Guidance system and guidance method

Abstract

To provide a guidance system that guides a ship to a destination.SOLUTION: A guidance system includes means for measuring a positional relation between a destination and a ship, means for calculating ship maneuvering information for guiding the ship to the destination based on the positional relation, and means for transmitting the ship maneuvering information to the ship.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a guidance system and a guidance method. [Background technology]

[0002] Patent Document 1 discloses a control device that navigates a ship to approach a target based on the position and direction of the ship and the positional relationship between the ship and the target, and automatically moors the ship to a predetermined mooring position. In the technology of Patent Document 1, a range finder for measuring the positional relationship with the target and a control device for controlling the mooring are installed on the ship, and the ship calculates the control amount for approaching the mooring position. However, not all ships can be equipped with a range finder and a high-performance computer, and the ship to which the technology described in Patent Document 1 can be applied is limited. In addition, when the positional relationship with the target is measured using a range finder installed on the ship, the measurement accuracy may be deteriorated due to waves and wind. Furthermore, in the case of floating structures that are not completely fixed to the seabed, such as floating offshore wind turbines, the target position changes depending on the sea conditions, so it is necessary for an operator to approach and make visual corrections, or to measure in the actual sea area using a range finder or the like. On the other hand, if a ship's position can be detected from landmarks or land and it can be guided to its destination, any ship can be navigated to its destination without having to install sensors or high-performance computers on board.

[0003] Patent Document 2 discloses a technique for measuring the position information of a ship from land and transmitting the measured position information to the ship. The ship receives the transmitted measured values ​​and displays them on a display. If the route indicated by the time-series measured values ​​displayed on the display differs from the planned route, the person in charge of the ship guides the ship in the correct direction. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7083049 [Patent Document 2] Japanese Patent Application Laid-Open No. 63-145983 Summary of the Invention [Problem to be solved by the invention]

[0005] To provide a guidance system that guides a ship to its destination.

[0006] The present disclosure provides a guidance system and a guidance method that can solve the above problems. [Means for solving the problem]

[0007] The guidance system of the present disclosure A guidance system including a ship, an offshore structure, and a station provided at a location other than the ship and the offshore structure, and guiding the ship to a destination that is the offshore structure, wherein the offshore structure is equipped with a detection device including a means for calculating a positional relationship between the destination and the ship, and a means for transmitting the calculated positional relationship to the station, the station is equipped with a management device including a means for acquiring the positional relationship, a means for calculating maneuvering information for guiding the ship to the destination based on the acquired positional relationship, and a means for transmitting the maneuvering information to the ship, and the ship is equipped with a control device including a means for acquiring the maneuvering information, a means for displaying the maneuvering information, a means for accepting operations by an operator of the ship, and a means for controlling the ship. Equipped with.

[0008] The induction method of the present disclosure A guidance method for a guidance system including a ship, an offshore structure, and a station provided at a location other than the ship and the offshore structure, which guides the ship to the destination, the offshore structure being the destination, wherein a computer provided in the offshore structure calculates a positional relationship between the destination and the ship and transmits the calculated positional relationship to the station, a computer provided in the station acquires the positional relationship and calculates steering information for guiding the ship to the destination based on the acquired positional relationship and transmits the steering information to the ship, and the ship acquires the steering information and controls the ship based on the steering information. Effect of the Invention

