System and method for remotely controlling ship

Abstract

To provide a system and a method capable of switching a communication method of a ship depending on the situation.SOLUTION: A system 1 for remotely controlling a ship 10 comprises a controller 4, a communication unit 5, and a communication switching unit 6. The controller 4 is placed in the ship 10 and controls the ship 10. The communication unit 5 is placed in the ship 10 to enable a satellite communication using satellites and a ground communication using ground base stations. The communication switching unit 6 switches the communication method of the communication unit 5. The communication switching unit 6 switches the communication method of the communication unit 5 from the ground communication to the satellite communication when the electric wave from the ground base station cannot be received.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technique related to remote control of a ship. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-132095 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, if satellite communications are used as a means of communication for remotely maneuvering a ship, communication is possible even on the open sea, but satellite communications have a larger communication delay than terrestrial communications.On the other hand, if terrestrial communications are used as a means of communication for remotely maneuvering a ship, communication delay is smaller than satellite communications, but remote maneuvering is only possible within the range of radio waves from terrestrial base stations.

[0005] An object of the present disclosure is to provide a system and method that can switch a ship's communication method depending on the situation. [Means for solving the problem]

[0006] A system for remotely operating a ship according to one embodiment includes a controller, a communication unit, and a communication switching unit. The controller is disposed on the ship and controls the ship. The communication unit is disposed on the ship and is capable of satellite communication using a satellite and terrestrial communication using a terrestrial base station. The communication switching unit switches the communication method of the communication unit. When radio waves from the terrestrial base station cannot be received, the communication switching unit switches the communication method of the communication unit from terrestrial communication to satellite communication.

[0007] In one embodiment of a system for remotely maneuvering a ship, when radio waves from a terrestrial base station cannot be received, the communication method of the communication unit switches from terrestrial communication to satellite communication. This enables remote maneuvering of the ship using satellite communication even in locations where radio waves from the terrestrial base station cannot reach. On the other hand, when radio waves from the terrestrial base station can be received, remote maneuvering of the ship using terrestrial communication becomes possible. This makes it possible to remotely maneuver the ship with high accuracy using a communication method with low latency, for example, when docking or in a location close to the shore.

[0008] According to another aspect, there is provided a method for remotely operating a ship, the method being executed by a computer. The ship includes a communication unit capable of satellite communication using a satellite and terrestrial communication using a terrestrial base station. The method for remotely operating a ship includes switching the communication method of the communication unit from terrestrial communication to satellite communication when the communication unit cannot receive radio waves from the terrestrial base station. [Effects of the Invention]

[0009] According to the present invention, a system and method can be provided that can switch the communication system of a ship depending on the situation. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a functional block diagram of a boat maneuvering system according to an embodiment. [Figure 2] FIG. 1 is a diagram showing a schematic diagram of a ship's route. [Figure 3] 4 is a flowchart showing a process executed by a vessel maneuvering controller. [Figure 4] 4 is a flowchart showing a process executed by a vessel maneuvering controller. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment will be described with reference to the drawings. FIG. 1 is a functional block diagram of a system 1 for remotely maneuvering a ship 10 (hereinafter referred to as a ship maneuvering system). FIG. 2 is a diagram schematically showing the route of the ship 10. As shown in FIG. 2, the ship maneuvering system 1 is used for remotely maneuvering the ship 10 to navigate back and forth between a first port P1 and a second port P2 distant from the first port P1. In the ship maneuvering system 1 of this embodiment, the ship 10 can navigate back and forth between the first port P1 and the second port P2 by automatic maneuvering. That is, the maneuvering modes of the ship 10 in this embodiment include a remote maneuvering mode in which the ship 10 is remotely maneuvered and an automatic maneuvering mode in which the ship 10 is automatically maneuvered. Note that in the ship maneuvering system 1, the ship 10 does not have to be able to navigate back and forth between the first port P1 and the second port P2 by automatic maneuvering.

[0012] The ship 10 is, for example, an unmanned ship used to transport only supplies such as food and fuel. The distance from the first port P1 to the second port P2 is, for example, 50 kilometers. The second port P2 is located, for example, on a remote island.

