System and method for controlling vessel

Abstract

To stop or decelerate a vessel when a navigator falls into water as well as having a vessel propulsion equipment from being operated in error when the navigator leaves a navigating position.SOLUTION: A system includes a sensor 20 and a controller 30. The sensor 20 detects position of a navigator H1. The controller 30 stops a vessel propeller 3 when the navigator H1 is not in a permitted area A3 including a navigating position P1 or controls the vessel propeller 3 to decelerate the vessel 1. The controller 30 controls the vessel propeller 3 according to an operation to a vessel steering device 4 when the navigator H1 exists in a first region A1. The controller 30 has the navigation device 4 be in a freeze state when the navigator H1 is in a second region A2 remote from the navigation position P1 than the first region A1 in the permitted area A3. The controller 30 has an operation to the navigation device 4 be invalid in the freeze state.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a system and method for controlling a marine vessel. [Background technology]

[0002] The operator of a vessel wears a lanyard to stop the vessel in an emergency. The lanyard is connected to a conductive pin that is inserted into the engine ignition circuit. If the operator falls overboard, the operator's own weight will pull the conductive pin out of the ignition circuit, stopping the engine.

[0003] Meanwhile, a system is known that detects if a boat operator falls into the water using a radio signal from a transmitter worn by the boat operator. For example, the emergency stop device in Patent Document 1 determines whether an abnormality has occurred in the boat operator when the strength of the radio signal from the transmitter is below a specified value. If the emergency stop device determines that an abnormality has occurred in the boat operator, it stops the outboard motor engine. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-159679 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned emergency stop device, the outboard motor can be operated even if the boat operator leaves the steering seat until the strength of the radio signal from the transmitter falls below a specified value. Therefore, when the boat operator leaves the steering seat, other passengers may accidentally touch the operating lever of the outboard motor and erroneously operate the outboard motor. The object of the present invention is to stop or slow down the boat if the boat operator falls into the water, and to prevent erroneous operation of the boat propulsion device when the boat operator leaves the steering position. [Means for solving the problem]

[0006] A system according to one aspect of the present invention is a system for controlling a ship. The ship includes a ship propulsion device and a ship steering device. The ship steering device is operable by a ship operator at a ship steering position of the ship. The system according to this aspect includes a sensor and a controller. The sensor detects the position of the ship operator. The controller determines whether the ship operator is in an allowed area including the ship steering position. When the ship operator is not in the allowed area, the controller stops the ship propulsion device or controls the ship propulsion device to decelerate the ship. The controller determines whether the ship operator is in a first region within the allowed area. When the ship operator is in the first region, the controller controls the ship propulsion device in response to an operation on the ship steering device. The controller determines whether the ship operator is in a second region within the allowed area that is farther from the ship steering position than the first region. When the ship operator is in the second region, the controller sets the ship steering device to a frozen state. The controller disables an operation on the ship steering device in the frozen state.

[0007] A method according to one aspect of the present invention is a method for controlling a ship. The ship includes a ship propeller and a steering device. The steering device is operable by a ship operator at a steering position of the ship. The method according to this aspect includes detecting a position of the ship operator, determining whether the ship operator is in an allowed area including the steering position, and controlling the ship propeller to stop the ship propeller or to decelerate the ship when the ship operator is not in the allowed area, determining whether the ship operator is in a first region within the allowed area, and controlling the ship propeller in response to an operation on the steering device when the ship operator is in the first region, determining whether the ship operator is in a second region within the allowed area that is farther from the steering position than the first region, and putting the steering device into a frozen state when the ship operator is in the second region, and disabling the operation on the steering device in the frozen state. Effect of the Invention

