Automatic maneuvering system and method

Abstract

To provide an automatic maneuvering system and method capable of performing a proper treatment on a ship for failure of a ship propulsion device of the ship in the case of the failure of the ship propulsion device.SOLUTION: An automatic maneuvering system 1 comprises a maneuvering controller 4 and an obstacle sensor 5. The maneuvering controller 4 is placed in a ship 10 and controls a ship propulsion device 15. The obstacle sensor 5 detects obstacles around the ship 10. The maneuvering controller 4 stops a driving unit 22 depending on the detected result by the obstacle sensor 5 when it is determined that the shift state of the ship propulsion device 15 cannot be switched.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an automatic ship steering system and method. [Background technology]

[0002] Patent Document 1 discloses a technology relating to automatic maneuvering of a ship. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 61-163409 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, in an automatic ship steering system in which a ship is automatically steered without any crew, if a ship propulsion device of the ship fails, it is desirable to take appropriate measures to deal with the failure of the ship propulsion device.

[0005] An object of the present disclosure is to provide an automatic ship steering system and method that, in the event of a failure in a ship propulsion device of a ship, can take appropriate measures for the failure of the ship propulsion device. [Means for solving the problem]

[0006] An automatic ship steering system according to one aspect is an automatic ship steering system for a ship equipped with a ship propulsion device including a drive unit. The automatic ship steering system includes a controller and an obstacle detection unit. The controller is disposed on the ship and controls the ship propulsion device. The obstacle detection unit detects obstacles around the ship. When the controller determines that it is not possible to switch the shift state of the ship propulsion device, it stops the drive unit in accordance with the detection result of the obstacle detection unit.

[0007] In one aspect of the automatic ship steering system, if a shift mechanism for switching the shift state of a vessel propulsion device fails due to sticking or other reasons, the drive unit is stopped in accordance with the detection result of the obstacle detection unit. As a result, if a shift mechanism of a vessel propulsion device of a vessel fails, appropriate measures can be taken on the vessel to address the failure of the shift mechanism.

[0008] An automatic ship steering system according to another aspect is an automatic ship steering system for a ship equipped with a ship propulsion device including an internal combustion engine. The automatic ship steering system includes a controller, a throttle sensor, and an actuator. The controller is disposed on the ship and controls the ship propulsion device. The throttle sensor detects the opening of an electronic throttle valve of the internal combustion engine. The actuator adjusts the opening of the electronic throttle valve of the internal combustion engine in response to a control signal from the controller. The controller limits the ship's speed when it determines that the opening of the electronic throttle valve detected by the throttle sensor is greater than the opening of the electronic throttle valve corresponding to the control signal.

[0009] In another aspect of the automatic ship steering system, if the opening of the electronic throttle valve cannot be adjusted to the opening corresponding to the control signal from the controller, the controller limits the vessel speed, thereby making it possible to take appropriate measures for the vessel in the event of, for example, an actuator failure.

[0010] Another aspect of the method for automatically steering a vessel equipped with a vessel propulsion device including a drive unit includes detecting obstacles around the vessel, and if it is determined that the shift state of the vessel propulsion device cannot be switched and it is determined that no obstacles are around the vessel, stopping the drive unit in accordance with the obstacle detection result.

[0011] According to another aspect, a method for automatically steering a vessel equipped with a vessel propulsion device including an internal combustion engine includes detecting an opening degree of an electronic throttle valve of the internal combustion engine, adjusting the opening degree of the electronic throttle valve of the internal combustion engine in accordance with a control signal, and limiting the vessel speed when it is determined that the detected opening degree of the electronic throttle valve is greater than the opening degree of the electronic throttle valve corresponding to the control signal. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide an automatic ship-piloting system and method that, when a ship propulsion device of a ship fails, can take appropriate measures for the ship in response to the failure of the ship propulsion device. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a functional block diagram of an automatic ship steering 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

[0014] Hereinafter, an embodiment will be described with reference to the drawings. Fig. 1 is a functional block diagram of an automatic ship steering system 1. The automatic ship steering system 1 is a system for automatically steering a ship 10. Fig. 2 is a diagram schematically showing the route of the ship 10. As shown in Fig. 2, the automatic ship steering system 1 is used, for example, to automatically maneuver the ship 10 to navigate back and forth between a first port P1 and a second port P2 distant from the first port P1.

