Control device and control method

Abstract

A control device mounted on a vessel includes a control unit. The control unit is configured to set a first water area in which automatic manipulation for berthing the vessel at a berthing point can be started when the berthing point of the vessel is selected. The control unit is configured to display the parking point and the first water area together with map information on a display screen provided in the ship.

Description

Technical Field

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

[0002] Technologies related to ship mooring control are known so far. For example, Japanese Unexamined Patent Application Publication No. 2020-40470 (JP2020-40470A) discloses a technology for assisting an operation of mooring a ship. Summary of the invention

[0003] Ship mooring control cannot be started before the ship enters the waters within a predetermined range from the mooring location. However, the ship operator cannot grasp the waters where mooring control can be performed. Therefore, there is room for improvement in the technology related to ship mooring control.

[0004] The present disclosure is directed to improving the technology related to ship mooring control.

[0005] A first aspect of the present disclosure provides a control device installed on a ship, comprising a control unit. The control unit is configured to, when a berthing location of the ship is selected, set a first water area in which automatic maneuvering for berthing the ship at the berthing location can be started. The control unit is configured to display the berthing location and the first water area together with map information on a display screen provided in the ship.

[0006] According to the control device of the first aspect of the present disclosure, the control unit can be configured to obtain information about the position of the ship and the bow direction of the ship. The control unit can be configured to extract one or more registered places where the ship can berth based on the information. The control unit can be configured to display the one or more registered places on the display screen.

[0007] According to the control device of the first aspect of the present disclosure, the control unit may be configured to accept the selection of the berthing place when one of the one or more registered places is selected as the berthing place of the ship.

[0008] According to the control device of the first aspect of the present disclosure, the first water area may be a water area defined as follows: when the first circle is equally divided into two semicircles by a line parallel to the bow direction of the ship moored on the starboard side or the port side, the range of the water area occupies the interior of one of the two semicircles on the ocean side. The first circle may be a circle having a predetermined radius and centered at a location at a predetermined distance from the mooring location in the first direction. The first direction may be a direction orthogonal to the bow direction and on the ocean side.

[0009] According to the control device of the first aspect of the present disclosure, the control unit may be configured to set a second water area when an obstacle is detected in the first water area. The second water area is obtained by removing the area in which the obstacle exists from the first water area. The control unit may be configured to display the set second water area on the display screen instead of the first water area.

[0010] According to the control device of the first aspect of the present disclosure, the obstacle can be a man-made structure, an area where mooring is not allowed on the terrain or legally, or an object detected by a sensor set in the ship and hindering the navigation of the ship. The man-made structure can include a pier, a dock or a buoy displayed on the display screen.

[0011] According to the control device of the first aspect of the present disclosure, the control unit may be configured to set a portion of the first water area or a portion of the second water area as a third water area in which automatic maneuvering starts. The portion of the first water area or the portion of the second water area may be determined based on the bow direction of the ship when the ship is moored. The control unit may be configured to display the third water area on the display screen instead of the first water area or the second water area.

[0012] According to the control device of the first aspect of the present disclosure, the third water area may be a water area defined as follows: when the fourth water area is equally divided into two quarter circles by a line segment, the range of the water area occupies the interior of one of the two quarter circles on the stern side. The fourth water area may be a water area defined as follows: when the second circle is equally divided into two semicircles by a line parallel to the bow direction when the ship is moored on the starboard side or the port side, the range of the water area occupies the interior of one of the two semicircles on the ocean side. The first circle may be a circle having a predetermined radius and centered at a location at a predetermined distance from the mooring location in the first direction. The first direction may be a direction orthogonal to the bow direction and on the ocean side. The line segment may pass through the mooring location and be orthogonal to the bow direction when the ship is moored.

[0013] According to the control device of the first aspect of the present disclosure, the third water area may be determined according to whether the ship is moored at the mooring site on the starboard side or the port side.

[0014] According to the control device of the first aspect of the present disclosure, the control unit may be configured to display the position of the ship and the bow direction of the ship on the display screen together with the map information.

[0015] A second aspect of the present disclosure provides a control method performed by a control device installed on a ship. The control method includes: when a berthing location of a ship is selected, setting a first water area in which automatic maneuvering for berthing the ship at the berthing location can be started; and displaying the berthing location and the first water area together with map information on a display screen provided in the ship.

