Autonomous sailing ship

Abstract

An autonomous navigation ship according to an embodiment is provided with a hull, a vertical sail, an information collection device, a control device, a positioning device, an autonomous navigation device, and a wing sail. The longitudinal sail is arranged on the mast, and the mast is vertically arranged on the ship body. The information collection device collects weather information and ocean information around the ship body. The control device controls the orientation of the longitudinal sail so that the propulsion force of the hull is maximized on the basis of the weather information and the marine information collected by the information collection device. And the positioning device positions the position of the ship body. The autonomous navigation device controls the rudder to navigate the hull from the current ground to the destination based on the position of the hull positioned by the positioning device. The wing sails are arranged on two sides of the ship body and apply lift force to the ship body in navigation so as to enable the ship body to float.

Description

TECHNICAL FIELD

[0001] The disclosed embodiments relate to an autonomous sailing vessel. BACKGROUND

[0002] In the related art, there is a sailing vessel that sails using a motor driven by the electric power of a storage battery as a driving source, and that has a control unit that automatically controls the sailing of the vessel from a current location to a destination using a GPS (Global Positioning System) or the like (see, for example, Patent Literature 1).

[0003] PRIOR ART LITERATURE PATENT LITERATURE Patent Literature 1: Japanese Patent Application Publication No. 2017-178281 SUMMARY

[0004] (Problems to be Solved by the Invention) However, an autonomous sailing vessel that sails using a motor driven by the electric power of a storage battery as a driving source needs to charge the storage battery using a commercial power source or the like in order to sail, and the cost required for sailing is high.

[0005] One aspect of the technical solution is proposed in view of the above situation, and aims to provide an autonomous sailing vessel that can reduce the cost required for sailing.

[0006] (Technical Solution to Solve the Problems) The autonomous sailing vessel according to one aspect of the technical solution has a hull, a fore-and-aft sail, an information collecting device, a control device, a positioning device, an autonomous sailing device, and a wing sail. The fore-and-aft sail is set on a mast that is vertically provided on the hull. The information collecting device collects weather information and ocean information around the hull. The control device controls the orientation of the fore-and-aft sail based on the weather information and the ocean information collected by the information collecting device so that the propulsion of the hull is maximized. The positioning device positions the location of the hull. The autonomous sailing device controls a rudder based on the location of the hull positioned by the positioning device so that the hull sails from a current location to a destination. The wing sail is provided on both sides of the hull, and imparts lift to the hull in sailing to make the hull float.

[0007] (Effects of the Invention) The autonomous sailing vessel according to one aspect of the technical solution has the effect of being able to reduce the cost required for sailing. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 is a side view explanatory diagram of the autonomous sailing vessel according to the first embodiment.

[0009] Figure 2 This is a front view illustration of the autonomous navigation vessel involved in the first embodiment.

[0010] Figure 3 This is a top view illustration of the autonomous navigation vessel involved in the first embodiment.

[0011] Figure 4 This is a functional block diagram illustrating an example of the internal structure of an autonomously navigating vessel according to the first embodiment.

[0012] Figure 5 This is a side view illustration of the autonomous navigation vessel involved in the first embodiment during navigation.

[0013] Figure 6 This is an explanatory diagram of the flapping motion of the wing sail according to the first embodiment.

[0014] Figure 7 This is a side view illustration of the autonomous navigation vessel involved in the second embodiment.

[0015] Figure 8 This is a functional block diagram illustrating an example of the internal structure of an autonomously navigating vessel according to the second embodiment.

[0016] Figure 9 This is an explanatory diagram showing the route selection of the autonomously navigating vessel according to the second embodiment.

[0017] Figure 10 This is an explanatory diagram showing the route selection of the autonomously navigating vessel according to the second embodiment.

[0018] Figure 11 This is a flowchart illustrating an example of the processing performed by the autonomous navigation device according to the third embodiment.

[0019] Figure 12 This is a flowchart illustrating an example of the processing performed by the autonomous navigation device according to the third embodiment. Detailed Implementation

[0020] Hereinafter, embodiments of the autonomous navigation vessel will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments shown below.

[0021] [1. First Embodiment] [1-1. Appearance of the autonomous navigation vessel according to the first embodiment] First, refer to Figures 1-3 To illustrate the appearance of the autonomous navigation vessel involved in the first embodiment. Figure 1 This is a side view illustration of the autonomous navigation vessel 1 according to the first embodiment. Figure 2is a front view of the autonomous sailing ship 1 according to the first embodiment. Figure 3 is a plan view of the autonomous sailing ship 1 according to the first embodiment. Further, Figure 1 and Figure 2 shows the autonomous sailing ship in a stopped state. Figure 1 and Figure 2 The dashed line shown in

[0022] As shown in Figures 1-3 , the autonomous sailing ship 1 according to the first embodiment is provided with a hull 2, a mast 3, a fore sail 4, a rudder 5, a propeller 6, a wing sail 7, and a hydrofoil 8. The autonomous sailing ship 1 is used for the transportation of goods, as shown in Figure 1 , the autonomous sailing ship 1 according to the first embodiment is provided with a space 17 capable of storing goods in the inside of the hull 2. The mast 3 is vertically provided to the hull 2. The fore sail 4 is set to the mast 3. The mast 3 receives wind and imparts a propulsive force to the hull 2.

