Control device and control method

Abstract

To improve a technique for controlling ship docking.SOLUTION: A control device 20 has a control part 25 that, when a shore-arrival point of a ship 10 is selected, sets a first water area in which automatic steering for docking the ship 10 to the selected shore-arrival point can be started, and displays the selected shore-arrival point and the set first water area on a display screen provided in the ship 10 together with map information.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] There are known techniques relating to docking control of a ship. For example, Patent Document 1 discloses a technique for supporting a docking operation of a ship. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-40470 A Summary of the Invention [Problem to be solved by the invention]

[0004] From the viewpoint of safety, ship docking control cannot start until the ship enters a water area within a specified range from the docking point. However, ship operators cannot grasp the water area in which docking control is possible. Therefore, from the viewpoint of convenience, there is room for improvement in the technology related to ship docking control.

[0005] An object of the present disclosure, made in consideration of the above circumstances, is to improve technology relating to ship docking control. [Means for solving the problem]

[0006] A control device according to one embodiment of the present disclosure is a control device mounted on a ship, and has a control unit that, when a docking point for the ship is selected, sets a first water area in which automatic piloting can be initiated to dock the ship at the selected docking point, and displays the selected docking point and the set first water area together with map information on a display screen provided on the ship.

[0007] A control method according to one embodiment of the present disclosure is a control method executed by a control device installed on a ship, which, when a docking point for the ship is selected by the control device, sets a first water area in which automatic piloting can be initiated to dock the ship at the selected docking point, and displays the selected docking point and the set first water area together with map information on a display screen provided on the ship. Effect of the Invention

[0008] According to an embodiment of the present disclosure, the technology relating to ship docking control is improved. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a schematic configuration example of a system according to an embodiment of the present disclosure. [Diagram 2] 4 is a flowchart showing an example of the operation of the control device. [Diagram 3] FIG. 2 is a schematic diagram showing an example of a partial name of a ship. [Figure 4] FIG. 2 is a schematic diagram showing an example of a first water area. [Diagram 5] FIG. 2 is a schematic diagram showing an example of a second water body. [Figure 6] FIG. 11 is a schematic diagram showing an example of a third water area. [Figure 7] FIG. 11 is a schematic diagram showing an example of a third water area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described.

[0011] (Overview of the embodiment) An overview of a system 1 according to an embodiment of the present disclosure will be described with reference to Fig. 1. The system 1 includes a ship 10, a control device 20, and a mobile terminal 30. The ship 10, the control device 20, and the mobile terminal 30 are communicatively connected to a network 2 including, for example, the Internet and a mobile communication network.

[0012] The ship 10 includes a control device 20. The ship 10 is communicatively connected to the control device 20 by a wire. The ship 10 may be communicatively connected to the control device 20 via a network 2.

[0013] The control device 20 is a computer provided on the ship 10. The control device 20 executes automatic steering to make the ship 10 dock at a docking point. The control device 20 can communicate with the ship 10 via a wire. The control device 20 can also communicate with the ship 10 and the mobile terminal 30 via the network 2.

[0014] The mobile terminal 30 is, for example, a mobile phone, a smartphone, a tablet, or a personal computer (PC) carried by the boat operator. The mobile terminal 30 is connected to the control device 20 via the network 2 so as to be able to communicate with each other.

[0015] First, an overview of this embodiment will be described, and details will be described later. When a docking point for the ship 10 is selected, the control device 20 sets a first water area where automatic steering for docking the ship 10 at the selected docking point can be started, and displays the selected docking point and the set first water area together with map information on a display screen provided on the ship 10.

[0016] Thus, according to this embodiment, even if the vessel 10 is navigating outside a water area where automatic steering to a docking point can be initiated, the water area is displayed on the display screen provided on the vessel 10. Therefore, the vessel operator can clarify the maneuvering target by the display on the display screen, and can grasp the extent of the water area before starting automatic steering. Therefore, the technology related to vessel docking control is improved in that it is easier for the vessel operator to grasp the water area.

[0017] Next, each component of the system 1 will be described in detail.