[0016] According to the control method of the second aspect of the present disclosure, it may also include: obtaining information about the position of the ship and the bow direction of the ship; extracting one or more registered locations where the ship can be moored based on the information; and displaying one or more registered locations on the display screen.

[0017] The control method according to the second aspect of the present disclosure may further include: when one of the one or more registered locations is selected as the berthing location of the ship, accepting the selection of the berthing location.

[0018] According to the control method of the second aspect of the present disclosure, the first water area may be a water area defined as follows: when the first circle is equally divided into two semicircles by a line parallel to the bow direction of the ship moored on the starboard side or the port side, the range of the water area occupies the interior of one of the two semicircles on the ocean side. The first circle may be a circle having a predetermined radius and centered at a location at a predetermined distance from the mooring location in the first direction. The first direction may be a direction orthogonal to the bow direction and on the ocean side.

[0019] The control method according to the second aspect of the present disclosure may further include: when an obstacle is detected in the first water area, setting a second water area; and displaying the set second water area on the display screen instead of the first water area. The second water area may be obtained by removing the area where the obstacle exists from the first water area.

[0020] According to the control method of the second aspect of the present disclosure, the obstacle may be a man-made structure, an area where mooring is not allowed on the terrain or legally, or an object detected by a sensor set in the ship and obstructing the navigation of the ship. The man-made structure may include a pier, a dock or a buoy displayed on the display screen.

[0021] The control method according to the second aspect of the present disclosure further includes: setting a portion of the first water area or a portion of the second water area as a third water area in which automatic maneuvering starts; and displaying the set third water area on the display screen instead of the first water area or the second water area. The portion of the first water area or the portion of the second water area can be determined according to the bow direction of the ship when the ship is moored.

[0022] According to the control method of the second aspect of the present disclosure, the third water area may be a water area defined as follows: when the fourth water area is equally divided into two quarter circles by a line segment, the range of the water area occupies the interior of one of the two quarter circles on the stern side. The fourth water area may be a water area defined as follows: when the first circle is equally divided into two semicircles by a line parallel to the bow direction when the ship is moored on the starboard side or the port side, the range of the water area occupies the interior of one of the two semicircles on the ocean side. The first circle may be a circle having a predetermined radius and centered at a location at a predetermined distance from the mooring location in the first direction. The first direction may be a direction orthogonal to the bow direction and on the ocean side. The line segment may pass through the mooring location and be orthogonal to the bow direction when the ship is moored.

[0023] According to the control method of the second aspect of the present disclosure, the third water area may be determined according to whether the ship is moored at the mooring site on the starboard side or the port side.

[0024] According to the control method of the second aspect of the present disclosure, the control device can display the position of the ship and the bow direction of the ship together with the map information on the display screen.

[0025] According to one embodiment of the present disclosure, technology related to ship mooring control is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Features, advantages, and technical and industrial significance of exemplary embodiments of the invention will be described below with reference to the accompanying drawings, in which like symbols represent like elements, and in which: Figure 1 is a block diagram showing an example of a schematic configuration of a system according to an embodiment of the present disclosure; Figure 2 is a flowchart showing an example of the operation of the control device; Figure 3 is a schematic diagram showing examples of names of parts of a ship; Figure 4 is a schematic diagram showing an example of a first water area; Figure 5 is a schematic diagram showing an example of a second water area; Figure 6 is a schematic diagram showing an example of a third water area; and Figure 7 is a schematic diagram showing an example of the third water area. DETAILED DESCRIPTION

[0027] Embodiments of the present disclosure will be described below. Overview of Embodiments

[0028] Will refer to Figure 1An overview of a system 1 according to an embodiment of the present disclosure is described. The system 1 includes a vessel 10, a control device 20, and a portable terminal 30. The vessel 10, the control device 20, and the portable terminal 30 are communicably connected to a network 2 including, for example, the Internet and a mobile communication network.

[0029] The ship 10 includes a control device 20. The ship 10 is communicably connected to the control device 20 through an electric wire. The ship 10 may be communicably connected to the control device 20 via a network 2.

[0030] The control device 20 is a computer provided in the ship 10. The control device 20 performs automatic operation for mooring the ship 10 at the mooring place. The control device 20 is communicable with the ship 10 through electric wires. The control device 20 is also communicable with the ship 10 and the portable terminal 30 via the network 2.

