Control device, control method and program

Abstract

To provide a control method to cause a ship to patrol automatically.SOLUTION: A control device for a ship comprises means to acquire setting information including a center point, a radius, a speed, a patrol direction, and the target direction of a bow during a patrol, means of calculating a control value to move a trajectory composed by the positions the radius away from the center point, toward the patrol direction at the speed while keeping the bow pointed toward the target direction, and means of moving the ship based on the control value.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] A ship may be patrolled around a target when monitoring an ocean area or performing maintenance on offshore structures. Generally, ships are often patrolled by a human, but there is a need for control to patrol a ship by automatic operation. Patent Document 1 discloses a technology to calculate position information of a turning center based on the position and speed of the center of gravity when a ship or the like turns. However, Patent Document 1 does not disclose control to automatically keep a ship turning. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 107213 Summary of the Invention [Problem to be solved by the invention]

[0004] What is needed is a method of controlling a vessel to continuously patrol.

[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 of the present disclosure is a control device for a ship, comprising: a means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow during patrol; A means for calculating a distance between a position of the ship and a position of the center point and determining whether the distance is within a predetermined possible start range; A locus formed by positions spaced apart from the center point by the radius in the traveling direction is The above a means for calculating a control value for moving the vessel at the speed while keeping the bow of the vessel pointed in the target direction; If the distance is determined to be within the start possible range, and means for moving the vessel based on a control value. When the distance is within a predetermined first distance, the means for acquiring setting information acquires a direction in which the bow points toward the center point as a target direction for the bow during the patrol, and the means for moving moves the ship along the trajectory while keeping the bow pointing toward the center point; when the distance is outside the range of the first distance and within a predetermined second distance that is longer than the first distance, the means for acquiring setting information acquires the patrol direction of the ship as a target direction for the bow during the patrol, and the means for moving moves the ship along the trajectory while keeping the bow pointing in the patrol direction of the ship; and when the ship moves away from a predetermined third distance or more from the position where the movement of the trajectory began, the means for moving stops the movement.

[0007] The control method of the present disclosure is a method for controlling a ship. , medium obtaining configuration information including a center point, a radius, a speed, a patrol direction, and a target heading of the bow during the patrol; calculating a distance between a position of the vessel and a position of the center point, and determining whether the distance is within a predetermined possible starting range; A locus formed by positions spaced apart from the center point by the radius in the traveling direction is The above calculating a control value for moving the vessel at the speed while keeping the bow pointing in the target direction; If the distance is determined to be within the start possible range, and moving the vessel based on a control value. When the distance is within a predetermined first distance, the step of acquiring setting information acquires a direction in which the bow points toward the center point as a target direction for the bow during the patrol, and the step of moving moves the ship along the trajectory while keeping the bow pointing toward the center point; when the distance is outside the range of the first distance and within a predetermined second distance that is longer than the first distance, the step of acquiring setting information acquires a patrol direction of the ship as a target direction for the bow during the patrol, and the step of moving moves the ship along the trajectory while keeping the bow pointing in the patrol direction of the ship; and when the ship moves away from a predetermined third distance or more from the position where the movement of the trajectory began, the step of moving stops the movement.

[0008] The program of the present disclosure includes a computer, a means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow during patrol; means for calculating a distance between a position of the ship and a position of the center point, and determining whether the distance is within a predetermined possible starting range; A locus formed by positions spaced apart from the center point by the radius in the traveling direction is The above a means for calculating a control value for moving the bow of the ship at the speed while keeping the bow pointed in the target direction; If the distance is determined to be within the start possible range, and a means for moving the vessel based on a control value. When the distance is within a predetermined first distance, the means for acquiring setting information acquires a direction in which the bow points toward the center point as a target direction for the bow during the patrol, and the means for moving moves the ship along the trajectory while keeping the bow pointing toward the center point; when the distance is outside the range of the first distance and within a predetermined second distance that is longer than the first distance, the means for acquiring setting information acquires the patrol direction of the ship as a target direction for the bow during the patrol, and the means for moving moves the ship along the trajectory while keeping the bow pointing in the patrol direction of the ship; and when the ship moves away from a predetermined third distance or more from the position where the movement of the trajectory began, the means for moving stops the movement. Effect of the Invention

[0009] According to the control device, control method, and program of the present disclosure, it is possible to continuously patrol a ship. [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 setting information for automatic patrol according to the embodiment. [Figure 3A] FIG. 4 is a diagram illustrating a first cyclic control according to the embodiment. [Figure 3B]5 is a flowchart showing an example of a first cyclic control according to the embodiment. [Figure 4A] FIG. 11 is a diagram illustrating a second cyclic control according to the embodiment. [Figure 4B] 10 is a flowchart showing an example of a second cyclic control according to the embodiment. [Figure 5A] FIG. 11 is a diagram illustrating a third cyclic control according to the embodiment. [Figure 5B] 10 is a flowchart showing an example of a third cyclic control according to the embodiment. [Figure 6A] FIG. 11 is a diagram illustrating a fourth cyclic control according to the embodiment. [Figure 6B] 13 is a flowchart showing an example of a fourth cyclic control according to the embodiment. [Figure 7] FIG. 11 is a first diagram illustrating another example of the cyclic control according to the embodiment. [Figure 8] FIG. 2 is a second diagram illustrating another example of the cyclic control according to the embodiment. [Figure 9] FIG. 2 is a diagram illustrating an example of a hardware configuration of a control device according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] <Embodiment> Hereinafter, the cyclic 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, a distance sensor for capturing a target and detecting the distance and positional relationship between the ship 1 and the target, a speed sensor and an acceleration sensor that measure the speed of the ship 1, 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, and Michibiki. The direction sensor is, for example, a compass or a gyro. The distance sensor is, for example, any one or more of a camera, a radar, a laser, a sonar, and the like. The distance sensor may be supported by a gimbal device to reduce the effect of the rolling of the ship's hull. The communication device 3 performs wireless communication with other devices. The propulsion device 4 is a propulsion system including a propeller, a water jet, a thruster, a rudder, a pod thruster, a main engine such as an internal combustion engine that drives them, a motor, a mechanism for switching between forward and reverse travel (e.g., a bucket), a bow thruster, etc. The propulsion devices 4a to 4b in Fig. 1 are examples of the propulsion devices 4. The number of propulsion devices 4 mounted on the ship 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 automatically circling around a center point of a circle when information such as the center point and radius of the circle is given. 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 storage unit 15, a communication unit 16, and an output unit 17.

