Controller and control method

Abstract

To provide a technology to enable accurate maneuvering.SOLUTION: A controller turns a vessel by having a first propeller generate thrust in advancing direction as well as having a second propeller generate thrust in backing direction. The controller carries out at least one of a first control when receiving an advancing instruction during turning of the vessel or a second control when receiving a backing instruction during turning of the vessel. The first control is composed to change direction of generated thrust from backing direction to advancing direction for the second propeller and to stop generation of thrust in the first propeller during changing of thrust direction by the second propeller. The second control is composed to change direction of generated thrust from advancing direction to the backing direction for the first propeller and to stop generation of thrust to the second propeller during changing of thrust by the first propeller.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a ship equipped with operating devices and a control device. The control device in the ship disclosed in Patent Document 1 detects the navigation state of the ship and the operation state of the operating devices. The control device estimates the navigation intention of the ship operator based on the navigation state and the operation state. Then, the control device selects a ship steering device to be controlled from multiple ship steering devices based on the navigation intention, and controls the drive amount of the actuator that drives the ship steering device to be controlled. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-67287 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure aims to provide technology that enables accurate ship steering. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure includes: A control device including a control unit, The control unit generating a forward thrust in one or more first propellers provided on the vessel and generating a reverse thrust in one or more second propellers provided on the vessel, thereby turning the vessel; performing at least one of a first control when an instruction to move the vessel forward is received while the vessel is turning, or a second control when an instruction to move the vessel astern is received while the vessel is turning; configured to run the first control is configured by causing the one or more second thrusters to switch the direction of the thrust to be generated from a reverse direction to a forward direction, and causing the one or more first thrusters to stop generating the thrust while the one or more second thrusters are switching the direction of the thrust, The second control is configured by causing the one or more first thrusters to switch the direction of the thrust they generate from a forward direction to a reverse direction, and by causing the one or more second thrusters to stop generating the thrust while the one or more first thrusters are switching the direction of the thrust.

[0006] A control method according to a second aspect of the present disclosure includes: A computer-implemented control method comprising: generating a forward thrust in one or more first propellers provided on the vessel and generating a reverse thrust in one or more second propellers provided on the vessel, thereby turning the vessel; performing at least one of a first control when an instruction to move the vessel forward is received while the vessel is turning, or a second control when an instruction to move the vessel astern is received while the vessel is turning; Including, the first control is configured by causing the one or more second thrusters to switch the direction of the thrust to be generated from a reverse direction to a forward direction, and causing the one or more first thrusters to stop generating the thrust while the one or more second thrusters are switching the direction of the thrust, The second control is configured by causing the one or more first thrusters to switch the direction of the thrust they generate from a forward direction to a reverse direction, and by causing the one or more second thrusters to stop generating the thrust while the one or more first thrusters are switching the direction of the thrust. [Effects of the Invention]

[0007] The present disclosure enables accurate ship steering. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a ship maneuvering system. [Figure 2] FIG. 2 is a diagram illustrating an example of the operation of the vessel. [Figure 3] FIG. 3 is a diagram illustrating an example of the operation of the vessel in this embodiment. [Figure 4] FIG. 4 is a block diagram schematically showing an example of the functional configuration of a control device that constitutes the ship maneuvering system. [Figure 5] FIG. 5 is a diagram showing an example of changes in thrust generated by the left and right propellers when the vessel turns to the right and moves astern. [Figure 6] FIG. 6 is a flowchart of the process executed by the control unit of the control device. DETAILED DESCRIPTION OF THE INVENTION

[0009] A ship may turn (spin) by generating forward thrust in one or more of the multiple propellers provided on the ship and generating reverse thrust in the other one or more propellers. Also, an instruction to move the ship forward or reverse may be given while the ship is turning. When a forward instruction is given while the ship is turning, control is performed to switch the direction of thrust generated by one or more of the multiple propellers that are generating reverse thrust from the reverse direction to the forward direction, and generate forward thrust together with the other propeller. Also, when a reverse instruction is given while the ship is turning, control is performed to switch the direction of thrust generated by one or more of the multiple propellers that are generating forward thrust from the forward direction to the reverse direction, and generate reverse thrust together with the other propeller.

