receiving station R as seen from the supply station S2, the relative coordinate value of the supply station S2 of the supply ship 1A, and the relative coordinate value of the receiving station R of the receiving ship 1B.

[0082] By using the relative coordinate values ​​of the supply station S2 and the supply receiving station R instead of the hull centers 2A and 2B, a more accurate position deviation can be calculated.

[0083] <Additional Notes> The ship maneuvering support system, ship, ship maneuvering support method, and ship maneuvering support program described in the above-described embodiments can be understood, for example, as follows.

[0084] A first aspect of the present disclosure is a ship maneuvering support system (10) that supports an at-sea replenishment operation carried out between a supply ship (1A) and a receiving ship (1B) that travels alongside the supply ship and receives at-sea replenishment from the supply ship, wherein the supply ship and the receiving ship each include a data processing unit (100), a transmitting / receiving unit (41), and one or more satellite positioning antennas (71, 72), and each of the data processing units is configured to detect an arbitrary origin of the ship and each of the satellite positioning antennas of the ship. Based on the positioning information acquired by the antenna, the ship's own hull reference point (2) expressed in bow direction and relative coordinates from the origin is derived, the hull reference point (2) and bow direction of the other ship are acquired via the transmitter / receiver unit of the other ship, and the position deviation (Dsx, Dsy) between the ship and the other ship is derived based on the ship's own hull reference point and bow direction and the hull reference point and bow direction of the other ship expressed in relative coordinates from the ship's own origin.

[0085] Ranging during at-sea replenishment of ships can be performed automatically using the data processing unit, and accurate ranging can be performed using positioning information from a satellite positioning antenna. Accurate distance measurements can be made even when each ship's radar is turned off.

[0086] In the second aspect of the ship maneuvering support system of the present disclosure, in the first aspect, the data processing unit of the supply ship derives a supply point position of one supply station selected from one or more supply stations (supply points) (S1, S2, S3, S4, S5, S6) that refuel the receiving ship, based on the hull reference point of the supply ship, and the data processing unit of the receiving ship derives a receiving point position of a receiving station (receiving point) (R) where fuel is refueled from the supply ship, based on the hull reference point of the receiving ship, and each data processing unit acquires the supply point position and the receiving point position via each transmitter / receiver, and each data processing unit derives a position deviation (Dx, Dy) between the supply station of the supply ship and the receiving station of the receiving ship based on the supply point position and the bow heading of the supply ship, and the receiving point position and the bow heading of the receiving ship.

[0087] By deriving the positional deviation between the position of the supply station (supply point position) of the supply ship and the position of the receiving station (receiving point position) of the receiving ship, it is possible to accurately grasp the actual positional relationship during offshore supply operations. Based on the positional deviation between the supply point position and the receiving point position, it is possible to support the maneuvering of the supply ship and the receiving ship during offshore replenishment.

[0088] In the third aspect of the ship maneuvering support system of the present disclosure, in the first or second aspect, the data processing unit may be provided with a position correction unit (33) that corrects the hull reference point based on the roll angle and pitch angle of the ship from the positioning information acquired by the satellite positioning antenna.

[0089] Satellite positioning antennas are often installed high up on ships' masts. When the ship's hull rolls and / or pitches, errors occur from the hull reference point. By correcting the hull reference point using the position correction unit, errors caused by roll and / or pitch movements can be suppressed, enabling accurate distance measurements.

[0090] In a fourth aspect of the ship maneuvering support system of the present disclosure, in any of the first to third aspects, the data processing unit may be configured such that, when the distance between the hull reference point of the own ship and the origin of the own ship exceeds a predetermined threshold, the hull reference point of the own ship at the time when the distance exceeds the predetermined threshold is set as the new origin.

[0091] Since the supply ship and the receiving ship continue to travel side by side without stopping during offshore supply operations, the distance from the origin gradually increases, resulting in larger errors.By resetting the origin when the distance from the origin exceeds a specified threshold, it is possible to suppress errors in ranging.

[0092] In a fifth aspect of the ship maneuvering support system of the present disclosure, in any of the first to fourth aspects, the data processing unit may display information including the position deviation between the ship itself and the other ship on a display unit (42).

[0093] By displaying information including the positional deviation between the own ship and other ships on the display unit, the user can recognize the positional relationship between the own ship and other ships.

[0094] A sixth aspect of the ship maneuvering assistance system of the present disclosure is any one of the first to fifth aspects, wherein the satellite positioning antenna may use a GNSS (Global Navigation Satellite System).

[0095] By using GNSS as a satellite positioning system, any location can be targeted, and the system can use more accurate location information.

[0096] In the seventh aspect of the ship maneuvering support system of the present disclosure, in any of the first to sixth aspects, the data processing unit may acquire the progress status of the ship's own ship's offshore replenishment work and transmit it as progress information to the data processing unit of the other ship via the transceiver unit.

[0097] The progress of offshore supply operations on each ship can be shared via the transmitter and receiver.

[0098] A ship according to an eighth aspect of the present disclosure is equipped with the ship maneuvering support system according to any one of the first to seventh aspects.

