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

Abstract

To provide a ship-handling assistance device, etc., with which it is possible to assist handling of a ship corresponding to the state of the ship.SOLUTION: A ship-handling assistance device comprises an input / output unit and a processor. The processor is constituted to execute: acquiring, via the input / output unit, first hull information that includes information related to forces acting on a ship's hull; acquiring, via the input / output unit, second hull information that includes information related to the position and attitude of the hull; computing a first hull action force acting on the hull by using the first hull information; computing a first motion state of the hull by using the first hull information; computing a second motion state of the hull by using the second hull information; generating assistance information for assisting handling of the hull based on the difference between the first motion state and the second motion state; and outputting the assistance information via the input / output unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a ship operation support device, a ship operation support system, a ship, a ship operation support method, and a program.

Background Art

[0002] Various devices and systems for supporting ship operation have been proposed. For example, Patent Document 1 discloses an automatic ship position holding control device that automatically holds a hull at a fixed point position against external forces such as tidal currents, wind, and waves by computer controlling the thrust of a ship. The automatic ship position holding control device estimates a long-period fluctuating force including a fluctuating drift force due to waves and performs feed-forward control to compensate for the long-period fluctuating force, thereby reducing the deviation of the hull position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, external forces other than tidal currents, wind, and waves may act on the hull of a ship. The automatic ship position holding control device of Patent Document 1 cannot perform control corresponding to external forces other than tidal currents, wind, and waves. That is, the ship position holding control device cannot perform control corresponding to various states of the ship.

[0005] An object of the present disclosure is to provide a ship operation support device, a ship operation support system, a ship, a ship operation support method, and a program that can perform ship operation support corresponding to the state of a ship.

Means for Solving the Problems

[0006] The ship handling support device according to one aspect of the present disclosure includes an input / output unit configured to input and output information, and a processor. The processor acquires first hull information including actual information related to the forces acting on the hull of the ship via the input / output unit, acquires second hull information including actual information related to the position and attitude of the hull via the input / output unit, calculates a first hull acting force, which is the force acting on the hull, using the first hull information, calculates a first motion state, which is the motion state of the hull, using the first hull acting force, calculates a second motion state, which is the motion state of the hull, using the second hull information, generates support information for supporting the ship handling of the hull based on the difference between the first motion state and the second motion state, and outputs the support information via the input / output unit.

Advantages of the Invention

[0007] According to the technology of the present disclosure, it becomes possible to support ship handling corresponding to the state of the ship.

Brief Description of the Drawings

[0008]

Figure 1

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Mode for Carrying Out the Invention

[0009] (Embodiment) Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that all of the embodiments described below show comprehensive or specific examples. In addition, among the components in the following embodiments, components not described in the independent claims indicating the highest-level concept are described as optional components. Also, each figure in the attached drawings is a schematic diagram and is not necessarily drawn precisely. Further, in each figure, substantially the same components are denoted by the same reference numerals, and redundant descriptions may be omitted or simplified. Also, in this specification and the claims, the "device" can mean not only one device but also a system composed of a plurality of devices.

[0010] [Configuration of Steering Support System] With reference to FIG. 1, the configuration of the steering support system 10 according to the embodiment will be described. FIG. 1 is a block diagram showing an example of the configuration of the mounting device of the ship 1 on which the steering support system 10 according to the embodiment is mounted. In the present embodiment, the steering support system 10 is mounted on the ship 1. The steering support system 10 is used to support the steering of the hull 2 of the ship 1. The steering support system 10 includes a steering support device 100 and a presentation device 200.

[0011] The presentation device 200 is a device capable of presenting information, and is configured to present information using, for example, at least one of an image, voice, and light. The presentation device 200 may include a display device such as a display and a projector, an audio output device such as a speaker and headphones, a light emitting device such as an LED (light emitting diode), and the like. The presentation device 200 may have a configuration of a head-mounted display that also serves as a display device and an audio output device.

[0012] The presentation device 200 may be configured to receive inputs such as information and commands, and may include, for example, an input device such as a key, button, lever, dial, and joystick, and may have a configuration of a touch panel. In the present embodiment, the presentation device 200 is configured to present information using at least an image. The presentation device 200 may be configured to be mounted on the ship 1 as an individual device for the ship operation support system 10, and the functions of the presentation device 200 may be realized by a display device, an audio output device, a light emitting device, etc. pre-equipped on the ship 1.

[0013] The ship operation support device 100 is a device that processes information input from the outside and includes a computer device. The ship operation support device 100 is directly or indirectly connected to the presentation device 200 via wired communication, wireless communication, or a combination thereof, and is configured to input and output information, data, commands, etc. to the presentation device 200.

[0014] The ship operation support device 100 may be configured to directly input and output information, data, commands, etc. to the presentation device 200, or may be configured to indirectly input and output information, data, commands, etc. to the presentation device 200 via another computer device or the like. The other computer device or the like may be configured to process the information, data, commands, etc. input and output between the ship operation support device 100 and the presentation device 200. In the present embodiment, the ship operation support device 100 is mounted on the ship 1, but may be arranged outside the ship 1 and configured to transmit and receive information, data, commands, etc. to and from a computer device or the like mounted on the ship 1 via wireless communication.

[0015] The ship operation support device 100 may be an electronic circuit board, an electronic control unit, a microcomputer, a personal computer, a workstation, a smart device such as a smartphone and a tablet, and other electronic devices. For example, the ship operation support device 100 may include a PLC (Programmable Logic Controller) as an electronic device. The ship operation support device 100 may be a single device or may be incorporated into a computer device mounted on the ship 1. For example, the ship operation support device 100 may be incorporated into the control device 3 that controls each device mounted on the ship 1 as hardware or software. The ship operation support device 100 may be configured to execute each process by centralized control by a single device, or may be configured to execute each process by distributed control by cooperation of a plurality of devices.

[0016] The computer device of the ship operation support device 100 may include a processor P, a memory M, a storage S, and an input / output unit IО. The processor P, the memory M, the storage S, and the input / output unit IО are interconnected by a bus, wired communication, wireless communication, or a combination of at least two of these. Any wired communication and wireless communication may be used. The processor P and the memory M constitute an arithmetic unit. The arithmetic unit performs input and output of information, data, commands, etc. with other devices. The arithmetic unit performs input of signals from various devices and output of control signals to each control target.

[0017] Not limited thereto, for example, the processor P includes a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), microprocessor, processor core, multiprocessor, ASIC (Application-Specific Integrated Circuit), FPGA (Field Programmable Gate Array), etc., and each process may be realized by a logic circuit or a dedicated circuit formed on an IC (Integrated Circuit) chip, LSI (Large Scale Integration), etc. The plurality of processes may be realized by one or more integrated circuits, or may be realized by one integrated circuit.

[0018] The memory M may be composed of a storage device such as a semiconductor memory including a volatile memory and a non-volatile memory. For example, the memory M includes a RAM (Random Access Memory) which is a volatile memory and a ROM (Read-Only Memory) which is a non-volatile memory.

[0019] The storage S stores various data. The storage may be composed of a storage device such as a semiconductor memory, a hard disk drive (HDD), and a solid state drive (SSD).

[0020] The processor P forms a computer system together with the RAM and ROM of the memory M. The computer system of the ship handling support device 100 may realize the functions of the ship handling support device 100 by the processor executing the program recorded in the ROM using the RAM as a work area. Part or all of the functions of the ship handling support device 100 may be realized by the above computer system, may be realized by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, or may be realized by a combination of the above computer system and hardware circuit.

[0021] The input / output unit I / O directly or indirectly connects various devices mounted on the ship 1 and the ship handling support device 100 via wired communication, wireless communication, or a combination thereof. The input / output unit I / O enables input and output of information, data, commands, etc. between the device and the ship handling support device 100. For example, the input / output unit I / O may include an input / output interface, an input / output circuit, a communication circuit, communication equipment, and other electronic equipment. For example, the devices mounted on the ship 1 include a control device 3 that controls the entire ship 1, a propulsion control device 4 that controls the operation of the propulsion device 5 of the hull 2, a wind direction and wind speed sensor 6a, a ground speed sensor 6b, a water speed sensor 6c, a tidal current sensor 6d, a GNSS (Global Navigation Satellite System) 6e, and an attitude sensor 6f, etc. The input / output unit I / O is connected to some or all of these devices and is connected to all of them in the present embodiment.

[0022] The control device 3 and the propulsion control device 4 include a computer device in the same manner as the ship handling support device 100. The propulsion device 5 is a device that applies thrust to the hull 2 and may include, for example, a propeller and its drive device, a thruster such as a side thruster, and a rudder and its drive device, etc.

[0023] The wind direction and wind speed sensor 6a is arranged outside the hull 2, detects the wind direction and wind speed outside the hull 2, and outputs a signal indicating the detection result. The configuration of the wind direction and wind speed sensor 6a is not particularly limited, and any known wind direction and wind speed sensor may be used as the wind direction and wind speed sensor 6a.

[0024] The ground speed sensor 6b is disposed on the hull 2, detects the ground speed of the hull 2, which is the speed of the hull 2 relative to the land existing around the hull 2, and outputs a signal indicating the detection result. The configuration of the ground speed sensor 6b is not particularly limited, and any known ground speed sensor may be used as the ground speed sensor 6b.

[0025] The water speed sensor 6c is disposed on the hull 2, detects the water speed of the hull 2, which is the speed of the hull 2 relative to the water surface around the hull 2, and outputs a signal indicating the detection result. The configuration of the water speed sensor 6c is not particularly limited, and any known water speed sensor may be used as the water speed sensor 6c.

[0026] The tidal current sensor 6d is disposed on the hull 2, detects the direction and speed of the tidal current, and outputs a signal indicating the detection result. The configuration of the tidal current sensor 6d is not particularly limited, and any known tidal current sensor may be used as the tidal current sensor 6d.

[0027] The GNSS 6e is disposed on the hull 2, detects the position of the hull 2 on the earth, and outputs the detection result. The configuration of the GNSS 6e is not particularly limited, and any known GNSS may be used as the GNSS 6e.

[0028] The attitude sensor 6f is disposed on the hull 2, detects the orientation of the hull 2, and outputs the detection result. Although not limited thereto, in the present embodiment, the attitude sensor 6f detects the azimuth, which is the orientation of the hull 2 in the yawing direction with respect to the earth. The attitude sensor 6f may be further configured to detect the orientations of the hull 2 in the rolling direction and the pitching direction. The configuration of the attitude sensor 6f is not particularly limited, and any known sensor may be used as the attitude sensor 6f. For example, the attitude sensor 6f may be configured to include at least one of a geomagnetic azimuth sensor that detects geomagnetism, a gyrocompass that detects angular velocity, and a GNSS azimuth sensor that uses GNSS.

