Control device and control method

Abstract

The control device includes a control unit. When the ship is located outside the range of a water area in which automatic manipulation to the target landing point can be started, the control unit sets a first intermediate target point within the range of the water area. When the distance of a vector connecting the position of the ship and the first intermediate target point and the angle between the bow direction of the ship and the direction of the vector satisfy a predetermined reference, the control unit formulates a course for the ship to travel from the position of the ship to the target landing point via the set first intermediate target point. The control unit automatically manipulates the ship in accordance with the established route.

Description

Technical Field

[0001] The present disclosure relates to a control device and a control method. Background Art

[0002] Conventionally, there are known technologies related to the control of berthing of ships. For example, Japanese Patent Application Laid-Open No. 2020-40470 discloses a technology for assisting the berthing operation of a ship. Summary of the invention

[0003] From the perspective of safety, if the location of the ship is not within the appropriate distance and direction range relative to the target berthing location, or if there is an obstacle between the location of the ship and the target berthing location, the berthing control of the ship cannot be started. Therefore, from the perspective of convenience and safety, there is room for improvement in the technology related to the berthing control of the ship.

[0004] In view of these circumstances, an object of the present disclosure is to improve the technology related to the berthing control of a ship.

[0005] A control device according to one embodiment of the present disclosure is a control device for automatically maneuvering a ship, and includes a control unit that executes the following processing: When the ship is outside the range of waters where automatic maneuvering to the target berthing location can be started, a first intermediate target location is set within the range of the waters, When the distance of the vector connecting the position of the ship and the first intermediate target point and the angle between the bow direction of the ship and the direction of the vector satisfy a predetermined reference, a route for the ship to sail from the position of the ship via the set first intermediate target point to the target berthing point is established, The vessel is automatically maneuvered according to the established route.

[0006] A control method according to an embodiment of the present disclosure is a control method executed by a control device for automatically maneuvering a ship. The following processing is performed by the control device: When the vessel is outside the range of waters where automatic maneuvering to the target berthing location can be started, setting a first intermediate target location within the range of the waters; When the distance of the vector connecting the position of the ship and the first intermediate target point and the angle between the bow direction of the ship and the direction of the vector satisfy a predetermined reference, a route for the ship to sail from the position of the ship to the target berthing point via the set first intermediate target point is established; and The vessel is automatically maneuvered according to the established route.

[0007] According to an embodiment of the present disclosure, a technology related to berthing control of a ship is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Features, advantages and technical and industrial significance of exemplary embodiments of the present invention are described with reference to the accompanying drawings, in which like reference numerals represent like parts, and in which: Figure 1 This is a block diagram showing a schematic configuration example of a system according to an embodiment of the present disclosure. Figure 2 It is a flowchart showing an operation example of the control device. Figure 3 This is a schematic diagram showing an example of a route on which a ship sails. Figure 4 It is a schematic diagram showing a setting example of the first intermediate target point. Figure 5 It is a schematic diagram showing a setting example of the second intermediate target point. DETAILED DESCRIPTION

[0009] Hereinafter, embodiments of the present disclosure will be described. Summary of Implementation Methods

[0010] Reference Figure 1 , the outline of the system 1 according to the embodiment of the present disclosure will be described. The system 1 includes a ship 10 and a control device 20. The ship 10 and the control device 20 are communicably connected to a network 2 including the Internet and a mobile communication network, for example.

[0011] The ship 10 includes a control device 20. The ship 10 is connected to the control device 20 in a wired manner so as to be communicable. The ship 10 may be connected to the control device 20 in a communicable manner via a network 2.

[0012] The control device 20 is a computer installed on the ship 10. The control device 20 performs automatic operation to dock the ship 10 at the target docking location. The control device 20 can communicate with the ship 10 by wire. In addition, the control device 20 can communicate with the ship 10 via the network 2.