[0023] The rudder 5 is provided to the rear bottom of the hull 2. The rudder 5 is driven by the autonomous sailing device 15 (refer to Figure 4 ) to be described later to change the course of the hull 2. The propeller 6 is rotationally driven by the electric motor 11 (refer to Figure 4 ) provided in the inside of the hull 2 to impart a propulsive force to the hull 2.

[0024] That is, the autonomous sailing ship 1 is a hybrid ship that converts wind power and electric power into a propulsive force to sail. Therefore, the autonomous sailing ship 1 reduces the consumption of electric power and fossil fuel as compared to a ship that sails only by electric power or only by fossil fuel, and thus can reduce the cost required for sailing.

[0025] In addition, the wing sail 7 is provided to the two sides of the hull 2. Specifically, the wing sail 7 is provided so as to protrude in the direction of the outside of the hull 2 from the right side surface and the left side surface, respectively, with reference to the advancing direction of the hull 2. In addition, the wing sail 7 has a shape that imitates the main wing of an airplane. Thus, the wing sail 7 can impart a lift to the hull 2 in sailing, that is, in advancing, to make the hull 2 float.

[0026] In addition, the hydrofoil 8 is provided to the bottom surface, that is, the bottom, of the hull 2. The hydrofoil 8 has a shape that imitates the main wing of an airplane. Thus, the hydrofoil 8 can impart a lift to the hull 2 in sailing, that is, in advancing, to make the hull 2 float.

[0027] In addition, a solar panel 9 that converts sunlight into electricity is provided to the upper surface of the wing sail 7, that is, the surface on the opposite side to the side that faces the water surface. In addition, the hull 2 is provided with the solar panel 9 on the deck. The electric power generated by the solar panel 9 is supplied to the electric motor 11 (refer to Figure 4 ) that drives the propeller 6.

[0028] [1-2. Internal configuration of the autonomous sailing vessel according to the first embodiment] Next, the internal configuration of the autonomous sailing vessel 1 according to the first embodiment will be described with reference to Figure 4 Figure 4 is a functional block diagram showing an example of the internal configuration of the autonomous sailing vessel 1 according to the first embodiment. Here, the same reference numerals are assigned to the same components as those shown in Figures 1-3 Figures 1-3 and the same reference numerals are assigned to the same components as those shown in

[0029] As shown in Figure 4 , the autonomous sailing vessel 1 is provided with a storage battery 10, an electric motor 11, an information collecting device 12, a control device 13, a positioning device 14, an autonomous sailing device 15, and an electric drive device 16 inside the hull 2.

[0030] The storage battery 10 is a secondary battery capable of charging and discharging. For example, the storage battery 10 is a Li (Lithium ion) battery. The storage battery 10 stores electricity generated by the solar panel 9 and supplies electric power to the electric motor 11, the information collecting device 12, the control device 13, the positioning device 14, the autonomous sailing device 15, and the electric drive device 16. The electric motor 11 is driven and controlled by the autonomous sailing device 15.

[0031] The information collecting device 12 is configured to be able to communicate with a weather satellite and a weather server provided on land. The information collecting device 12 receives and collects weather information and ocean information around the hull 2 from at least either one of the weather satellite and the weather server.

[0032] For example, the information collecting device 12 collects and outputs information such as weather forecasts, barometric configurations, satellite photos, directions and speeds of ocean currents, heights of waves, and the like around the hull 2 to the control device 13. In addition, the information collecting device 12 is also provided with various sensors such as a wind speed sensor, a wind direction sensor, and a barometric pressure sensor, and can be configured to acquire weather information and ocean information using the various sensors.

[0033] The control device 13 includes a microcomputer having a CPU (Central Processing Unit), a ROM (ReadOnly Memory), a RAM (Random Access Memory), and the like, and various circuits. The control device 13 controls the longitudinal sail 4 and the electric drive device 16 by using the RAM as a work area and executing a program stored in the ROM by the CPU.

[0034] ​​In addition, part or all of the control device 13 may be composed of hardware such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

[0035] The control device 13 is equipped with AI (Artificial Intelligence), which controls the orientation of the fore-and-aft sails 4 based on meteorological and oceanographic information collected by the information collection device 12, so that the propulsion of the hull 2 ​​is maximized.

[0036] Therefore, the autonomously sailing vessel 1 is not affected by the crew's skills or experience. The AI ​​constantly adjusts the orientation of the fore-and-aft sails 4 to the optimal orientation, thus maximizing the use of wind power for propulsion. Furthermore, the control device 13 continuously or as needed controls the electric drive unit 16 to drive the wing sails 7. For an example of the operation of the wing sails 7, refer to... Figure 6 This will be discussed later.

[0037] The positioning device 14 is equipped with GPS (Global Positioning System), which is a device for locating the current position of the hull 2. The positioning device 14 outputs the located current position of the hull 2 ​​to the autonomous navigation device 15.

[0038] The autonomous navigation device 15 stores map information and nautical chart information. Based on the map information, nautical chart information, the location of the pre-input destination, and the current position of the hull 2 ​​input from the positioning device 14, the autonomous navigation device 15 controls the rudder 5, the electric motor 11, and the control device 13 to enable the hull 2 ​​to navigate from its current location to its destination.

[0039] Therefore, the autonomous vessel 1 does not require human intervention for ship handling, but can navigate using automatic ship control powered by wind and solar energy. In other words, the autonomous vessel 1 eliminates the costs of electricity for charging the battery 10, fuel for driving the internal combustion engine, and labor costs for ship handling. Thus, the autonomous vessel 1 significantly reduces the costs associated with navigation.