[0029] [Functional Configuration of Ship Handling Support Device] While referring to FIG. 2, the functional configuration of the ship operation support device 100 according to the embodiment will be described. FIG. 2 is a block diagram showing an example of the functional configuration of the ship operation support device 100 according to the embodiment. The ship operation support device 100 includes, as functional components, a force acting estimation unit 101, a hull motion estimation unit 102, a hull motion calculation unit 103, a support information generation unit 104, and a storage unit 110. Further, the force acting estimation unit 101 includes, as functional components, a wind pressure estimation unit 101a, a fluid force estimation unit 101b, a thrust estimation unit 101c, and a combination processing unit 101d. The support information generation unit 104 includes, as functional components, an arithmetic processing unit 104a and an output processing unit 104b. All of the above functional components are not essential for the ship operation support device 100. The ship operation support device 100 may further include additional functional components.

[0030] The function of the storage unit 110 is realized by the memory M and / or the storage S. The functions of the functional components of the ship operation support device 100 excluding the storage unit 110 are realized by the processor P, the memory M, etc.

[0031] The storage unit 110 is configured to store various information, be able to read the stored information, and be able to update the stored information. For example, the storage unit 110 stores programs executed by the processor P, various parameters, and various data, etc. For example, the storage unit 110 stores arithmetic expressions and arithmetic models used by each functional component for calculations. The storage unit 110 stores information about the ship 1. Examples of the information about the ship 1 include specifications of the hull 2 and specifications of the propulsion device 5 such as those related to the propeller, thruster, and rudder. The specifications of the hull 2 may include, for example, the shape, weight, center of gravity position, and draft of the hull 2. The specifications of the propulsion device 5 may include the quantity, shape, position, orientation, operating range, and capabilities of the propeller, thruster, and rudder. Note that the functional components of the ship operation support device 100 excluding the storage unit 110 may be configured to obtain various information stored in the storage unit 110 from a device external to the ship operation support device 100 and use it, or may be configured to obtain it via a network from a cloud environment such as a cloud server.

[0032] Regarding the acting force estimation unit 101, the wind pressure estimation unit 101a estimates the wind pressure acting on the hull 2. Specifically, the wind pressure estimation unit 101a is configured to receive the detection result of the wind direction and wind speed sensor 6a, and calculates the wind pressure acting on the hull 2 using the detection result. The detection result of the wind direction and wind speed sensor 6a is an example of the first hull information and the ship state information. The calculation method of the wind pressure used by the wind pressure estimation unit 101a may be any known calculation method such as the proposed formula of Ishikawa and the proposed formula of Fujiwara. The wind pressure estimation unit 101a calculates the linear wind pressure, which is the wind pressure in the linear direction acting on the hull 2, and the rotational wind pressure, which is the wind pressure in the rotational direction acting on the hull 2.

[0033] Here, the first hull information includes actual information related to the force acting on the hull 2. For example, the first hull information may include output information output from a first ship-related device that detects information related to the force acting on the hull 2. The ship state information is information indicating the state of the ship 1. For example, the ship state information may include output information output from a third ship-related device that detects information related to the state of the ship 1. The first ship-related device and the third ship-related device may include devices, equipment, facilities, sensors, etc. arranged on or outside the ship 1. The output information may include output values, command values, detection values, measurement values, and signals indicating these output from the first ship-related device and the third ship-related device. The output information may be information acquired from the first ship-related device and the third ship-related device, or may be information output from the first ship-related device and the third ship-related device and stored in a storage device or the like. The wind direction and wind speed sensor 6a is an example of the first ship-related device and the third ship-related device.

[0034] As shown in FIGS. 3A and 3B, the wind pressure estimation unit 101a calculates the linear wind pressure acting in the directions of the X-axis and Y-axis along the horizontal plane at the reference position of the hull 2, and the rotational wind pressure acting around the Z-axis passing through the reference position and perpendicular to the horizontal plane. Although not limited to this, in the present embodiment, the reference position of the hull 2 is the center of gravity G of the hull 2, but may be other positions such as a center point set on the hull 2, for example. FIGS. 3A and 3B are a plan view and a side view respectively showing an example of the reference position and the reference direction set on the hull 2.

[0035] The X-axis, Y-axis, and Z-axis are perpendicular to each other. The X-axis extends through the center of gravity G and extends in the horizontal direction in the longitudinal direction connecting the bow 2a and the stern 2b of the hull 2. The Y-axis extends through the center of gravity G and extends in the horizontal direction in the lateral direction connecting the port side 2c and the starboard side 2d of the hull 2. The Z-axis extends through the center of gravity G and extends in the vertical direction. The rotational wind pressure is also the wind pressure in the turning direction of the hull 2. Note that the wind pressure estimation unit 101a may be configured to calculate the three-axis linear wind pressure further including the linear wind pressure in the direction of the Z-axis, for example, or may be configured to calculate the rotational wind pressure of two or more axes further including the rotational wind pressure around the X-axis and / or the Y-axis.

[0036] The fluid force estimation unit 101b estimates the fluid force acting on the hull 2. Specifically, the fluid force estimation unit 101b is configured to receive at least one detection result of the ground speed sensor 6b, the speed over ground sensor 6c, and the tidal current sensor 6d, and calculates the fluid force acting on the hull 2 using the detection result. In the present embodiment, the fluid force estimation unit 101b uses all the detection results of the ground speed sensor 6b, the speed over ground sensor 6c, and the tidal current sensor 6d in the calculation. The above detection results are an example of the first hull information and the ship state information. The ground speed sensor 6b, the speed over ground sensor 6c, and the tidal current sensor 6d are examples of the first ship-related device and the third ship-related device.

[0037] The calculation method of the hydrodynamic force used by the hydrodynamic force estimation unit 101b may be any known calculation method, such as the proposed formula of the MMG model and the cross flow drag model. The hydrodynamic force estimation unit 101b calculates the linear hydrodynamic force, which is the hydrodynamic force in the linear direction acting on the hull 2, and the rotational hydrodynamic force, which is the hydrodynamic force in the rotational direction acting on the hull 2. Although not limited to this, in the present embodiment, the hydrodynamic force estimation unit 101b calculates the linear hydrodynamic forces in the directions of the X-axis and Y-axis of the hull 2 and the rotational hydrodynamic force around the Z-axis of the hull 2. Note that the hydrodynamic force estimation unit 101b may be configured to calculate, for example, the three-axis linear hydrodynamic forces further including the hydrodynamic force in the direction of the Z-axis, or may be configured to calculate, for example, the two-axis or more rotational hydrodynamic forces further including the rotational hydrodynamic forces around the X-axis and / or Y-axis.

[0038] The thrust estimation unit 101c estimates the thrust acting on the hull 2. Specifically, the thrust estimation unit 101c receives the operation information of the propeller, thruster, and rudder of the propulsion device 5 from the propulsion control device 4, and calculates the thrust acting on the hull 2 using the operation information and the specifications of the propulsion device 5 stored in the storage unit 110. The operation information may include, for example, the rotational speed of the propeller, the rotational speed or output of the thruster, and the rudder angle of the rudder. The thrust estimation unit 101c may be configured to receive, as the operation information, the command value from the propulsion control device 4 to the propulsion device 5 and / or the feedback value received by the propulsion control device 4 from the propulsion device 5.

[0039] The thrust estimation unit 101c may be configured to use the detection result of the speed through water sensor 6c in addition to the above operation information for the calculation of the thrust. The thrust estimation unit 101c may be configured to calculate the thrust using the operation command output from the steering device for steering the ship 1 to the control device 3 or the like together with or instead of the above operation information. The operation command is a command indicating the content of the operation input to the steering device by the operator of the ship 1. Examples of the steering device include a lever, a joystick, a handle, and a steering wheel. The operation information, the detection result of the speed through water sensor 6c, and the operation command are examples of the first hull information and the ship state information. The propulsion control device 4, the speed through water sensor 6c, and the steering device are examples of the first ship-related device and the third ship-related device.

[0040] The calculation method of the thrust used by the thrust estimation unit 101c may be any known calculation method. The thrust estimation unit 101c calculates the linear thrust, which is the thrust in the linear direction acting on the hull 2, and the rotational thrust, which is the thrust in the rotational direction acting on the hull 2. Although not limited thereto, in the present embodiment, the thrust estimation unit 101c calculates the linear thrust in the directions of the X-axis and Y-axis of the hull 2 and the rotational thrust around the Z-axis of the hull 2. Note that the thrust estimation unit 101c may be configured to calculate, for example, a three-axis linear thrust further including the thrust in the direction of the Z-axis, or may be configured to calculate, for example, a rotational thrust of two or more axes further including the rotational thrust around the X-axis and / or Y-axis.

[0041] The combining processing unit 101d combines the wind pressure estimated by the wind pressure estimation unit 101a, the fluid force estimated by the fluid force estimation unit 101b, and the thrust estimated by the thrust estimation unit 101c to calculate the estimated acting force, which is the force acting on the hull 2. The estimated acting force is an example of the first hull acting force. For example, the combining processing unit 101d may add the linear wind pressure, the linear fluid force, and the linear thrust for each axis to calculate the estimated linear acting force in the linear direction of each axis. The combining processing unit 101d may add the rotational wind pressure, the rotational fluid force, and the rotational thrust for each axis to calculate the estimated rotational acting force, that is, the estimated moment, in the rotational direction of each axis.

[0042] The hull motion estimation unit 102 estimates the motion state of the hull 2 using the estimated acting force calculated by the combination processing unit 101d. Although not limited to this, in the present embodiment, the motion state of the hull 2 includes the estimated acceleration of the hull 2. Note that the motion state of the hull 2 may include other estimated information indicating the estimated motion state of the hull 2, such as the estimated position and estimated velocity of the hull 2.

[0043] The hull motion estimation unit 102 calculates an estimated value of the speed change of the hull 2, that is, an estimated value of the acceleration, using the estimated acting force and the motion model of the hull 2 stored in the storage unit 110. For example, the hull motion estimation unit 102 calculates an estimated acceleration, which is an estimated value of the acceleration of the hull 2, using the mathematical formula of the hull motion model shown in Equation 1 below.