[0009] According to the guidance system and guidance method of the present disclosure, a ship can be guided to a destination. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of a guidance system according to an embodiment. [Diagram 2] FIG. 1 is a functional block diagram illustrating an example of a guidance system according to an embodiment. [Diagram 3] 1 is a flowchart illustrating an example of a guiding method according to an embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a hardware configuration of a guidance system according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] <Embodiment> Hereinafter, a guide system according to an embodiment will be described with reference to FIGS. (composition) FIG. 1 is a diagram showing an example of a guidance system according to an embodiment. The guidance system 100 includes ships 1A to 1C, an offshore structure 2, and a land-based base station 3. The offshore structure 2 is, for example, a floating facility such as an offshore wind turbine or an FPSO (floating production, storage and offloading), a large ship, etc. The offshore structure 2 is equipped with a range sensor 25 such as a LIDAR (Light Detection And Ranging) and a detection device 20. The ships 1A to 1C are ships that navigate to the offshore structure 2 as their destination. When it is not necessary to distinguish between the ships 1A to 1C, they are simply referred to as ships 1. The ship 1 is equipped with a positioning sensor such as a GPS (Global Positioning System), a direction sensor such as a compass, and a control device 10. The ship 1 may be of any grade, from low-function to high-function, and may be manually operated or have a function of moving along a route automatically when a route is given. In addition, the equipment only needs to include a minimum number of sensors, communication devices, display devices, and control devices. The base station 3 monitors and manages the operation of ships sailing in nearby waters. The base station 3 includes a management device 30. In the example of Fig. 1, the base station 3 is installed on land, but the management device 30 may be installed on a large ship (not shown).

[0012] FIG. 2 is a functional block diagram illustrating an example of a guidance system according to the embodiment. The control device 10 of the ship 1, the detection device 20 of the offshore structure 2, and the management device 30 of the base station 3 are communicatively connected via a network or the like.

[0013] The control device 10 includes a communication unit 11, a display unit 12, an operation reception unit 13, and a control unit 14. The communication unit 11 communicates with other devices such as the detection device 20 and the management device 30 . The display unit 12 is a display device that displays information necessary for maneuvering the ship. The operation reception unit 13 receives an operation by an operator. For example, when the operator performs a ship steering operation on the control device 10, the operation reception unit 13 receives this operation and outputs it to the control unit 14. The control unit 14 controls the ship 1. For example, the control unit 14 moves the ship 1 based on the ship steering operation received by the operation receiving unit 13. Also, for example, the control unit 14 moves the ship 1 based on the ship steering information transmitted from the management device 30 or the like. The ship steering information is, for example, the positional relationship between the ship and the destination, the route to the destination, and control command values ​​required to move the ship, such as steering command values ​​and speed command values. The positional relationship is the distance between the ship 1 and the destination and the direction from the ship 1 to the target. Also, the control unit 14 controls the display of the display unit 12.

[0014] The detection device 20 includes a communication unit 21, a position detection unit 22, and an output unit 23. The communication unit 21 communicates with other devices such as the control device 10 and the management device 30. The position detection unit 22 detects an object, such as a ship 1 approaching the offshore structure 2, based on the information measured by the range sensor 25, and calculates the position information of the detected object, and the distance and direction from the offshore structure 2 to the detected object. The position detection unit 22 transmits the calculated positional relationship with the object and the object's position information to the management device 30 using the communication unit 21. The output unit 23 outputs information (such as an alarm) transmitted from the control device 10 and the management device 30 to a display device, a speaker, or the like provided on the offshore structure 2.

[0015] The management device 30 includes a communication unit 31, an approach feasibility determination unit 32, and a ship maneuvering information calculation unit 33. The communication unit 31 communicates with other devices such as the control device 10 and the detection device 20. The approach permission determining unit 32 determines whether or not to permit the ship 1 to approach the destination. The maneuvering information calculation unit 33 calculates maneuvering information necessary for the ship 1 to reach the destination. The maneuvering information calculation unit 33 transmits the calculated maneuvering information to the control device 10 using the communication unit 31.