[0040] [1-3. Navigation attitude of the autonomous vessel involved in the first embodiment] Next, refer to Figure 5 To illustrate the navigation posture of the autonomous navigation vessel 1 involved in the first embodiment. Figure 5 This is a side view illustration of the autonomous navigation vessel 1 according to the first embodiment during navigation.

[0041] likeFigure 5 As shown, the autonomous vessel 1 propels itself forward based on the propulsion generated by the wind from the fore-and-aft sails 4 and the propulsion generated by the rotation of the propeller 6. Furthermore, the autonomous vessel 1 navigates without rotating the propeller 6 while achieving the necessary sufficient speed based on the propulsion from the fore-and-aft sails 4.

[0042] Furthermore, if the sailing speed exceeds a predetermined speed, the autonomous vessel 1 will float upwards based on the lift generated by the wing sail 7 and the hydrofoil 8. At this time, the bottom of the autonomous vessel 1 will appear V-shaped when viewed from the front (see reference). Figure 2 Therefore, compared with when hull 2 ​​is not floating, the contact area between hull 2 ​​and water is smaller.

[0043] As a result, the resistance experienced by the hull 2 ​​of the autonomous vessel 1 from the water is reduced, thus enabling an increase in sailing speed compared to the case without the wing sail 7 and hydrofoils 8. Furthermore, the autonomous vessel 1 can further buoy its hull 2 ​​by driving the wing sail 7.

[0044] [1-4. Wing flapping motion of the wing sail according to the first embodiment] Next, refer to Figure 6 To illustrate the flapping motion of the wing sail 7 involved in the first embodiment. Figure 6 This is an explanatory diagram of the flapping motion of the wing sail 7 according to the first embodiment.

[0045] When the lift generated by the hydrofoil 8 and the fixed-wing sail 7 is insufficient to make the hull 2 ​​float sufficiently, the autonomous sail 1 drives the sail 7 to further increase the sailing speed.

[0046] In this situation, if the control device 13 of the autonomous navigation vessel 1 receives the driving command of the wing sail 7 from the autonomous navigation device 15, then as follows: Figure 6 As shown, the electric drive unit 16 controls the flapping motion of the wing sail 7. As a result, compared to the case where the wing sail 7 is in a fixed-wing state, the hull 2 ​​of the autonomously sailing vessel 1 rises to a higher altitude, thus enabling a further increase in sailing speed.

[0047] [1-5. Variations of the first embodiment] The first embodiment described above is just one example, and the autonomous navigation vessel 1 involved in the first embodiment can have various variations. Figures 1-6 The autonomous vessel 1 shown is equipped with a wing sail 7 and hydrofoils 8, but it can also be configured to have at least one of the wing sail 7 and hydrofoils 8. As a result, the weight of the autonomous vessel 1 is reduced, thus enabling a further increase in sailing speed.

[0048] In addition, the autonomous sailing ship 1 can not be provided with the electric motor 11 and the propeller 6 in the case of shipping for a route where the wind speed is strong. Thus, the autonomous sailing ship 1 can effectively use the space for the electric motor 11 as a space for loading, and thus can improve the loading capacity of the hull 2.

[0049] In addition, the shape of the wing sail 7 is not limited to Figures 1-6 the shape shown in the drawing, and can be any shape as long as it is a shape that generates lift. For example, the length of the wing sail 7 (the length in the width direction of the hull 2) is preferably a length of 2 to 3 times the width of the hull 2.

[0050] In addition, the control device 13 can be configured to control the electric drive device 16 to adjust the pitch of the wing sail 7 according to the wind direction and the wind speed, thereby causing the sailing speed of the hull 2 to increase and the floating height of the hull 2 to increase. Thus, the autonomous sailing ship 1 can maximize the use of wind power for sailing.

[0051] In addition, the control device 13 can be configured to control the wing sail 7 according to the weight of the hull 2. Specifically, in the autonomous sailing ship 1, if the weight of the loaded cargo increases, the weight of the hull 2 including the cargo increases, and the draft becomes longer. Since the contact area of the hull 2 with water increases as the draft becomes longer, the resistance received by the autonomous sailing ship 1 from water increases.

[0052] Therefore, the control device 13 adjusts the pitch of the wing sail 7 so that the greater the weight of the hull 2 including the cargo, the greater the lift based on the wing sail 7. Thus, the autonomous sailing ship 1 becomes easier to float, and thus the resistance received from water can be reduced.

[0053] [2. Second Embodiment] [2-1. Appearance of Autonomous Sailing Ship Related to Second Embodiment] Next, the appearance of the autonomous sailing ship 1 related to the second embodiment will be described with reference to Figure 7 Figure 7 is a side view explanatory diagram of the autonomous sailing ship 1 related to the second embodiment. In addition, the appearance of the autonomous sailing ship 1 related to the second embodiment when viewed from the front is the same as the appearance of the autonomous sailing ship 1 related to the first embodiment when viewed from the front shown in Figure 2 In addition, the appearance of the autonomous sailing ship 1 related to the second embodiment when viewed from above is the same as the appearance of the autonomous sailing ship 1 related to the first embodiment when viewed from above shown in Figure 3

[0054] ​​The autonomous vessel 1 according to the second embodiment has a fabric-like (fiber-like) solar cell 9A that converts sunlight into electricity on the surface of the sail 4. The solar cell 9A is, for example, fabric woven with solar power-generating lines. The electricity generated by the solar cell 9A is supplied to an electric motor 11 that drives the propeller 6 (see reference). Figure 8 ).

