Control device, control method and program

Abstract

To provide a controller capable of varying strength of vessel position retaining.SOLUTION: Regarding vessel position retaining control for retaining a vessel at a prescribed position offshore while making bow face toward a prescribed position, a controller includes: means for accepting settings of a first threshold for distance the vessel is allowed to separate from the prescribed position and a second threshold for an angle allowing a direction of the bow to separate from the direction and means for executing the vessel position retaining control based on the first threshold and the second threshold accepted by the accepting means.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] There is provided a vessel positioning system that holds a vessel at a predetermined position on the ocean against external forces such as wind and waves (for example, Patent Document 1). If the vessel position is to be strictly maintained, a sudden increase in engine speed, etc., is likely to occur, which increases fuel consumption and may impair comfort. In addition, when maintaining the vessel on the ocean, precision may not always be required. For example, Patent Document 2 discloses a navigation support method that calculates an optimal route and arrival time at a destination based on meteorological and oceanographic conditions for each maneuvering pattern according to the magnitude of engine output. According to this navigation support method, it is possible to select a maneuvering pattern that minimizes fuel consumption while taking into account the arrival time. However, Patent Documents 1 and 2 do not disclose a method for changing the strength of vessel positioning to reduce fuel consumption in vessel positioning control. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4706032 [Patent Document 2] International Publication No. 2020 / 129226 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a need for positioning control that can change the strength of positioning as needed.

[0005] The present disclosure provides a control device, a control method, and a program that can solve the above problems. [Means for solving the problem]

[0006] The control device disclosed herein is a control device for controlling a vessel to maintain a vessel at a predetermined position on the ocean while pointing a bow in a predetermined direction, the control device being configured to set a first threshold value for a distance that the vessel is allowed to depart from the predetermined position. a storage means for storing an initial value of the first threshold for most strictly maintaining the vessel in the specified position, and an initial value of the second threshold for a second threshold for an angle at which the vessel's bow is allowed to deviate from the specified direction, the initial value of the second threshold for most strictly maintaining the vessel in the specified direction; a first receiving means for receiving a change to the first threshold and / or the second threshold for reducing fuel consumption of the vessel; a second receiving means for receiving a change to the first threshold and / or the second threshold for increasing accuracy of vessel positioning; a third receiving means for receiving a setting for restricting the output of a propulsion device of the vessel and / or the direction of movement of the vessel during the vessel positioning control; The first threshold value accepted by and / or The second threshold or the setting accepted by the third accepting means and a means for executing the position keeping control based on the

[0007] The control method disclosed herein is for controlling a vessel to maintain a vessel at a predetermined position on the ocean while pointing a bow in a predetermined direction, and includes determining a first threshold value for a distance that the vessel is allowed to depart from the predetermined position. a control device storing an initial value of the first threshold for most strictly maintaining the vessel at the specified position and an initial value of the second threshold for most strictly maintaining the vessel in the specified direction with respect to an angle at which the direction of the bow is allowed to deviate from the specified direction, the control device receiving a change to the first threshold and / or the second threshold for reducing fuel consumption of the vessel, or a change to the first threshold and / or the second threshold for increasing accuracy of vessel positioning, or a setting for restricting output of a propulsion device of the vessel and / or a moving direction of the vessel during the vessel positioning control; The first threshold value and / or The second threshold , or the above setting and executing the position keeping control based on the result.

[0008] The program disclosed herein is ,boat Regarding a vessel positioning control for maintaining a vessel at a predetermined position on the ocean while pointing the bow in a predetermined direction, a first threshold value for a distance that the vessel is permitted to deviate from the position, and a second threshold value for an angle that the direction of the bow is permitted to deviate from the direction. a first receiving means for receiving a change to the first threshold value and / or the second threshold value for reducing fuel consumption of the vessel, a second receiving means for receiving a change to the first threshold value and / or the second threshold value for increasing accuracy of vessel positioning, a third receiving means for receiving a setting for restricting the output of a propulsion device of the vessel and / or the direction of movement of the vessel during the vessel positioning control, and a setting for restricting the output of a propulsion device of the vessel and / or the direction of movement of the vessel during the vessel positioning control, the first receiving means, or the second receiving means. The first threshold value accepted by and / or The second threshold or the setting accepted by the third accepting means The control means functions as a means for executing the ship positioning control based on the signal. Effect of the Invention