[0018] (Vessel configuration) 1, the ship 10 includes a communication unit 11, a positioning unit 12, a measurement unit 13, a display unit 14, a storage unit 15, a control unit 16, and a control device 20. Details of the control device 20 will be described later.

[0019] The communication unit 11 has both a communication interface for connecting to the network 2 and a communication interface for connecting to the communication unit 21 of the control device 20 via a wired connection. The communication interface for connecting to the network 2 is compatible with mobile communication standards such as 4G (4th Generation) or 5G (5th Generation), but is not limited to these and may be compatible with any communication standard. In this embodiment, the ship 10 is connected to the communication unit 21 of the control device 20 via the communication unit 11 so as to be able to communicate with each other via a wired connection. Furthermore, the ship 10 may be connected to the communication unit 21 of the control device 20 via the communication unit 11 and the network 2 so as to be able to communicate with each other wirelessly.

[0020] The positioning unit 12 includes one or more devices that acquire position information of the ship 10. Specifically, the positioning unit 12 includes, for example, a receiver compatible with GPS, but is not limited thereto, and may include a receiver compatible with any satellite positioning system.

[0021] The measurement unit 13 includes one or more sensors. The measurement unit 13 may include a sonar, a radar, a gyrocompass, a magnetic compass, an acceleration sensor, an air pressure sensor, etc. However, the sensors included in the measurement unit 13 are not limited to these.

[0022] The display unit 14 includes at least one display interface capable of displaying characters or images. The display unit 14 is, for example, a chart plotter, but is not limited to this. The display interface is, for example, a display such as an LCD or an organic EL display, but is not limited to these. The display unit 14 displays, for example, information such as the docking point of the ship 10 and water areas together with map information.

[0023] The storage unit 15 includes one or more memories. The memories are, for example, but not limited to, semiconductor memories, magnetic memories, or optical memories. Each memory included in the storage unit 15 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 15 stores any information used in the operation of the ship 10. For example, the storage unit 15 may store system programs, application programs, and embedded software, map information, a list of docking points, and the like. The information stored in the storage unit 15 may be updatable with information acquired from the network 2 via the communication unit 11, for example.

[0024] The control unit 16 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is, for example, but is not limited to, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process. The programmable circuit is, for example, but is not limited to, an FPGA (Field-Programmable Gate Array). The dedicated circuit is, for example, but is not limited to, an ASIC (Application Specific Integrated Circuit). The control unit 16 controls the operation of the entire ship 10.

[0025] (Control device configuration) As shown in FIG. 1, 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.

[0026] The communication unit 21 has both a communication interface that connects to the network 2 and a communication interface that connects to the communication unit 11 of the ship 10 via a wired connection. The communication interface that connects to the network 2 is compatible with mobile communication standards such as 4G or 5G, but is not limited to these and may be compatible with any communication standard. In this embodiment, the control device 20 is connected to the communication unit 11 of the ship 10 via the communication unit 21 so as to be able to communicate with them via a wired connection. Furthermore, the control device 20 may be connected to the communication unit 11 of the ship 10 and the communication unit 31 of the mobile terminal 30 so as to be able to communicate with them wirelessly via the communication unit 21 and the network 2.

[0027] The storage unit 22 includes one or more memories. Each memory included in the storage unit 22 may function, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores any information used in the operation of the control device 20. For example, the storage unit 22 may store a system program, an application program, a database, map information, a list of registered locations where docking is possible, a docking location (scheduled docking location) of the ship 10 whose selection has been accepted, and the like. The information stored in the storage unit 22 may be updatable, for example, with information acquired from the network 2 via the communication unit 21.

[0028] The input unit 23 is configured to include at least one input interface capable of accepting input from the operator of the vessel 10. The input interface is, for example, a physical key, a capacitive key, a pointing device, a camera, a touch screen provided integrally with the display of the display unit 24 described below, or a microphone that picks up the operator's voice. However, the input interface is not limited to these.

[0029] The display unit 24 includes at least one display interface capable of displaying text or images. The display interface is, for example, a display such as an LCD or an organic EL display. However, the display interface is not limited to these. The display unit 24 displays information such as a selection list of candidate docking points for the ship 10. The display unit 24 may have a function of displaying information such as the docking points of the ship 10 and water areas together with map information.

