JP7698972B2 - Ship-steering support device, ship-steering support system, ship, ship-steering support method and program - Google Patents

Description

This disclosure relates to a ship-steering assistance device, a ship-steering assistance system, a ship, a ship-steering assistance method, and a program.

Various devices and systems have been proposed to assist in the maneuvering of ships. For example, Patent Document 1 discloses an automatic ship positioning control device that automatically holds the ship's hull at a fixed position against external forces such as currents, wind, and waves by computer-controlling the ship's thrust. The automatic ship positioning control device estimates long-period fluctuating forces, including fluctuating wave drift forces caused by ocean waves, and reduces deviations in the ship's position by performing feedforward control to compensate for the long-period fluctuating forces.

JP 2006-297977 A

For example, external forces other than tides, wind, and waves may act on the hull of a ship. The automatic positioning control device of Patent Document 1 cannot perform control that corresponds to external forces other than tides, wind, and waves. In other words, the positioning control device cannot perform control that corresponds to various conditions of the ship.

The present disclosure aims to provide a ship-steering assistance device, a ship-steering assistance system, a ship, a ship-steering assistance method, and a program that can provide ship-steering assistance according to the state of the ship.

A ship maneuvering assistance device according to one aspect of the present disclosure includes an input/output unit configured to input and output information, and a processor, and the processor is configured to execute the following: acquiring ship status information indicating the status of the ship via the input/output unit; calculating at least two movement actions of the ship corresponding to each of the at least two maneuvering patterns based on information of at least two predetermined ship maneuvering patterns including information related to the maneuvering of the ship and the ship status information; generating action-related image data that is image data that shows together visualization information related to each of the at least two movement actions; and outputting the action-related image data via the input/output unit to a device capable of outputting images.

The technology disclosed herein makes it possible to provide ship maneuvering assistance that responds to the ship's condition.

FIG. 1 is a block diagram showing an example of the configuration of an onboard device of a ship equipped with a ship-steering assistance system according to an embodiment; FIG. 2 is a block diagram showing an example of a functional configuration of a ship steering assist device according to an embodiment; FIG. 1 is a plan view showing an example of a reference position and a reference direction set on a hull. FIG. 1 is a side view showing an example of a reference position and a reference direction set on a hull. FIG. 13 is a diagram showing an example of a display image of first support information; FIG. 13 is a diagram showing an example of a display image of second support information; FIG. 1 is a plan view showing an example of an anchor position estimation method according to an embodiment; FIG. 1 is a plan view showing an example of each element of Equation 2. FIG. 13 is a diagram showing an example of a display image of fourth support information. FIG. 13 is a diagram showing an example of a display image of fifth support information. FIG. 1 is a plan view showing an example of a moving area of a ship body. FIG. 13 is a diagram showing an example of a display image of sixth support information. FIG. 11 is a block diagram showing an example of a functional configuration of a ship steering assist device according to a modified example.

(Embodiment)
Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. In addition, among the components in the following embodiments, components that are not described in the independent claims showing the highest concept are described as optional components. In addition, each figure in the attached drawings is a schematic diagram and is not necessarily illustrated precisely. Furthermore, in each figure, substantially the same components are given the same reference numerals, and duplicated descriptions may be omitted or simplified. In addition, in this specification and claims, "apparatus" may mean not only one apparatus but also a system consisting of multiple apparatuses.

[Configuration of ship maneuvering support system]
The configuration of a ship maneuvering assistance system 10 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing an example of the configuration of an on-board device of a ship 1 that is equipped with the ship maneuvering assistance system 10 according to the embodiment. In the present embodiment, the ship maneuvering assistance system 10 is installed on the ship 1. The ship maneuvering assistance system 10 is used to assist in maneuvering of a hull 2 of the ship 1. The ship maneuvering assistance system 10 includes a ship maneuvering assistance device 100 and a presentation device 200.

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, sound, 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 the configuration of a head-mounted display that functions as both a display device and an audio output device.

The presentation device 200 may be configured to receive input of information and commands, and may include input devices such as keys, buttons, levers, dials, and joysticks, and may have a touch panel configuration. In this embodiment, the presentation device 200 is configured to present information using at least images. The presentation device 200 may be configured to be mounted on the ship 1 as a separate device for the ship maneuvering assistance 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, and the like that are pre-equipped on the ship 1.

The ship-steering assistance device 100 is a device that processes information input from the outside, and includes a computer device. The ship-steering assistance device 100 is directly or indirectly connected to the presentation device 200 via wired communication, wireless communication, or a combination of these, and is configured to input and output information, data, commands, etc. to the presentation device 200.

The ship maneuvering assistance device 100 may be configured to directly input and output information, data, commands, etc. with the presentation device 200, or may be configured to indirectly input and output information, data, commands, etc. with the presentation device 200 via another computer device, etc. The other computer device, etc. may be configured to process the information, data, commands, etc. input and output between the ship maneuvering assistance device 100 and the presentation device 200. In this embodiment, the ship maneuvering assistance device 100 is mounted on the ship 1, but may also be arranged outside the ship 1 and configured to transmit and receive information, data, commands, etc. via wireless communication with a computer device, etc. mounted on the ship 1.

The ship-steering assistance 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 or a tablet, or other electronic device. For example, the ship-steering assistance device 100 may include a PLC (Programmable Logic Controller) as an electronic device. The ship-steering assistance device 100 may be a standalone device, or may be incorporated into a computer device mounted on the ship 1. For example, the ship-steering assistance device 100 may be incorporated as hardware or software into a control device 3 that controls each device mounted on the ship 1. The ship-steering assistance device 100 may be configured to execute each process by centralized control using a single device, or may be configured to execute each process by distributed control using the cooperation of multiple devices.

The computer device of the ship steering assistance device 100 may include a processor P, a memory M, a storage S, and an input/output unit IO. The processor P, the memory M, the storage S, and the input/output unit IO are connected to each other 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 a computing unit. The computing unit inputs and outputs information, data, commands, etc., with other devices. The computing unit inputs signals from various devices and outputs control signals to each control target.

For example, but not limited to, the processor P may include 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 in an IC (Integrated Circuit) chip, LSI (Large Scale Integration), etc. Multiple processes may be realized by one or multiple integrated circuits, or may be realized by a single integrated circuit.

The memory M may be composed of a storage device such as a semiconductor memory, such as a volatile memory or a non-volatile memory. For example, the memory M includes a volatile memory, such as a random access memory (RAM), and a non-volatile memory, such as a read-only memory (ROM).

The storage S stores various data. The storage may be composed of storage devices such as semiconductor memory, a hard disk drive (HDD: Hard Disk Drive), and a solid-state drive (SSD: Solid State Drive).

The processor P forms a computer system together with the RAM and ROM of the memory M. The computer system of the ship-steering assistance device 100 may realize the functions of the ship-steering assistance device 100 by the processor using the RAM as a work area to execute a program recorded in the ROM. Some or all of the functions of the ship-steering assistance device 100 may be realized by the computer system, by a dedicated hardware circuit such as an electronic circuit or integrated circuit, or by a combination of the computer system and the hardware circuit.

The input/output unit IO directly or indirectly connects various devices mounted on the ship 1 to the ship-steering support device 100 via wired communication, wireless communication, or a combination of these. The input/output unit IO enables input and output of information, data, commands, etc. between the device and the ship-steering support device 100. For example, the input/output unit IO may include an input/output interface, an input/output circuit, a communication circuit, a communication device, and other electronic devices. 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 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. The input/output unit IO is connected to some or all of these devices, and in this embodiment, it is connected to all of them.

The control device 3 and the propulsion control device 4 include a computer device, similar to the ship-steering assistance device 100. The propulsion device 5 is a device that provides thrust to the hull 2, and may include, for example, a propeller and its drive device, a thruster such as a side thruster, a rudders and its drive devices, etc.

The wind direction and wind speed sensor 6a is disposed on the outside of the hull 2, detects the wind direction and wind speed outside the hull 2, and outputs a signal indicating the detection result. There are no particular limitations on the configuration of the wind direction and wind speed sensor 6a, and any known wind direction and wind speed sensor may be used as the wind direction and wind speed sensor 6a.

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 surrounding the hull 2, and outputs a signal indicating the detection result. There are no particular limitations on the configuration of the ground speed sensor 6b, and any known ground speed sensor may be used as the ground speed sensor 6b.

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.

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.

GNSS 6e is disposed on the hull 2, detects the position of the hull 2 on the Earth, and outputs the detection results. There are no particular limitations on the configuration of GNSS 6e, and any known GNSS may be used as GNSS 6e.

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 this embodiment, the attitude sensor 6f detects the orientation, which is the yawing direction of the hull 2 relative to the earth. The attitude sensor 6f may be configured to further detect the rolling and pitching directions of the hull 2. 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 orientation sensor that detects geomagnetism, a gyrocompass that detects angular velocity, and a GNSS orientation sensor that uses GNSS.