[0008] According to the present invention, when the helmsman is not within an allowed area including the steering position, the helmsman controls the helmsman to stop or slow down the helmsman. This makes it possible to stop or slow down the helmsman if the helmsman falls into the water. In addition, when the helmsman is within a second area within the allowed area that is farther from the steering position than the first area, the helmsman controls the helmsman to freeze and disable operation of the helmsman. This prevents the helmsman from erroneously operating the helmsman when he moves away from the steering position. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a side view of a vessel according to an embodiment. [Diagram 2] 1 is a block diagram showing a configuration of a system for controlling a ship according to an embodiment. [Diagram 3] 5 is a flowchart showing a control process for preventing erroneous operation of the marine vessel propulsion device according to the first embodiment. [Figure 4] FIG. 2 is a side view of a vessel showing the permitted area, first area, and second area. [Diagram 5] FIG. 2 is a side view of a vessel showing the permitted area, first area, and second area. [Figure 6] 10 is a flowchart showing a control process for preventing erroneous operation of the marine vessel propulsion device 3 according to the second embodiment. [Figure 7] FIG. 11 is a block diagram showing a configuration of a system for controlling a ship according to a first modified example. [Figure 8] FIG. 11 is a side view of a ship illustrating a configuration of a system for controlling the ship in accordance with a second modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, a system for controlling a ship according to an embodiment will be described with reference to the drawings. Fig. 1 is a side view of a ship 1 according to an embodiment. Fig. 2 is a block diagram showing a configuration of a system 2 for controlling the ship 1 according to an embodiment. As shown in Fig. 1, the ship 1 includes a ship propulsion device 3 and a steering device 4.

[0011] The boat propulsion device 3 is, for example, an outboard motor. The boat propulsion device 3 includes a drive source 11 and an ECU 12. The ECU 12 includes, for example, a processor and a memory. The ECU 12 controls the drive source 11. The drive source 11 includes, for example, an internal combustion engine. Alternatively, the drive source 11 may include an electric motor. The drive source 11 rotates a propeller 13 attached to the boat propulsion device 3. As a result, the boat propulsion device 3 generates a propulsive force for propelling the boat 1.

[0012] The boat 1 is equipped with a steering actuator 14. The steering actuator 14 includes, for example, a hydraulic cylinder. Alternatively, the steering actuator 14 may include a hydraulic motor, an electric cylinder, or an electric motor. The steering actuator 14 changes the rudder angle of the boat propeller 3 by turning the boat propeller 3 to the left and right.

[0013] The steering device 4 can be operated by the operator of the vessel 1 at a steering position of the vessel 1. The steering device 4 includes a throttle operation device 15 and a steering operation device 16. The throttle operation device 15 is operated to switch the output of the drive source 11 and the traveling direction of the vessel 1. As shown in FIG. 2, the throttle operation device 15 includes a throttle lever 17. The throttle lever 17 can be operated from a neutral position N to a forward direction F and a reverse direction R. The steering operation device 16 is operated to steer the vessel 1 to the left or right. The steering operation device 16 includes, for example, a steering wheel.

[0014] The vessel 1 includes a display device 18 and an input device 19. The display device 18 displays information about the vessel 1. The display device 18 includes a display such as an LED or an organic EL display. Alternatively, the display device 18 may include a lamp such as a warning light. The input device 19 is operated to set control of the vessel 1. For example, the input device 19 is operated to set the autopilot of the vessel 1. The input device 19 includes, for example, a touch panel. Alternatively, the input device 19 may include a physical switch such as a button.

[0015] The vessel 1 includes a sensor 20. The sensor 20 is disposed at a steering position P1. The steering position P1 is a position on the vessel 1 where the helmsman H1 operates the steering device 3. The sensor 20 detects the position of the helmsman H1. The helmsman H1 is wearing a first transmitter 21. The first transmitter 21 is portable and can be worn on the body of the helmsman H1. The first transmitter 21 emits a wireless signal. The sensor 20 is a receiver that receives the wireless signal from the first transmitter 21. The sensor 20 detects the position of the first transmitter 21 as the position of the helmsman H1 based on the wireless signal from the first transmitter 21.