[0013] First, the outline of this embodiment is described, and the details are described later. When the ship 10 is outside the range of waters where automatic maneuvering to the target berthing location can be started, the control device 20 sets a first intermediate target location within the range of the waters. When the distance of the vector connecting the position of the ship 10 and the first intermediate target location, and the angle between the bow direction of the ship 10 and the direction of the vector meet a predetermined reference, the control device 20 formulates a route for the ship 10 to sail from the position of the ship 10 via the set first intermediate target location to the target berthing location. The control device 20 automatically manipulates the ship 10 according to the formulated route.

[0014] Thus, according to the present embodiment, even when the ship 10 is navigating outside the range of the water area where the automatic maneuvering to the target berthing location can be started, the first intermediate target location is set in the water area. In addition, by making the distance between the vector connecting the position of the ship 10 and the first intermediate target location and the angle between the vector and the bow direction satisfy the prescribed reference, a route for the ship 10 to navigate from the position of the ship 10 to the target berthing location by automatic maneuvering is formulated. Therefore, the technology related to the berthing control of the ship 10 is improved in terms of improving the safety and convenience of the ship operator in berthing the ship 10 at the target berthing location.

[0015] Next, each configuration of the system 1 will be described in detail. Ship composition

[0016] like Figure 1 As shown, the ship 10 includes a communication unit 11, a positioning unit 12, a measuring unit 13, a display unit 14, an input unit 15, a storage unit 16, a control unit 17, and a control device 20. The details of the control device 20 will be described later.

[0017] The communication unit 11 includes both a communication interface connected to the network 2 and a communication interface connected to the communication unit 21 of the control device 20 by wire. The communication interface connected to the network 2 corresponds to mobile communication standards such as 4G (4th Generation) or 5G (5th Generation), but is not limited thereto and may correspond to any communication standard. In the present embodiment, the ship 10 is connected to the communication unit 21 of the control device 20 in a wired manner via the communication unit 11. In addition, the ship 10 may be connected to the communication unit 21 of the control device 20 in a wireless manner via the communication unit 11 and the network 2.

[0018] The positioning unit 12 includes one or more devices for acquiring position information of the ship 10. Specifically, the positioning unit 12 includes, for example, a receiver corresponding to GPS, but is not limited thereto and may include a receiver corresponding to any satellite positioning system.

[0019] The measuring unit 13 includes one or more sensors. The measuring unit 13 may include a sonar, a radar, a gyrocompass, a magnetic compass, an acceleration sensor, an air pressure sensor, etc. However, the sensors included in the measuring unit 13 are not limited thereto.

[0020] The display unit 14 is configured to include at least one display interface capable of displaying characters or images. The display unit 14 is, for example, a chart plotter, but is not limited thereto. The display interface is, for example, a display such as an LCD or an organic EL display. However, the display interface is not limited thereto. The display unit 14 displays, for example, information such as the position, route, intermediate target location, target berthing location, and water area of ​​the vessel 10 together with the map information.

[0021] The input unit 15 is configured to include at least one input interface capable of receiving input from the operator of the vessel 10. The input interface is, for example, a physical keyboard, a capacitive keyboard, a pointing device, a camera, a touch screen integrated with the display of the display unit 14, or a microphone for collecting the operator's voice. However, the input interface is not limited thereto.

[0022] The storage unit 16 includes one or more memories. The memory is, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited thereto. Each memory included in the storage unit 16 may also function as, for example, a main storage device, an auxiliary storage device, or a buffer memory. The storage unit 16 stores any information used in the operation of the ship 10. For example, the storage unit 16 may store system programs, application programs, embedded software, map information, a list of target berthing locations, etc. The information stored in the storage unit 16 may also be updated by, for example, information obtained from the network 2 via the communication unit 11.