[0044]

Equation

[0045] In Equation 1 above, "F X " represents the estimated linear acting force in the X-axis direction on the center of gravity G of the hull 2, "F Y " represents the estimated linear acting force in the Y-axis direction on the center of gravity G of the hull 2, and "N Z " represents the estimated rotational acting force around the Z-axis at the center of gravity G of the hull 2. "X G " represents the position of the center of gravity G of the hull 2 in the X-axis direction with respect to a predetermined center of the hull 2, and "Y G " represents the position of the center of gravity G of the hull 2 in the Y-axis direction with respect to a predetermined center of the hull 2. "u" represents the linear velocity of the hull 2 in the X-axis direction, and "u'" represents the linear acceleration of the hull 2 in the X-axis direction. "v" represents the linear velocity of the hull 2 in the Y-axis direction, and "v'" represents the linear acceleration of the hull 2 in the Y-axis direction. "r" represents the rotational velocity of the hull 2 around the Z-axis, that is, the angular velocity, and "r'" represents the rotational acceleration of the hull 2 around the Z-axis, that is, the angular acceleration. "M" represents the mass of the hull 2. "J Z " represents the moment of inertia of the hull 2 around the Z-axis at a predetermined position of the hull 2. The predetermined position of the hull 2 may be the position of a predetermined center of the hull 2, the position of the center of gravity G, or another position of the hull 2.

[0046] The hull motion estimation unit 102 calculates the estimated accelerations "u'", "v'", and "r'" by applying each element of the estimated acting force, "F X ", "F Y ", and "N Z " to Equation 1.

[0047] The hull motion calculation unit 103 calculates the motion state of the hull 2 using the actual information related to the position and attitude of the hull 2. Although not limited thereto, in the present embodiment, the motion state of the hull 2 includes the acceleration of the hull 2. Note that the motion state of the hull 2 may include other information indicating the motion state of the hull 2, such as the position and velocity of the hull 2.

[0048] The hull motion calculation unit 103 calculates the actual acceleration, which is the actual value of the acceleration of the hull 2, using the position of the hull 2 detected by the GNSS 6e and the azimuth of the hull 2 detected by the attitude sensor 6f. The actual acceleration includes the actual linear acceleration in each axis direction and the actual rotational acceleration around each axis. In the present embodiment, the actual acceleration includes at least the actual linear accelerations in the X-axis and Y-axis directions and the actual rotational acceleration around the Z-axis. The above position and azimuth of the hull 2 are examples of the second hull information and the ship state information.

[0049] Here, the second hull information includes the actual information related to the position and attitude of the hull 2. For example, the information related to the position and attitude may include the information indicating the position and attitude, the information indicating the velocity of the position and attitude, or the information indicating the acceleration of the position and attitude. For example, the second hull information may include the output information output from the second ship-related device that detects the information related to the position and attitude of the hull 2. The second ship-related device may include devices, equipment, facilities, and sensors disposed on or outside the ship 1. The output information may include output values, command values, detection values, measurement values, and signals indicating these output from the second ship-related device. The output information may be information acquired from the second ship-related device or information output from the second ship-related device and stored in a storage device or the like. The GNSS 6e and the attitude sensor 6f are examples of the second ship-related device.

[0050] Regarding the support information generation unit 104, the arithmetic processing unit 104a generates support information for assisting in the operation of the hull 2. The output processing unit 104b converts the support information generated by the arithmetic processing unit 104a into information corresponding to the output target of the support information, and outputs the converted support information to the output target. Examples of the output target include the presentation device 200, the control device 3, and other functional components of the ship operation support device 100. When the output processing unit 104b outputs support information to the presentation device 200, it converts the support information into data including at least one of image data, audio data, and character string data.

[0051] The arithmetic processing unit 104a calculates the difference between the estimated acceleration, which is the motion state estimated by the hull motion estimation unit 102, and the actual acceleration, which is the motion state calculated by the hull motion calculation unit 103, and generates support information using the difference. For example, the arithmetic processing unit 104a may calculate the difference between the estimated acceleration and the actual acceleration when the timing at which the first hull information used for calculating the estimated acceleration is detected is the same as the timing at which the second hull information used for calculating the actual acceleration is detected. For example, the arithmetic processing unit 104a may calculate each difference between the estimated linear acceleration and the estimated rotational acceleration of each axis calculated by the hull motion estimation unit 102 and the actual linear acceleration and the actual rotational acceleration of each axis calculated by the hull motion calculation unit 103. In this specification and the claims, "the same" and "identical" may include cases where they are exactly the same and cases where there are differences but can be regarded as substantially the same.

[0052] The arithmetic processing unit 104a can generate various support information according to a preset command and / or a command input to the ship operation support device 100. Without being limited thereto, in this embodiment, the support information generation unit 104 is configured to output at least one of the first support information, the second support information, the third support information, the fourth support information, the fifth support information, and the sixth support information. The support information generation unit 104 may be configured to receive a support information command from an external device such as the control device 3 and output the support information specified by the command.

[0053] The first support information is information including the estimation result of the external force acting on the hull 2. The second support information is information for assisting in ship operation so as to bring the hull 2 into a target state in a state where the hull 2 is being pushed and dragged by another ship. The third support information is information for assisting in ship operation so as to bring the hull 2 into a target state. The fourth support information is information for assisting in ship operation of the hull 2 in a state where the hull 2 is at anchor. The fifth support information is information including the estimation result of the movement of the hull 2. The sixth support information is information including the estimation result of the area where the hull 2 can move. Hereinafter, the operations of the arithmetic processing unit 104a and the output processing unit 104b when outputting each support information will be described.

[0054] [First support information] The arithmetic processing unit 104a generates information indicating the estimated external force acting on the hull 2 as the first support information, and the output processing unit 104b outputs the information to the output target. The estimated external force is an example of the second hull acting force. Specifically, the arithmetic processing unit 104a calculates the difference between the estimated acceleration estimated by the hull motion estimator 102 and the actual acceleration calculated by the hull motion calculator 103. The difference includes the differences in acceleration in the X-axis direction, Y-axis direction, and around the Z-axis respectively.

[0055] The arithmetic processing unit 104a uses the differences in acceleration in the X-axis direction and the Y-axis direction as the linear components of the estimated external force acting on the hull 2 to calculate the direction and magnitude of the linear force of the estimated external force. The arithmetic processing unit 104a uses the difference in acceleration around the Z-axis as the rotational component of the estimated external force acting on the hull 2 to calculate the direction and magnitude (moment) of the rotational force of the estimated external force. Note that the arithmetic processing unit 104a may calculate the difference in acceleration in the Z-axis direction and calculate the direction and magnitude of the linear force in the Z-axis direction of the estimated external force acting on the hull 2, or may calculate the differences in acceleration around the X-axis and Y-axis respectively and calculate the direction and magnitude of the rotational forces around the X-axis and Y-axis of the estimated external force acting on the hull 2.

[0056] When the output processing unit 104b outputs the first support information to the presentation device 200, it generates at least image data that visually represents an index indicating the direction and magnitude of the linear force and the rotational force of the estimated external force acting on the hull 2, and outputs the image data to the presentation device 200 for display. For example, the output processing unit 104b generates data of an image Ia as shown in FIG. 4, which includes an image of the hull 2, an image of an arrow As indicating the direction and magnitude of the estimated linear force, and an image of an arrow Ar indicating the direction and magnitude of the estimated rotational force. The thickness, length, and / or color intensity of the arrows As and Ar may indicate the magnitude of the force. The output processing unit 104b may represent the magnitude of each force as a character string. FIG. 4 is a diagram showing an example of a display image of the first support information. For example, the arithmetic processing unit 104a and the output processing unit 104b may be configured to generate and display the data of the image Ia at a predetermined time interval or a predetermined moving distance interval.

[0057] The arithmetic processing unit 104a determines the type of the estimated external force acting on the hull 2 under a predetermined condition, and the output processing unit 104b may output the estimated external force together with the information of the type. For example, when the arithmetic processing unit 104a acquires information indicating a ship handling assistance state in which the hull 2 is being pushed and pulled by another ship, the estimated external force may be determined as the pushing and pulling external force applied from the other ship to the hull 2. When the arithmetic processing unit 104a acquires information indicating an anchoring state in which the hull 2 is at anchor, the estimated external force may be determined as the external force received by the hull 2 from the anchor during anchoring. When the arithmetic processing unit 104a does not acquire information indicating a ship assistance state or information indicating an anchoring state, the estimated external force may be determined as an estimation error regarding the wind pressure and the fluid force acting on the hull 2.

[0058] [Second Support Information] The arithmetic processing unit 104a generates information for assisting the operation of the ship 1 that uses other ships such as tag boats as the second support information, and the output processing unit 104b outputs the information to the output target. Specifically, the arithmetic processing unit 104a receives or acquires information necessary for operation support using other ships from an external device such as the control device 3 and / or the storage unit 110. The information may include information on operation guidelines and information on other ships. For example, the information on operation guidelines may include information such as the target position, target azimuth, target route, and target ship speed of the ship 1. For example, the information on the target route may include information on at least one target passing point (also called a "waypoint"). The information on other ships may include the number of other ships pushing and pulling the hull 2, the specifications of each of the other ships, the position on the hull 2 where the other ships are pushing and pulling, the pushing and pulling state of whether each of the other ships is pushing or pulling, and information such as the thrust of each of the other ships.

[0059] Similar to the case of the first support information, the arithmetic processing unit 104a calculates the linear force and rotational force of the estimated external force acting on the hull 2. When the arithmetic processing unit 104a receives information or a command indicating the operation assistance state from an external device such as the control device 3, it calculates the above linear force and rotational force as the estimated external force received from other ships.

[0060] The arithmetic processing unit 104a uses the estimated external force, the information on the operation guidelines, the information on other ships, etc. to calculate the ship acting force, which is the external force that the hull 2 should receive from other ships in order to reach the target state, and generates support information related to the ship acting force. For example, the arithmetic processing unit 104a may generate at least one of stop support information, target position and azimuth support information, azimuth holding support information, position holding support information, and route support information as the support information.

[0061] The stop support information is information that proposes the ship acting force required to stop the hull 2 at the target position.

[0062] The target position and orientation support information is information that proposes the ship's acting forces necessary to bring the hull 2 to the target position and target orientation.

[0063] The orientation maintenance support information is information that proposes the ship's acting forces necessary to bring the hull 2 to the target position while maintaining the orientation of the hull 2 as it is.

[0064] The position maintenance support information is information that proposes the ship's acting forces necessary to turn the hull 2 toward the target orientation while maintaining the position of the hull 2 as it is.