[0010] Here, when the thrust direction of the propeller is switched, a time lag occurs between the start of the switch and the completion of the switch. If the propeller or propellers that do not switch their thrust direction are generating forward or reverse thrust at this time, thrust that rotates the vessel continues to be generated during the time lag. Therefore, the vessel continues to rotate between the time a command to move forward or reverse is given while the vessel is turning and the time the direction of the thrust generated by the propeller or propellers is switched. This makes it difficult to move the vessel forward or reverse when the vessel is heading in the direction desired by the vessel operator. The control device according to the first aspect of the present disclosure solves this problem.

[0011] A control unit of a control device according to a first aspect of the present disclosure turns the vessel by causing one or more first propellers provided on the vessel to generate forward thrust and one or more second propellers provided on the vessel to generate reverse thrust. At this time, the control unit of the control device performs at least one of a first control when an instruction to move the vessel forward is received while the vessel is turning, or a second control when an instruction to move the vessel reverse is received.

[0012] Here, the first control is configured by causing one or more second thrusters to switch the direction of thrust generated from a reverse direction to a forward direction, and causing one or more first thrusters to stop generating thrust while the one or more second thrusters are switching their thrust direction. Also, the second control is configured by causing one or more first thrusters to switch the direction of thrust generated from a forward direction to a reverse direction, and causing one or more second thrusters to stop generating thrust while the one or more first thrusters are switching their thrust direction.

[0013] As described above, while the direction of thrust of a propeller is being switched, the control device stops the generation of thrust from the propeller that was generating thrust in the opposite direction to that of the propeller. This makes it possible to stop the generation of thrust that rotates the vessel during the time lag between the start of switching the direction of thrust generated by the propeller and the completion of the switch. Therefore, the vessel is prevented from continuing to rotate while the direction of thrust generated by one or more propellers is being switched after a command to move forward or reverse is given while the vessel is turning. As a result, the vessel can be moved forward or reverse when the vessel is heading in the direction desired by the vessel operator, enabling accurate vessel operation.

[0014] Specific embodiments of the present disclosure will be described below with reference to the drawings. Unless otherwise specified, the hardware configuration, module configuration, functional configuration, etc. described in the present embodiments are not intended to limit the technical scope of the disclosure to those alone. Furthermore, unless otherwise specified, the dimensions, materials, shapes, and relative positions of the components described in the present embodiments are not intended to limit the technical scope of the present disclosure to those alone.

[0015] <Embodiment> (System Overview) A ship maneuvering system 1 in this embodiment will be described with reference to Fig. 1 to Fig. 3. Fig. 1 is a diagram showing a schematic configuration of the ship maneuvering system 1. The ship maneuvering system 1 includes a propeller 100 and a control device 200 mounted on a vessel 10. In the ship maneuvering system 1, the propeller 100 and the control device 200 are electrically connected. Note that the propeller 100 and the control device 200 may also be mechanically connected.

[0016] (propulsion device) The propulsors 100 are provided at the rear of the vessel 10. One propulsor 100 is provided on each of the left and right sides of the rear of the vessel 10. Here, when distinguishing between the propulsor 100 provided at the left rear of the vessel 10 and the propulsor 100 provided at the right rear of the vessel 10, they may be referred to as the left propulsor 100L and the right propulsor 100R, respectively. The propulsors 100 (the left propulsor 100L and the right propulsor 100R) generate propulsive force in response to control signals from the control device 200. The propulsors 100 are powered by, for example, an engine. Alternatively, the propulsors 100 may be powered by a motor. The propulsors 100 generate thrust by rotating a screw. The propulsors 100 can generate thrust in a direction that moves the vessel 10 forward (forward direction) and thrust in a direction that moves the vessel 10 backward (reverse direction) by switching the rotation direction of the screw.

[0017] (Control device) The control device 200 is a control device for maneuvering the vessel 10. The control device 200 transmits a control signal to the propeller 100 in response to an input from the vessel operator of the vessel 10. Here, the control device 200 receives an instruction to automatically turn the vessel 10 from the vessel operator. The control device 200 receives an instruction to turn the vessel 10, for example, by receiving an instruction on the direction to point the bow. In response, the control device 200 outputs an output signal to the port propeller 100L and the starboard propeller 100R to turn the vessel 10.

