System and method for controlling vessel

Abstract

To continue automatic navigation even when reception of radio waves from a satellite by a satellite positioning sensor is temporarily interrupted.SOLUTION: A system includes a satellite positioning sensor 11, a remote sensor 14, and a controller 10. The satellite positioning sensor 11 detects a position of a vessel by radio waves from a satellite in a satellite positioning system. The remote sensor 14 detects a position of a target object located in a proceeding direction of the vessel, with respect to the vessel. The controller 10 acquires the position of the vessel detected by the satellite positioning sensor 11 when the satellite positioning sensor 11 is receiving the radio waves from the satellite, and performs normal automatic navigation for moving the vessel along a prescribed route based on the position of the vessel. The controller 10 acquires a position of the target object detected by the remote sensor 14 during navigation of the vessel. The controller 10 performs temporary automatic navigation for controlling the vessel so that the vessel moves toward the target object when reception of the radio waves from the satellite by the satellite positioning sensor 11 is interrupted.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] Conventionally, there is known an automatic navigation technology that automatically moves a ship along a predetermined route. In this automatic navigation technology, as shown in Patent Document 1, for example, a ship is equipped with a satellite positioning sensor of a satellite positioning system such as GPS. The satellite positioning sensor detects the position of the ship using radio waves from a satellite. A ship controller automatically moves the ship along a predetermined route based on the position of the ship detected by the satellite positioning sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-060044 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, when a ship passes under a structure such as a bridge, reception of radio waves from satellites by the satellite positioning sensor may be temporarily interrupted. In such a case, it is difficult to continue automatic navigation using the above-mentioned technology. An object of the present invention is to continue automatic navigation even when reception of radio waves from satellites by the satellite positioning sensor is temporarily interrupted. [Means for solving the problem]

[0005] A system according to one aspect of the present invention is a system for controlling a ship. The system according to this aspect includes a satellite positioning sensor, a remote sensor, and a controller. The satellite positioning sensor is mounted on the ship and detects the position of the ship using radio waves from satellites of a satellite positioning system. The remote sensor is mounted on the ship and detects the position of a target located in the ship's direction of travel relative to the ship. When the satellite positioning sensor is receiving radio waves from the satellite, the controller acquires the position of the ship detected by the satellite positioning sensor and performs normal autonavigation to move the ship along a predetermined route based on the position of the ship. The controller acquires the position of the target detected by the remote sensor while the ship is sailing. When the satellite positioning sensor loses reception of radio waves from the satellite, the controller performs temporary autonavigation to control the ship to move toward the target.

[0006] A method according to another aspect of the present invention is a method for controlling a ship. The ship includes a satellite positioning sensor and a remote sensor. The satellite positioning sensor detects the position of the ship using radio waves from satellites of a satellite positioning system. The remote sensor detects the position of a target located in the ship's direction of travel relative to the ship. The method according to this aspect includes acquiring the position of the ship detected by the satellite positioning sensor, and, if the satellite positioning sensor is receiving radio waves from the satellite, performing normal autonavigation to move the ship along a predetermined route based on the position of the ship detected by the satellite positioning sensor, acquiring the position of the target detected by the remote sensor while the ship is sailing, and, if reception of radio waves from the satellite by the satellite is interrupted, performing temporary autonavigation to control the ship to move toward the target. [Effects of the Invention]

[0007] According to the present invention, when the satellite positioning sensor loses reception of radio waves from a satellite, the ship is controlled to move toward a target detected by a remote sensor, thereby enabling automatic navigation to continue even if reception of radio waves from a satellite by the satellite positioning sensor is temporarily lost. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view of a ship on which a system according to an embodiment is installed. FIG. [Figure 2] FIG. 1 is a block diagram showing a system configuration. [Figure 3] FIG. 2 is a diagram showing an example of a route under automatic navigation control. [Figure 4] 10 is a flowchart showing the process of automatic navigation control. [Figure 5] FIG. 2 is a diagram illustrating an example of a target detected by a remote sensor. [Figure 6] FIG. 2 is a diagram showing an example of a route under automatic navigation control. [Figure 7] FIG. 2 is a diagram illustrating an example of a target detected by a remote sensor. DETAILED DESCRIPTION OF THE INVENTION

