Evaluation system, evaluation method, and program

Abstract

Provided is an evaluation system comprising a removal means which removes fouling from a surface of a propeller of a vessel, a determination means (412) which determines a fouling degree of the surface of the propeller before the fouling is removed and surface roughness of the propeller after the fouling is removed, and an output means (46) which outputs the fouling degree and the surface roughness.

Description

【Technical Field】 【0001】 The present invention relates to a technique for evaluating the surface condition of a ship's propeller. 【Background Art】 【0002】 Techniques for a diver to measure the surface roughness of a propeller underwater are known (for example, Patent Documents 1 and 2). 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2011-108216 【Patent Document 2】 Japanese Patent Application Laid-Open No. 2011-145184 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 Incidentally, the surface condition of a propeller includes surface roughness and degree of fouling. Surface roughness indicates the degree of surface irregularities. Degree of fouling indicates the degree of fouling caused by the attachment of marine organisms. The maintenance method for propellers may differ depending on whether the surface roughness is high or the degree of fouling is high. Recent research has indicated that biofilms, which are biologically derived fouling, become more organized and stronger as they grow. When biofilms grow strong, they become more difficult to remove during maintenance. Therefore, in order to perform appropriate maintenance before biofilms grow strong, it is preferable to increase the frequency of maintenance when the degree of fouling on the propeller surface is high compared to when the propeller surface roughness is high, for example. Also, the tools used for maintenance, the polishing method, and the time required for maintenance differ depending on whether the propeller surface fouling is high or the propeller surface roughness is high. However, conventional technology could not distinguish and evaluate surface roughness and degree of fouling, so it was not possible to perform appropriate maintenance according to each condition. 【0005】 The present invention aims to support the implementation of appropriate maintenance of ship propellers according to their respective conditions of surface roughness and degree of fouling. [Means for solving the problem] 【0006】 One aspect of the present invention provides an evaluation system comprising: a removal means for removing fouling from the surface of a ship's propeller; a determination means for determining the degree of fouling of the surface of the propeller before the fouling is removed and the surface roughness of the propeller after the fouling is removed; and an output means for outputting the degree of fouling and the surface roughness. 【0007】 The evaluation system further comprises measuring means for measuring index values ​​indicating the thickness and refractive index of deposits contaminating the surface of the propeller before the contamination is removed, using interferometry, and the degree of contamination may be determined based on the index values. 【0008】 The evaluation system further comprises a storage means for storing a sample image of a reference surface roughness, and an imaging means for capturing an image of the surface of the propeller after the contamination has been removed, and the surface roughness may be determined according to the similarity between the captured image and the sample image. 【0009】 The evaluation system further comprises measuring means for irradiating light onto the surface of the propeller after the contamination has been removed, receiving the light reflected from the surface, and measuring the intensity of the received light, wherein the surface roughness may be determined according to the intensity of the light. 【0010】 The determination means may determine the surface condition of the propeller before the contamination is removed, and the degree of contamination may be determined according to the surface condition and the surface roughness. 【0011】 The evaluation system further comprises a storage means for storing a sample image of a reference surface state, and an imaging means for capturing an image of the surface of the propeller before the contamination is removed, and the surface state may be determined according to the degree of similarity between the captured image and the sample image. 【0012】 The evaluation system further comprises measuring means for irradiating the surface of the propeller with light before the contamination is removed, receiving the light reflected from the surface, and measuring the intensity of the received light, and the surface condition may be determined according to the intensity of the light. 【0013】 The evaluation system further includes imaging means for capturing a first image of the surface of the propeller before the contamination is removed and a second image of the surface of the propeller after the contamination is removed, and the determination means may determine the degree of contamination by comparing the first image and the second image before and after the contamination removal. 【0014】 The evaluation system further comprises measuring means for irradiating the surface of the propeller with a first light before the contamination is removed, receiving the first light reflected from the surface, and measuring the intensity of the received first light; irradiating the surface of the propeller with a second light after the contamination is removed, receiving the second light reflected from the surface, and measuring the intensity of the received second light; and the determination means may determine the degree of contamination based on the difference in intensity between the reflected first light and the reflected second light before and after the contamination is removed. 【0015】 The evaluation system may further include an underwater mobile body having the removal means. 【0016】 The evaluation system further comprises: a storage means for storing a first correlation between past first navigation conditions of at least one vessel and the degree of fouling of at least one propeller due to navigation in accordance with the first navigation conditions of the at least one vessel, and a second correlation between the first navigation conditions and the surface roughness of at least one propeller affected by navigation in accordance with the first navigation conditions of the at least one vessel; an acquisition means for acquiring planned second navigation conditions for the vessel; and an estimation means for estimating the degree of fouling of the surface of the propeller when the vessel is navigating in accordance with the second navigation conditions based on the first correlation, and estimating the surface roughness of the propeller when the vessel is navigating in accordance with the second navigation conditions based on the second correlation, wherein the output means may further output the estimated degree of fouling and the estimated surface roughness. 【0017】 Another aspect of the present invention provides an evaluation method comprising the steps of: removing fouling from the surface of a ship's propeller; determining the degree of fouling of the surface of the propeller before the fouling is removed and the surface roughness of the propeller after the fouling is removed; and outputting the degree of fouling and the surface roughness. 【0018】 Yet another aspect of the present invention provides a program for causing a computer to perform steps of determining the degree of fouling of the surface of a propeller of a ship before fouling is removed from the surface of the propeller, and the surface roughness of the propeller after the fouling is removed, and outputting the degree of fouling and the surface roughness. 【Advantages of the Invention】 【0019】 According to the present invention, it is possible to assist in performing appropriate maintenance according to the respective states of the surface roughness and the degree of fouling of the propeller of a ship. 