[0055] [2-2. Internal structure of the autonomous navigation vessel involved in the second embodiment] Next, refer to Figure 8 The internal structure of the autonomous navigation vessel 1 involved in the second embodiment will be explained. Figure 8 This is a functional block diagram illustrating an example of the internal structure of the autonomously navigating vessel 1 involved in the implementation method.

[0056] like Figure 8 As shown, the internal structure of the autonomous navigation vessel 1 according to the second embodiment, except for the fact that solar cells 9A are installed on the fore and aft sails 4 and that solar cells 9A are connected to the battery 10, is similar to... Figure 4 The internal structure of the autonomous navigation vessel 1 involved in the first embodiment shown is the same.

[0057] The second embodiment involves a storage battery 10 that stores the electricity generated by the solar panel 9 and the solar cell 9A, and supplies power to the electric motor 11, the information collection device 12, the control device 13, the positioning device 14, the autonomous navigation device 15, and the electric drive device 16.

[0058] In addition, the autonomous navigation device 15 stores map information and nautical chart information. Based on the map information, nautical chart information, meteorological information and oceanographic information input from the information collection device 12, the pre-input location of the departure point, the location of the destination, and the current position of the hull 2 ​​input from the positioning device 14, the autonomous navigation device 15 calculates one or more candidate routes from the departure point to the destination. The autonomous navigation device 15 selects one of the calculated routes and controls the rudder 5, the electric motor 11, and the control device 13 to make the hull 2 ​​navigate along the selected route.

[0059] [2-3. Navigation attitude of the autonomous vessel involved in the second embodiment] The navigation posture of the autonomous navigation vessel 1 involved in the second embodiment is the same as... Figure 5 The navigation posture of the autonomous navigation vessel 1 involved in the first embodiment shown is the same.

[0060] [2-4. Wing flapping motion of the wing sail involved in the second embodiment] The flapping motion of the wing sail 7 of the autonomous sailing vessel 1 involved in the second embodiment andFigure 6 The wing-flapping motion of the wing sail 7 of the autonomous sailing vessel 1 according to the first embodiment is also the same.

[0061] [2-5. Selection of a course of an autonomous sailing vessel according to the second embodiment] Next, the selection of a course of the autonomous sailing vessel 1 according to the second embodiment will be described with reference to Figure 9 Figure 9 is a view that schematically shows the selection of a course of the autonomous sailing vessel 1 according to the second embodiment. Further, for the convenience of description, it is assumed that the description is made on the assumption that the autonomous sailing vessel 1 sails in a state in which the fore sail 4 faces in the same direction as the direction of travel of the autonomous sailing vessel 1, but the orientation of the fore sail 4 is not particularly limited.

[0062] The autonomous sailing device 15 calculates the course A and the course B as a course for the hull 2 to travel from the departure point Ps of the hull 2 to the destination Pe of the hull 2, assuming that the direction of the sun's rays C is the same as the direction from the departure point Ps toward the destination Pe. Here, the course A is a course in which the hull 2 travels in a straight line from the departure point Ps to the destination Pe, and is a course along the direction of the sun's rays C. The course B is a course in which the hull 2 travels in a curved line from the departure point Ps to the destination Pe, and is a course that intersects the direction of the sun's rays C.

[0063] In this case, as the difference between the direction of travel of the hull 2 and the direction of the sun's rays C becomes larger, the angle of incidence of the sun's rays on the fore sail 4 also becomes larger, and thus the amount of the sun's rays incident on the solar cell 9A is larger in the course B than in the course A. That is, the course in which the amount of power generated by the solar cell 9A is the largest is the course B. The autonomous sailing device 15 selects the course B in which the amount of power generated by the solar cell 9A is the largest to cause the hull 2 to travel to the destination Pe. Thus, in the case in which the course B is selected, although the distance of the course becomes longer than in the case in which the course A is selected, the amount of power generated by the solar cell 9A increases, and it is possible to reduce the electricity charge for charging the storage battery 10.

[0064] Further, instead of selecting the course in which the amount of power generated by the solar cell 9A is the largest from the departure point Ps to the destination Pe, it is also possible to select the course in which the amount of power generated by the solar cell 9A is the largest from the current position of the hull 2 to the destination Pe. In addition, although the course in which the amount of power generated by the solar cell 9A is the largest is selected from two courses (the course A and the course B) in the present embodiment, the number of courses as candidates for selection is not particularly limited.

[0065] [2-6. Modified example of the second embodiment] ​The above-described embodiment is only one example, and the autonomous sailing vessel 1 according to the second embodiment can have various modifications. The autonomous sailing vessel 1 can select a course that rides a current that minimizes the driving of the propeller 6. Referring to Figure 10 the selection of the course that rides the current that minimizes the driving of the propeller 6 will be described. Figure 10 is a diagram for explaining the selection of the course of the autonomous sailing vessel 1 according to the second embodiment. Further, the minimization of the driving of the propeller 6 means that the electric power required for the driving of the propeller 6 from the departure point Ps of the hull 2 to the destination Pe of the hull 2 is minimized.