[0016] The vessel 1 includes a controller 30. The controller 30 includes a processor 31 and a storage device 32. The storage device 32 stores programs and data for controlling the vessel 1. The processor 31 controls the vessel 1 based on the programs and data for controlling the vessel 1.

[0017] For example, the controller 30 receives a signal indicating the operating position of the throttle lever 17 from the throttle operating device 15. The controller 30 controls the output of the drive source 11 based on the operating position of the throttle lever 17, thereby controlling the boat speed of the boat 1. The controller 30 also controls the rotation direction of the propeller 13 based on the operating position of the throttle lever 17, thereby controlling the forward movement, reverse movement, and stop of the boat 1.

[0018] The controller 30 receives a signal indicating the operation position of the steering operation device 16 from the steering operation device 16. The controller 30 controls the steering actuator 14 based on the operation position of the steering operation device 16 so as to change the rudder angle of the vessel propulsion device 3 to the left or right. This causes the vessel 1 to turn left or right.

[0019] The controller 30 receives the wireless signal from the first transmitter 21 via the sensor 20. The controller 30 determines the position of the vessel operator H1 based on the wireless signal from the first transmitter 21. The controller 30 executes control for preventing erroneous operation of the vessel propulsion device 3 based on the position of the vessel operator H1. The control for preventing erroneous operation of the vessel propulsion device 3 will be described below.

[0020] 3 is a flowchart showing a control process for preventing erroneous operation of the marine vessel propulsion device 3 according to the first embodiment. As shown in FIG 3, in step S101, the controller 30 detects the position of the vessel operator H1. The controller 30 detects the position of the vessel operator H1 based on the wireless signal of the first transmitter 21.

[0021] In step S102, the controller 30 determines whether the operator H1 is within the first area A1. As shown in Fig. 4, the first area A1 includes the steering position P1. The first area A1 is an area around the steering position P1. The first area A1 is a range from the steering position P1 to a predetermined distance. The predetermined distance may be within a range of, for example, 60±12 inches.

[0022] When the controller 30 determines that the vessel operator H1 is in the first area A1, in step S103, the controller 30 controls the vessel propeller 3 in response to the vessel steering operation. For example, the controller 30 controls the output of the vessel propeller 3 in response to the operation position of the throttle lever 17. The controller 30 changes the rudder angle of the vessel propeller 3 in response to the operation of the steering operation device 16.

[0023] If the controller 30 determines in step S102 that the operator H1 is not in the first area A1, the process proceeds to step S104. In step S104, the controller 30 determines whether the operator H1 is in the second area A2. The second area A2 is farther from the steering position P1 than the first area A1 is in the permitted area A3.

[0024] As shown in FIG. 4, the permitted area A3 includes the first area A1 and the second area A2. The second area A2 is larger than the first area A1. The permitted area A3 is an area within the vessel 1. If the vessel operator H1 is not in the second area A2, the controller 30 determines that the vessel operator H1 is not in the permitted area A3. For example, if the vessel operator H1 falls into the water, the controller 30 determines that the vessel operator H1 is not in the permitted area A3. In that case, the controller 30 stops the vessel propulsion device 3 in step S105.

[0025] When the controller 30 determines that the ship operator H1 is in the second area A2, in step S106, the controller 30 freezes the ship steering device 4. The controller 30 disables operations on the ship steering device 4 in the frozen state.

[0026] In step S107, the controller 30 displays the frozen state on the display device 18. That is, the controller 30 outputs a display indicating that the ship steering device 4 is in a frozen state to the display device 18. The display indicating that the ship steering device 4 is in a frozen state is displayed on the display device 18 as, for example, an image or text. Alternatively, the display indicating that the ship steering device 4 is in a frozen state may be the illumination of a warning light.

[0027] After putting the ship steering device 4 into the frozen state, the controller 30 maintains the control state of the ship propulsion device 3 in step S108. That is, the controller 30 maintains the control state of the ship propulsion device 3 according to the operation of the ship steering device 4 before the frozen state was entered. After putting the ship steering device 4 into the frozen state, the controller 30 maintains the control state of the ship propulsion device 3 even if the ship steering device 4 is operated.