【Brief Description of the Drawings】 【0020】 [Figure 1] It is a diagram showing an example of an evaluation system according to an embodiment. [Figure 2] It is a cross-sectional view showing an example of the surface state of a propeller according to an embodiment. [Figure 3] It is a diagram showing an example of the configuration of a server device according to an embodiment. [Figure 4] It is a diagram showing an example of a sample board of the overall surface state of a propeller according to an embodiment. [Figure 5] It is a sequence chart showing an example of an operation for evaluating the surface state of a propeller according to an embodiment. [Figure 6] It is a sequence chart showing an example of an operation for analyzing the correlation between the navigation conditions and the surface state of a propeller according to an embodiment. [Figure 7] It is a flowchart showing an example of an operation for estimating the surface state of a propeller according to an embodiment. 【Modes for Carrying Out the Invention】 【0021】 Configuration Figure 1 shows an example of an evaluation system 1 according to one embodiment. The evaluation system 1 evaluates the surface condition of a propeller 110 of a ship 11 using the inspection results of the propeller 110. The evaluation system 1 comprises a terminal device 10, an underwater drone 20, a control device 30, and a server device 40. The terminal device 10 is mounted on the ship 11. The terminal device 10 is connected to a network 52 via a communication satellite 50. The server device 40 and the control device 30 are connected via the network 52. The network 52 is a communication line that connects multiple devices in a communicative manner, and includes, for example, the Internet. The underwater drone 20 and the control device 30 are connected via a control line 54. Although only a single ship 11 is shown in Figure 1, multiple ships 11 may be included. 【0022】 The vessel 11 has a propeller 110 and is propelled by the rotation of the propeller 110. In addition to the terminal device 10 described above, the vessel 11 is equipped with various sensors (not shown). These sensors include a speedometer, a positioning sensor, and a thermometer (none of which are shown). The speedometer measures the speed of the vessel 11. The positioning sensor measures the position of the vessel 11 at predetermined time intervals. The positioning sensor is, for example, a GNSS (Global Navigation Satellite System) receiver. The route of the vessel 11 is obtained by connecting the positions of the vessel 11 measured by the positioning sensor in a time series. The thermometer measures the seawater temperature. The terminal device 10 acquires the outputs of the various sensors and transmits the actual navigation conditions obtained from the acquired outputs to the server device 40 via the communication satellite 50 and network 52. 【0023】 Figure 2 is a cross-sectional view showing an example of the surface condition of the propeller 110. The surface condition of the propeller 110 deteriorates with the operation of the ship 11, requiring maintenance. The surface condition of the propeller 110 includes surface roughness and degree of fouling. Surface roughness is the degree of roughness, i.e., unevenness, of the surface of the propeller 110. The surface roughness of the propeller 110 increases with the operation of the ship 11. The degree of fouling indicates the degree of biological fouling attached to the surface of the propeller 110. Biological deposits 111 attach to the surface of the propeller 110 with the operation of the ship 11. These deposits 111 include higher-order structures of microorganisms, also called biofilms, and barnacles. When the surface roughness or degree of fouling increases, frictional resistance increases, and the performance of the propeller 110 deteriorates. Therefore, when the surface roughness or degree of fouling increases, maintenance of the propeller 110 is performed. However, the optimal maintenance method differs depending on whether the surface roughness is high or the degree of contamination is high. For example, maintenance will be performed using different polishing methods and abrasives depending on whether the surface roughness is high or the degree of contamination is high. In addition, the frequency and time required for maintenance will differ depending on whether the surface roughness is high or the degree of contamination is high. 【0024】 Returning to Figure 1, the underwater drone 20 moves by submerging and gliding underwater to inspect the propeller 110. The underwater drone 20 also has the ability to hover underwater. The underwater drone 20 is an example of the "underwater mobile body" according to the present invention. The underwater drone 20 is equipped with a brush 21, a camera 22, and an interferometer 23. The camera 22 and interferometer 23 are waterproof so that they can be used underwater. The brush 21 removes fouling from the surface of the propeller 110. For example, the brush 21 rotates and contacts the surface of the propeller 110 to remove deposits 111 attached to the surface of the propeller 110. The brush 21 is an example of the "removal means" according to the present invention. The camera 22 takes an image of the surface of the propeller 110. The camera 22 is an example of the "imaging means" according to the present invention. The interferometer 23 measures an index value of fouling on the surface of the propeller 110 using interferometry. This index value indicates the thickness and refractive index of the deposit 111 adhering to the surface of the propeller 110. The interferometer 23 is an example of a "measuring means" according to the present invention. 【0025】 The interferometer 23 includes, for example, a light-emitting unit, a spectrometer, an image sensor, and a processing unit. The light-emitting unit emits light such as laser light. The spectrometer splits the light emitted by the light-emitting unit into two or more beams of light. The beams of light split by the spectrometer are irradiated onto the surface of the propeller 110. As shown in Figure 2, if deposits 111 are attached to the surface of the propeller 110, the light emitted from the interferometer 23 becomes light L1 reflected from the surface of the deposits 111 and light L2 refracted into the deposits 111 and reflected from the surface of the propeller 110. Since the optical path length of the light L2 reflected from the surface of the propeller 110 is greater than the optical path length of the light L1 reflected from the surface of the deposits 111, interference fringes are formed on the surface of the deposits 111 due to this optical path difference. The image sensor captures an image of the interference fringes formed on the surface of the deposits 111. The processing unit measures the interval between interference fringes using the image captured by the image sensor and calculates an index value (n × d) using the measured interval. Here, n is the refractive index of the deposit 111, and d is the thickness of the deposit 111. A larger index value indicates a greater thickness or higher density of the deposit 111. Note that the configuration of the interferometer 23 described here is just one example, and other known configurations may also be used. 【0026】 In one example, the index value (n × d) is determined based on the following formula (1), which shows the conditions under which light reinforces itself. 2ndcosθ=(m+1 / 2)λ···(1) In equation (1), n ​​is the refractive index of the attached substance 111, d is the thickness of the attached substance 111, θ is the angle of refraction, m is an integer (m=0,1,2,…), and λ is the wavelength in air. 【0027】 In other examples, a database may be created showing the correspondence between interference fringe intervals and index values ​​(n×d) based on the past performance of at least one vessel 11 or tank tests of a model ship, and based on this database, index values ​​(n×d) may be obtained from the interference fringe intervals measured by the processing unit. 