[0009] According to the control device, control method, and program of the present disclosure, the accuracy of ship positioning can be changed. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating an example of a ship including a control device according to an embodiment. FIG. [Diagram 2] FIG. 4 is a diagram illustrating an example of mode settings according to the embodiment. [Diagram 3] 5 is a flowchart showing an example of ship position maintenance control according to the embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a hardware configuration of a control device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] <Embodiment> Hereinafter, the ship positioning control according to the embodiment will be described in detail with reference to Figs. (composition) FIG. 1 is a diagram illustrating an example of a ship including a control device according to an embodiment. The ship 1 is, for example, a water jet ship, a propeller ship, an electric propulsion ship, a hybrid ship, or the like. The ship 1 includes a sensor 2, a communication device 3, a propulsion device 4, and a control device 10. The sensor 2 includes a positioning sensor that measures the position of the ship 1, a direction sensor that measures the direction, an acceleration sensor that measures the rocking (vibration) of the ship 1, a wind direction and wind speed sensor, and the like. The positioning sensor is, for example, a receiver that receives position information of the ship 1 measured by a satellite positioning system such as GPS (Global Positioning System), Galileo, or Michibiki. The direction sensor is, for example, a compass or a gyro. The communication device 3 performs wireless communication with other devices. The propulsion device 4 is a propulsion system that includes a propeller, a water jet, a thruster, a rudder, a pod propulsion device, a main engine such as an internal combustion engine that drives them, a motor, a bucket, a bow thruster, and the like. The propulsion devices 4a to 4b in FIG. 1 are examples of the propulsion device 4. The number of propulsion devices 4 mounted on the vessel 1 is not limited to two and may be three or more.

[0012] The control device 10 controls the ship 1. The control device 10 has a function of holding the hull at a predetermined position p1 on the ocean and holding the attitude of the bow facing a predetermined direction p2 (called ship positioning control). The control device 10 has a setting information acquisition unit 11, a sensor information acquisition unit 12, an operation reception unit 13, a control unit 14, a memory unit 15, a communication unit 16, and an output unit 17.

[0013] The setting information acquisition unit 11 acquires setting information necessary for vessel positioning control. The setting information includes a position p1, a direction p2, a threshold Th1 for a distance that allows the vessel 1 to move away from the position p1, a threshold Th2 for an angle that allows the bow direction of the vessel 1 to move away from the direction p2, and settings regarding whether or not to execute a rocking suppression control to suppress the rocking of the vessel 1. For example, when an operator inputs the position p1, the direction p2, the threshold Th1, the threshold Th2, and whether or not to execute the rocking suppression control to the control device 10, the setting information acquisition unit 11 acquires the input threshold Th1, etc. Initial values ​​are set for the threshold Th1 and the threshold Th2. The initial value of the threshold Th1 is a value that is set to most strictly maintain the vessel 1 at the position p1. The initial value of the threshold Th2 is a value that is set to most strictly maintain the bow direction of the vessel 1 in the direction p2. When the vessel positioning control is executed using the initial values ​​of the thresholds Th1 and Th2, the vessel position can be maintained with high accuracy. However, when the vessel 1 is about to deviate from the thresholds Th1 or Th2, the vessel 1 is suddenly braked to forcibly return its position or attitude to within the allowable range, so that the engine speed is suddenly increased and the vessel 1 is suddenly steered, which increases fuel consumption and reduces comfort. In this embodiment, therefore, the vessel positioning control strength (accuracy) can be adjusted as necessary. For example, when the vessel positioning accuracy is not so important or when fuel consumption reduction is more important than vessel positioning, the vessel positioning control strength is relaxed or reduced by increasing the thresholds Th1 and Th2. The thresholds Th1 and Th2 may be increased together, or only one of them may be increased. The degree of increase can be set arbitrarily. For example, when a vessel stays on the ocean for a long time, there may be times during the stay when the waves and wind become strong, and fuel consumption may increase during these times. If loosening the accuracy of positioning is acceptable, it is expected that fuel consumption can be reduced by increasing thresholds Th1 and Th2. Then, if more accuracy in positioning is required later, the strength of positioning control can be strengthened by decreasing thresholds Th1 and Th2.This allows the hull to be maintained in its original position p1 and the bow to return to a position pointing in the direction p2, even if the vessel 1 drifts while the strength of the vessel positioning control is relaxed.