[0013] The ship maneuvering system 1 includes a server 3, a ship maneuvering controller 4 (an example of a controller), a communication unit 5, a communication switching unit 6, an operation unit 7, and an information output unit 8. The server 3 is used, for example, as a computer that manages the ship 10. The server 3 is communicatively connected to an operation terminal 20 that monitors and remotely operates the ship 10. The server 3 and the operation terminal 20 are communicatively connected to each other via a network such as the Internet. The server 3 is located on land. Note that the server 3 may also be located on the ship 10. The operation terminal 20 may be a communication terminal such as a smartphone or tablet.

[0014] The server 3 includes a controller 3a and a storage unit 3b. The controller 3a includes a processor such as a CPU and memories such as RAM and ROM. The controller 3a controls the maneuvering controller 4 in response to operation of the operation terminal 20. In remote control mode, the controller 3a can remotely control the vessel 10 via the maneuvering controller 4. The controller 3a can switch the maneuvering mode of the vessel 10 in response to operation of the operation terminal 20. For example, when the vessel 10 is being controlled in the automatic maneuvering mode, upon receiving a signal from the operation terminal 20 to switch to the remote maneuvering mode, the controller 3a switches the maneuvering mode of the vessel 10 from the automatic maneuvering mode to the remote maneuvering mode.

[0015] The controller 3a is configured to be able to communicate with the ship steering controller 4 via the communication unit 5 using a communication method selected from satellite communication and terrestrial communication. Satellite communication is a communication method that uses a satellite 11. Terrestrial communication is a communication method that uses a terrestrial base station 12 installed on the ground. The terrestrial base station 12 is, for example, a wireless base station used in LTE (Long Term Evolution). The controller 3a can switch the communication method with the communication unit 5 in response to an operation of the operation terminal 20.

[0016] The memory unit 3b stores various information and programs. The memory unit 3b includes a recording medium such as a hard disk and / or an SSD. The memory unit 3b stores location information of the first port P1 and the second port P2, nautical chart information around the first port P1 and the second port P2, and the area covered by radio waves from the terrestrial base station 12. The memory unit 3b stores at least one route from the first port P1 to the second port P2 and at least one route from the second port P2 to the first port P1. Note that the route from the first port P1 to the second port P2 and the route from the second port P2 to the first port P1 may be the same. The memory unit 3b may be included in the controller 3a or the ship maneuvering controller 4.

[0017] 2, the vessel 10 includes a steering device 13, a throttle lever 14, a vessel propulsion unit 15, an obstacle sensor 16, a position sensor 17, and a camera 18. The vessel 10 also includes devices (not shown) necessary for remote vessel operation, such as a speed sensor, an acceleration sensor, a direction sensor, and sonar.

[0018] The steering device 13 is a device for controlling the turning direction of the boat 10. The throttle lever 14 is an operating member for adjusting the thrust of the boat propeller 15 and switching the thrust direction between forward and rearward.

[0019] The marine vessel propulsion device 15 includes an ECU (Electric Control Unit) 21, a drive unit 22, a shift actuator 23, and a steering actuator 24.

[0020] The ECU 21 includes a processor such as a CPU and memories such as RAM and ROM. The ECU 21 stores programs and data for controlling the vessel propulsion device 15. The ECU 21 controls the drive unit 22. The drive unit 22 generates a propulsive force for propelling the vessel 10. The drive unit 22 includes an internal combustion engine. The drive unit 22 may also include an electric motor.

[0021] The shift actuator 23 changes the rotation direction of the propeller in response to the operation of the throttle lever 14. The steering actuator 24 changes the rudder angle of the boat propeller 15 in response to the operation of the steering device 13.

[0022] The obstacle sensor 16 detects obstacles around the vessel 10 and outputs information about the obstacles to the vessel maneuvering controller 4. The obstacle sensor 16 is, for example, a LIDAR (Light Detection and Ranging), a RADAR (Radio Detecting and Ranging), or a millimeter wave radar.

[0023] The position sensor 17 is, for example, a GPS receiver. The position sensor 17 acquires position information of the ship 10 from a GPS satellite. The position sensor 17 is communicably connected to the ship steering controller 4. The ship steering controller 4 acquires the position of the ship 10 based on a signal from the position sensor 17.

[0024] The camera 18 is capable of capturing moving images and still images. The camera 18 captures images of the surroundings of the vessel 10 and generates image data. The camera 18 captures images of the front, rear, left side, and right side of the vessel 10. The camera 18 outputs the image data to the vessel maneuvering controller 4.

