Unmanned delivery system for ship, control method thereof, and ship

Abstract

To deliver a package via sea transport using an unmanned delivery method.SOLUTION: In a delivery acceptance process 71, an acquisition unit 30 acquires information such as a destination of a package to be delivered (loaded onto a ship 100). An automatic navigation unit 29 automatically navigates the ship 100 to a destination port specified in destination information in an unmanned manner. When the ship 100 arrives at the destination port, as a control unit, a CPU 11 performs functions such as sending an arrival notification and maintaining the ship 100 at a constant position.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an unmanned delivery system for a ship, a control method therefor, and a ship. [Background technology]

[0002] In the field of automobiles, technologies for delivering packages through autonomous driving have been developed (for example, Patent Document 1). On the other hand, in the field of ships, if smooth autonomous navigation becomes possible in the future, it is expected that highly accurate autonomous delivery by unmanned navigation will be realized. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7211164 Summary of the Invention [Problem to be solved by the invention]

[0004] However, ships have unique circumstances that differ from those on land, so it is necessary to develop automated delivery technology that takes these into consideration.

[0005] An object of the present invention is to provide an unmanned delivery system for a ship that can deliver cargo via sea without any manpower. [Means for solving the problem]

[0006] An unmanned delivery system for a ship according to one aspect of the present invention includes an acquisition unit that acquires destination information for the cargo to be delivered, an automatic navigation unit that automatically navigates the ship unmanned to the destination port indicated by the destination information, and a control unit that issues an arrival notification and keeps the ship in a fixed position when the ship arrives at the destination port.

[0007] According to this configuration, destination information for the cargo to be delivered is obtained, and the ship is automatically navigated unmanned to the destination port indicated by the destination information, and when the ship arrives at the destination port, an arrival notification is sent and the ship is kept at a fixed location. [Effects of the Invention]

[0008] According to the present invention, packages can be delivered unmanned via sea. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic side view of a ship to which an unmanned delivery system is applied. [Figure 2] FIG. 1 is a block diagram of a main part of an unmanned delivery system. [Figure 3] This is a conceptual diagram of unmanned delivery. [Figure 4] FIG. 1 is a diagram showing an example of the flow of delivery control processing in an unmanned delivery system. [Figure 5] 10 is a flowchart of a delivery control process. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] 1 is a schematic side view of a boat to which an unmanned delivery system according to one embodiment of the present invention is applied. The boat 100 includes a hull 101 and a boat propulsion unit 102 mounted on the hull 101. The boat propulsion unit 102 is, for example, an outboard motor. Two or more boat propulsion units 102 may be provided. The boat 100 is connected to a server 40 via a network N so as to be able to communicate with the server 40.

[0012] The vessel propulsion device 102 is attached to the hull 101 via a mounting unit 114. The vessel propulsion device 102 includes a drive source (e.g., an engine) 103. The drive source 103 may be an electric motor. The vessel propulsion device 102 obtains thrust for moving the hull 101 by a propeller rotated by the driving force of the drive source 103. The mounting unit 114 includes a swivel bracket, a clamp bracket, a steering shaft, and a tilt shaft (none of which are shown).

[0013] The mounting unit 114 further includes a power trim and tilt mechanism (PTT mechanism) (not shown). The PTT mechanism rotates the vessel propulsion unit 102 about a tilt axis, thereby changing the inclination angle (trim angle, tilt angle) of the vessel propulsion unit 102 relative to the hull 101. The vessel propulsion unit 102 is also rotatable about a steering axis relative to the swivel bracket. During manual navigation, the vessel propulsion unit 102 rotates left and right by operating a steering wheel (not shown), thereby steering the vessel 100.

[0014] A camera 24 is installed at the bow. The camera 24 may be attached, for example, directly to a bow rail (not shown) or via a support. The imaging direction of the camera 24 is set to face substantially forward. The camera 24 may be a stereo camera.

[0015] The ship 100 is used to deliver cargo. The ship 100 has a luggage compartment 106. A loading lock 28 is provided in the luggage compartment 106, and when the loading lock 28 is unlocked, a door (not shown) opens, allowing cargo to be loaded (carried in) and removed (discharged). A ship door lock 27 is provided on a door 104 of the ship 100. The location of the door 104 is not important. When the ship door lock 27 is unlocked, workers can board and disembark. Therefore, in order to load and remove cargo, the locks 27 and 28 must be unlocked. Note that the luggage compartment 106 and the loading lock 28 are not essential, and the entire floor of the hull 101 may be used as a luggage loading area.