[0016] (operation) Next, the operation of the guidance system 100 will be described. FIG. 3 is a flowchart illustrating an example of a guiding method according to the embodiment. The position detection unit 22 of the detection device 20 detects the approaching ship 1 (step S11). The position detection unit 22 detects that the ship 1 has entered a predetermined range from the range sensor 25 based on the measurement value of the range sensor 25. Next, the position detection unit 22 calculates the positional relationship between the ship 1 and the destination (offshore structure 2) (step S12). The position detection unit 22 calculates the distance between the offshore structure 2 and the ship 1 and the direction of the offshore structure 2 from the ship 1 based on the measurement value of the range sensor 25. In addition, the position detection unit 22 calculates the positional information of the ship 1 from the calculated positional relationship and the positional information of the offshore structure 2. Alternatively, the position detection unit 22 may communicate with the control device 10 using the communication unit 21 and receive the positional information of the ship 1 from the control device 10. Next, the position detection unit 22 transmits the calculated positional relationship and positional information to the management device 30 of the base station 3 using the communication unit 21. In the management device 30 , the communication unit 31 receives the positional relationship between the ship 1 and the offshore structure 2 and the position information of the ship 1 , and outputs the received information to the approach feasibility determination unit 32 and the ship maneuvering information calculation unit 33 .

[0017] Next, the approach possibility determination unit 32 determines whether the ship 1 detected by the detection device 20 is a ship permitted to approach (step S13). For example, the approach possibility determination unit 32 uses an AIS (Automatic Identification System) to identify the ship 1 from the position information of the ship 1, and acquires the identification number, type of ship, course, and the like of the identified ship 1. The approach possibility determination unit 32 has an approach permission database in which information on ships permitted to approach the offshore structure 2 is registered. In this database, for example, the identification number of the ship permitted to approach and the date and time when the approach is permitted are registered in association with each other. The approach possibility determination unit 32 refers to the approach permission database to investigate whether the identification number of the ship 1 is registered. If the identification number of the ship 1 is registered in the approach permission database and the current time is included in the date and time when the approach is permitted, the approach possibility determination unit 32 determines that the ship 1 is a ship permitted to approach, and if not registered, determines that the ship 1 is a ship not permitted to approach.

[0018] When it is determined that the ship 1 is not permitted to approach (step S13; No), the approach possibility determination unit 32 uses the communication unit 31 to transmit an alarm to the control device 10 and the detection device 20 to warn them not to approach the offshore structure 2 (step S14). At this time, the maneuvering information calculation unit 33 may further calculate maneuvering information for guiding the ship 1, which is not permitted to approach, to a predetermined position and transmit the information to the control device 10.

[0019] When it is determined that the ship is permitted to approach (step S13; Yes), the maneuvering information calculation unit 33 calculates maneuvering information for making the ship 1 approach the destination (step S15). For example, the maneuvering information calculation unit 33 may calculate a route from the position of the ship 1 to the offshore structure 2 (destination). If there is an obstacle between the ship 1 and the offshore structure 2, the maneuvering information calculation unit 33 calculates a route to bypass the obstacle. For example, when the presence of another ship approaching or crossing the route to the offshore structure 2 is predicted by referring to the AIS, the maneuvering information calculation unit 33 may calculate information instructing to wait until the ship passes. In addition, the maneuvering information calculation unit 33 may calculate control command values ​​such as steering command values ​​and speed command values ​​required from moment to moment to proceed along the calculated route. In addition, for example, the maneuvering information may be calculated according to the function of the ship 1 to be guided. For example, if the ship 1 is a manually operated ship, the route to the offshore structure 2 may be calculated (without calculating the control command value), and information on the positional relationship, the calculated route, obstacles on the route, and information on the positions and courses of other ships may be calculated. For the ship 1 having the function of executing operation exactly when a control command value such as a steering command value is given, the steering command value, etc. may be calculated from moment to moment. In addition, for example, if there are multiple ships heading toward the offshore structure 2, such as the ships 1A to 1C in FIG. 1, the maneuvering information calculation unit 33 may set the order of guidance, for example, to guide the ship 1B located closest to the offshore structure 2 to the offshore structure 2 first, or to guide the ship 1 registered in the approach permission database with the earliest date and time of access permission to the offshore structure 2 first, and calculate maneuvering information to guide the ship 1 to be guided first to the destination, and calculate maneuvering information (for example, a speed command value of 0 knots) to instruct the other ships 1 to stop on the spot.

