Ship control system, ship control device, ship control method, and program

Abstract

To provide a ship control system capable of properly controlling a bow azimuth of a ship when the ship is operated.SOLUTION: A ship control system comprises a ship and an input device. The ship comprises actuators with the functions to generate a ship propulsion power and moment on the ship, a first operation part to accept an input operation by a ship operator, and a ship control device to activate the actuators. The input device comprises a second operation part to accept input operations by the ship operator. The ship control device comprises a first operation mode and a second operation mode. A moment is generated in the vessel based on the input operation accepted by the first operation unit during the first operation mode. The actuator is activated based on the input operation accepted by the second operation part during the second operation mode. The ship control device performs a bow azimuth feedback control based on the deviation between a target bow azimuth and an actual bow azimuth of the ship during the second operation mode.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a ship control system, a ship control device, a ship control method, and a program.

Background Art

[0002] Conventionally, a personal watercraft (PWC) auto return system has been known (see, for example, Patent Document 1). The PWC auto return system described in Patent Document 1 includes a user device and an autopilot unit disposed within the PWC. The user device includes a passenger positioning unit, a user interface, and a communication unit. In the technology described in Patent Document 1, when a passenger carrying the user device leaves (falls into the water) the PWC, the PWC receives a request from the user interface and advances to the position of the user device by automatic steering. By the way, Patent Document 1 does not specifically describe how the bow azimuth of the PWC is controlled when the actuator of the PWC is actuated based on a user input operation received by the user device. Therefore, depending on the technology described in Patent Document 1, there is a possibility that the bow azimuth of the PWC cannot be appropriately controlled when the PWC is remotely operated via the user device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In view of the above problems, an object of the present invention is to provide a ship control system, a ship control device, a ship control method, and a program capable of appropriately controlling the bow azimuth of a ship when the ship is operated.

Means for Solving the Problem

[0005] One aspect of the present invention is a ship control system including a ship and an input device. The ship includes an actuator having a function of generating propulsion force of the ship and a function of generating a moment on the ship, a first operation unit that receives an input operation of an operator, and a ship control device that operates the actuator. The input device includes a second operation unit that receives an input operation of the operator. The ship control device includes a first operation mode and a second operation mode. In the first operation mode, a moment is generated on the ship based on the input operation received by the first operation unit. In the second operation mode, the actuator is operated based on the input operation received by the second operation unit. The ship control device executes feedback control of the ship's bow azimuth based on the deviation between the target bow azimuth and the actual bow azimuth of the ship in the second operation mode.

[0006] One aspect of the present invention is a ship control device provided in the ship including an actuator having a function of generating propulsion force of the ship and a function of generating a moment on the ship, and a first operation unit that receives an input operation of an operator. The ship control device includes a first operation mode and a second operation mode. In the first operation mode, a moment is generated on the ship based on the input operation received by the first operation unit. In the second operation mode, the actuator is operated based on the input operation received by the second operation unit provided in the input device. The ship control device executes feedback control of the ship's bow azimuth based on the deviation between the target bow azimuth and the actual bow azimuth of the ship in the second operation mode.

[0007] One aspect of the present invention is a ship control method for controlling a ship including an actuator having a function of generating a propulsion force of the ship and a function of generating a moment on the ship, and a first operation unit that receives an input operation of an operator. The method includes a first operation step of generating a moment on the ship based on the input operation received by the first operation unit, and a second operation step of operating the actuator based on the input operation received by a second operation unit provided in an input device. In the second operation step, feedback control of the ship's bow direction is executed based on the deviation between the target bow direction and the actual bow direction of the ship.

[0008] One aspect of the present invention is a program for causing a computer mounted on a ship including an actuator having a function of generating a propulsion force of the ship and a function of generating a moment on the ship, and a first operation unit that receives an input operation of an operator, to execute a first operation step of generating a moment on the ship based on the input operation received by the first operation unit, and a second operation step of operating the actuator based on the input operation received by a second operation unit provided in an input device. In the second operation step, feedback control of the ship's bow direction is executed based on the deviation between the target bow direction and the actual bow direction of the ship.

Advantages of the Invention

[0009] According to the present invention, it is possible to provide a ship control system, a ship control device, a ship control method, and a program that can appropriately control the bow direction of a ship when the ship is operated.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0011] <First Embodiment> Hereinafter, a first embodiment of the ship control system, ship control device, ship control method, and program of the present invention will be described.