[0013] The setting information acquisition unit 11 acquires setting information necessary for automatic patrol. The setting information includes the following information as shown in FIG. 2: (1) center of rotation, (2) ship speed, (3) patrol direction, (4) patrol radius, (5) bow direction during patrol. (1) The center of rotation is the latitude and longitude of the center point. (2) The ship speed is set to the ship speed 1 during patrol. (3) The patrol direction is set to, for example, clockwise or counterclockwise. (4) The patrol radius is set to the radius of the patrol circle. (5) The bow direction during patrol is set to the angle (any of 0 to 360°) between the bow direction during patrol and the line connecting the center of gravity of the ship 1 and the center of rotation. If this angle is 90°, the bow faces the direction of travel, and if it is 0°, the bow faces the center point. For example, if there is a surveillance camera or the like on the starboard side at the front of the ship 1, and it is desired to use the surveillance camera or the like to monitor workers such as divers and floating objects such as buoys, the ship 1 is rotated clockwise while maintaining a posture in which the ship 1 is tilted slightly inward (toward the starboard side) to rotate around the workers such as divers and floating objects such as buoys. In such a case, the ship 1 can be rotated in a desired posture by setting an appropriate value for the direction of the rotation center. In addition, the setting information acquisition unit 11 may have a function of setting the position information of a target captured by the sensor 2 or the communication device 3 as the rotation center (1). For example, the sensor information acquisition unit 12 calculates the positional relationship between the ship 1 and the target (the distance between the ship 1 and the target, and the direction of the target as seen from the ship 1) using values ​​measured by the camera, laser, etc., and outputs the information to the setting information acquisition unit 11. The setting information acquisition unit 11 adds the acquired distance and direction between the ship 1 and the target to the current position of the ship 1 to calculate the position information of the moving target in real time, and sets the calculated position information as the rotation center. This makes it possible for the robot to track a target and circle around it (see below).

[0014] 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 the speed of the ship 1 from a speed sensor or the like. Furthermore, when a target exists at the center point, the sensor information acquisition unit 12 measures the distance and direction from the ship 1 to the target based on, for example, reflected waves from a laser, radar, or the like.

[0015] The operation reception unit 13 receives an operation by an operator. For example, when the operator performs an operation to instruct the control device 10 to execute automatic patrol control, the operation reception unit 13 receives this instruction operation and instructs the control unit 14 to perform automatic patrol.

[0016] The control unit 14 controls the propulsion device 4 such as a rudder (not shown) to automatically operate the ship 1. For example, the control unit 14 circulates around a circumference determined by the setting information acquired by the setting information acquisition unit 11 based on the position information of the ship 1 measured by the GPS acquired by the sensor information acquisition unit 12. The control unit 14 has a function of controlling the rudder, propeller, water jet, main engine, etc. so that the ship 1 automatically circulates around the circle under the set conditions when information such as the ship speed, the center point of the circle, and the radius is given. In addition, the control unit 14 may have a function of controlling the bow direction of the ship 1 to face the coming alongside position and come alongside the coming alongside position when a target coming alongside position is detected during the patrol of the ship 1. This function is disclosed in Japanese Patent No. 7083049.

[0017] The memory unit 15 stores various information necessary for the patrol of the ship 1. The communication unit 16 communicates with other devices through the communication device 3. For example, position information of the center point may be received from the other device. The output unit 17 outputs information necessary for controlling the vessel 1 to a display device or the like.

[0018] Next, the automatic patrol control will be described in detail with reference to FIGS. 3A to 6B. <Steering angle correction format> FIG. 3A shows an outline of the automatic patrol control of the steering angle correction type. The steering angle correction type is a method of calculating a steering angle or an angular velocity of a bow direction that allows the ship 1 to move around a circumference determined from the setting information, driving the ship 1 at a specified ship speed, and patrolling the ship 1 by feedback control that checks and corrects the steering angle and speed. The control unit 14 moves the ship 1 in the direction indicated by the arrow 100, and checks the trajectory and ship speed at a predetermined control interval. For example, when the ship 1 approaches the center point p more than the radius r, the control unit 14 steers the ship 1 to the side away from the center point p, and when the ship 1 moves away from the center point p, the control unit 14 steers the ship 1 to the side approaching the center point p. The steering angle correction type has characteristics such as the ability to patrol relatively quickly and continuously, the trajectory is relatively easily disturbed because the trajectory is corrected while moving forward, and the ship speed and turning radius are preferably at a certain level or more. Next, referring to FIG. 3B, the control of the steering angle correction type will be specifically described.

[0019] (operation) An example of the flow of control in the steering angle correction format is shown in Fig. 3B. Fig. 3B shows a control example in the case where the boat 1 is a water jet boat, but even if the boat 1 is operated by another propulsion device such as a propeller boat, the control can be configured to be performed in a similar manner to the control shown in Fig. 3B, and can be applied to any type of boat. This also applies to the processes in Figs. 4B, 5B, and 6B described below.