[0016] As shown in FIG. 1, tags 109 (109A, 109B) are attached to luggage 108 (108A, 108B) loaded into luggage compartment 106 for delivery. The tags 109 record luggage identification information, which is correspondence information that associates the corresponding luggage 108 with its destination information. The luggage identification information uniquely identifies the luggage 108 and the destination. Recording the information that identifies the luggage 108 and the destination is not limited to physical elements such as tags 109.

[0017] 2 is a block diagram of the main components of the unmanned delivery system. The unmanned delivery system is composed of a ship 100, a server 40, and one or more clients 50.

[0018] In addition to the above-mentioned camera 24, ship door lock 27, and loading lock 28, the ship 100 also has a navigation unit 21, a sensor group 22, a GNSS receiver 23, and a display unit 26. The ship 100 also has a CPU 11, a ROM 12, a RAM 13, a memory 14, a communication I / F (interface) 15, a timer 16, an input unit 17, a weight scale 18, a waterline detector 19, and a tag reader 20.

[0019] The CPU 11 controls the entire vessel 100. The ROM 12 or memory 14 stores a control program. The memory 14 also stores nautical chart information obtained from the server 40. The CPU 11 implements various control processes by expanding the control program stored in the ROM 12 or the like into the RAM 13 and executing it. The RAM 13 provides a work area when the CPU 11 executes the control program. The timer 16 measures time.

[0020] The navigation unit 21 includes elements necessary for navigation, such as a steering wheel, a remote control, a throttle, a shift mechanism, a turning mechanism (none of which are shown), as well as a drive source 103 (FIG. 1). The sensor group 22 may include a sensor that detects the operation of the input unit 17, as well as a direction sensor, an acceleration sensor, a speed sensor, an angular velocity sensor, an engine rotation speed sensor, a shift position sensor, a millimeter-wave radar, and the like (none of which are shown). The results of detection by the sensor group 22 are sent to the CPU 11.

[0021] The GNSS receiver 23 periodically receives GNSS signals from Global Navigation Satellite Systems (GNSS) satellites, thereby enabling the CPU 11 to acquire the current position of the ship 100.

[0022] The input unit 17 receives input of various settings, modes, etc. from the operator of the vessel 100. The communication I / F 15 is capable of communicating with the server 40 via the network N, and can also communicate with an ECU (not shown) that controls the drive source 103 of the navigation unit 21 via a CAN or the like.

[0023] The camera 24 is fixed to the hull 101 and is an imaging unit that captures images of a subject. The display unit 26 displays various information. The captured image obtained by the camera 24 is sent to the CPU 11 and displayed on the display unit 26 in a format corresponding to the set mode.

[0024] The ship door lock 27 and the loading lock 28 can be switched between a locked state and an unlocked state in response to instructions from the CPU 11. The weighing scale 18 is placed, for example, on the floor of the luggage compartment 106, measures the total weight of the luggage loaded in the luggage compartment 106, and sends the measurement value to the CPU 11. The waterline detection unit 19 detects the waterline. The waterline detection unit 19 can be a detector such as an imaging device or an ultrasonic sensor, but the configuration is not important. The tag reading unit 20 reads information from a tag 109 attached to the luggage.

[0025] 2, the elements denoted by reference numerals 11 to 16 and 21 to 24 constitute an automatic navigation unit 29. The elements denoted by reference numerals 11 to 20 constitute an acquisition unit 30. However, it is not essential that the acquisition unit 30 and the automatic navigation unit 29 each include all of the elements shown in FIG.

[0026] Although details will be described later, the acquisition unit 30 acquires destination information, package identification information, and the like of packages to be delivered (loaded on the ship 100) in a delivery acceptance process 71 (FIG. 4).

[0027] The automatic navigation unit 29 automatically navigates the ship 100 to the destination port indicated by the destination information without any crew. Note that, in consideration of emergencies, a crew member may be on board the ship 100 during delivery by automatic navigation. A known method can be adopted as a basic method for realizing unmanned automatic navigation by the automatic navigation unit 29. The automatic navigation unit 29 mainly realizes automatic navigation using images captured by the camera 24, detection information obtained from the sensor group 22, position information obtained from the GNSS receiving unit 23, etc.