[0014] Furthermore, instead of / in addition to the setting of the threshold value Th1 and the threshold value Th2, the setting information acquisition unit 11 may receive settings such as whether to stop some of the propulsion devices 4 during the vessel positioning control (for example, turning off one of the propulsion devices 4a and 4b in FIG. 1, or turning off one or two propellers if three propellers are provided), whether to limit the output of the propulsion devices 4 (for example, limiting the engine load to a predetermined value or less, limiting the sailing speed of the vessel 1 to a predetermined value or less), and whether to limit the direction of movement of the vessel 1 (for example, allowing only forward movement. When moving forward, the vessel 1 can move with the smallest resistance, so that fuel consumption and rocking can be suppressed). Furthermore, when stopping some of the propulsion devices 4, it may be possible to set which propulsion devices 4 to stop and how many propulsion devices 4 to stop. When limiting the output of the propulsion devices 4, it may be possible to set what kind of limit to set. When limiting the direction of movement, it may be possible to set in which direction the movement is limited.

[0015] The setting information acquisition unit 11 also accepts a setting as to whether or not to execute the rocking suppression control. For example, when it is desired to suppress the rocking of the ship 1 in order to improve comfort during the ship positioning control, the setting information acquisition unit 11 accepts a setting to execute the rocking suppression control. In the rocking suppression control, the ship is moved to a position where the rocking can be reduced or the bow direction is changed according to the wind and waves. This may result in a sacrifice of accuracy in ship positioning. For example, by setting to execute the rocking suppression control when there are many crew members, many crew members can be more comfortable.

[0016] The sensor information acquisition unit 12 acquires information measured by the sensor 2. For example, the sensor information acquisition unit 12 acquires the latitude and longitude of the ship 1 from a GPS, and acquires the direction of the ship 1 from a compass. The sensor information acquisition unit 12 also acquires vibrations of the ship 1 from an acceleration sensor, and acquires wind direction and wind speed from a wind direction and speed sensor.

[0017] The operation reception unit 13 receives an operation by the operator. For example, when the operator performs an operation to instruct the control device 10 to execute the vessel positioning control, the operation reception unit 13 receives the instruction operation and instructs the control unit 14 to execute the vessel positioning control.

[0018] The control unit 14 acquires information measured by the sensor 2 through the sensor information acquisition unit 12, and controls the propulsion device 4 based on the acquired information to automatically operate the ship 1. For example, the control unit 14 compares the position information of the ship 1 measured by GPS with the position p1, and when the ship 1 moves away from the position p1 beyond the threshold Th1, moves the ship 1 toward the position p1. For example, when the bow direction measured by the compass moves away from the direction p2 beyond the threshold Th2, the control unit 14 changes the bow direction toward the direction p2. In addition, when the accuracy of the ship positioning control is relaxed, the control unit 14 may have a function of performing fuel-efficient operation according to, for example, the remaining amount of fuel or the battery. In addition, when the ship 1 is a hybrid ship, the control unit 14 may have a function of controlling the output of the battery and the main engine so as to achieve the lowest fuel consumption.

[0019] The storage unit 15 stores various information necessary for controlling the boat 1. The communication unit 16 communicates with other devices through the communication device 3. For example, the communication unit 16 may receive a position p1 or a direction p2 from the other devices. In addition, when the ship 1 approaches a prohibited sea area or is about to collide with an obstacle or another ship, the communication unit 16 may receive a warning about the approach from the other devices. The output unit 17 outputs information necessary for controlling the vessel 1 to a display device or the like.

[0020] The threshold value Th1 and the threshold value Th2 can be set individually. However, multiple modes may be prepared in which combinations of the threshold value Th1 and the threshold value Th2 are set in association with the strength of the positioning control, and the operator may select from the multiple modes. Figure 2 shows an example of mode settings related to the strength of the positioning control. The memory unit 15 stores a setting table as shown in Figure 2.

[0021] Mode A is the mode with the highest strength of positioning control. Threshold Th1 is X1 (m) and threshold Th2 is Y1 (degrees). No oscillation suppression control is performed in mode A. When mode A is selected, the control unit 14 moves the vessel 1 to position p1 when the vessel 1 is more than X1 (m) away from position p1, and points the bow in direction p2 when the bow direction is more than Y1 (degrees) away from direction p2.