[0020] The operator instructs the start of automatic patrol control of the ship 1, for example, by pressing a push button on an operation panel (step S101). The operation reception unit 13 receives the operation of the operator and instructs the setting information acquisition unit 11 and the control unit 14 to execute automatic patrol control.

[0021] Next, the setting information acquisition unit 11 acquires the setting information (step S102). The setting information acquisition unit 11 performs a display requesting input of the above-mentioned setting information (1) to (5), etc. The operator inputs (1) center of rotation, (2) ship speed, (3) patrol direction, (4) patrol radius, and (5) bow direction during patrol from the operation panel. For (1) center of rotation, the operator may calculate the direction and distance to center point p from the current bow direction measured by the compass (sensor 2) and the current latitude and longitude of the ship 1 measured by the GPS (sensor 2) and input the calculation result from the operation panel, or the latitude and longitude of center point p may be input by specifying center point p on a map. Alternatively, the setting information acquisition unit 11 may acquire information on the center point p from a ship equipped with an AIS (Automatic Identification System), a command center on land, or a marine structure through the communication unit 16, or the sensor information acquisition unit 12 may calculate the distance and direction between the ship 1 and a target at the center point p using reflected waves from a laser or the like, and the setting information acquisition unit 11 may add the distance and direction to the target to the current latitude and longitude of the ship 1 to set the latitude and longitude of the center point p. Note that if (4) the patrol radius is set to 0 m, on-the-spot turning is possible. Also, by setting (2) the ship speed to an extremely slow speed, the automatic patrol control can be used for monitoring suspicious ships by patrol boats or the like. The setting information acquisition unit 11 outputs the acquired setting information to the control unit 14.

[0022] When the setting information is acquired from the setting information acquisition unit 11, the control unit 14 starts automatic patrol control (step S103). During the execution of the automatic patrol control, the control unit 14 acquires various information (heading direction, latitude and longitude, ship speed, etc.) measured by the sensor 2 through the sensor information acquisition unit 12. The control unit 14 judges whether communication with the GPS is normally performed (step S104). If communication is not normally performed (step S104; No), the process returns to step S103. The output unit 17 may display a communication error with the GPS, etc. on the display device. When communication with the GPS can be normally performed, the process from step S104 onwards is executed.

[0023] In parallel with this, the control unit 14 judges whether or not communication with the compass is performed normally (step S105). If communication is not performed normally (step S105; No), the process returns to step S103. The output unit 17 may display a communication error with the compass on the display device. When communication with the compass is performed normally, the process from step S105 onwards is executed.

[0024] If communication with the GPS and compass can be performed normally (step S104; Yes, step S105; Yes), the control unit 14 acquires the latitude and longitude measured by the GPS, the bow direction measured by the compass, the current ship speed measured by the speed sensor, etc. through the sensor information acquisition unit 12, and calculates the difference in distance and direction between the current position of the ship 1 and the center point P (step S106).

[0025] Next, the control unit 14 determines whether the distance between the center point P and the current position is within the possible start range (step S107). The possible start range is set based on whether the distance is safe (for example, 50 m or more), whether the target at the center point p can be captured by radar or the like, and so on. If the current position is not within the possible start range (step S107; No), the process returns to step S103. The output unit 17 may display on the display device that the current position of the ship 1 is not within the possible start range, and so on. When the current position is within the possible start range, the processes from step S107 onwards are executed.

[0026] If it is within the possible start range (step S107; Yes), the control unit 14 moves the vessel 1 to a position on a circumference of a circle with a center point p and a radius r based on the calculated difference, and controls the propulsion device 4 to make the vessel 1 circulate along the circle with a center point p and a radius r. For example, the control unit 14 controls the main engine speed and the forward / reverse switching mechanism to predetermined values ​​according to the vessel speed, and controls the rudder to a predetermined angle (e.g., 8 to 12°) according to the circulating radius (step S108). In step S108, by controlling and operating the forward / reverse switching mechanism, the main engine speed, and the rudder to predetermined control values, the vessel 1 will automatically circulate in the circle specified by the setting information, unless there is a disturbance such as wind or waves.

[0027] Next, the control unit 14 determines whether the distance between the ship 1 and the center point p exceeds the dead zone (step S109). The control unit 14 calculates the distance between the ship 1 and the center point p from the latitude and longitude of the center point p and the latitude and longitude of the ship 1 measured by the GPS, and calculates the difference (deviation distance) between the calculated distance and the radius r. If the deviation distance does not exceed the dead zone (e.g., several meters) (step S109; No), the process proceeds to step S111.

[0028] If the deviation distance exceeds the dead zone (step S109; Yes), the control unit 14 corrects the rudder to return to the target heading (step S110). For example, if the deviation distance is short and exceeds the dead zone, the control unit 14 corrects the rudder by several degrees in a direction that causes the bow to turn outward. For example, if the deviation distance is long and exceeds the dead zone, the control unit 14 corrects the rudder by several degrees in a direction that causes the bow to turn inward.

[0029] Next, the control unit 14 determines whether the deviation between the speed of the ship 1 acquired by the sensor information acquisition unit 12 and the ship speed set in the setting information is equal to or greater than the dead zone (step S111). If the speed deviation is less than the dead zone (e.g., ±0.1 knots) (step S111; No), the process proceeds to step S113.

[0030] If the speed deviation is equal to or greater than the dead zone (step S111; Yes), the control unit 14 adjusts the forward / reverse switching mechanism to control the boat speed (step S112). For example, the forward / reverse switching mechanism is adjusted by a predetermined value per difference of 0.1 knots.