[0012] FIG. 1 is a diagram showing an example of a ship control system 1 to which a ship control device 11C according to the first embodiment is applied. In the example shown in FIG. 1, the ship control system 1 includes a ship 11 and an input device 12 (for example, a communication device separate from the ship 11). The ship 11 according to the first embodiment is a PWC having functions similar to those of a personal watercraft (PWC, water motorcycle) described in FIG. 1 of Japanese Patent No. 5196649. The ship 11 includes an actuator 11A, a first operation unit 11B, a ship control device 11C, a bow azimuth detection unit 11D, and a communication unit 11E. The actuator 11A includes a rudder unit 11A1 and a thrust generation unit 11A2. The rudder unit 11A1 has a function of generating a moment on the ship 11. The thrust generation unit 11A2 has a function of generating a propulsive force of the ship 11. The thrust generation unit 11A2 includes an engine 11A21. Specifically, the actuator 11A includes, for example, an engine, a nozzle, a deflector, a trim actuator, a bucket, a bucket actuator, etc. described in FIG. 1 of Japanese Patent Application Laid-Open No. 2019-171925. The first operation unit 11B receives an input operation of an operator (specifically, an operator on board the ship 11). The first operation unit 11B includes, for example, a steering unit 11B1, a throttle operation unit 11B2, and a target bow azimuth setting unit 11B3. The steering unit 11B1 receives an input operation of the operator for operating the rudder unit 11A1. The throttle operation unit 11B2 receives an input operation of the operator for operating the thrust generation unit 11A2. The target bow azimuth setting unit 11B3 sets the target bow azimuth of the ship 11. The target bow azimuth setting unit 11B3 sets the target bow azimuth of the ship 11 according to an input operation of the operator (for example, an operation of turning on a switch (not shown)). Specifically, the first operation unit 11B is configured in the same manner as, for example, a steering wheel device described in FIG. 1 of Japanese Patent No. 5196649 and a steering unit described in FIG. 1 of Japanese Patent Application Laid-Open No. 2019-171925.

[0013] The ship control device 11C performs control such as operating the actuator 11A based on the input operation of the operator received by the first operation unit 11B. The bow azimuth detection unit 11D detects the actual bow azimuth of the ship 11, which is the actual bow azimuth of the ship. The bow azimuth detection unit 11D includes, for example, an azimuth sensor. The azimuth sensor calculates the actual bow azimuth of the ship 11 by using, for example, geomagnetism. In another example, the azimuth sensor may be a device (gyrocompass) in which a north indicating device and a vibration damping device are added to a high-speed rotating gyroscope so as to always indicate north. In still another example, the azimuth sensor may be a GPS compass that includes a plurality of GPS (Global Positioning System) antennas and calculates the bow azimuth from the relative positional relationship of the plurality of GPS antennas.

[0014] In the example shown in FIG. 1, the communication unit 11E communicates with the input device 12. The input device 12 is carried by the above-described operator. The input device 12 includes a second operation unit 12A and a communication unit 12B. The second operation unit 12A receives an input operation of the operator, for example, outside the ship 11. The communication unit 12B communicates with the communication unit 11E of the ship 11.

[0015] FIG. 2 is a diagram showing an example of the second operation unit 12A. In the example shown in FIG. 2, the second operation unit 12A includes a forward operation unit 12A1, a backward operation unit 12A2, a left turn operation unit 12A3, a right turn operation unit 12A4, a left movement operation unit 12A5, a right movement operation unit 12A6, and an engine rotation speed switching operation unit 12A7. The forward operation unit 12A1 receives an input operation of the operator for moving the ship 11 forward (specifically, for example, an input operation of the operator outside the ship 11). When the forward operation unit 12A1 receives an input operation of the operator for moving the ship 11 forward, the communication unit 12B transmits the input operation of the operator for moving the ship 11 forward received by the forward operation unit 12A1 to the ship 11. The ship control device 11C of the ship 11 activates the actuator 11A based on the input operation of the operator for moving the ship 11 forward received by the forward operation unit 12A1, and moves the ship 11 forward. The backward operation unit 12A2 receives an input operation of the operator for moving the ship 11 backward. When the backward operation unit 12A2 receives an input operation of the operator for moving the ship 11 backward, the communication unit 12B transmits the input operation of the operator for moving the ship 11 backward received by the backward operation unit 12A2 to the ship 11. The ship control device 11C of the ship 11 activates the actuator 11A based on the input operation of the operator for moving the ship 11 backward received by the backward operation unit 12A2, and moves the ship 11 backward. The left turning operation unit 12A3 receives an input operation from the operator for turning the ship 11 to the left or turning its bow to the left. When the left turning operation unit 12A3 receives an input operation from the operator for turning the ship 11 to the left or turning its bow to the left, the communication unit 12B transmits to the ship 11 the input operation from the operator for turning the ship 11 to the left or turning its bow to the left received by the left turning operation unit 12A3. Based on the input operation from the operator for turning the ship 11 to the left or turning its bow to the left received by the left turning operation unit 12A3, the ship control device 11C of the ship 11 activates the actuator 11A to turn the ship 11 to the left or turn its bow to the left. The right turning operation unit 12A4 receives an input operation from the operator for turning the ship 11 to the right or turning its bow to the right. When the right turning operation unit 12A4 receives an input operation from the operator for turning the ship 11 to the right or turning its bow to the right, the communication unit 12B transmits to the ship 11 the input operation from the operator for turning the ship 11 to the right or turning its bow to the right received by the right turning operation unit 12A4. Based on the input operation from the operator for turning the ship 11 to the right or turning its bow to the right received by the right turning operation unit 12A4, the ship control device 11C of the ship 11 activates the actuator 11A to turn the ship 11 to the right or turn its bow to the right.