[0022] Mode B is the mode with the second strongest strength of positioning control. Threshold Th1 is X2 (m) greater than X1, and threshold Th2 is Y2 (degrees) greater than Y1. No oscillation suppression control is performed in mode B. When mode B is selected, the control unit 14 moves the vessel 1 to position p1 when the vessel 1 is more than X2 (m) away from position p1, and points the bow in direction p2 when the bow direction is more than Y2 (degrees) away from direction p2.

[0023] Mode C is a mode in which the strength of vessel positioning control is medium. The threshold value Th1 is X2 (m), and the threshold value Th2 is Y3 (degrees) greater than Y2. In mode C, sway suppression control is performed. When mode C is selected, the control unit 14 moves the vessel 1 to position p1 when the vessel 1 is more than X2 (m) away from position p1, and turns the bow in direction p2 when the bow direction is more than Y3 (degrees) away from direction p2. In addition, the control unit 14 performs the following sway suppression control. For example, the control unit 14 turns the bow direction in the direction least affected by the wind within the range limited by threshold values ​​Th1 and Th2 based on the values ​​measured by the wind direction and speed sensor, and moves the vessel 1 to a position least affected by the wind. Alternatively, based on the value measured by the acceleration sensor, the control unit 14 turns the bow of the ship 1 in the direction in which the vibration of the ship 1 is the smallest or the direction in which the vibration is below a predetermined value, within the range limited by threshold values ​​Th1 and Th2, and moves the ship 1 to a position where the vibration is the smallest or the vibration is below a predetermined value.

[0024] Mode D is a mode in which the strength of the ship positioning control is low. Threshold Th1 is X3 (m) which is greater than X2, and threshold Th2 is Y4 (degrees) which is greater than Y3. Furthermore, in mode D, rocking suppression control is performed. The operation when mode D is selected is the same as mode C, except that the allowable range of position and attitude is expanded by increasing the values ​​of threshold Th1 and threshold Th2.

[0025] Mode E is the mode with the lowest strength of positioning control and the lowest fuel consumption. Threshold Th1 is X4 (m) which is larger than X3, and there is no restriction on threshold Th2 (the vessel may face in any direction within 360 degrees). In mode E, rocking suppression control is performed. The operation when mode E is selected is the same as mode C, except that the allowable range of position and attitude is expanded by increasing the values ​​of threshold Th1 and threshold Th2.

[0026] The mode settings illustrated in Fig. 2 are merely examples. For example, the mode may be configured to be set in more stages. Also, comfort may not be included in the mode settings, and may be configured to be set additionally.

[0027] (operation) FIG. 3 is a flowchart illustrating an example of ship position maintenance control according to the embodiment. The operator inputs the position p1, direction p2, and the mode exemplified in FIG. 2 for the vessel positioning control to the control device 10. The operator may also set whether to stop part of the propulsion devices 4 during vessel positioning control, whether to impose restrictions on the output of the propulsion devices 4, whether to impose restrictions on the direction of movement of the vessel 1, and the like. The setting information acquisition unit 11 acquires the input mode, etc. (step S1). The setting information acquisition unit 11 outputs the acquired information on the mode, etc. to the control unit 14.

[0028] Next, the operator instructs the start of vessel positioning control, for example by pressing a push button on an operation panel (step S2). The operation reception unit 13 receives the operation of the operator and instructs the control unit 14 to execute vessel positioning control. Based on this instruction, the control unit 14 starts vessel positioning control (step S3). The control unit 14 repeatedly executes the processes of the following steps S4 to S11.

[0029] The control unit 14 acquires the information measured by the sensor 2 through the sensor information acquisition unit 12 (step S3). For example, the control unit 14 acquires the position information of the ship 1 measured by the GPS, the bow direction of the ship 1 measured by the compass, the wind direction and wind speed measured by the wind direction and wind speed sensor, and the vibration measured by the acceleration sensor.

