METHOD AND SYSTEM FOR ASSISTING STEERING AND MOORING ALONGSIDE OF VESSELS

• US 20100070118A1
• Filed: 10/30/2007
• Published: 03/18/2010
• Est. Priority Date: 10/31/2006
• Status: Active Grant

• Current Assignee: Yokohama Rubber Company Limited
• Original Assignee: Yokohama Rubber Company Limited
• Inventors: Sakakibara, Shigeki, Yamada, Shu, Wakabayashi, Masashi, Kaneko, Michito
• Granted Patent: US 8,041,473 B2
• Time in Patent Office: Days
• US Class Current: 701/21
• CPC Class Codes: B63B 2021/008 Load monitors
• CPC Class Codes: B63B 21/00 Tying-up; Shifting, towing, or pushing equipment; Anchoring of buoys B63B22/04; dynamic anchoring B63H25/00 ; equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. for landing purposes, E02B
• CPC Class Codes: B63B 2213/00 Navigational aids and use thereof, not otherwise provided for in this class
• CPC Class Codes: B63B 2213/02 using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
• CPC Class Codes: B63B 43/18 preventing collision or grounding; reducing collision damage reducing pollution by collision B63B25/082
• CPC Class Codes: B63B 49/00 Arrangements of nautical instruments or navigational aids nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S
• CPC Class Codes: B63B 59/00 Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels inhibiting corrosion of metals by anodic or cathodic protection C23F13/00
• CPC Class Codes: B63B 59/02 Fenders integral with waterborne vessels or specially adapted therefor, e.g. fenders forming part of the hull or incorporated in the hull; Rubbing-strakes fenders on coasts, in harbours or on other fixed marine structures E02B3/26
• CPC Class Codes: B63B 79/20 using models or simulation, e.g. statistical models or stochastic models
• CPC Class Codes: B63B 79/30 for diagnosing, testing or predicting the integrity or performance of vessels
• CPC Class Codes: B63H 25/00 Steering; Slowing-down otherwise than by use of propulsive elements using movably-installed outboard propulsion units B63H20/00; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
• CPC Class Codes: G01C 21/203 Specially adapted for sailing ships
• CPC Class Codes: G08G 3/02 Anti-collision systems

Abstract

A method and a system for assisting steering and mooring alongside of vessels that enables operators to easily obtain physical relationship between two vessels and the states of mooring lines and fenders when the operators lay the two vessels aboard and moors them alongside for loading cargoes are provided. Physical relationship between a hull of the first vessel and a hull of the second vessel is calculated in the form of numerical data based on information on a reference position of a first vessel that is detected by a first GPS receiver, information on a reference position of a second vessel that is detected by a second GPS receiver, oscillation information on the first vessel, oscillation information on the second vessel, information on a distance between the two vessels that is measured by distance measuring device, coordinate data including hull outer shape and the like against the reference position for each vessel, and air pressure data for each fender. Information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data and the state of each fender are displayed on a first display device provided for a steering room of the first vessel and a second display device provided for a steering room of the second vessel by means of animation.

Claims

1. A method for assisting steering and mooring alongside of vessels comprising:

a first GPS receiver that is provided for a first vessel for detecting a predetermined reference position of a hull of the first vessel;

a second GPS receiver that is provided for a second vessel for detecting a predetermined reference position of a hull of the second vessel;

first oscillation detecting means that is provided for said first vessel for detecting oscillation of the hull in the x axis, the y axis, and the z axis on a rectangular coordinate with a predetermined position of said first vessel being the origin and outputting the detected result as oscillation information;

second oscillation detecting means that is provided for said second vessel for detecting oscillation of the hull in the x axis, the y axis, and the z axis on a rectangular coordinate with a predetermined position of said second vessel being the origin and outputting the detected result as oscillation information;

two or more distance measuring devices which are provided for at least either said first vessel or said second vessel for measuring a distances between said first vessel and said second vessel at their predetermined positions including their bows and sterns and outputting the measurements as distance information when said second vessel is laying aboard said first vessel;

a plurality of fenders which are provided for at least either said first vessel or said second vessel, each of said fenders having an air pressure detector that detects an inner air pressure and transmits the detected result by radio waves;

air pressure information obtaining means which is provided for at least either said first vessel or said second vessel for receiving the radio waves transmitted from the air pressure detector of each of said fenders and outputting the air pressure information of said detected result; and