[0009] A system for controlling a boat according to an embodiment will now be described with reference to the drawings. FIG. 1 is a perspective view of a boat 101 equipped with a system 100 according to an embodiment. The system 100 automatically navigates the boat 101 without any crew. The system 100 includes a first boat propulsion unit 1a and a second boat propulsion unit 1b. The first and second boat propulsion units 1a and 1b are outboard motors. The first and second boat propulsion units 1a and 1b each generate thrust to propel the boat 101.

[0010] Fig. 2 is a block diagram showing the configuration of the system 100. As shown in Fig. 2, the first marine vessel propulsion device 1a includes a first engine 2a, a first shift actuator 3a, a first steering actuator 4a, and a first ECU 5a. The first engine 2a generates thrust for propelling the marine vessel 101.

[0011] The first shift actuator 3a is, for example, an electric motor. The first shift actuator 3a switches the rotation direction of the propeller of the first marine vessel propulsion device 1a by switching the engagement of the clutch of the first marine vessel propulsion device 1a, thereby switching the marine vessel 101 between forward and reverse motion. The first steering actuator 4a is, for example, an electric motor. The first steering actuator 4a rotates the first marine vessel propulsion device 1a left and right, thereby changing the rudder angle of the first marine vessel propulsion device 1a.

[0012] The first ECU 5a includes a processor such as a CPU and memories such as RAM and ROM. The first ECU 5a stores programs and data for controlling the first marine vessel propulsion device 1a. The first ECU 5a controls the first engine 2a.

[0013] The second marine vessel propulsion device 1b includes a second engine 2b, a second shift actuator 3b, a second steering actuator 4b, and a second ECU 5b. The second engine 2b, second shift actuator 3b, second steering actuator 4b, and second ECU 5b of the second marine vessel propulsion device 1b have the same configuration as the first engine 2a, first shift actuator 3a, first steering actuator 4a, and first ECU 5a of the first marine vessel propulsion device 1a, respectively.

[0014] The system 100 includes a satellite positioning sensor 11, a direction sensor 12, an acceleration sensor 13, and a remote sensor 14. The satellite positioning sensor 11 detects the position of the ship 101 using radio waves from satellites of a satellite positioning system. The satellite positioning sensor 11 is, for example, a receiver for a GNSS (Global Navigation Satellite System) such as a GPS (Global Positioning System). However, the satellite positioning sensor 11 may be a sensor other than a GNSS receiver. The satellite positioning sensor 11 outputs a signal indicating the position of the ship 101.

[0015] The orientation sensor 12 detects the orientation of the ship 101. The orientation sensor 12 outputs a signal indicating the orientation of the ship 101. The acceleration sensor 13 detects the acceleration of the ship 101. The acceleration sensor 13 outputs a signal indicating the acceleration of the ship 101. The remote sensor 14 detects the position of a target located in the traveling direction of the ship 101 relative to the ship 101. The remote sensor 14 is, for example, a camera, and acquires an image in the traveling direction of the ship 101. The remote sensor 14 outputs a signal indicating the image in the traveling direction of the ship 101.

[0016] The system 100 includes a controller 10. The controller 10 includes a processor such as a CPU and memories such as RAM and ROM. The controller 10 stores programs and data for controlling the first marine vessel propulsion device 1a and the second marine vessel propulsion device 1b. The controller 10 is connected to the first and second ECUs 5a, 5b via wire or wirelessly.

[0017] The controller 10 outputs command signals to the first and second ECUs 5a and 5b. The command signals are transmitted to the first engine 2a, the first shift actuator 3a, and the first steering actuator 4a via the first ECU 5a. The command signals are transmitted to the second engine 2b, the second shift actuator 3b, and the second steering actuator 4b via the second ECU 5b.