[0030] The control unit 25 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 25 controls the operation of the entire control device 20.

[0031] (Mobile device configuration) As shown in FIG. 1, the mobile terminal 30 includes a communication unit 31, a positioning unit 32, an input unit 33, an output unit , a storage unit 35, and a control unit .

[0032] The communication unit 31 is configured to include at least one communication module that can be connected to the network 2. The communication module is, for example, a communication module compatible with a mobile communication standard such as LTE, 4G, or 5G. However, the communication module is not limited thereto. The communication module may be compatible with any communication standard.

[0033] The positioning unit 32 can acquire position information of the mobile terminal 30. The positioning unit 32 includes at least one receiving module compatible with a satellite positioning system. The receiving module is, for example, a receiving module compatible with GPS. However, the receiving module is not limited to this. The receiving module may be a receiving module compatible with any satellite positioning system.

[0034] The input unit 33 is configured to include at least one input interface capable of receiving input from the operator of the vessel 10. The input interface is, for example, a physical key, a capacitive key, a pointing device, a touch screen integral with a display, a microphone, etc. However, the input interface is not limited to these.

[0035] The output unit 34 is capable of outputting data. The output unit 34 is capable of outputting data. The output interface is, for example, The display may be, for example, an LCD or an organic EL display. However, the output interface is not limited to this.

[0036] The storage unit 35 includes one or more memories. The memories are, for example, but not limited to, semiconductor memories, magnetic memories, or optical memories. Each memory included in the storage unit 35 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 35 stores any information used in the operation of the mobile terminal 30. For example, the storage unit 35 may store a system program, an application program, and embedded software. The storage unit 35 may store an application program that displays information such as the docking point of the ship 10 and water areas together with map information. The information stored in the storage unit 35 may be updatable with information acquired from the network 2 via the communication unit 31, for example.

[0037] The control unit 36 ​​may include at least one processor, at least one dedicated circuit, or a combination of these. The control unit 36 ​​controls each unit of the mobile terminal 30 and executes processes related to the operation of the mobile terminal 30.

[0038] (Control device operation flow) The operation of the control device 20 according to this embodiment will be described with reference to Fig. 2. This operation relates to setting and displaying a water area in which automatic piloting can be started to dock the vessel 10 at a selected docking point.

[0039] S101: The control unit 25 acquires information on the position p1 and bow direction d of the ship 10.

[0040] 3 is a schematic diagram showing an example of the names of parts of the ship 10. In this disclosure, the front half of the ship 10's hull is called the bow, the rear half of the ship 10's hull is called the stern, the left side (ship side) of the ship 10's hull is called the port side, and the right side (ship side) of the ship 10 is called the starboard side. The bow direction d of the ship 10 will be described later. Note that in this disclosure, the ship 10 will be described as navigating the ocean 3, but the water area in which the ship 10 navigates is not limited to the ocean and may be a lake, a canal, a river, or the like.

[0041] Fig. 4 is a schematic diagram showing an example of a first water area z1. As shown in Fig. 4, information on the position p1 of the ship 10 is the latitude and longitude coordinates (x1, y1) of the point where the ship 10 is located. The positioning unit 12 of the ship 10 acquires information on the position p1 (x1, y1) of the ship 10 using, for example, a receiver compatible with GPS.

[0042] On the other hand, as shown in FIG. 4, the information on the bow direction d of the ship 10 is the azimuth angle at which the bow of the ship 10, indicated by an arrow, is pointed. The bow direction d of the ship 10 is measured by setting the north direction as 0° and going around 360° clockwise from the north direction. The bow direction d is measured by a GPS compass, but the measurement method is not limited to this. A GPS compass is a device that uses multiple GPS antennas to observe the phase difference of the carrier waves of radio waves from GPS satellites and determines the direction of each antenna relative to a reference antenna (called a baseline vector) with high accuracy. The bow direction d of the ship 10 may be measured by a gyrocompass or a magnetic compass.