[0023] The control unit 17 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for specific processing, but not limited to this. The programmable circuit is, for example, an FPGA (Field-Programmable Gate Array), but not limited to this. The dedicated circuit is, for example, an ASIC (Application Specific Integrated Circuit), but not limited to this. The control unit 17 controls the operation of the entire ship 10. Control device configuration

[0024] like Figure 1As shown, the control device 20 includes a communication unit 21 , a storage unit 22 , an input unit 23 , a display unit 24 , and a control unit 25 .

[0025] The communication unit 21 includes both a communication interface connected to the network 2 and a communication interface connected to the communication unit 11 of the ship 10 by wire. The communication interface connected to the network 2 corresponds to a mobile communication standard such as 4G or 5G, but is not limited thereto and may correspond to any communication standard. In the present embodiment, the control device 20 is connected to the communication unit 11 of the ship 10 in a wired manner via the communication unit 21 so as to be communicable. In addition, the control device 20 may be connected to the communication unit 11 of the ship 10 in a wireless manner via the communication unit 21 and the network 2 so as to be communicable.

[0026] The storage unit 22 includes one or more memories. Each memory included in the storage unit 22 may function as a main storage device, an auxiliary storage device, or a buffer memory, for example. The storage unit 22 stores arbitrary information used in the operation of the control device 20. For example, the storage unit 22 may store system programs, application programs, databases, map information, a list of registered places where docking is possible, a target docking place for the ship 10 that has accepted the selection, and a route of the ship 10. The information stored in the storage unit 22 may be updated by, for example, information obtained from the network 2 via the communication unit 21.

[0027] The input unit 23 is configured to include at least one input interface capable of receiving input from the operator of the ship 10. The input interface is, for example, a physical keyboard, a capacitive keyboard, a pointing device, a camera, a touch screen integrally provided with a display of the display unit 24 described later, or a microphone for collecting the operator's voice, etc. However, the input interface is not limited thereto.

[0028] The display unit 24 is configured to include at least one display interface capable of displaying characters or images. The display interface is, for example, a display such as an LCD or an organic EL display. However, the display interface is not limited thereto. The display unit 24 may also have a function of displaying information such as the position, route, intermediate target location, target berthing location, and water area of ​​the vessel 10 together with the map information.

[0029] The control unit 25 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof, and controls the operation of the entire control device 20 . Operation flow of the control device

[0030] Reference Figure 2 Next, the operation of the control device 20 according to the embodiment will be described. This operation is related to automatic maneuvering of the ship 10 to dock at a target docking location.

[0031] S101: The control unit 25 obtains information on the position p1 and the bow direction d of the ship 10.

[0032] Figure 3 3 is a schematic diagram showing an example of a route that the ship 10 navigates. In the present disclosure, the ship 10 is described as a ship that navigates in the ocean 3, but the water area where the ship 10 navigates is not limited to the ocean, and may be a lake, a canal, a river, or the like.

[0033] like Figure 3 As shown, the information of the position p1 of the ship 10 refers to the coordinates (x1, y1) of the latitude and longitude of the location where the sailing ship 10 is located. The positioning unit 12 of the ship 10 obtains the coordinates (x1, y1) of the position p1 of the ship 10 through a receiver corresponding to GPS, for example. The control unit 25 obtains the information of the position p1 (x1, y1) of the ship 10 from the positioning unit 12 via the communication unit 11 and the communication unit 21.

[0034] On the other hand, the information on the bow direction d of the ship 10 refers to the azimuth to which the bow of the ship 10 is directed, as indicated by the arrow. The bow direction d of the ship 10 is measured by setting the north direction as 0° and going around the north direction clockwise to 360°. The bow direction d is measured by a GPS compass, but the measurement method is not limited to this. The GPS compass is a device that uses multiple GPS antennas to observe the phase difference of the carrier of the radio wave from the GPS satellite and accurately calculates the direction of each antenna relative to the reference antenna (called a baseline vector). The bow direction d of the ship 10 can also be measured by a gyrocompass or a magnetic compass.