[0016] The left movement operation unit 12A5 receives an input operation from the operator for moving the ship 11 to the left (laterally moving it to the left). When the left movement operation unit 12A5 receives an input operation from the operator for moving the ship 11 to the left, the communication unit 12B transmits to the ship 11 the input operation from the operator for moving the ship 11 to the left received by the left movement operation unit 12A5. Based on the input operation from the operator for moving the ship 11 to the left received by the left movement operation unit 12A5, the ship control device 11C of the ship 11 activates the actuator 11A to move the ship 11 to the left. The right movement operation unit 12A6 receives an input operation from an operator for moving the ship 11 to the right (laterally moving it to the right). When the right movement operation unit 12A6 receives an input operation from the operator for moving the ship 11 to the right, the communication unit 12B transmits the input operation from the operator for moving the ship 11 to the right received by the right movement operation unit 12A6 to the ship 11. The ship control device 11C of the ship 11 activates the actuator 11A based on the input operation from the operator for moving the ship 11 to the right received by the right movement operation unit 12A6, and moves the ship 11 to the right. The engine rotation speed switching operation unit 12A7 receives an input operation from an operator for switching the rotation speed of the engine 11A21 in, for example, three steps (low speed, medium speed, high speed). When the engine rotation speed switching operation unit 12A7 receives an input operation from the operator for switching the rotation speed of the engine 11A21, the communication unit 12B transmits the input operation from the operator for switching the rotation speed of the engine 11A21 received by the engine rotation speed switching operation unit 12A7 to the ship 11. The ship control device 11C of the ship 11 switches the rotation speed of the engine 11A21 based on the input operation from the operator for switching the rotation speed of the engine 11A21 received by the engine rotation speed switching operation unit 12A7.

[0017] That is, in the examples shown in FIGS. 1 and 2, the ship control device 11C includes a first operation mode in which a moment is generated in the ship 11 based on the input operation received by the first operation unit 11B, and a second operation mode in which the actuator 11A is activated based on the input operation received by the second operation unit 12A. Since the ship 11 on the sea is strongly affected by disturbances such as wind and tide, it is difficult for the operator to operate the ship 11 by a complete manual operation in the second operation mode of the ship control device 11C (that is, when the ship 11 is operated by an operator located, for example, outside the ship 11). Therefore, in the examples shown in FIGS. 1 and 2, when the ship control device 11C is in the second operation mode, the ship control device 11C performs feedback control of the ship's heading of the ship 11 based on the deviation between the target heading of the ship 11 and the actual heading of the ship. That is, when the ship control device 11C is in the second operation mode, it is not necessary for the operator to control the ship's heading of the ship 11 by manual operation, and the ship's heading of the ship 11 is automatically controlled by the ship control device 11C. Therefore, in the examples shown in FIGS. 1 and 2, when the ship 11 is remotely operated, for example, the ship's heading of the ship 11 can be appropriately controlled. That is, the operator can concentrate on the forward operation of the ship 11 and the operability of the ship 11 (for example, remote operability) can be improved.

[0018] Specifically, in the examples shown in FIGS. 1 and 2, when the ship control device 11C is in the second operation mode, even when the second operation unit 12A of the input device 12 does not receive an input operation from the operator, the ship control device 11C performs heading holding control, which is feedback control for holding the actual heading of the ship 11 at the target heading based on the deviation between the target heading of the ship 11 and the actual heading of the ship. Therefore, when the ship control device 11C is in the second operation mode, if the operator only sets the target heading of the ship 11, the ship's bow can be directed in the desired direction.