[0018] The controller 10 controls the first shift actuator 3a and the second shift actuator 3b to switch the boat 101 between forward travel, reverse travel, and stop. The controller 10 controls the first engine 2a and the second engine 2b to control the boat speed of the boat 101. The controller 10 controls the first steering actuator 4a and the second steering actuator 4b to steer the boat 101 left and right.

[0019] The controller 10 is communicatively connected to a satellite positioning sensor 11, a direction sensor 12, an acceleration sensor 13, and a remote sensor 14. The controller 10 acquires the position of the ship 101 based on a signal from the satellite positioning sensor 11. The controller 10 acquires the speed of the ship 101 based on a signal from the satellite positioning sensor 11. The controller 10 acquires the direction of the ship 101 based on a signal from the direction sensor 12. The controller 10 acquires the acceleration of the ship 101 based on a signal from the acceleration sensor 13. The controller 10 acquires an image of the ship 101 in the direction of travel based on a signal from the remote sensor 14.

[0020] As shown in FIG. 3, the controller 10 automatically navigates an unmanned ship 101 between a departure point P1 and a destination P2. The controller 10 stores automatic navigation information including the position of the departure point P1, the position of the destination P2, and routes R1 and R2 between the departure point P1 and the destination P2. Based on the sensor information detected by the above-mentioned sensors and the automatic navigation information, the controller 10 controls the ship 101 to move along the route R1 from the departure point P1 to the destination P2. Based on the sensor information and the automatic navigation information, the controller 10 also controls the ship 101 to move along the route R2 from the destination P2 to the departure point P1.

[0021] As shown in Fig. 2, the system 100 includes a communication device 15. The communication device 15 performs data communication with a remote controller 20 via a mobile communication network. The remote controller 20 is located, for example, in a management center located away from the ship 101. An operator at the management center can remotely operate the ship 101 by transmitting a command signal to the controller 10 of the ship 101 via the remote controller 20.

[0022] Next, the automatic navigation control of the ship 101 by the controller 10 will be described. FIG. 4 is a flowchart showing the process of the automatic navigation control of the ship 101 by the controller 10. As shown in FIG. 4, in step S101, the controller 10 acquires the position of the ship 101. The controller 10 acquires the position of the ship 101 from a signal from the satellite positioning sensor 11.

[0023] In step S102, the controller 10 acquires the acceleration of the ship 101. The controller 10 acquires the acceleration of the ship 101 based on a signal from the acceleration sensor 13. In step S103, the controller 10 acquires the orientation of the ship 101. The controller 10 acquires the orientation of the ship 101 based on a signal from the orientation sensor 12.

[0024] In step S104, the controller 10 acquires the position of the target. The controller 10 acquires the position of the target located a predetermined distance from the ship 101 in the traveling direction of the ship 101 based on a signal from the remote sensor 14. Fig. 5 is a diagram showing an example of an image of the traveling direction of the ship 101 detected by the remote sensor 14. The controller 10 detects a stationary object within a fixed angle of view A1 of the camera as the target X1 through image analysis.

[0025] The target may be, for example, a building on land. Alternatively, the target may be a structure on the water surface. When multiple objects are detected, the controller 10 prioritizes the object closest to the center of the angle of view A1 and determines it as the target. While navigating, the controller 10 continuously detects objects located in the direction of travel of the ship 101 and updates the position of the target. Therefore, the target is not constant, and the controller 10 changes the target according to the movement of the ship 101.

[0026] In step S105, the controller 10 determines whether the satellite positioning sensor 11 is receiving radio waves from a satellite. If the satellite positioning sensor 11 is receiving radio waves from a satellite, the process proceeds to step S109. In step S109, the controller 10 controls the ship 101 by normal automatic navigation. In normal automatic navigation, the controller 10 moves the ship 101 along the routes R1 and R2 based on the position of the ship 101 detected by the satellite positioning sensor 11.