[0020] After calculating the maneuvering information, the maneuvering information calculation unit 33 transmits the maneuvering information to the control device 10 using the communication unit 31 (step S16). For example, the maneuvering information calculation unit 33 transmits to the control device 10 the positional relationship between the ship 1 and the destination, the route to the destination, momentary steering command values, positional information of obstacles and other ships, and the like. The maneuvering information calculation unit 33 may transmit all of this information to the control device 10, or may transmit only the necessary information in response to a request from the ship 1.

[0021] The ship 1 steers based on the transmitted maneuvering information (step S17). Specifically, the communication unit 11 of the control device 10 receives the maneuvering information and outputs it to the control unit 14. The control unit 14 displays the maneuvering information on the display unit 12. The display unit 12 displays the positional relationship of the destination as seen from the ship 1, the route to the destination, and the like. The operator operates the ship 1 with reference to the displayed information. For example, if the control unit 14 has an automatic driving function, the control unit 14 calculates various control amounts (steering angle, engine and propeller rotation speed, etc.) required to follow the received route, and controls the ship 1 based on the calculated control amounts. If a steering command value or the like is received, the control unit 14 controls the ship 1 according to the control command value of the received steering command value or the like. The ship 1 approaches the destination by maneuvering based on the maneuvering information.

[0022] Next, the position detection unit 22 calculates the positional relationship between the ship 1 and the destination (step S18). This process is the same as step S12. The detection device 20 transmits the calculated positional relationship, etc. to the management device 30, and in the management device 30, the maneuvering information calculation unit 33 acquires the positional information and positional relationship of the ship 1 through the communication unit 31. The maneuvering information calculation unit 33 determines whether the ship 1 has arrived at the destination based on the positional information and positional relationship of the ship 1 (step S19). For example, the maneuvering information calculation unit 33 determines that the ship 1 has arrived when the difference between the positional information of the ship 1 and the positional information of the offshore structure 2 is within a predetermined threshold, and the distance between the ship 1 and the destination and the direction from the ship 1 to the destination are both within a predetermined threshold. If it is determined that the ship 1 has arrived (step S19; Yes), the flowchart in FIG. 3 is terminated. If it is determined that the ship has not arrived (step S19; No), the process from step S15 is repeatedly executed.

[0023] (effect) As described above, according to this embodiment, the positional relationship between the ship 1 and the offshore structure 2 is calculated, and maneuvering information such as a route and momentary control amount for guiding the ship 1 to the offshore structure 2 based on the calculated positional relationship is calculated, and the positional relationship and maneuvering information are transmitted to the ship 1. Then, the ship 1 navigates the ship 1 using the transmitted maneuvering information and the like, and heads toward the offshore structure 2. This eliminates the need for the ship 1 to be equipped with a sensor for detecting the offshore structure 2 or a computer for calculating information for reaching the offshore structure 2, and even a lightly equipped ship 1 can be guided to the destination. In many cases, the offshore structure 2 is provided with a range sensor, and a guidance system can be introduced at low cost by newly providing the approach feasibility determination unit 32 and the maneuvering information calculation unit 33. Note that it is not necessarily necessary to determine whether the approach is feasible, and if this determination is not performed, the approach feasibility determination unit 32 can be omitted. Furthermore, when performing advanced maneuvering that does not require operator operation, such as remote operation or automatic control, such as coming alongside a specific landing location such as a CTV (crew transfer vessel), it is believed that by combining a propulsion device that allows advanced maneuvering, such as a water jet propulsion device, an automatic coming alongside method as shown in Patent Publication No. 7083049, and a guidance method using the guidance system 100 of this embodiment, it will be possible to achieve more accurate coming alongside than by using each method alone.