[0066] The autonomous sailing device 15 calculates the course D and the course E as the course of the hull 2 from the departure point Ps to the destination Pe, and assumes a case where the direction F of the current flows in an arc shape from the departure point Ps toward the destination Pe. Here, the course D is a course that sails in a straight line from the departure point Ps to the destination Pe, and is a course that sails across the current. The course E is a course that sails in a curved line from the departure point Ps to the destination Pe, and is a course that sails along the current.

[0067] In this case, the course E can sail in a manner of being pushed by the current, and thus does not require a propulsive force based on electric power as compared with the course D. That is, the course that rides the current that minimizes the driving of the propeller 6 is the course E. The autonomous sailing device 15 selects the course E that rides the current that minimizes the driving of the propeller 6 to sail the hull 2 to the destination Pe. Thus, in the case where the course E is selected, although the distance of the course becomes longer as compared with the case where the course D is selected, the electric power required for the sailing can be reduced.

[0068] Further, instead of selecting the course that rides the current that minimizes the driving amount of the propeller 6 from the departure point Ps to the destination Pe, the course that rides the current that minimizes the driving amount of the propeller 6 from the current location to the destination Pe can be selected. In addition, instead of selecting the course that rides the current that minimizes the electric power required for the driving of the propeller 6 to the destination Pe, the course that rides the current that minimizes the driving time of the propeller 6 can be selected. Further, although the course that rides the current that minimizes the driving of the propeller 6 is selected from the two courses (the course D and the course E) in the second embodiment, the number of courses that become candidates for selection is not particularly limited.

[0069] [3. Third Embodiment] The appearance, the internal configuration, the sailing posture, and the wing-flapping motion of the longitudinal sail 4 of the autonomous sailing vessel 1 according to the third embodiment are the same as those of the autonomous sailing vessel 1 according to the first embodiment shown in Figures 1-6 In addition to the actions performed by the autonomous sailing device 15 according to the first embodiment, the autonomous sailing vessel 1 according to the third embodiment performsFigure 11 the processing shown. Figure 11 is a flowchart showing an example of the processing performed by the autonomous sailing device 15 according to the third embodiment.

[0070] For the autonomous sailing device 15 according to the third embodiment, the current position of the hull 2, the position of the destination, and the arrival time designated in advance, or the like are input and set before the departure of the autonomous sailing ship 1.

[0071] The autonomous sailing device 15 starts the processing shown in Figure 11 the processing shown. Specifically, as shown in Figure 11 the processing shown. Specifically, as shown in

[0072] Next, the autonomous sailing device 15 calculates and predicts the arrival time at which the destination is reached in the case where the sailing is performed without driving the wingsail 7, on the basis of the current position, the position of the destination, the weather information, and the ocean information (hereinafter, referred to as "first arrival time") (step S102).

[0073] At this time, the autonomous sailing device 15 refers to the weather information, and predicts the first arrival time in such a manner that the closer the direction of the wind in the tailwind is to the target sailing direction of the autonomous sailing ship 1 and the higher the wind speed is, the earlier the first arrival time is.

[0074] In addition, the autonomous sailing device 15 refers to the ocean information, and predicts the first arrival time in such a manner that the closer the direction of the ocean current is to the target sailing direction of the autonomous sailing ship 1 and the higher the current speed is, the earlier the first arrival time is.

[0075] Further, the autonomous sailing device 15 calculates and predicts the arrival time at which the destination is reached in the case where the sailing is performed with the wingsail 7 driven, on the basis of the current position, the position of the destination, the weather information, the ocean information, and the performance of the wingsail 7 (hereinafter, referred to as "second arrival time") (step S103).

[0076] At this time, the autonomous sailing device 15 refers to the weather information, and predicts the second arrival time in such a manner that the closer the direction of the wind in the tailwind is to the target sailing direction of the autonomous sailing ship 1 and the higher the wind speed is, the earlier the second arrival time is.

[0077] In addition, the autonomous sailing device 15 refers to the ocean information, and predicts the second arrival time in such a manner that the closer the direction of the ocean current is to the target sailing direction of the autonomous sailing ship 1 and the higher the current speed is, the earlier the second arrival time is. Further, the performance of the wingsail 7 is set to a known performance in design corresponding to the size and shape of each wingsail 7 which differs depending on each kind of wingsail 7.

[0078] Thereafter, the autonomous navigation device 15 determines whether the first arrival time is earlier than an arrival time that is designated in advance for arrival at the destination (hereinafter, referred to as "third arrival time") (step S104).

[0079] The autonomous navigation device 15, in a case where it is determined that the first arrival time is earlier than the third arrival time (step S104, "Yes"), controls the electric drive device 16 so as not to drive the wing sail 7 to perform navigation using the control device 13 (step S105), and causes the process to proceed to step S106.

[0080] In addition, the autonomous navigation device 15, in a case where it is determined that the first arrival time is not earlier than the third arrival time (step S104, "No"), controls the electric drive device 16 so as to drive the wing sail 7 to perform navigation using the control device 13 (step S107).

[0081] That is, in a case where the first arrival time is later than the third arrival time or in a case where the first arrival time and the second arrival time become the same time, the autonomous navigation device 15 controls the electric drive device 16 so as to drive the wing sail 7 to perform navigation using the control device 13. Thereafter, the autonomous navigation device 15 determines whether the second arrival time is later than the third arrival time (step S108).