[0025] The steering controller 4 is disposed on the boat 10. The steering controller 4 is programmed to control the boat 10. The steering controller 4 includes a processor such as a CPU and memories such as RAM and ROM. The steering controller 4 stores programs and data for controlling the boat propulsion device 15. The steering controller 4 is connected to the steering device 13, the throttle lever 14, and the boat propulsion device 15 via a wire or wirelessly. The steering controller 4 controls the shift actuator 23 and the steering actuator 24 via an ECU 21.

[0026] The ship steering controller 4 can automatically maneuver the ship 10 to its destination. Here, the destination is the first port P1 or the second port P2. In the automatic ship steering mode, the ship steering controller 4 automatically moves the ship 10 from the first port P1 to the second port P2, or from the second port P2 to the first port P1. The ship steering controller 4 acquires maneuvering information necessary for automatic maneuvering, for example, in response to the operation of the operation terminal 20, and automatically maneuvers the ship 10 to its destination. The maneuvering information includes, for example, information on the route, nautical charts, weather, and destination. The ship steering controller 4 transmits information acquired by various sensors arranged on the ship 10 and image data from the camera 18 to the server 3. The information acquired from the ship steering controller 4 is configured to be displayed, for example, on the display of the operation terminal 20 via the server 3.

[0027] The communication unit 5 is disposed on the ship 10. The communication unit 5 is capable of satellite communication and terrestrial communication. The communication unit 5 is capable of communication using a communication method selected from satellite communication and terrestrial communication. The communication unit 5 is a communication interface that communicatively connects the ship steering controller 4 to a network IN such as the Internet. The communication unit 5 measures the radio wave intensity from the terrestrial base station 12 and outputs the signal to the ship steering controller 4.

[0028] The communication switching unit 6 switches the communication method of the communication unit 5. The communication switching unit 6 is controlled by the ship maneuvering controller 4. The communication switching unit 6 switches the communication method of the communication unit 5 in response to a switching signal output from the ship maneuvering controller 4. For example, if the ship maneuvering controller 4 determines that it has become unable to receive radio waves from the terrestrial base station 12, the communication switching unit 6 receives the switching signal output from the ship maneuvering controller 4 and switches the communication method of the communication unit 5 from terrestrial communication to satellite communication. On the other hand, if the ship maneuvering controller 4 determines that it has become able to receive radio waves from the terrestrial base station 12, the communication switching unit 6 receives the switching signal output from the ship maneuvering controller 4 and switches the communication method of the communication unit 5 from satellite communication to terrestrial communication.

[0029] The ship maneuvering controller 4 controls the communication switching unit 6 so that terrestrial communication is given priority in the communication unit 5. Therefore, when the communication unit 5 can receive radio waves from the terrestrial base station 12, terrestrial communication is given priority as the communication method of the communication unit 5. Note that the ship maneuvering controller 4 may also control the communication switching unit 6 to switch the communication method of the communication unit 5 from satellite communication to terrestrial communication when the communication unit 5 can receive radio waves from the terrestrial base station 12 and the ship 10 approaches a docking position for the ship 10. Alternatively, the ship maneuvering controller 4 may use satellite communication in the open sea, and control the communication switching unit 6 to switch the communication method of the communication unit 5 from satellite communication to terrestrial communication when the ship 10 approaches a docking position for the ship 10.

[0030] 3 is a flowchart showing the processing executed by the ship steering controller 4. In step S11, the ship steering controller 4 determines whether or not it can receive radio waves from the terrestrial base station 12, for example, based on information related to the measurement results of the radio wave intensity of the communication unit 5. Note that in step S11, the ship steering controller 4 may also determine whether or not it can communicate with the controller 3a via terrestrial communication.

[0031] If the ship steering controller 4 determines that it can receive radio waves from the terrestrial base station 12, it proceeds to step S12 and determines whether the communication method of the communication unit 5 is satellite communication. If the ship steering controller 4 determines that the communication method of the communication unit 5 is satellite communication, it switches the communication method of the communication unit 5 from satellite communication to terrestrial communication via the communication switching unit 6 (step S13). Note that if it is determined in step S12 that the communication method of the communication unit 5 is not satellite communication, the currently selected communication method (here, terrestrial communication) is maintained.