[0031] The portable terminal 30 may be, for example, a cellular phone, a smart phone, a tablet computer, a personal computer (PC), etc. owned by a ship operator. The portable terminal 30 is communicably connected to the control device 20 via the network 2 .

[0032] First, an overview of the present embodiment will be described, and details of the present embodiment will be discussed later. When a mooring place of the ship 10 is selected, the control device 20 sets a first water area in which automatic maneuvering for mooring the ship 10 at the selected mooring place can be started, and displays the selected mooring place and the set first water area on a display screen provided in the ship 10 together with map information.

[0033] In this way, according to the present embodiment, even when the ship 10 is sailing outside the waters where the automatic maneuvering to the anchoring place can be started, such waters can be displayed on the display screen provided in the ship 10. Thus, the ship operator can clearly see the ship operation destination through the display on the display screen, and can grasp the scope of such waters before the automatic maneuvering starts. Therefore, the technology related to ship anchoring control is improved to improve the convenience of the ship operator to grasp the waters.

[0034] Next, the components of the system 1 will be described in detail. Ship's structure

[0035] like Figure 1 As shown, the vessel 10 includes a communication unit 11, a positioning unit 12, a measuring unit 13, a display unit 14, a storage unit 15, a control unit 16, and a control device 20. The control device 20 will be discussed in detail later.

[0036] 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 through a wire. For example, although the communication interface connected to the network 2 is compatible with a mobile communication standard such as the 4th Generation (4G) or the 5th Generation (5G), this is not restrictive, and the communication interface may be compatible with any communication standard. In the present embodiment, the ship 10 is communicably connected to the communication unit 21 of the control device 20 through a wire via the communication unit 11. In addition, the ship 10 may be wirelessly connected to the communication unit 21 of the control device 20 via the communication unit 11 and the network 2.

[0037] The positioning unit 12 includes one or more devices for acquiring position information about the vessel 10. Specifically, although the positioning unit 12 includes a receiver supporting the Global Positioning System (GPS), this is not limiting and the positioning unit 12 may include a receiver supporting any satellite positioning system.

[0038] 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 atmospheric pressure sensor, etc. However, the measuring unit 13 may include other sensors.

[0039] The display unit 14 is configured to include at least one display interface capable of displaying characters or images. Although the display unit 14 may be, for example, a chart plotter, this is not restrictive. For example, the display interface may be a display such as a liquid crystal display (LCD) or an organic electroluminescence (EL) display. However, the display interface is not limited thereto. For example, the display unit 14 displays information such as the berthing location and waters of the vessel 10 together with the map information.

[0040] The storage unit 15 includes one or more memories. Although the memory may be, for example, a semiconductor memory, a magnetic memory, or an optical memory, these are not limiting. For example, the memory included in the storage unit 15 may be used as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 15 stores any information used for the operation of the vessel 10. For example, the storage unit 15 may store system programs, application programs, embedded software, map information, a list of berthing places, etc. For example, the information stored in the storage unit 15 may be updateable using information acquired from the network 2 via the communication unit 11.

[0041] The control unit 16 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, and combinations of these. Although the processor may be a general-purpose processor, such as a central processing unit (CPU) or a graphics processing unit (GPU) or a dedicated processor dedicated to a specific process, these are not limiting. Although the programmable circuit may be, for example, a field programmable gate array (FPGA), this is not limiting. Although the dedicated circuit may be an application specific integrated circuit (ASIC), this is not limiting. The control unit 16 controls the operation of the entire ship 10. Control device configuration

[0042] like Figure 1 As 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 .

[0043] 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. Although the communication interface connected to the network 2 is compatible with a mobile communication standard such as 4G or 5G, this is not restrictive, and the communication interface may be compatible with any communication standard. In the present embodiment, the control device 20 is communicably connected to the communication unit 11 of the ship 10 by wire via the communication unit 21. In addition, the control device 20 may be wirelessly connected to the communication unit 11 of the ship 10 and the communication unit 31 of the portable terminal 30 via the communication unit 21 and the network 2.

[0044] The storage unit 22 includes one or more memories. For example, the memory included in the storage unit 22 may be used as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores any information for controlling the operation of the device 20. For example, the storage unit 22 may store system programs, application programs, databases, map information, a list of possible registered places for berthing, a selected berthing place (desired berthing place) of the ship 10, etc. For example, the information stored in the storage unit 22 may be updateable using information acquired from the network 2 via the communication unit 21.

