Automatic ship handling system and ship control method

Abstract

This invention provides an automated ship handling system and ship control method that allow other vessels to easily recognize the ship's handling status. [Solution] The automatic ship handling system (2) includes a propulsion unit (20) for propelling the ship (1), a steering device (30) for changing the ship's course, a display device (60) for visually informing other ships of the ship's status, and a controller (41). The controller performs automatic ship handling control, which controls the propulsion unit and steering device for automatic ship handling from the point of departure to the destination, and controls the display device according to the status of the automatic ship handling control. The controller controls the display device to distinguish and display a plurality of states, including the state in which automatic ship handling control is being performed and the state in which automatic ship handling control is not possible.

Description

Technical Field

[0001] This invention relates to an automatic ship control system and a ship control method.

Background Art

[0002] Patent Document 1 discloses a ship control system including an automatic control device that automatically controls a ship autonomously without a crew. The automatic control device receives, by wireless communication, information necessary for navigation such as a destination, a route, and a ship speed as a ship control command, and automatically controls the ship autonomously while detecting surrounding ships and obstacles with a ship radar device. When an abnormal ship control state occurs due to hacking or malfunction of the automatic control device, an emergency command is issued by wireless communication from the original ship operator of the ship. When the ship control system receives the emergency command, it stops power supply to the automatic control device, brings the ship to an emergency stop, and then performs hovering control to keep the hull stationary at the spot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since a ship that is automatically controlled without a crew can navigate in the same waters as a manned ship, it is desirable that the ship control state of the ship be recognizable from other ships, particularly manned ships. In particular, it is preferable that it be recognizable from other ships whether it is in a normal ship control state or not.

[0005] Therefore, one embodiment of this invention provides an automatic ship control system and a ship control method in which the ship control state can be easily recognized from other ships.

Means for Solving the Problems

[0006] One embodiment of this invention provides an automatic ship handling system that includes a propulsion engine for propelling a ship, a steering device for changing the ship's course, a display device for visually informing other ships of the ship's status, and a controller that performs automatic ship handling control to control the propulsion engine and the steering device for automatic ship handling from a point of departure to a destination, and controls the display device according to the state of the automatic ship handling control. The controller controls the display device to distinguish and display a plurality of states, including a state in which the automatic ship handling control is being performed and a state in which the automatic ship handling control is not possible.

[0007] This configuration allows a vessel to navigate from its departure point to its destination using automatic maneuvering control. Furthermore, the system can visually notify other vessels of the state in which automatic maneuvering control is running, as well as the state in which automatic maneuvering control is not running. This makes it easy for other vessels to recognize the vessel's operating status, particularly when automatic maneuvering control is running and when it is not running.

[0008] In one embodiment of this invention, the state in which automatic ship steering control is not possible includes one or more of the following: a failure of the propulsion system, a failure of the steering device, and a failure of the sensors for automatic ship steering control.

[0009] In one embodiment of this invention, when the automatic ship handling control is not possible, the controller executes a stop control to stop the ship and controls the display device to indicate that the ship is stopped.

[0010] This configuration allows the ship to automatically stop (park) if automatic steering control becomes unavailable, and to visually notify other ships of the stationary state via a display device.

[0011] In one embodiment of this invention, the automatic ship handling system further includes an anchoring device. The controller performs anchoring control in which it controls the anchoring device to drop anchor during the ship stopping control.

[0012] In one embodiment of this invention, the controller controls the propulsion system and the steering device in the stop control to perform fixed-point holding control to maintain the position of the vessel.

[0013] In one embodiment of this invention, the automatic ship handling system further includes a communication device for communicating with a remote ship handling base to remotely operate the propulsion system and the steering device. The controller notifies the remote ship handling base of status information of the automatic ship handling system via the communication device and performs remote control of the propulsion system and the steering device based on remote control signals received from the remote ship handling base via the communication device. While performing the remote control, the controller controls the display device to indicate that the ship is being remotely operated by communication with the remote ship handling base.

[0014] This configuration allows for the visual notification of remote operation (remote control) from a remote control base to other vessels via a display device.

[0015] In one embodiment of this invention, the state in which automatic ship handling control is not possible includes the state in which communication with the remote ship handling base cannot be established via the communication device.

[0016] In this configuration, if communication with the remote control base cannot be established, and therefore the status of the automatic ship control system cannot be monitored at the remote control base, the automatic ship control system will be rendered unresponsive. Consequently, automatic ship control is performed under the supervision of the remote control base.

[0017] In one embodiment of this invention, the display device includes a lighting device and / or an object display device.