[0065] The route support information is information that proposes the ship's acting forces necessary to move the hull 2 along the target route or target passing point.

[0066] The arithmetic processing unit 104a may calculate the ship's acting forces using any known arithmetic method. For example, the arithmetic processing unit 104a may calculate the ship's acting forces by executing model predictive control using the latest estimated external force as an initial value. For example, the model predictive control may use a method such as the C / GMRES method in which the continuation method and the generalized minimal residual method are combined.

[0067] When the output processing unit 104b outputs the second support information to the presentation device 200, it generates at least image data that visually represents an index indicating the direction and magnitude of the linear force and the rotational force of the ship acting force, and outputs the image data to the presentation device 200 for display. For example, the output processing unit 104b generates data of an image Ib as shown in FIG. 5, which includes an image of the hull 2, an image of at least one other ship TS, an image of an arrow Bs indicating the direction and magnitude of the linear force of the ship acting force, and an image of an arrow Br indicating the direction and magnitude of the rotational force of the ship acting force. The thickness, length, and / or color of the arrows Bs and Br may indicate the magnitude of the force. The output processing unit 104b may represent the magnitude of each force as a character string. The hull 2 indicated by the dashed line represents the hull at the target position and attitude. FIG. 5 is a diagram showing an example of a display image of the second support information.

[0068] When two or more other ships TS are pushing and pulling on the hull 2, the arithmetic processing unit 104a and the output processing unit 104b may distribute the linear force and the rotational force of the ship acting force to each of the other ships TS according to the thrust or power of each of the other ships TS. Further, the arithmetic processing unit 104a and the output processing unit 104b may be configured to generate and display the data of the image Ib at a predetermined time interval or a predetermined moving distance interval.

[0069] [Third Support Information] The arithmetic processing unit 104a generates information for assisting the ship operation of the ship 1 so that the hull 2 is in the target state as the third support information, and the output processing unit 104b outputs the information to the output target. Specifically, the arithmetic processing unit 104a receives or acquires information necessary for ship operation support including steering pointer information from an external device such as the control device 3 and / or the storage unit 110, in the same manner as in the case of the second support information. The arithmetic processing unit 104a calculates the linear force and the rotational force of the estimated external force acting on the hull 2, in the same manner as in the case of the first support information.

[0070] The arithmetic processing unit 104a calculates the ship acting force, which is the external force that the hull 2 should receive for the hull 2 to reach the target state, by using information such as the estimated external force and the steering pointer, and generates support information related to the ship acting force. For example, similar to the case of the second support information, the arithmetic processing unit 104a may generate at least one of stop support information, target position and orientation support information, orientation holding support information, position holding support information, and route support information.

[0071] When the output processing unit 104b outputs the third support information to the presentation device 200, it generates at least image data visually representing indicators of the directions and magnitudes of the linear force and the rotational force of the ship acting force, and outputs the image data to the presentation device 200 for display. For example, for example, the output processing unit 104b generates data of an image in which at least one image of another ship TS is removed from the image Ib as shown in FIG. 5.

[0072] Note that the arithmetic processing unit 104a may generate steering information for the directions and magnitudes of the linear force and the rotational force of the ship acting force, and the output processing unit 104b may generate data of an image including the steering information. The steering information may include information such as the forces and accelerations acting on the hull 2 in the port and starboard directions, the forces and accelerations acting on the hull 2 in the forward and backward directions, the rudder angle of the rudder, and the thrust.

[0073] [Fourth Support Information] As the fourth support information, the arithmetic processing unit 104a generates information for supporting the steering of the ship 1 using the anchor in combination, and the output processing unit 104b outputs the information to the output target. Specifically, the arithmetic processing unit 104a receives or acquires information necessary for the steering support using the anchor in combination from an external device such as the control device 3 and / or the storage unit 110. The information may include the steering pointer information and the anchor information of the ship 1. The steering pointer information is the same as the steering pointer information in the second support information. The anchor information of the ship 1 may include information such as the number of anchors mounted on the hull 2, the position on the hull 2 where the tension of the anchor line such as the anchor rope or the anchor chain of each anchor acts (for example, the position of the windlass), the anchor during anchoring, and the length of the anchor line paid out by the anchor during anchoring.

[0074] Similar to the case of the first support information, the arithmetic processing unit 104a calculates the linear force and the rotational force of the estimated external force acting on the hull 2. When the arithmetic processing unit 104a receives information or commands indicating the anchoring state from an external device such as the control device 3, it calculates the above linear force and rotational force as the estimated external force received from the anchor during anchoring.

[0075] Using the estimated external force, the information of the steering pointer, the information of the anchor, etc., the arithmetic processing unit 104a calculates the estimated anchor acting force, which is the estimated acting force that the hull 2 receives from the anchor and the anchor line when the hull 2 moves during anchoring, and generates support information related to the estimated anchor acting force.

[0076] In the process of generating the support information, after the arithmetic processing unit 104a acquires the information indicating the anchoring state, when it detects that the estimated external force acting on the hull 2 is equal to or greater than a preset first threshold value or exceeds the first threshold value, it sets the flag of the state determination of "the anchor is effective" to the ON state, and uses the estimated external force calculated later to calculate the estimated anchor acting force. For example, when the estimated external force is less than or equal to a second threshold value, the arithmetic processing unit 104a sets the above flag to the OFF state, stops calculating the estimated anchor acting force, and does not calculate the estimated anchor acting force again until the flag becomes the ON state. The first threshold value and the second threshold value may be the same or different.

[0077] Specifically, the arithmetic processing unit 104a estimates the anchoring position AP with respect to the hull 2 from the change in the estimated external force. The anchoring position AP is also the end point of the anchor line paid out from the hull 2. For example, as shown in FIG. 6, the arithmetic processing unit 104a calculates the anchoring position using the change in the direction of the linear force Fes of the estimated external force Fe and the information on the position of the winch 2w from which the anchor line is paid out on the hull 2. The direction of the linear force Fes with respect to the hull 2 is also the direction in which the anchor line extends from the winch. FIG. 6 is a plan view showing an example of a method for estimating the anchoring position AP according to the embodiment. Further, the arithmetic processing unit 104a calculates the distance and direction between the winch 2w and the anchoring position AP.

[0078] For example, as shown in FIG. 7, based on the above calculation result, the arithmetic processing unit 104a applies the linear force Fes and the rotational force Fer of the estimated external force Fe, the direction in which the anchor line extends with respect to the hull 2, the anchor chain distance, and the reference length to the following formula 2 to calculate the anchor acting force coefficient. In calculating the anchor acting force coefficient, the arithmetic processing unit 104a may use both of the two formulas included in formula 2, or may use only one of them. FIG. 7 is a plan view showing an example of each element of formula 2.

[0079]

Equation

[0080] In the above formula 2, "f X " represents the X-axis direction component of the linear force Fes, "f Y " represents the Y-axis direction component of the linear force Fes, and "f r " represents the rotational force Fer. "d anchor " represents the anchor chain distance. The anchor chain distance may be the distance between the anchoring position and the winch, for example, it may be the horizontal distance between the anchoring position and the winch when the ship 1 is viewed from above. "L anchor " represents the reference length corresponding to the length of the anchor line paid out, for example, it may represent the reference length of the anchor line at which the anchor begins to take effect with respect to "d anchor ". "θ" represents the direction in which the anchor line extends with respect to the hull 2, and represents the angle of the anchor line with respect to the X-axis. "d windlass " represents the distance between a predetermined position of the hull 2 and the position of the winch. "K anchor " represents the anchor acting force coefficient. The predetermined position of the hull 2 may be the position of a predetermined center of the hull 2, may be the position of the center of gravity G, or may be another position of the hull 2.

[0081] Furthermore, the arithmetic processing unit 104a calculates the calculated anchor acting force coefficient K anchorApply it to Equation 2 to predict the anchor acting force, which is the external force received by the hull 2 from the anchor and the anchor line when the hull 2 moves, that is, calculate the estimated anchor acting force. For example, the arithmetic processing unit 104a may calculate the estimated anchor acting force by applying the anchor chain distance and / or the anchor line angle that may change due to the movement of the hull 2 to Equation 2. The command values for the changes in the anchor chain distance and / or the anchor line angle are preset and stored in the storage unit 110, and the arithmetic processing unit 104a may read and use the information from the storage unit 110. The arithmetic processing unit 104a may obtain the command values for the changes in the anchor chain distance and / or the anchor line angle based on commands, information, data, etc. received from an external device such as the control device 3. For example, when the linear force of the estimated anchor acting force is less than or equal to the third threshold value, the arithmetic processing unit 104a may output information indicating that "the anchor is ineffective". The third threshold value may be the same as the first threshold value or the second threshold value, or may be different from the first threshold value and the second threshold value.

[0082] When the output processing unit 104b outputs the fourth support information to the presentation device 200, it generates at least image data that visually represents an index indicating the direction and magnitude of the linear force and the rotational force of the estimated anchor acting force, and outputs and displays the image data to the presentation device 200. For example, the output processing unit 104b generates data of an image Ic as shown in FIG. 8, which includes an image of the hull 2, an index of the anchor position AP, an image of an arrow Cs indicating the direction and magnitude of the linear force of the estimated anchor acting force, and an image of an arrow Cr indicating the direction and magnitude of the rotational force of the estimated anchor acting force. The thickness, length, and / or color intensity of the arrows Cs and Cr may indicate the magnitude of the force. The output processing unit 104b may represent the magnitude of each force as a character string. The hull 2 indicated by the dashed line shows the hull after the change in the anchor chain distance and / or the anchor line angle. FIG. 8 is a diagram showing an example of the display image of the fourth support information.

[0083] When two or more anchors are being dropped, the arithmetic processing unit 104a may distribute the estimated external force to each anchor according to the position of each anchor with respect to the hull 2 and the position of the windlass of the anchor line of each anchor. The arithmetic processing unit 104a may calculate the anchor acting force coefficient of each anchor using the distribution result, and further calculate the estimated anchor acting force of each anchor. Also, the arithmetic processing unit 104a and the output processing unit 104b may be configured to generate and display the data of the image Ic at a predetermined time interval or a predetermined movement distance interval.

[0084] [Fifth Support Information] The arithmetic processing unit 104a generates information indicating the prediction result of the movement of the ship 1 as the fifth support information, and the output processing unit 104b outputs the information to the output target. The arithmetic processing unit 104a calculates the linear force and the rotational force of the estimated external force acting on the hull 2 in the same manner as in the case of the first support information. The arithmetic processing unit 104a predicts the movement of the hull 2 when the estimated acting force estimated by the acting force estimation unit 101 and the above-mentioned estimated external force continue to act on the hull 2.