[0027] If the controller 10 determines in step S105 that the satellite positioning sensor 11 has not received radio waves from a satellite, the process proceeds to step S106. In step S106, the controller 10 determines whether the ship 101 is located within a specific area. The controller 10 stores areas where radio waves from satellites do not reach as specific areas. For example, as shown in FIG. 6, the ship 101 may pass under a bridge B1. Under the bridge B1 is an area where radio waves from satellites do not reach easily. Therefore, the controller 10 stores the area under the bridge B1 as a specific area. If the controller 10 determines that the ship 101 is located within the specific area, the process proceeds to step S107.

[0028] In step S107, the controller 10 controls the ship 101 under temporary automatic navigation. In temporary automatic navigation, the controller 10 controls the ship 101 so that the ship 101 moves toward a target. That is, when reception of radio waves from a satellite is interrupted at the satellite positioning sensor 11, the controller 10 controls the ship 101 so that the ship 101 moves toward a target that was set immediately before reception of the radio waves was interrupted. For example, as shown in FIG. 7, when reception of radio waves from a satellite is interrupted while the ship 101 is passing under a bridge, the controller 10 controls the ship 101 so that the ship 101 moves toward target X2 that was set immediately before reception of the radio waves was interrupted.

[0029] During temporary automatic navigation, the controller 10 cannot acquire the position of the ship 101 using the satellite positioning sensor 11. Therefore, during temporary automatic navigation, the controller 10 estimates the position of the ship 101 based on the direction of the ship 101 detected by the direction sensor 12 and the acceleration of the ship 101 detected by the acceleration sensor 13. Based on the estimated position of the ship 101, the controller 10 controls the ship 101 so that the ship 101 moves toward the target X2.

[0030] In step S108, the controller 10 determines whether reception of radio waves from satellites has resumed at the satellite positioning sensor 11. If reception of radio waves from satellites has not resumed at the satellite positioning sensor 11, the controller 10 continues temporary automatic navigation in step S107. If reception of radio waves from satellites has resumed at the satellite positioning sensor 11, the controller 10 returns the ship 101 to normal automatic navigation in step S109. During automatic navigation of the ship 101, the controller 10 repeatedly executes the processes of steps S101 to S110 described above.

[0031] If the satellite positioning sensor 11 does not receive radio waves from a satellite but the ship 101 is not located within the specific area, the controller 10 stops the ship 101 in step S110. When the ship 101 is stopped, the controller 10 may notify the remote controller 20 of an alarm. Then, an operator at the management center may remotely operate the ship 101 using the remote controller 20.

[0032] In the system 100 according to the present embodiment described above, when the satellite positioning sensor 11 stops receiving radio waves from the satellite, the ship 101 is controlled so that the ship 101 moves toward the target detected by the remote sensor 14. This allows automatic navigation to continue even if the satellite positioning sensor 11 temporarily stops receiving radio waves from the satellite.

[0033] 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.

[0034] The boat propulsion device is not limited to an outboard motor and may be changed. For example, the boat propulsion device may be an inboard / outboard motor or a jet propulsion device. The number of boat propulsion devices is not limited to two. The number of boat propulsion devices may be one. Alternatively, the number of boat propulsion devices may be more than two. The remote sensor 14 is not limited to a camera and may be another sensor such as a laser or radar.