[0018] Fig. 2 is a diagram showing an example of the operation of the vessel 10. Fig. 2 shows an example in which the vessel 10 turns to the right. Fig. 2 also shows an example in which an instruction to go astern is received while the vessel 10 is turning to the right. Fig. 2 also shows a diagram showing the direction of thrust of the propeller 100 when starting to go astern.

[0019] As shown on the left side of FIG. 2, when an instruction to turn to the right is received, the control device 200 causes the left propeller 100L to generate a thrust in the forward direction. At this time, the control device 200 also causes the right propeller 100R to generate a thrust in the reverse direction. In this way, the control device 200 causes the vessel 10 to turn to the right. Note that when the control device 200 receives an instruction to turn to the left, the control device 200 causes the left propeller 100L to generate a thrust in the reverse direction and causes the right propeller 100R to generate a thrust in the forward direction.

[0020] At this time, for example, if the operator of the vessel 10 determines that the direction in which the bow of the vessel 10 is facing (hereinafter may be referred to as "bow heading") is suitable for going astern while the vessel is turning, the operator may issue a command to go astern to the control device 200. Also, if the operator of the vessel 10 determines that the vessel 10 should go astern while the vessel 10 is turning because the position of the vessel 10 has changed due to an external disturbance (wind or current), for example, the operator may issue a command to go astern to the control device 200 while the vessel 10 is turning.

[0021] As shown in the center of Fig. 2, the control device 200 may receive an instruction to move the vessel 10 astern (hereinafter, may be referred to as a "reverse instruction") while the vessel 10 is turning. In this case, the control device 200 switches the direction of the thrust force generated by the left propeller 100L (hereinafter, may be referred to as the "thrust direction") from the forward direction to the reverse direction. Thereafter, as shown on the right side of Fig. 2, upon completing the switch of the thrust direction of the left propeller 100L, the control device 200 causes the left propeller 100L to generate thrust in the reverse direction, thereby starting the vessel 10 to move astern.

[0022] Here, when the propulsion unit 100 is powered by an engine, the gear of the left propulsion unit 100L is switched from a gear that generates forward thrust to a gear that generates reverse thrust via a neutral gear. This causes a time lag until the gear of the left propulsion unit 100L is switched from a gear that generates forward thrust to a gear that generates reverse thrust. Furthermore, when the propulsion unit 100 is powered by a motor, if the thrust direction is suddenly changed, the rotation direction of the shaft of the left propulsion unit 100L will also be suddenly changed. Therefore, in order to suppress the load on the shaft, the thrust direction will be changed only after the rotation speed of the shaft has become sufficiently small. Therefore, even when the propulsion unit 100 is powered by a motor, a time lag occurs in switching the thrust direction.

[0023] Therefore, as shown in the center of Figure 2, if the right propeller 100R is generating thrust while the left propeller 100L is not generating thrust due to a switch in thrust direction, the boat 10 will continue to rotate due to the thrust generated by the right propeller 100R. As a result, the boat 10 will start moving backward when the heading is different from the heading at the time the astern command was received.

[0024] Therefore, the control device 200 causes the right propeller 100R to stop generating thrust while the left propeller 100L is switching its thrust direction. Figure 3 is a diagram showing an example of the operation of the boat 10 in this embodiment. As shown in the center of Figure 3, when the control device 200 receives a reverse drive command, it switches the thrust direction of the left propeller 100L and simultaneously causes the right propeller 100R to stop generating thrust.

[0025] Specifically, when the propulsion unit 100 is powered by an engine, the control device 200 switches the gear of the right propulsion unit 100R to neutral, thereby causing the right propulsion unit 100R to stop generating thrust. When the propulsion unit 100 is powered by a motor, the control device 200 stops the supply of electricity to the motor, thereby causing the right propulsion unit 100R to stop generating thrust.

[0026] This prevents unnecessary rotation of the vessel 10 because no thrust is generated that rotates the vessel 10 while the thrust direction of the left propeller 100L is being switched, thereby preventing unnecessary rotation of the vessel 10. This prevents the heading of the vessel 10 when the switching of the thrust direction of the left propeller 100L is completed and the left propeller 100L and the starboard propeller 100R are generating thrust in the reverse direction from differing from the heading at the time the reverse command was received (see the right side of FIG. 3).