[0045] The input unit 23 is configured to include at least one input interface that can receive an input from an operator of the vessel 10. For example, the input interface may be a physical key, a capacitive key, a pointing device, a camera, a touch screen integrated with a display of the display unit 24 discussed later, or a microphone that picks up a voice from the operator. However, the input interface is not limited thereto.

[0046] The display unit 24 is configured to include at least one display interface capable of displaying characters or images. For example, the display interface may be a display such as a liquid crystal display (LCD) or an organic electroluminescent (EL) display. However, the display interface is not limited thereto. For example, the display unit 24 displays information such as a selection list of candidates for the berthing place of the ship 10. The display unit 24 may have a function of displaying information such as the berthing place and water area of ​​the ship 10 together with map information.

[0047] The control unit 25 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, and combinations thereof. The control unit 25 controls the operation of the entire control device 20 . Structure of portable terminal

[0048] like Figure 1 As shown, the portable terminal 30 includes a communication unit 31 , a positioning unit 32 , an input unit 33 , an output unit 34 , a storage unit 35 , and a control unit 36 ​​.

[0049] The communication unit 31 is configured to include at least one communication module that can be connected to the network 2. The communication module can be a communication module compatible with a mobile communication standard (e.g., Long Term Evolution (LTE), 4G or 5G). However, the communication module is not limited thereto. The communication module can be compatible with any communication standard.

[0050] The positioning unit 32 can obtain location information about the portable terminal 30. The positioning unit 32 is configured to include at least one receiving module that supports a satellite positioning system. For example, the receiving module can be a receiving module that supports GPS. However, the receiving module is not limited thereto. The receiving module can be a receiving module that supports any satellite positioning system.

[0051] The input unit 33 is configured to include at least one input interface capable of receiving input from an operator of the vessel 10. The input interface may be, for example, a physical key, a capacitive key, a pointing device, a touch screen integrated with a display, or a microphone. However, the input interface is not limited thereto.

[0052] The output unit 34 can output data. The output unit 34 is configured to include at least one output interface capable of outputting data. For example, the output interface can be a display or a speaker. For example, the display can be an LCD, an organic EL display, etc. However, the output interface is not limited thereto.

[0053] The storage unit 35 includes one or more memories. Although the memory may be, for example, a semiconductor memory, a magnetic memory, or an optical memory, these are not restrictive. For example, the memory included in the storage unit 35 may be used as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 35 stores any information used for the operation of the portable terminal 30. For example, the storage unit 35 may store system programs, applications, embedded software, etc. For example, the storage unit 35 may store an application that displays information such as the berthing location and water area of ​​the ship 10 together with map information. For example, the information stored in the storage unit 35 may be updateable using information obtained from the network 2 via the communication unit 31.

[0054] The control unit 36 ​​is configured to include at least one processor, at least one dedicated circuit, or a combination of these. The control unit 36 ​​performs processing related to the operation of the portable terminal 30 while controlling each unit of the portable terminal 30. Control device operation flow

[0055] Reference Figure 2 The operation of the control device 20 according to the present embodiment is described. The operation involves setting and displaying a water area in which automatic maneuvering for mooring the ship 10 at the selected mooring place can be started.

[0056] In S101 , the control unit 25 acquires information on the position p1 and the bow direction d of the ship 10 .

[0057] Figure 3 is a schematic diagram showing examples of names of parts of the ship 10. In the present disclosure, the front half of the hull of the ship 10 is referred to as the "bow", the rear half of the hull is referred to as the "stern", the right side surface (wide side) of the hull is referred to as the "starboard side", and the left side surface (wide side) of the hull is referred to as the "port side". The bow direction d of the ship 10 will be discussed later. Although the ship 10 is described in the present disclosure as sailing in the ocean 3, the ship 10 may sail in waters other than the ocean, such as lakes, canals, and rivers.

[0058] Figure 4 is a schematic diagram showing an example of the first water area z1. Figure 4As shown, the information about the position p1 of the ship 10 includes the coordinates (x1, y1) of the latitude and longitude of the location where the ship 10 is located. For example, the positioning unit 12 of the ship 10 acquires the information about the position p1 (x1, y1) of the ship 10 using a receiver supporting GPS.