[0082] The autonomous navigation device 15, in a case where it is determined that the second arrival time is later than the third arrival time (step S108, "Yes"), controls the electric motor 11 so as to drive the propeller 6 to perform navigation (step S109), and causes the process to proceed to step S106.

[0083] In addition, the autonomous navigation device 15, in a case where it is determined that the second arrival time is not later than the third arrival time (step S108, "No"), causes the process to proceed to step S106. That is, in a case where the second arrival time is earlier than the third arrival time or in a case where the second arrival time and the third arrival time become the same time, the autonomous navigation device 15 causes the process to proceed to step S106.

[0084] In step S106, the autonomous navigation device 15 determines whether the destination has been reached. Then, the autonomous navigation device 15, in a case where it is determined that the destination has not been reached (step S106, "No"), causes the process to proceed to step S101. In addition, the autonomous navigation device 15, in a case where it is determined that the destination has been reached (step S106, "Yes"), ends the process.

[0085] As described above, the autonomous sailing device 15 according to the third embodiment predicts a first arrival time at which the destination is reached in the case of sailing without driving the wingsail 7, and a second arrival time at which the destination is reached in the case of sailing with driving the wingsail 7. Then, in the case where the first arrival time is earlier than a third arrival time which is designated in advance for reaching the destination, the autonomous sailing device 15 according to the third embodiment controls the electric drive device 16 by the control device 13 so as to sail without driving the wingsail 7.

[0086] That is, the autonomous sailing device 15 according to the third embodiment sails based only on the lift of the wingsail 7 in the fixed state and the propulsion force of the fore sail 4, as long as the destination can be reached before the designated time even without driving the wingsail 7.

[0087] Thus, the autonomous sailing vessel 1 according to the third embodiment does not need fuel for driving the internal combustion engine, and does not need power consumption for driving the wingsail 7, so that the electric fee for charging the storage battery 10 is reduced, and thus the cost required for sailing can be reduced. Also, the autonomous sailing vessel 1 according to the third embodiment can effectively use the charged remaining amount of the storage battery 10 saved in this time's sailing for the next time's sailing.

[0088] In addition, in the case where the first arrival time is later than the third arrival time, the autonomous sailing device 15 according to the third embodiment controls the electric drive device 16 by the control device 13 so as to sail with driving the wingsail 7. Thus, the autonomous sailing vessel 1 according to the third embodiment sails by using both the lift and the propulsion force of the wingsail 7 and the propulsion force of the fore sail 4, and can make the arrival time at the destination close to the designated time which is not reached by only the propulsion force of the fore sail 4.

[0089] In addition, in the case where the second arrival time is later than the third arrival time, the autonomous sailing device 15 according to the third embodiment controls the electric drive device 16 by the control device 13 so as to sail with driving the wingsail 7, and controls the electric motor 11 so as to sail with driving the propeller 6.

[0090] Thus, the autonomous sailing vessel 1 according to the third embodiment sails by using the lift and the propulsion force of the wingsail 7, the propulsion force of the fore sail 4, and the propulsion force of the propeller 6, and can make the arrival time at the destination further close to the designated time.

[0091] [4. Fourth Embodiment] The appearance, internal configuration, sailing posture, and wing-flapping motion of the fore sail 4 of the autonomous sailing vessel 1 according to the fourth embodiment are the same as those of the autonomous sailing vessel 1 according to the third embodiment. Figures 1-6The autonomous sailing ship 1 related to the first embodiment shown is also the same. Among them, the autonomous sailing ship 1 related to the fourth embodiment further performs Figure 12 the processing shown on the basis of the actions performed by the autonomous sailing device 15 related to the first embodiment. Figure 12 is a flowchart showing an example of the processing performed by the autonomous sailing device 15 related to the fourth embodiment.

[0092] For the autonomous sailing device 15 related to the fourth embodiment, the current position of the ship body 2, the position of the destination, and the arrival time designated in advance, and the like are input and set before the departure of the autonomous sailing ship 1.

[0093] The autonomous sailing device 15 related to the fourth embodiment starts Figure 12 the processing shown at the time of departure. Specifically, as shown in Figure 12 , the autonomous sailing device 15 first starts the driving of the wingsail 7 (step S201). Thereafter, the autonomous sailing device 15 acquires the weather information and the ocean information from the information collection device 12 (step S202).

[0094] Next, the autonomous sailing device 15 predicts the remaining amount of the battery 10 at the time point of arrival at the destination by sailing with the driving of the wingsail 7, on the basis of the performance of the wingsail 7, the weather information, and the ocean information (step S203).

[0095] At this time, the autonomous sailing device 15 refers to the weather information to predict the remaining amount of the battery 10 in such a manner that the more the amount of light received by the solar panel 9 from the sunlight, the more the remaining amount of the battery 10. In addition, the autonomous sailing device 15 refers to the weather information to predict the remaining amount of the battery 10 in such a manner that the more the wind direction of the tailwind approaches the target travel direction of the autonomous sailing ship 1 and the higher the wind speed, the more the remaining amount of the battery 10.

[0096] In addition, the autonomous sailing device 15 refers to the ocean information to predict the remaining amount of the battery 10 in such a manner that the more the orientation of the ocean current approaches the target travel direction of the autonomous sailing ship 1 and the higher the flow speed, the more the remaining amount of the battery 10. Further, the performance of the wingsail 7 is set to a known performance on design corresponding to the size and the shape of each wingsail 7 different for each kind of wingsail 7.