[0035] The automatic navigation control process is not limited to the above and may be modified. For example, the controller 10 may count the duration from when the satellite positioning sensor 11 stops receiving radio waves from a satellite until when they are resumed. The controller 10 may stop the ship 101 when the duration is equal to or greater than a threshold. The controller 10 may stop the ship 101 when the ship 101 reaches a position a predetermined distance short of the target after the satellite positioning sensor 11 stops receiving radio waves from a satellite until they are resumed. [Industrial Applicability]

[0036] According to the present invention, automatic navigation can be continued even if reception of radio waves from a satellite by the satellite positioning sensor is temporarily interrupted. [Explanation of symbols]

[0037] 10: Controller 11: Satellite positioning sensor 14: Remote sensor

Claims

1. 1. A system for controlling a vessel, comprising: a satellite positioning sensor mounted on the ship that detects the position of the ship using radio waves from satellites of a satellite positioning system; a remote sensor mounted on the vessel for detecting the position of a target located in the vessel's traveling direction relative to the vessel; A controller; Equipped with The controller When the satellite positioning sensor receives radio waves from the satellite, the position of the ship detected by the satellite positioning sensor is acquired, and normal automatic navigation is performed to move the ship along a predetermined route based on the position of the ship; acquiring the position of the target detected by the remote sensor while the vessel is sailing; When the satellite positioning sensor stops receiving radio waves from the satellite, temporary automatic navigation is performed to control the ship so that the ship moves toward the target. system.

2. the controller continuously detects the position of an object located a predetermined distance ahead in the traveling direction of the ship while the satellite positioning sensor is receiving radio waves from the satellite, and updates the continuously detected position of the object as the position of the target. The system of claim 1 .

3. The controller determining whether reception of radio waves from the satellite has resumed in the satellite positioning sensor; When the satellite positioning sensor resumes receiving radio waves from the satellite, the ship is returned to the normal automatic navigation. The system of claim 1 .

4. The controller Counting the duration from when reception of radio waves from the satellite is interrupted to when reception is resumed in the satellite positioning sensor; If the duration is equal to or greater than a threshold, stopping the vessel. The system of claim 1 .

5. the controller stops the vessel when the vessel reaches a position a predetermined distance short of the target after reception of radio waves from the satellite at the satellite positioning sensor is interrupted and before reception resumes; The system of claim 1 .

6. The controller The area where radio waves from the satellite cannot reach is stored, When the vessel enters the area, the temporary automatic navigation is performed. The system of claim 1 .

7. The ship is an unmanned, autonomously navigating ship. The system of claim 1 .

8. A method for controlling a vessel, the vessel including a satellite positioning sensor that detects a position of the vessel using radio waves from a satellite of a satellite positioning system, and a remote sensor that detects a position of a target located in a direction of travel of the vessel relative to the vessel, the method comprising: acquiring the position of the ship detected by the satellite positioning sensor; When the satellite positioning sensor receives radio waves from the satellite, normal automatic navigation is performed to move the ship along a predetermined route based on the position of the ship detected by the satellite positioning sensor. acquiring the position of the target detected by the remote sensor while the vessel is sailing; When the satellite positioning sensor loses reception of radio waves from the satellite, temporary automatic navigation is performed to control the ship so that the ship moves toward the target. A method for providing

9. While the satellite positioning sensor is receiving radio waves from the satellite, the position of an object located a predetermined distance ahead in the traveling direction of the ship is continuously detected, and the position of the object continuously detected is updated as the position of the target. The method of claim 8 comprising:

10. determining whether reception of radio waves from the satellite has resumed in the satellite positioning sensor; When the satellite positioning sensor resumes receiving radio waves from the satellite, returning the ship to the normal automatic navigation; The method of claim 8 comprising:

11. Counting the duration from when reception of radio waves from the satellite is interrupted to when reception is resumed in the satellite positioning sensor; If the duration is equal to or greater than a threshold, stopping the vessel; The method of claim 8 comprising:

12. stopping the vessel when the vessel reaches a position a predetermined distance in front of the target after reception of radio waves from the satellite by the satellite positioning sensor is interrupted and before reception resumes; The method of claim 8 comprising:

13. determining whether the vessel has entered an area where radio waves from the satellite cannot be received; When the vessel enters the area, performing the temporary automatic navigation; The method of claim 8 comprising:

14. The ship is an unmanned, autonomously navigating ship. The method of claim 8.

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