[0059] At the same time, if Figure 4 As shown, the information about the bow direction d of the ship 10 includes the azimuth to which the bow of the ship 10 is pointed, as indicated by the arrow. When the north direction is defined as 0°, the bow direction d of the ship 10 is measured from the north direction to the right until 360°. Although the bow direction d is measured using a GPS compass, the measurement method is not limited thereto. The GPS compass is a device that uses a plurality of GPS antennas to observe the phase difference between carrier radio waves (carrier waves) from GPS satellites to calculate the direction of the antenna relative to a reference antenna (called a baseline vector) with high accuracy. The bow direction d of the ship 10 can be measured using a gyrocompass or a magnetic compass.

[0060] In S102 , the control unit 25 extracts one or more registration places where the ship 10 may be anchored based on information about the position p1 and the bow direction d of the ship 10 , and displays the extracted one or more registration places where the ship 10 may be anchored on a display screen provided in the ship 10 .

[0061] The control unit 25 searches for one or more registered places at a short distance from the ship 10 stored in the storage unit 22 based on the position p1 and the bow direction d of the sailing ship 10, and displays the extracted one or more registered places where the ship 10 may be anchored on the display screen of the display unit 14 of the ship 10. The control unit 25 transmits information about the 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 can display the information about the one or more registered places on the display screen of the display unit 24 of the control device 20 provided in the ship 10.

[0062] In S103, when one of the one or more registered places is selected as the anchorage place p3 (x3, y3) of the ship 10, the control unit 25 accepts the selected anchorage place p3 (x3, y3).

[0063] The control unit 25 stores the accepted parking location p3 (x3, y3) in the storage unit 22.

[0064] In S104, when the anchorage place p3 of the vessel 10 is selected, the control unit 25 sets the first water area z1 in which the automatic maneuvering for anchoring the vessel 10 at the selected anchorage place p3 can be started.

[0065] Figure 4 is a schematic diagram showing an example of the first water area z1. Figure 4 As shown in , the first water area z1 is a water area defined as follows: when a circle having a predetermined radius n and centered at a point p2 (x2, y2) which is orthogonal to the bow direction d of the ship 10 moored on the starboard side or the port side and a predetermined distance m from the mooring point p3 (x3, y3) in the direction of the ocean side is equally divided into two semicircles by a line parallel to the bow direction d, the range of the water area occupies the inside of one semicircle on the ocean side. The predetermined distance m and the radius n of the semicircle have values ​​determined by the distance at which the mooring operation can be started based on the accuracy of the device provided in the positioning unit 12 to measure the position of the ship 10 and the size of the ship 10. The point p2 (x2, y2) is a stop point where the ship 10 that has entered the first water area z1 temporarily stops before mooring.

[0066] In S105 , the control unit 25 displays the selected anchorage point p3 and the set first water area z1 on a display screen provided in the ship 10 together with map information.

[0067] The control unit 25 transmits information about the selected anchorage place p3 and the set first water area z1 to the display unit 14 of the ship 10 via the communication unit 21 and the communication unit 11 of the ship 10 .

[0068] The display unit 14 of the ship 10 may be, for example, a chart plotter. The chart plotter is an electronic device installed for navigation of the ship 10, and displays the position p1, bow direction d, speed, etc. of the ship on an electronic nautical chart. In addition, the chart plotter may also 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 may display map information. The map information includes maps of waters and coastal areas throughout the country or in a predetermined area.

[0069] Furthermore, the display unit 24 of the control device 20 may have a function of displaying the selected anchorage point p3 and the set first water area z1 together with the map information. In this case, the “display screen provided in the ship 10” may include the display unit 24 of the control device 20 installed on the ship 10 in addition to the display unit 14 of the ship 10. The display unit 24 displays the selected anchorage point p3 and the set first water area z1 on the display screen together with the map information.

[0070] Further, the control unit 25 can transmit information about the anchorage place p3 and the first water area z1 of the ship 10 together with the map information to the output unit 34 via the communication unit 31 of the portable terminal 30 which can start an application for displaying such information. In this case, the anchorage place p3 and the first water area z1 are displayed together with the map information on the display (output unit 34) of the portable terminal 30. This further improves the convenience for the ship operator to grasp the first water area z1 as the ship operation destination.