[0032] If the ship steering controller 4 determines that it cannot receive radio waves from the terrestrial base station 12, it proceeds to step S14 and determines whether the communication method of the communication unit 5 is terrestrial communication. If the ship steering controller 4 determines that the communication method of the communication unit 5 is terrestrial communication, it switches the communication method of the communication unit 5 from terrestrial communication to satellite communication via the communication switching unit 6 (step S15).

[0033] If it is determined in step S12 that the communication method of the communication unit 5 is satellite communication, the ship maneuvering controller 4 may determine whether the ship 10 has approached the docking position, and if it is determined that the ship 10 has approached the docking position, proceed to step S13. The ship maneuvering controller 4 may determine whether the ship 10 has approached the docking position by, for example, calculating the distance from the docking position to the ship 10.

[0034] The operation unit 7 is provided to switch the communication method of the communication unit 5. The operation unit 7 is arranged in, for example, the operation terminal 20. When the vessel 10 is controlled in the remote vessel operation mode, the communication switching unit 6 switches the communication method of the communication unit 5 in response to the operation of the operation unit 7. This allows the operator remotely operating the vessel 10 to manually switch the communication method of the communication unit 5.

[0035] The information output unit 8 outputs information related to delays in satellite communication when the communication method of the communication unit 5 is satellite communication. The ship maneuvering controller 4 limits the speed of the ship 10 in accordance with the output from the information output unit 8. For example, the information output unit 8 measures the delay time of communication via satellite communication between the controller 3a and the ship maneuvering controller 4. When the delay time of communication via satellite communication exceeds a predetermined value, the ship maneuvering controller 4 limits the speed of the ship 10, for example, by referring to a speed limit map that defines the relationship between the communication delay time and the speed limit.

[0036] 4 is a flowchart showing the processing executed by the ship maneuvering controller 4. When the automatic ship maneuvering mode is being executed and radio waves from the terrestrial base station 12 cannot be received within an area where radio waves from the terrestrial base station 12 reach, the ship maneuvering controller 4 controls the ship 10 to maintain a fixed position. Maintaining a fixed position means keeping the ship 10 within a certain range.

[0037] If the maneuvering controller 4 determines in step S21 that the automatic maneuvering mode is being executed, the process proceeds to step S22. If the maneuvering controller 4 determines in step S22 that the current position of the ship 10 is within an area where radio waves from the terrestrial base station 12 can be received, the process proceeds to step S23. If the maneuvering controller 4 determines in step S23 that radio waves from the terrestrial base station 12 cannot be received, the process proceeds to step S24, where the ship 10 is kept at a fixed position until radio waves from the terrestrial base station 12 can be received. When radio waves from the terrestrial base station 12 can be received, the maneuvering controller 4 switches the communication method of the communication unit 5 from satellite communication to terrestrial communication via the communication switching unit 6, and then cancels the fixed position holding. Note that in step S24, the maneuvering controller 4 may limit the speed of the ship 10 instead of keeping the ship 10 at a fixed position.

[0038] The ship steering controller 4 outputs an abnormality signal when it determines that a predetermined condition is met while the ship is in the automatic ship steering mode. The ship steering controller 4 determines whether the predetermined condition is met based on image data generated by the camera 18. For example, if the ship steering controller 4 determines that the image data cannot be correctly recognized, the ship steering controller 4 outputs an abnormality signal to the operation terminal 20, for example, via the server 3. The ship steering controller 4 may determine that the predetermined condition is met when it determines that water droplets are on the camera 18, that the light is backlit, or that the position of the camera 18 is misaligned. Alternatively, the ship steering controller 4 may determine that the predetermined condition is met when it becomes difficult to avoid an obstacle if automatic ship steering is continued, when automatic ship steering cannot be continued, when radio waves from the terrestrial base station 12 cannot be received when the ship approaches the docking position, etc.

[0039] In the above-described ship maneuvering system 1, when radio waves from the terrestrial base station 12 cannot be received, the communication method of the communication unit 5 switches from terrestrial communication to satellite communication. This makes it possible to remotely maneuver the ship 10 using satellite communication even in locations where radio waves from the terrestrial base station 12 cannot reach. On the other hand, when radio waves from the terrestrial base station 12 can be received, remotely maneuvering the ship 10 using terrestrial communication becomes possible. This makes it possible to remotely maneuver the ship 10 with high accuracy using a communication method with less delay, for example, when docking or in a location close to the shore.