[0085] The arithmetic processing unit 104a applies the estimated acting force and the estimated external force to the mathematical formula of the hull motion model shown in Equation 1 to calculate the components u, v, and r of the velocity of the hull 2 in the linear direction and the rotational direction. Specifically, the arithmetic processing unit 104a calculates the predicted values of the velocity components u, v, and r of the hull 2 and the predicted position and predicted orientation of the hull 2 during the process of elapse of a predetermined time period. For example, the predetermined time period may be in the range of several seconds to several tens of minutes. The timing to be calculated may include not only the time point when the predetermined time period has elapsed but also at least one time point within the predetermined time period.

[0086] In the above calculation, the arithmetic processing unit 104a applies the sum of the linear force in the X-axis direction of the estimated acting force and the linear force in the X-axis direction of the estimated external force to "F X " in Equation 1, and applies the sum of the linear force in the Y-axis direction of the estimated acting force and the linear force in the Y-axis direction of the estimated external force to "F Y " in Equation 1, and applies the sum of the linear force in the Y-axis direction of the estimated acting force and the linear force in the Y-axis direction of the estimated external force to "N ZApply the sum of the rotational force of the estimated acting force around the Z-axis and the rotational force of the estimated external force around the Z-axis to 」. The arithmetic processing unit 104a applies the sum of the X-axis component of the linear acceleration corresponding to the estimated acting force and the X-axis component of the linear acceleration corresponding to the estimated external force to 「u’」 in Equation 1, and applies the sum of the Y-axis component of the linear acceleration corresponding to the estimated acting force and the Y-axis component of the linear acceleration corresponding to the estimated external force to 「v’」 in Equation 1. The arithmetic processing unit 104a applies the sum of the component of the rotational acceleration around the Z-axis corresponding to the estimated acting force and the component of the rotational acceleration around the Z-axis corresponding to the estimated external force to 「r’」 in Equation 1. Although not limited to this, in the present embodiment, the arithmetic processing unit 104a applies a constant value as the mass 「M」 of the hull 2 to Equation 1.

[0087] When the output processing unit 104b outputs the fifth support information to the presentation device 200, the output processing unit 104b generates at least image data that visually represents an index indicating the predicted position and predicted orientation of the hull 2, and outputs and displays the image data to the presentation device 200. For example, the output processing unit 104b generates data of an image ID as shown in FIG. 9 including an image of the hull 2 in each combination of the predicted position and the predicted orientation. FIG. 9 is a diagram showing an example of a display image of the fifth support information. In this case, the predetermined time period is 5 minutes, the arithmetic processing unit 104a calculates the predicted position and predicted orientation of the hull 2 at the time points when 30 seconds, 1 minute, 2 minutes, and 5 minutes have elapsed, and the output processing unit 104b generates data of an image ID representing four images of the hull 2 corresponding to the predicted positions and predicted orientations at the four elapsed time points and an image of the hull 2 at the initial position (when 0 seconds have elapsed).

[0088] The arithmetic processing unit 104a may calculate the predicted position and predicted orientation of the hull 2 for a plurality of consecutive predetermined time periods, and the output processing unit 104b may output information on the predicted positions and predicted orientations for the plurality of predetermined time periods. The lengths of the plurality of predetermined time periods may be the same as or different from each other. The arithmetic processing unit 104a may calculate the estimated external force at the time point when the predetermined time period has elapsed or at a predetermined time point within the predetermined time period every time the predetermined time period elapses. The arithmetic processing unit 104a may calculate the predicted position and predicted orientation of the hull 2 for the next predetermined time period using the calculated estimated external force.

[0089] The arithmetic processing unit 104a may calculate an estimated external force at a predetermined timing within a predetermined time period, and calculate the predicted position and predicted orientation of the hull 2 after the timing using the estimated external force. For example, the arithmetic processing unit 104a may calculate the estimated external force for each timing at which the predicted position and predicted orientation of the hull 2 to be calculated are included in the predetermined time period, and use the estimated external force for calculating the predicted position and predicted orientation at the subsequent timings to be calculated.

[0090] In the above, the arithmetic processing unit 104a is configured to predict the movement of the hull 2 when a constant estimated acting force and a constant estimated external force continue to act on the hull 2, but is not limited thereto. For example, the arithmetic processing unit 104a may vary at least one of the wind pressure and the fluid force included in the estimated acting force according to the predicted position and predicted orientation of the hull 2. The arithmetic processing unit 104a calculates an estimated value of the wind pressure and / or the fluid force at the predicted position and predicted orientation of the hull 2, calculates a new estimated acting force by reflecting the estimated value in the estimated acting force, and may use the new estimated acting force for predicting the movement of the hull 2. The arithmetic processing unit 104a calculates an estimated value of the wind pressure and / or the fluid force every time a predetermined time period elapses, and may use a new estimated acting force based on the estimated value for calculating the predicted position and predicted orientation of the subsequent hull 2. The arithmetic processing unit 104a calculates an estimated value of the wind pressure and / or the fluid force for each timing at which the predicted position and predicted orientation of the hull 2 to be calculated are included in the predetermined time period, and may use a new estimated acting force based on the estimated value for calculating the predicted position and predicted orientation of the hull 2 after the timing.

[0091] The arithmetic processing unit 104a may reflect the second support information or the like in the calculation of the predicted position and predicted orientation of the hull 2 and the like. In this case, the arithmetic processing unit 104a may calculate the predicted position and predicted orientation of the hull 2 and the like using the ship acting force instead of the estimated external force.

[0092] [Sixth Support Information] The arithmetic processing unit 104a generates information indicating the prediction result of the movement area of the ship 1 under a predetermined condition as the sixth support information, and the output processing unit 104b outputs the information to the output target. The arithmetic processing unit 104a acquires information on a predetermined condition. The information on the predetermined condition is preset and stored in the storage unit 110, and the arithmetic processing unit 104a may read out and use the information from the storage unit 110. The arithmetic processing unit 104a may acquire the information on the predetermined condition based on commands, information, data, etc. received from an external device such as the control device 3.

[0093] The information on the predetermined condition includes at least information on two predetermined maneuvering patterns, etc. One maneuvering pattern includes a combination of first maneuvering information related to the motion state of the hull 2 in the port and starboard directions and second maneuvering information related to the motion state of the hull 2 in the forward and backward directions.

[0094] The first maneuvering information may include information such as the forces and accelerations acting on the hull 2 in the port and starboard directions, and the rudder angle of the rudder. For example, the above-mentioned forces in the port and starboard directions may include the forces applied to the hull 2 by other ships, the forces applied to the hull 2 by the anchor, the thrust applied to the hull 2 by the thruster of the hull 2, and the thrust applied to the hull 2 by the combination of the propeller and rudder of the hull 2. For example, the information on the propeller and rudder of the hull 2 may include the rotation speed of the propeller, the blade angle of the propeller, the direction of the rotation axis of the propeller, and the rudder angle of the rudder.

[0095] The second maneuvering information may include information such as the forces and accelerations acting on the hull 2 in the forward and backward directions, and the rudder angle of the rudder. For example, the above-mentioned forces in the forward and backward directions may include the forces applied to the hull 2 by other ships, the forces applied to the hull 2 by the anchor, the thrust applied to the hull 2 by the propeller of the hull 2, and the thrust applied to the hull 2 by the combination of the propeller and rudder of the hull 2. For example, the information on the propeller and rudder of the hull 2 may include the rotation speed of the propeller, the blade angle of the propeller, the direction of the rotation axis of the propeller, and the rudder angle of the rudder.

[0096] The arithmetic processing unit 104a estimates at least two moving operations of the hull 2 corresponding to at least two predetermined ship operation patterns based on the state of the ship 1 and information on at least two predetermined ship operation patterns. For example, the state of the ship 1 may include an estimated acting force, an estimated external force, the actual acceleration of the hull 2 calculated by the hull motion calculation unit 103, and at least two combinations thereof. For each ship operation pattern, the arithmetic processing unit 104a estimates the moving operation of the hull 2 when the hull 2 moves in the motion state shown in the first ship operation information and the second ship operation information while the state of the ship 1 is maintained. For example, the arithmetic processing unit 104a calculates the moving operation of the hull 2 when the hull 2 moves under the action of the port and starboard direction forces of the first ship operation information and the fore-and-aft direction force of the second ship operation information. For example, as the moving operation of the hull 2, the arithmetic processing unit 104a may calculate the time change of the position of the hull 2, the time change of the speed of the hull 2, the time change of the acceleration of the hull 2, the moving path of the hull 2 according to the moving operation, the arrival point of the hull 2 after a predetermined time has elapsed, and at least one of at least two combinations thereof.

[0097] For example, when the arithmetic processing unit 104a uses the estimated acting force or the actual acceleration of the hull 2 as the state of the ship 1, it calculates the moving operation of the hull 2 when the hull 2 moves according to the ship operation pattern while receiving the estimated acting force or the actual acceleration. When the arithmetic processing unit 104a uses a combination of the estimated acting force and the estimated external force as the state of the ship 1, it calculates the moving operation of the hull 2 when the hull 2 moves according to the ship operation pattern while receiving the sum of the estimated acting force and the estimated external force. The arithmetic processing unit 104a functions as an operation estimation unit and may also function as a correction processing unit in some cases.

[0098] Although not limited thereto, in the present embodiment, a plurality of backward forces are set. For example, the plurality of backward forces are set as four backward thrusts corresponding to full turn, half turn, slow turn, and no turn. The plurality of backward forces may include a backward thrust corresponding to dead slow turn. The propeller can generate the maximum backward thrust in full turn, a backward thrust of about 75% of the maximum backward thrust in backward direction in half turn, a backward thrust of about 50% of the maximum backward thrust in backward direction in slow turn, and a backward thrust of about 25% of the maximum backward thrust in backward direction in dead slow turn. For each of the four backward forces, a steering pattern in which a predetermined port-side force acts, a steering pattern in which a predetermined starboard-side force acts, and a steering pattern in which no port- or starboard-side force acts are set. Twelve steering patterns are set using the combination of the four backward forces and the three lateral forces. The arithmetic processing unit 104a calculates the movement operation of the hull 2 for each of the twelve steering patterns.