[0035] S102 : The control unit 25 sets the target berthing point p2 of the vessel 10 .

[0036] The control unit 25 extracts one or more registered places stored in the storage unit 22 and having a shorter distance from the position p1 of the ship 10, based on the coordinates (x1, y1) of the position p1 of the located ship 10. The control unit 25 displays the extracted one or more registered places where the ship 10 can dock on the display screen of the display unit 14 of the ship 10. The control unit 25 may also transmit information of one or more registered places to the display unit 14 of the ship 10 via the communication unit 21 and the communication unit 11 of the ship 10. In addition, the control unit 25 may display information of one or more registered places on the display screen of the display unit 24 of the control device 20 provided in the ship 10.

[0037] When one of the one or more registered points is selected as the target berthing point p2 (x2, y2) of the ship 10 on the display screen of the display unit 14, the control unit 25 sets the selected registered point as the target berthing point p2. The control unit 25 may store the set target berthing point p2 in the storage unit 22.

[0038] S103: When the target berthing point p2 of the ship 10 is selected, the control unit 25 sets the water area w where the automatic maneuvering to the selected target berthing point p2 can be started.

[0039] The range of the water area w is determined by the accuracy of the equipment provided in the positioning unit 12 of the ship 10 for positioning the position p1 of the ship 10 , the size of the ship 10 , and the like.

[0040] S104: The control unit 25 determines whether the position p1 of the ship 10 is within the range of the water area w where the ship 10 can dock at the target docking location p2 by automatic maneuvering. If the ship 10 is within the range of the water area w, the process proceeds to S112, and if the ship 10 is not within the range of the water area w, the process proceeds to S105.

[0041] When the position p1 of the ship 10 is within the range of the water area w, the control unit 25 can dock the ship 10 at the target docking point p2 by automatic steering without setting an intermediate target point described later.

[0042] S105: When the ship 10 is outside the range of the water area w where automatic maneuvering to the target berth point p2 can be started, the control unit 25 sets the first intermediate target point a within the range of the water area w.

[0043] Figure 4 1 is a schematic diagram showing an example of setting the first intermediate target point a. The first intermediate target point a is an intermediate target point set within the range of the water area w where automatic maneuvering to the target berthing point p2 can be started. Although the first intermediate target point a is described as one in the present disclosure, two or more first intermediate target points a may be set. When the ship 10 reaches the set first intermediate target point a, the control unit 25 can dock the ship 10 at the target berthing point p2 through automatic maneuvering.

[0044] S106: The control unit 25 determines whether the distance between the vector v1 connecting the position p1 of the ship 10 and the first intermediate target point a satisfies a predetermined reference c1. If the distance between the vector v1 satisfies the predetermined reference c1, the process proceeds to S107, and if not, the process proceeds to S109.

[0045] Reference Figure 4 The predetermined reference c1 is described below. The predetermined reference c1 is that the distance md (in nautical miles, etc.) of the vector v1 connecting one point (e.g., the position p1 of the ship 10) and another point (e.g., the first intermediate target point a) is less than the reference distance pd (in nautical miles). Figure 4In the example shown, since the distance md of the vector v1 is less than or equal to the reference distance pd, the predetermined reference c1 is satisfied. In addition, one nautical mile on the sea is equivalent to 1,852 m.

[0046] S107: The control unit 25 determines whether the angle between the bow direction d of the ship 10 and the direction of the vector v1 satisfies a predetermined reference c2. If the direction of the vector v1 satisfies the predetermined reference c2, the process proceeds to S108, and if not, the process proceeds to S109.

[0047] The predetermined reference c2 is that the angle ma (°) between the bow direction d of the ship 10 at one point and the direction of the vector v connecting the one point and the other point is less than the reference angle pa (°). Figure 4 In the example shown, since the angle ma (°) is equal to or smaller than the reference angle pa (°), the predetermined reference c2 is satisfied.