[0040] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention. [Explanation of symbols]

[0041] 1: Ship steering system, 4: Ship steering controller, 5: Communication unit, 6: Communication switching unit, 7: Operation unit, 8: Information output unit, 10: Ship

Claims

1. A system for remotely maneuvering a ship, comprising: a controller disposed on the vessel and controlling the vessel; a communication unit disposed on the ship and capable of satellite communication using a satellite and terrestrial communication using a terrestrial base station; a communication switching unit that switches the communication method of the communication unit; Equipped with the communication switching unit switches the communication method of the communication unit from the terrestrial communication to the satellite communication when radio waves from the terrestrial base station cannot be received. system.

2. the communication switching unit switches the communication method of the communication unit from the satellite communication to the terrestrial communication when radio waves from the terrestrial base station can be received. The system of claim 1 .

3. the communication switching unit switches the communication method of the communication unit from the satellite communication to the terrestrial communication when radio waves from the terrestrial base station can be received and the ship approaches a docking position. The system of claim 1 .

4. the communication method of the communication unit is configured such that, when radio waves from the terrestrial base station can be received, the terrestrial communication is given priority; The system of claim 1 .

5. an information output unit that outputs information about a delay in the satellite communication when the communication method of the communication unit is the satellite communication; The system of claim 1 .

6. the controller limits the speed of the vessel in accordance with the output from the information output unit. The system of claim 5.

7. further comprising an operation unit for switching the communication method of the communication unit; the communication switching unit switches the communication method of the communication unit in response to an operation of the operation unit. The system of claim 1 .

8. the controller is capable of automatically steering the ship to the destination, and when radio waves from the terrestrial base station cannot be received within an area where radio waves from the terrestrial base station can reach, the controller keeps the ship at a fixed position or limits the speed of the ship; The system of claim 1 .

9. the controller outputs an abnormality signal when it determines that the ship can be navigated to the destination by automatic navigation and that a predetermined condition is satisfied during the execution of the automatic navigation. The system of claim 8.

10. Further, a camera is provided to capture an image of the surroundings of the vessel and generate image data. the controller determines whether the predetermined condition is satisfied based on the image data. The system of claim 9.

11. 1. A computer-implemented method for remotely operating a vessel including a communication unit capable of satellite communication using a satellite and ground communication using a ground base station, comprising: when the communication unit cannot receive radio waves from the terrestrial base station, switching the communication method of the communication unit from the terrestrial communication to the satellite communication; A method for providing the above.

12. When the communication unit can receive radio waves from the terrestrial base station, switching the communication method of the communication unit from the satellite communication to the terrestrial communication; Further provided with The method of claim 11.

13. switching the communication method of the communication unit from the satellite communication to the terrestrial communication when radio waves from the terrestrial base station can be received and the ship approaches a docking position; The method of claim 11 further comprising:

14. When radio waves from the terrestrial base station can be received, the terrestrial communication is used with priority over the satellite communication and the terrestrial communication; The method of claim 11 further comprising:

15. When the communication method of the communication unit is the satellite communication, outputting information about a delay in the satellite communication; The method of claim 11 further comprising:

16. limiting the speed of the vessel in response to outputting information regarding satellite communication delays; The method of claim 15 further comprising:

17. the vessel further includes an operation unit for switching the communication method of the communication unit, switching the communication method of the communication unit in response to an operation of the operation unit; The method of claim 11 further comprising:

18. The ship can be navigated to its destination by automatic navigation; When radio waves from the terrestrial base station cannot be received within an area where radio waves from the terrestrial base station can reach, the vessel is kept at a fixed position or the speed of the vessel is restricted; The method of claim 11 further comprising:

19. The ship can be navigated to its destination by automatic navigation; outputting an abnormality signal when it is determined that a predetermined condition is satisfied during execution of the automatic ship steering; 20. The method of claim 18, further comprising:

20. Photographing the surroundings of the vessel and generating image data; determining whether the predetermined condition is satisfied based on the image data; 20. The method of claim 19 further comprising:

Images