Ship maneuvering control method and ship maneuvering control system

• US 8,798,824 B2
• Filed: 10/26/2010
• Issued: 08/05/2014
• Est. Priority Date: 11/04/2009
• Status: Active Grant

• Current Assignee: Kawasaki Jukogyo Kabushiki Kaisha
• Original Assignee: Kawasaki Jukogyo Kabushiki Kaisha
• Inventors: Hamamatsu, Masanori, Baino, Makoto, Saito, Yasuo, Mori, Hiroaki
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): WEEKS, MARTIN A
• Application Number:
  US13/501,971
• Publication Number:
  US 20120259489A1
• Time in Patent Office: 1,379 Days
• Field of Search: 701/25, 701/415, 701/467, 701/21, 701410-411, 440/86, 440/87
• US Class Current: 701/21
• 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 79/15 for monitoring environmental variables, e.g. wave height or weather data
• CPC Class Codes: B63B 79/20 using models or simulation, e.g. statistical models or stochastic models
• CPC Class Codes: B63B 79/40 for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
• CPC Class Codes: B63H 21/21 Control means for engine or transmission, specially adapted for use on marine vessels
• CPC Class Codes: B63H 25/04 automatic, e.g. reacting to compass
• CPC Class Codes: G01C 21/203 Specially adapted for sailing ships
• CPC Class Codes: G05D 1/0005 with arrangements to save energy
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: Y02T 70/00 Maritime or waterways transport
• CPC Class Codes: Y02T 70/10 Measures concerning design or construction of watercraft hulls

Abstract

A short-term planned route from a start position that is a ship position at a first time up to an end position that is the ship position at a second time is designed based on a planned route, an estimated encounter marine phenomenon information, operation performance information measured on a ship, and a hull motion model of the ship, the estimated encounter marine phenomenon information being measured on the ship based on actually encountered marine phenomenon information. The short-term planned route makes a first evaluation function optimal, the first evaluation function containing: an index indicating an influence of a fluctuation portion between a planned position that is a ship position planned at the second time on the planned route and the end position; a fuel consumption index when the ship sails along the short-term planned route; and a safety index when the ship sails along the short-term planned route.

Claims

1. A ship maneuvering control method of optimizing a route of a ship, comprising the steps of:

designing a planned route for sailing from a starting point to a destination based on meteorological marine phenomena prediction information and a performance information for the ship;

acquiring actually encountered marine phenomenon information and marine phenomenon statistical information by measuring, on the ship, marine phenomena that the ship encounters during sail;

acquiring estimated encounter marine phenomenon information based on the actually encountered marine phenomenon information and the marine phenomenon statistical information, the estimated encounter marine phenomenon information being information from a first time that is a current time until a second time that is a near-future time in a route surrounding marine area;

acquiring operation performance information by measuring, on the ship, an operation performance of the ship during the sail; and

designing a short-term planned route using a computer based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and a hull motion model of the ship,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route, and

wherein the step of designing the short-term planned comprises;

setting a target route passing through the start position and the planned position is set; and

searching the short-term planned route on the basis that an end time is fixed and an end state quantity is free on the target route.

2. A ship maneuvering control method of optimizing route of a ship, comprising the steps of:

designing a planned route for sailing from a starting point to a destination based on meteorological marine phenomena prediction information and a performance information for the ship;

acquiring actually encountered marine phenomenon information and marine phenomenon statistical information by measuring, on the ship, marine phenomena that the ship encounters during sail;

acquiring estimated encounter marine phenomenon information based on the actually encountered marine phenomenon information and the marine phenomenon statistical information, the estimated encounter marine phenomenon information being information from a first time that is a current time until a second time that is a near-future time in a route surrounding marine area;

acquiring operation performance information by measuring, on the ship, an operation performance of the ship during the sail; and

designing a short-term planned route using a computer based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and a hull motion model of the ship,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route,

wherein the planned route is designed such that a second evaluation function becomes optimal; and

wherein the index contained in the first evaluation function and indicating the influence of the fluctuation portion between the planned position and the end position indicates a fluctuation portion from the second evaluation function.