[0018] This configuration allows a display device, in the form prescribed by law, to be installed on the ship and automatically operated by a controller, enabling the display of necessary information according to the status of the automatic ship operation control.

[0019] One embodiment of the present invention provides a ship including a hull and the aforementioned automatic ship control system equipped on the hull.

[0020] One embodiment of the present invention provides a ship control method for controlling a propulsion machine for propelling a ship, a steering gear for changing the course of the ship, and a display device for visually reporting the state of the ship to other ships by a controller. The method includes an automatic ship control step of executing, by the controller, automatic ship control for controlling the propulsion machine and the steering gear for automatic ship navigation from a departure point to a destination, and a display step of controlling the display device by the controller. The display step includes a step of controlling the display device to distinguish and display a plurality of states including a state during the execution of the automatic ship control and a state in which the automatic ship control cannot be performed.

[0021] In one embodiment of the present invention, the state in which the automatic ship control cannot be performed includes one or more of a failure of the propulsion machine, a failure of the steering gear, and a failure of a sensor for the automatic ship control.

[0022] In one embodiment of the present invention, the method further includes a stopping step of executing, by the controller, stopping control for stopping the ship when the automatic ship control cannot be performed. The display step includes a stopping display step of controlling the display device to display that the ship is stopped when the stopping control is executed.

[0023] <00000​​​​​​​​In one embodiment of the present invention, the controller further controls a communication device for communicating with a remote ship control base in order to remotely control the propulsion device and the steering device. The ship control method further includes a remote control step of notifying, by the controller, the state information of the ship to the remote ship control base by the communication device and performing remote control of controlling the propulsion device and the steering device based on a remote control signal received from the remote ship control base via the communication device. The display step includes a remote ship control display step of controlling, by the controller, the display device so as to display that the ship is being remotely controlled by communication with the remote ship control base during the execution of the remote control.

[0026] In one embodiment of the present invention, the state in which the automatic ship control cannot be performed includes a state in which communication with the remote ship control base by the communication device cannot be established.

[0027] In one embodiment of the present invention, the display device includes a lighting device and / or an image display device.

[0028] Note that the controller does not necessarily have to be a single physical device, and may be constituted by a plurality of physically separated devices each including a processor.

Advantages of the Invention

[0029] According to the present invention, it is possible to provide an automatic ship control system and a ship control method in which the ship control state can be easily recognized from other ships.

Brief Description of the Drawings

[0030] [Figure 1] FIG. 1 is a diagram for explaining an overview of a system for remotely monitoring a ship equipped with an automatic ship control system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram for explaining a configuration example of a ship. [Figure 3] FIG. 3 is a flowchart for explaining an example of the processing content of a controller regarding display of the state of a ship. [Modes for carrying out the invention]

[0031] Hereinafter, embodiments of this invention will be described in detail with reference to the accompanying drawings.

[0032] [Remote monitoring system] Figure 1 is a diagram illustrating the outline of a system for remotely monitoring a vessel equipped with an automatic ship handling system according to one embodiment of the present invention.

[0033] Ship 1 is equipped with onboard system 2. Onboard system 2 constitutes an automated navigation system that enables the unmanned ship 1 to be autonomously operated from its departure point to its destination. However, manual operation by a user may be performed at the departure point and / or destination, and manual operation may also be performed as needed at locations other than the departure point and / or destination. Automated navigation systems are typically used in ships that transport goods and other cargo.

[0034] The onboard system 2 is equipped with a communication device 53. A remote monitoring base 100 (an example of a remote ship handling base) for monitoring the ship 1 is equipped with a remote monitoring system 101 (an example of a remote ship handling system). The remote monitoring system 101 can communicate with the onboard system 2 via the communication device 53. More specifically, the communication device 53 and the remote monitoring system 101 are communicated via a wireless data communication network 3, such as a mobile phone network or a satellite phone network, and are communicated via the wireless data communication network 3.

[0035] The communication device 53 transmits status information of the onboard system 2 (i.e., status information of the ship 1) to the remote monitoring system 101. The remote monitoring system 101 collects the status information received from the communication device 53. The remote monitoring system 101 includes a computer 102 for information processing, a display 103 for providing information to the monitor, and an input device 104 operated by the monitor. The computer 102 displays the status information received from the communication device 53 of the ship 1 on the display 103. The monitor understands the status of the ship 1 based on the display on the display 103. The computer 102 may display an alarm on the display 103 when a specific abnormal condition occurs in the ship 1. Further alarm devices, such as an alarm sound generator, may be provided in addition to the display 103 to generate alarms.