[0031] Next, the control unit 14 determines whether to stop the automatic patrol control (step S113). For example, when the operator instructs to stop the automatic patrol control, the control unit 14 determines to stop the automatic patrol control. Also, when there is a possibility that the ship 1 will enter a predetermined prohibited sea area, the control unit 14 determines to stop the automatic patrol control before the ship 1 enters the prohibited sea area. (a) For example, the control unit 14 refers to map information based on the position information of the ship 1 measured by the GPS, and determines to stop the automatic patrol control when the ship 1 enters within a predetermined distance from shallow waters or land. (b) For example, when the latitude and longitude measured by the GPS reaches a certain value, the control unit 14 determines that the sea area indicated by the latitude and longitude is a prohibited range and determines to stop the automatic patrol control. (c) For example, the control unit 14 determines to stop the automatic patrol control when the latitude and longitude measured by the GPS is a predetermined distance or more away from the position where the automatic patrol control was started. As described later, the automatic patrol control can be applied to the case where the center point p moves (the robot tracks the moving center point p and patrols around it), and the stop determination conditions (a) to (c) exemplified here are effective when the robot automatically patrols while tracking the center point p. If it is determined that the robot should stop (step S113; Yes), the flow chart in FIG. 3B is terminated. If it is determined that the robot should not stop (step S113; No), the flow returns to step S103, and the process from step S103 onwards is repeated.

[0032] <Continuous fixed point route format> FIG. 4A shows an overview of automatic patrol control by the continuous fixed point route method. The continuous fixed point route method is a method of patrolling the ship 1 by calculating pass points m1 to m8 to be passed when moving around a circumference determined from the setting information, and moving to the calculated pass points m1 to m8 as targets, thereby patrolling the circumference. For example, the control unit 14 sets pass points at 45° intervals and calculates the latitude and longitude of pass points up to two steps ahead. When the start position is pass point m1, the control unit 14 calculates the latitude and longitude of pass point m2 one step ahead and pass point m3 two steps ahead when the ship 1 reaches pass point m1. Then, the control unit 14 moves towards pass point m2. Then, when the ship 1 reaches pass point m2, the latitude and longitude of pass point m3 one step ahead has already been calculated, so the control unit 14 calculates the latitude and longitude of pass point m4 two steps ahead, and moves towards pass point m3 while adjusting the rudder and speed. By repeating such operations, the ship 1 is patrolled. The continuous fixed point route type allows patrol at a low speed and with a short radius. The trajectory is less disturbed than with the steering angle compensation type. The control is similar to ship positioning, which attempts to keep the ship 1 in a certain position, and has the following characteristics: it is possible to seamlessly switch between automatic patrol control and ship positioning (for example, by pausing during patrol), and the steering angle compensation type is more suitable when the ship speed or radius is large. Next, the control of the continuous fixed point route type will be specifically described with reference to Figure 4B.

[0033] (operation) FIG. 4B shows an example of the flow of control in the steering angle correction format. The same processes as those in FIG. 3B will be briefly explained. First, the operator instructs the start of automatic patrol control of the ship 1, for example by pressing a push button on the operation panel (step S201). The operation reception unit 13 receives the operation of the operator and instructs the setting information acquisition unit 11 and the control unit 14 to execute automatic patrol control. Next, the setting information acquisition unit 11 acquires setting information (step S202). The setting information acquisition unit 11 acquires the setting information (1) to (5) described above.

[0034] Next, the control unit 14 starts automatic patrol control (step S203). The control unit 14 judges whether communication with the GPS is normally performed (step S204). If communication is not normally performed (step S204; No), the process returns to step S203. The control unit 14 judges whether communication with the compass is normally performed (step S205). If communication is not normally performed (step S205; No), the process returns to step S203.

[0035] If communication with the GPS and compass can be performed normally (step S204; Yes, step S205; Yes), the control unit 14 acquires the latitude and longitude measured by the GPS, the bow direction measured by the compass, the current ship speed measured by the speed sensor, etc. through the sensor information acquisition unit 12, and calculates the difference in distance and direction between the current position of the ship 1 and the center point P (step S206).

[0036] Next, the control unit 14 determines whether the distance between the center point P and the current position is within the start possible range (step S207). If it is not within the start possible range (step S207; No), the process returns to step S203.

[0037] If it is within the possible start range (step S207; Yes), the control unit 14 moves the ship 1 to a position on a circumference with a center point p and a radius r based on the calculated difference, and calculates the positions of passing points up to several steps ahead (step S208). For example, one step is set to 45° or 30°, and a full rotation of 360° is divided into steps, and the latitude and longitude of each passing point up to two or three steps ahead on the circumference is calculated. The control unit 14 calculates a forward / reverse switching mechanism, main engine rotation speed, rudder, etc. for moving to passing point m2 one step ahead at the set ship speed, and controls the rudder, etc. with the calculated values.

[0038] When the vehicle reaches the passing point m2, which is one step ahead, the control unit 14 judges whether the distance between the actually reached position and the passing point m2 is equal to or greater than the designated distance (step S209). For example, if the position reached as a result of moving from the passing point m1 to the passing point m2, which is one step ahead, is included in a circle with the passing point m2 as the center and a radius of a predetermined length (for example, 5 m), the control unit 14 judges that the distance to the passing point is not equal to or greater than the designated distance. In this case (step S209; No), the process proceeds to step S211.

[0039] If it is determined that the distance is equal to or greater than the designated distance (step S209; Yes), the control unit 14 moves to the passing point (step S210). The control unit 14 moves the ship 1 obliquely to the passing point m2 while maintaining the current attitude without changing the heading direction.