[0028] The server 40 has a CPU 41, ROM 42, RAM 43, memory 44, a communication I / F 45, an input unit 47, and a display unit 46. The CPU 41 performs various control processes by expanding a control program stored in the ROM 42 or memory 44 into the RAM 43 and executing it. The RAM 43 provides a work area when the CPU 41 executes the control program. The display unit 46 displays various information. The input unit 47 accepts input of various settings and instructions from the user of the server 40. The communication I / F 45 is capable of communicating with the ship 100 and the client 50 via the network N.

[0029] The client 50 has a CPU 51, a ROM 52, a RAM 53, a memory 54, a communication I / F 55, an input unit 57, and a display unit 56. The CPU 51 performs various control processes by expanding a control program stored in the ROM 52 or memory 54 into the RAM 53 and executing it. The RAM 53 provides a work area when the CPU 51 executes the control program. The display unit 56 displays various information. The input unit 57 accepts input of various settings and instructions from the user of the client 50. The communication I / F 55 is capable of communicating with the network N.

[0030] The communication I / Fs 15, 45, and 55 may each include a plurality of communication functions, and the communication functions may be either wired or wireless. Also, any of the communication I / Fs may include a short-range wireless communication function.

[0031] Figure 3 is a conceptual diagram of unmanned delivery. Unmanned delivery is mainly achieved by a ship 100 carrying cargo from a base port 60 on land to an island 61 (61A, 61B, 61C) across the sea, and the recipient or the like unloading the cargo at the port (pier) of the island 61. Although three islands 61 are shown in Figure 3, the number of islands 61 may be one, or four or more.

[0032] The clients 50 (50A, 50B, 50C) are communication terminal devices such as smartphones owned by users who receive packages on the islands 61 (61A, 61B, 61C). The communication terminal devices of users on the islands 61A, 61B, 61C are referred to as clients 50A, 50B, 50C, respectively. Note that one island 61 may correspond to one or more clients 50.

[0033] It is assumed that a predetermined application is installed in advance on the client 50 that receives the delivery. As shown representatively on island 61A, a mooring post 62 is provided at the pier of island 61. When the docked vessel 100 is to anchor, the user of client 50 connects the vessel 100 to the mooring post 62 with a mooring rope 63. Hereinafter, the pier on island 61 that receives the delivery may also be referred to as the "destination port."

[0034] When delivering to multiple islands 61, the server 40 determines a reasonable route for automatic navigation based on information received from the CPU 11. For example, when cargo is delivered to each of islands 61A, 61B, and 61C, the route is island 61A → 61B → 61C → base port 60. A route may be determined that excludes islands 61 where no delivery items are scheduled to be delivered from a predetermined route. Therefore, islands 61 that do not match the destination information may be excluded from the ports of call. Note that all islands 61 may be called on along the predetermined route, regardless of whether they match the destination information.

[0035] Figure 4 is a diagram showing an example of the flow of delivery control processing in an unmanned delivery system. A typical flow of delivery control processing will be explained with reference to Figures 3 and 4. Information is exchanged between the ship 100 and the client 50 via the network N and the server 40. Note that the ship 100 and the client 50 may also communicate directly if possible.

[0036] First, at the base port 60, before departure, a delivery acceptance process 71 is executed. A person who performs a series of tasks required for delivery at the base port 60 is referred to here as the "sender." The sender may be the user who sent the package, or a staff member of the delivery company. In the delivery acceptance process 71, the CPU 11 (acquisition unit 30) acquires various information. Note that the method of acquiring various information is an example, and is not limited to the exemplified method.

[0037] The various information includes the destination information and package identification information of the package, as described above, as well as the weight and size of the package to be delivered, the desired delivery time period, etc. The destination information, weight, size, and desired delivery time period are input by, for example, the sender. The sender attaches a tag 109 to the package. The CPU 11 reads the tag 109 attached to the package. This associates the package identification information with information such as the destination information. Note that the tag 109 may be read after the package is loaded.

[0038] Next, the CPU 11 executes a "loading guide" that guides the sender to the recommended loading area for the cargo in the cargo compartment 106 based on the weight and / or size of the cargo. The display unit 26 may be used for this loading guide. In the loading guide, the CPU 11 determines the placement position of each piece of cargo so that the weight distribution on the ship 100 is as even as possible. Note that the weight and size of the cargo may not depend on input by the sender, but may instead use the results of determination using individual weighing scales, cameras, etc. The sender loads the cargo in accordance with the loading guide.