[0036] The input device 104 and display 103 of the remote monitoring system 101 may provide a remote operation interface for remotely operating the vessel 1. For example, when a monitor inputs a remote operation command, the computer 102 sends a command to switch to remote control mode to the communication device 53 of the vessel 1. As a result, when the onboard system 2 switches to remote control mode, the monitor can operate the remote operation interface to send a remote operation signal to the onboard system 2 and remotely operate the vessel 1.

[0037] For example, an image captured by a remote-controlled camera 45 (see Figure 2) mounted on the ship 1 is transmitted from the communication device 53 to the remote monitoring system 101, and the image is displayed on the display 103. The monitor (remote operator) operates the input device 104 while viewing the image. As a result, the computer 102 transmits a remote control signal to the communication device 53 on the ship 1. The onboard system 2 performs remote control in response to this remote control signal, thereby achieving remote operation of the ship 1.

[0038] [Ship composition] Figure 2 is a block diagram illustrating an example configuration of the vessel 1. The vessel 1 includes a hull 11 and an onboard system 2 (automatic steering system) mounted on the hull 11. The onboard system 2 includes various pieces of equipment (outfitting equipment) fitted to the hull 11. The outfitting equipment includes a main controller 41 for overall control of the equipment fitted to the vessel 1, a propulsion system that provides thrust to the hull 11, and a steering device for changing the direction of travel of the hull 11. In this embodiment, a communication device 53 is also one of the outfitting equipment. In this embodiment, input equipment (steering equipment) for manual steering is also provided as outfitting equipment. In this example, the input equipment includes a steering wheel 12 and a remote control 15.

[0039] In this example, the propulsion system includes outboard motors 20. Specifically, one or more outboard motors 20 are located at the stern. In this example, multiple outboard motors 20 (more specifically, two) are mounted side by side at the stern. In this example, the outboard motors 20 are engine-driven outboard motors that use an engine 21 (internal combustion engine) as a power source to drive a propeller 25. Of course, electric outboard motors powered by electric motors may also be used. Specifically, the two outboard motors 20 include a port outboard motor 20P and a starboard outboard motor 20S, which are mounted side by side at the stern.

[0040] In this example, the steering device is a steering 30 that steers the outboard motor 20 left or right. One steering 30 is provided for each outboard motor 20, and in this example, two steering 30s are provided. The two steering 30s are the port steering 30P and the starboard steering 30S, corresponding to the port outboard motor 20P and the starboard outboard motor 20S, respectively.

[0041] The steering wheel 12 is rotated by the user during manual operation. The angle of operation of the steering wheel 12 is detected by the angle of operation sensor 13 and input to the helm ECU (electronic control unit) 14. The remote control 15 is equipped with an accelerator lever 16 that is operated by the user to adjust the direction (forward or reverse) and magnitude of the thrust force generated by the outboard motor 20 during manual operation. The operating position of the accelerator lever 16 is detected by the accelerator position sensor 17 and input to the remote control ECU 18.

[0042] The outboard motor 20 includes an engine 21, a propeller 25 driven by the engine 21, a shift mechanism 26, and an engine ECU 23. The shift mechanism 26 has multiple shift positions, namely a forward position, a reverse position, and a neutral position. The forward position is the shift position in which the propeller 25 rotates forward by the driving force of the engine 21. The reverse position is the shift position in which the propeller 25 rotates backward by the driving force of the engine 21. The neutral position is the shift position in which power transmission between the engine 21 and the propeller 25 is interrupted. The engine ECU 23 controls the operation of a shift actuator 27 that operates the shift mechanism 26, thereby controlling the direction of the thrust. The engine ECU 23 also controls the operation of a throttle actuator 22 that drives the throttle valve of the engine 21, thereby controlling the magnitude of the thrust.

[0043] The steering system 30 includes a steering actuator 31 and a steering ECU 32 that controls it. The steering actuator 31 generates power to rotate the outboard motor 20 left and right around a steering axis (not shown). This changes the direction of the thrust force that the outboard motor 20 imparts to the hull 11, thereby changing the direction of travel of the vessel 1. The steering system 30 may be an integrated unit with the outboard motor 20 or a separate unit. Figure 2 shows an example where the steering system 30 is configured as an integrated unit with the outboard motor 20 (for example, built into the outboard motor 20).

[0044] The outfitting equipment further includes an automatic navigation camera 44, a remote navigation camera 45, a GPS (Global Positioning System) receiver 46, a compass sensor 47, a radar 48, a millimeter-wave radar 49, an electronic chart 50, a depth sensor 51, a remote control ECU 52, an anchoring device 55, and a display device 60. The GPS receiver 46 is an example of a GNNS (Global Navigation Satellite System) position detection device and an example of a position sensor that detects the position of the vessel 1.