[0027] The same applies to the case where the control device 200 receives an instruction to move the vessel 10 forward (hereinafter, sometimes referred to as a "forward instruction") while the vessel 10 is turning to the right. In this case, the control device 200 causes the left propeller 100L to stop generating forward thrust while the right propeller 100R switches the thrust direction from the reverse direction to the forward direction. The same applies to the case where a forward instruction or a reverse instruction is given while the vessel 10 is turning to the left, so a description thereof will be omitted.

[0028] The control device 200 includes a computer having a processor 210, a main memory unit 220, and an auxiliary memory unit 230. The processor 210 is, for example, a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). The main memory unit 220 is, for example, a RAM (Random Access Memory). The auxiliary memory unit 230 is, for example, a ROM (Read Only Memory). The auxiliary memory unit 230 is, for example, a HDD (Hard Disk Drive) or a disc recording medium such as a CD-ROM, a DVD disc, or a Blu-ray disc. The auxiliary memory unit 230 may also be a removable medium (portable storage medium). Examples of removable media include a USB memory or an SD card.

[0029] In the control device 200, the auxiliary storage unit 230 stores an operating system (OS), various programs, various information tables, and the like. In addition, in the control device 200, the processor 210 can implement various functions as described below by loading programs stored in the auxiliary storage unit 230 into the main storage unit 220 and executing them. However, some or all of the functions of the control device 200 may be implemented by hardware circuits such as ASICs or FPGAs. Note that the control device 200 does not necessarily have to be implemented by a single physical configuration, and may be implemented by multiple computers that work together.

[0030] (Functional configuration) Next, the functional configuration of the control device 200 constituting the ship maneuvering system 1 will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a block diagram showing an example of the functional configuration of the control device 200 constituting the ship maneuvering system 1. The control device 200 is configured to include a control unit 201, a position acquisition unit 202, and an input unit 203. The control unit 201 has a function of performing arithmetic processing for controlling the control device 200. The control unit 201 can be realized by a processor 210 in the control device 200.

[0031] The position acquisition unit 202 has a function of acquiring the current position and heading direction of the ship 10. The position acquisition unit 202 can be realized by a GPS sensor in the ship 10. The position acquisition unit 202 transmits the acquired current position of the ship 10 to the control unit 201 in real time.

[0032] The input unit 203 has a function for the operator of the vessel 10 to input instructions for maneuvering the vessel 10 to the control device 200. The input unit 203 can be realized by, for example, a touch panel and a joystick in the control device 200.

[0033] The operator of the vessel 10 makes an input to the input unit 203 specifying the traveling direction (forward or reverse) of the vessel 10. In this case, the operator of the vessel 10 makes an input specifying the traveling direction (forward or reverse) of the vessel 10 by tilting the joystick forward or backward. In response to this, the control unit 201 transmits a command signal to both the left propeller 100L and the right propeller 100R to generate thrust in the forward or reverse direction. At this time, the operator of the vessel 10 may also make an input specifying the traveling direction of the vessel 10 by tilting the joystick left or right. In this case, the control unit 201 can adjust the traveling direction of the vessel 10 left or right by adjusting the magnitude of the thrust generated in the left propeller 100L and the right propeller 100R in accordance with the input to the input unit 203.

[0034] The operator of the vessel 10 also inputs a designation of the heading of the vessel 10 to the input unit 203. The operator of the vessel 10 inputs the heading of the vessel 10 to the touch panel. In response, the input unit 203 transmits turning instruction information, which is information regarding an instruction to turn the vessel 10 to the designated heading of the vessel 10, to the control unit 201. Here, the turning instruction information may include information designating the turning speed (angular velocity) of the vessel 10.

[0035] When the control unit 201 receives turning instruction information from the input unit 203, it acquires the current heading of the ship 10 from the position acquisition unit 202. For example, the control unit 201 determines, as the turning direction, either turning to the left or turning to the right, whichever provides the smaller turning amount (angle) from the current heading to the heading specified in the turning instruction information. Then, in order to turn the ship in the determined turning direction, the control unit 201 transmits control signals to the port propeller 100L and the starboard propeller 100R to generate thrust. The control unit 201 monitors the heading of the ship 10, and when the heading of the ship 10 matches the specified heading, causes the propellers 100 to stop generating propulsive force. In this way, the control unit 201 controls the ship 10 to automatically turn in accordance with a turning instruction from the operator of the ship 10.