3. A ship maneuvering control method of optimizing a route of a ship, comprising the steps of:

designing a planned route for sailing from a starting point to a destination based on meteorological marine phenomena prediction information and a performance information for the ship;

acquiring actually encountered marine phenomenon information and marine phenomenon statistical information by measuring, on the ship, marine phenomena that the ship encounters during sail;

acquiring estimated encounter marine phenomenon information based on the actually encountered marine phenomenon information and the marine phenomenon statistical information, the estimated encounter marine phenomenon information being information from a first time that is a current time until a second time that is a near-future time in a route surrounding marine area;

acquiring operation performance information by measuring, on the ship, an operation performance of the ship during the sail; and

designing a short-term planned route using a computer based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and a hull motion model of the ship,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route, and

wherein the index contained in the first evaluation function and indicating the influence of the fluctuation portion between the planned position and the end position indicates a deviation between the planned position and the end position.

4. A ship maneuvering control method of optimizing a route of a ship, comprising the steps of:

designing a planned route for sailing from a starting point to a destination based on meteorological marine phenomena prediction information and a performance information for the ship;

acquiring actually encountered marine phenomenon information and marine phenomenon statistical information by measuring, on the ship, marine phenomena that the ship encounters during sail;

acquiring estimated encounter marine phenomenon information based on the actually encountered marine phenomenon information and the marine phenomenon statistical information, the estimated encounter marine phenomenon information being information from a first time that is a current time until a second time that is a near-future time in a route surrounding marine area;

acquiring operation performance information by measuring, on the ship, an operation performance of the ship during the sail; and

designing a short-term planned route using a computer based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and a hull motion model of the ship,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route, and

wherein the index contained in the first evaluation function and indicating the influence of the fluctuation portion between the planned position and the end position contains a first function and a second function, the first function being a function of a component of a deviation between the planned position and the end position in a proceeding direction of the planned route, the second function being a function of a component of the deviation in a direction perpendicular to the proceeding direction of the planned route.

5. The ship maneuvering control method according to claim 4, wherein weight coefficients are respectively given to the first function and the second function, and each of these weight coefficients is a function which changes in relation to a sail distance from the end position to the destination.

6. A ship maneuvering control system comprising:

a computer usable medium having a planned route designed based on meteorological and marine phenomena prediction information and performance information of a ship such that the ship sails from a starting point up to a destination;

a computer usable medium having estimated encounter marine phenomenon information which is information from a first time during the sail until a second time that is a near-future time in a route surrounding marine area and is estimated based on marine phenomenon statistical information of a marine area in which the ship sails and marine phenomenon information that the ship has actually encountered;

a computer usable medium having operation performance information of the ship, the operation performance information being measured until the first time during the sail;

a computer usable medium having a hull motion model of the ship;

a computer with a short-term planned route designing unit configured to design a short-term planned route based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and the hull motion model, and

a computer with a ship maneuvering unit configured to maneuver the ship,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route, and

wherein the short-term planned route designing unit is configured to;

calculate a ship maneuvering condition used by the ship maneuvering unit to sail along the short-term planned route; and

supply the ship maneuvering condition to the ship maneuvering unit.

7. A ship maneuvering control system comprising:

a computer usable medium having a planned route designed based on meteorological and marine phenomena prediction information and performance information of a ship such that the ship sails from a starting point up to a destination;

a computer usable medium having estimated encounter marine phenomenon information which is information from a first time during the sail until a second time that is a near-future time in a route surrounding marine area and is estimated based on marine phenomenon statistical information of a marine area in which the ship sails and marine phenomenon information that the ship has actually encountered;

a computer usable medium having operation performance information of the ship, the operation performance information being measured until the first time during the sail;

a computer usable medium having a hull motion model of the ship;

a computer with a short-term planned route designing unit configured to design a short-term planned route based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and the hull motion model, and

a computer with a planned route designing unit configured to supply the planned route to the short-term planned route designing unit,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route, and

wherein the planned route designing unit is configured to;

design a new planned route from a starting point that is the end position of the short-term planned route up to the destination; and

supply the new planned route to the short-term planned route designing unit.