[0045] The automatic navigation camera 44 includes at least one camera that images the area around the vessel 1 and is primarily used to detect obstacles around the vessel 1 during automatic navigation control. The remote navigation camera 45 includes at least one camera that images the area around the vessel 1 and is primarily used to provide images for remote navigation from the remote monitoring base 100. The heading sensor 47 detects the heading of the vessel 1 and outputs heading information. The radar 48 and millimeter-wave radar 49 are used to detect obstacles around the vessel 1. The radar 48 provides wide-area obstacle information, and the millimeter-wave radar 49 is used to detect obstacles at short range. The electronic chart 50 is a device that provides chart data. The remote control ECU 52 is a controller for remote control that generates propulsion commands and steering commands based on commands (remote control signals) from the remote monitoring base 100. The remote control ECU 52 typically includes a processor and memory and is configured to realize the necessary functions by having the processor execute programs stored in memory.

[0046] The anchoring device 55 includes, for example, an anchor, a rope connected to the anchor, a reel for winding / unwinding the rope, and an electric motor for driving the reel. By controlling the electric motor with the main controller 41, anchoring and release can be performed unattended.

[0047] The display device 60 is a device for visually informing other vessels of the status of vessel 1. The display device 60 may include a lighting device 61, a shape display device 62, a rotating light 63, etc. The lighting device 61 is mainly used for nighttime display, and the shape display device 62 is mainly used for daytime display. The rotating light 63 may be used for display both daytime and nighttime.

[0048] The display device 60 is operated under the control of the main controller 41 and is configured to display the status of the ship 1 (especially the operating status). The display device 60 is configured to distinguish and display multiple states, including the state in which the main controller 41 is performing automatic ship handling control and the state in which automatic ship handling control cannot be performed.

[0049] More specifically, the lighting device 61 and the shape display device 62 are configured to indicate a stationary state. The indication of a stationary state may also be an indication of being at anchor. The indication of being at anchor by the lighting device 61 is the illumination of one white 360-degree light that emits light in all directions. The indication of being at anchor by the shape display device 62 is the display of one spherical shape (for example, a black sphere).

[0050] The lighting device 61 and the shape display device 62 are further configured to indicate a state of operational impairment. For example, when the vessel is being remotely operated by the remote monitoring system 101, a state of operational impairment may be indicated. The lighting device 61 indicates a state of operational impairment by illuminating two red all-around lights arranged on a vertical line. The shape display device 62 indicates a state of operational impairment by displaying two spherical shapes (for example, black spheres) arranged on a vertical line.

[0051] The rotating light 63 is a light that emits light while rotating the direction in which it is emitted around the vessel 1. The rotating light 63 may be activated, for example, during the execution of automatic steering control and / or remote steering to visually notify other vessels that the vessel is in an automatic steering state and / or a remote steering state. For example, the automatic steering state and the remote steering state may be distinguished and indicated by varying the speed of rotation.

[0052] A network for data communication, namely the shipboard network 10, is established on board the vessel. The shipboard system 2 is composed of the shipboard network 10 and various outfitting equipment connected to the shipboard network 10.

[0053] The onboard network 10 is connected to the helm ECU 14, remote control ECU 18, engine ECU 23, and steering ECU 32. Therefore, thrust commands from the remote control ECU 18 are transmitted to the engine ECU 23 via the onboard network 10. A thrust command is a signal that commands the direction (forward or reverse) and magnitude of thrust for each outboard motor 20. In this embodiment, the thrust command includes a shift command that commands the shift position of the shift mechanism 26 and an output command that commands the output (e.g., rotational speed) of the engine 21. Also, steering commands from the helm ECU 14 are transmitted to the steering ECU 32 via the onboard network 10. A steering command is a command signal corresponding to the operating direction (rotation direction) and operating angle of the steering wheel 12, and is a signal that commands the steering direction and steering angle of the outboard motor 20.

[0054] The onboard network 10 is further connected to a main controller 41. The main controller 41 typically includes a processor and memory, and is configured to perform the necessary functions by having the processor execute programs stored in memory. The main controller 41 is programmed to perform automatic ship handling control. When performing automatic ship handling control, the main controller 41 sends thrust commands to the engine ECU 23 via the onboard network 10 and steering commands to the steering ECU 32 via the onboard network 10. As a result, the outboard motor 20 (propulsion system) and the steering system 30 (steering device) are controlled by the main controller 41.