[0040] Next, the control unit 14 judges whether to stop the automatic patrol control (step S211). For example, when the operator instructs to stop the automatic patrol control, the control unit 14 judges to stop the automatic patrol control. Also, for example, when there is a possibility that the ship 1 will enter a predetermined prohibited sea area, the control unit 14 judges to stop the automatic patrol control before the ship 1 enters the prohibited sea area. (a') For example, the control unit 14 refers to map information and judges to stop the automatic patrol control when the passing point of the ship 1 several steps ahead is within a predetermined distance from shallow waters or land. (b') For example, when the latitude and longitude of the passing point of the ship 1 several steps ahead reaches a certain value, the control unit 14 judges that the sea area indicated by the latitude and longitude is a prohibited range and judges to stop the automatic patrol control. (c) For example, the control unit 14 judges to stop the automatic patrol control when the latitude and longitude of the passing point of the ship 1 several steps ahead is a predetermined distance or more away from the position where the automatic patrol control was started. When it is determined that the automatic cruising control is to be stopped (step S211; Yes), the flow chart of Fig. 4B is terminated. When it is determined that the automatic cruising control is not to be stopped (step S211; No), the flow returns to step S203, and the processes from step S203 onwards are repeated. In this way, the ship 1 moves through the passing points one after another and circulates around the center point p.

[0041] <On-the-spot turning format> FIG. 5A shows an overview of the automatic patrol control of the on-the-spot turning type. The on-the-spot turning type is a control method in which the ship 1 is operated at a specified ship speed while keeping the bow direction toward the center point p, and the steering angle and speed are corrected each time. That is, in the on-the-spot turning type, patrol is performed with the bow toward the center point p by feedback control similar to the steering angle correction type. The control unit 14 moves the ship 1 in the direction indicated by the arrow 100 along a circular trajectory calculated from the setting information, and checks the trajectory and ship speed at a predetermined control interval. For example, the control unit 14 reverses the hull when the bow approaches the center point p, and moves the hull forward when the bow moves away from the center point p. In addition, if the bow direction is toward the left of the center point p, the control unit 14 steers more to the right, and if the bow direction is toward the right, the control unit 14 steers more to the left. The on-the-spot turning type has the following characteristics: it can patrol at extremely low speeds and with a short radius, it can be controlled continuously and has little speed fluctuation, its control is similar to that of positioning, it is possible to seamlessly switch between automatic patrol control and positioning (for example, by pausing during patrol), the trajectory is more likely to be disturbed than with the continuous fixed point route type, it is difficult to maintain a certain speed and is easily affected by external disturbances, and it is not suitable for cases where the turning radius is large. Next, the steering angle correction type control will be specifically described with reference to Figure 5B.

[0042] (operation) FIG. 5B shows an example of the flow of control for the on-the-spot turning type. Processing similar to that in FIG. 5B will be briefly explained. First, the operator instructs the start of automatic patrol control of the ship 1, for example by pressing a push button on the operation panel (step S301). The operation reception unit 13 receives the operation of the operator and instructs the setting information acquisition unit 11 and the control unit 14 to execute automatic patrol control. Next, the setting information acquisition unit 11 acquires setting information (step S302). The setting information acquisition unit 11 acquires the setting information (1) to (5) described above.

[0043] Next, the control unit 14 starts automatic patrol control (step S303). The control unit 14 determines whether communication with the GPS is normally performed (step S304). If communication is not normally performed (step S304; No), the process returns to step S303. The control unit 14 determines whether communication with the compass is normally performed (step S305). If communication is not normally performed (step S305; No), the process returns to step S303.

[0044] If communication with the GPS and compass can be performed normally (step S304; Yes, step S305; Yes), the control unit 14 acquires the latitude and longitude measured by the GPS and the bow direction measured by the compass through the sensor information acquisition unit 12, and calculates the difference in distance and direction between the current position of the ship 1 and the center point P (step S306).

[0045] Next, the control unit 14 determines whether the distance between the center point P and the current position is within the possible start range (step S307). If it is not within the possible start range (step S307; No), the process returns to step S303.

[0046] If it is within the possible start range (step S307; Yes), the control unit 14 moves the vessel 1 to a position on a circumference of a circle with a center point p and a radius r based on the calculated difference. The control unit 14 also turns the bow toward the center point p. Then, the control unit 14 outputs a right lateral turn of the joystick (step S308). As a result, the vessel 1 moves in the direction of the arrow 100 while maintaining an attitude facing the center point p as shown in FIG. 5A.

[0047] Next, the control unit 14 determines whether the distance between the ship 1 and the center point p exceeds the dead zone (step S309). The control unit 14 calculates the distance between the center of gravity of the ship 1 and the center point p from the latitude and longitude of the center point p and the position of the ship 1 measured by the GPS, and calculates the difference (deviation distance) between the calculated distance and the radius r. If the deviation distance does not exceed the dead zone (e.g., several meters) (step S309; ​​No), the process proceeds to step S311.

[0048] If the deviation distance exceeds the dead zone (step S309; ​​Yes), the control unit 14 adjusts the forward / reverse switching mechanism (step S310). For example, if the deviation distance is longer than the dead zone, the control unit 14 corrects the forward / reverse switching mechanism to the forward side by, for example, a predetermined value per 1 m of deviation distance. If the deviation distance is shorter than the dead zone, the control unit 14 corrects the forward / reverse switching mechanism to the reverse side by, for example, a predetermined value per 1 m of deviation distance.

[0049] Next, the control unit 14 determines whether the deviation between the speed of the vessel 1 acquired by the sensor information acquisition unit 12 and the vessel speed set in the setting information is equal to or greater than the dead zone (step S311). If the speed deviation is less than the dead zone (e.g., ±0.1 knots) (step S311; No), the process proceeds to step S313.