【0028】 The control device 30 controls the underwater drone 20. The control device 30 is used by the operator to control the underwater drone 20. The control device 30 receives the operator's input and transmits a control signal corresponding to this input to the underwater drone 20 via the control line 54. The underwater drone 20 operates according to the control signal received from the control device 30. The control device 30 also acquires information obtained from the underwater drone 20 during the inspection of the propeller 110 via the control line 54 and transmits it to the server device 40 via the network 52. The underwater drone 20 is equipped with a storage medium for storing the information obtained from the inspection of the propeller 110, and the control device 30 may acquire this information from the storage medium of the underwater drone 20. 【0029】 Figure 3 shows an example of the configuration of the server device 40. The server device 40 is installed on land. The server device 40 uses information obtained from the inspection of the propeller 110 to separately determine the total surface condition, degree of contamination, and surface roughness of the propeller 110. The server device 40 includes a processor 41, memory 42, storage 43, communication interface 44, input unit 45, and display unit 46. The various parts of the server device 40 are connected via a bus. 【0030】 The processor 41 controls various parts of the server device 40 and performs various calculations by executing programs. The processor 41 includes, for example, one or more CPUs (Central Processing Units). The memory 42 is used by the processor 41 to perform various processes. The memory 42 includes, for example, ROM (Read Only Memory) and RAM (Random Access Memory). The storage 43 stores various data used by the processor 41. The storage 43 includes, for example, an HHD (Hard Disk Drive) or an SSD (Solid State Drive). The memory 42 or storage 43 stores programs for realizing the functions of the server device 40. The memory 42 and storage 43 are examples of "storage means" according to the present invention. The communication IF 44 communicates data with other devices according to a predetermined communication standard. The input unit 45 inputs signals to the processor 41 according to user operations. The input unit 45 includes, for example, a keyboard and a mouse. The display unit 46 displays various information. The display unit 46 includes, for example, a liquid crystal display. The display unit 46 is an example of an "output means" according to the present invention. 【0031】 Storage 43 pre-stores a roughness sample image 431 and a total sample image 432. The roughness sample image 431 is an image of a sample plate 61 representing the standard surface roughness of the propeller 110. The roughness sample image 431 is an example of a "standard surface roughness sample image" according to the present invention. The total sample image 432 is an image obtained by photographing a sample plate 60 representing the total standard surface condition, which combines the degree of contamination and surface roughness of the surface of the propeller 110. The total sample image 432 is an example of a "standard surface condition sample image" according to the present invention. 【0032】 The reference surface roughness sample plate 61 includes samples of multiple reference roughness levels. For example, the reference surface roughness sample plate 61 includes samples of four reference roughness levels. The reference surface roughness sample plate 61 is, for example, a Rubard gauge. Alternatively, the reference surface roughness sample plate 61 may be created by molding the cavitation erosion of a propeller 110 that has actually been used. 【0033】 Figure 4 shows an example of a sample plate 60 representing the total surface condition of the propeller 110. This sample plate 60 has a two-layer structure, with a sample plate 62 representing the standard degree of contamination of the propeller 110 placed on top of a sample plate 61 representing the standard surface roughness of the propeller 110. The standard degree of contamination sample plate 62 includes samples of multiple standard degrees of contamination. For example, the standard degree of contamination sample plate 62 includes samples of three levels of standard contamination. Preferably, each standard degree of contamination sample has an index value (n × d) similar to the corresponding standard degree of contamination. Here, n represents the refractive index of the deposit and d represents the thickness of the deposit. The standard degree of contamination sample plate 62 is artificially created to mimic the deposit 111. The standard degree of contamination sample plate 62 may also be formed from an artificial material. The total surface condition sample plate 60 includes samples of multiple standard surface conditions. For example, if the standard surface roughness sample plate 61 includes samples of four levels of standard roughness, and the standard stain level sample plate 62 includes samples of three levels of standard stain level, then the total surface condition sample plate 60 will include 4 × 3 = 12 different standard surface condition samples. 【0034】 The server device 40 functions as a first acquisition means 411, a determination means 412, a display control unit 413, a second acquisition means 414, an analysis means 415, and an estimation means 416. These functions are realized by the processor 41 executing a program stored in memory 42 or storage 43. 【0035】 The first acquisition means 411 acquires information obtained by the underwater drone 20 during the inspection of the propeller 110 via the control device 30. This information includes images of the surface of the propeller 110 before the fouling is removed, an index value of the fouling of the propeller 110 before the fouling is removed, and images of the surface of the propeller 110 after the fouling has been removed. 【0036】 The determination means 412 uses the information acquired by the first acquisition means 411 to determine the total surface condition of the propeller 110 before the contamination is removed, the degree of contamination of the propeller 110 before the contamination is removed, and the surface roughness of the propeller 110 after the contamination is removed. The determination means 412 determines the total surface condition of the propeller 110 before the contamination is removed based on the similarity between the image of the surface of the propeller 110 taken before the contamination is removed and the sample portion of the reference surface condition included in the total sample image 432 stored in the storage 43. The determination means 412 also determines the degree of contamination of the propeller 110 before the contamination is removed based on the index value of the contamination of the propeller 110 before the contamination is removed. Furthermore, the determination means 412 determines the surface roughness of the propeller 110 after the contamination has been removed, based on the similarity between the image of the surface of the propeller 110 after the contamination has been removed and the sample portion of the reference surface roughness included in the roughness sample image 431 stored in the storage 43. 【0037】 The display control unit 413 displays the total surface condition, degree of contamination, and surface roughness of the propeller 110, as determined by the determination means 412, on the display unit 46. 【0038】 The second acquisition means 414 acquires the actual sailing conditions of at least one vessel 11 and the planned sailing conditions of the vessel 11. The actual sailing conditions are the sailing conditions when at least one vessel 11 has sailed in the past. The actual sailing conditions are an example of the "first sailing conditions" according to the present invention. The planned sailing conditions are the sailing conditions planned for the vessel 11. The planned sailing conditions are an example of the "second sailing conditions" according to the present invention. 