[0099] For example, the arithmetic processing unit 104a calculates the movement operation of the hull 2 using the mathematical formula of the hull motion model shown in Equation 1 above. In this case, in Equation 1, the arithmetic processing unit 104a applies the sum of the linear force in the X-axis direction and the backward force included in the state of the ship 1 to " X ", applies the sum of the linear force in the Y-axis direction and the port- and starboard-side forces included in the state of the ship 1 to " Y ", and applies the rotational force around the Z-axis included in the state of the ship 1 to " Z ".

[0100] Furthermore, the arithmetic processing unit 104a estimates, as the moving area of the hull 2, an area including three moving operations of the hull 2 corresponding to three steering patterns in which the second steering information is the same. Specifically, the arithmetic processing unit 104a may determine, as the moving area, an area including three moving paths of the hull 2 after a predetermined time elapses corresponding to the three steering patterns, or may determine, as the moving area, an area including three arrival points of the hull 2 after a predetermined time elapses corresponding to the three steering patterns. For example, as shown in FIG. 10, the arithmetic processing unit 104a determines, as the moving area, an area M within a polygon having the current position P0 of the hull 2 and three arrival points P1, P2, and P3 of the hull 2 after a predetermined time elapses as vertices. The arrival point P1 corresponds to a steering pattern in which no force in the left and right lateral directions acts, the arrival point P2 corresponds to a steering pattern in which a predetermined force in the left lateral direction acts, and the arrival point P3 corresponds to a steering pattern in which a predetermined force in the right lateral direction acts. FIG. 10 is a plan view showing an example of the moving area of the hull 2. Then, the arithmetic processing unit 104a determines four moving areas corresponding to the four backward forces respectively.

[0101] When the output processing unit 104b outputs the sixth support information to the presentation device 200, it generates at least image data showing together the visualization information of the four moving areas of the hull 2, and outputs the image data to the presentation device 200 for display. For example, the output processing unit 104b generates data of an image Ie as shown in FIG. 11, which includes an image of the hull 2, images of the four moving areas M1 to M4, and a nautical chart. In the image Ie, the images of the moving areas M1 to M4 are superimposed and displayed. The operator viewing the image Ie can steer the ship so that the obstacle T and the ship 1 shown on the nautical chart do not interfere. The moving area M1 corresponds to a steering pattern without astern, the moving area M2 corresponds to a slow astern steering pattern, the moving area M3 corresponds to a half astern steering pattern, and the moving area M4 corresponds to a full astern steering pattern. FIG. 11 is a diagram showing an example of the display image of the sixth support information. The data of the image Ie is an example of the operation-related image data.

[0102] Further, as the state of the ship 1, the ship acting force may be used. In this case, the arithmetic processing unit 104a may calculate the ship acting force in the same manner as in the case of the second support information, and calculate the movement operation of the hull 2 using the sum of the ship acting force and the estimated acting force.

[0103] Further, the arithmetic processing unit 104a is configured to estimate, as the movement area of the hull 2, an area including three movement operations of the hull 2 corresponding to three steering patterns in which the second steering information is the same, but is not limited thereto. For example, the arithmetic processing unit 104a may be configured to estimate, as the movement area of the hull 2, an area including a plurality of movement operations of the hull 2 corresponding to a plurality of steering patterns in which the first steering information is the same. Examples of the steering patterns in which the first steering information is the same include cases where a predetermined force in the port direction acts, cases where a predetermined force in the starboard direction acts, and cases where no force in the port and starboard directions acts, and for each case, the steering patterns at full turn, half turn, slow turn, and no turn.

[0104] (Modification Example 1) This modification example is different from the embodiment in that the steering support device has a data filtering function. Hereinafter, this modification example will be described centering on the points different from the embodiment, and the description of the points similar to the embodiment will be omitted as appropriate.

[0105] FIG. 12 is a block diagram showing an example of the functional configuration of the steering support device 100A according to the modification example. The steering support device 100A further includes a first filter processing unit 105 and a second filter processing unit 106 as functional components as compared with the steering support device 100 according to the embodiment. The functions of the filter processing units 105 and 106 are realized by a processor P, a memory M, and the like.

[0106] The first filter processing unit 105 receives the estimated acceleration of the hull 2 from the hull motion estimation unit 102, performs filter processing to remove noise components from the estimated acceleration, and outputs the estimated acceleration after the filter processing to the assistance information generation unit 104. For example, the first filter processing unit 105 may be configured to remove high-frequency components of a predetermined frequency or higher from the estimated acceleration.

[0107] The second filter processing unit 106 receives the actual acceleration of the hull 2 from the hull motion calculation unit 103, performs filter processing to remove noise components from the actual acceleration, and outputs the estimated acceleration after the filter processing to the assistance information generation unit 104. For example, the second filter processing unit 106 may be configured to remove high-frequency components of a predetermined frequency or higher from the actual acceleration.

[0108] The assistance information generation unit 104 performs processing using the estimated acceleration after the filter processing in the first filter processing unit 105 and the actual acceleration after the filter processing in the second filter processing unit 106. Thereby, for example, when the assistance information generation unit 104 calculates the estimated external force acting on the hull 2, it can calculate the estimated external force from which the influence of high-frequency components such as wind, waves, and tidal currents has been removed. Therefore, the accuracy of the estimated external force is improved.

[0109] (Other embodiments) Although the embodiments and modification examples of the present disclosure have been described above, the present disclosure is not limited to the above embodiments and modification examples. That is, various modifications and improvements are possible within the scope of the present disclosure. For example, those obtained by applying various modifications to the embodiments and modification examples, and forms constructed by combining components in different embodiments and modification examples are also included within the scope of the present disclosure.

[0110] For example, in the embodiments and variations, the ship handling support devices 100 and 100A are configured to output support information to a presentation device 200 or the like in a form useful for manual ship handling of the ship 1, but are not limited thereto. The ship handling support devices 100 and 100A may be configured to output to the devices of the ship 1, such as the control device 3, as data that can be used for automatic ship handling control. Thereby, automatic ship handling of the ship 1 using the support information becomes possible.

[0111] Also, the respective aspect examples of the technology of the present disclosure are as follows. The ship handling support device according to the first aspect of the present disclosure includes an input / output unit configured to input and output information, and a processor. The processor acquires, via the input / output unit, first hull information including actual information related to the force acting on the hull of the ship, acquires, via the input / output unit, second hull information including actual information related to the position and attitude of the hull, calculates, using the first hull information, a first hull acting force that is the force acting on the hull, calculates, using the first hull acting force, a first motion state that is the motion state of the hull, calculates, using the second hull information, a second motion state that is the motion state of the hull, generates support information for supporting the ship handling of the hull based on the difference between the first motion state and the second motion state, and outputs the support information via the input / output unit.

[0112] According to the above aspect, the ship handling support device generates support information based on the difference between the first motion state of the hull calculated using the first hull information related to the force acting on the hull and the second motion state of the hull calculated using the second hull information related to the position and attitude of the hull. Such support information may include information related to the force acting on the hull that is not included in the first hull information. By using the support information for ship handling of the hull, safe and efficient ship handling becomes possible. Therefore, the ship handling support device can perform ship handling support corresponding to the state of the ship.

[0113] In the ship operation support device according to the first aspect of the present disclosure, the first hull information may include information output from a first ship-related device that detects information related to the forces acting on the hull, and the second hull information may include information output from a second ship-related device that detects information related to the position and attitude of the hull. According to the above aspect, the ship operation support device can calculate the first motion state and the second motion state using the first hull information and the second hull information including the actual information output from the first ship-related device and the second ship-related device.

[0114] In the ship operation support device according to the first aspect of the present disclosure, the first hull information includes wind pressure information that is actual information regarding the wind pressure acting on the hull, fluid force information that is actual information related to the fluid force acting on the hull, and thrust information that is actual information related to the thrust acting on the hull. The processor may calculate the wind pressure acting on the hull using the wind pressure information, calculate the fluid force acting on the hull using the fluid force information, calculate the thrust acting on the hull using the thrust information, and calculate the first hull acting force by adding up the wind pressure, the fluid force, and the thrust.

[0115] According to the above aspect, the ship operation support device calculates the first hull acting force including the wind pressure, the fluid force, and the thrust that constantly act on the hull. Therefore, the support information may include information related to the forces that act on the hull unsteadily. By using the support information for the ship operation of the hull, it becomes possible to perform safe and efficient ship operation against the forces that act on the hull unsteadily.

[0116] In the ship operation support device according to the first aspect of the present disclosure, the wind pressure information includes the detection value of a wind direction and wind speed sensor mounted on the ship, the fluid force information includes the detection value of at least one of a ground speed sensor, a speed over the ground sensor, and a tidal current sensor mounted on the ship, and the thrust information may include at least one of a command value output by the control device of the ship to the propulsion device of the hull and a feedback value from the propulsion device. According to the above aspect, the first hull information can be obtained from the ship. The ship operation support device can obtain the first hull information from the devices mounted on the ship.

[0117] In the ship operation support device according to the first aspect of the present disclosure, the second hull information may include at least one of the detection value of a Global Navigation Satellite System (GNSS) mounted on the ship and the detection value of an attitude sensor. According to the above aspect, the second hull information can be obtained from the ship. The ship operation support device can obtain the second hull information from the devices mounted on the ship.

[0118] The ship operation support device according to the first aspect of the present disclosure further includes a storage device that stores the motion model of the hull, and the processor may calculate the first motion state by applying the first hull acting force to the motion model. According to the above aspect, the ship operation support device can improve the accuracy of the first motion state.

[0119] In the ship operation support device according to the first aspect of the present disclosure, the processor is further configured to perform a first filtering process for removing noise components from the first motion state, and the processor may generate the support information using the first motion state that has been subjected to the first filtering process. According to the above aspect, the ship operation support device can improve the accuracy of the support information.

[0120] In the ship maneuvering support device according to the first aspect of the present disclosure, the processor is further configured to perform a second filtering process for removing noise components from the second motion state, and the processor may generate the support information using the second motion state that has been subjected to the second filtering process. According to the above aspect, the ship maneuvering support device can improve the accuracy of the support information.

[0121] In the ship maneuvering support device according to the first aspect of the present disclosure, the processor may calculate a second hull acting force, which is a force acting on the hull, as the support information. According to the above aspect, the ship maneuvering support device can calculate and output a force acting on the hull that is not included in the first hull information.

[0122] The ship maneuvering support device according to the first aspect of the present disclosure further includes a storage device that stores a motion model of the hull, and the processor may calculate a third motion state, which is a predicted motion state of the hull, as the support information by applying the second hull acting force to the motion model. According to the above aspect, the ship maneuvering support device can calculate and output a third motion state of the hull caused by a force acting on the hull that is not included in the first hull information.