[0048] The control unit 25 displays the position p1 of the ship 10, the first intermediate target point a, the target berth point p2, the water area w where automatic maneuvering to the target berth point p2 can be started, and the determination results in S105-S107 on the display screen of the display unit 14 of the ship 10 together with the map information.

[0049] The display unit 14 of the ship 10 is, for example, a nautical chart. A nautical chart is an electronic device carried for the purpose of navigation of the ship 10, and displays the position p1, bow direction d, and speed of the ship on an electronic nautical chart. In addition, the nautical chart can also additionally display weather information, wind speed, tide, water depth, and information obtained by a fish finder or various sensors. The display unit 14 of the ship 10 can display map information. The map information includes maps of waters and coastal areas in the entire area of ​​our country or a specified area. In addition to being able to display the position p1 and target berthing location p2 of the ship 10, the display unit 14 can also, for example, display the first intermediate target location a and the second intermediate target location b described later set by touch input on a touch screen integrally provided with the display of the display unit 14 together with the map information.

[0050] In addition, the display unit 24 of the control device 20 may also have the function of displaying the position p1 of the ship 10, the target berthing point p2, the first intermediate target point a, the water area w where automatic maneuvering toward the target berthing point p2 can be started, and the judgment results in S105-S107 together with the map information.

[0051] S108: The control unit 25 determines whether an obstacle is detected in the waters between the position p1 of the ship 10 and the first intermediate target point a. If an obstacle is detected, the process proceeds to S109, and if no obstacle is detected, the process proceeds to S110.

[0052] Obstacles are populated structures including the pier (quay wall) 4 displayed on the display screen, areas where docking is prohibited due to topographical or legal reasons, or objects detected by sensors provided in the ship 10 that hinder the navigation of the ship 10 .

[0053] The pier (quay wall) 4 and the area where the ship cannot dock due to topography or law are obtained from the map information. In addition, the objects floating in the ocean 3 that hinder the navigation of the ship 10 are detected by the sensor provided by the measuring unit 13 of the ship 10. The sensor is, for example, sonar, radar, etc., but not limited to this. Sonar is a device used as a fish finder in various ships. Radar is a device that detects the exact distance to each object by converting the time until the reflected wave returns into a distance when the emitted radio waves (microwaves) are reflected by other ships or floating objects on the radio wave travel line.

[0054] S109: The control unit 25 sets the second intermediate target point b in the water area between the position p1 of the ship 10 and the first intermediate target point a.

[0055] The second intermediate target point b is an intermediate target point set outside the range of the water area w where automatic maneuvering to the target berthing point p2 can be started. When an obstacle is detected in the water area between the position p1 of the ship 10 and the first intermediate target point a, the control unit 25 sets the second intermediate target point b in the water area for the ship 10 to navigate around the obstacle. The second intermediate target point b is set so that the predetermined reference c (c1 and c2) is satisfied between the position p1 of the ship 10 and the second intermediate target point b, and between the second intermediate target point b and the first intermediate target point a.

[0056] In addition, when the distance md of the vector v1 connecting the position p1 of the ship 10 and the first intermediate target point a or the angle ma between the bow direction d of the ship 10 and the direction of the vector v1 does not satisfy the predetermined reference c (c1 and c2), the control unit 25 sets the second intermediate target point b in the waters between the position p1 of the ship 10 and the first intermediate target point a. The second intermediate target point b is set so that the predetermined reference c (c1 and c2) is satisfied between the position p1 of the ship 10 and the second intermediate target point b and between the second intermediate target point b and the first intermediate target point a.

[0057] Figure 5 is a schematic diagram showing an example of setting the second intermediate target point b. Figure 5 In the example shown, the angle ma between the bow direction d of the ship 10 and the direction of the vector v1 is less than the reference angle pa. In addition, the distance md of the vector v1 connecting the position p1 of the ship 10 and the first intermediate target point a is less than the reference distance pd.