[0028] For example, even if the throttle lever 17 is operated after the ship steering device 4 is put into the frozen state, the controller 30 maintains the output of the ship propulsion device 3 according to the operation position of the throttle lever 17 before the frozen state was entered. Even if the steering operation device 16 is operated after the ship steering device 4 is put into the frozen state, the controller 30 maintains the rudder angle of the ship propulsion device 3 according to the operation position of the steering operation device 16 before the frozen state was entered.

[0029] In step S109, the controller 30 determines whether the condition for canceling the frozen state is satisfied. If the controller 30 determines that the condition for canceling the frozen state is satisfied, the controller 30 releases the ship steering device 4 from the frozen state in step S110. When the controller 30 releases the ship steering device 4 from the frozen state, the controller 30 releases the display of the frozen state on the display device 18 in step S111.

[0030] The release conditions include, for example, that the vessel operator H1 is in the first region A1 and that the throttle lever 17 is in the neutral position. Therefore, when the vessel operator H1 returns to the first region A1 and returns the throttle lever 17 to the neutral position, the controller 30 releases the vessel steering device 4 from the frozen state. As a result, the controller 30 controls the vessel propulsion device 3 again in response to the vessel steering operation in steps S101, S102, and S103.

[0031] In the system 2 according to the present embodiment described above, when the helmsman H1 is not in the permitted area A3, the vessel propulsion device 3 is stopped. This makes it possible to stop the vessel 1 in the event of an abnormality, such as the helmsman H1 falling into the water. As shown in FIG. 5, when the helmsman H1 is in the second area A2, which is farther from the steering position P1 than the first area A1, in the permitted area A3, the steering device 4 is frozen and operation of the steering device 4 is disabled. Therefore, even if another crew member H2 who does not have a transmitter touches the steering device 4 when the helmsman H1 moves away from the steering position P1, operation of the steering device 4 is disabled. This prevents the vessel propulsion device 3 from being erroneously operated.

[0032] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0033] The configuration of the boat 1 or the system 2 for controlling the boat 1 is not limited to that of the above embodiment and may be modified. For example, the boat propulsion device 3 is not limited to an outboard motor and may be another propulsion device such as an inboard / outboard motor or a jet propulsion device. The number of boat propulsion devices 3 is not limited to one and may be two or more. The ship steering device 4 is not limited to that of the above embodiment and may be modified. For example, the ship steering device 4 may include a joystick.

[0034] The sensor 20 is not limited to a receiver that receives a wireless signal from the first transmitter 21, and may be changed. For example, the sensor 20 may be a camera. The controller 30 may determine whether the operator H1 is in the first area A1, the second area A2, or the permitted area A3 by image recognition using the camera.

[0035] The control process for preventing erroneous operation of the vessel propulsion device 3 is not limited to that in the above embodiment and may be modified. For example, when the vessel operator H1 is not within the permitted area A3, the controller 30 may control the vessel propulsion device 3 in step S105 to decelerate the vessel 1.

[0036] In the above embodiment, the controller 30 ignores the operation on the ship steering device 4 when the ship steering device 4 is in a frozen state. However, disabling the operation on the ship steering device 4 in a frozen state is not limited to ignoring the operation on the ship steering device 4. Disabling the operation on the ship steering device 4 in a frozen state may involve performing a control different from the operation on the ship steering device 4, or reducing the responsiveness of the operation of the ship steering device 4.

[0037] For example, when the ship steering device 4 is operated while the ship steering device 4 is in a frozen state, the controller 30 may control the ship propeller 3 to stop the ship propeller 3 or to decelerate the ship 1. Fig. 6 is a flowchart showing a control process for preventing erroneous operation of the ship propeller 3 according to the second embodiment.