[0030] Next, the control unit 14 executes control according to the mode (step S4). The control unit 14 reads out the setting table illustrated in Fig. 2 from the storage unit 15, and acquires information such as the threshold value Th1, the threshold value Th2, and whether or not to perform the sway suppression control corresponding to the set mode. For example, when the mode A is set, the control unit 14 executes the vessel positioning control. For example, when the mode C is set, the control unit 14 executes the vessel positioning control as well as the sway suppression control.

[0031] The control unit 14 calculates the distance between the position of the ship 1 acquired in step S3 and the position p1, and determines whether the calculated distance is equal to or greater than a threshold Th1 (step S5). The control unit 14 calculates the angle between the bow direction of the ship 1 acquired in step S3 and the direction p2, and determines whether the calculated angle is equal to or greater than a threshold Th2 (step S5). If the distance is equal to or greater than the threshold Th1, or the angle is equal to or greater than the threshold Th2 (step S5; Yes), the control unit 14 performs a return process (step S6). Specifically, if the distance is equal to or greater than the threshold Th1, the control unit 14 moves the ship 1 to the position p1. At this time, if a setting is made to stop some of the propulsion devices 4, the control unit 14 moves to the position p1 using only some of the propulsion devices 4. If a setting is made to limit the output of the propulsion devices 4, the control unit 14 drives the propulsion devices 4 within the limited range and moves the ship 1 to the position p1. If a limit is set on the moving direction of the ship 1, the control unit 14 moves the ship 1 to the position p1 by moving in a movable direction. Furthermore, the control unit 14 may increase the output in stages, for example, by initially driving only one propulsion unit 4 to perform the return process, and then driving two propulsion units 4 to perform the return process if the vessel cannot return to position p1. Furthermore, if the angle is equal to or greater than threshold value Th2, the control unit 14 changes the bow direction of the vessel 1 to direction p2. Depending on the settings, the control unit 14 may use only some of the propulsion units 4 to orient the bow in direction p2, or may drive the propulsion units 4 within a limited output range to orient the bow in direction p2.

[0032] When the distance is less than the threshold value Th1 and the angle is less than the threshold value Th2 (step S5; No), the control unit 14 judges whether or not a danger to the ship 1 is detected (step S7). For example, the control unit 14 judges that a danger is detected when the ship 1 approaches a prohibited sea area. The control unit 14 judges that a danger is detected when the ship 1 enters within a predetermined distance (prohibited sea area) from shallow waters or land by referring to map information based on the position information of the ship 1 measured by the GPS. Alternatively, the control unit 14 judges that a danger is detected when the latitude and longitude measured by the GPS become values ​​indicating that the ship 1 has approached a prohibited sea area. Alternatively, the control unit 14 judges that a danger is detected when the control unit 14 is notified through the communication unit 16 by a ship equipped with an AIS (Automatic Identification System) or a command center on land that the ship 1 has approached a prohibited sea area. Moreover, the control unit 14 judges that a danger is detected when the ship 1 is about to collide with an obstacle or another ship. For example, the control unit 14 determines that a danger has been detected when an object is detected within a predetermined distance from the ship 1 by radar or sonar, or when an AIS-equipped ship or the like notifies the ship 1 of its approach to an obstacle or another ship. When it determines that a danger has been detected (step S7; Yes), the control unit 14 outputs an alarm (step S8). For example, the control unit 14 may instruct the output unit 17 to display an alarm. Based on the instruction of the control unit 14, the output unit 17 outputs the detection of the danger to a display device or the like. For example, the control unit 14 may instruct the communication unit 16 to notify the alarm. Based on the instruction of the control unit 14, the communication unit 16 notifies the operator's smartphone or the like through the communication device 3 that the ship has approached a prohibited sea area or that an obstacle has been detected. In addition, the control unit 14 may stop the positioning control and switch the control of the ship 1 to manual operation.

[0033] If it is determined that no danger has been detected (step S7; No), the control unit 14 determines whether or not to stop the vessel positioning control (step S9). For example, when the operator instructs the vessel positioning control to end, the control unit 14 determines that the vessel positioning control is to be stopped. If it is determined that the vessel positioning control is to be stopped (step S9; Yes), the flow chart of FIG. 3 is terminated. If it is determined that the vessel positioning control is not to be stopped (step S9; No), the setting information acquisition unit 11 determines whether or not there is a change in the mode, etc. (step S10). If there is no change in the mode, etc. (step S10; No), the process returns to step S3, and the process from step S3 onwards is repeated. If there is a change in the mode, etc. (step S10; Yes), the process acquires the mode, etc. in the same manner as in step S1 (step S11). The mode can be changed arbitrarily. For example, the mode may be changed from mode A to mode C, or from mode E to mode A. When the changed mode is acquired, the setting information acquisition unit 11 outputs the changed mode to the control unit 14. The process returns to step S3, and the process from step S3 onwards is repeated.