[0015] 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.

[0016] The automatic ship maneuvering system 1 includes a server 3 and a ship maneuvering controller 4 (an example of a controller). The server 3 is used, for example, as a computer that manages the ship 10. The server 3 is communicatively connected to a monitoring terminal 20 that monitors the ship 10. The server 3 and the monitoring 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 monitoring terminal 20 may be a communication terminal such as a smartphone or tablet.

[0017] 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 is configured to be able to communicate with the ship maneuvering controller 4 via a network such as the Internet.

[0018] The memory unit 3b records various information and various programs. The memory unit 3b includes a recording medium such as a hard disk and / or an SSD. The memory unit 3b stores position information of the first port P1 and the second port P2, nautical chart information of the areas around the first port P1 and the second port P2, and the like. 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. The memory unit 3b stores a target speed of the vessel 10 determined according to the route. 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.

[0019] 2, the vessel 10 includes a steering device 13, a throttle lever 14, a vessel propulsion device 15, an obstacle sensor 16 (an example of an obstacle detection unit), a position sensor 17, and an anchor device 18. The vessel 10 also includes devices (not shown) necessary for automatic vessel steering, such as a speed sensor, an acceleration sensor, a direction sensor, a sonar, and a camera.

[0020] The steering device 13 is a device for controlling the turning direction of the vessel 10. The throttle lever 14 is an operating member for adjusting the thrust of the vessel propulsion device 15 and switching the thrust direction between forward and rearward. The throttle lever 14 is also an operating member for adjusting the propulsive force of the vessel propulsion device 15.

[0021] The vessel propulsion device 15 includes an ECU (Electric Control Unit) 21, a drive unit 22, a shift mechanism 23, a shift actuator 24, a steering actuator 25, a shift position sensor 26, a throttle sensor 27, and a throttle valve actuator 28.

[0022] 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 22a. The drive unit 22 may include an electric motor.

[0023] The shift mechanism 23 switches the rotation direction of the power transmitted from the drive unit 22 to a propeller shaft (not shown) between a forward direction and a reverse direction in response to the operation of the throttle lever 14.

[0024] The shift actuator 24 switches the shift state (forward state, reverse state, neutral state) of the shift mechanism 23 by moving a dog clutch (not shown) in response to operation of the throttle lever 14. The steering actuator 25 changes the rudder angle of the vessel propulsion device 15 in response to operation of the steering device 13.

[0025] The shift position sensor 26 detects the position of the shift mechanism 23 to detect the shift state of the shift mechanism 23. The throttle sensor 27 detects the opening degree of the electronic throttle valve 22b of the internal combustion engine 22a and outputs the opening degree to the boat maneuvering controller 4.

[0026] The throttle valve actuator 28 adjusts the opening of the electronic throttle valve 22b of the internal combustion engine 22a in response to a control signal from the maneuvering controller 4. The throttle valve actuator 28 adjusts the opening of the electronic throttle valve 22b of the internal combustion engine 22a in response to the operation of the throttle lever 14.

[0027] 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.

[0028] 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.

[0029] The anchor device 18 is controlled by the ship maneuvering controller 4. The anchor device 18 is a device for mooring the vessel 10. The anchor device 18 includes an anchor 18a and an anchor windlass 18b. The anchor windlass 18b lowers or raises the anchor 18a in response to a control signal output from the ship maneuvering controller 4.

