Route generation device

A route generation device that generates a route allowing a ship to dock automatically at a berthing facility,

• the route including:
• one or more intermediate positions, the intermediate positions preceding a first position in an order to be fulfilled by the ship,
• the first position as a position displaced from a docking position for the ship in the berthing facility by a specified distance in a direction perpendicular to a direction of the berthing facility;
• and
• a second position as the docking position for the ship in the berthing facility,
• wherein the route is generated so that the ship moves automatically from the first position to the second position while maintaining the bearing of the ship parallel with the direction of the berthing facility, and
• the route is generated while changing a bearing setting mode at the intermediate positions,
• the bearing setting mode including:
• a pivotal turn before parallel movement mode, in which the ship having reached the intermediate positions pivotally turns in the intermediate positions so as to cause the bearing of the ship to agree with a bearing to be fulfilled by the ship in a next position and moves to the next position while maintaining a bearing after turning,
• a turn with movement mode, in which the ship having reached the intermediate positions turns concurrently with movement from the intermediate positions to the next position so as to cause the bearing of the ship to agree with the bearing to be fulfilled by the ship in the next position;
• and
• a pivotal turn before forward movement mode, in which the ship having reached the intermediate positions pivotally turns in the intermediate positions so as to cause the bearing of the ship to agree with a bearing directed to the next position and moves to the next position while maintaining a bearing after turning.

A route generation device that generates a route allowing a ship to dock automatically at a berthing facility,

• the route including:
• one or more intermediate positions, the intermediate positions preceding a first position in an order to be fulfilled by the ship,
• the first position as a position displaced from a docking position for the ship in the berthing facility by a specified distance in a direction perpendicular to a direction of the berthing facility;
• and
• a second position as the docking position for the ship in the berthing facility,
• wherein the route is generated so that the ship moves automatically from the first position to the second position while maintaining the bearing of the ship parallel with the direction of the berthing facility, and
• the route is generated while changing a bearing setting mode at the intermediate positions,
• the bearing setting mode including:
• a pivotal turn before parallel movement mode, in which the ship having reached the intermediate positions pivotally turns in the intermediate positions so as to cause the bearing of the ship to agree with a bearing to be fulfilled by the ship in a next position and moves to the next position while maintaining a bearing after turning,
• a turn with movement mode, in which the ship having reached the intermediate positions turns concurrently with movement from the intermediate positions to the next position so as to cause the bearing of the ship to agree with the bearing to be fulfilled by the ship in the next position,
• a pivotal turn before forward movement mode, in which the ship having reached the intermediate positions pivotally turns in the intermediate positions so as to cause the bearing of the ship to agree with a bearing directed to the next position and moves to the next position while maintaining a bearing after turning;
• and
• a parallel movement keeping mode, in which the ship having reached the intermediate positions moves to the next position in a parallel direction to the berthing facility while maintaining the same bearing of the ship.