[0043] S102: Based on information on the position p1 and bow direction d of the ship 10, the control unit 25 extracts one or more registered points where the ship 10 can dock, and displays the extracted one or more registered points where the ship 10 can dock on a display screen provided on the ship 10.

[0044] The control unit 25 searches for one or more registered points stored in the memory unit 22 that are close to the ship 10 based on the position p1 and bow direction d of the sailing ship 10, and displays the extracted one or more registered points where the ship 10 can dock on the display screen of the display unit 14 of the ship 10. The control unit 25 transmits information on the one or more registered points to the display unit 14 of the ship 10 via the communication unit 21 and the communication unit 11 of the ship 10. The control unit 25 may also display information on the one or more registered points on the display screen of the display unit 24 of the control device 20 provided on the ship 10.

[0045] S103: When one of the one or more registered points is selected as the docking point p3(x3, y3) of the ship 10, the control unit 25 accepts the selected docking point p3(x3, y3).

[0046] The control unit 25 stores the received docking point p3 (x3, y3) in the memory unit 22.

[0047] S104: When a docking point p3 for the vessel 10 is selected, the control unit 25 sets a first water area z1 in which automatic steering for docking the vessel 10 at the selected docking point p3 can be started.

[0048] FIG. 4 is a schematic diagram showing an example of the first water area z1. As shown in FIG. 4, the first water area z1 is a water area within the range of the inner half of the half circle on the ocean side, which is obtained by dividing a circle having a predetermined radius n by a straight line parallel to the bow direction d, the circle being centered on a point p2 (x2, y2) that is a predetermined distance m away from the docking point p3 (x3, y3) in the direction toward the ocean side perpendicular to the bow direction d when the ship 10 is docked on the starboard side or the port side. The predetermined distance m and the half circle radius n are values ​​determined by the accuracy of the device for measuring the position of the ship 10 provided in the positioning unit 12 and the distance at which the docking operation can be started depending on the size of the ship 10. The point p2 (x2, y2) is a stopping point where the ship 10 that has entered the first water area z1 stops temporarily before docking.

[0049] S105: The control unit 25 displays the selected docking point p3 and the set first water area z1 together with map information on a display screen provided on the vessel 10.

[0050] The control unit 25 transmits information on the selected docking point 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.

[0051] The display unit 14 of the ship 10 is, for example, a chart plotter. The chart plotter is an electronic device installed on the ship 10 for the purpose of navigation, and displays the ship's position p1, bow direction d, speed, etc. on an electronic chart. The chart plotter can also display additional information such as weather information, wind speed, tides, water depth, and information obtained by a fish finder or various sensors. The display unit 14 of the ship 10 can display map information. The map information includes maps of water areas and coastal areas in the entire country or a specified region.

[0052] Furthermore, the display unit 24 of the control device 20 may have a function of displaying the selected docking point p3 and the set first water area z1 together with map information. In this case, the "display screen provided on the vessel 10" may include the display unit 24 of the control device 20 mounted on the vessel 10, in addition to the display unit 14 of the vessel 10. The display unit 24 displays the selected docking point p3 and the set first water area z1 together with map information on the display screen.

[0053] Furthermore, the control unit 25 may transmit information on the docking point p3 of the ship 10 and the first water area z1 to the output unit 34 via the communication unit 31 of the mobile terminal 30 capable of activating an application program for displaying the information together with map information. In this case, the docking point p3 and the first water area z1 are displayed on the display (output unit 34) of the mobile terminal 30 together with the map information. This further improves the convenience for the ship operator to grasp the first water area z1 as a maneuvering target.

[0054] 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 maneuvering target of the ship 10 clearer.

[0055] S106: The control unit 25 monitors the presence or absence of an obstacle in the first water area z1.

[0056] The obstacles are man-made structures including piers (quays) 6, land 4, and buoys 5 displayed on the display screen, areas where docking is topographically or legally impossible, or objects that impede the navigation of the ship 10 and are detected by sensors equipped on the ship 10.

[0057] S107: When an obstacle is detected in the first water area z1, the control unit 25 sets a second water area z2 by deleting the area in which the obstacle exists from the first water area z1.