[Functional configuration of the ship steering assistance device]
A functional configuration of the ship maneuvering support device 100 according to the embodiment will be described with reference to FIG. 2. FIG. 2 is a block diagram showing an example of the functional configuration of the ship maneuvering support device 100 according to the embodiment. The ship maneuvering support device 100 includes an acting force estimating unit 101, a ship motion estimating unit 102, a ship motion calculating unit 103, an assist information generating unit 104, and a storage unit 110 as functional components. Furthermore, the acting force estimating unit 101 includes a wind pressure estimating unit 101a, a fluid force estimating unit 101b, a thrust estimating unit 101c, and a coupling processing unit 101d as functional components. The assist information generating unit 104 includes a calculation processing unit 104a and an output processing unit 104b as functional components. Not all of the above functional components are essential for the ship maneuvering support device 100. The ship maneuvering support device 100 may include further functional components.

The functions of the memory unit 110 are realized by the memory M and/or the storage S. The functions of the functional components of the ship steering assistance device 100 other than the memory unit 110 are realized by the processor P and the memory M, etc.

The memory unit 110 is configured to store various information, to be able to read the stored information, and to be able to update the stored information. For example, the memory unit 110 stores programs executed by the processor P, various parameters, various data, etc. For example, the memory unit 110 stores calculation formulas and calculation models used by each functional component for calculation. The memory unit 110 stores information on the ship 1. Examples of the information on the ship 1 include the specifications of the hull 2, and the specifications of the propulsion device 5 related to the propeller, thruster, rudder, etc. 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 capacity of the propeller, thruster, and rudder. The functional components of the steering assistance device 100, excluding the memory unit 110, may be configured to obtain and use various information stored in the memory unit 110 from a device external to the steering assistance device 100, or may be configured to obtain the information via a network from a cloud environment such as a cloud server.

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 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 using the formula proposed by Isherwood and the formula proposed by Fujiwara. The wind pressure estimation unit 101a calculates linear wind pressure, which is the wind pressure acting on the hull 2 in a linear direction, and rotational wind pressure, which is the wind pressure acting on the hull 2 in a rotational direction.

Here, the first hull information includes actual information related to the forces 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 forces acting on the hull 2. The ship status information is information indicating the state of the ship 1. For example, the ship status 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. that are arranged on the ship 1 or outside the ship 1. The output information may include output values, command values, detection values, measurement values, and signals indicating these, etc., 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, etc. The wind direction and wind speed sensor 6a is an example of the first ship-related device and the third ship-related device.

As shown in Figures 3A and 3B, the wind pressure estimation unit 101a calculates 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 rotational wind pressure acting around the Z-axis that passes through the reference position and is perpendicular to the horizontal plane. Although not limited thereto, in this embodiment, the reference position of the hull 2 is the center of gravity G of the hull 2, but it may be another position, for example, a center point set on the hull 2. Figures 3A and 3B are plan and side views, respectively, showing an example of the reference position and reference direction set on the hull 2.

The X-axis, Y-axis, and Z-axis are mutually perpendicular. The X-axis extends through the center of gravity G and extends horizontally in the fore-aft direction connecting the bow 2a and stern 2b of the hull 2. The Y-axis extends through the center of gravity G and extends horizontally in the left-right direction connecting the port side 2c and starboard side 2d of the hull 2. The Z-axis extends through the center of gravity G and extends vertically. The rotational wind pressure is also the wind pressure in the turning direction of the hull 2. The wind pressure estimation unit 101a may be configured to calculate, for example, three-axis linear wind pressures including linear wind pressure in the direction of the Z-axis, or may be configured to calculate two or more axes of rotational wind pressures including rotational wind pressures around the X-axis and/or Y-axis.

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 from the ground speed sensor 6b, the water speed sensor 6c, and the tidal current sensor 6d, and calculates the fluid force acting on the hull 2 using the detection result. In this embodiment, the fluid force estimation unit 101b uses all of the detection results from the ground speed sensor 6b, the water speed sensor 6c, and the tidal current sensor 6d for the calculation. The detection results are an example of the first hull information and the ship state information. The ground speed sensor 6b, the water speed sensor 6c, and the tidal current sensor 6d are an example of the first ship-related device and the third ship-related device.

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

The thrust estimator 101c estimates the thrust acting on the hull 2. Specifically, the thrust estimator 101c receives 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 memory unit 110. The operation information may include, for example, the propeller rotation speed, the thruster rotation speed or output, and the rudder angle. The thrust estimator 101c may be configured to receive, from the propulsion control device 4, a command value from the propulsion control device 4 to the propulsion device 5 and/or a feedback value received by the propulsion control device 4 from the propulsion device 5 as operation information.

The thrust estimator 101c may be configured to use the detection results of the water speed sensor 6c in addition to the above operation information to calculate the thrust. The thrust estimator 101c may be configured to calculate the thrust using an operation command output from a steering device for maneuvering the ship 1 to the control device 3, etc., 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 are a lever, a joystick, a handle, a steering wheel, etc. The operation information, the detection results of the water speed sensor 6c, and the operation command are examples of the first hull information and the ship state information. The propulsion control device 4, the water speed sensor 6c, and the steering device are examples of the first ship-related device and the third ship-related device.

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

The coupling 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 an estimated acting force, which is a force acting on the hull 2. The estimated acting force is an example of a first hull acting force. For example, the coupling processing unit 101d may add together the linear wind pressure, linear fluid force, and linear thrust force for each axis to calculate an estimated linear acting force in the linear direction of each axis. The coupling processing unit 101d may add together the rotational wind pressure, rotational fluid force, and rotational thrust force for each axis to calculate an estimated rotational acting force in the rotational direction of each axis, i.e., an estimated moment.

The hull motion estimation unit 102 estimates the motion state of the hull 2 using the estimated acting forces calculated by the coupling processing unit 101d. Although not limited to this, in this embodiment, the above-mentioned motion state of the hull 2 includes the estimated acceleration of the hull 2. Note that the motion state of the hull 2 may also include other estimated information indicating the estimated motion state of the hull 2, such as the estimated position and estimated speed of the hull 2.

The hull motion estimation unit 102 calculates an estimate of the change in speed of the hull 2, that is, an estimate of the acceleration, using the estimated acting force and a motion model of the hull 2 stored in the memory unit 110. For example, the hull motion estimation unit 102 calculates an estimated acceleration, which is an estimate of the acceleration of the hull 2, using the mathematical expression of the hull motion model shown in Equation 1 below.

In the above formula 1, "F _X " indicates an estimated linear acting force in the X-axis direction on the center of gravity G of the hull 2, "F _Y " indicates an estimated linear acting force in the Y-axis direction on the center of gravity G of the hull 2, and "N _Z " indicates an estimated rotational acting force around the Z-axis at the center of gravity G of the hull 2. "X _G " indicates the position of the center of gravity G of the hull 2 in the X-axis direction with respect to a specified center of the hull 2, and "Y _G " indicates the position of the center of gravity G of the hull 2 in the Y-axis direction with respect to a specified center of the hull 2. "u" indicates the linear velocity of the hull 2 in the X-axis direction, and "u'" indicates the linear acceleration of the hull 2 in the X-axis direction. "v" indicates the linear velocity of the hull 2 in the Y-axis direction, and "v'" indicates the linear acceleration of the hull 2 in the Y-axis direction. "r" indicates the rotational velocity of the hull 2 around the Z-axis, i.e., angular velocity, and "r'" indicates the rotational acceleration of the hull 2 around the Z-axis, i.e., angular acceleration. "M" indicates the mass of the hull 2. " _JZ " indicates the moment of inertia of the hull 2 about the Z axis at a predetermined position of the hull 2. The predetermined position of the hull 2 may be a predetermined central position of the hull 2, may be the position of the center of gravity G, or may be another position of the hull 2.

The vessel motion estimating unit 102 applies the elements "F _X ", "F _Y ", and "N _Z " of the estimated acting force to Equation 1 to calculate the estimated accelerations "u'", "v'", and "r'".

The hull motion calculation unit 103 calculates the motion state of the hull 2 using actual information related to the position and attitude of the hull 2. Although not limited thereto, in this 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 also include other information indicating the state of motion of the hull 2, such as the position and speed of the hull 2.

The hull motion calculation unit 103 calculates 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 orientation of the hull 2 detected by the attitude sensor 6f. The actual acceleration includes actual linear acceleration in each axial direction and actual rotational acceleration around each axis, and in this embodiment includes at least actual linear acceleration in the X-axis and Y-axis directions and actual rotational acceleration around the Z-axis. The position and orientation of the hull 2 described above are an example of second hull information and ship state information.