[0071] The control unit 25 may display the position p1 and the bow direction d of the ship 10 together with the map information on the display screen of the display unit 14, the display unit 24, or the output unit 34. This makes the ship operation destination of the ship 10 clearer.

[0072] In S106 , the control unit 25 monitors whether there is any obstacle in the first water area z1 .

[0073] Obstacles may be man-made structures displayed on the display, including piers (docks) 6, land 4 and buoys 5, areas where anchoring is not permitted topographically or legally, or objects detected by sensors provided in the vessel 10 and obstructing the navigation of the vessel 10.

[0074] In S107 , when an obstacle is detected in the first water area z1 , the control unit 25 sets the second water area z2 by removing the area in which the obstacle exists from the first water area z1 .

[0075] Figure 5 is a schematic diagram showing an example of the second water area z2. Figure 5 As shown in, the second water area z2 is set by removing the area where there are artificial structures such as piers (piers) 6, land 4 and buoys 5 from the first water area z1. The piers (piers) 6 and the areas where mooring is not allowed topographically or legally are acquired from map information. At the same time, objects floating in the ocean 3 and hindering the navigation of the ship 10 are detected by sensors set in the measuring unit 13 of the ship 10. Although the sensor can be a sonar or a radar, for example, these are not restrictive. Sonar is a device used as a fish finder in various ships. Radar is a device that measures the accurate distance to such a ship or object by emitting radio waves (microwaves), measuring the time before the reflected wave is returned from another ship or object (such as a floating object) located on the line of travel of the radio waves, and converting the time into a distance.

[0076] In S108 , the control unit 25 displays the second water area z2 on the display screen provided in the ship 10 instead of the first water area z1 .

[0077] The control unit 25 may display the second water area z2 on the display screen of the display unit 24 or the output unit 34. The control unit 25 may display the position p1 and the bow direction d of the ship 10 together with the map information on the display screen. This makes the ship operation destination of the ship 10 clearer.

[0078] In S109 , the control unit 25 sets a portion of the first water area z1 or the second water area z2 determined according to the bow direction d of the ship 10 when the ship 10 is anchored as a third water area z3 in which the automatic maneuvering can be started.

[0079] The first water area z1 is a water area defined as follows: when a circle having a predetermined radius n and centered at a point p2 which is orthogonal to the bow direction d of the ship 10 moored on the starboard side or the port side and a predetermined distance m from the anchoring point p3 in the direction of the ocean side is equally divided into two semicircles by a line parallel to the bow direction d, the range of the water area occupies the inside of one semicircle on the ocean side. The second water area z2 is a water area obtained by removing an area in which obstacles such as a pier (pier) 6, land 4, and buoy 5 exist from the first water area z1. The third water area z3 is a water area defined as follows: when the first water area z1 (a water area whose range occupies the inside of the semicircle on the ocean side) or the second water area z2 (a water area obtained by removing obstacles from the inside of the semicircle on the ocean side) is equally divided into two quarter circles by a line segment passing through the anchoring point p3 and orthogonal to the bow direction d when the ship 10 is moored, the range of the water area occupies the inside of one quarter circle on the stern side.

[0080] Figure 6 and Figure 7 Each is a schematic diagram showing an example of the third water area z3. Figure 6 and Figure 7 As shown in FIG. 1 , the third water area z3 is determined according to whether the vessel 10 is to be moored at the mooring location p3 on the starboard side or the port side. Figure 6 The third water area z3 is set when the ship 10 that has entered from the ocean in the northeast direction is to be anchored with the bow direction d in the west direction (bow direction d=270°), for example. Figure 7 The third water area z3 is shown as being set when, for example, the ship 10 that has entered from the ocean in the northwest direction is to be anchored with the bow direction d in the east direction (bow direction d=90°). This enables the ship operator to understand that the range of the water area in which automatic maneuvering can be started is different depending on the bow direction d at anchoring.

[0081] In S110 , the control unit 25 displays the set third water area z3 on the display screen provided in the ship 10 instead of the first water area z1 or the second water area z2 .

[0082] The control unit 25 may also display the third water area z3 on the display screen of the display unit 24 or the output unit 34. Figure 6 and Figure 7 As shown, the control unit 25 can display the position p1 and the bow direction d of the ship 10 together with the map information on the display screen. This makes the ship operation destination of the ship 10 clearer.

[0083] In S111 , the control unit 25 causes the ship 10 to enter the first water area, the second water area, or the third water area.