[0036] Here, the turning instruction information may include a designation of the bow heading and an instruction for the turning direction of the vessel 10. The turning instruction information may also be a simple instruction to start turning to the right or left. In this case, when the input unit 203 receives an input from the operator of the vessel 10 instructing to stop turning of the vessel 10, the control unit 201 performs control to stop turning of the vessel 10.

[0037] Here, while the vessel 10 is turning, the operator of the vessel 10 may input a command to move forward or astern to the input unit 203, and the control unit 201 controls the thrust generated by the left propeller 100L and the starboard propeller 100R. Figure 5 is a diagram showing an example of changes in the thrust generated by the left propeller 100L and the starboard propeller 100R when the vessel 10 turns to the right and moves astern.

[0038] In Fig. 5, the thrust generated by the left thruster 100L is indicated by a two-dot chain line. Also, in Fig. 5, the thrust generated by the right thruster 100R is indicated by a dotted line. The vertical axis of the graph shown in Fig. 5 has the origin as the boundary, with the upper side indicating the magnitude of thrust in the forward direction and the lower side indicating the magnitude of thrust in the reverse direction.

[0039] As shown in Figure 5, the vessel 10 is turning to the right, and the left propeller 100L is generating a forward thrust. Assume that the left propeller 100L is driven by an engine. At this time, the control unit 201 causes the left propeller 100L to stop generating thrust in the forward direction. Here, if the propeller 100 is powered by an engine, the control unit 201 shifts the gear of the left propeller 100L to neutral, and then at time t2, shifts the gear to a gear that generates thrust in the reverse direction. In this way, at time t2 when the gear of the left propeller 100L is shifted to a gear that generates thrust in the reverse direction, the control unit 201 causes the left propeller 100L to generate thrust in the reverse direction.

[0040] Furthermore, because the vessel 10 is turning to the right, the starboard propeller 100R is generating thrust in the reverse direction. At this time, the control unit 201 causes the starboard propeller 100R to stop generating thrust in the reverse direction at time t1. Then, at time t2, the control unit 201 changes the gear of the starboard propeller 100R to a gear that generates thrust in the reverse direction, and causes the starboard propeller 100R to generate thrust in the reverse direction again. In other words, at time t2, the control unit 201 causes both the left propeller 100L and the starboard propeller 100R to generate thrust simultaneously. In this way, by synchronizing the timing at which thrust is generated in the left propeller 100L and the starboard propeller 100R, the vessel 10 can travel straight backward.

[0041] When the propulsion units 100 are powered by motors, the control unit 201 stops the generation of thrust by the left propulsion unit 100L and the right propulsion unit 100R. Then, at time t2 when the rotation speed of the shaft of the left propulsion unit 100L reaches a predetermined rotation speed, the control unit 201 causes the left propulsion unit 100L and the right propulsion unit 100R to generate thrust in the reverse direction. Here, the predetermined rotation speed is a rotation speed at which the load on the shaft is expected to be sufficiently small even if the rotation of the shaft is reversed.

[0042] In this way, the control unit 201 controls the thrust generated by the left propeller 100L and the right propeller 100R to turn the vessel 10 to the right and move it astern. The same applies when the control device 200 receives a forward command while the vessel 10 is turning to the right. The same applies when the control device 200 receives a forward command or a reverse command while the vessel 10 is turning to the left. Therefore, a description thereof will be omitted.

[0043] (flowchart) Next, the processing executed by the control unit 201 of the control device 200 in the ship maneuvering system 1 will be described with reference to Fig. 6. Fig. 6 is a flowchart of the processing executed by the control unit 201. The processing shown in Fig. 6 is processing for moving the ship 10 in reverse when a reverse command is received while the ship is turning to the right. Execution of the processing shown in Fig. 6 is started when the control unit 201 receives information on a command to turn to the right.