【0039】 The analysis means 415 analyzes the correlation between the actual sailing conditions acquired by the second acquisition means 414 and the degree of fouling of the propeller 110 determined by the determination means 412. This correlation between actual sailing conditions and degree of fouling is an example of the "first correlation" according to the present invention. The analysis means 415 also analyzes the correlation between the actual sailing conditions acquired by the second acquisition means 414 and the surface roughness of the propeller 110 determined by the determination means 412. This correlation between actual sailing conditions and surface roughness is an example of the "second correlation" according to the present invention. The degree of fouling and surface roughness of the propeller 110 determined by the determination means 412 are the actual degree of fouling and surface roughness of the propeller 110 caused by or affected by past sailings in accordance with the actual sailing conditions in at least one vessel 11. Each correlation may be formalized. Furthermore, the analysis of the correlations may be performed using AI (Artificial Intelligence). 【0040】 The estimation means 416 estimates the degree of fouling and surface roughness of the propeller 110 when the vessel 11 sails according to the planned sailing conditions acquired by the second acquisition means 414, based on the correlation between the actual sailing conditions obtained by the analysis means 415 and the surface condition of the propeller 110. The estimation means 416 estimates the degree of fouling of the propeller 110 when the vessel 11 sails according to the planned sailing conditions, based on the correlation between the actual sailing conditions and the degree of fouling of the propeller 110. Furthermore, the estimation means 416 estimates the surface roughness of the propeller 110 when the vessel 11 sails according to the planned sailing conditions, based on the correlation between the actual sailing conditions and the surface roughness of the propeller 110. 【0041】 operation Figure 5 is a sequence chart showing an example of an operation to evaluate the surface condition of the propeller 110. This operation is initiated when inspecting the propeller 110 of a vessel 11 while it is moored at a quay. 【0042】 In step S101, the operator deploys the underwater drone 20 into the sea and then operates the control device 30 to move the underwater drone 20 to the inspection position of the propeller 110. The control device 30 transmits a control signal to the underwater drone 20 in response to the operator's operation. In step S102, the underwater drone 20 moves underwater according to the control signal received from the control device 30 and arrives at the inspection position of the propeller 110. Upon arriving at the inspection position, the underwater drone 20 hovers there. 【0043】 In step S103, the underwater drone 20 captures an image of the surface of the propeller 110 before the fouling is removed using the camera 22. In step S104, the underwater drone 20 measures the index value of the fouling of the propeller 110 before the fouling is removed using the interferometer 23. In step S105, the underwater drone 20 removes the fouling from the surface of the propeller 110 using the brush 21. In step S106, the underwater drone 20 captures an image of the surface of the propeller 110 after the fouling has been removed using the camera 22. In step S107, the underwater drone 20 transmits the information acquired in steps S103, S104, and S106 to the control device 30. 【0044】 In step S108, the control device 30 transmits the information received from the underwater drone 20 to the server device 40. In this example, the information acquired in steps S103, S104, and S106 is transmitted together, but this information may also be transmitted individually each time it is acquired. The first acquisition means 411 of the server device 40 receives the information from the control device 30. 【0045】 In step S109, the determination means 412 of the server device 40 uses the image taken in step S103 to determine the total surface condition of the propeller 110 before the contamination is removed. For example, the determination means 412 compares the image acquired in step S103 with sample portions of multiple reference surface conditions included in the total sample image 432 stored in the storage 43, and determines that the reference surface condition shown by the sample portion with the highest similarity among the 12 possible reference surface conditions is the total surface condition of the propeller 110. 【0046】 In step S110, the determination means 412 of the server device 40 determines the degree of contamination of the propeller 110 based on the index value measured in step S104. For example, the determination means 412 determines a higher degree of contamination in three stages of standard contamination, where a larger index value indicates a higher degree of contamination. 【0047】 In step S111, the determination means 412 of the server device 40 determines the surface roughness of the propeller 110 after the contamination has been removed, based on the image taken in step S106. For example, the determination means 412 compares the image taken in step S106 with multiple reference surface roughness sample portions included in the roughness sample image 431 stored in the storage 43, and determines the reference surface roughness of the propeller 110 to be the reference surface roughness indicated by the sample portion with the highest similarity among the four levels of reference surface roughness. 【0048】 In step S112, the determination means 412 of the server device 40 stores the total surface condition, degree of contamination, and surface roughness determined in steps S109 to S111 in the storage 43. In step S113, the display control unit 413 of the server device 40 displays the total surface condition, degree of contamination, and surface roughness determined in steps S109 to S111 on the display unit 46. The user can perform appropriate maintenance on the propeller 110 based on the total surface condition, degree of contamination, and surface roughness displayed on the display unit 46. 【0049】 The operation shown in Figure 5 is repeated, for example, whenever the propeller 110 of each vessel 11 is inspected. Preferably, this inspection of the propeller 110 is performed each time the vessel is moored at a quay, but it is not always possible to inspect the propeller 110 before and after a voyage. Therefore, the inspection of the propeller 110 may be performed at a predetermined time, such as when the vessel is moored at a quay after a predetermined period of time has elapsed, or when the vessel is moored at a specific quay where the underwater drone 20 is installed. As a result, the storage 43 accumulates multiple datasets for the propeller 110 of the multiple vessels 11, consisting of the total surface condition, degree of fouling, and surface roughness. 【0050】 Figure 6 is a sequence chart showing an example of an operation to analyze the correlation between navigation conditions and the surface condition of the propeller 110. The surface condition of the propeller 110 of a ship 11 is affected by the navigation conditions of the ship 11. Therefore, the correlation between the total surface condition, degree of fouling, and surface roughness of the propeller 110 of at least one ship 11, obtained through the operation to evaluate the surface condition of the propeller 110 described above, and the actual navigation conditions of that ship 11 can be determined. This operation may be started each time the operation to evaluate the surface condition of the propeller 110 described above for a ship 11 is completed, or it may be started at a predetermined timing, or it may be started when the user uses the input unit 45 to instruct the operation to analyze the correlation. 【0051】 In step S201, the second acquisition means 414 of the server device 40 acquires actual sailing conditions from the terminal device 10 of the vessel 11 that was inspected in the operation to evaluate the surface condition of the propeller 110 described above. The second acquisition means 414 of the server device 40 transmits a request to the terminal device 10 to acquire the actual sailing conditions. In response to this acquisition request, the terminal device 10 transmits the actual sailing conditions to the server device 40. These actual sailing conditions include, for example, the speed of the vessel 11, the route, and the seawater temperature. In step S202, the second acquisition means 414 of the server device 40 receives the actual sailing conditions transmitted from the terminal device 10 and stores them in the storage 43. 