[0055] The main controller 41 can also obtain various information from the remote control ECU 18, helm ECU 14, engine ECU 23, and steering ECU 32. Therefore, the main controller 41 can obtain information on steering commands received by the steering ECU 32 and information on the detection results of various sensors 33 provided in the steering 30. The sensors 33 include, for example, a steering angle sensor. The steering angle sensor detects the actual steering angle of the outboard motor 20. The steering angle sensor may also be a sensor that detects the amount of operation of the steering actuator 31. Furthermore, the main controller 41 can obtain various information from the engine ECU 23. For example, it can obtain information on thrust commands received by the engine ECU 23 and information on the detection results of various sensors 24 provided in the outboard motor 20. The sensors 24 include, for example, a throttle opening sensor, engine rotational speed sensor, engine temperature sensor, cooling water pressure sensor, oil pressure sensor, shift position sensor, fuel pressure sensor, and fuel level sensor.

[0056] The ship's network 10 is further connected to an automatic navigation camera 44, a remote navigation camera 45, a GPS receiver 46, a compass sensor 47, a radar 48, a millimeter-wave radar 49, an electronic chart 50, a depth sensor 51, a remote control ECU 52, an anchoring device 55, a lighting device 61, a shape display device 62, a rotating light 63, and the like. The ship's network 10 is also connected to a gauge 42 for displaying various information and a communication device 53. The communication device 53 may transmit information such as the status of the ship 1, more specifically, configuration information of the ship 1 (especially the ship's system 2), information on failures occurring in the ship's system 2, and detection values ​​of sensors 24 and 33 to the remote monitoring system 101 (see Figure 1). The communication device 53 also transmits information on the control status by the main controller 41 to the remote monitoring system 101 as status information of the ship 1. In particular, the communication device 53 transmits stop control information to the remote monitoring system 101 indicating whether the main controller 41 is performing stop control. The communication device 53 can also transmit images captured by the remote operation camera 45 to the remote monitoring system 101. Furthermore, the communication device 53 receives various commands from the remote monitoring system 101 and transmits them to the main controller 41, remote control ECU 52, etc., via the ship's network 10.

[0057] The gauge 42 has the function of a display device that informs the user of, for example, the remaining fuel level, the engine speed and shift position of each outboard motor 20, the remaining battery level, etc. The gauge 42 may also be equipped with an input device 43 such as input buttons or a touch panel, and the user may be able to input various commands by operating the input device 43. The input device 43 may be provided separately from the gauge 42.

[0058] The helmsman's seat, where the steering wheel 12 and remote control 15 are located, is equipped with a main switch 19 that is operated to turn the power to the outboard motor 20 on / off and to start / stop their engines 21.

[0059] [Overview of Automated Vessel Operation] The user can input a destination, for example, by operating the input device 43. Specifically, by operating the input device 43, the user can display a map read from the electronic chart 50 on the gauge 42 and specify and input a destination on that map. Of course, the destination may also be input by other methods such as coordinate input. The main controller 41 has an autopilot function and obtains the current location from the GPS receiver 46, uses the obtained current location as the departure point, and calculates the route to the input destination. The calculated route is displayed on the map on the gauge 42. The user may modify the route by operating the input device 43 as needed. The main controller 41 may store a history of previously set routes in memory. In this case, the user may read the history and set a route from the departure point to the destination.

[0060] Once the route is set, the user operates the main switch 19 to start the engine 21 of the outboard motor 20, inputs an automatic steering start command from the input device 43, and disembarks. As a result, the vessel 1 becomes unmanned. Upon receiving the automatic steering start command, the main controller 41 starts automatic steering control after a waiting period required for the user to disembark. Automatic steering control involves controlling the outboard motor 20 (propulsion system) and the steering 30 (steering device) for automatic steering from the departure point to the destination.

[0061] The main controller 41 issues thrust and steering commands to avoid obstacles based on the outputs of the automatic navigation camera 44, radar 48, and millimeter-wave radar 49, so that the current position detected by the GPS receiver 46 moves towards the destination according to the set course. The thrust command is given to the engine ECU 23, and the steering command is given to the steering ECU 32. The engine ECU 23 controls the shift actuator 27 and the throttle actuator 22 according to the thrust command. The steering ECU 32 controls the steering actuator 31 according to the steering command. As a result, thrust forces of magnitude and direction corresponding to the thrust and steering commands act on the hull 11.