[0034] (effect) As described above, according to this embodiment, the strength of the positioning can be changed arbitrarily. Specifically, the threshold value Th1 related to the position and the threshold value Th2 related to the attitude can be set arbitrarily. In the positioning control, fuel is consumed to maintain the position and attitude, so there is a trade-off between fuel consumption and the accuracy of the positioning. According to this embodiment, appropriate threshold values ​​Th1 and Th2 can be set to adjust the balance between fuel consumption and the accuracy of the positioning. For example, in a situation where the accuracy of the positioning is not required, the strength of the positioning is relaxed to suppress sudden braking such as a sudden increase in engine speed or sudden steering. This reduces fuel consumption and improves the comfort of the crew. In addition, when the accuracy of the positioning becomes necessary, the threshold values ​​Th1 and Th2 can be set again to strengthen the strength of the positioning.

[0035] FIG. 4 is a diagram illustrating an example of a hardware configuration of the control device according to the embodiment. The computer 900 includes a CPU 901 , a main memory device 902 , an auxiliary memory device 903 , an input / output interface 904 , and a communication interface 905 . The above-mentioned control device 10 is implemented in a computer 900. The above-mentioned functions are stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads the program from the auxiliary storage device 903, loads it in the main storage device 902, and executes the above-mentioned processing in accordance with the program. The CPU 901 also reserves a storage area in the main storage device 902 in accordance with the program. The CPU 901 also reserves a storage area in the auxiliary storage device 903 for storing data being processed in accordance with the program.

[0036] In another embodiment, the computer 900 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) instead of or in addition to the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the CPU 901 may be realized by the integrated circuit.

[0037] Examples of the auxiliary storage device 903 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), a semiconductor memory, etc. The auxiliary storage device 903 may be an internal medium directly connected to the bus of the computer 900, or an external medium connected to the computer 900 via the input / output interface 904 or a communication line.

[0038] In addition, a program for realizing all or part of the functions of the control device 10 may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing by each functional unit. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. In addition, if a WWW system is used, the term "computer system" also includes a homepage providing environment (or display environment). In addition, the term "computer-readable recording medium" refers to a portable medium such as a CD, DVD, or USB, and a storage device such as a hard disk built into a computer system. In addition, if the program is distributed to the computer 900 via a communication line, the computer 900 that receives the program may deploy the program in the main storage device 902 and execute the above processing. In addition, the above program may be for realizing part of the above-mentioned functions, and may further be capable of realizing the above-mentioned functions in combination with a program already recorded in the computer system.

[0039] As described above, several embodiments according to the present disclosure have been described, but all of these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as in the scope and gist of the invention.

[0040] <Additional Notes> The control device, the control method, and the program according to the embodiments can be understood, for example, as follows.

[0041] (1) The control device 10 of the first aspect includes a means for accepting settings of a first threshold value for a distance that the ship is allowed to deviate from its position and a second threshold value for an angle that the direction of the bow is allowed to deviate from its direction, for a positioning control that maintains the ship's hull at a predetermined position on the ocean while pointing the bow in a predetermined direction, and a means for executing the positioning control based on the first threshold value accepted by the accepting means and the changed second threshold value. This allows the strength of position keeping to be changed. By appropriately setting the strength of position keeping, it is possible to reduce fuel consumption and improve comfort during position keeping control.

[0042] (2) A control device 10 according to a second aspect is the control device 10 of (1), wherein the receiving means receives the setting of the first threshold such that the distance increases relative to a predetermined first threshold set to most strictly maintain the position of the ship at the predetermined position. This allows the precision required for positional retention to be relaxed.

[0043] (3) A control device 10 according to a third aspect is the control device 10 of (1) to (2), wherein the receiving means receives the setting of the second threshold value such that the angle increases with respect to a predetermined second threshold value that is set to most strictly maintain the bow direction in the predetermined direction. This allows the precision required for maintaining the bow direction to be relaxed.