【0052】 In step S203, the analysis means 415 of the server device 40 uses the actual sailing conditions and judgment results stored in the storage 43 to analyze the correlation between the actual sailing conditions of the vessel 11 and the degree of fouling and surface roughness of the propeller 110 of the vessel 11 when the vessel 11 sails according to the actual sailing conditions. 【0053】 In step S204, the storage 43 of the server device 40 stores the analysis results from step S203. As a result, the storage 43 stores the correlation between actual sailing conditions and the degree of fouling of the propeller 110, and the correlation between actual sailing conditions and the surface roughness of the propeller 110. 【0054】 Figure 7 is a flowchart illustrating an example of the operation for estimating the surface condition of the propeller 110. Inspection of the propeller 110 cannot always be performed every time the vessel 11 is moored at the quay. For example, if an underwater drone 20 is not installed at the quay, the propeller 110 cannot be inspected using the underwater drone 20. Therefore, in such cases, an operation to estimate the surface condition of the propeller 110 is performed. This operation is initiated, for example, when the user uses the input unit 45 to instruct the system to estimate the surface condition of the propeller 110 before the vessel 11 sets sail. 【0055】 In step S301, the second acquisition means 414 of the server device 40 acquires the planned voyage conditions of the vessel 11. These planned voyage conditions may be acquired from the terminal device 10 of the vessel 11, or they may be input in response to user operations using the input unit 45. 【0056】 In step S302, the estimation means 416 of the server device 40 estimates the degree of fouling of the propeller 110 when the ship 11 sails according to the planned sailing conditions, based on the correlation between actual sailing conditions and the degree of fouling stored in the storage 43. For example, in this correlation, the degree of fouling that correlates with the actual sailing conditions that are most similar to the planned sailing conditions is estimated. 【0057】 In step S303, the estimation means 416 of the server device 40 estimates the surface roughness of the propeller 110 when the ship 11 sails according to the planned sailing conditions, based on the correlation between actual sailing conditions and surface roughness stored in the storage 43. For example, in this correlation, the surface roughness that correlates with the actual sailing conditions that are most similar to the planned sailing conditions is estimated. 【0058】 In step S304, the display control unit 413 of the server device 40 displays the degree of fouling and surface roughness estimated in steps S302 to S303 on the display unit 46. This allows the user to recognize the estimated degree of fouling and surface roughness of the propeller 110 when the vessel 11 sails according to the planned sailing conditions. Therefore, after the vessel 11 sails according to the planned sailing conditions, the user can perform appropriate maintenance on the propeller 110 based on the estimated degree of fouling and surface roughness. 【0059】 According to the embodiment described above, the degree of fouling and surface roughness of the propeller 110 of the vessel 11 are determined separately, allowing for differentiated evaluation. This supports the implementation of appropriate maintenance according to the respective conditions of the degree of fouling and surface roughness of the propeller 110. Furthermore, because the degree of fouling and surface roughness of the propeller 110 of the vessel 11 are determined separately, the cause of the performance degradation of the vessel 11 can be analyzed separately as being due to surface roughness or fouling. In addition, since the underwater drone 20 inspects the propeller 110, time and costs can be reduced compared to when a person inspects the propeller 110. Moreover, even when it is not possible to inspect the propeller 110, the degree of fouling and surface roughness of the propeller 110 as it would be when the vessel 11 sails according to the planned sailing conditions can be estimated separately, allowing for differentiated evaluation. This enables appropriate maintenance according to the degree of fouling and surface roughness of the propeller 110, even when it is not possible to inspect the propeller 110. Furthermore, in the above embodiment, the total surface condition of the propeller 110 of the ship 11 is determined and displayed, allowing the user to recognize the total surface condition of the propeller 110. The surface of the propeller 110 has a base of surface roughness of the metal forming the propeller 110, on which biological deposits 111 are layered. The total surface condition reflects the state of both this surface roughness and the contamination caused by biological deposits 111. Since the total surface condition affects the hydrodynamic propeller efficiency, it is important for the user to recognize the total surface condition. Moreover, if the user can recognize the relationship between the change in the total surface condition and the change in propeller efficiency before and after maintenance of the propeller 110, it will be possible to make a more appropriate decision regarding the implementation of maintenance. 【0060】 Variation The embodiments described above are examples of the present invention, and the present invention is not limited to these embodiments. The embodiments described above may be modified as shown below. Furthermore, two or more of the following modifications may be combined and implemented. 【0061】 Variation 1 In the embodiments described above, the total surface condition of the propeller 110 may be determined based on the reflected light intensity on the surface of the propeller 110 before the defacement is removed, instead of, or in addition to, an image of the surface of the propeller 110 taken before the defacement is removed. In this modified example, the storage 43 stores the intensity of reflected light reflected from each reference surface condition sample of the total surface condition sample plate 60 when light is shone on that sample. The underwater drone 20 is equipped with an optical sensor. The optical sensor is an example of a "measuring means" according to the present invention. The optical sensor has, for example, a light-emitting unit, a light-receiving unit, and a processing unit. The light-emitting unit shone light on the surface of the propeller 110 before the defacement is removed. The light-receiving unit receives the light reflected from the surface of the propeller 110. The processing unit measures the intensity of the light received by the light-receiving unit. Note that the configuration of the optical sensor described herein is an example, and other known configurations may be used. The determination means 412 compares the intensity of light measured by the optical sensor with the intensity of reflected light from samples of each reference surface state stored in the storage 43, and determines that the reference surface state indicated by the sample with the smallest intensity difference is the total surface state of the propeller 110. Alternatively, the determination means 412 may determine that the lower the intensity of light measured by the optical sensor, the more deteriorated the total surface state of the propeller 110 is. Even with this modified configuration, the total surface state of the propeller 110 of the ship 11 can be determined. 