[0039] When the sender determines that the loading of the cargo to be delivered is complete, the sender presses a predetermined button to input information indicating that loading is complete. The CPU 11 transmits all acquired information, including the cargo identification information, to the server 40 on the condition that departure permission information permitting departure has been generated.

[0040] Here, the generation of the departure permission information requires that the sender has input that loading is complete and that the total weight of all cargo is appropriate. However, it is not essential that the total weight of all cargo is appropriate as a condition for generating the departure permission information.

[0041] Whether the total weight is appropriate is determined as follows. The CPU 11 generates departure permission information on the condition that the total weight of the cargo loaded on the ship 100 is within a first predetermined amount, or the total weight of the ship 100 including the cargo is within a second predetermined amount. In other words, the following must be true: total weight of all cargo ≦ first predetermined amount, or "total weight of all cargo + hull weight" ≦ second predetermined amount. In determining whether these equations are true, the CPU 11 may use input information about the weight of the cargo, or may determine whether the equations are true based on the waterline detected by the waterline detection unit 19 or the total weight of the cargo detected by the weigh scale 18.

[0042] When the CPU 11 transmits all the information to the server 40, the server 40 receives it. The server 40 generates a password and associates it with all the information. The server 40 then determines the navigation route as described above, and sends back to the ship 100 a navigation start instruction including the determined route and the password. The password may be issued by the ship 100 and transmitted to the server 40 in association with the cargo identification information.

[0043] When the ship 100 receives a navigation start instruction from the server 40, the CPU 11 (automatic navigation unit 29) starts automatic navigation toward the destination port. Therefore, the CPU 11 causes the ship 100 to depart port on the condition that the sender of the cargo has generated port departure permission information.

[0044] In parallel with sending the sailing start instruction, the server 40 notifies the client 50 at the destination port for delivery of a delivery notice. The delivery notice includes, in addition to the cargo identification information and password, display information for displaying at least one of a list of cargo to be unloaded at the destination port, the scheduled time of arrival at the destination port, or the scheduled time of departure from the destination port.

[0045] From this perspective, the server 40 serves as a "transmitter" that transmits display information to the client 50 corresponding to the destination port. Note that the CPU 11 may be configured to generate and transmit the display information, thereby performing the role of the transmitter. The client 50 that receives the display information displays on its own display device at least one of a list of cargo to be unloaded, the estimated time of arrival at the destination port, or the estimated time of departure from the destination port. Note that the display information may include information for displaying cargo identification information and a password, and the client 50 may also display these.

[0046] When the ship 100 arrives at the destination port by automatic navigation, the CPU 11 as a control unit executes the unloading process 72. First, the CPU 11 transmits an arrival notification indicating that the ship 100 has arrived at the destination port to the client 50 corresponding to the destination port. The arrival notification includes cargo identification information.

[0047] At the same time, the CPU 11 starts maintaining the vessel 100 at a fixed position. Maintaining the fixed position is a control that keeps the vessel 100 within a certain range. In maintaining the fixed position, for example, the CPU 11 calculates the thrust and direction required for each vessel propulsion device 102 to eliminate the difference between the current position of the vessel 100 and the target position, and controls each vessel propulsion device 102 in accordance with the calculation result.

[0048] Next, the CPU 11 waits for receipt of "unloading preparation complete information" indicating that preparation for receiving the cargo is complete. A person who performs the series of tasks required to receive the cargo at the destination port is referred to here as the "recipient." The recipient is usually the owner of the client 50 corresponding to the destination information. The unloading preparation complete information is issued when the recipient to whom the arrival notice was sent (who has received the arrival notice) inputs a confirmation of intention to receive the cargo into the client 50. Alternatively, the unloading preparation complete information is issued when the mooring sensor 64 (Figure 3) detects that the user of the client 50 has connected the vessel 100 to the mooring bollard 62 with the mooring rope 63. Note that the unloading preparation complete information may be issued when either the input of the confirmation of intention to receive the cargo or the detection of the connection of the mooring rope 63 is performed. Alternatively, the unloading preparation complete information may be issued when both of these are performed.

[0049] The unloading preparation completion information is transmitted to the ship 100. In response to receiving the unloading preparation completion information, the CPU 11 performs a "cargo unloading permission process" that allows the cargo to be unloaded. This cargo unloading permission process involves unlocking access to the cargo loaded in the cargo hold 106 (unlocking the loading lock 28) or unlocking the door 104 leading into the ship 100 (unlocking the ship door lock 27). Note that if only one of the two locks is applied, it is sufficient to unlock the lock that is applied, either the lock 27 or the lock 28.

