US 8,798,824 B2Granted

Ship maneuvering control method and ship maneuvering control system

AssigneeKawasaki Jukogyo Kabushiki Kaisha

InventorsMasanori Hamamatsu, Makoto Baino, Yasuo Saito, Hiroaki Mori

Life of this patent

Estimating the term…

Loading patent…

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.

Claims12

Dependent claims

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.

13 more elements

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.

12 more elements

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.

10 more elements

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.

10 more elements