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

Regarding the support information generation unit 104, the calculation processing unit 104a generates support information for supporting the maneuvering of the hull 2. The output processing unit 104b converts the support information generated by the calculation processing unit 104a into information corresponding to an output target of the support information, and outputs the converted support information to the output target. Examples of output targets include the presentation device 200, the control device 3, and other functional components of the maneuvering support device 100. When outputting support information to the presentation device 200, the output processing unit 104b converts the support information into data including at least one of image data, audio data, and character string data.

The calculation processing unit 104a calculates the difference between the estimated acceleration, which is the state of motion estimated by the hull motion estimation unit 102, and the actual acceleration, which is the state of motion calculated by the hull motion calculation unit 103, and generates support information using the difference. For example, the calculation 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 to calculate the estimated acceleration was detected is the same as the timing at which the second hull information used to calculate the actual acceleration was detected. For example, the calculation processing unit 104a may calculate the difference between the estimated linear acceleration and estimated rotational acceleration of each axis calculated by the hull motion estimation unit 102, and the actual linear acceleration and actual rotational acceleration of each axis calculated by the hull motion calculation unit 103. In this specification and claims, "same" and "identical" may include cases where they are completely the same, and cases where they can be considered to be substantially the same despite differences.

The calculation processing unit 104a can generate various support information according to preset commands and/or commands input to the ship steering support device 100. Although not limited to this, in this embodiment, the support information generating unit 104 is configured to output at least one of first support information, second support information, third support information, fourth support information, fifth support information, and sixth support information. The support information generating 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 in the command.

The first support information is information including an estimation result of an external force acting on the hull 2. The second support information is information for assisting in maneuvering the hull 2 to bring it into a target state when the hull 2 is being pushed or pulled by another vessel. The third support information is information for assisting in maneuvering the hull 2 to bring it into a target state. The fourth support information is information for assisting in maneuvering the hull 2 when the hull 2 is anchored. The fifth support information is information including an estimation result of the motion of the hull 2. The sixth support information is information including an estimation result of an area in which the hull 2 may move. The operation of the calculation processing unit 104a and the output processing unit 104b when each piece of support information is output will be described below.

[First support information]
The calculation processing unit 104a generates information indicating an estimated external force acting on the hull 2 as the first support information, and the output processing unit 104b outputs the information to an output target. The estimated external force is an example of a second hull acting force. Specifically, the calculation 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 difference in acceleration in each of the X-axis direction, the Y-axis direction, and around the Z-axis.

The calculation processing unit 104a uses the difference in acceleration in the X-axis direction and the Y-axis direction as the linear component 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 calculation 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. The calculation processing unit 104a may calculate the difference in acceleration in the Z-axis direction to 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 difference in acceleration around the X-axis and the Y-axis to calculate the direction and magnitude of the rotational force around the X-axis and the Y-axis of the estimated external force acting on the hull 2.

When the output processing unit 104b outputs the first support information to the presentation device 200, it generates at least image data visually showing an indicator indicating the direction and magnitude of the linear force and rotational force of the estimated external force acting on 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 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 of the arrows As and Ar may indicate the magnitude of the force. The output processing unit 104b may express 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 calculation processing unit 104a and the output processing unit 104b may be configured to generate and display data of the image Ia at a predetermined time interval or a predetermined movement distance interval.

The calculation processing unit 104a may determine the type of 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 information on the type. For example, when the calculation processing unit 104a acquires information indicating a maneuvering assistance state in which the hull 2 is being pushed and pulled by another ship, the calculation processing unit 104a may determine the estimated external force to be a pushing and pulling external force applied to the hull 2 from the other ship. When the calculation processing unit 104a acquires information indicating an anchoring state in which the hull 2 is anchored, the calculation processing unit 104a may determine the estimated external force to be an external force received by the hull 2 from the anchored anchor. When the calculation processing unit 104a acquires neither information indicating a ship assistance state nor information indicating an anchoring state, the calculation processing unit 104a may determine the estimated external force to be an estimated error related to wind pressure and fluid force acting on the hull 2.

[Second support information]
The calculation processing unit 104a generates information for supporting the maneuvering of the ship 1 in combination with another ship such as a tugboat as the second support information, and the output processing unit 104b outputs the information to an output target. Specifically, the calculation processing unit 104a receives or acquires information necessary for the maneuvering support in combination with another ship from an external device such as the control device 3 and/or the storage unit 110. The information may include information on the maneuvering guideline and information on the other ship. For example, the information on the maneuvering guideline may include information such as the target position, target direction, 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 the other ships may include information such as the number of other ships pushing and towing the hull 2, the specifications of each of the other ships, the position on the hull 2 where the other ships are pushing and towing, the pushing and towing state of each of the other ships, whether each of the other ships is pushing or towing, and the thrust of each of the other ships.

The calculation processing unit 104a calculates the linear and rotational forces of the estimated external forces acting on the hull 2, in the same way as in the case of the first support information. When the calculation processing unit 104a receives information or commands indicating the maneuvering support state from an external device such as the control device 3, it calculates the linear and rotational forces as the estimated external forces acting from other ships.

The calculation processing unit 104a uses the estimated external force, information on the maneuvering guideline, information on other ships, etc. to calculate the ship action 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 action force. For example, the calculation processing unit 104a may generate at least one of the following support information: stopping support information, target position heading support information, heading maintenance support information, position maintenance support information, and route support information.

The stopping assistance information is information that suggests the vessel acting force required to stop the hull 2 at the target position.

Target position and heading assistance information is information that suggests the vessel acting forces required to make the hull 2 reach the target position and target heading.

Heading maintenance assistance information is information that suggests the vessel forces required to make the hull 2 reach the target position while maintaining the current heading of the hull 2.

Positioning assistance information is information that suggests the vessel forces required to orient the vessel 2 toward the target heading while maintaining the vessel 2's current position.

Route support information is information that suggests the vessel forces required to move the hull 2 along a target route or a target waypoint.

The calculation processing unit 104a may calculate the ship acting forces using any known calculation method. For example, the calculation processing unit 104a may calculate the ship acting forces by performing model predictive control using the latest estimated external forces as initial values. For example, the model predictive control may use a method such as the C/GMRES method, which is a combination of the continuation method and the generalized minimal residual method.

When the output processing unit 104b outputs the second support information to the presentation device 200, it generates at least image data visually showing indicators indicating the direction and magnitude of the linear force and rotational force of the ship 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 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 express the magnitude of each force as a character string. The hull 2 shown by the dashed line indicates 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.

When two or more other vessels TS are pushing or pulling against the hull 2, the calculation processing unit 104a and the output processing unit 104b may distribute the linear and rotational forces acting on the vessel to each of the other vessels TS according to the thrust or capacity of each of the other vessels TS. In addition, the calculation processing unit 104a and the output processing unit 104b may be configured to generate and display data of the image Ib at a predetermined time interval or a predetermined travel distance interval.

[Third support information]
The calculation processing unit 104a generates, as the third support information, information for supporting the maneuvering of the ship 1 so as to bring the hull 2 into a target state, and the output processing unit 104b outputs the information to an output target. Specifically, similar to the case of the second support information, the calculation processing unit 104a receives or acquires information necessary for maneuvering support, including information on the maneuvering guideline, from an external device such as the control device 3 and/or the memory unit 110. Similar to the case of the first support information, the calculation processing unit 104a calculates linear and rotational forces of estimated external forces acting on the hull 2.

The calculation processing unit 104a uses information on the estimated external forces and the maneuvering guidelines, etc., to calculate the vessel action force, which is the external force that the vessel 2 should be subjected to in order for the vessel 2 to reach the target state, and generates support information related to the vessel action force. For example, the calculation processing unit 104a may generate at least one of the stop support information, the target position heading support information, the heading maintenance support information, the position maintenance support information, and the route support information, as in the case of the second support information.

When the output processing unit 104b outputs the third support information to the presentation device 200, it generates at least image data that visually represents an indicator showing the direction and magnitude of the linear and rotational forces acting on the vessel, and outputs and displays the image data on the presentation device 200. For example, the output processing unit 104b generates image data from an image Ib as shown in FIG. 5, in which the image of at least one other vessel TS has been removed.

The calculation processing unit 104a may generate maneuvering information for adjusting the direction and magnitude of the linear and rotational forces acting on the vessel, and the output processing unit 104b may generate image data including the maneuvering information. The maneuvering 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 reverse directions, the rudder angle, and thrust.

[Fourth support information]
The calculation processing unit 104a generates information for supporting the maneuvering of the ship 1 in conjunction with anchoring as the fourth support information, and the output processing unit 104b outputs the information to an output target. Specifically, the calculation processing unit 104a receives or acquires information necessary for the maneuvering support in conjunction with anchoring from an external device such as the control device 3 and/or the storage unit 110. The information may include information on the maneuvering guideline and information on the anchors of the ship 1. The information on the maneuvering guideline is the same as the information on the maneuvering guideline in the second support information. The information on the anchors 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 anchor chain of each anchor acts (for example, the position of the windlass), the anchors that are anchored, and the length of the anchor line that is being let out by the anchors that are anchored.