storing means that stores outer hull wall position information on said first vessel based on the reference position of said first vessel, outer hull wall position information on said second vessel based on the reference position of said second vessel, installed position information on said distance measuring device, mount position information on each fender, as well as a size, air pressure, a compressed amount, reaction, and absorbed energy features of the fenders;

characterized in that a computer

inputs information on a reference position of said first vessel that is detected by said first GPS receiver, information on a reference position of said second vessel that is detected by said second GPS receiver, oscillation information that is detected by said first oscillation detecting means;

oscillation information that is detected by said second oscillation detecting means;

distance information that is measured by said distance measuring device;

information stored in said storing means; and

the air pressure information obtained by said air pressure information obtaining means, and calculates physical relationship between the hull of said first vessel and the hull of said second vessel in the form of numerical data based on the information;

displays information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said computer on a first display device provided for a vessel steering room of said first vessel; and

displays information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said computer on a second display device provided for a vessel steering room of said second vessel.

2. The method for assisting steering and mooring alongside of vessels according to claim 1, characterized by further comprising:

a plurality of mooring alongside means which is provided for at least either said first vessel or said second vessel and has a tension detecting means for detecting tension of a mooring line that moors said first vessel and said second vessel and outputting the detected result;

wherein

said storing means stores installed position information on each of said mooring alongside means as well as said plurality of types of information;

said computer inputs the position information on said mooring alongside means and tension information on said mooring line as well as said plurality of types of information and calculates the physical relationship between the hull of said first vessel and the hull of said second vessel and a state of each mooring line in the form of numerical data based on the information;

said computer displays information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said computer and the state of each mooring line on the first display device provided for the vessel steering room of said first vessel; and

said computer displays information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said computer and the state of each mooring line on the second display device provided for the vessel steering room of said second vessel.

3. The method for assisting steering and mooring alongside of vessels according to claim 1, characterized in that:

said computer calculates physical relationship between the hull of said first vessel and the hull of said second vessel and the state of each fender in the form of numerical data based on said input information;

displays information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said computer and the state of each fender on the first display device provided for the vessel steering room of said first vessel; and

displays information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said computer and the state of each fender on the second display device provided for the vessel steering room of said second vessel.

4. The method for assisting steering and mooring alongside of vessels according to claims 1, characterized in that:

said computer calculates three-dimensional posture information of each vessel as well as the physical relationship between the hull of said first vessel and the hull of said second vessel as a numerical data;

said first display device displays the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said computer and the three-dimensional posture of each fender and each vessel by means of animation; and

said second display device displays the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said computer and the three-dimensional posture of each fender and each vessel by means of animation.

5. The method for assisting steering and mooring alongside of vessels according to claims 1, characterized by:

obtaining weather/oceanographic phenomena information in the oceanic region, in which said first vessel and said second vessel is in, by using a receiver, said weather/oceanographic phenomena is provided from outside by radio waves;

wherein

said computer inputs said weather/oceanographic phenomena information, predicts the physical relationship between the hull of said first vessel and the hull of said second vessel at a predetermined time in future based on the information, and calculates the physical relationship in the form of numerical data;

said first display device displays the physical relationship between the hull of said first vessel and the hull of said second vessel after the predetermined time period that is predicted based on the numerical data calculated by said computer and the three-dimensional posture of each fender and each vessel by means of animation; and

said second display device displays the physical relationship between the hull of said first vessel and the hull of said second vessel after the predetermined time period that is predicted based on the numerical data calculated by said computer and the three-dimensional posture of each fender and each vessel by means of animation.

6. A system for assisting steering and mooring alongside of vessels characterized by comprising:

a first GPS receiver that is provided for a first vessel for detecting a predetermined reference position of a hull of the first vessel;

a second GPS receiver that is provided for a second vessel for detecting a predetermined reference position of a hull of the second vessel;

first oscillation detecting means that is provided for said first vessel for detecting oscillation of the hull in the x axis, the y axis, and the z axis on a rectangular coordinate with a predetermined position of said first vessel being the origin and outputting the detected result as oscillation information;

second oscillation detecting means that is provided for said second vessel for detecting oscillation of the hull in the x axis, the y axis, and the z axis on a rectangular coordinate with a predetermined position of said second vessel being the origin and outputting the detected result as oscillation information;