[0123] In the ship maneuvering support device according to the first aspect of the present disclosure, the processor may generate, as the support information, information for supporting maneuvering so as to bring the hull into a target state based on the second hull acting force. According to the above aspect, the ship maneuvering support device can support maneuvering so as to bring the hull into a target state.

[0124] In the ship maneuvering support device according to the first aspect of the present disclosure, the processor is configured to receive, via the input / output unit, auxiliary information indicating that the ship is receiving maneuvering assistance from another ship. When the processor receives the auxiliary information, the processor may calculate the second hull acting force as an assisting force acting on the hull from the other ship. According to the above aspect, the ship maneuvering support device can calculate and output the assisting force of another ship as a force acting on the hull not included in the first hull information. By using the assisting force of another ship for the ship's maneuvering, safe and efficient maneuvering becomes possible.

[0125] In the ship maneuvering support device according to the first aspect of the present disclosure, the processor may generate, based on the assisting force, information for assisting maneuvering so as to bring the hull into a target state as the assisting information. According to the above aspect, the ship maneuvering support device can assist maneuvering so as to bring the hull into a target state when the hull is receiving an assisting force from another ship.

[0126] In the ship maneuvering support device according to the first aspect of the present disclosure, the processor is configured to receive, via the input / output unit, anchoring information indicating that the ship is at anchor. When the processor receives the anchoring information, the processor may calculate the second hull acting force as an anchor acting force acting on the hull from the dropped anchor. According to the above aspect, the ship maneuvering support device can calculate and output the anchor acting force as a force acting on the hull not included in the first hull information. By using the anchor acting force for the ship's maneuvering, safe and efficient maneuvering becomes possible.

[0127] In the ship maneuvering support device according to the first aspect of the present disclosure, the processor may calculate, based on the anchor acting force, the anchor acting force when the hull moves as the assisting information. According to the above aspect, the ship maneuvering support device can assist maneuvering when moving the hull while at anchor.

[0128] The ship operation support system according to the first aspect of the present disclosure includes a ship operation support device according to the first aspect of the present disclosure and a presentation device capable of presenting at least one of an image and a voice. The processor outputs the support information to the presentation device as data including at least one of image data, voice data, and character string data, and causes the presentation device to present the support information. According to the above aspect, a ship operation support system having the same effect as the ship operation support device according to the first aspect of the present disclosure can be obtained.

[0129] The ship according to the first aspect of the present disclosure includes a ship operation support system according to the first aspect of the present disclosure and a hull on which the ship operation support system is mounted. According to the above aspect, a ship having the same effect as the ship operation support device according to the first aspect of the present disclosure can be obtained.

[0130] The ship operation support method according to the first aspect of the present disclosure includes obtaining first hull information including actual information related to the force acting on the hull of the ship, obtaining second hull information including actual information related to the position and attitude of the hull, using the first hull information to calculate a first hull acting force that is the force acting on the hull, using the first hull acting force to calculate a first motion state that is the motion state of the hull, using the second hull information to calculate a second motion state that is the motion state of the hull, and generating and outputting support information for supporting the ship operation of the hull based on the difference between the first motion state and the second motion state. According to the above aspect, the same effect as the ship operation support device according to the first aspect of the present disclosure can be obtained.

[0131] A program according to a first aspect of the present disclosure causes a computer to execute: acquiring first hull information including actual information related to forces acting on a hull of a ship; acquiring second hull information including actual information related to the position and attitude of the hull; calculating a first hull acting force, which is a force acting on the hull, using the first hull information; calculating a first motion state, which is a motion state of the hull, using the first hull acting force; calculating a second motion state, which is a motion state of the hull, using the second hull information; and generating and outputting support information for assisting in the navigation of the hull based on a difference between the first motion state and the second motion state. According to the above aspect, the same effect as that of the navigation support device according to the first aspect of the present disclosure can be obtained.

[0132] A navigation support device according to a second aspect of the present disclosure includes an input / output unit configured to input and output information, and a processor. The processor is configured to: acquire ship state information indicating the state of a ship via the input / output unit; calculate at least two movement operations of the ship corresponding to at least two predetermined navigation patterns based on the information of the at least two predetermined navigation patterns including information related to the navigation of the ship and the ship state information; generate operation-related image data, which is image data showing visualization information related to each of the at least two movement operations together; and output the operation-related image data via the input / output unit to a device capable of outputting an image.

[0133] According to the above aspect, the navigation support device generates operation-related image data showing visualization information of movement operations based on ship state information and navigation pattern information. The operation-related image data shows visualization information of each of at least two movement operations together. The navigation support device can visually present information related to a plurality of movement operations of the ship corresponding to a plurality of navigation patterns at the same time. Therefore, safe and efficient navigation becomes possible. Therefore, the navigation support device can provide navigation support corresponding to the state of the ship.

[0134] In the ship operation support device according to the second aspect of the present disclosure, the processor is further configured to calculate at least one of the movement route and the destination of the ship according to each of the movement operations, and the processor may generate the operation-related image data that together shows the visualization information of at least one of the movement route and the destination. According to the above aspect, the ship operation support device can visually present a plurality of movement routes and / or destinations of the ship corresponding to a plurality of operation patterns at the same time. Therefore, safe and efficient ship operation becomes possible.

[0135] In the ship operation support device according to the second aspect of the present disclosure, the processor is further configured to calculate at least one of the movement route and the destination of the ship according to each of the movement operations, and calculate the movement area of the ship including at least one of the movement route and the destination, and the processor may generate the operation-related image data showing the visualization information of the movement area. According to the above aspect, the ship operation support device can visually present the movement areas of the ship corresponding to a plurality of operation patterns. Therefore, safe and efficient ship operation becomes possible.

[0136] In the ship operation support device according to the second aspect of the present disclosure, one of the operation patterns may include a combination of first operation information related to the movement state of the ship in the port and starboard direction and second operation information related to the movement state of the ship in the forward and backward direction. According to the above aspect, the movement operation of the ship corresponding to the operation pattern can reflect the fluctuations in the movement states of the ship in the port and starboard direction and the forward and backward direction. The ship operation support device can visually present information related to various movement operations.

[0137] In the ship operation support device according to the second aspect of the present disclosure, the first operation information may include at least one of information on the rudder angle of the rudder of the ship and information on the forces acting on the ship in the port and starboard directions, and the second operation information may include at least one of information on the rotational speed of the propeller of the ship and information on the forces acting on the ship in the forward and backward directions. According to the above aspect, the ship operation support device can visually present information related to the movement operations of ships in various states using the first operation information and the second operation information including various information.

[0138] In the ship operation support device according to the second aspect of the present disclosure, the processor is further configured to calculate at least one of the movement route and the destination of the ship according to each of the movement operations, and calculate the movement area of the ship including at least one of the movement route and the destination corresponding to each of at least two of the operation patterns in which the second operation information is the same. The processor may generate the operation-related image data indicating the visualization information of the movement area.

[0139] According to the above aspect, the ship operation support device can visually present the movement area of the ship in the motion state corresponding to the second operation information. For example, the ship operation support device can visually present the movement area of the ship when the motion state of the ship in the forward and backward directions is a predetermined motion state but the motion state of the ship in the port and starboard directions fluctuates.

[0140] In the ship operation support device according to the second aspect of the present disclosure, the processor may generate the operation-related image data that together shows the visualization information of at least two of the movement areas in which the second operation information of the operation pattern is different. According to the above aspect, the ship operation support device can visually present the movement areas corresponding to the respective motion states of various ships in the forward and backward directions simultaneously.

[0141] In the ship operation support device according to the second aspect of the present disclosure, the processor may calculate the movement operation for the predetermined time interval based on the ship state information indicating the state of the ship at the predetermined time interval, and generate operation-related image data indicating the visualization information related to the movement operation for the predetermined time interval at the predetermined time interval. According to the above aspect, the ship operation support device can update and present the visualization information related to the changing movement operation of the ship corresponding to the change in the state of the ship at a predetermined time interval.

[0142] The ship operation support device according to the second aspect of the present disclosure may further include a storage device that stores information on at least two predetermined ship operation patterns. According to the above aspect, the ship operation support device can calculate the movement operation of the ship without requiring the provision of information on at least two predetermined ship operation patterns from other devices or the like.

[0143] In the ship operation support device according to the second aspect of the present disclosure, the processor is further configured to acquire, as the ship state information, first hull information including actual information related to the force acting on the hull of the ship, and calculate a first hull acting force, which is the force acting on the hull, using the first hull information. The processor may calculate the movement operation based on the first hull acting force and the information on the ship operation pattern. According to the above aspect, the ship operation support device can calculate the state of the ship using the first hull information and calculate the movement operation using the state of the ship.

[0144] In the ship operation support device according to the second aspect of the present disclosure, the processor acquires, as the ship state information, second ship body information including actual information related to the position and attitude of the ship body, calculates a first motion state, which is the motion state of the ship body, using the first ship body acting force, calculates a second motion state, which is the motion state of the ship body, using the second ship body information, and further corrects the first ship body acting force based on the difference between the first motion state and the second motion state. The processor may calculate the movement operation based on the corrected first ship body acting force and the information on the operation pattern. According to the above aspect, the ship operation support device can improve the estimation accuracy of the movement operation of the ship.

[0145] In the ship operation support device according to the second aspect of the present disclosure, the first ship body information may include information output from a first ship-related device that detects information related to the force acting on the ship body, and the second ship body information may include information output from a second ship-related device that detects information related to the position and attitude of the ship body. According to the above aspect, the ship operation support device can calculate the movement operation of the ship using the first ship body information and the second ship body information including actual information output from the first ship-related device and the second ship-related device.

[0146] In the ship operation support device according to the second aspect of the present disclosure, the second ship body information may include at least one of a detection value of a Global Navigation Satellite System (GNSS) mounted on the ship and a detection value of an attitude sensor. According to the above aspect, the second ship body information can be obtained from the ship. The ship operation support device can acquire the second ship body information from the equipment mounted on the ship.

[0147] In the ship maneuvering support device according to the second aspect of the present disclosure, the first hull information includes wind pressure information which is actual information regarding the wind pressure acting on the hull, fluid force information which is actual information related to the fluid force acting on the hull, and thrust information which is actual information related to the thrust acting on the hull. The processor may calculate the wind pressure acting on the hull using the wind pressure information, calculate the fluid force acting on the hull using the fluid force information, calculate the thrust acting on the hull using the thrust information, and calculate the first hull acting force by adding up the wind pressure, the fluid force, and the thrust.