[0097] Then, the autonomous sailing device 15 determines whether the predicted remaining amount of the battery is equal to or more than a given remaining amount (step S204). The given remaining amount is a lower limit value of the remaining amount of the battery 10 that can guarantee the performance of the battery 10 even if the battery 10 deteriorates.

[0098] When the autonomous navigation device 15 determines that the predicted remaining capacity of the storage battery 10 is equal to or greater than the given remaining capacity (step S204, "Yes"), the autonomous navigation device 15 determines whether the output of the electric drive device 16 is maximum (step S205).

[0099] When the autonomous navigation device 15 determines that the output of the electric drive device 16 is not maximum (step S205, "No"), the autonomous navigation device 15 controls the control device 13 so that the output of the electric drive device 16 becomes maximum (step S206), and the process proceeds to step S207.

[0100] In addition, when the autonomous navigation device 15 determines that the output of the electric drive device 16 is maximum (step S205, "Yes"), the autonomous navigation device 15 drives the electric motor 11 that rotates the propeller 6 (step S208), and the process proceeds to step S207.

[0101] In addition, when the autonomous navigation device 15 determines that the remaining capacity of the storage battery 10 will no longer be equal to or greater than the given remaining capacity (step S204, "No"), the autonomous navigation device 15 decreases the output of the electric drive device 16 (step S209), and the process proceeds to step S207.

[0102] That is, when the autonomous navigation device 15 determines that the remaining capacity of the storage battery 10 will become less than the given remaining capacity, the autonomous navigation device 15 decreases the output of the electric drive device 16 while the process proceeds to step S207.

[0103] In step S207, the autonomous navigation device 15 determines whether the destination has been reached. Then, when the autonomous navigation device 15 determines that the destination has not been reached (step S207, "No"), the process proceeds to step S202. In addition, when the autonomous navigation device 15 determines that the destination has been reached (step S207, "Yes"), the process ends.

[0104] As described above, the autonomous navigation device 15 according to the fourth embodiment predicts the remaining capacity of the storage battery 10 at the time point of reaching the destination by sailing with the wing sail 7 being driven based on the weather information and the sea information. Then, when the autonomous navigation device 15 according to the fourth embodiment determines that the remaining capacity of the storage battery 10 is equal to or greater than the given remaining capacity, the autonomous navigation device 15 controls the control device 13 so that the output of the electric drive device 16 becomes maximum.

[0105] That is, even in a case where the remaining amount of the battery 10 is not less than the given remaining amount, even if the voyage with the driving wing sail 7 is continued until the destination, the autonomous sailing vessel 1 according to the fourth embodiment sails to the destination with the lift and the propulsion force of the wing sail 7 maximized. Thus, the autonomous sailing vessel 1 according to the fourth embodiment can suppress the deterioration of the battery 10 and the delay of the arrival time at the destination.

[0106] Further, the autonomous sailing device 15 according to the fourth embodiment controls the control device 13 to decrease the output of the electric drive device 16 in a case where the remaining amount of the battery 10 is determined to become less than the given remaining amount on the basis of the change in the weather information and the change in the ocean information in the sailing with the output of the electric drive device 16 maximized.

[0107] That is, the autonomous sailing vessel 1 according to the fourth embodiment decreases the output of the electric drive device 16 in a case where the remaining amount of the battery 10 becomes less than the given remaining amount at the arrival at the destination, if the output of the electric drive device 16 is still maximized by the change in the weather information or the ocean information in the sailing. Thus, the autonomous sailing vessel 1 according to the fourth embodiment can suppress the deterioration of the battery 10 even if the conditions of the weather and the ocean change in the sailing.

[0108] Further, the autonomous sailing device 15 according to the fourth embodiment is provided with the electric motor 11 that drives the propeller 6 that imparts the propulsion force to the hull 2. Also, the autonomous sailing device 15 according to the fourth embodiment drives the electric motor 11 in a case where the remaining amount of the battery 10 is determined to be the given remaining amount or more on the basis of the change in the weather information and the change in the ocean information in the sailing with the output of the electric drive device 16 maximized.

[0109] That is, the autonomous sailing vessel 1 according to the fourth embodiment sails using the propulsion force of the propeller 6 in addition to the lift and the propulsion force of the wing sail 7 in a case where the remaining amount of the battery 10 is predicted to be sufficient even if the output of the electric drive device 16 is maintained to be maximum and the sailing is continued to the destination. Thus, the autonomous sailing vessel 1 according to the fourth embodiment can further advance the arrival time at the destination.

[0110] Further effects, modifications, and variations can be readily derived by those skilled in the art. Accordingly, the present application is not limited to the particular details and representative embodiments described herein but extends to all variations and modifications that fall within the general concepts and scope of the invention as defined by the claims and their equivalents.

[0111] (Explanation of Reference Numerals) 1 autonomous sailing vessel 2 hull 3 mast 4 mainsail 5 rudder 6 propeller 7 wing sail 8 hydrofoil 9 solar panel 10 battery 11 electric motor 12 information collection device 13 control device 14 positioning device 15 autonomous sailing device 16 electric drive device 17 space.