[0050] If the speed deviation is equal to or greater than the dead zone (step S311; Yes), the control unit 14 adjusts the forward / reverse switching mechanism, the main engine rotation speed, and the steering angle to control the boat speed (step S312).

[0051] Next, the control unit 14 determines whether to stop the automatic patrol control (step S313). For example, when the operator instructs the automatic patrol control to be stopped, the control unit 14 determines to stop the automatic patrol control. Also, for example, when there is a possibility that the ship 1 will enter a predetermined prohibited sea area, the control unit 14 determines to stop the automatic patrol control before the ship 1 enters the predetermined prohibited sea area. If it is determined to stop (step S313; Yes), the flow chart of FIG. 5B is terminated. If it is determined not to stop (step S313; No), the control unit 14 returns to step S303 and repeats the processing from step S303 onward.

[0052] <On-the-spot rotation format (continuous fixed point)> FIG. 6A shows an overview of automatic patrol control by the on-the-spot turning type (continuous fixed point). The on-the-spot turning type (continuous fixed point) is a control method in which passing points m1 to m8 to be passed when moving around a circumference determined from setting information are calculated, and the bow is kept facing the center point p, and the calculated passing points m1 to m8 are moved as targets to patrol the circumference. For example, the control unit 14 calculates the latitude and longitude of passing points up to several steps ahead, and repeats the process of calculating the latitude and longitude of passing points up to several steps ahead while moving for each step. The on-the-spot turning type (continuous fixed point) has the following characteristics: it is possible to patrol at an extremely low speed and with a short radius, the bow heading is not easily disturbed, the control is similar to the positioning, seamless switching between automatic patrol control and positioning is possible (for example, by pausing during patrol), the trajectory is not easily disturbed compared to the steering angle correction type, it is the most difficult to increase the ship speed and is easily affected by disturbances, and it is not suitable for cases where the turning radius is large. Next, the on-the-spot turning type (continuous fixed point) control will be specifically described with reference to FIG. 6B.

[0053] (operation) FIG. 6B shows an example of control in the on-the-spot turning style (continuous fixed point). Processing similar to that in FIG. 4B will be briefly explained. First, the operator instructs the start of automatic patrol control of the ship 1, for example by pressing a push button on the operation panel (step S401). The operation reception unit 13 receives the operation of the operator and instructs the setting information acquisition unit 11 and the control unit 14 to execute automatic patrol control. Next, the setting information acquisition unit 11 acquires setting information (step S402). The setting information acquisition unit 11 acquires the setting information (1) to (5) described above.

[0054] Next, the control unit 14 starts automatic patrol control (step S403). The control unit 14 judges whether communication with the GPS is normally performed (step S404). If communication is not normally performed (step S404; No), the process returns to step S403. The control unit 14 judges whether communication with the compass is normally performed (step S405). If communication is not normally performed (step S405; No), the process returns to step S403.

[0055] If communication with the GPS and compass can be performed normally (step S404; Yes, step S405; Yes), the control unit 14 acquires the latitude, longitude, bow direction, etc., and calculates the difference in distance and direction between the current position of the ship 1 and the center point P (step S406).

[0056] Next, the control unit 14 determines whether the distance between the center point P and the current position is within the possible start range (step S407). If it is not within the possible start range (step S407; No), the process returns to step S403.

[0057] If it is within the possible start range (step S407; Yes), the control unit 14 moves the vessel 1 to a position on a circumference of a circle with a center point p and a radius r based on the calculated difference. The control unit 14 also turns the bow direction toward the center point p. Then, the control unit 14 calculates the positions of passing points up to several steps ahead (step S408). The control unit 14 calculates the main engine speed, forward / reverse switching mechanism, rudder, etc., required to move to passing point m2, one step ahead, at the set vessel speed, and controls the rudder, etc., with the calculated values.

[0058] When the vehicle reaches the passing point m2, which is one step ahead, the control unit 14 determines whether the distance to the passing point is equal to or greater than the designated distance (step S409). If the distance to the passing point is not equal to or greater than the designated distance (step S409; No), the process proceeds to step S411.

[0059] When it is determined that the distance is equal to or greater than the designated distance (step S409; Yes), the control unit 14 moves to the passing point (step S410). The control unit 14 moves the ship 1 to the passing point m2 while keeping the bow direction facing the center point P.

[0060] Next, the control unit 14 judges whether or not to stop the automatic cruise control (step S411). If it is judged that the automatic cruise control is to be stopped (step S411; Yes), the flow chart of Fig. 6B is terminated. If it is judged that the automatic cruise control is not to be stopped (step S411; No), the control unit 14 returns to step S403 and repeats the processes from step S403 onward.

[0061] According to the four types of automatic patrol control described above, the ship 1 can be automatically rotated at an arbitrary radius r around a specified center point p. For example, the automatic patrol control can be applied to applications such as patrolling around floating objects such as divers and buoys to support monitoring work, patrolling around a drone when flying a drone to inspect the blades of an offshore wind turbine to support inspection work, and patrolling around an offshore structure to detect the docking position when docking with the offshore structure. In addition, the automatic patrol control can be used in the fishing industry, such as seabed surveying, cable laying, and circling around schools of fish, tracking other ships, monitoring and guarding of the sea area, and sightseeing navigation.

[0062] When patrolling around an offshore structure to detect the coming-behind position, if an image captured by the camera (sensor 2) during automatic patrol is analyzed or a structure near the coming-behind position is detected by radar or the like, automatic coming-behind control (for example, Patent No. 7083049) can be switched to and the ship can automatically come to the coming-behind position.