[0030] The maneuvering controller 4 is disposed on the vessel 10. The maneuvering controller 4 is programmed to control the vessel 10. The maneuvering controller 4 includes a processor such as a CPU and memories such as RAM and ROM. The maneuvering controller 4 stores programs and data for controlling the vessel propulsion device 15. The maneuvering controller 4 is connected to the steering device 13, the throttle lever 14, and the vessel propulsion device 15 via a wired or wireless connection. The maneuvering controller 4 controls the shift actuator 24, the steering actuator 25, and the throttle valve actuator 28 via an ECU 21. The maneuvering controller 4 controls the steering device 13 and the throttle lever 14 via actuators (not shown). Note that the maneuvering controller 4 may also control the shift actuator 24 and the throttle valve actuator 28 without via the steering device 13 and the throttle lever 14.

[0031] 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. 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 monitoring terminal 20, and automatically maneuvers the ship 10 to its destination. The maneuvering information includes, for example, information regarding the route, target speed, nautical chart, weather, and destination. The ship steering controller 4 transmits information acquired by various sensors arranged on the ship 10 and image data from cameras 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 monitoring terminal 20 via the server 3.

[0032] When the vessel maneuvering controller 4 determines that the shift state of the vessel propulsion device 15 cannot be switched during execution of automatic vessel maneuvering, it stops the drive unit 22 in accordance with the detection result of the obstacle sensor 16.

[0033] 3 is a flowchart showing processing executed by the ship maneuvering controller 4 while automatic maneuvering of the ship 10 is being performed. In step S11, the ship maneuvering controller 4 determines whether it is possible to switch the shift state of the ship propulsion device 15. For example, based on the detection result of the shift position sensor 26, the ship maneuvering controller 4 determines whether the shift state of the shift mechanism 23 is the shift state corresponding to the operation of the throttle lever 14.

[0034] In step S11, the vessel maneuvering controller 4 may determine whether or not it is possible to switch the shift state of the vessel propulsion device 15 by periodically switching the shift state of the vessel propulsion device 15 from a shift-on state to a neutral state. The shift-on state is a forward state or a reverse state. Specifically, the vessel maneuvering controller 4 may determine whether or not it is possible to switch the shift state of the vessel propulsion device 15 by periodically (for example, once per minute) switching the shift state of the shift mechanism 23 from a forward state to a neutral state via the throttle lever 14.

[0035] If it is determined in step S11 that the shift state cannot be switched, the process proceeds to step S12. In step S12, the ship maneuvering controller 4 determines whether or not an obstacle is present based on the detection result of the obstacle sensor 16. For example, if the ship maneuvering controller 4 determines that the distance between the obstacle detected by the obstacle sensor 16 and the ship 10 is close (within a predetermined range), the ship maneuvering controller 4 determines that an obstacle is present, and if it determines that the distance between the obstacle detected by the obstacle sensor 16 and the ship 10 is far, the ship maneuvering controller 4 determines that no obstacle is present.

[0036] If it is determined in step S12 that there is no obstacle, the ship steering controller 4 stops the drive unit 22 (step S13). That is, the ship steering controller 4 stops the drive unit 22 before approaching an obstacle. In step S13, the ship steering controller 4 stops the drive of the internal combustion engine 22a, for example, by stopping fuel injection and ignition of the internal combustion engine 22a via the ECU 21.

[0037] After stopping the drive unit 22, the ship maneuvering controller 4 drives the anchor device 18 to lower the anchor 18a (step S14). That is, in step S14, the ship maneuvering controller 4 moors the ship 10 so that the ship 10 stays within a certain range. Thereafter, the ship maneuvering controller 4 outputs an abnormality signal to, for example, the monitoring terminal 20 via the server 3.

[0038] If it is determined in step S12 that an obstacle is present, the ship maneuvering controller 4 drives the drive unit 22 until the ship 10 moves away from the obstacle (step S15). That is, in step S15, the ship maneuvering controller 4 essentially maintains the drive state of the drive unit 22 until it determines that there is no obstacle. Thereafter, the ship maneuvering controller 4 executes the processes of steps S13 and S14.