distance measuring means including two or more distance measuring devices which are provided for at least either said first vessel or said second vessel for measuring a distance between said first vessel and said second vessel at their predetermined positions including their bows and sterns and outputting the measurements as distance information when said second vessel is laying aboard said first vessel;

a plurality of fenders which are provided for at least either said first vessel or said second vessel, each of said fenders having an air pressure detector that detects an inner air pressure and transmits the detected result by radio waves;

air pressure information obtaining means which is provided for at least either said first vessel or said second vessel for receiving the radio waves transmitted from the air pressure detector of each of said fenders and outputting the air pressure information of said detected result;

storing means which is provided for at least either said first vessel or said second vessel and store at least either vessel information of;

first vessel information including outer hull wall position information on said first vessel based on the reference position of said first vessel, installed position information on said distance measuring device that is installed on said first vessel, mount position information on each fender, as well as a size, air pressure, a compressed amount, reaction, and absorbed energy features of the fenders;

or second vessel information including outer hull wall position information of said second vessel based on the reference position of said second vessel, installed position information of the distance measuring device that is installed on said second vessel, mount position information on each fender, as well as a size, air pressure, a compressed amount, reaction, and absorbed energy features of the fenders;

calculation means which is provided for at least either said first vessel or said second vessel for inputting information on a reference position of said first vessel that is detected by said first GPS receiver, information on a reference position of said second vessel that is detected by said second GPS receiver, oscillation information that is detected by said first oscillation detecting means, oscillation information that is detected by said second oscillation detecting means, distance information that is measured by said distance measuring device;

vessel information stored in said storing means, and said air pressure information, and calculates the physical relationship between the hull of said first vessel and the hull of said second vessel in the form of numerical data based on the information;

a first display device that is provided for said first vessel for obtaining the numerical data calculated by said calculation means and displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data; and

a second display device that is provided for said second vessel for obtaining the numerical data calculated by said calculation means and displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data.

7. The system for assisting steering and mooring alongside of vessels according to claim 6, characterized by further comprising:

a plurality of mooring alongside means which is provided for at least either said first vessel or said second vessel for detecting tension of a mooring line that moors said first vessel and said second vessel and outputting the detected result;

wherein

said storing means stores installed position information on each of said mooring alongside means as well as said plurality of types of information;

said calculation means has means for inputting the position information on said mooring alongside means and tension information on said mooring line as well as said plurality of types of information and calculating the physical relationship between the hull of said first vessel and the hull of said second vessel and a state of each mooring line in the form of numerical data based on the information;

said first display device provided for the vessel steering room of said first vessel has means for displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said calculation means and the state of each mooring line; and

said second display device provided for the vessel steering room of said second vessel has means for displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said calculation means and the state of each mooring line.

8. The system for assisting steering and mooring alongside of vessels according to claim 6, characterized in that:

said calculation means has means for calculating the physical relationship between the hull of said first vessel and the hull of said second vessel and the state of each fender in the form of numerical data based on said input information;

said first display device has means for displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said calculation means and the state of each fender; and

said second display device has means for displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said calculation means and the state of each fender.

9. The system for assisting steering and mooring alongside of vessels according to claims 6, characterized by comprising:

weather/oceanographic phenomena information obtaining means for obtaining information on weather/oceanographic phenomena in the oceanic region, in which said first vessel or said second vessel is in, from outside by radio waves;

wherein

said calculation means has means for inputting said obtained weather/oceanographic phenomena information and calculating the physical relationship between the hull of said first vessel and the hull of said second vessel at a predetermined time in future based on the information.

10. The system for assisting steering and mooring alongside of vessels according to claims 6, characterized in that:

said calculation means has means for calculating three-dimensional posture information of each vessel as well as the physical relationship between the hull of said first vessel and the hull of said second vessel as a numerical data;

said first display device has means for displaying the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said calculation means and the three-dimensional posture of each fender and each vessel by means of animation; and

said second display device has means for displaying the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said calculation means and the three-dimensional posture of each fender and each vessel by means of animation.

11. The system for assisting steering and mooring alongside of vessels according to claims 6, characterized by comprising:

means which is provided for said first vessel for warning when the minimum distance between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said calculation means is less than a predetermined specified value; and

means which is provided for said second vessel for warning when the minimum distance between the hull of said first vessel and the hull of said second vessel based on the numerical data calculated by said calculation means is less than a predetermined specified value.