[0038] 6, steps S201 to S207 are the same as steps S101 to S107 in the first embodiment. If the ship operator H1 is in the second area A2, the controller 30 freezes the ship steering device 4 in step S206. After freezing the ship steering device 4, the controller 30 determines in step S208A whether the ship steering device 4 has been operated.

[0039] If the ship steering device 4 is not operated after the controller 30 has put the ship steering device 4 into the frozen state, the controller 30 maintains the control state of the ship propeller 3 in step S208B, similar to step S108 in the first embodiment. If the ship steering device 4 is operated after the controller 30 has put the ship steering device 4 into the frozen state, the controller 30 decelerates the ship propeller 3 in step S208C. In this case, the condition for releasing the frozen state may include a decrease in ship speed to a predetermined speed. Alternatively, if the ship steering device 4 is operated after the controller 30 has put the ship steering device 4 into the frozen state, the controller 30 may stop the ship propeller 3 in step S208C. The other steps S209 to S211 are similar to S109 to S111 in the first embodiment.

[0040] The release condition of the frozen state is not limited to that of the above embodiment and may be changed. For example, Fig. 7 is a block diagram showing a configuration of a system 2 for controlling a vessel 1 according to a first modified example. As shown in Fig. 7, the vessel 1 may include a release device 22. The release device 22 is, for example, a switch such as a button. The release condition may include the operation of the release device 22. When the release device 22 is operated while the vessel steering device 4 is in a frozen state, the controller 30 may release the vessel steering device 4 from the frozen state.

[0041] 8 is a side view of the vessel 1 showing the configuration of a system 2 for controlling the vessel 1 according to the second modification. The system 2 may further include a second transmitter 23 worn by another vessel operator (hereinafter referred to as a secondary vessel operator) H3. The release condition may include that the second transmitter 23 is located within the first area A1. After putting the vessel maneuvering device 4 into a frozen state, the controller 30 may release the vessel maneuvering device 4 from the frozen state when the second transmitter 23 is located within the first area A1.

[0042] For example, after putting the ship steering device 4 into a frozen state, the controller 30 may release the ship steering device 4 from the frozen state when the first transmitter 21 is in the second area A2 and the second transmitter 23 is located in the first area A1. As a result, the ship steering device 4 is released from the frozen state when the ship helmsman H2 having the first transmitter 21 is in the second area A2 and the assistant ship helmsman H3 having the second transmitter 23 is in the first area A1. Therefore, even if the ship helmsman H2 is in the second area A2, the assistant ship helmsman H3 can operate the ship 1 by the ship steering device 4. [Industrial Applicability]

[0043] According to the present invention, the vessel is stopped or decelerated when the vessel operator falls into the water, and erroneous operation of the vessel propulsion device is prevented when the vessel operator leaves the vessel steering position. [Explanation of symbols]

[0044] 3: vessel propulsion device, 4: ship steering device, 17: throttle lever, 18: display device, 20: sensor, 21: first transmitter, 22: release device, 23: second transmitter, 30: controller, A3: permitted area, A1: first area, A2: second area, P1: ship steering position

Claims

1. A system for controlling a vessel, the vessel including a vessel propulsion device and a vessel steering device operable by a vessel operator at a vessel steering position of the vessel, A sensor for detecting the position of the operator; A controller; Equipped with The controller: determining whether the vessel operator is within an allowed area including the vessel operating position; When the vessel operator is not within the permitted area, the vessel propulsion device is stopped or the vessel propulsion device is controlled to decelerate the vessel; determining whether the vessel operator is in a first region within the permitted area; When the vessel operator is within the first area, the vessel propulsion device is controlled in response to an operation of the vessel steering device. determining whether the vessel operator is in a second region within the permitted area that is farther from the vessel steering position than the first region; When the vessel operator is in the second area, the vessel maneuvering device is put into a frozen state, Disabling operations on the ship steering device in the frozen state. system.