【0062】 The overall surface condition of the propeller 110 is affected by both the contamination caused by the upper layer of biological deposits 111 and the surface roughness of the lower layer of metal. However, the overall surface condition determined by a method using images of the propeller 110 surface taken before the contamination is removed is heavily influenced by the contamination caused by the biological deposits 111, while the overall surface condition determined by a method using the light reflection intensity on the surface of the propeller 110 before the contamination is removed is presumed to be heavily influenced not only by the contamination caused by the biological deposits 111 but also by the surface roughness of the metal. Therefore, by performing these two methods while comparing them with a sample and also performing elemental decomposition by removing the biological deposits 111, it is possible to determine the surface condition of the propeller 110, which is determined by a combination of factors, with a certain degree of accuracy. 【0063】 Variation 2 In the embodiment described above, the degree of contamination of the propeller 110 may be determined based on an image of the surface of the propeller 110 taken before contamination removal, instead of or in addition to an index value of contamination of the propeller 110 before contamination removal. In this modified example, the storage 43 pre-stores contamination sample images obtained by photographing a standard contamination sample plate 62 individually. The contamination sample image is an example of a "standard contamination sample image" according to the present invention. The determination means 412 compares the image of the surface of the propeller 110 taken before contamination removal with a plurality of standard contamination sample portions included in the contamination sample image stored in the storage 43, and determines the standard contamination degree indicated by the sample portion with the highest similarity as the degree of contamination of the propeller 110. Even with this modified configuration, the degree of contamination of the propeller 110 of the ship 11 can be determined. 【0064】 Variation 3 In the embodiments described above, the degree of contamination of the propeller 110 may be determined based on the reflected light intensity on the surface of the propeller 110 before contamination removal, instead of or in addition to the index value of contamination of the propeller 110 measured before contamination removal. In this modified example, the storage 43 stores the intensity of reflected light reflected from each sample of the reference contamination level sample plate 62 when light is shone onto that sample. The underwater drone 20 is equipped with the optical sensor described in the modified example above. The optical sensor shone light onto the surface of the propeller 110 before contamination removal, receives the light reflected from the surface of the propeller 110, and measures the intensity of the received light. The determination means 412 determines the degree of contamination of the propeller 110 according to the intensity of light measured by the optical sensor. For example, the determination means 412 compares the intensity of light measured by the optical sensor with the intensity of reflected light from each standard contamination level sample stored in the storage 43, and determines the standard contamination level indicated by the sample with the smallest intensity difference as the contamination level of the propeller 110 surface. Alternatively, the determination means 412 may determine that the lower the intensity of light measured by the optical sensor, the higher the contamination level of the propeller 110. Furthermore, the determination means 412 may determine the contamination level of the propeller 110 based on both the contamination index value of the propeller 110 and the intensity of light measured by the optical sensor. Even with this modified configuration, the contamination level of the propeller 110 of the ship 11 can be determined. As mentioned above, the contamination index value is composed of the refractive index n of the deposit 111 and the thickness d of the deposit 111. Of these, the thickness d of the deposit 111 also affects the intensity of reflected light. Therefore, the index value (n × d) may be decomposed into elements based on the intensity of reflected light. 【0065】 Variation 4 In the embodiments described above, the surface roughness of the propeller 110 may be determined based on the reflected light intensity on the surface of the propeller 110 after the removal of the contaminants, instead of or in addition to an image of the surface of the propeller 110 taken after the contaminants have been removed. In this modified example, the storage 43 stores the intensity of the reflected light when light is shone onto each of the reference contaminant samples on the reference surface roughness sample plate 61. The underwater drone 20 is equipped with an optical sensor as described in the modified example above. The optical sensor shone light onto the surface of the propeller 110 after the contaminants have been removed, receives the light reflected from the surface of the propeller 110, and measures the intensity of the received light. For example, the determination means 412 compares the intensity of the light measured by the optical sensor with the intensity of the reflected light from each reference surface roughness sample stored in the storage 43, and determines the reference surface roughness indicated by the sample with the smallest intensity difference as the surface roughness of the propeller 110. Alternatively, the determination means 412 may determine that the lower the intensity of the light measured by the light sensor, the lower the surface roughness of the propeller 110. Even with this modified configuration, the surface roughness of the propeller 110 of the ship 11 can be determined. 【0066】 Variation 5 In the above-described embodiment, the surface condition, degree of contamination, and surface roughness of the propeller 110 do not necessarily have to be determined from the information obtained by inspecting the propeller 110. For example, only the overall surface condition and surface roughness of the propeller 110 may be determined from the information obtained by inspecting the propeller 110, and the degree of contamination may be determined based on the overall surface condition and surface roughness of the propeller 110. For example, if the overall surface condition of the propeller 110 is a combination of the determined surface roughness and a certain degree of contamination, that degree of contamination is determined. Alternatively, if the overall surface condition of the propeller 110 is deteriorated and the surface roughness is small, the degree of contamination of the propeller 110 may be determined to be high. If the overall surface condition of the propeller 110 is deteriorated and the surface roughness is large, the degree of contamination of the propeller 110 may be determined to be low. Furthermore, only the degree of contamination and surface roughness of the propeller 110 may be determined, and the overall surface condition of the propeller 110 may not be determined. Even with this modified configuration, the degree of fouling and the surface roughness of the propeller 110 of the ship 11 can be evaluated separately. 【0067】 Variation 6 In the embodiments described above, the display of the determination result of the determination means 412 and the estimation result of the estimation means 416 is an example of output of the determination result and estimation result, and is not limited thereto. For example, the server device 40 may be equipped with a speaker, and audio indicating the determination result and estimation result may be output from the speaker. Alternatively, the determination result and estimation result may be transmitted to an external device from the communication IF 44. The speaker or communication IF 44 is an example of the "output means" according to the present invention. Even with this modified configuration, the degree of fouling and the surface roughness of the propeller 110 of the ship 11 can be evaluated separately. 