The calculation processing unit 104a calculates the linear and rotational forces of the estimated external forces acting on the hull 2, as in the case of the first support information. When the calculation processing unit 104a receives information or commands indicating the anchoring state from an external device such as the control device 3, it calculates the linear and rotational forces as the estimated external forces acting from the anchor that is anchored.

The calculation processing unit 104a uses the estimated external force, information on the maneuvering guideline, and information on the anchor, etc., to calculate the estimated anchor acting force, which is the estimated acting force that the hull 2 receives from the anchor and anchor line when the hull 2 moves while anchored, and generates support information related to the estimated anchor acting force.

When the calculation processing unit 104a acquires information indicating the anchored state during the process of generating support information and detects that the estimated external force acting on the hull 2 is equal to or greater than a preset first threshold, the calculation processing unit 104a sets a state judgment flag indicating that the anchor is engaged to the ON state, and calculates the estimated anchor acting force using the estimated external force calculated thereafter. For example, when the estimated external force becomes less than or equal to the second threshold, the calculation processing unit 104a sets the flag to the OFF state, stops the calculation of the estimated anchor acting force, and does not calculate the estimated anchor acting force again until the flag is set to the ON state. The first threshold and the second threshold may be the same or different.

Specifically, the calculation processing unit 104a estimates the anchoring position AP relative 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 being let out from the hull 2. For example, as shown in FIG. 6, the calculation 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 information on the position of the windlass 2w from which the anchor line is let out in the hull 2. The direction of the linear force Fes relative to the hull 2 is also the direction in which the anchor line extends from the windlass. FIG. 6 is a plan view showing an example of a method for estimating the anchoring position AP according to the embodiment. Furthermore, the calculation processing unit 104a calculates the distance and direction between the windlass 2w and the anchoring position AP.

For example, as shown in FIG. 7, the calculation processing unit 104a calculates the anchor acting force coefficient by applying the linear force Fes and rotational force Fer of the estimated external force Fe, the direction in which the anchor line extends relative to the hull 2, the anchor chain distance, and the reference length to the following formula 2 based on the above calculation results. The calculation processing unit 104a may use both of the two formulas included in formula 2, or may use only one of them, in calculating the anchor acting force coefficient. FIG. 7 is a plan view showing an example of each element of formula 2.

In the above formula 2, " _fX " indicates the X-axis component of the linear force Fes, " _fY " indicates the Y-axis component of the linear force Fes, and " _fr " indicates the rotational force Fer. "d _anchor " indicates the anchor chain distance. The anchor chain distance may be the distance between the anchor position and the windlass, for example, the horizontal distance between the anchor position and the windlass when the ship 1 is viewed from above. "L _anchor " indicates a reference length corresponding to the length of the anchor line that is paid out, and may indicate, for example, the reference length of the anchor line at which the anchor begins to work relative to "d _anchor ". "θ" indicates the direction in which the anchor line extends relative to the hull 2, and indicates the angle of the anchor line relative to the X-axis. "d _windlass " indicates the distance between a predetermined position of the hull 2 and the position of the windlass. "K _anchor " indicates the anchor acting force coefficient. The predetermined position of the hull 2 may be a predetermined center position of the hull 2, may be the position of the center of gravity G, or may be another position of the hull 2.

Furthermore, the calculation processing unit 104a applies the calculated anchor acting force coefficient K _anchor to Equation 2 to predict the anchor acting force, which is an external force that the hull 2 receives from the anchor and the anchor line when the hull 2 moves, that is, calculates the estimated anchor acting force. For example, the calculation 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 value of the change in the anchor chain distance and/or the anchor line angle may be set in advance and stored in the storage unit 110, and the calculation processing unit 104a may read out the information from the storage unit 110 and use it. The calculation processing unit 104a may obtain the command value of the change 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, the calculation processing unit 104a may output information indicating that the anchor is not working when the linear force of the estimated anchor acting force is less than the third threshold value or equal to or less than the third threshold value. The third threshold may be the same as the first threshold or the second threshold, or may be different from the first threshold and the second threshold.

When the output processing unit 104b outputs the fourth support information to the presentation device 200, it generates at least image data visually showing an indicator indicating the direction and magnitude of the linear force and 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 indicator 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 of the arrows Cs and Cr may indicate the magnitude of the force. The output processing unit 104b may express the magnitude of each force as a character string. The hull 2 shown by the dashed line indicates 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 a display image of the fourth support information.

When two or more anchors are anchored, the calculation processing unit 104a may distribute the estimated external force to each anchor according to the position of each anchor relative to the hull 2 and the position of the windlass of the anchor line of each anchor. The calculation processing unit 104a may use the distribution result to calculate the anchor acting force coefficient of each anchor, and further calculate the estimated anchor acting force of each anchor. The calculation processing unit 104a and the output processing unit 104b may also be configured to generate and display data of image Ic at a predetermined time interval or a predetermined movement distance interval.

[Fifth support information]
The calculation processing unit 104a generates information indicating the predicted result of the movement of the ship 1 as the fifth support information, and the output processing unit 104b outputs the information to an output target. As in the case of the first support information, the calculation processing unit 104a calculates the linear force and rotational force of the estimated external force acting on the hull 2. The calculation processing unit 104a predicts the movement of the hull 2 in the case where the estimated acting force estimated by the acting force estimating unit 101 and the estimated external force continue to act on the hull 2.

The calculation processing unit 104a applies the estimated acting force and estimated external force to the mathematical formula of the hull motion model shown in Equation 1 to calculate the linear and rotational components u, v and r of the velocity of the hull 2. Specifically, the calculation processing unit 104a calculates predicted values of the velocity components u, v and r of the hull 2 over the course of a predetermined time period, as well as the predicted position and predicted orientation of the hull 2. 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 point at which the predetermined time period has elapsed, but also at least one point within the predetermined time period.

In the above calculation, the calculation processor 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, 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 rotational force of the estimated acting force about the Z-axis and the rotational force of the estimated external force about the Z-axis to "N Z " in Equation 1. The calculation processor 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, 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, and applies the sum of the Z-axis component of the rotational acceleration corresponding to the estimated acting force and the Z-axis component of the rotational acceleration corresponding to the estimated external force to "r'" in Equation 1. In addition, although not limited to this, in this embodiment, the calculation processing unit 104a applies a constant value to Equation 1 as the mass "M" of the hull 2.

When the output processing unit 104b outputs the fifth support information to the presentation device 200, it generates at least image data visually showing an indicator 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, which includes an image of the hull 2 at each combination of the predicted position and predicted orientation. FIG. 9 is a diagram showing an example of a display image of the fifth support information. In this case, the specified time period is 5 minutes, and the calculation processing unit 104a calculates the predicted position and predicted orientation of the hull 2 at 30 seconds, 1 minute, 2 minutes, and 5 minutes, 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 times, and an image of the hull 2 at the initial position (0 seconds elapsed time).

The calculation processing unit 104a may calculate the predicted position and predicted orientation of the hull 2 for a number of consecutive predetermined time periods, and the output processing unit 104b may output information on the predicted position and predicted orientation for the number of predetermined time periods. The lengths of the number of predetermined time periods may be the same as each other, or may be different. Each time a predetermined time period elapses, the calculation processing unit 104a may calculate an estimated external force at the time when the predetermined time period elapses or at a predetermined point within the predetermined time period. The calculation processing unit 104a may use the calculated estimated external force to calculate the predicted position and predicted orientation of the hull 2 for the next predetermined time period following the predetermined time period.

The calculation processing unit 104a may calculate an estimated external force at a predetermined timing within a predetermined time period, and use the estimated external force to calculate a predicted position and predicted orientation of the hull 2 from that timing onward. For example, the calculation processing unit 104a may calculate an estimated external force for each timing for which the predicted position and predicted orientation of the hull 2 are to be calculated, which is included in the predetermined time period, and use the estimated external force to calculate a predicted position and predicted orientation at the subsequent timing for which calculation is to be performed.

In the above, the calculation processing unit 104a is configured to predict the movement of the hull 2 when a certain estimated acting force and a certain estimated external force continue to act on the hull 2, but is not limited to this. For example, the calculation 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 calculation processing unit 104a may calculate an estimated value of the wind pressure and/or the fluid force at the predicted position and predicted orientation of the hull 2, calculate a new estimated acting force by reflecting the estimated value in the estimated acting force, and use the new estimated acting force to predict the movement of the hull 2. The calculation processing unit 104a may calculate an estimated value of the wind pressure and/or the fluid force every time a predetermined time period has elapsed, and use the new estimated acting force based on the estimated value in the calculation of the predicted position and predicted orientation of the hull 2 thereafter. The calculation processing unit 104a may calculate an estimated value of the wind pressure and/or fluid force for each timing for which the predicted position and predicted orientation of the hull 2 are calculated, which is included in a specified time period, and use a new estimated acting force based on the estimated value in the calculation of the predicted position and predicted orientation of the hull 2 from that timing onwards.