[0058] FIG. 5 is a schematic diagram showing an example of the second water area z2. As shown in FIG. 5, the second water area z2 is set by deleting an area where artificial structures such as a pier (quay) 6, land 4, or a buoy 5 exist from the first water area z1. The pier (quay) 6 and an area where docking is not possible due to topography or law are acquired from map information. In addition, an object that hinders the navigation of the ship 10 floating on the ocean 3 is detected by a sensor provided in the measurement unit 13 of the ship 10. The sensor is, for example, a sonar, a radar, etc., but is not limited to these. A sonar is a device used as a fish finder in various ships. A radar is a device that detects the exact distance to each object by converting the time it takes for the reflected wave to return, when an emitted radio wave (microwave) is reflected by an object such as another ship or drifting object on the traveling line of the radio wave, into a distance.

[0059] S108: The control unit 25 displays the second water area z2 on the display screen provided on the vessel 10 in place of the first water area z1.

[0060] The control unit 25 may display the second water area z2 on a display screen of the display unit 24 or the output unit 34. The control unit 25 may display the position p1 and bow direction d of the ship 10 together with map information on the display screen. This makes the maneuvering target of the ship 10 clearer.

[0061] S109: The control unit 25 sets a part of the first water area z1 or the second water area z2, which is determined according to the bow direction d when the ship 10 docks, as a third water area z3 in which automatic steering can be initiated, in the first water area z1 or the second water area z2.

[0062] The first water area z1 is a water area whose range is the inside of the semicircle on the ocean side of two semicircles obtained by dividing a circle of a specified radius n, centered at point p2 a specified distance m away from docking point p3 in the ocean direction perpendicular to the bow direction d when the ship 10 docks on the starboard or port side, by a straight line parallel to the bow direction d. The second water area z2 is a water area obtained by removing from the first water area z1 areas where obstacles such as a pier (quay) 6, land 4, or buoy 5 exist. The third water area z3 is a water area whose range is within the stern quadrant of two quadrants obtained by dividing the first water area z1 (the water area within the semicircle on the ocean side) or the second water area z2 (the water area with obstacles removed from the inside of the semicircle on the ocean side) in half by a line that passes through the docking point p3 and is perpendicular to the bow direction d of the ship 10 when docking.

[0063] 6 and 7 are schematic diagrams showing an example of the third water area z3. As shown in FIG. 6 and FIG. 7, the third water area z3 is determined depending on whether the ship 10 berths on the starboard side or the port side at the docking point p3. FIG. 6 shows the third water area z3 set when the ship 10 approaching from the sea in the northeasterly direction berths with the bow direction d facing west (bow direction d=270°). On the other hand, FIG. 7 shows the third water area z3 set when the ship 10 approaching from the sea in the northwesterly direction berths with the bow direction d facing east (bow direction d=90°). This allows the ship operator to understand that the range of the water area in which autopilot can be started differs depending on the bow direction d at the time of docking.

[0064] S110: The control unit 25 displays the set third water area z3 on the display screen provided on the vessel 10, instead of the first water area z1 or the second water area z2.

[0065] The control unit 25 may display the third water area z3 on the display screen of the display unit 24 or the output unit 34. As shown in Fig. 6 and 7, the control unit 25 may display the position p1 and bow direction d of the ship 10 together with map information on the display screen. This makes the maneuvering target of the ship 10 clearer.

[0066] S111: The control unit 25 controls the vessel 10 to enter the first water area, the second water area, or the third water area.

[0067] S112: When the vessel 10 enters the first water area, the second water area, or the third water area, the control unit 25 starts automatic steering to dock the vessel 10.

[0068] When a predetermined button provided on the input unit 23 or a predetermined icon displayed on a touch screen integral with the display screen (display) of the display unit 24 is selected, a selection screen for a docking point for the ship 10 is displayed. When a selection is accepted on the selection screen and a docking point p3 stored in the memory unit 22 is selected, the control unit 25 starts automatic steering to dock the ship 10 at the selected docking point p3.

[0069] As described above, when a docking point for the ship 10 is selected, the control device 20 of this embodiment sets a first water area z1 in which automatic steering can be initiated to dock the ship 10 at the selected docking point p3, and displays the selected docking point p3 and the set first water area z1 together with map information on a display screen provided on the ship 10.