[0044] (4) A control device 10 according to a fourth aspect is the control device 10 of (2), wherein the receiving means receives a setting of the first threshold value such that the distance decreases, in contrast to a setting of the first threshold value such that the distance increases. This makes it possible to improve the accuracy of positional retention.

[0045] (5) A control device 10 according to a fifth aspect is the control device 10 of (3), wherein the receiving means receives a setting of the second threshold value such that the angle decreases in response to a setting of the second threshold value such that the angle increases. This makes it possible to improve the accuracy of maintaining the heading direction.

[0046] (6) A control device 10 according to a sixth aspect is the control device 10 of (1) to (5), wherein the receiving means further receives a setting as to whether or not to execute control to suppress rocking of the ship, and the executing means performs control to suppress rocking of the ship in addition to the position keeping control. This makes it possible to suppress the rocking of the ship during positioning control.

[0047] (7) The control device 10 according to the seventh aspect is the control device 10 of (1) to (6), and further includes a means for determining whether the ship will enter a predetermined prohibited area or collide with an obstacle during the positioning control, and a means for outputting an alarm, stopping the positioning control, and switching to manual operation when it is determined that the ship will enter the prohibited area or collide with the obstacle.

[0048] (8) The control device 10 of an eighth aspect is the control device 10 of (1) to (7), wherein when the receiving means receives a setting of the first threshold such that the distance increases with respect to the first threshold set to most strictly maintain the position of the ship at the specified position, or receives a setting of the second threshold such that the angle increases with respect to the second threshold set to most strictly maintain the direction of the bow at the specified direction, the executing means executes at least one of stopping a part of the propulsion device of the ship, setting a limit on the output of the propulsion device, and setting a limit on the direction of movement of the ship. This makes it possible to reduce fuel consumption during positioning control.

[0049] (9) A control device 10 according to a ninth aspect is the control device 10 of (1) to (8), wherein the receiving means receives a selection of one combination from among combinations of the first threshold value and the second threshold value corresponding to the strength of the positioning control, and the executing means controls the position and heading of the ship based on the first threshold value and the second threshold value in the received combination. This allows the strength of the positioning to be changed.

[0050] (10) A control method according to a tenth aspect includes a step of accepting settings of a first threshold value for a distance that the ship is allowed to deviate from its position and a second threshold value for an angle that the direction of the bow is allowed to deviate from its direction, for a positioning control for maintaining a ship's hull at a predetermined position on the ocean while pointing the bow in a predetermined direction, and a step of executing the positioning control based on the first threshold value accepted by the accepting means and the changed second threshold value.

[0051] (11) A program according to an eleventh aspect causes a computer to function as a means for receiving settings of a first threshold value for a distance that the ship is allowed to deviate from a predetermined position and a second threshold value for an angle that the direction of the bow is allowed to deviate from the predetermined direction, for a positioning control that maintains the ship's hull at a predetermined position on the ocean while pointing the bow in a predetermined direction, and a means for executing the positioning control based on the first threshold value and the changed second threshold value received by the receiving means. [Explanation of symbols]

[0052] 1...ship 2. Sensor 3. Communication equipment 4, 4a, 4b...propulsion device 10. Control device 11. Setting information acquisition section 12 Sensor information acquisition unit 13 Operation reception section 14. Control section 15...Storage section 16. Communications Department 17 Output section 900...Computer 901··CPU 902...Main memory 903...Auxiliary storage device 904 Input / Output Interface 905 Communication Interface

Claims

1. a means for storing an initial value of a first threshold value for a distance by which the vessel is permitted to deviate from a predetermined position, for a vessel positioning control for maintaining the vessel at a predetermined position on the ocean while pointing the vessel's bow in a predetermined direction, for maintaining the vessel at the predetermined position most strictly, and an initial value of a second threshold value for an angle by which the vessel's bow is permitted to deviate from the predetermined direction, for maintaining the vessel in the predetermined direction most strictly; a first receiving means for receiving a change to the first threshold value and / or the second threshold value so as to reduce fuel consumption of the ship; a second receiving means for receiving a change of the first threshold value and / or the second threshold value in order to increase accuracy of positioning; a third receiving means for receiving a setting for restricting an output of a propulsion device of the vessel and / or a moving direction of the vessel during the vessel position keeping control; a means for executing the position keeping control based on the first threshold value and / or the second threshold value accepted by the first accepting means or the second accepting means, or based on the setting accepted by the third accepting means; A control device comprising:

2. The first receiving means receives a setting of the first threshold value such that the distance increases with respect to an initial value of the first threshold value. The control device according to claim 1 .