【0068】 Variation 7 In the embodiments described above, the underwater drone 20 is just one example of an underwater mobile device, and is not limited thereto. For example, the underwater mobile device can be any device that moves underwater, such as a manned submersible or an underwater robot. 【0069】 Variation 8 In the embodiment described above, a human diver may perform the inspection of the propeller 110 instead of the underwater drone 20. In this modified example, for example, the diver dives with a sample plate 60 showing the total surface condition, a sample plate 61 showing the standard surface roughness, a sample plate 62 showing the standard degree of contamination, and a brush 21, and moves to the inspection position of the propeller 110. Upon arriving at the inspection position, the diver uses the sample plate 60 showing the total surface condition to determine the total surface condition of the propeller 110 before removing the contamination. Next, the diver uses the sample plate 62 showing the standard degree of contamination to determine the degree of contamination of the propeller 110 before removing the contamination. Next, the diver uses the brush 21 to remove the contamination from the propeller 110. Next, the diver uses the sample plate 61 showing the standard surface roughness to determine the surface roughness of the propeller 110 after the contamination has been removed. Once the inspection is complete, the diver surfaces and goes ashore. The diver then records the overall surface condition, degree of fouling, and surface roughness of the propeller 110 in an inspection report and hands it over to the person in charge. This record is an example of the output of the overall surface condition, degree of fouling, and surface roughness of the propeller 110. Even with this modified configuration, the degree of fouling and surface roughness of the propeller 110 of the ship 11 can be evaluated separately. 【0070】 Modification 9 In the embodiments described above, the configurations of the evaluation system 1, terminal device 10, underwater drone 20, control device 30, and server device 40 are examples only and are not limited thereto. Multiple devices may have the functions of one device distributed among them, or one device may have the functions of multiple devices combined. 【0071】 Variation 10 In the embodiments described above, the operation of the evaluation system 1, terminal device 10, underwater drone 20, control device 30, and server device 40 is an example and not limited thereto. The processing procedures of the evaluation system 1, terminal device 10, underwater drone 20, control device 30, and server device 40 may be rearranged or some processing procedures may be omitted, as long as they are consistent. 【0072】 Variation 11 Another embodiment of the present invention may provide a method comprising processing steps performed in an evaluation system 1, a terminal device 10, an underwater drone 20, a control device 30, and a server device 40. Yet another embodiment of the present invention may provide a program to be executed in the terminal device 10, the underwater drone 20, the control device 30, or the server device 40. This program may be provided stored on a computer-readable recording medium or provided by download via the Internet or the like. 【0073】 Variation 12 In the embodiment described above, the degree of contamination may be determined by comparing an image of the propeller 110 taken before the contamination is removed with an image of the propeller 110 taken after the contamination is removed. The greater the difference between the images before and after contamination removal, the greater the degree of contamination. Therefore, the determination means 412 may determine a higher degree of contamination when the difference between these images is large than when the difference between these images is small. 【0074】 In one example, the determination means 412 compares an image of the surface of the propeller 110 before the contamination is removed, taken by the camera 22 of the underwater drone 20, with multiple sample portions of reference surface states included in the total sample image 432 stored in the storage 43, and determines the reference surface state indicated by the sample portion with the highest degree of similarity as the total surface state of the propeller 110. In addition, the determination means 412 compares an image of the surface roughness of the propeller 110 after the contamination is removed, taken by the camera 22 of the underwater drone 20, with multiple sample portions of reference surface roughness included in the roughness sample image 431 stored in the storage 43, and determines the reference surface roughness indicated by the sample portion with the highest degree of similarity as the surface roughness of the propeller 110. 【0075】 Here, as described above, the multiple reference surface states included in the sample plate 60 of the total surface state are composed of combinations of multiple reference roughness and multiple reference contamination levels. In this modified example, the sample plate 60 of the total surface state includes multiple samples that have the same reference surface state but different contamination levels and surface roughness. Therefore, the determination means 412 identifies a combination that includes the determined surface roughness from among the multiple combinations that constitute the determined total surface state, and determines the contamination level that constitutes the identified combination as the contamination level of the propeller 110 surface. For example, consider a case where the total surface state of the propeller 110 is T1, and the multiple samples of reference surface state T1 include a combination of reference roughness R1 and reference contamination level P1, a combination of reference roughness R2 and reference contamination level P2, and a combination of reference roughness R3 and reference roughness P3. In this case, if the surface roughness of the propeller 110 is R2, a combination of the standard roughness R2 and the standard fouling degree P2 is identified, and P2 is determined as the fouling degree of the surface of the propeller 110. Even with this modified configuration, the fouling degree of the propeller 110 of the ship 11 can be determined. 【0076】 Variation 13 In the embodiment described above, the degree of contamination may be determined by comparing the light reflection intensity on the surface of the propeller 110 before contamination removal with the light reflection intensity on the surface of the propeller 110 after contamination removal. A larger difference in light reflection intensity before and after contamination removal indicates a greater degree of contamination. Therefore, the determination means 412 may determine a higher degree of contamination when the difference in light reflection intensity is large than when the difference is small. 【0077】 In one example, similar to the modified example 1 described above, the storage 43 stores the intensity of reflected light reflected from each reference surface state sample when light is shone onto each sample of the total surface state sample plate 60. The determination means 412 compares the intensity of reflected light reflected from the surface of the propeller 110 before the photographed contamination is removed, as measured by the light sensor of the underwater drone 20, with the intensity of reflected light from each reference surface state sample stored in the storage 43, and determines that the reference surface state indicated by the sample with the smallest intensity difference is the surface state of the propeller 110. The determination means 412 also compares the intensity of reflected light reflected from the surface of the propeller 110 after the photographed contamination is removed, as measured by the light sensor of the underwater drone 20, with the intensity of reflected light from each reference surface state sample stored in the storage 43, and determines that the reference surface roughness indicated by the sample portion with the smallest intensity difference is the surface roughness of the propeller 110. 