[0084] In S112 , when the ship 10 enters the first water area, the second water area, or the third water area, the control unit 25 starts automatic operation for mooring the ship 10 .

[0085] When a predetermined button provided in the input unit 23 or a predetermined icon displayed on a touch screen provided integrally with the display screen (display) of the display unit 24 is selected, a selection screen for a berthing place of the ship 10 is displayed. When a selection is received on the selection screen and the berthing place p3 stored in the storage unit 22 is selected, the control unit 25 starts automatic manipulation for berthing the ship 10 at the selected berthing place p3.

[0086] As described above, when the berthing place of the ship 10 is selected, the control device 20 according to the present embodiment sets the first water area z1 in which automatic maneuvering for berthing the ship 10 at the selected berthing place p3 can be started, and displays the selected berthing place p3 and the set first water area z1 together with map information on a display screen provided in the ship 10.

[0087] In this way, according to the present embodiment, even when the ship 10 is sailing outside the waters where the automatic maneuvering of the mooring place p3 can be started, such waters are displayed on the display screen provided in the ship 10. Thus, the ship operator can clearly see the ship operation destination through the display on the display screen, and can grasp the range of such waters before the start of the automatic maneuvering. Therefore, the technology related to the control for mooring the ship 10 is improved to improve the convenience of the ship operator in grasping the waters.

[0088] Although the present disclosure has been described based on the drawings and embodiments, it should be noted that those skilled in the art may make various modifications and changes based on the present disclosure. Therefore, it should be noted that these modifications and changes are included within the scope of the present disclosure. For example, the functions included in the components, steps, etc. may be rearranged so as not to be logically contradictory to each other, and multiple components, steps, etc. may be combined into one or divided.

[0089] For example, an embodiment in which the components and operations of the control device 20 according to the above-described embodiment are distributed to a plurality of computers that can communicate with each other is also possible. In addition, for example, an embodiment in which part or all of the constituent elements of the control device 20 are provided in the ship 10 or the portable terminal 30 is also possible. For example, a function of displaying information may be distributed to a display device provided in the ship 10, the control device 20, and the portable terminal 30.

[0090] In addition, for example, it is also possible to use a general-purpose computer as an embodiment of the control device 20 according to the above-described embodiment. Specifically, a program describing the content of the process of realizing the function of the control device 20 according to the above-described embodiment is stored in a memory of a general-purpose computer, and the program is read and executed by a processor. Therefore, the present disclosure can also be implemented as a program that can be executed by a processor or a non-transitory computer-readable medium storing the program.

[0091] The following illustrates a part of the embodiments of the present disclosure. However, the embodiments of the present disclosure are not limited thereto.

Claims

1. A control device installed on a ship, characterized in that: The control device comprises a control unit, wherein: The control unit is configured to, when a mooring place of the ship is selected, set a first water area in which automatic maneuvering for mooring the ship at the mooring place can be started; and The control unit is configured to display the anchorage location and the first water area together with map information on a display screen provided in the vessel.

2. The control device according to claim 1, characterized in that: The control unit is configured to obtain information about the position of the vessel and the bow direction of the vessel; The control unit is configured to extract one or more registration locations where the vessel can be moored based on the information; and The control unit is configured to display the one or more registered places on the display screen.

3. The control device according to claim 2, characterized in that: The control unit is configured to accept selection of the berthing place when one of the one or more registered places is selected as the berthing place of the ship.

4. The control device according to claim 1, characterized in that: The first water area is defined as follows: when the first circle is equally divided into two semicircles by a line parallel to the bow direction of the ship moored on the starboard side or the port side, the range of the water area occupies the interior of one of the two semicircles on the ocean side; The first circle is a circle having a predetermined radius and centered at a point a predetermined distance from the parking point in a first direction; and The first direction is a direction perpendicular to the bow direction and on the ocean side.

5. The control device according to claim 1, characterized in that: The control unit is configured to set a second water area when an obstacle is detected in the first water area; The second water area is obtained by removing the area in which the obstacle exists from the first water area; and The control unit is configured to display the set second water area on the display screen instead of the first water area.

6. The control device according to claim 5, characterized in that: The obstacle is a man-made structure, an area where anchoring is not permitted topographically or legally, or an object detected by a sensor disposed in the vessel and obstructing the navigation of the vessel; and The man-made structure includes a jetty, a pier or a buoy displayed on the display.