[0063] The setting information (1) to (5) can be changed as desired while the ship 1 is patrolling. For example, the ship speed in the setting information (2) may be changed while the ship 1 is patrolling. The control unit 14 makes the ship 1 patrol at the changed ship speed. In addition, the bow direction during patrol in the setting information (5) may be changed while the ship 1 is patrolling. The control unit 14 makes the ship 1 patrol by changing the bow direction of the ship 1 to a set angle.

[0064] Furthermore, when the central point p moves, it is possible to rotate around the central point p while tracking the central point p. In this case, the (1) center of rotation of the setting information is appropriately changed during the automatic rotation. For example, the sensor information acquisition unit 12 calculates the positional relationship between the target and the ship 1 at a predetermined control cycle. The setting information acquisition unit 11 calculates the positional information of the target based on the position of the ship 1 and the calculated positional relationship, and sets the calculated positional information as the center point (1). The control unit 14 calculates various control values ​​(main engine rotation speed, rudder angle, forward / reverse switching mechanism value, joystick operation signal, etc.) for moving the circumference based on the changed center point, and moves the ship 1 based on the changed control value. FIG. 7 shows the trajectory of the ship 1 when the center point is changed from p1 to p2 while the ship 1 is circling around the center point p1 in a continuous fixed point route format. In the example of FIG. 7, the center point is changed to p2 when the ship 1 reaches the passing point m5. The setting information acquisition unit 11 acquires the latitude and longitude of the center point p2 (step S202), and the processing from step S203 onwards in FIG. 4B is executed. As a result, passing points m6 to m9 in FIG. 7 are calculated, and the trajectory is switched to one centered on the center point p2. Also, as shown in FIG. 8, for example, the ship 1 can be made to navigate in an S-shape by leaving a sufficient distance between the center points p1 and p2, and switching the center point to the center point p2 after the ship 1 has traveled 180° around the center point p1, and then traveling 180° around the center point p1. Similarly, when the center point moves linearly, the (1) center of rotation of the setting information is changed to match the moving center point. This allows the ship 1 to move linearly while looking at the center point to the port or starboard. Also, the trajectory of the ship 1 can be made into an ellipse or an ellipse by moving the (1) center of rotation of the setting information between the foci of an ellipse or in an elliptical shape.

[0065] FIG. 9 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] <Additional Notes> The control device, the control method, and the program according to the embodiments can be understood, for example, as follows.

[0071] (1) The control device 10 of the first aspect is a control device for a ship, and includes: a means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow of the ship during patrol; a means for calculating a control value for moving the bow of the ship at the speed while pointing in the target direction along a trajectory formed by positions away from the center point by the radius, toward the patrol direction; and a means for moving the ship based on the control value. This allows the vessels to continuously circle around a central point.

[0072] (2) A control device 10 according to a second aspect is the control device 10 of (1), wherein the calculating means calculates the difference between the distance from the ship to the center point and the radius while the ship is moving, calculates the control value that compensates for the difference, and the moving means moves the ship based on the compensated control value. By repeating such control, the ship can be made to patrol continuously.

[0073] (3) A control device 10 according to a third aspect is the control device 10 of (1), wherein the calculating means calculates a plurality of positions of points on the trajectory and calculates the control value for reaching the position of the point that is closest to the position of the ship in the patrol direction, and the moving means moves the ship based on the control value. By repeating such control, the ship can be made to patrol continuously.

[0074] (4) A control device 10 according to a fourth aspect is the control device 10 of (1) to (3), wherein the acquiring means acquires a modified center point different from the center point related to the trajectory while the ship moves along the trajectory, the calculating means calculates a modified control value for moving the trajectory based on the modified center point, and the means for moving the ship moves the ship based on the modified control value. This allows the ship to move along a variety of trajectories, including not only simple circles, but also straight lines, ovals, ellipses, and S-shapes.

[0075] (5) The control device 10 of the fifth aspect is the control device 10 of (4), further comprising a means for calculating the positional relationship between a specified target object and the ship, calculating position information of the target object based on the position of the ship and the positional relationship, and setting the calculated position information as the center point. This allows the radar to circle around the target while tracking the target.

[0076] (6) A control device 10 according to a sixth aspect is the control device 10 of (1) to (5), further comprising a means for determining whether the ship will enter a predetermined prohibited area, and if it is determined that the ship will enter the prohibited area, the moving means stops the ship. This will help prevent entry into prohibited waters.

[0077] (7) The control device 10 according to the seventh aspect is the control device 10 of (1) to (6), further comprising a means for detecting the coming alongside position of the ship, and a means for controlling the bow heading of the ship toward the coming alongside position so that the ship comes alongside at the coming alongside position. As a result, when the ship is to be automatically moored at a coming-to-berthing position of a target, the ship can be patrolled around the target to detect the coming-to-berthing position, and the ship can be automatically moored at the detected coming-to-berthing position.

[0078] (8) A control method according to an eighth aspect is a control method for a ship, comprising the steps of acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow of the ship during patrol; calculating a control value for moving the bow of the ship at the speed while pointing in the target direction along a trajectory formed by positions away from the center point by the radius, toward the patrol direction; and moving the ship based on the control value.