[0058] The control unit 25 prompts the user to input the second intermediate destination b on the touch screen of the input unit 15 provided integrally with the display screen of the display unit 14. When the second intermediate destination b is input on the touch screen, the control unit 25 accepts the input of the second intermediate destination b. Figure 5 As shown, the control unit 25 sets the second intermediate target point b in the waters between the position p1 of the ship 10 and the first intermediate target point a in such a manner that the prescribed reference c (c1 and c2) is satisfied between the position p1 of the ship 10 and the second intermediate target point b, and between the second intermediate target point b and the first intermediate target point a.

[0059] exist Figure 3 In the case where the ship 10 docks at the target docking point p22, the following settings need to be performed. (1) The first intermediate target point a is set within the range of the water area w where automatic maneuvering toward the target landing point p2 can be started. (2) The second intermediate target point b is set so as to satisfy the following conditions. (i) The distance md of the vector v1 connecting the position p1 of the ship 10 and the intermediate target point a1 is less than the reference distance pd, and the angle ma between the bow direction d of the ship 10 and the direction of the vector v1 is less than the reference angle pa. (ii) The distance md of the vector v2 connecting the second intermediate target point b and the first intermediate target point a is less than the reference distance pd, and the angle ma between the bow direction d of the ship 10 and the direction of the vector v2 is less than the reference angle pa. By setting the first intermediate target point a and the second intermediate target point b in this way, the control unit 25 can automatically operate the ship 10 in the route r21 from the position p1 of the ship 10 to the second intermediate target point b, the route r22 from the second intermediate target point b to the first intermediate target point a, and the route r23 from the first intermediate target point a to the target berthing point p22.

[0060] In addition, if Figure 3As shown, when the pier 4 (obstacle) is detected in the waters between the position p1 of the ship 10 and the target berthing point p2 of the ship 10, the control unit 25 accepts the input of the second intermediate target point b in the waters for the ship 10 to sail around the obstacle on the touch screen of the input unit 15 provided integrally with the display screen of the display unit 14. The control unit 25 sets the second intermediate target point b. The second intermediate target point b may be set to a plurality of points for sailing around obstacles.

[0061] S110: When the distance between the vector v1 connecting the position p1 of the ship 10 and the first intermediate target point a and the angle between the bow direction d of the ship 10 and the direction of the vector v1 satisfy the prescribed reference c (c1 and c2), the control unit 25 formulates a route r for the ship 10 to sail from the position p1 of the ship 10 via the second intermediate target point b and the first intermediate target point a to the target berthing point p2 when the second intermediate target point b has been set.

[0062] In order to navigate around obstacles or to meet a predetermined reference c (c1 and c2), two or more second intermediate destinations b (b1, b2, ..., bn) may be set. When two or more second intermediate destinations b are set in the waters between the position p1 of the ship 10 and the first intermediate destination a, the control unit 25 accepts the selection of the order of arrival of the ship 10 to each of the two or more second intermediate destinations b. The control unit 25 may also formulate a route r by associating the position p1 of the ship 10, each of the two or more second intermediate destinations b with the order of arrival set, the first intermediate destination a, and the target berthing point p2. When the order of arrival at each of the two or more second intermediate destinations b (b1, b2, ..., bn) is selected on the touch screen of the input unit 15 provided integrally with the display screen of the display unit 14, the control unit 25 accepts the selection of the order of arrival. The control unit 25 formulates a route r by associating the position p1 of the ship 10, each of the two or more second intermediate target points b (b1, b2, ..., bn) with the arrival order set, the first intermediate target point a, and the target berthing point p2. In addition, when more than two first intermediate target points a are set, the control unit 25 may also accept the selection of the arrival order of the ship 10 to each of the two or more first intermediate target points a (a1, a2, ..., an). In this case, the control unit 25 formulates a route r by associating the position p1 of the ship 10, each of the two or more second intermediate target points b with the arrival order set, each of the two or more first intermediate target points a with the arrival order set, and the target berthing point p2.