[0039] 4 is a flowchart showing processing executed by the maneuvering controller 4 while automatic maneuvering of the boat 10 is being performed. In step S21, the maneuvering controller 4 determines whether or not the opening degree T1 of the electronic throttle valve 22b detected by the throttle sensor 27 is larger than the opening degree T2 of the electronic throttle valve 22b corresponding to the control signal from the maneuvering controller 4. For example, the maneuvering controller 4 determines whether or not the opening degree T1 of the electronic throttle valve 22b detected by the throttle sensor 27 is larger than the opening degree corresponding to the position of the throttle lever 14.

[0040] If it is determined in step S21 that the opening degree T1 of the electronic throttle valve 22b is greater than the opening degree T2, the ship maneuvering controller 4 limits the vessel speed of the vessel 10 (step S22). An example of a case in which the opening degree T1 of the electronic throttle valve 22b becomes greater than the opening degree T2 is when the electronic throttle valve 22b becomes uncontrollable due to a failure in the motor of the throttle valve actuator 28. When the electronic throttle valve 22b becomes uncontrollable, the opening degree T1 of the electronic throttle valve 22b is configured to become a default opening degree that is slightly open from the fully closed position. The rotation speed of the internal combustion engine 22a at the default opening degree is, for example, 1200 rpm, which is set higher than the idle rotation speed of the internal combustion engine 22a.

[0041] In step S22, the maneuvering controller 4 limits the boat speed of the boat 10 by alternately switching the shift state of the boat propulsion device 15 between a shift-on state and a neutral state. In step S22, the maneuvering controller 4 may limit the boat speed of the boat 10 by limiting the fuel injection amount of the internal combustion engine 22a. Alternatively, in step S22, the maneuvering controller 4 may limit the boat speed of the boat 10 by cutting off ignition of the internal combustion engine 22a. When cutting off ignition of the internal combustion engine 22a, the boat speed of the boat 10 may be limited by cutting off ignition of some cylinders of the internal combustion engine 22a. When the speed of the boat 10 is limited, the maneuvering controller 4 may output an abnormality signal to the monitoring terminal 20, for example, via the server 3.

[0042] In step S21, when limiting the vessel speed of the vessel 10, the vessel maneuvering controller 4 limits the vessel speed of the vessel 10 so that it becomes a target speed determined in accordance with the target route to be followed by the vessel 10. That is, in step S21, the vessel maneuvering controller 4 limits the vessel speed of the vessel 10 so that it does not exceed the target speed determined in accordance with the target route of the vessel 10.

[0043] Note that even if it is determined in step S21 that the opening degree of the electronic throttle valve 22b is smaller than the opening degree corresponding to the control signal, a malfunction of the motor of the throttle valve actuator 28 may be considered. However, in this state, the vessel speed of the vessel 10 will simply be slower than the target speed, and therefore there is no need for the vessel maneuvering controller 4 to limit the speed of the vessel 10. If it is determined in step S21 that the opening degree of the electronic throttle valve 22b is smaller than the opening degree corresponding to the control signal, the vessel maneuvering controller 4 may output an abnormality signal to the monitoring terminal 20 via the server 3, for example.

[0044] In the above-described automatic ship steering system 1, if the shift mechanism 23 for switching the shift state of the ship propulsion device 15 becomes stuck, for example, the drive unit 22 is stopped in accordance with the detection result of the obstacle sensor 16. As a result, if the shift mechanism 23 of the ship propulsion device 15 of the ship 10 fails, appropriate measures can be taken on the ship to deal with the failure of the shift mechanism 23. Furthermore, if the opening of the electronic throttle valve 22b cannot be adjusted to the opening corresponding to the control signal from the ship steering controller 4, the ship steering controller 4 limits the ship speed of the ship 10. As a result, if the motor of the throttle valve actuator 28 fails, for example, appropriate measures can be taken on the ship 10.

[0045] 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]

[0046] 1: Automatic ship steering system, 4: Ship steering controller, 5: Obstacle sensor, 18: Anchor device, 22: Drive unit, 22a: Internal combustion engine, 22b: Electronic throttle valve, 27: Throttle sensor, 28: Throttle valve actuator

Claims

1. An automatic ship steering system for a ship equipped with a ship propulsion device including a drive unit, a controller disposed on the vessel and controlling the vessel propulsion device; an obstacle detection unit that detects obstacles around the vessel; Equipped with When the controller determines that the shift state of the marine vessel propulsion device cannot be switched, the controller stops the drive unit in accordance with the detection result of the obstacle detection unit. Automated ship steering system.