[0044] In the processing shown in FIG. 6, first, in S101, the propellers 100 are operated. At this time, the control unit 201 causes the port propeller 100L to generate a forward thrust to turn the vessel 10 to the right. Furthermore, the control unit 201 causes the starboard propeller 100R to generate a reverse thrust to turn the vessel 10 to the right. Next, in S102, the current heading of the vessel 10 is acquired from the position acquisition unit 202. Next, in S103, it is determined whether the current heading of the vessel 10 is the heading designated in the turning command information, thereby determining whether turning of the vessel 10 has been completed. If a positive determination is made in S103, the operation of the port propeller 100L and the starboard propeller 100R is stopped in S108. That is, in S108, the generation of thrust by the port propeller 100L and the starboard propeller 100R is stopped. Then, the process shown in FIG. 6 ends.

[0045] If a negative determination is made in S103, it is determined in S104 whether or not a reverse command has been received. If a negative determination is made in S104, the turning of the boat 10 continues. Therefore, the processing of S102 is executed again. If a positive determination is made in S104 Therefore, it is necessary to switch the thrust direction of the left propeller 100L from the forward direction to the reverse direction. Therefore, in S105, switching of the thrust direction of the left propeller 100L is started. At this time, simultaneously with the switching of the thrust direction of the left propeller 100L, the right propeller 100R is stopped, and the generation of thrust is stopped.

[0046] Next, in S106, it is determined whether the boat 10 is capable of reverse driving. In other words, it is determined whether the left propeller 100L is capable of generating thrust in the reverse direction. If the left propeller 100L is powered by an engine, whether the left propeller 100L is capable of generating thrust in the reverse direction is determined based on whether the gear of the left propeller 100L is in neutral and can be switched to a gear for reverse driving. If the left propeller 100L is powered by a motor, whether the left propeller 100L is capable of generating thrust in the reverse direction is determined based on whether the rotation speed of the shaft is a predetermined rotation speed.

[0047] If a negative determination is made in S106, the processing of S106 is repeatedly executed until the left propeller 100L is able to generate thrust in the reverse direction. If a positive determination is made in S106, the left propeller 100L is able to generate thrust in the reverse direction. Therefore, in S107, the propeller 100 is operated. At this time, the left propeller 100L and the right propeller 100R simultaneously generate thrust in the reverse direction. In other words, as soon as the switching of the thrust direction of the left propeller 100L is completed, thrust is again generated in the right propeller 100R. Then, the processing shown in FIG. 6 is terminated.

[0048] As described above, when a reverse command is issued by the ship maneuvering system 1 while the ship 10 is turning to the right, the direction of thrust generated by the left propeller 100L is switched to the astern direction. At this time, while the thrust direction of the left propeller 100L is being switched, the generation of thrust by the starboard propeller 100R is stopped. This makes it possible to stop the generation of thrust that turns the ship 10 during the time lag between the start of switching the thrust direction of the left propeller 100L and the completion of the switch. Therefore, the ship 10 is prevented from continuing to rotate while the thrust direction of the left propeller 100L is being switched after a reverse command is issued while the ship 10 is turning.

[0049] Note that, even when the control device 200 receives a forward command while the vessel 10 is turning to the right, similar processing can be used to prevent the vessel 10 from continuing to rotate until the change of propulsion direction is completed. Also, even when a forward command or a reverse command is received while the vessel 10 is turning to the left, similar processing can be used to prevent the vessel 10 from continuing to rotate until the change of propulsion direction is completed. As a result, the vessel 10 can be reversed when the bow direction of the vessel 10 is facing the direction desired by the operator of the vessel 10, enabling accurate vessel operation.

[0050] (Variation 1) In this embodiment, the vessel 10 is provided with two propellers 100: a left propeller 100L and a right propeller 100R. However, the number of propellers 100 provided on the vessel 10 does not necessarily have to be two. The number of propellers 100 provided on the vessel 10 may be two or more. In this case, when a reverse command is given during turning, the control device 200 switches the thrust direction of the propeller 100 generating forward thrust to the reverse direction among the two or more propellers 100. At this time, the control device 200 also stops the generation of thrust by the propeller 100 generating reverse thrust. Even in this manner, the vessel 10 can be reversed when the heading of the bow of the vessel 10 is facing the direction desired by the operator of the vessel 10, enabling accurate vessel maneuvering.