[0063] like Figure 3 As shown, for example, the control unit 25 sets a route r1 from the position p1 of the ship 10 to the target berthing point p21 via the first intermediate target point a, and a route r2 from the position p1 of the ship 10 to the target berthing point p22 via the second intermediate target point b and the first intermediate target point a. The control unit 25 may store the set routes r1 and r2 in the storage unit 22.

[0064] S111: The control unit 25 automatically maneuvers the ship 10 to the first intermediate target point a or the second intermediate target point b according to the set route r.

[0065] When one of the routes r stored in the storage unit 22 is selected, the control unit 25 reads the information of the selected route r and automatically controls the ship 10. The information of the route r includes the order of arrival of the ship 10 from the position p1 to the target berthing point p2 via each intermediate target point, the latitude and longitude coordinates (x1, y1) of each point, the water area with obstacles, etc., but the information of the route r is not limited to this. Figure 3 In the example shown, a route r1 is set from the position p1 of the ship 10 via the first intermediate target point a to the target berthing point p21, and a route r2 is set from the position p1 of the ship 10 via the second intermediate target point b and the first intermediate target point a to the target berthing point p22. Information of the route r1 and the route r2 is stored in the storage unit 22. For example, the route r2 is selected on the touch screen provided integrally with the display unit 24 of the control device 20 or the display screen of the display unit 14 of the ship 10. The control unit 25 reads the information of the route r2. The control unit 25 automatically controls the ship 10 so that it reaches the target berthing point p22 from the position p1 of the ship 10 via the second intermediate target point b and the first intermediate target point a.

[0066] S112: When the vessel 10 reaches the first intermediate target point a or the second intermediate target point b, the control unit 25 determines whether to continue the navigation of the vessel 10 to the first intermediate target point a or the target berthing point p2. If the navigation of the vessel 10 is continued, the process proceeds to S113, and if not, the control of the vessel 10 is terminated.

[0067] When the ship 10 reaches the first intermediate target point a or the second intermediate target point b, the ship operator visually confirms the safety of obstacles on the route or the navigation status of other ships. Therefore, the control unit 25 prompts the input of whether to continue the control to the target berthing point p2 or the first intermediate target point a on the touch screen provided integrally with the display unit 24 or the display screen of the display unit 14. If the input is not to continue or there is no input, the control unit 25 stops the ship 10 at the arrived location and ends the control of the ship 10.

[0068] S113: The control unit 25 automatically steers the ship 10 along the route from the first intermediate target point a or the second intermediate target point b to the first intermediate target point a or the target berth point p2 in the established route r based on the information of the route r established in S110.

[0069] S114: The control unit 25 determines whether the ship 10 has docked at the target docking point p2. If the ship 10 has not docked at the target docking point p2, the process returns to S112. If the ship 10 has docked, the automatic operation of the ship 10 is terminated.

[0070] As described above, the control device 20 according to the present embodiment sets the first intermediate target point a within the water area w when the ship 10 is outside the range of the water area w where automatic maneuvering to the target berthing point p2 can be started. When the distance of the vector v1 connecting the position of the ship 10 and the first intermediate target point a and the angle between the bow direction d of the ship 10 and the direction of the vector v1 satisfy the predetermined reference c (c1 and c2), the control device 20 sets the route r for the ship 10 to sail from the position p1 of the ship 10 via the set first intermediate target point a to the target berthing point p2. The control device 20 automatically maneuvers the ship 10 according to the set route r.

[0071] Thus, according to the present embodiment, even when the ship 10 is navigating outside the water area w where automatic maneuvering toward the target berthing point p2 can be started, a route r can be formulated for the ship 10 to dock at the target berthing point p2 by setting the first intermediate target point a in the water area w. Therefore, the technology related to the docking control of the ship 10 is improved in terms of improving the safety and convenience of the ship operator in docking the ship 10 at the target berthing point p2.