[0062] Upon arrival at the destination, the user waiting at the destination performs the prescribed mooring procedure, boards the vessel 1, and operates the input device 43 to input a command to terminate automatic ship handling control. This causes the main controller 41 to terminate automatic ship handling control. The user may, if necessary, move the vessel 1 manually or stop the engine 21 by operating the main switch 19.

[0063] [Overview of remote ship operation] There may be situations where the vessel 1 is forced to stop on the water far from both its destination and departure point. For example, if a malfunction occurs in the automatic navigation camera 44 and obstacle detection becomes unreliable, it is preferable to interrupt or cancel the automatic navigation control. In such cases, the vessel may be operated remotely from the remote monitoring system 101 (remote navigation).

[0064] Remote operation can be initiated by a remote operation start command from the remote monitoring system 101. In the remote monitoring system 101, a remote operation start command is transmitted to the ship's communication device 53 when a monitor performs a predetermined input operation. Upon receiving the remote operation start command, the communication device 53 transmits the command to the main controller 41 and the remote control ECU 52. As a result, the main controller 41 stops automatic operation control and enters remote control mode, and the remote control ECU 52 starts control for remote operation (remote control). In remote control mode, the main controller 41 transmits images captured by the remote operation camera 45 to the remote monitoring system 101 via the communication device 53.

[0065] In the remote monitoring system 101, the monitor (remote operator) displays images received via the communication device 53 on the display 103 and performs input operations for remote operation, causing the computer 102 to issue a remote operation signal. This remote operation signal is transmitted to the communication device 53 and provided from the communication device 53 to the remote control ECU 52. The remote control ECU 52 converts the remote operation signal received via the communication device 53 into a propulsion command and steering command in a format compatible with the onboard system 2. The remote control ECU 52 then provides the propulsion command to the engine ECU 23 and the steering command to the steering ECU 32. The engine ECU 23 controls the shift actuator 27 and the throttle actuator 22 according to the propulsion command. The steering ECU 32 controls the steering actuator 31 according to the steering command. As a result, a propulsion force of magnitude and direction corresponding to the remote operation signal acts on the hull 11.

[0066] [Automatic ship handling control and display control] Figure 3 is a flowchart illustrating an example of the processing content of the main controller 41 related to determining whether automatic operation is possible and displaying the status of the ship by the display device 60.

[0067] The main controller 41 determines whether or not to perform (continue) automatic ship handling control. Specifically, the main controller 41 determines whether or not there is a malfunction in the propulsion system (outboard motor 20) (step S1), a malfunction in the steering system (steering 30) (step S2), a malfunction in the equipment for automatic ship handling (step S3), and a malfunction in the equipment for remote ship handling (step S4). The main controller 41 also determines whether or not communication with the remote monitoring system 101 can be established (step S5).

[0068] The main controller 41 can obtain information regarding malfunctions of the outboard motor 20 from the engine ECU 23. Examples of malfunctions include engine problems and shifting problems. The main controller 41 can also obtain information regarding malfunctions of the steering 30 from the steering ECU 32. Examples of malfunctions include steering problems (such as sticking). Equipment for automatic navigation includes the automatic navigation camera 44, GPS receiver 46, radar 48, and millimeter-wave radar 49, and the main controller 41 determines whether or not these devices are malfunctioning by communicating with them. Malfunctions of the automatic navigation camera 44 include cases where obstacles cannot be recognized from the image (image recognition) due to water droplets, etc. Equipment for remote navigation includes the remote navigation camera 45 and remote control ECU 52, and the main controller 41 determines whether or not these devices are malfunctioning by communicating with them. Remote navigation may still be possible even if water droplets are attached to the remote navigation camera 45, so a check regarding water droplet attachment is not required.

[0069] Based on these determination results, the main controller 41 determines whether or not to perform automatic ship handling control (step S6). That is, if any of the malfunctions have occurred (steps S1 to S4) or if communication with the remote monitoring system 101 cannot be established (step S5), the main controller 41 determines that it cannot perform automatic ship handling control (step S6: NO) and performs stop control (step S7: stop step). If there are no malfunctions and communication with the remote monitoring system 101 can be established, the main controller 41 determines that it can perform automatic ship handling control (step S6: YES) and performs (continues) automatic ship handling control (step S8: automatic ship handling step).

[0070] The stopping control may also be anchoring control, which involves controlling the anchoring device 55 to drop anchor. Alternatively, if the outboard motor 20 and steering 30 are operational, the stopping control may also be fixed-point holding control, which involves controlling the outboard motor 20 and steering 30 to maintain the position of the vessel 1. For example, anchoring control may be performed by activating the anchoring device 55 while maintaining the position of the vessel 1 by performing fixed-point holding control. After anchoring is complete, the fixed-point holding control may be terminated.