【0078】 As described above, the multiple reference surface conditions included in the sample plate 60 of the total surface condition are composed of a combination of multiple reference roughness and multiple reference fouling degrees. Therefore, the determination means 412, similar to the modified example 12 described above, identifies a combination including the determined surface roughness from among the multiple samples of reference surface conditions corresponding to the determined total surface condition, and determines the fouling degree constituting the identified combination as the fouling degree of the propeller 110 surface. Even with this modified configuration, the fouling degree of the propeller 110 of the ship 11 can be determined. 【0079】 Variation 14 The total surface condition, degree of contamination, and surface roughness of the propeller 110 determined in the above-described embodiment may be stored in the storage 43, and by analyzing this data as training data using AI, the degree of contamination and surface roughness may be determined solely from the total surface condition using the results of this analysis. As a method for determining this total surface condition, a method using an image of the propeller 110 taken before the contamination was removed, as described in the above-described embodiment, may be employed, or a method using the light reflection intensity on the surface of the propeller 110 before the contamination was removed, as described in the above-described modification 1, may be employed. 【0080】 Variant 15 In the embodiments described above, the method for determining the degree of contamination on the surface of the propeller 110 is not limited to a method using interference fringes. For example, the surface of the propeller 110 may be irradiated with multiple lights of different wavelengths, and the degree of contamination on the surface of the propeller 110 may be determined by the difference in refractive index of these lights or the absorption rate of light of a specific wavelength. [Explanation of symbols] 【0081】 1: Evaluation system, 10: Terminal device, 11: Ship, 20: Underwater drone, 21: Brush, 22: Camera, 23: Interferometer, 30: Control device, 40: Server device, 41: Processor, 42: Memory, 43: Storage, 44: Communication interface, 45: Input unit, 46: Display unit, 110: Propeller, 411: First acquisition means, 412: Determination means, 413: Display control unit, 414: Second acquisition means, 415: Analysis means, 416: Estimation means

Claims

[Claim 1] A means for removing fouling from the surface of a ship's propeller, A determination means for determining the degree of contamination of the surface of the propeller before the contamination is removed and the surface roughness of the propeller after the contamination is removed. Output means for outputting the degree of contamination and the surface roughness An evaluation system equipped with the following features. [Claim 2] The system further comprises measuring means for measuring the thickness of deposits contaminating the surface of the propeller and index values ​​indicating the refractive index before the contamination is removed, using interferometry. The degree of contamination is determined based on the index value. The evaluation system according to claim 1. [Claim 3] A storage means for storing sample images of reference surface roughness, The system further comprises imaging means for capturing an image of the surface of the propeller after the aforementioned contamination has been removed, The surface roughness is determined according to the degree of similarity between the captured image and the sample image. The evaluation system according to claim 1. [Claim 4] The system further comprises measuring means for irradiating light onto the surface of the propeller after the aforementioned contamination has been removed, receiving the light reflected from the surface, and measuring the intensity of the received light. The surface roughness is determined according to the intensity of the light. The evaluation system according to claim 1. [Claim 5] The determination means determines the surface condition of the propeller before the contamination is removed, The degree of contamination is determined according to the surface condition and the surface roughness. The evaluation system according to claim 1. [Claim 6] A storage means for storing a sample image of a reference surface state, The system further comprises imaging means for capturing an image of the surface of the propeller before the aforementioned contamination is removed, The surface condition is determined according to the degree of similarity between the captured image and the sample image. The evaluation system according to claim 5. [Claim 7] The system further comprises measuring means for irradiating light onto the surface of the propeller before the aforementioned contamination is removed, receiving the light reflected from the surface, and measuring the intensity of the received light. The surface condition is determined according to the intensity of the light. The evaluation system according to claim 5. [Claim 8] The system further includes imaging means for capturing a first image of the surface of the propeller before the contamination is removed, and a second image of the surface of the propeller after the contamination has been removed. The determination means determines the degree of contamination by comparing the first image and the second image before and after the removal of the contamination. The evaluation system according to claim 1. [Claim 9] The system further comprises measuring means for irradiating the surface of the propeller with a first light before the contamination is removed, receiving the first light reflected from the surface, and measuring the intensity of the received first light; irradiating the surface of the propeller with a second light after the contamination has been removed, receiving the second light reflected from the surface, and measuring the intensity of the received second light. The determination means determines the degree of contamination based on the difference in intensity between the reflected first light and the reflected second light before and after the removal of the contamination. The evaluation system according to claim 1. [Claim 10] The underwater mobile body having the aforementioned removal means is further provided The evaluation system according to claim 1. [Claim 11] A storage means for storing a first correlation between past first navigation conditions of at least one vessel and the degree of fouling of at least one propeller due to navigation in accordance with the first navigation conditions of the at least one vessel, and a second correlation between the first navigation conditions and the surface roughness of at least one propeller affected by navigation in accordance with the first navigation conditions of the at least one vessel, A means for obtaining the second set of navigation conditions for the aforementioned vessel, The system further comprises estimation means for estimating the degree of fouling of the surface of the propeller when the vessel is sailing according to the second sailing conditions, based on the first correlation, and estimating the surface roughness of the propeller when the vessel is sailing according to the second sailing conditions, based on the second correlation. The output means further outputs the estimated degree of contamination and the estimated surface roughness. The evaluation system according to claim 1. [Claim 12] A step of removing fouling from the surface of a ship's propeller, A step of determining the degree of contamination of the surface of the propeller before the contamination is removed and the surface roughness of the propeller after the contamination is removed. A step of outputting the degree of contamination and the surface roughness. An evaluation method comprising the following features. [Claim 13] On the computer, A step of determining the degree of fouling on the surface of the propeller of a ship before the fouling is removed from the surface of the propeller and the surface roughness of the propeller after the fouling is removed, A step of outputting the degree of contamination and the surface roughness. A program to execute.

Images