[0050] After the package drop-off permission process has been completed, the recipient drops off the package addressed to them. At this time, the recipient specifies the package to be picked up by inputting package identification information or a password, etc.

[0051] If a user at the destination port has cargo that they wish to deliver to another port, such as another island 61 or land, the client 50 at the destination port sends a delivery request to the ship 100. In this case, the ship 100 executes the same process as the delivery acceptance process 71 executed at the base port 60.

[0052] When the unloading operation is completed, the recipient inputs information indicating the completion of the unloading operation into the client 50. This generates departure permission information that permits departure from the destination port. The generated departure permission information is sent to the server 40. Upon receiving the departure permission information, the server 40 determines the next navigation route and sends a navigation start instruction including the navigation route to the ship 100. Note that if a new delivery acceptance process is being carried out, the originally determined navigation route may be changed, and the contents of the delivery notice may also be revised.

[0053] When the CPU 11 (automatic navigation unit 29) receives the departure permission information, it causes the ship 100 to depart port. Note that if a predetermined time has elapsed after starting fixed position maintenance at the destination port, the CPU 11 may cause the ship 100 to depart port even if the departure permission information has not been generated. This is to prevent delays in arrival at the subsequent destination port even if the receiver does not receive the goods at the destination port.

[0054] Therefore, the CPU 11 (automatic navigation unit 29) allows the ship 100 to depart on the condition that the destination of the arrival notification has generated departure permission information, but if a predetermined time has elapsed after starting to maintain a fixed position, the ship 100 will depart even if departure permission information has not been generated.

[0055] The CPU 11 automatically navigates to the next destination port, and upon arrival at the next destination port, executes the unloading process 72. This process is repeated, and when the unloading process 72 at all destination ports is completed, the CPU 11 controls the ship 100 to return to the base port 60.

[0056] If a delivery acceptance process has been executed based on a delivery request from the destination port to another island 61, a corresponding unloading process 72 is executed on the other island 61. If a delivery acceptance process has been executed based on a delivery request from the destination port to land, after returning to the base port 60, the loaded cargo is unloaded and the delivery to the destination is processed.

[0057] 5 is a flowchart of the delivery control process. This process is realized by the CPU 11 loading a program stored in the ROM 12 or the like into the RAM 13 and executing it. This process is started in response to the receipt of a delivery acceptance start instruction. This process corresponds to the process executed by the ship 100 in the control flow shown in FIG. 4. In particular, steps S101 to S103 are included in the delivery acceptance process 71, and steps S107 to S109 are included in the unloading process 72.

[0058] In step S101, the CPU 11 acquires various information such as the package destination information, package identification information, package weight and size, and desired delivery time zone, as described in FIG. 4, and executes loading guidance. In step S102, the CPU 11 determines whether departure is possible based on whether departure permission information has been generated. As described above, if the sender has input that loading is complete and the total weight of all packages is appropriate, it is determined that departure is possible. The CPU 11 repeats the processing of steps S101 and S102 until departure is possible, and when departure is possible, in step S103, it transmits all acquired information to the server 40.

[0059] In step S104, the CPU 11 waits until it receives a navigation start instruction from the server 40, and when it receives the navigation start instruction, in step S105 it starts automatic unmanned navigation toward the destination port indicated by the destination information.

[0060] In step S106, the CPU 11 continues automatic navigation until the ship 100 arrives at the destination port, and when the ship 100 arrives at the destination port, the CPU 11 proceeds to step S107. In step S107, the CPU 11 sends an arrival notification to the client 50 corresponding to the destination information at the destination port where the ship 100 has arrived, and starts maintaining a fixed position of the ship 100. Note that the timing of the arrival notification and the fixed position maintenance do not have to be simultaneous, and it does not matter whether they occur in time or not, and the interval between the two timings does not matter.

[0061] In step S108, the CPU 11 determines whether or not the unloading preparation is complete depending on whether or not the unloading preparation completion information described above is received. The CPU 11 waits until the unloading preparation is complete, and when the unloading preparation is completed, the CPU 11 executes a process for permitting unloading of the luggage in step S109.

[0062] In step S110, the CPU 11 executes other processes, such as executing a delivery acceptance process when a delivery request to another port is received from the client 50.