[0071] The main controller 41 further determines whether remote control is possible (step S9). Specifically, if the outboard motor 20 and steering 30 are operational, there are no malfunctions in the equipment for remote control, and communication with the remote monitoring system 101 can be established, it is determined that remote control is possible. If there is a malfunction in either the outboard motor 20 or the steering 30, if there is a malfunction in the equipment for remote control, or if communication with the remote monitoring system 101 cannot be established, it is determined that remote control is not possible. If it is determined that remote control is possible (step S9: YES) and remote control is initiated from the remote monitoring system 101 (step S10), the main controller 41 enters remote control mode, and remote control is performed by the remote control ECU 52 (step S11: remote control step).

[0072] The main controller 41 creates ship handling status information representing the ship handling status of the vessel 1 (step S12). The ship handling status information includes information indicating whether automatic ship handling control is being performed and information indicating whether remote ship handling is being performed. The ship handling status information also includes information indicating whether the ship is stopped. The main controller 41 transmits the ship handling status information to the remote monitoring system 101 via the communication device 53 (step S13).

[0073] Furthermore, the main controller 41 controls the display device 60, namely the lighting device 61, the shape display device 62, and the rotating beacon 63, according to the ship's maneuvering status information. Specifically, it controls the lighting device 61, the shape display device 62, and the rotating beacon 63 to distinguish and display states such as navigation under automatic ship control, navigation under remote ship control (in a state of impaired operation), and stationary (at anchor) (steps S14, S15, S16: display step, stationary display step, remote ship operation display step).

[0074] The remote monitoring system 101 receives maneuvering status information transmitted from the vessel 1 and notifies the monitor of this maneuvering status information. For example, the maneuvering status information may be displayed on the display 103 of the remote monitoring system 101, providing visual notification of the maneuvering status information. In addition, if communication with the vessel 1 is lost, the remote monitoring system 101 may notify the monitor of this (for example, by displaying it on the display 103), and may also notify the monitor of the position of the vessel 1 immediately before the communication loss (for example, by displaying it on the map on the display 103).

[0075] If the remote monitoring system 101 monitors the vessel 1, which has stopped after discontinuing automatic steering control, and is in a state where it can be remotely controlled, the monitor can perform a predetermined remote steering start operation and send a remote steering start command to the vessel's communication device 53. When the remote control start command is received by the communication device 53 and sent to the main controller 41 and the remote control ECU 52, the main controller 41 enters remote control mode and remote control by the remote control ECU 52 begins. As a result, the main controller 41 updates the steering status information to indicate that remote steering is in progress. Consequently, during remote steering, the main controller 41 controls the display device 60 to show that the vessel is being navigated by remote steering.

[0076] [summary] As described above, according to this embodiment, the outboard motor 20 and steering 30 are controlled by the main controller 41, allowing the vessel 1 to navigate from the departure point to the destination by automatic steering control. Furthermore, the state in which automatic steering control is being performed can be visually communicated to other vessels, and the state in which automatic steering control cannot be performed can also be visually communicated to other vessels. This makes it easy for other vessels to recognize the steering status of the unmanned, automatically operated vessel 1, particularly when automatic steering control is being performed and when it cannot be performed.

[0077] In particular, in this embodiment, the display device 60 can be used to visually notify other vessels that the vessel is stopped or in a remotely controlled state.

[0078] Furthermore, in this embodiment, if communication with the remote monitoring system 101 cannot be established, and therefore the status of the vessel 1 (more specifically, the status of the onboard system 2) cannot be monitored at the remote monitoring base 100, it is determined that automatic ship handling control cannot be performed. For this reason, automatic ship handling control is performed under the monitoring of the remote monitoring base.

[0079] [Differentiation] Although one embodiment of the present invention has been described above, the present invention can be implemented in other forms.

[0080] For example, in the above-described embodiment, a lighting device 61, an object display device 62, and a rotating light 63 were described as examples of the display device 60, but other forms of display devices such as flash lamps may be used.

[0081] Furthermore, while the above-described embodiment uses an outboard motor as an example of a propulsion system, the configuration of a propulsion system installed on a ship can take various forms, such as an inboard motor, an inboard / outboard motor, or a water jet. Also, it is sufficient to have at least one propulsion system, and three or more propulsion systems may be installed.