8. A ship maneuvering control system comprising:

a computer usable medium having a planned route designed based on, meteorological and marine phenomena prediction information and performance information of a ship such that the ship sails from a starting point up to a destination;

a computer usable medium having estimated encounter marine phenomenon information which is information from a first time during the sail until a second time that is a near-future time in a route surrounding marine area and is estimated based on marine phenomenon statistical information of a marine area in which the ship sails and marine phenomenon information that the ship has actually encountered;

a computer usable medium having operation performance information of the ship, the operation performance information being measured until the first time during the sail;

a computer usable medium having a hull motion model of the ship; and

a computer with a short-term planned route, designing unit configured to design a short-term planned route based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and the hull motion model,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route, and wherein the short-term planned route designing unit sets a target route passing through the start position and the planned position and searches the short-term planned route, which is a route from the first time until the second time, on the basis that an end time is fixed and an end state quantity is free on the target route.

9. A ship maneuvering control system comprising:

a computer usable medium having a planned route designed based on meteorological and marine phenomena prediction information and performance information of a ship such that the ship sails from a starting point up to a destination;

a computer usable medium having estimated encounter marine phenomenon information which is information from a first time during the sail until a second time that is a near-future time in a route surrounding marine area and is estimated based on marine phenomenon statistical information of a marine area in which the ship sails and marine phenomenon information that the ship has actually encountered;

a computer usable medium having operation performance information of the ship, the operation performance information being measured until the first time during the sail;

a computer usable medium having a hull motion model of the ship; and

a computer with a short-term planned route designing unit configured to design a short-term planned route based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and the hull motion model,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route,

wherein the planned route is designed such that a value of a second evaluation function becomes an optimal value; and

wherein the index contained in the first evaluation function and indicating the influence of the fluctuation portion between the planned position and the end position indicates a fluctuation portion from the second evaluation function.

10. A ship maneuvering control system comprising:

a computer usable medium having a planned route designed based on meteorological and marine phenomena prediction information and performance information of a ship such that the ship sails from a starting point up to a destination;

a computer usable medium having estimated encounter marine phenomenon information which is information from a first time during the sail until a second time that is a near-future time in a route surrounding marine area and is estimated based on marine phenomenon statistical information of a marine area in which the ship sails and marine phenomenon information that the ship has actually encountered;

a computer usable medium having operation performance information of the ship, the operation performance information being measured until the first time during the sail;

a computer usable medium having a hull motion model of the ship; and

a computer with a short-term planned route designing unit configured to design a short-term planned route based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and the hull motion model,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route, and

wherein the index contained in the first evaluation function and indicating the influence of the fluctuation portion between the planned position and the end position indicates a deviation between the planned position and the end position.

11. A ship maneuvering control system comprising:

a computer usable medium having a planned route designed based on meteorological and marine phenomena prediction information and performance information of a ship such that the ship sails from a starting point up to a destination;

a computer usable medium having estimated encounter marine phenomenon information which is information from a first time during the sail until a second time that is a near-future time in a route surrounding marine area and is estimated based on marine phenomenon statistical information of a marine area in which the shi sails and marine phenomenon information that the ship has actually encountered;

a computer usable medium having operation performance information of the ship, the operation performance information being measured until the first time during the sail;

a computer usable medium having a hull motion model of the ship; and

a computer with a short-term planned route designing unit configured to design a short-term planned route based on the planned route, the estimated encounter marine phenomenon information, the operation performance information, and the hull motion model,

wherein the short-term planned route is a route from a start position that is a ship position at the first time up to an end position that is the ship position at the second time and by which a value of a first evaluation function becomes an optimal value,

wherein the first evaluation function contains;

an index indicating an influence of a fluctuation portion between a planned position that is the ship position planned at the second time on the planned route and the end position;

a fuel consumption index when the ship sails along the short-term planned route; and

a safety index when the ship sails along the short-term planned route, and

wherein the index contained in the first evaluation function and indicating the fluctuation portion of a deviation between the planned position and the end position contains a first function and a second function, the first function being a function of a component of the deviation between the planned position and the end position in a proceeding direction of the planned route, the second function being a function of a component of the deviation in a direction perpendicular to the proceeding direction of the planned route.

12. The ship maneuvering control system according to claim 11, wherein weight coefficients are respectively given to the first function and the second function, and each of these weight coefficients is a function which changes in relation to a sail distance from the end position up to the destination.