2. the controller periodically switches the shift state of the vessel propulsion device from a shift-on state to a neutral state while automatic steering of the vessel is being performed. The automatic ship steering system according to claim 1 .

3. when the controller determines that the shift state of the marine vessel propulsion device cannot be switched from a shift-on state to a neutral state and determines that an obstacle is present based on the detection result of the obstacle detection unit, the controller drives the drive unit until the marine vessel moves away from the obstacle. The automatic ship steering system according to claim 1 .

4. the vessel further comprises an anchoring device including an anchor; the controller stops the drive unit and then drives the anchor device to lower the anchor; The automatic ship steering system according to claim 1 .

5. An automatic ship steering system for a ship equipped with a ship propulsion device including an internal combustion engine, a controller disposed on the vessel and controlling the vessel propulsion device; a throttle sensor that detects the opening of an electronic throttle valve of the internal combustion engine; an actuator that adjusts the opening of the electronic throttle valve of the internal combustion engine in response to a control signal from the controller; Equipped with the controller limits the boat speed when it determines that the opening of the electronic throttle valve detected by the throttle sensor is greater than the opening of the electronic throttle valve corresponding to the control signal. Automated ship steering system.

6. the controller limits the vessel speed by alternately switching the shift state of the vessel propulsion device between a shift-on state and a neutral state.

6. The automatic ship steering system according to claim 5.

7. the controller limits the vessel speed of the vessel by limiting the amount of fuel injection of the internal combustion engine.

6. The automatic ship steering system according to claim 5.

8. the controller limits the vessel speed by cutting off ignition of the internal combustion engine.

6. The automatic ship steering system according to claim 5.

9. When limiting the vessel speed of the vessel, the controller limits the vessel speed to a target speed that is determined according to a target route to be followed by the vessel.

6. The automatic ship steering system according to claim 5.

10. 1. A method for automatically steering a marine vessel having a marine vessel propulsion device including a drive unit, comprising: Detecting obstacles around the vessel; stopping the drive unit in accordance with the detection result of the obstacle when it is determined that the shift state of the marine vessel propulsion device cannot be switched and when it is determined that the obstacle is not present around the marine vessel; A method comprising:

11. periodically switching the shift state of the vessel propulsion device from a shift-on state to a neutral state while automatic maneuvering of the vessel is being performed; The method of claim 10 further comprising:

12. when it is determined that the shift state of the marine vessel propulsion device cannot be switched from a shift-on state to a neutral state and the obstacle is detected, driving the drive unit until the marine vessel moves away from the obstacle; The method of claim 10 further comprising:

13. the vessel further comprises an anchoring device including an anchor; After stopping the drive unit, driving the anchor device to lower the anchor; The method of claim 10 further comprising:

14. A system for automatically steering a vessel equipped with a vessel propulsion device including an internal combustion engine, Detecting an opening degree of an electronic throttle valve of the internal combustion engine; adjusting the opening of the electronic throttle valve of the internal combustion engine in response to a control signal; limiting the vessel speed when it is determined that the detected opening degree of the electronic throttle valve is greater than the opening degree of the electronic throttle valve corresponding to the control signal; A method comprising:

15. limiting the vessel speed by alternately switching the shift state of the vessel propulsion device between a shift-on state and a neutral state; The method of claim 14 further comprising:

16. limiting the vessel speed by limiting the fuel injection amount of the internal combustion engine; The method of claim 14 further comprising:

17. limiting the vessel speed by cutting off ignition of the internal combustion engine; 15. The method of claim 14.

18. When limiting the speed of the vessel, limiting the speed of the vessel to a target speed determined according to a target route to be followed by the vessel; The method of claim 14 further comprising:

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