[0070] Thus, according to this embodiment, even if the vessel 10 is navigating outside a water area where automatic steering to the docking point p3 can be initiated, the water area is displayed on the display screen provided on the vessel 10. Therefore, the vessel operator can clarify the maneuvering target by the display on the display screen, and can grasp the extent of the water area before starting automatic steering. Therefore, the technology related to docking control of the vessel 10 is improved in that it is easier for the vessel operator to grasp the water area.

[0071] Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art may make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each component or step can be rearranged so as not to be logically inconsistent, and multiple components or steps can be combined or divided into one.

[0072] For example, in the above-described embodiment, the configuration and operation of the control device 20 may be distributed among a plurality of computers that can communicate with each other. Also, for example, an embodiment in which some or all of the components of the control device 20 are provided in the ship 10 or the mobile terminal 30 may be possible. For example, the information display function may be appropriately shared among display devices provided in the ship 10, the control device 20, or the mobile terminal 30.

[0073] Also, for example, an embodiment is possible in which a general-purpose computer functions as the control device 20 according to the above-described embodiment. Specifically, a program describing the processing contents for realizing each function of the control device 20 according to the above-described embodiment is stored in the memory of the general-purpose computer, and the program is read and executed by a processor. Therefore, the present disclosure can also be realized as a program executable by a processor, or a non-transitory computer-readable medium that stores the program.