[0024] 2 is an example, and for example, the detection device 20 of the offshore structure 2 may be provided with the approach possibility determination unit 32 and the ship maneuvering information calculation unit 33. In this case, the management device 30 can be omitted. Similarly, the configuration of the detection device 20 can be implemented in the management device 30. In this case, a range sensor may be provided in the base station 3 to calculate the positional relationship between the management device 30 and the ship 1, and the positional relationship between the offshore structure 2 and the ship 1 may be calculated from the positional information of the offshore structure 2 and the management device 30 and the positional relationship between the management device 30 and the ship 1. Also, instead of detecting the ship 1 by the range sensor, it may be detected by other sensors or positional information of the ship 1 managed by the AIS, or the position and positional relationship of the ship 1 may be calculated by communicating with the ship 1 or using a remote signal or a satellite signal. Also, all of the functions of the detection device 20 and the management device 30 may be provided in a large ship on the sea. Also, in the above embodiment, the destination is the offshore structure 2, but the destination may be a port or a quay where the ship is docked. In addition, as a secondary effect of the guidance system 100, it is possible to accumulate guidance records (such as what time a ship named XX came alongside) and to measure information other than that of the ship (for example, ocean conditions such as wave height) using high-precision sensors and provide this information to a land-based management device 30, etc.

[0025] FIG. 4 is a diagram illustrating an example of a hardware configuration of the guidance system according to the embodiment. The computer 900 includes a CPU 901 , a main memory device 902 , an auxiliary memory device 903 , an input / output interface 904 , and a communication interface 905 . The above-mentioned control device 10, detection device 20, and management device 30 are implemented in a computer 900. The above-mentioned functions are stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads the program from the auxiliary storage device 903, loads it in the main storage device 902, and executes the above-mentioned processing in accordance with the program. The CPU 901 also reserves a storage area in the main storage device 902 in accordance with the program. The CPU 901 also reserves a storage area in the auxiliary storage device 903 for storing data being processed in accordance with the program.

[0026] In another embodiment, the computer 900 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) instead of or in addition to the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the CPU 901 may be realized by the integrated circuit.

[0027] Examples of the auxiliary storage device 903 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), a semiconductor memory, etc. The auxiliary storage device 903 may be an internal medium directly connected to the bus of the computer 900, or an external medium connected to the computer 900 via the input / output interface 904 or a communication line.

[0028] In addition, a program for realizing all or part of the functions of the control device 10, the detection device 20, and the management device 30 may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read into a computer system and executed to perform processing by each functional unit. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. In addition, if a WWW system is used, the term "computer system" also includes a homepage providing environment (or display environment). In addition, the term "computer-readable recording medium" refers to a portable medium such as a CD, DVD, or USB, and a storage device such as a hard disk built into a computer system. In addition, if the program is distributed to the computer 900 through a communication line, the computer 900 that receives the program may deploy the program in the main storage device 902 and execute the above processing. In addition, the above program may be for realizing part of the above-mentioned functions, and may further be capable of realizing the above-mentioned functions in combination with a program already recorded in the computer system.

[0029] As described above, several embodiments according to the present disclosure have been described, but all of these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as in the scope and gist of the invention.

[0030] <Additional Notes> The guidance system and the guidance method described in the embodiment can be understood, for example, as follows.

[0031] (1) The guidance system 100 of the first aspect includes a means for calculating a positional relationship between a destination and a ship, a means for calculating maneuvering information for guiding the ship to the destination based on the positional relationship, and a means for transmitting the maneuvering information to the ship. This makes it possible to guide a ship to its destination without the need to install sensors or high-performance computers on board the ship.

[0032] (2) The guidance system 100 of the second aspect is the guidance system 100 of (1), further comprising a means for determining whether the ship is permitted to approach the destination, and the transmitting means transmits the maneuvering information only if the determination result is permission. This allows only ships that are authorized to approach the destination to be guided.