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

[6th support information]
The calculation processing unit 104a generates information indicating a prediction result of the movement area of the ship 1 under specified conditions as the sixth support information, and the output processing unit 104b outputs the information to the output target. The calculation processing unit 104a acquires information of the specified conditions. The information of the specified conditions may be set in advance and stored in the memory unit 110, and the calculation processing unit 104a may read out and use the information from the memory unit 110. The calculation processing unit 104a may acquire the information of the specified conditions from commands, information, data, etc. received from an external device such as the control device 3.

The information on the specified conditions includes information on at least two specified ship maneuvering patterns. One ship maneuvering pattern includes a combination of first ship maneuvering information related to the motion state of the ship 2 in the port and starboard directions and second ship maneuvering information related to the motion state of the ship 2 in the forward and backward directions.

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

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

The calculation processing unit 104a estimates at least two movement operations of the hull 2 corresponding to at least two maneuvering patterns based on the state of the ship 1 and information on at least two predetermined maneuvering patterns. For example, the state of the ship 1 may include an estimated acting force, an estimated external force, an actual acceleration of the hull 2 calculated by the hull motion calculation unit 103, and a combination of at least two of these. For each maneuvering pattern, the calculation processing unit 104a estimates the movement operation of the hull 2 when the hull 2 moves in a motion state indicated in the first maneuvering information and the second maneuvering information while the state of the ship 1 is maintained. For example, the calculation processing unit 104a calculates the movement operation of the hull 2 when the hull 2 moves under the force in the starboard direction of the first maneuvering information and the force in the forward and backward directions of the second maneuvering information. For example, the calculation processing unit 104a may calculate, as the movement operation of the hull 2, at least one of the following: the position of the hull 2 over time, the speed of the hull 2 over time, the acceleration of the hull 2 over time, the path of movement of the hull 2 according to the movement operation, the destination of the hull 2 after a predetermined time has elapsed, and a combination of at least two of these.

For example, when an estimated acting force or an actual acceleration of the hull 2 is used as the state of the ship 1, the calculation processing unit 104a calculates the movement motion of the hull 2 when the hull 2 moves according to a maneuvering pattern while being subjected to an estimated acting force or actual acceleration. When a combination of an estimated acting force and an estimated external force is used as the state of the ship 1, the calculation processing unit 104a calculates the movement motion of the hull 2 when the hull 2 moves according to a maneuvering pattern while being subjected to the sum of the estimated acting force and the estimated external force. The calculation processing unit 104a functions as a motion estimation unit, and in some cases also functions as a correction processing unit.

In this embodiment, multiple reverse direction forces are set, although not limited thereto. For example, the multiple reverse direction forces are set as four reverse direction thrusts corresponding to full asturn, half asturn, slow asturn, and no asturn. The multiple reverse direction forces may include a reverse direction thrust corresponding to a dead slow asturn. The propeller may generate a maximum reverse direction thrust in a full asturn, a reverse direction thrust of about 75% of the maximum reverse direction thrust in a half asturn, a reverse direction thrust of about 50% of the maximum reverse direction thrust in a slow asturn, and a reverse direction thrust of about 25% of the maximum reverse direction thrust in a dead slow asturn. For each of the four reverse direction forces, a maneuvering pattern in which a predetermined port direction force is applied, a maneuvering pattern in which a predetermined starboard direction force is applied, and a maneuvering pattern in which no starboard direction force is applied are set. Twelve maneuvering patterns are set using a combination of four astern forces and three shipboard forces. The calculation processing unit 104a calculates the movement of the hull 2 for each of the 12 maneuvering patterns.

For example, the calculation processing unit 104a calculates the movement operation of the hull 2 using the mathematical expression of the hull motion model shown in the above formula 1. In this case, in formula 1, the calculation processing unit 104a applies the sum of the _linear force in the X-axis direction and the force in the astern direction included in the state of the ship 1 to "F X ", applies the sum of the linear force in the Y-axis direction and the force in the starboard direction included in the state of the ship 1 to "F _Y ", and applies the rotational force about the Z-axis included in the state of the ship 1 to "N _Z ".

Furthermore, the calculation processing unit 104a estimates, as the movement area of the hull 2, an area including three movement actions of the hull 2 corresponding to three maneuvering patterns having the same second maneuvering information. Specifically, the calculation processing unit 104a may determine, as the movement area, an area including three movement paths of the hull 2 after a predetermined time has elapsed corresponding to the above three maneuvering patterns, or may determine, as the movement area, an area including three arrival points of the hull 2 after a predetermined time has elapsed corresponding to the above three maneuvering patterns. For example, as shown in Fig. 10, the calculation processing unit 104a determines, as the movement area, an area M within a polygon having vertices that are the current position _P0 of the hull 2 and the three arrival points _P1 , _P2 , and _P3 of the hull 2 after a predetermined time has elapsed. The arrival point _P1 corresponds to a ship maneuvering pattern in which no force is applied in the starboard direction, the arrival point _P2 corresponds to a ship maneuvering pattern in which a predetermined force is applied in the port direction, and the arrival point _P3 corresponds to a ship maneuvering pattern in which a predetermined force is applied in the starboard direction. Fig. 10 is a plan view showing an example of the movement area of the hull 2. Then, the calculation processing unit 104a determines four movement areas corresponding to the four forces in the astern direction, respectively.

When outputting the sixth support information to the presentation device 200, the output processing unit 104b generates at least image data showing visualization information of the four movement areas of the hull 2 together, and outputs and displays the image data to the presentation device 200. 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 movement areas M1 to M4, and a nautical chart. In the image Ie, the images of the movement areas M1 to M4 are displayed in a superimposed manner. A ship operator viewing the image Ie can steer the ship so that the ship 1 does not interfere with an obstacle T shown on the nautical chart. The movement area M1 corresponds to a ship steering pattern without astern, the movement area M2 corresponds to a ship steering pattern with a slow astern, the movement area M3 corresponds to a ship steering pattern with a half astern, and the movement area M4 corresponds to a ship steering pattern with a full astern. FIG. 11 is a diagram showing an example of a display image of the sixth support information. The data of the image Ie is an example of action-related image data.

The calculation processing unit 104a may also use the vessel acting force as the state of the vessel 1. In this case, the calculation processing unit 104a may calculate the vessel acting force in the same manner as in the case of the second support information, and calculate the movement movement of the hull 2 using the sum of the vessel acting force and the estimated acting force.

The calculation processing unit 104a is also configured to estimate, as the movement area of the hull 2, an area including three movement actions of the hull 2 corresponding to three maneuvering patterns having the same second maneuvering information, but is not limited to this. For example, the calculation processing unit 104a may be configured to estimate, as the movement area of the hull 2, an area including multiple movement actions of the hull 2 corresponding to multiple maneuvering patterns having the same first maneuvering information. Examples of maneuvering patterns having the same first maneuvering information include a maneuvering pattern with full asturn, a maneuvering pattern with half asturn, a maneuvering pattern with slow asturn, and a maneuvering pattern without asturn, for each of the cases of a case where a predetermined force in the port direction acts, a case where a predetermined force in the starboard direction acts, and a case where no force in the starboard direction acts.

(Variation 1)
This modification differs from the embodiment in that the ship maneuvering assistance device has a data filtering function. Hereinafter, the modification will be described with a focus on the differences from the embodiment, and a description of the similarities to the embodiment will be omitted as appropriate.

Figure 12 is a block diagram showing an example of the functional configuration of a ship maneuvering assistance device 100A according to a modified example. Compared to the ship maneuvering assistance device 100 according to the embodiment, the ship maneuvering assistance device 100A further includes a first filter processing unit 105 and a second filter processing unit 106 as functional components. The functions of the filter processing units 105 and 106 are realized by a processor P and a memory M, etc.

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

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

The support information generating unit 104 performs processing using the estimated acceleration after filtering in the first filter processing unit 105 and the actual acceleration after filtering in the second filter processing unit 106. As a result, for example, when calculating an estimated external force acting on the hull 2, the support information generating unit 104 can calculate an estimated external force from which the effects of high-frequency components such as wind, waves, and currents have been removed. This improves the accuracy of the estimated external force.

Other Embodiments
Although the embodiment and the modified examples of the present disclosure have been described above, the present disclosure is not limited to the above embodiment and modified examples. In other words, various modifications and improvements are possible within the scope of the present disclosure. For example, the embodiment and modified examples to which various modifications have been applied, and forms constructed by combining components in different embodiments and modified examples are also included within the scope of the present disclosure.