[0072] Although the present disclosure has been described based on the drawings and embodiments, it should be noted that those skilled in the art can make various modifications and changes based on the present disclosure. Therefore, it should be noted that these modifications and changes are included in the scope of the present disclosure. For example, the functions included in each component or each step can be reconfigured in a logically non-contradictory manner, and multiple components or steps can be combined into one or divided.

[0073] For example, in the above-mentioned embodiment, the configuration and operation of the control device 20 may be distributed among a plurality of computers that can communicate with each other. In addition, for example, an embodiment may be provided in which a part or all of the components of the control device 20 are provided on the ship 10 or the portable terminal 30. For example, the display device provided on the ship 10, the control device 20 or the portable terminal 30 may appropriately share the function of displaying information.

[0074] In this embodiment, the control device 20 automatically controls the ship 10 according to the established route r. If there is a route section in the route r, such as between the position p1 of the ship 10 and the intermediate target point, or between the intermediate target points, where it is difficult to satisfy the prescribed reference c, the ship 10 may be manually controlled in the route section.

[0075] In addition, for example, a general-purpose computer may be used as the control device 20 involved in the above-mentioned embodiment to function. Specifically, a program describing the processing content of each function of the control device 20 involved in the above-mentioned embodiment is stored in the memory of the general-purpose computer, and the processor reads out the program and executes it. Therefore, the present disclosure may also be implemented as a program executable by a processor or a non-temporary computer-readable medium storing the program.

Claims

1. A control device, which is a control device for automatically maneuvering a ship, The control device includes a control unit, and the control unit performs the following processing: When the ship is outside the range of waters where automatic maneuvering to the target berthing location can be started, a first intermediate target location is set within the range of the waters, When the distance of the vector connecting the position of the ship and the first intermediate target point and the angle between the bow direction of the ship and the direction of the vector satisfy a predetermined reference, a route for the ship to sail from the position of the ship via the set first intermediate target point to the target berthing point is established, The vessel is automatically maneuvered according to the established route.

2. The control device according to claim 1, wherein: When an obstacle is detected in the waters between the position of the ship and the first intermediate target point, the control unit sets a second intermediate target point in the waters for causing the ship to navigate around the obstacle. The second intermediate target point is set so that the predetermined reference is satisfied between the position of the ship and the second intermediate target point, and between the second intermediate target point and the first intermediate target point.

3. The control device according to claim 1, wherein: The control unit sets a second intermediate target point in the waters between the position of the ship and the first intermediate target point when the distance of the vector connecting the position of the ship and the first intermediate target point or the angle between the bow direction of the ship and the direction of the vector does not satisfy the prescribed criterion, The second intermediate target point is set so that the predetermined reference is satisfied between the position of the ship and the second intermediate target point, and between the second intermediate target point and the first intermediate target point.

4. The control device according to claim 2 or 3, wherein: The control unit performs the following processing: When two or more second intermediate destinations are set in the waters between the position of the ship and the first intermediate destination, a selection of an arrival order of the ship to each of the two or more second intermediate destinations is accepted; The route is formulated by associating the position of the ship, each of the two or more second intermediate destinations for which the arrival order is set, the first intermediate destination, and the target port of call.

5. A control method, which is a control method performed by a control device for automatically maneuvering a ship, The following processing is performed by the control device: When the vessel is outside the range of waters where automatic maneuvering to the target berthing location can be started, setting a first intermediate target location within the range of the waters; When the distance of the vector connecting the position of the ship and the first intermediate target point and the angle between the bow direction of the ship and the direction of the vector satisfy a predetermined reference, a route for the ship to sail from the position of the ship to the target berthing point via the set first intermediate target point is established; as well as The vessel is automatically maneuvered according to the established route.

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