[0051] (Variation 2) In this embodiment, the propeller 100 generates thrust by rotating a screw. However, the propeller 100 may generate thrust by a method other than rotating a screw. The propeller 100 may be, for example, a water jet propeller. Even when the propeller 100 is a water jet propeller, a time lag occurs in switching the thrust direction of the propeller 100. Therefore, when the propulsion direction of the propeller 100 is being switched, the generation of thrust by the propeller 100 whose propulsion direction is not being switched is stopped, thereby preventing the vessel 10 from continuing to turn until the switching of the propulsion direction is completed. As a result, accurate ship maneuvering is possible.

[0052] <Other embodiments> The above-described embodiment is merely an example, and the present disclosure may be modified as appropriate within the scope of the present disclosure. Furthermore, the processes and means described in the present disclosure may be freely combined and implemented as long as no technical contradiction occurs.

[0053] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be executed by a single device. In a computer system, the hardware configuration (server configuration) by which each function is realized can be flexibly changed.

[0054] The present disclosure can also be realized by providing a computer program implementing the functions described in the above embodiments to a computer, and having one or more processors in the computer read and execute the program. Such a computer program may be provided to the computer via a non-transitory computer-readable storage medium connectable to the computer's system bus or via a network. Non-transitory computer-readable storage media include any type of medium suitable for storing electronic instructions, such as a magnetic disk (e.g., a floppy disk or a hard disk drive (HDD)), an optical disk (e.g., a CD-ROM, a DVD disk, or a Blu-ray disk), a read-only memory (ROM), a random-access memory (RAM), an EPROM, an EEPROM, a magnetic card, a flash memory, or an optical card. [Explanation of symbols]

[0055] 1. Ship steering system 10...Ship 100...propulsion device 100R...Right thruster 100L left thruster 200 Control device 201 Control section 202...Position acquisition unit 203 Input section

Claims

1. A control device including a control unit, The control unit generating a forward thrust in one or more first propellers provided on the vessel and generating a reverse thrust in one or more second propellers provided on the vessel, thereby turning the vessel; performing at least one of a first control when an instruction to move the vessel forward while the vessel is turning is received, or a second control when an instruction to move the vessel astern while the vessel is turning is received; configured to run the first control is configured by causing the one or more second thrusters to switch the direction of the thrust generated from a reverse direction to a forward direction, and causing the one or more first thrusters to stop generating the thrust while the one or more second thrusters are switching the direction of the thrust, the second control is configured by causing the one or more first thrusters to switch the direction of the thrust generated from a forward direction to a reverse direction, and causing the one or more second thrusters to stop generating the thrust while the one or more first thrusters are switching the direction of the thrust. Control device.

2. The control unit In the first process, at the same time that the one or more second thrusters have completed switching the thrust direction from the reverse direction to the forward direction, the one or more first thrusters are caused to generate thrust in the forward direction again; and / or in the second process, causing the one or more second propulsors to generate thrust in the reverse direction again at the same time that the one or more first propulsors have completed switching the direction of the thrust from the forward direction to the reverse direction; and further configured to perform The control device according to claim 1 .

3. The turning of the vessel is performed by receiving an instruction for automatic turning of the vessel. The control device according to claim 1 or 2.

4. The instruction to automatically turn the vessel includes specifying a direction in which the vessel is to turn. The control device according to claim 3 .

5. A computer-implemented control method comprising: generating a forward thrust in one or more first propellers provided on the vessel and generating a reverse thrust in one or more second propellers provided on the vessel, thereby turning the vessel; performing at least one of a first control when an instruction to move the vessel forward while the vessel is turning is received, or a second control when an instruction to move the vessel astern while the vessel is turning is received; Including, the first control is configured by causing the one or more second thrusters to switch the direction of the thrust generated from a reverse direction to a forward direction, and causing the one or more first thrusters to stop generating the thrust while the one or more second thrusters are switching the direction of the thrust, the second control is configured by causing the one or more first thrusters to switch the direction of the thrust generated from a forward direction to a reverse direction, and causing the one or more second thrusters to stop generating the thrust while the one or more first thrusters are switching the direction of the thrust. Control method.

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