7. The control device according to claim 5, characterized in that: The control unit is configured to set a portion of the first water area or a portion of the second water area as a third water area in which the automatic maneuvering is started; The portion of the first water area or the portion of the second water area is determined according to the bow direction of the ship when the ship is anchored; and The control unit is configured to display the third water area on the display screen instead of the first water area or the second water area.

8. The control device according to claim 7, characterized in that: The third water area is defined as follows: when the fourth water area is equally divided into two quarter circles by a line segment, the range of the water area occupies the interior of one of the two quarter circles on the stern side; The fourth water area is defined as follows: when the first circle is equally divided into two semicircles by a line parallel to the bow direction when the ship is moored on the starboard side or the port side, the range of the fourth water area occupies the interior of one of the two semicircles on the ocean side; The first circle is a circle having a predetermined radius and centered at a location a predetermined distance from the parking location in a first direction; The first direction is a direction perpendicular to the bow direction and on the ocean side; and The line segment passes through the berthing location and is orthogonal to the bow direction of the ship when the ship is berthed.

9. The control device according to claim 7, characterized in that: The third water area is determined according to whether the ship is moored at the mooring location on the starboard side or the port side.

10. The control device according to any one of claims 1 to 9, characterized in that: The control unit is configured to display the position of the ship and the bow direction of the ship together with the map information on the display screen.

11. A control method performed by a control device installed on a ship, characterized in that: include: When a mooring place of a ship is selected, setting a first water area in which automatic maneuvering for mooring the ship at the mooring place can be started; as well as The anchorage location and the first water area are displayed together with map information on a display screen provided in the vessel.

12. The control method according to claim 11, characterized in that: Also includes: obtaining information about the position of the vessel and the heading of the vessel; extracting one or more registration places where the ship can berth based on the information; as well as The one or more registered places are displayed on the display screen.

13. The control method according to claim 12, characterized in that: Also includes: When one of the one or more registration places is selected as the berthing place of the ship, the selection of the berthing place is accepted.

14. The control method according to claim 11, characterized in that: The first water area is defined as follows: when the first circle is equally divided into two semicircles by a line parallel to the bow direction of the ship moored on the starboard side or the port side, the range of the water area occupies the interior of one of the two semicircles on the ocean side; The first circle is a circle having a predetermined radius and centered at a point a predetermined distance from the parking point in a first direction; and The first direction is a direction perpendicular to the bow direction and on the ocean side.

15. The control method according to claim 11, characterized in that: Also includes: When an obstacle is detected in the first water area, setting a second water area; as well as The set second water area is displayed on the display screen instead of the first water area, wherein the second water area is obtained by removing a region in which the obstacle exists from the first water area.

16. The control method according to claim 15, characterized in that: The obstacle is a man-made structure, an area where anchoring is not permitted topographically or legally, or an object detected by a sensor disposed in the vessel and obstructing the navigation of the vessel; and The man-made structure includes a jetty, a pier or a buoy displayed on the display.

17. The control method according to claim 15, characterized in that: Also includes: setting a portion of the first water area or a portion of the second water area as a third water area in which the automatic maneuvering is to be started; as well as The third water area is displayed on the display screen instead of the first water area or the second water area, wherein the portion of the first water area or the portion of the second water area is determined based on the bow direction of the ship when the ship is anchored.

18. The control method according to claim 17, characterized in that: The third water area is defined as follows: when the fourth water area is equally divided into two quarter circles by a line segment, the range of the water area occupies the interior of one of the two quarter circles on the stern side; The fourth water area is defined as follows: when the first circle is equally divided into two semicircles by a line parallel to the bow direction when the ship is moored on the starboard side or the port side, the range of the fourth water area occupies the interior of one of the two semicircles on the ocean side; The first circle is a circle having a predetermined radius and centered at a location a predetermined distance from the parking location in a first direction; The first direction is a direction perpendicular to the bow direction and on the ocean side; and The line segment passes through the berthing location and is orthogonal to the bow direction of the ship when the ship is berthed.

19. The control method according to claim 17, characterized in that: The third water area is determined according to whether the ship is moored at the mooring location on the starboard side or the port side.

20. The control method according to any one of claims 11 to 19, characterized in that: The control device displays the position of the ship and the bow direction of the ship on the display screen together with the map information.

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