[0074] Some of the embodiments of the present disclosure will be described below as examples. However, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] A control device installed on a ship, A control device having a control unit that, when a docking point for a ship is selected, sets a first water area in which automatic steering can be initiated to dock the ship at the selected docking point, and displays the selected docking point and the set first water area together with map information on a display screen provided on the ship. [Appendix 2] 2. The control device according to claim 1, The control unit further acquires information on the position and bow direction of the ship, extracts one or more registered points where the ship can dock based on the information, and displays the extracted one or more registered points on the display screen. [Appendix 3] 3. The control device according to claim 2, The control unit is a control device that accepts the selection of a docking point when one of the one or more registered points is selected as a docking point for the ship. [Appendix 4] A control device according to any one of claims 1 to 3, A control device wherein the first water area is a water area within the range of the inside of the ocean-side semicircle of two semicircles obtained by dividing a circle having a specified radius, centered at a point a specified distance away from the selected docking point in a direction toward the ocean that is perpendicular to the bow direction when the ship docks on the starboard or port side, by a straight line parallel to the bow direction. [Appendix 5] 5. The control device according to claim 1, The control device, when an obstacle is detected in the first water area, sets a second water area by deleting the area in which the obstacle exists from the first water area, and displays the set second water area on the display screen in place of the first water area. [Appendix 6] 6. The control device according to claim 5, A control device in which the obstacle is an artificial structure including a pier, a wharf, and a buoy displayed on the display screen, an area where docking is topographically or legally impossible, or an object that impedes the navigation of the ship detected by a sensor equipped on the ship. [Appendix 7] 7. The control device according to claim 5 or 6, The control unit is a control device that sets a part of the first water area or the second water area, which is determined depending on the bow direction of the ship when docking, as a third water area in which the automatic piloting can be initiated, and displays the set third water area on the display screen instead of the first water area or the second water area. [Appendix 8] 8. The control device according to claim 7, The third water area is a water area within the inner range of the ocean-side semicircle of two semicircles obtained by bisecting a circle having a specified radius, centered at a point a specified distance away from the docking point in the oceanward direction perpendicular to the bow direction when the ship is docked on the starboard or port side, by a straight line parallel to the bow direction, and within the inner range of the stern-side quadrant of two quadrants obtained by bisecting a circle by a line segment perpendicular to the bow direction when the ship is docked that passes through the docking point, the control device. [Appendix 9] 8. The control device according to claim 7, A control device, wherein the third water area is determined depending on whether the ship docks on the starboard side or the port side at the docking point. [Appendix 10] 10. The control device according to any one of claims 1 to 9, The control unit further displays the position and heading direction of the ship together with the map information on the display screen. [Appendix 11] A control method executed by a control device installed on a ship, comprising: The control device setting a first water area in which, when a docking point for the vessel is selected, an automatic pilot for docking the vessel at the selected docking point can be initiated; displaying the selected docking point and the set first water area together with map information on a display screen provided on the vessel; A control method for performing the above. [Appendix 12] 12. The control method according to claim 11, further comprising: The control device obtaining position and heading information of the vessel; Extracting one or more registered points where the vessel can dock based on the information; and Displaying the extracted one or more registered points on the display screen; The control method further comprises: [Appendix 13] 13. The control method according to claim 12, further comprising: The control device The control method further includes, when one of the one or more registered points is selected as a docking point for the vessel, accepting a selection of the docking point. [Appendix 14] 14. The control method according to any one of claims 11 to 13, A control method in which the first water area is a water area within the range of the inside of the ocean-side semicircle of two semicircles obtained by dividing a circle having a specified radius, centered at a point a specified distance away from the selected docking point in a direction toward the ocean that is perpendicular to the bow direction when the ship docks on the starboard or port side, by a straight line parallel to the bow direction. [Appendix 15] 15. The control method according to any one of claims 11 to 14, The control device When an obstacle is detected in the first water area, a second water area is set by deleting an area in which the obstacle exists from the first water area; Displaying the set second water area on the display screen in place of the first water area; The control method further comprises: [Appendix 16] 16. The control method according to claim 15, further comprising: A control method in which the obstacle is an artificial structure including a pier, a wharf, and a buoy displayed on the display screen, an area where docking is topographically or legally impossible, or an object that impedes the navigation of the ship detected by a sensor equipped on the ship. [Appendix 17] 17. The control method according to claim 15, further comprising: The control device In the first water area or the second water area, a part of the first water area or the second water area is set as a third water area in which the automatic piloting can be started, the part being determined according to a bow direction of the ship when docking; Displaying the set third water area on the display screen instead of the first water area or the second water area; The control method further comprises: [Appendix 18] 18. The control method according to claim 17, further comprising: The third water area is a water area within the range of the inside of the ocean-side semicircle of two semicircles obtained by bisecting a circle having a specified radius, centered at a point a specified distance away from the docking point in a direction toward the ocean that is perpendicular to the bow direction when the ship is docked on the starboard or port side, by a straight line parallel to the bow direction, and within the range of the inside of the stern-side quadrant of two quadrants obtained by bisecting a circle by a line that passes through the docking point and is perpendicular to the bow direction when the ship is docked. [Appendix 19] 18. The control method according to claim 17, further comprising: A control method in which the third water area is determined based on whether the ship docks on the starboard side or the port side at the docking point. [Appendix 20] 20. The control method according to any one of claims 11 to 19, The control method further comprises the control device displaying the position and heading of the ship together with the map information on the display screen. [Explanation of symbols]

[0075] 1 System 2 Network 3 Oceans (lakes, canals, rivers) 4 Land 5 Buoy 6 Pier (quay) 10 ships 11 Communications Department 12 Positioning unit 13. Measurement section 14 Display section 15 Storage section 16 Control section 20 Control device 21 Communications Department 22 Memory section 23 Input section 24 Display section 25 Control Unit 30 Mobile Devices 31 Communications Department 32 Positioning unit 33 Input section 34 Output section 35 Storage section 36 Control Unit

Claims

1. A control device installed on a ship, A control device having a control unit that, when a docking point for the ship is selected, sets a first water area in which automatic steering can be initiated to dock the ship at the selected docking point, and displays the selected docking point and the set first water area together with map information on a display screen provided on the ship.

2. The control device according to claim 1 , The control unit further acquires information on the position and bow direction of the ship, extracts one or more registered points where the ship can dock based on the information, and displays the extracted one or more registered points on the display screen.

3. The control device according to claim 2, The control unit is a control device that accepts the selection of a docking point when one of the one or more registered points is selected as a docking point for the ship.