[0148] According to the above aspect, the ship maneuvering support device calculates the first hull acting force including the wind pressure, the fluid force, and the thrust that constantly act on the hull. Therefore, the correction applied based on the difference between the first motion state and the second motion state can reflect the force that acts on the hull unsteadily in the moving operation. The ship maneuvering support device can improve the accuracy of the moving operation of the ship.

[0149] In the ship maneuvering support device according to the second aspect of the present disclosure, the wind pressure information includes the detection value of the wind direction and wind speed sensor mounted on the ship, the fluid force information includes the detection value of at least one of the ground speed sensor, the speed over water sensor, and the tidal current sensor mounted on the ship, and the thrust information may include at least one of the command value output by the control device of the ship to the propulsion device of the hull and the feedback value from the propulsion device. According to the above aspect, the first hull information can be obtained from the ship. The ship maneuvering support device can obtain the first hull information from the devices mounted on the ship.

[0150] The ship maneuvering support system according to the second aspect of the present disclosure includes the ship maneuvering support device according to the second aspect of the present disclosure and a device capable of outputting the image. The processor outputs the operation-related image data to the device capable of outputting the image for display. According to the above aspect, a ship maneuvering support system having the same effect as the ship maneuvering support device according to the second aspect of the present disclosure can be obtained.

[0151] The ship according to the second aspect of the present disclosure includes a ship operation support system according to the second aspect of the present disclosure and a hull on which the ship operation support system is mounted. According to the above aspect, a ship having the same effect as the ship operation support device according to the second aspect of the present disclosure can be obtained.

[0152] The ship operation support method according to the second aspect of the present disclosure includes obtaining ship state information indicating the state of a ship, obtaining information on at least two predetermined ship operation patterns including information on the operation of the ship, calculating at least two movement operations of the ship corresponding to each of the at least two ship operation patterns based on the ship state information and the information on the at least two ship operation patterns, generating operation-related image data which is image data showing together visualization information related to each of the at least two movement operations, and outputting the operation-related image data to a device capable of outputting an image. According to the above aspect, the same effect as the ship operation support device according to the second aspect of the present disclosure can be obtained.

[0153] The program according to the second aspect of the present disclosure causes a computer to obtain ship state information indicating the state of a ship, obtain information on at least two predetermined ship operation patterns including information on the operation of the ship, calculate at least two movement operations of the ship corresponding to each of the at least two ship operation patterns based on the ship state information and the information on the at least two ship operation patterns, generate operation-related image data which is image data showing together visualization information related to each of the at least two movement operations, and output the operation-related image data to a device capable of outputting an image. According to the above aspect, the same effect as the ship operation support device according to the first aspect of the present disclosure can be obtained.

[0154] Note that the ship operation support method according to the first and second aspects of the present disclosure may be realized by, for example, a circuit such as a CPU or LSI, an IC card, or a single module.

[0155] Also, the programs according to the first and second aspects of the present disclosure may be, for example, programs recorded on a non-transitory computer-readable recording medium, and may be configured to be read from the recording medium using a drive device of the recording medium and installed in a computer device. The program may be, for example, a program that can be distributed via a transmission medium such as the Internet, and may be configured to be downloaded and installed in a computer device.

[0156] Also, the numbers such as ordinal numbers and quantities used above are all exemplified for specifically explaining the technology of the present disclosure, and the present disclosure is not limited to the exemplified numbers. Further, the connection relationships between the components are exemplified for specifically explaining the technology of the present disclosure, and the connection relationships for realizing the functions of the present disclosure are not limited thereto.

[0157] Also, the division of blocks in the functional block diagram is an example, and a plurality of blocks may be realized as one block, one block may be divided into a plurality, and / or some functions may be transferred to other blocks. Further, the functions of a plurality of blocks having similar functions may be processed by a single hardware or software in parallel or in time division.

Explanation of Reference Numerals

[0158] 1 Ship 2 Hull 6a Wind Direction and Wind Speed Sensor 6b Ground Ship Speed Sensor 6c Water Ship Speed Sensor 6d Tidal Current Sensor 6e GNSS 6f Attitude Sensor 10 Ship Handling Support System 100, 100A Ship Handling Support Device 200 Display Device P Processor M Memory S Storage I / O Input / Output Unit

Claims

1. An input / output unit configured to input and output information, a processor, and a storage device that stores a motion model of the hull of a ship, wherein the processor obtains, via the input / output unit, first hull information including actual information related to the forces acting on the hull of the ship, the wind pressure information which is actual information related to the wind pressure acting on the hull, the fluid force information which is actual information related to the fluid force acting on the hull, and the thrust information which is actual information related to the thrust acting on the hull; obtains, via the input / output unit, second hull information including information on the actual position and actual attitude of the hull; uses the first hull information to calculate a first hull acting force which is a force acting on the hull, the wind pressure acting on the hull calculated based on the wind pressure information, the fluid force acting on the hull calculated based on the fluid force information, and the thrust acting on the hull calculated based on the thrust information; calculates a first motion state of the hull including a first acceleration of the hull estimated by applying the wind pressure, the fluid force, and the thrust included in the first hull acting force to the motion model; calculates a second motion state of the hull including a second acceleration of the hull calculated based on changes in the position and attitude of the hull included in the second hull information; generates support information for assisting in the ship handling of the hull based on the difference between the first motion state and the second motion state; and is configured to output the support information via the input / output unit a ship handling support device.

2. The first hull information includes information output from a first ship-related device that detects information related to the forces acting on the hull, and the second hull information includes information output from a second ship-related device that detects information related to the actual position and actual attitude of the hull The ship handling support device according to claim 1.

3. The processor calculates the first hull acting force by adding up the wind pressure, the fluid force, and the thrust The ship handling support device according to claim 1 or 2.

4. The wind pressure information includes the detection value of a wind direction and wind speed sensor mounted on the ship, and the fluid force information includes the detection value of at least one of a ground speed sensor, a speed over water sensor, and a tidal current sensor mounted on the ship The thrust information includes at least one of a command value output by the control device of the ship to the propulsion device of the hull and a feedback value from the propulsion device. The ship operation support device according to claim 3.

5. The second hull information includes at least one of a detection value of a Global Navigation Satellite System (GNSS) mounted on the ship and a detection value of an attitude sensor. The ship operation support device according to any one of claims 1 to 4.

6. The processor is configured to further perform a first filtering process for removing noise components from the first motion state, The processor generates the support information using the first motion state that has been subjected to the first filtering process. The ship operation support device according to any one of claims 1 to 5.

7. The processor is configured to further perform a second filtering process for removing noise components from the second motion state, The processor generates the support information using the second motion state that has been subjected to the second filtering process. The ship operation support device according to any one of claims 1 to 6.

8. The processor calculates, as the support information, a second hull acting force that is a force acting on the hull. The ship operation support device according to any one of claims 1 to 7.

9. The processor calculates, as the support information, a third motion state that is a predicted motion state of the hull by applying the second hull acting force to the motion model. The ship operation support device according to claim 8.

10. The processor generates, as the support information, information for assisting in ship operation so as to bring the hull to a target state based on the second hull acting force. The ship operation support device according to claim 8 or 9.

11. The processor is configured to receive, via the input / output unit, auxiliary information indicating that the ship is receiving ship operation assistance from another ship, When the processor receives the auxiliary information, the processor calculates the second hull acting force as an auxiliary force acting on the hull from the other ship. The ship operation support device according to any one of claims 8 to 10.

12. The processor generates, as the support information, information for assisting in ship operation so as to bring the hull to a target state based on the auxiliary force. The ship operation support device according to claim 11.

13. The processor is configured to receive, via the input / output unit, anchoring information indicating that the ship is at anchor. When receiving the anchoring information, the processor calculates the second hull acting force as an anchor acting force acting on the hull from the dropped anchor. The ship operation support device according to any one of claims 8 to 12.

14. Based on the anchor acting force, the processor calculates, as the support information, the anchor acting force when the hull moves. The ship operation support device according to claim 13.

15. The ship operation support device according to any one of claims 1 to 14, and a presentation device capable of presenting at least one of an image and a sound. The processor outputs the support information to the presentation device as data including at least one of image data, audio data, and character string data, and causes the presentation device to present the support information. Ship operation support system.

16. The ship operation support system according to claim 15, and the hull on which the ship operation support system is mounted. Ship.

17. Obtaining first hull information including actual information related to the forces acting on the hull of the ship, the wind pressure information which is the actual information related to the wind pressure acting on the hull, the fluid force information which is the actual information related to the fluid force acting on the hull, and the thrust information which is the actual information related to the thrust acting on the hull; Obtaining second hull information including information on the actual position and actual attitude of the hull; Using the first hull information, calculating a first hull acting force which is a force acting on the hull, the wind pressure acting on the hull calculated based on the wind pressure information, the fluid force acting on the hull calculated based on the fluid force information, and the thrust acting on the hull calculated based on the thrust information; Calculating a first motion state of the hull including a first acceleration of the hull estimated by applying the wind pressure, the fluid force, and the thrust included in the first hull acting force to the motion model of the hull; Calculating a second motion state of the hull including a second acceleration of the hull calculated based on changes in the position and attitude of the hull included in the second hull information; Generating and outputting support information for assisting in the operation of the hull based on the difference between the first motion state and the second motion state. Ship operation support method.

18. Obtaining first hull information including actual information related to forces acting on the hull of a ship, the first hull information including wind pressure information which is actual information related to the wind pressure acting on the hull, fluid force information which is actual information related to the fluid force acting on the hull, and thrust information which is actual information related to the thrust acting on the hull. Obtaining second hull information including information on the actual position and actual attitude of the hull. Using the first hull information to calculate a first hull acting force which is a force acting on the hull, the first hull acting force including the wind pressure acting on the hull calculated based on the wind pressure information, the fluid force acting on the hull calculated based on the fluid force information, and the thrust acting on the hull calculated based on the thrust information. Calculating a first motion state of the hull including a first acceleration of the hull estimated by applying the wind pressure, the fluid force, and the thrust included in the first hull acting force to the motion model of the hull. Calculating a second motion state of the hull including a second acceleration of the hull calculated based on changes in the position and attitude of the hull included in the second hull information. Causing a computer to generate and output support information for assisting in the navigation of the hull based on the difference between the first motion state and the second motion state. Program.

Images