For example, in the embodiment and the modified example, the maneuvering assistance devices 100 and 100A are configured to output assistance information to the presentation device 200 or the like in a form useful for manual maneuvering of the ship 1, but are not limited to this. The maneuvering assistance devices 100 and 100A may be configured to output the information to a device of the ship 1, such as the control device 3, as data that the device can use for automatic maneuvering control. This enables automatic maneuvering of the ship 1 using the assistance information.

Examples of each aspect of the technology disclosed herein are given as follows. A ship-steering support device according to a first aspect of the disclosure includes an input/output unit configured to input and output information, and a processor, and the processor is configured to execute the following: acquire first hull information including actual information related to forces acting on the hull of a ship via the input/output unit; acquire second hull information including actual information related to the position and attitude of the hull via the input/output unit; calculate a first hull acting force, which is a force acting on the hull, using the first hull information; calculate a first motion state, which is a motion state of the hull, using the first hull acting force; calculate a second motion state, which is a motion state of the hull, using the second hull information; generate support information for supporting the ship-steering based on the difference between the first motion state and the second motion state; and output the support information via the input/output unit.

According to the above aspect, the steering assistance device generates assistance information based on the difference between a first motion state of the hull calculated using first hull information related to forces acting on the hull and a second motion state of the hull calculated using second hull information related to the position and attitude of the hull. Such assistance information may include information related to forces acting on the hull that is not included in the first hull information. By using the assistance information to steer the hull, safe and efficient steering becomes possible. Thus, the steering assistance device can provide steering assistance that corresponds to the state of the ship.

In the ship steering assistance 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 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 steering assistance device can calculate the first motion state and the second motion state using the first hull information and the second hull information that include actual information output from the first ship-related device and the second ship-related device.

In the ship steering assistance device according to the first aspect of the present disclosure, the first hull information includes wind pressure information, which is actual information related to wind pressure acting on the hull, fluid force information, which is actual information related to fluid forces acting on the hull, and thrust information, which is actual information related to thrust acting on the hull, and 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.

According to the above aspect, the ship steering assistance device calculates the first hull acting force, which includes wind pressure, fluid force, and thrust force acting steadily on the hull. Therefore, the assistance information may include information related to forces acting unsteadily on the hull. By utilizing the assistance information for maneuvering the hull, safe and efficient maneuvering against forces acting unsteadily on the hull becomes possible.

In the ship maneuvering assistance device according to the first aspect of the present disclosure, the wind pressure information may include a detection value of a wind direction and wind speed sensor mounted on the ship, the fluid force information may include at least one detection value of a ship speed over ground sensor, a ship speed over water 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 a control device of the ship to a propulsion device of the hull and a feedback value from the propulsion device. According to the above aspect, the first hull information can be acquired from the ship. The ship maneuvering assistance device can acquire the first hull information from equipment mounted on the ship.

In the ship steering assistance device according to the first aspect of the present disclosure, the second hull information may include at least one of a detection value of a Global Navigation Satellite System (GNSS) and a detection value of an attitude sensor mounted on the ship. According to the above aspect, the second hull information can be acquired from the ship. The ship steering assistance device can acquire the second hull information from an instrument mounted on the ship.

The ship steering assist device according to the first aspect of the present disclosure may further include a storage device that stores a 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 steering assist device can improve the accuracy of the first motion state.

In the ship maneuvering assistance device according to the first aspect of the present disclosure, the processor may be further configured to perform a first filtering process to remove noise components from the first motion state, and the processor may generate the assistance information using the first motion state that has been subjected to the first filtering process. According to the above aspect, the ship maneuvering assistance device can improve the accuracy of the assistance information.

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

In the ship steering assist 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 assist information. According to the above aspect, the ship steering assist device can calculate and output a force acting on the hull that is not included in the first hull information.

The ship steering assist device according to the first aspect of the present disclosure may further include 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 assistance information by applying the second hull acting force to the motion model. According to the above aspect, the ship steering assist device can calculate and output the third motion state of the hull caused by forces acting on the hull that are not included in the first hull information.

In the ship steering assist device according to the first aspect of the present disclosure, the processor may generate, as the assist information, information for assisting the ship steering so as to bring the hull into a target state, based on the second hull acting force. According to the above aspect, the ship steering assist device can assist the ship steering so as to bring the hull into a target state.

In the ship-steering assistance device according to the first aspect of the present disclosure, the processor may be configured to receive, via the input/output unit, assistance information indicating that the ship is receiving ship-steering assistance from another ship, and upon receiving the assistance information, the processor may calculate the second hull acting force as an assistance force acting on the hull from the other ship. According to the above aspect, the ship-steering assistance device can calculate and output the assistance force of the other ship as a force acting on the hull that is not included in the first hull information. Safe and efficient ship-steering is made possible by utilizing the assistance force of the other ship to steer the hull.

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

In the ship steering assistance device according to the first aspect of the present disclosure, the processor may be configured to receive anchoring information indicating that the ship is anchored via the input/output unit, and upon receiving the anchoring information, the processor may calculate the second hull acting force as an anchor acting force acting on the hull from a dropped anchor. According to the above aspect, the ship steering assistance device can calculate and output an anchor acting force as a force acting on the hull that is not included in the first hull information. Safe and efficient ship steering is made possible by utilizing the anchor acting force to steer the hull.

In the ship-steering support device according to the first aspect of the present disclosure, the processor may calculate, as the support information, the anchor force when the hull moves, based on the anchor force. According to the above aspect, the ship-steering support device can support ship-steering when moving the hull while anchoring.

The ship maneuvering assistance system according to the first aspect of the present disclosure includes a ship maneuvering assistance 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 sound, and the processor outputs the support information to the presentation device as data including at least one of image data, sound data, and character string data, and causes the presentation device to present the support information. According to the above aspect, it is possible to obtain a ship maneuvering assistance system that has the same effect as the ship maneuvering assistance device according to the first aspect of the present disclosure.

The ship according to the first aspect of the present disclosure includes the ship maneuvering assistance system according to the first aspect of the present disclosure and the hull on which the ship maneuvering assistance system is mounted. According to the above aspect, it is possible to obtain a ship that has the same effect as the ship maneuvering assistance device according to the first aspect of the present disclosure.

The ship-steering assistance method according to the first aspect of the present disclosure includes acquiring first hull information including actual information related to forces acting on the 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 assistance information for assisting the ship-steering of the hull based on the difference between the first motion state and the second motion state. According to the above aspect, it is possible to obtain the same effect as the ship-steering assistance device according to the first aspect of the present disclosure.

The program according to the first aspect of the present disclosure causes a computer to execute the following: acquire first hull information including actual information related to forces acting on the hull of a ship; acquire second hull information including actual information related to the position and attitude of the hull; use the first hull information to calculate a first hull acting force, which is a force acting on the hull; use the first hull acting force to calculate a first motion state, which is a motion state of the hull; use the second hull information to calculate a second motion state, which is a motion state of the hull; and generate and output support information for supporting the maneuvering of the hull based on the difference between the first motion state and the second motion state. According to the above aspect, it is possible to obtain the same effect as the maneuvering support device according to the first aspect of the present disclosure.

The ship maneuvering assistance device according to the second aspect of the present disclosure includes an input/output unit configured to input and output information, and a processor, and the processor is configured to execute the following: acquiring ship status information indicating the status of the ship via the input/output unit; calculating at least two movement actions of the ship corresponding to each of the at least two maneuvering patterns based on information of at least two predetermined ship maneuvering patterns including information related to the maneuvering of the ship and the ship status information; generating action-related image data that is image data that shows together visualization information related to each of the at least two movement actions; and outputting the action-related image data via the input/output unit to a device capable of outputting images.

According to the above aspect, the ship-steering assistance device generates action-related image data showing visualization information of movement actions based on ship state information and ship-steering pattern information. The action-related image data shows visualization information for at least two movement actions together. The ship-steering assistance device can visually present information related to multiple movement actions of the ship corresponding to multiple ship-steering patterns at the same time. This enables safe and efficient ship-steering. Therefore, the ship-steering assistance device can provide ship-steering assistance corresponding to the ship state.

In the ship maneuvering assistance device according to the second aspect of the present disclosure, the processor may be further configured to calculate at least one of a movement path and a destination of the ship according to each of the movement actions, and the processor may generate the action-related image data showing visualization information of at least one of the movement path and the destination together. According to the above aspect, the ship maneuvering assistance device can visually present multiple movement paths and/or destinations of the ship corresponding to multiple ship maneuvering patterns at the same time. This enables safe and efficient ship maneuvering.