4. The control device according to claim 1 , A control device in which the first water area is a water area within the range of the inside of the ocean-side semicircle of two semicircles obtained by dividing a circle having a specified radius, centered at a point a specified distance away from the selected docking point in a direction toward the ocean that is perpendicular to the bow direction when the ship docks on the starboard or port side, by a straight line parallel to the bow direction.

5. The control device according to claim 1 , The control unit, when an obstacle is detected in the first water area, sets a second water area by deleting the area in which the obstacle exists from the first water area, and displays the set second water area on the display screen in place of the first water area.

6. The control device according to claim 5, A control device in which the obstacle is an artificial structure including a pier, a wharf, and a buoy displayed on the display screen, an area where docking is topographically or legally impossible, or an object that impedes the navigation of the ship detected by a sensor equipped on the ship.

7. The control device according to claim 5, The control unit is a control device that sets a part of the first water area or the second water area, which is determined depending on the bow direction of the ship when docking, as a third water area in which the automatic piloting can be initiated, and displays the set 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, The third water area is a water area within the inner range of the ocean-side semicircle of two semicircles obtained by dividing a circle having a specified radius, centered at a point a specified distance away from the docking point in the oceanward direction perpendicular to the bow direction when the ship is docked on the starboard or port side, by a straight line parallel to the bow direction, and within the inner range of the stern-side quadrant of two quadrants ...

9. The control device according to claim 7, A control device, wherein the third water area is determined depending on whether the ship docks on the starboard side or the port side at the docking point.

10. The control device according to any one of claims 1 to 9, The control unit further displays the position and heading direction of the ship together with the map information on the display screen.

11. A control method executed by a control device installed on a ship, comprising: The control device setting a first water area in which, when a docking point for the vessel is selected, an automatic pilot for docking the vessel at the selected docking point can be started; displaying the selected docking point and the set first water area together with map information on a display screen provided on the vessel; A control method for performing the above.

12. 12. The control method according to claim 11, The control device obtaining position and heading information of the vessel; Extracting one or more registered points where the vessel can dock based on the information; and Displaying the one or more extracted registered points on the display screen; and The control method further comprises:

13. 13. The control method according to claim 12, The control device The control method further includes, when one of the one or more registered points is selected as a docking point for the vessel, accepting a selection of the docking point.

14. 12. The control method according to claim 11, A control method in which the first water area is a water area within the range of the inside of the ocean-side semicircle of two semicircles obtained by dividing a circle having a specified radius, centered at a point a specified distance away from the selected docking point in a direction toward the ocean that is perpendicular to the bow direction when the ship docks on the starboard or port side, by a straight line parallel to the bow direction.

15. 12. The control method according to claim 11, The control device When an obstacle is detected in the first water area, a second water area is set by deleting an area in which the obstacle exists from the first water area; Displaying the set second water area on the display screen in place of the first water area; The control method further comprises:

16. 16. The control method according to claim 15, A control method in which the obstacle is an artificial structure including a pier, a wharf, and a buoy displayed on the display screen, an area where docking is topographically or legally impossible, or an object that impedes the navigation of the ship detected by a sensor equipped on the ship.

17. 16. The control method according to claim 15, The control device In the first water area or the second water area, a part of the first water area or the second water area is set as a third water area in which the autopilot can be started, the part being determined according to a bow direction of the vessel when docking; Displaying the set third water area on the display screen instead of the first water area or the second water area; The control method further comprises:

18. 18. A control method according to claim 17, comprising: The third water area is a water area within the range of the inside of the ocean-side semicircle of two semicircles obtained by dividing a circle having a specified radius, centered at a point a specified distance from the docking point in the oceanward direction perpendicular to the bow direction when the ship is docked on the starboard or port side, by a straight line parallel to the bow direction, and within the range of the inside of the stern-side quadrant of two quadrants obtained by dividing the circle into two semicircles by a line segment perpendicular to the bow direction when the ship is docked that passes through the docking point.

19. 18. A control method according to claim 17, comprising: A control method in which the third water area is determined based on whether the ship docks on the starboard side or the port side at the docking point.

20. 20. A control method according to any one of claims 11 to 19, comprising the steps of: The control method further comprises the control device displaying the position and heading of the ship together with the map information on the display screen.

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