3. The first receiving means receives a setting of the second threshold value such that the angle increases with respect to an initial value of the second threshold value. The control device according to claim 1 or 2.

4. The second receiving means receives a setting of the first threshold value such that the distance decreases in response to a setting of the first threshold value such that the distance increases. The control device according to claim 2.

5. The second receiving means receives a setting of the second threshold value such that the angle decreases in response to a setting of the second threshold value such that the angle increases. The control device according to claim 3.

6. a means for receiving settings of a first threshold value for a distance that the vessel is permitted to deviate from a predetermined position on the ocean while pointing the bow in a predetermined direction, and a second threshold value for an angle that the vessel's bow is permitted to deviate from the predetermined direction, for a vessel positioning control for maintaining the vessel at a predetermined position on the ocean; a means for executing the position keeping control based on the first threshold value and the second threshold value received by the receiving means; Equipped with the receiving means receives a selection of one combination from among combinations of the first threshold value and the second threshold value corresponding to a strength of the position keeping control, The executing means controls the position and heading of the ship based on the first threshold value and the second threshold value in the combination accepted by the accepting means. Control device.

7. The receiving means further receives a setting as to whether or not to execute control to suppress rocking of the vessel, The executing means performs control to suppress the rocking of the ship in addition to the ship positioning control. The control device according to claim 1 or 6.

8. a means for determining whether the vessel will enter a predetermined prohibited area or collide with an obstacle during the vessel positioning control; a means for outputting an alarm, stopping the vessel positioning control, and switching to manual operation when it is determined that the vessel will enter the prohibited area or collide with the obstacle; The control device according to claim 1 or 6, further comprising:

9. When the receiving means receives a setting of the first threshold value such that the distance increases with respect to the first threshold value set for most strictly maintaining the position of the ship at the predetermined position, or receives a setting of the second threshold value such that the angle increases with respect to the second threshold value set for most strictly maintaining the heading of the ship in the predetermined direction, The executing means executes at least one of the following: stopping a part of a propulsion device of the vessel; limiting the output of the propulsion device; and limiting the direction of movement of the vessel. The control device according to claim 1 or 6.

10. a control device for storing a first threshold value for a distance by which the vessel is permitted to deviate from a predetermined position, the first threshold value being used to most strictly maintain the vessel at the predetermined position, and a second threshold value for an angle by which the vessel's bow is permitted to deviate from the predetermined position, the second threshold value being used to most strictly maintain the vessel in the predetermined direction, the second threshold value being used to most strictly maintain the vessel in the predetermined direction, modifying the first threshold value and / or the second threshold value to reduce fuel consumption of the vessel; or Changing the first and / or second thresholds to increase the accuracy of positioning, or receiving a setting for limiting an output of a propulsion device of the vessel and / or a moving direction of the vessel during the vessel positioning control; executing the positioning control based on the received first threshold value and / or the received second threshold value or the setting; The control method includes:

11. A computer that stores a first threshold value for a distance by which the ship is permitted to deviate from said position, an initial value of the first threshold value for most strictly maintaining the ship at said predetermined position, and a second threshold value for an angle by which the ship's bow is permitted to deviate from said direction, for positioning control that maintains a ship at a predetermined position on the ocean while pointing the ship's bow in a predetermined direction, and an initial value of the second threshold value for most strictly maintaining the ship in said predetermined direction, a first receiving means for receiving a change to the first threshold value and / or the second threshold value so as to reduce fuel consumption of the ship; a second receiving means for receiving a change to the first threshold value and / or the second threshold value in order to increase accuracy of positioning; a third receiving means for receiving a setting for restricting an output of a propulsion device of the vessel and / or a moving direction of the vessel during the vessel positioning control; a means for executing the position keeping control based on the first threshold value and / or the second threshold value accepted by the first accepting means or the second accepting means, or based on the setting accepted by the third accepting means; A program to function as a

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