[0082] Furthermore, various design modifications can be made within the scope of the matters described in the patent claims. [Explanation of symbols]

[0083] 1: Ship, 2: Onboard system (automatic navigation system), 11: Hull, 20: Outboard motor (propulsion system), 30: Steering (rudder device), 41: Main controller (controller), 44: Camera for automatic navigation, 45: Camera for remote navigation, 46: GPS receiver (position sensor), 52: Remote control ECU (controller), 53: Communication device, 55: Anchoring device, 60: Display device, 61: Lighting device, 62: Shape display device, 63: Rotating light, 100: Remote monitoring base, 101: Remote monitoring system

Claims

1. A propulsion system for propelling a ship, A steering device for changing the course of the aforementioned vessel, A display device for visually informing other vessels of the status of the aforementioned vessel, A controller that performs automatic maneuvering control to control the propulsion system and steering device for automatic maneuvering from the departure point to the destination, and controls the display device according to the state of the automatic maneuvering control, An automatic ship handling system, wherein the controller controls the display device to distinguish and display a plurality of states, including a state in which the automatic ship handling control is being performed and a state in which the automatic ship handling control is not possible.

2. The automatic ship handling system according to claim 1, wherein the state in which automatic ship handling control is not possible includes one or more of the following: a failure of the propulsion system, a failure of the steering device, and a failure of the sensors for automatic ship handling control.

3. The automatic ship handling system according to claim 1, wherein the controller, when it is unable to perform the automatic ship handling control, performs a stop control to stop the ship and controls the display device to indicate that the ship is stopped.

4. Further including an anchoring device, The automatic ship handling system according to claim 3, wherein the controller performs anchoring control in the stopping control, controlling the anchoring device to drop anchor.

5. The automatic ship handling system according to claim 3, wherein the controller controls the propulsion system and the steering device in the ship stopping control to perform fixed-point holding control for maintaining the position of the ship.

6. The system further includes a communication device for communicating with a remote ship handling base in order to remotely operate the propulsion system and the steering device, The controller notifies the remote ship handling base of the status information of the automatic ship handling system via the communication device, and performs remote control of the propulsion system and the steering device based on the remote control signals received from the remote ship handling base via the communication device. The automatic ship handling system according to claim 1, wherein the controller controls the display device to indicate that the ship is being remotely operated by communication with the remote ship handling base during the execution of the remote control.

7. The automatic ship handling system according to claim 6, wherein the state in which automatic ship handling control is not possible includes a state in which communication with the remote ship handling base cannot be established by the communication device.

8. The automatic ship handling system according to claim 1, wherein the display device includes a lighting device and / or an object display device.

9. The hull and, A ship comprising the automatic ship handling system according to any one of claims 1 to 8, which is installed on the hull.

10. A ship control method comprising controlling a propulsion system for propelling a ship, a steering device for changing the ship's course, and a display device for visually informing other ships of the ship's status, using a controller, An automatic ship handling step in which the controller performs automatic ship handling control, which controls the propulsion system and the steering device for automatic ship handling from the departure point to the destination, The display step includes controlling the display device with the controller, A ship control method comprising the step of controlling the display device to display a plurality of states, including a state in which the automatic ship control is being performed and a state in which the automatic ship control is not possible.

11. The ship control method according to claim 10, wherein the state in which automatic ship control is not possible includes one or more of the following: a failure of the propulsion system, a failure of the steering device, and a failure of the sensors for automatic ship control.

12. The method further includes a stopping step in which the controller performs stopping control to stop the vessel when the automatic maneuvering control is not possible, The ship control method according to claim 10, wherein the display step includes a stop display step that controls the display device to indicate that the ship is stopped when the stop control is performed.

13. The ship control method according to claim 12, wherein the stop control includes anchoring control, in which the anchoring device is controlled by the controller to drop anchor.

14. The ship control method according to claim 12, wherein the stop control includes fixed-point holding control, which maintains the position of the ship by controlling the propulsion system and the steering device with the controller.

15. The controller further controls a communication device for communicating with a remote ship handling base in order to remotely operate the propulsion system and the steering device. The ship control method further includes a remote control step in which the controller notifies the remote ship handling base of the status information of the ship via the communication device, and performs remote control to control the propulsion system and the steering device based on remote control signals received from the remote ship handling base via the communication device, The ship control method according to claim 10, wherein the display step includes a remote operation display step in which the controller controls the display device to indicate that the ship is being remotely operated by communication with the remote operation base during the execution of the remote control.

16. The ship control method according to claim 15, wherein the state in which automatic ship control is not possible includes a state in which communication with the remote ship control base cannot be established by the communication device.

17. The ship control method according to any one of claims 10 to 16, wherein the display device includes a lighting device and / or an object display device.

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