2. the controller maintains a control state of the ship propulsion device in accordance with an operation of the ship steering device before the ship steering device is put into the frozen state, even if the ship steering device is operated after the ship steering device is put into the frozen state. The system of claim 1 .

3. the controller stops the vessel propulsion device or controls the vessel propulsion device to decelerate the vessel when the vessel steering device is operated while the vessel steering device is in the frozen state. The system of claim 1 .

4. the controller releases the ship steering device from the frozen state when the ship operator returns to the first area after the ship steering device is put into the frozen state; The system of claim 1 .

5. The steering device includes a throttle lever that can be operated from a neutral position, the controller releases the ship steering device from the frozen state when the throttle lever is operated while the ship steering device is in the frozen state and then the throttle lever is returned to a neutral position while the ship steering operator is in the first area. The system of claim 4.

6. the marine vessel includes a display device; When the ship steering device is in the frozen state, the controller outputs, by the display device, a display indicating that the ship steering device is in the frozen state. The system of claim 1 .

7. the vessel includes a release device; the controller releases the ship steering device from the frozen state when the release device is operated while the ship steering device is in the frozen state; The system of claim 1 .

8. The navigation system further includes a first transmitter mounted by the operator, The sensor receives a wireless signal from the first transmitter at the steering position, The controller: detecting a position of the first transmitter as a position of the vessel operator based on communication between the sensor and the first transmitter; The system of claim 1 .

9. Further comprising a second transmitter mounted by another operator, the controller, after putting the ship steering device into the frozen state, releases the ship steering device from the frozen state when the second transmitter is located within the first area; The system of claim 1 .

10. A method for controlling a marine vessel, the marine vessel including a marine vessel propulsion device and a steering device operable by an operator of the marine vessel at a steering position of the marine vessel, Detecting the position of the operator; determining whether the vessel operator is within an allowed area including the vessel operator's steering position; When the vessel operator is not within the permitted area, controlling the vessel propulsion device to stop or to slow down the vessel; determining whether the vessel operator is in a first region within the permitted area; controlling the vessel propulsion device in response to an operation of the vessel steering device when the vessel operator is within the first area; determining whether the vessel operator is in a second region within the permitted area that is farther from the vessel steering position than the first region; putting the ship steering device into a frozen state when the ship operator is in the second area; and disabling operations on the ship steering device in the frozen state; How to prepare

11. and maintaining a control state of the marine vessel propulsion device according to an operation of the marine vessel steering device before the marine vessel steering device is put into the frozen state, even if the marine vessel steering device is operated after the marine vessel steering device is put into the frozen state. The method of claim 10.

12. and controlling the vessel propulsion device to stop the vessel propulsion device or to decelerate the vessel when the vessel steering device is operated while the vessel steering device is in the frozen state. The method of claim 10.

13. and releasing the ship steering device from the frozen state when the ship steering device is operated in the frozen state and the ship steering operator returns to the first area. The method of claim 10.

14. The steering device includes a throttle lever that can be operated from a neutral position, and releasing the ship steering device from the frozen state when the throttle lever is returned to a neutral position while the ship steering operator is in the first area after the throttle lever is operated while the ship steering device is in the frozen state. The method of claim 13.

15. the marine vessel includes a display device; and when the ship steering device is in the frozen state, outputting, by the display device, a display indicating that the ship steering device is in the frozen state. The method of claim 10.

16. the vessel includes a release device; and releasing the ship steering device from the frozen state when the release device is operated while the ship steering device is in the frozen state. The method of claim 10.

17. receiving a wireless signal from a first transmitter worn by the vessel operator; detecting a position of the first transmitter as a position of the boat operator based on a wireless signal from the first transmitter; The method of claim 10 comprising:

18. receiving a wireless signal from a second transmitter mounted by another operator; after the ship steering device is put into the frozen state, when the second transmitter is located within the first area, releasing the ship steering device from the frozen state; 20. The method of claim 17, comprising:

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