[0063] In step S111, the CPU 11 waits until it receives departure permission information from the server 40 or until a predetermined time has elapsed since the start of fixed-point keeping. If either of these occurs, the CPU 11 proceeds to step S112, where it resumes automatic navigation of the ship 100 and causes the ship 100 to depart port. The CPU 11 then returns to step S106. If the other processing in step S110 results in the ship returning to the base port 60, the CPU 11 ends this processing and performs the necessary unloading processing. If an emergency occurs during this processing, processing may be performed to remotely control the ship, forcibly return to the base port 60, or temporarily call at the nearest island 61.

[0064] In the present embodiment, part of the processing described as being executed by the CPU 11 may be executed by the server 40, or may be executed by the CPU 11 in cooperation with the server 40. Alternatively, part of the processing described as being executed by the server 40 may be executed by the CPU 11, or may be executed by the CPU 11 in cooperation with the server 40.

[0065] The present invention is applicable to various watercraft propelled by outboard motors, inboard motors, or inboard-outboard motors, as well as jet boats.

[0066] The present invention has been described in detail above based on its preferred embodiments, but the present invention is not limited to these specific embodiments, and various forms within the scope of the invention that do not deviate from the gist of the invention are also included in the present invention.

[0067] The present invention can also be realized by supplying a program that realizes one or more of the functions of the above-described embodiments to a system or device via a network or a non-transitory storage medium, and having one or more processors in the computer of the system or device read and execute the program. The above program and the storage medium storing the program constitute the present invention. The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more of the functions. [Explanation of symbols]

[0068] 21 Navigation unit, 29 Automatic navigation unit, 30 Acquisition unit, 11 CPU, 71 Delivery acceptance processing, 72 Unloading processing, 100 Ship

Claims

1. an acquisition unit that acquires destination information of a package to be delivered; an automatic navigation unit that automatically and unmannedly navigates the ship to the destination port indicated by the destination information; a control unit that, when the ship arrives at the destination port, notifies the arrival of the ship and keeps the ship at a fixed position; An unmanned delivery system for ships.

2. the acquisition unit acquires correspondence information that associates the package with the destination information, The unmanned delivery system for a ship according to claim 1 , wherein the control unit includes the correspondence information in the arrival notification.

3. 2. The unmanned delivery system for a ship according to claim 1, wherein the automatic navigation unit allows the ship to depart port on the condition that the sender of the cargo has generated departure permission information permitting departure.

4. The unmanned delivery system for a ship according to claim 1 , wherein the control unit provides guidance on a recommended loading area for the cargo on the ship based on the weight and / or size of the cargo.

5. 2. The unmanned delivery system for a ship described in claim 1, wherein the automatic navigation unit initiates departure from port on the condition that the total weight of the cargo loaded on the ship is within a first predetermined amount, or the total weight of the ship including the cargo is within a second predetermined amount.

6. 2. The unmanned delivery system for a ship according to claim 1, wherein the control unit transmits the arrival notification to a communication terminal device corresponding to the destination port.

7. 2. An unmanned delivery system on a ship as described in claim 1, further comprising a transmitting unit that transmits display information to a communication terminal device corresponding to the destination port to display at least one of a list of cargo to be unloaded at the destination port, the scheduled time of arrival at the destination port, or the scheduled time of departure from the destination port.

8. 2. The unmanned delivery system on a ship as described in claim 1, wherein the control unit performs a cargo unloading permission process to allow the cargo to be unloaded in response to obtaining preparation completion information indicating that preparation for receiving the cargo is complete.

9. 9. The unmanned delivery system for a ship according to claim 8, wherein the process of permitting unloading of the cargo comprises unlocking access to the loaded cargo or unlocking a door leading to the ship.

10. 2. The unmanned delivery system for a ship according to claim 1, wherein the automatic navigation unit allows the ship to depart port on the condition that the destination of the arrival notification has generated departure permission information permitting departure.

11. The unmanned delivery system for a ship described in claim 10, wherein the automatic navigation unit causes the ship to depart port even if the departure permission information has not been generated if a predetermined time has elapsed after starting to maintain a fixed position at the destination port.

12. A method for controlling an unmanned delivery system on a ship, comprising: Obtain the destination information of the package to be delivered, The ship is automatically and unmanned to navigate to the destination port indicated by the destination information, A method for controlling an unmanned delivery system on a ship, which performs arrival notification and keeps the ship at a fixed position when the ship arrives at the destination port.

13. A vessel comprising an unmanned vessel delivery system according to any one of claims 1 to 11.

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