In the ship maneuvering assistance device according to the second aspect of the present disclosure, the processor may be further configured to calculate at least one of a movement path and a movement destination of the ship according to each of the movement actions, and to calculate a movement area of the ship including at least one of the movement path and the movement destination, and the processor may generate the action-related image data indicating visualization information of the movement area. According to the above aspect, the ship maneuvering assistance device can visually present the movement area of the ship corresponding to a plurality of ship maneuvering patterns. This enables safe and efficient ship maneuvering.

In the maneuvering assistance device according to the second aspect of the present disclosure, one of the maneuvering patterns may include a combination of first maneuvering information related to the motion state of the ship in the port and starboard directions and second maneuvering information related to the motion state of the ship in the forward and reverse directions. According to the above aspect, the movement motion of the ship corresponding to the maneuvering pattern can reflect the fluctuation of the motion state of the ship in the port and starboard directions and the forward and reverse directions. The maneuvering assistance device can visually present information related to various movement motions.

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

In the ship maneuvering assistance device according to the second aspect of the present disclosure, the processor is further configured to calculate at least one of the movement path and the destination of the ship according to each of the movement actions, and to calculate a movement area of the ship including at least one of the movement path and the destination corresponding to each of at least two of the ship maneuvering patterns in which the second ship maneuvering information is the same, and the processor may generate the action-related image data showing visualization information of the movement area.

According to the above aspect, the maneuvering assistance device can visually present the movement area of the ship in the motion state of the ship corresponding to the second maneuvering information. For example, the maneuvering assistance device can visually present the movement area of the ship in a case where 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 starboard and port directions varies.

In the ship maneuvering assistance device according to the second aspect of the present disclosure, the processor may generate the action-related image data that shows together visualization information of at least two of the movement areas in which the second ship maneuvering information of the ship maneuvering pattern is different. According to the above aspect, the ship maneuvering assistance device can visually present the ship movement areas corresponding to various ship motion states in the forward and reverse directions at the same time.

In the ship maneuvering assistance device according to the second aspect of the present disclosure, the processor may calculate the movement motion for a predetermined time interval based on the ship state information indicating the state of the ship for the predetermined time interval, and generate the motion-related image data indicating visualization information related to the movement motion for the predetermined time interval at the predetermined time interval. According to the above aspect, the ship maneuvering assistance device can update and present visualization information related to the movement motion of the ship that changes in response to changes in the state of the ship at predetermined time intervals.

The ship steering assist device according to the second aspect of the present disclosure may further include a storage device that stores information on the at least two predetermined ship steering patterns. According to the above aspect, the ship steering assist device can calculate the movement operation of the ship without needing to receive information on the at least two predetermined ship steering patterns from another device, etc.

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

In the ship maneuvering assistance device according to the second aspect of the present disclosure, the processor is further configured to acquire second hull information including actual information related to the position and attitude of the hull as the ship state information, calculate a first motion state which is a motion state of the hull using the first hull acting force, calculate a second motion state which is a motion state of the hull using the second hull information, and apply a correction to the first hull acting force based on a difference between the first motion state and the second motion state, and the processor may calculate the movement motion based on the corrected first hull acting force and information on the ship maneuvering pattern. According to the above aspect, the ship maneuvering assistance device can improve the estimation accuracy of the movement motion of the ship.

In the ship steering assistance device according to the second aspect of the present disclosure, the first hull information may include information output from a first ship-related device that detects information related to 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 steering assistance device can calculate the movement movement of the ship using the first hull information and the second hull information that include actual information output from the first ship-related device and the second ship-related device.

In the ship steering assistance device according to the second aspect of the present disclosure, the second hull information may include at least one of a detection value of a Global Navigation Satellite System (GNSS) and a detection value of an attitude sensor mounted on the ship. According to the above aspect, the second hull information can be acquired from the ship. The ship steering assistance device can acquire the second hull information from an instrument mounted on the ship.

In the ship steering assistance device according to the second aspect of the present disclosure, the first hull information includes wind pressure information, which is actual information related to wind pressure acting on the hull, fluid force information, which is actual information related to fluid forces acting on the hull, and thrust information, which is actual information related to thrust acting on the hull, and 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.

According to the above aspect, the ship steering assistance device calculates the first hull acting force, including wind pressure, fluid force, and thrust force, which steadily acts on the hull. Therefore, the correction applied based on the difference between the first motion state and the second motion state can reflect the forces acting non-steadily on the hull in the movement operation. The ship steering assistance device can improve the accuracy of the movement operation of the ship.

In the ship maneuvering assistance device according to the second aspect of the present disclosure, the wind pressure information may include a detection value of a wind direction and speed sensor mounted on the ship, the fluid force information may include at least one detection value of a ship speed over ground sensor, a ship speed over water 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 a control device of the ship to a propulsion device of the hull and a feedback value from the propulsion device. According to the above aspect, the first hull information can be acquired from the ship. The ship maneuvering assistance device can acquire the first hull information from equipment mounted on the ship.

The ship-maneuvering assistance system according to the second aspect of the present disclosure includes the ship-maneuvering assistance device according to the second aspect of the present disclosure and a device capable of outputting the image, and the processor outputs the action-related image data to the device capable of outputting the image and displays it. According to the above aspect, it is possible to obtain a ship-maneuvering assistance system that has the same effect as the ship-maneuvering assistance device according to the second aspect of the present disclosure.

The ship according to the second aspect of the present disclosure includes a ship maneuvering assistance system according to the second aspect of the present disclosure and a hull on which the ship maneuvering assistance system is mounted. According to the above aspect, it is possible to obtain a ship that has the same effect as the ship maneuvering assistance device according to the second aspect of the present disclosure.

The ship maneuvering assistance method according to the second aspect of the present disclosure includes acquiring ship state information indicating a ship state, acquiring information of at least two predetermined ship maneuvering patterns including information related to the maneuvering of the ship, calculating at least two movement actions of the ship corresponding to each of the at least two ship maneuvering patterns based on the ship state information and the information of the at least two ship maneuvering patterns, generating action-related image data that is image data that also shows visualization information related to each of the at least two movement actions, and outputting the action-related image data to a device capable of outputting images. According to the above aspect, it is possible to obtain the same effect as the ship maneuvering assistance device according to the second aspect of the present disclosure.

The program according to the second aspect of the present disclosure causes a computer to execute the following: acquire ship state information indicating the state of the ship; acquire information of at least two predetermined ship maneuvering patterns including information related to the maneuvering of the ship; calculate at least two movement actions of the ship corresponding to each of the at least two maneuvering patterns based on the ship state information and the information of the at least two maneuvering patterns; generate action-related image data that is image data that also shows visualization information related to each of the at least two movement actions; and output the action-related image data to a device capable of outputting images. According to the above aspect, it is possible to obtain the same effect as the ship maneuvering assistance device according to the first aspect of the present disclosure.

The ship steering assistance methods according to the first and second aspects of the present disclosure may be realized, for example, by a circuit such as a CPU or an LSI, an IC card, or a standalone module.

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 for the recording medium and installed on a computer device. The programs may be, for example, programs that can be distributed via a transmission medium such as the Internet, and may be configured to be downloaded and installed on a computer device.

In addition, all of the ordinal numbers, quantities, and other numbers used above are provided as examples to specifically explain the technology of the present disclosure, and the present disclosure is not limited to the exemplified numbers. In addition, the connection relationships between the components are provided as examples to specifically explain the technology of the present disclosure, and the connection relationships that realize the functions of the present disclosure are not limited to these.

The division of blocks in the functional block diagram is just one example, and multiple blocks may be realized as one block, one block may be divided into multiple blocks, and/or some functions may be transferred to other blocks. Furthermore, the functions of multiple blocks having similar functions may be processed in parallel or in a time-shared manner by a single piece of hardware or software.