[0079] (9) The program of the ninth aspect causes a computer to function as: a means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow of the ship during patrol; a means for calculating a control value for moving the bow of the ship at the speed while pointing in the target direction toward the patrol direction along a trajectory formed by positions away from the center point by the radius; and a means for moving the ship based on the control value. [Explanation of symbols]

[0080] 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. means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow during the patrol; A means for calculating a distance between a position of the ship and a position of the center point and determining whether the distance is within a predetermined possible start range; a means for calculating a control value for moving the vessel along a trajectory defined by positions spaced apart from the center point by the radius in the patrol direction at the speed while pointing the bow of the vessel in the target direction; a means for moving the vessel based on the control value when the distance is determined to be within the possible start range; Equipped with When the distance is within a predetermined first distance range, the means for acquiring setting information acquires a direction in which the bow is directed toward the center point as a target direction of the bow during the patrol, and the means for moving moves the ship along the trajectory while keeping the bow directed toward the center point; When the distance is outside the range of the first distance and within a range of a predetermined second distance that is longer than the first distance, The means for acquiring setting information acquires a patrol direction of the ship as a target direction of the bow during the patrol, and the means for moving moves the ship along the trajectory while keeping the bow facing the patrol direction of the ship; When the vessel moves away from a position where the vessel started moving along the trajectory by a third distance or more, the moving means stops the vessel moving. Control device.

2. means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow during the patrol; A means for calculating a distance between a position of the ship and a position of the center point and determining whether the distance is within a predetermined possible start range; a means for calculating a control value for moving the vessel along a trajectory defined by positions spaced apart from the center point by the radius in the patrol direction at the speed while pointing the bow of the vessel in the target direction; a means for moving the vessel based on the control value when the distance is determined to be within the possible start range; A control device comprising:

3. means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow during the patrol; a means for calculating a control value for moving the vessel along a trajectory defined by positions spaced apart from the center point by the radius in the patrol direction at the speed while pointing the bow of the vessel in the target direction; means for moving the vessel based on the control value; Equipped with the target direction of the vessel during the patrol is a direction in which the bow points toward the center point; Control device.

4. means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target direction of the bow during the patrol; a means for calculating a control value for moving the vessel along a trajectory defined by positions spaced apart from the center point by the radius in the patrol direction at the speed while pointing the bow of the vessel in the target direction; means for moving the vessel based on the control value; means for detecting a position of said vessel alongside said ship while said vessel is being moved based on said control value; a means for controlling the vessel to come alongside the ship at the alongside position; A control device comprising:

5. The calculating means calculates a difference between a distance from the vessel to the center point and the radius while the vessel is moving, and calculates the control value to compensate for the difference; the means for moving moves the vessel based on the compensated control value. The control device according to any one of claims 1 to 4.

6. The calculation means calculates a plurality of positions of points on the trajectory, and calculates the control value for reaching the position of the point on the trajectory that is closest to the position of the ship in the patrol direction; the moving means moves the vessel based on the control value. The control device according to any one of claims 1 to 4.

7. the acquiring means acquires the changed center point, which is different from the center point related to the trajectory, while the vessel is moving along the trajectory; the calculating means calculates a changed control value for moving the locus based on the changed center point, the moving means moves the vessel based on the changed control value. The control device according to any one of claims 1 to 4.

8. means for calculating a positional relationship between a predetermined target and the ship, calculating position information of the target based on the position of the ship and the positional relationship, and setting the calculated position information as the center point; The control device of claim 7 further comprising:

9. means for determining whether the vessel is entering a predetermined prohibited area; When it is determined that the vessel will enter the prohibited area, the moving means stops the movement of the vessel based on the control value. The control device according to any one of claims 1 to 4.

10. A means for detecting the ship's alongside position; a means for controlling the vessel to come alongside the ship at the alongside position; The control device according to claim 1 , further comprising:

11. obtaining configuration information including a center point, a radius, a speed, a patrol direction, and a target heading of the vessel during the patrol; calculating a distance between a position of the vessel and a position of the center point, and determining whether the distance is within a predetermined possible starting range; calculating a control value for moving the vessel along a trajectory defined by positions spaced apart from the center point by the radius in the patrol direction at the speed while pointing the bow of the vessel in the target direction; moving the marine vessel based on the control value when the distance is determined to be within the possible start range; having When the distance is within a predetermined first distance range, In the step of acquiring the setting information, a direction in which the bow is directed toward the center point is acquired as a target direction of the bow during the patrol; In the moving step, the vessel is moved along the trajectory while keeping the bow pointing toward the center point; When the distance is outside the range of the first distance and within a range of a predetermined second distance that is longer than the first distance, In the step of acquiring the setting information, a patrol direction of the ship is acquired as a target direction of the bow during the patrol; In the moving step, the vessel is moved along the trajectory while the bow is directed in the patrol direction of the vessel; When the vessel moves away from the position where the movement of the trajectory started by a predetermined third distance or more, In the moving step, the movement is stopped. Control methods.

12. Computer, means for acquiring setting information including a center point, a radius, a speed, a patrol direction, and a target heading of the bow during the patrol; means for calculating a distance between a position of the ship and a position of the center point, and determining whether the distance is within a predetermined possible starting range; a means for calculating a control value for moving the vessel along a trajectory defined by positions spaced apart from the center point by the radius in the patrol direction at the speed while pointing the bow of the vessel in the target direction; means for moving the vessel based on the control value when the distance is determined to be within the possible start range; Function as a When the distance is within a predetermined first distance range, the means for acquiring setting information acquires a direction in which the bow is directed toward the center point as a target direction of the bow during the patrol, and the means for moving moves the ship along the trajectory while keeping the bow directed toward the center point; When the distance is outside the range of the first distance and within a range of a predetermined second distance that is longer than the first distance, The means for acquiring setting information acquires a patrol direction of the ship as a target direction of the bow during the patrol, and the means for moving moves the ship along the trajectory while keeping the bow facing the patrol direction of the ship; When the vessel moves away from a position where the vessel started moving along the trajectory by a third distance or more, the moving means stops the vessel moving. program.

Images