12. The system for assisting steering and mooring alongside of vessels according to claims 6, characterized in that:

said distance measuring means comprises two or more distance measuring devices which are provided for said first vessel;

said storing means comprises a first storing unit that is provided for said first vessel and stores said first vessel information and a second storing unit that is provided for said second vessel and stores said second vessel information;

said calculation means comprises a first calculation unit comprising a computer which is provided for said first vessel; and

said plurality of fenders are provided for said first vessel.

13. The system for assisting steering and mooring alongside of vessels according to claims 6, characterized in that:

said distance measuring means comprises two or more distance measuring devices which are provided for said first vessel and two or more distance measuring devices which are provided for said second vessel;

said storing means comprises a first storing unit that is provided for said first vessel and stores said first vessel information and a second storing unit that is provided for said second vessel and stores said second vessel information;

said calculation means comprises a first calculation unit comprising a computer which is provided for said first vessel; and

said plurality of fenders are provided for said first vessel.

14. The system for assisting steering and mooring alongside of vessels according to claims 6, characterized in that:

said distance measuring means comprises two or more distance measuring devices which are provided for said first vessel;

said storing means comprises a first storing unit that is provided for said first vessel and stores said first vessel information and a second storing unit that is provided for said second vessel and stores said second vessel information;

said calculation means comprises a first calculation unit comprising a computer that is provided for said first vessel, for inputting information on a reference position of said first vessel that is detected by said first GPS receiver, information on a reference position of said second vessel that is detected by said second GPS receiver, oscillation information that is detected by said first oscillation detecting means, oscillation information that is detected by said second oscillation detecting means, distance information that is measured by said distance measuring device, vessel information stored in said storing means, and said air pressure information, and calculating physical relationship between the hull of said first vessel and the hull of said second vessel and the state of each fender in the form of numerical data based on the information, as well as a second calculation unit comprising a computer that is provided for said second vessel, for inputting information on a reference position of said first vessel that is detected by said first GPS receiver, information on a reference position of said second vessel that is detected by said second GPS receiver, oscillation information that is detected by said first oscillation detecting means, oscillation information that is detected by said second oscillation detecting means, distance information that is measured by said distance measuring device, vessel information stored in said storing means, and said air pressure information, and calculating physical relationship between the hull of said first vessel and the hull of said second vessel and the state of each fender in the form of numerical data based on the information;

said first display device has means for obtaining the numerical data calculated by said first calculation unit and displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data and information on the state of each fender;

said second display device has means for obtaining the numerical data calculated by said second calculation unit and displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data and information on the state of each fender; and

said plurality of fenders are provided for said first vessel.

15. The system for assisting steering and mooring alongside of vessels according to claims 6, characterized in that:

said distance measuring means comprises two or more distance measuring devices which are provided for said first vessel and two or more distance measuring devices which are provided for said second vessel;

said storing means comprises a first storing unit that is provided for said first vessel and stores said first vessel information and a second storing unit that is provided for said second vessel and stores said second vessel information;

said calculation means are comprises a first calculation unit comprising a computer that is provided for said first vessel, for inputting information on a reference position of said first vessel that is detected by said first GPS receiver, information on a reference position of said second vessel that is detected by said second GPS receiver, oscillation information that is detected by said first oscillation detecting means, oscillation information that is detected by said second oscillation detecting means, distance information that is measured by said distance measuring device, vessel information stored in said storing means, and said air pressure information, and calculating physical relationship between the hull of said first vessel and the hull of said second vessel and the state of each fender in the form of numerical data based on these types of information, as well as a second calculation unit comprising a computer that is provided for said second vessel, for inputting information on a reference position of said first vessel that is detected by said first GPS receiver, information on a reference position of said second vessel that is detected by said second GPS receiver, oscillation information that is detected by said first oscillation detecting means, oscillation information that is detected by said second oscillation detecting means, distance information that is measured by said distance measuring device, vessel information stored in said storing means, and said air pressure information, and calculating physical relationship between the hull of said first vessel and the hull of said second vessel and the state of each fender in the form of numerical data based on these types of information;

said first display device has means for obtaining the numerical data calculated by said first calculation unit and displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data and information on the state of each fender;

said second display device has means for obtaining the numerical data calculated by said second calculation unit and displaying information on the physical relationship between the hull of said first vessel and the hull of said second vessel based on the numerical data and information on the state of each fender; and

said plurality of fenders are provided for said first vessel and said second vessel.