Claims

1. An autonomous sailing vessel, comprising: a hull; a fore sail, which is set on a mast, the mast being erected on the hull; an information collecting device, which collects weather information and ocean information around the hull; a control device, which controls an orientation of the fore sail based on the weather information and the ocean information collected by the information collecting device so that a propulsion force of the hull is maximized; a positioning device, which positions a position of the hull; an autonomous sailing device, which controls a rudder based on the position of the hull positioned by the positioning device so that the hull sails from a current location to a destination; and a wing sail, which is provided on both sides of the hull, imparts a lift to the hull in sailing to make the hull float.

2. The autonomous sailing vessel according to claim 1, wherein the autonomous sailing vessel comprises an electric motor, which drives a propeller that imparts a propulsion force to the hull, and the wing sail is provided with a solar panel that generates electric power to be supplied to the electric motor.

3. The autonomous sailing vessel according to claim 1, wherein the autonomous sailing vessel comprises an electric drive device, which flaps the wing sail.

4. The autonomous sailing vessel according to claim 1, wherein the autonomous sailing vessel comprises a hydrofoil, which is provided on a bottom of the hull, imparts a lift to the hull in sailing to make the hull float.

5. An autonomous sailing vessel, comprising: a hull; a fore sail, which is set on a mast, the mast being erected on the hull; an information collecting device, which collects weather information and ocean information around the hull; a control device, which controls an orientation of the fore sail based on the weather information and the ocean information collected by the information collecting device; a positioning device, which positions a position of the hull; an autonomous sailing device, which controls a rudder based on the position of the hull positioned by the positioning device so that the hull sails to a destination; and an electric motor, which drives a propeller that imparts a propulsion force to the hull, and the fore sail is provided with a cloth-like solar cell that generates electric power to be supplied to the electric motor.

6. The autonomous sailing vessel according to claim 5, wherein the autonomous sailing vessel comprises a wing sail, which is provided on both sides of the hull, imparts a lift to the hull in sailing to make the hull float, and the wing sail is provided with a plate-like solar cell that generates electric power to be supplied to the electric motor.

7. The autonomous sailing vessel according to claim 5 or 6, wherein the autonomous sailing device selects a route in which an amount of electric power generated by the cloth-like solar cell is maximized, in a route in which the hull sails to the destination.

8. The autonomous sailing vessel according to claim 5 or 6, wherein the autonomous sailing device selects a route in which a driving of the propeller is minimized by a sea current, in a route in which the hull sails to the destination.

9. An autonomous sailing vessel, comprising: a hull; a fore sail, which is set on a mast, the mast being erected on the hull; ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ wingsails provided on both sides of the hull to give the hull lift in the water while the hull is sailing; an electric drive device that moves the wingsails; an information collecting device that collects weather information and ocean information around the hull; a control device that controls the operation of the mainsail and the wingsails based on the weather information and the ocean information collected by the information collecting device to maximize the propulsion of the hull; a positioning device that positions the location of the hull; and an autonomous sailing device that controls the rudder based on the location of the hull positioned by the positioning device to sail the hull from the current location to a destination, the autonomous sailing device predicts a first arrival time to reach the destination without driving the wingsails and a second arrival time to reach the destination by driving the wingsails, in a case where the first arrival time is earlier than a third arrival time that is designated in advance for reaching the destination, the control device controls the electric drive device so that the hull sails without driving the wingsails.

10. The autonomous sailing vessel according to claim 9, wherein in a case where the first arrival time is later than the third arrival time, the autonomous sailing device controls the electric drive device using the control device so that the hull sails by driving the wingsails.

11. The autonomous sailing vessel according to claim 10, wherein the autonomous sailing vessel is provided with an electric motor that drives a propeller that gives the hull propulsion, in a case where the second arrival time is later than the third arrival time, the autonomous sailing device controls the electric drive device using the control device so that the hull sails by driving the wingsails and controls the electric motor so that the hull sails by driving the propeller.

12. An autonomous sailing vessel provided with: a hull; a mainsail that is set on a mast that is erected on the hull; wingsails provided on both sides of the hull to give the hull lift in the water while the hull is sailing; an electric drive device that moves the wingsails; a storage battery that supplies electric power to the electric drive device; an information collecting device that collects weather information and ocean information around the hull; a control device that controls the operation of the mainsail and the wingsails based on the weather information and the ocean information collected by the information collecting device to maximize the propulsion of the hull; a positioning device that positions the location of the hull; and an autonomous sailing device that controls the rudder based on the location of the hull positioned by the positioning device to sail the hull from the current location to a destination, the autonomous sailing device predicts the remaining amount of the storage battery at a time point of reaching the destination by driving the wingsails based on the weather information and the ocean information, and in a case where it is determined that the remaining amount of the storage battery is a given remaining amount or more, controls the control device to maximize the output of the electric drive device. ​ ​ 13. The autonomous sailing vessel according to claim 12, wherein the autonomous sailing device controls the control device to cause the output of the electric drive device to decrease in the case where it is determined, based on a change in weather information and a change in ocean information, that the remaining amount of the storage battery will become less than the given remaining amount in sailing in which the output of the electric drive device is maximized.

14. The autonomous sailing vessel according to claim 12 or 13, wherein the autonomous sailing vessel is provided with an electric motor that drives a propeller that imparts a propulsive force to the hull, the autonomous sailing device drives the electric motor in the case where it is determined, based on a change in weather information and a change in ocean information, that the remaining amount of the storage battery is the given remaining amount or more in sailing in which the output of the electric drive device is maximized.

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