[0099] A ninth aspect of the ship maneuvering support method of the present disclosure is a ship maneuvering support method for supporting at-sea replenishment operations carried out between a supply ship and a receiving ship that travels alongside the supply ship and receives at-sea replenishment from the supply ship, wherein the supply ship and the receiving ship each have a transmitter / receiver unit and one or more satellite positioning antennas, and a computer executes the following steps: deriving a bow heading and a hull reference point of the own ship expressed in relative coordinates from an arbitrary origin of the own ship and positioning information acquired by each of the satellite positioning antennas of the own ship; acquiring the hull reference point and bow heading of another ship via the transmitter / receiver unit of the other ship; and deriving a positional deviation between the own ship and the other ship based on the hull reference point and bow heading of the own ship and the hull reference point and bow heading of the other ship expressed in relative coordinates from the origin of the own ship.

[0100] A ship maneuvering assistance program according to a tenth aspect of the present disclosure causes a computer to execute the ship maneuvering assistance method described in the ninth aspect.

[0101] In the present disclosure, the data processing unit 100 may acquire the progress status of the ship's at-sea replenishment work in addition to the positioning information and the ship's hull center 2, and transmit this as progress information to the data processing unit 100 of the other ship via the transceiver unit 41. This allows the progress status of the at-sea replenishment work on each ship 1 to be shared via the transceiver unit 41. When sharing the progress status, distance telephone calls can be eliminated. [Explanation of symbols]

[0102] 1, 1A, 1B ships (supply ships, receiving ships) 2, 2A, 2B Hull reference point (hull center) 10, 10A, 10B Ship Maneuvering Support System 11, 11A, 11B own ship direction information 12, 12A, 12B Ship's latitude and longitude information 13, 13A, 13B Own ship roll pitch information 21, 21A, 21B Other ships' latitude and longitude information 22, 22A, 22B Other ship direction information 31, 31A, 31B Origin setting section 32, 32A, 32B Own ship coordinate conversion unit 33, 33A, 33B Position correction section 34, 34A, 34B Other ship coordinate conversion unit 35, 35A, 35B Latitude and longitude conversion section 36, 36A, 36B calculation section 41, 41A, 41B Transmitter / Receiver 42, 42A, 42B display section 60, 60A, 60B Antenna Receiver 71, 71A, 71B Satellite positioning antenna 72, 72A, 72B Satellite positioning antenna 100, 100A, 100B Data processing unit 1100 CPU 1200 Secondary storage 1300 Main storage 1500 Communications Department 1800 Bus R Receiving station (receiving point) S1, S2, S3, S4, S5, S6 Resupply Stations (Resupply Points)

Claims

1. A ship maneuvering support system that supports offshore replenishment operations carried out between a replenishment ship and a receiving ship that travels alongside the replenishment ship and receives replenishment from the replenishment ship, The supply ship and the receiving ship each include a data processing unit, a transceiver, and one or more satellite positioning antennas; Each of the data processing units derives a bow direction and a hull reference point of the ship expressed in relative coordinates from the origin based on an arbitrary origin of the ship and positioning information acquired by each of the satellite positioning antennas of the ship; Acquiring the hull reference point and the bow direction of the other ship via the transceiver unit of the other ship; deriving a positional deviation between the ship and the other ship based on the hull reference point and the bow direction of the ship and the hull reference point and the bow direction of the other ship expressed in relative coordinates from the origin of the ship; Ship maneuvering support system.

2. The data processing unit of the supply ship derives a supply point position of one supply station selected from one or more supply stations that refuel the receiving ship, based on the hull reference point of the supply ship; The data processing unit of the receiving ship derives a receiving point position of a receiving station where refueling is performed from the supply ship, based on the hull reference point of the receiving ship; Each data processing unit acquires the supply point location and the supply receiving point location via each of the transmitting and receiving units, Each of the data processing units derives a positional deviation between the supply station of the supply ship and the receiving station of the receiving ship based on the supply point position and the heading of the supply ship, and the receiving point position and the heading of the receiving ship. The ship maneuvering support system according to claim 1.

3. the data processing unit includes a position correction unit that corrects the hull reference point based on the roll angle and pitch angle of the ship from the positioning information acquired by the satellite positioning antenna; The ship maneuvering support system according to claim 1.

4. When the distance between the hull reference point of the ship and the origin of the ship exceeds a predetermined threshold, the data processing unit sets the hull reference point of the ship at the time when the distance exceeds the predetermined threshold as a new origin. The ship maneuvering support system according to claim 1.

5. the data processing unit causes a display unit to display information including the position deviation between the ship and the other ship; The ship maneuvering support system according to claim 1.

6. The satellite positioning antenna uses GNSS (Global Navigation Satellite System), The ship maneuvering support system according to claim 1.

7. The data processing unit acquires the progress status of the at-sea replenishment work of the ship, and transmits the progress information to the data processing unit of the other ship via the transceiver unit. The ship maneuvering support system according to claim 1.

8. A ship equipped with the ship maneuvering support system according to claim 1.

9. A ship maneuvering support method for supporting an at-sea replenishment operation carried out between a supply ship and a receiving ship that travels alongside the supply ship and receives at-sea replenishment from the supply ship, comprising: The supply ship and the receiving ship each have a transceiver unit and one or more satellite positioning antennas; A step of deriving a bow direction and a hull reference point of the ship expressed in relative coordinates from an arbitrary origin of the ship and positioning information acquired by each of the satellite positioning antennas of the ship; acquiring the hull reference point and the heading of the other ship via the transceiver of the other ship; a step of deriving a positional deviation between the ship and the other ship based on the hull reference point and the heading of the ship and the hull reference point and the heading of the other ship expressed in relative coordinates from the origin of the ship; A computer-implemented ship maneuvering support method.

10. A ship maneuvering support program for causing a computer to execute the ship maneuvering support method according to claim 9.

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