1 Ship 2 Hull 6a Wind direction and speed sensor 6b Ground speed sensor 6c Water speed sensor 6d Tidal current sensor 6e GNSS
6f Attitude sensor 10 Ship-steering support system 100, 100A Ship-steering support device 200 Presentation device P Processor M Memory S Storage I/O Input/output unit

Claims (20)

an input/output unit configured to input and output information;
a processor;
The processor,
acquiring ship status information indicating a state of the ship via the input/output unit;
calculating a plurality of movement operations of the ship corresponding to each of a plurality of predetermined ship maneuvering patterns based on information of a plurality of predetermined ship maneuvering patterns including information regarding the ship maneuvering and the ship state information;
generating action-related image data that is image data showing visualization information related to each of the plurality of moving actions together;
and outputting the action-related image data via the input/output unit to a device capable of outputting an image.
The information related to the maneuvering of the vessel includes first maneuvering information related to a port/starboard motion state, which is a motion state of the vessel in a port/starboard direction, and second maneuvering information related to a longitudinal motion state, which is a motion state of the vessel in a forward/rearward direction,
The plurality of ship maneuvering patterns include a ship maneuvering pattern in which both the first ship maneuvering information and the second ship maneuvering information included in the information on the ship maneuvering are different from other ship maneuvering patterns.
Navigation aids. an input/output unit configured to input and output information;
a processor;
The processor,
Acquiring ship status information indicating a state of the ship via the input/output unit, the ship status information including first hull information including actual information related to forces acting on a hull of the ship and second hull information including information on an actual position and actual 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 including a first acceleration acting on the hull , using the first hull action force;
calculating a second motion state of the hull including a second acceleration acting on the hull using the second hull information;
Correcting the first hull acting force based on a difference between the first motion state and the second motion state ;
calculating at least two movement operations of the ship corresponding to the at least two predetermined ship maneuvering patterns, respectively, based on information on at least two predetermined ship maneuvering patterns including information related to the ship maneuvering and the ship state information, wherein the movement operations are calculated based on the corrected first hull acting force and the information on the ship maneuvering pattern;
generating action-related image data that is image data showing together visualization information related to each of the at least two movement actions;
and outputting the action-related image data via the input/output unit to a device capable of outputting an image .
The first hull information includes wind pressure information, which is actual information related to wind pressure acting on the hull, fluid force information, which is actual information related to fluid forces acting on the hull, and thrust information, which is actual information related to thrust acting on the hull.
Navigation aids. the first hull information includes information output from a first vessel-related device that detects information related to forces acting on the hull,
The ship maneuvering assistance device according to claim 2 , wherein the second hull information includes information output from a second ship-related device that detects information related to a position and an attitude of the hull. The ship maneuvering assistance device according to claim 2 or 3 , wherein the second hull information includes at least one of a detection value of a Global Navigation Satellite System (GNSS) and a detection value of an attitude sensor mounted on the ship. The processor calculates the wind pressure acting on the hull using the wind pressure information, calculates the fluid force acting on the hull using the fluid force information, calculates the thrust force acting on the hull using the thrust information, and calculates the first hull acting force by adding up the wind pressure force, the fluid force, and the thrust. A ship steering assistance device as described in any one of claims 2 to 4 . the wind pressure information includes a detection value of a wind direction and wind speed sensor mounted on the vessel,
The fluid force information includes at least one detection value of a ground speed sensor, a water speed sensor, and a tidal current sensor mounted on the vessel,
The ship maneuvering assist device according to claim 5 , wherein the thrust information includes at least one of a command value output by the ship control device to a propulsion device of the hull and a feedback value from the propulsion device. The processor is further configured to calculate at least one of a movement path and a movement destination of the vessel according to each of the movement operations;
The ship maneuvering assistance device according to claim 1 , wherein the processor generates the action-related image data that shows visualization information of at least one of the movement path and the movement destination together. The processor,
Calculating at least one of a movement path and a movement destination of the ship according to each of the movement operations;
and calculating a movement area of the ship including at least one of the movement path and the movement destination,
The ship steering assistance device according to claim 1 , wherein the processor generates the action-related image data indicating visualization information of the movement area. A ship maneuvering assistance device according to any one of claims 2 to 6 , wherein one of the maneuvering patterns includes a combination of first ship maneuvering information related to the ship's motion state in the port and starboard directions and second ship maneuvering information related to the ship's motion state in the forward and backward directions. the first maneuvering information includes at least one of information regarding a rudder angle of the vessel and information regarding forces acting on the vessel in a port and starboard direction,
The ship maneuvering assistance device according to claim 1 or 9 , wherein the second ship maneuvering information includes at least one of information on a rotation speed of a propeller of the ship and information on a force acting on the ship in a forward or reverse direction. The processor,
Calculating at least one of a movement path and a movement destination of the ship according to each of the movement operations;
calculating a movement area of the ship including at least one of the movement path and the movement destination corresponding to each of at least two of the ship maneuvering patterns having the same second ship maneuvering information,
The ship steering assist device according to claim 9 or 10 , wherein the processor generates the action-related image data indicating visualization information of the movement area. The ship maneuvering assistance device according to claim 11 , wherein the processor generates the action-related image data that shows together visualization information of at least two of the movement areas in which the second ship maneuvering information of the ship maneuvering pattern is different. The processor,
Calculating the movement motion for a predetermined time interval based on the ship state information indicating a state of the ship for the predetermined time interval;
The ship maneuvering assistance device according to claim 1 , further comprising: generating the action-related image data indicating visualization information related to the movement action at the predetermined time interval at the predetermined time interval. The ship maneuvering assistance device according to any one of claims 1 to 13 , further comprising a storage device that stores information on the ship maneuvering pattern. A ship steering assist device according to any one of claims 1 to 14 ;
a device capable of outputting the image;
The processor outputs the action-related image data to a device capable of outputting the image and displays the image. A ship maneuvering assistance system according to claim 15 ;
A ship comprising: a hull on which the ship-steering assistance system is mounted. obtaining vessel status information indicative of a vessel status;
acquiring information on a plurality of ship maneuvering patterns including information on the maneuvering of the ship;
calculating a plurality of movement operations of the ship corresponding to each of the plurality of ship maneuvering patterns based on the ship state information and information on the plurality of ship maneuvering patterns;
generating action-related image data that is image data showing visualization information related to each of the plurality of moving actions together;
outputting the action-related image data to a device capable of outputting an image ;
The information related to the maneuvering of the vessel includes first maneuvering information related to a port/starboard motion state, which is a motion state of the vessel in a port/starboard direction, and second maneuvering information related to a longitudinal motion state, which is a motion state of the vessel in a forward/rearward direction,
The plurality of ship maneuvering patterns include a ship maneuvering pattern in which both the first ship maneuvering information and the second ship maneuvering information included in the information on the ship maneuvering are different from other ship maneuvering patterns.
Navigation aids. obtaining vessel status information indicative of a vessel status;
acquiring information on at least two predetermined ship maneuvering patterns including information on the ship maneuvering;
calculating a plurality of movement operations of the ship corresponding to each of the plurality of ship maneuvering patterns based on the ship state information and information on the plurality of ship maneuvering patterns;
generating action-related image data that is image data showing visualization information related to each of the plurality of moving actions together;
outputting the action-related image data to a device capable of outputting an image;
The information related to the maneuvering of the vessel includes first maneuvering information related to a port/starboard motion state, which is a motion state of the vessel in a port/starboard direction, and second maneuvering information related to a longitudinal motion state, which is a motion state of the vessel in a forward/rearward direction,
The plurality of ship maneuvering patterns include a ship maneuvering pattern in which both the first ship maneuvering information and the second ship maneuvering information included in the information on the ship maneuvering are different from other ship maneuvering patterns.
program. Acquiring vessel state information indicating a state of a vessel , the vessel state information including first vessel hull information including actual information related to forces acting on a hull of the vessel, and second vessel hull information including information on an actual position and actual 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 including a first acceleration acting on the hull, using the first hull action force;
calculating a second motion state of the hull including a second acceleration acting on the hull using the second hull information;
Correcting the first hull acting force based on a difference between the first motion state and the second motion state;
acquiring information on at least two predetermined ship maneuvering patterns including information on the ship maneuvering;
calculating at least two movement operations of the ship corresponding to the at least two maneuvering patterns, respectively, based on the ship state information and information on the at least two maneuvering patterns, wherein the movement operations are calculated based on the corrected first hull acting force and the information on the maneuvering pattern;
generating action-related image data that is image data showing together visualization information related to each of the at least two movement actions;
outputting the action-related image data to a device capable of outputting an image ;
The first hull information includes wind pressure information, which is actual information related to wind pressure acting on the hull, fluid force information, which is actual information related to fluid forces acting on the hull, and thrust information, which is actual information related to thrust acting on the hull.
Navigation aids. Acquiring vessel state information indicating a state of a vessel , the vessel state information including first vessel hull information including actual information related to forces acting on a hull of the vessel, and second vessel hull information including information on an actual position and actual 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 including a first acceleration acting on the hull, using the first hull action force;
calculating a second motion state of the hull including a second acceleration acting on the hull using the second hull information;
Correcting the first hull acting force based on a difference between the first motion state and the second motion state;
acquiring information on at least two predetermined ship maneuvering patterns including information on the ship maneuvering;
calculating at least two movement operations of the ship corresponding to the at least two maneuvering patterns, respectively, based on the ship state information and information on the at least two maneuvering patterns, wherein the movement operations are calculated based on the corrected first hull acting force and the information on the maneuvering pattern;
generating action-related image data that is image data showing together visualization information related to each of the at least two movement actions;
outputting the action-related image data to a device capable of outputting an image;
The first hull information includes wind pressure information, which is actual information related to wind pressure acting on the hull, fluid force information, which is actual information related to fluid forces acting on the hull, and thrust information, which is actual information related to thrust acting on the hull.
program.

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