[0033] (3) The guidance system 100 according to a third aspect is the guidance system 100 of (2), wherein the transmitting means transmits a warning to the ship when the determination result is not permitted. This is expected to have the effect of preventing ships that are not authorized to approach the target from approaching their destination.

[0034] (4) The guidance system 100 according to a fourth aspect is the guidance system 100 according to any one of (1) to (3), further comprising a means for transmitting the ship maneuvering information to be output to a display device of the ship. This allows maneuvering information to be displayed on the ship's display device, and the operator can navigate the ship to the destination by referring to the displayed maneuvering information.

[0035] (5) The guidance system 100 according to a fifth aspect is the guidance system 100 of (1) to (4), further comprising a means for transmitting the positional relationship to the ship. This allows a ship that can be steered to its destination without requiring any additional equipment, provided that the positional relationship between the ship and its destination is known.

[0036] (6) The guidance system 100 according to a sixth aspect is the guidance system 100 of (1) to (5), wherein the ship maneuvering information includes a route from the ship to the destination. By moving the ship according to the route included in the maneuvering information, the ship can reach its destination.

[0037] (7) The guidance system 100 according to a seventh aspect is the guidance system 100 of (1) to (6), wherein the ship maneuvering information includes a steering command value and a speed command value. By moving the ship in accordance with the steering command values ​​and speed command values ​​contained in the maneuvering information, the ship can reach its destination.

[0038] (8) The guidance system 100 according to an eighth aspect is the guidance system 100 of (1) to (7), wherein the means for calculating the positional relationship repeatedly calculates the positional relationship until the ship reaches the destination, the means for calculating the maneuvering information repeatedly calculates the maneuvering information until the ship reaches the destination, and the means for transmitting repeatedly transmits the maneuvering information until the ship reaches the destination. By repeating the calculation of the positional relationship, the calculation of the maneuvering information, and the transmission of the maneuvering information until the ship reaches the destination, it is possible to make the ship reach the destination.

[0039] (9) A guidance system 100 according to a ninth aspect is a guidance system 100 according to any one of (1) to (8), wherein the means for calculating the positional relationship, the means for calculating the maneuvering information, and the means for transmitting are provided at a location other than the ship, for example, at an offshore structure, on land, or at a ship other than the ship to be guided (such as a large ship). This makes it possible to guide a ship to its destination without having to install sensors or high-performance computers on the ship being guided.

[0040] (10) A guidance method according to a tenth aspect includes a step of calculating a positional relationship between a destination and a ship, a step of calculating maneuvering information for guiding the ship to the destination based on the positional relationship, and a step of transmitting the maneuvering information to the ship. [Explanation of symbols]

[0041] 1...ship 2...Offshore structures 3...Base station 10. Control device 11. Communications Department 12...Display section 13 Operation reception section 14. Control section 20. Detection device 21. Communications Department 22 Position detection unit 23 Output section 25... Range finder 30...Management device 31. Communications Department 32...Approachability determination unit 33 Ship maneuvering information calculation unit 100 Guidance system 900...Computer 901···CPU 902...Main memory 903...Auxiliary storage device 904 Input / Output Interface 905 Communication Interface

Claims

1. A guidance system including a ship, an offshore structure, and a station provided at a location other than the ship and the offshore structure, the guidance system guiding the ship to a destination, the offshore structure being a destination, The offshore structure is A means for calculating a positional relationship between the destination and the ship; means for transmitting the calculated positional relationship to the station; A detection device comprising: The station: A means for acquiring the positional relationship; a means for calculating ship maneuvering information for guiding the ship to the destination based on the acquired positional relationship; a means for transmitting the ship maneuvering information to the ship; A management device comprising: The vessel, A means for acquiring the ship maneuvering information; A means for displaying the ship maneuvering information; A means for receiving an operation from an operator of the ship; means for controlling the vessel; A control device comprising: A guidance system comprising:

2. A guidance system including a ship and an offshore structure, the guidance system guiding the ship to the offshore structure as a destination, The offshore structure is A means for calculating a positional relationship between the destination and the ship; a means for calculating ship maneuvering information for guiding the ship to the destination based on the calculated positional relationship; a means for transmitting the ship maneuvering information to the ship; A management device comprising: The vessel, A means for acquiring the ship maneuvering information; A means for displaying the ship maneuvering information; A means for receiving an operation from an operator of the ship; means for controlling the vessel; A control device comprising: A guidance system comprising:

3. If the vessel is manually operated: The means for transmitting the maneuvering information to the vessel transmits the maneuvering information including the positional relationship and / or the route from the vessel to the destination to the vessel, The means for displaying the vessel maneuvering information displays the transmitted vessel maneuvering information, the means for accepting an operation accepts an operation performed by the operator based on the displayed ship maneuvering information, the means for controlling the vessel controls the vessel based on the operation received by the means for receiving the operation; If the ship has a function of automatically moving along a route when the route is given, The means for transmitting the maneuvering information to the vessel transmits the maneuvering information to the vessel, the maneuvering information including a route from the vessel to the destination, The means for controlling the vessel controls the vessel based on the route, If the ship has a function of executing operation according to a control command value, the means for transmitting the maneuvering information to the vessel transmits the maneuvering information including a steering command value and a speed command value to the vessel, the means for controlling the vessel controls the vessel based on the steering command value and the speed command value. A guidance system according to any one of claims 1 to 2.

4. The vessel does not include a sensor for detecting the offshore structure and a computer for calculating information for reaching the offshore structure. A guidance system according to any one of claims 1 to 2.

5. The means for calculating the positional relationship repeatedly calculates the positional relationship until the ship reaches the destination, the means for calculating the ship maneuvering information repeatedly calculates the ship maneuvering information until the ship reaches the destination, the transmitting means repeatedly transmits the ship maneuvering information until the ship reaches the destination. A guidance system according to any one of claims 1 to 2.

6. The management device, means for determining whether the vessel is permitted to approach the destination; Further equipped with the transmitting means transmits the ship maneuvering information only when the result of the determination is permission. The guidance system of claim 1 .

7. The transmitting means transmits a warning to the vessel when the result of the determination is not permitted. The guidance system of claim 6.

8. The means for determining whether the ship is permitted to approach the destination has an approach permission database in which identification numbers of ships permitted to approach the offshore structure are registered in correspondence with the dates and times when the approach is permitted, and identifies the ship whose positional relationship has been calculated based on the calculated positional relationship and an AIS (Automatic Identification System), and refers to the approach permission database based on the identification number of the identified ship to obtain the dates and times when the approach is permitted; the means for calculating the ship maneuvering information calculates the ship maneuvering information of the ship whose approach is permitted on the earliest date and time. The guidance system of claim 6.

9. A guidance method for a ship, an offshore structure, and a station provided at a location other than the ship and the offshore structure, the guidance system guiding the ship to the destination, the offshore structure being the destination, comprising: A computer provided in the offshore structure, Calculating a positional relationship between the destination and the vessel; Transmitting the calculated positional relationship to the station; A computer provided in the station, Acquire the positional relationship; calculating ship maneuvering information for guiding the ship to the destination based on the acquired positional relationship; Transmitting the ship maneuvering information to the ship; The vessel, Acquire the ship maneuvering information, controlling the ship based on the maneuvering information; Induction method.

10. A guiding method including a ship and an offshore structure, the method guiding the ship to a destination, the offshore structure being the destination, comprising: A computer provided in the offshore structure, Calculating a positional relationship between the destination and the vessel; calculating ship maneuvering information for guiding the ship to the destination based on the calculated positional relationship; Transmitting the ship maneuvering information to the ship; The vessel, Acquire the ship maneuvering information, Displaying the ship maneuvering information; Accepting an operation by an operator of the ship; Controlling the vessel; Induction method.

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