[0019] FIG. 3 is a diagram for explaining an example of control by the ship control device 11C when the right turn operation unit 12A4 of the second operation unit 12A of the input device 12 receives an input operation from the operator to turn the ship 11 to the right or turn the ship's head to the right. FIG. 3(A) shows the state immediately before (time t1) the right turn operation unit 12A4 receives an input operation from the operator to turn the ship 11 to the right or turn the ship's head to the right when the ship control device 11C is in the second operation mode. At this stage, as shown in FIG. 3(A), the actual heading of the ship 11 and the target heading are approximately the same due to the heading holding control of the ship 11. In FIG. 3, "Steering" indicates the rudder angle instruction value calculated by the ship control device 11C. For example, at time t2 during the second operation mode of the ship control device 11C, when the right turning operation unit 12A4 of the second operation unit 12A receives an input operation from the operator to turn the ship 11 to the right or turn its bow to the right, as shown in Fig. 3(B), the ship control device 11C changes the target bow azimuth of the ship 11 by a predetermined angle (in the example shown in Fig. 3, "n degrees"). That is, the angle formed by the target bow azimuth of the ship 11 at time t1 and the target bow azimuth of the ship 11 at time t2 is n degrees. Further, the ship control device 11C performs feedback control of the bow azimuth of the ship 11 based on the deviation between the target bow azimuth changed by a predetermined angle (n degrees) and the actual bow azimuth. As a result, in the example shown in Fig. 3, the ship 11 turns its bow to the right, and the actual bow azimuth of the ship 11 approaches the target bow azimuth shown in Fig. 3(B).

[0020] In the example shown in Fig. 3, at time t3 after a predetermined time (for example, one control cycle of the ship control device 11C) has elapsed since time t2, since the right turning operation unit 12A4 of the second operation unit 12A continues to receive an input operation from the operator to turn the ship 11 to the right or turn its bow to the right, as shown in Fig. 3(C), the ship control device 11C adds an additional predetermined angle (n degrees) to the amount of change in the target bow azimuth of the ship 11. That is, the angle formed by the target bow azimuth of the ship 11 at time t1 and the target bow azimuth of the ship 11 at time t3 is 2n degrees. Further, the ship control device 11C performs feedback control of the bow azimuth of the ship 11 based on the deviation between the target bow azimuth with the additional change amount of a predetermined angle (n degrees) and the actual bow azimuth. That is, in the ship control system 1 of the first embodiment, when the right turning operation unit 12A4 of the second operation unit 12A receives an input operation from the operator to turn the ship 11 to the right or turn its bow to the right, and the second operation unit 12A continues to receive the input operation from the operator to turn the ship 11 to the right or turn its bow to the right after a predetermined time (for example, one control cycle of the ship control device 11C) has elapsed from the time when the input operation is received, the ship control device 11C adds an additional predetermined angle (in the example shown in Fig. 3, n degrees) to the amount of change in the target bow azimuth of the ship 11.

[0021] In the example shown in FIG. 3, at time t4 after a predetermined time (for example, one control cycle of the ship control device 11C) has elapsed since time t3, the right-turn operation unit 12A4 of the second operation unit 12A continuously receives an input operation from the operator to turn the ship 11 to the right or turn it to the right. Therefore, as shown in FIG. 3(D), the ship control device 11C further adds a predetermined angle (n degrees) to the change amount of the target bow azimuth of the ship 11. That is, the angle formed by the target bow azimuth of the ship 11 at time t1 and the target bow azimuth of the ship 11 at time t4 becomes 3n degrees. Further, the ship control device 11C executes feedback control of the bow azimuth of the ship 11 based on the deviation between the target bow azimuth with the change amount increased by the predetermined angle (n degrees) and the actual bow azimuth.

[0022] If, when the ship control device 11C is executing feedback control of the bow azimuth of the ship 11 based on the deviation between the target bow azimuth changed by a predetermined angle (n degrees) and the actual bow azimuth, specifically, when in the state shown in FIG. 3(B) (for example, immediately after time t2), the right-turn operation unit 12A4 of the second operation unit 12A stops receiving an input operation from the operator to turn the ship 11 to the right or turn it to the right, and the ship control device 11C executes bow azimuth holding control of the ship 11 based on the target bow azimuth shown in FIG. 3(B), the operator may feel that the ship 11 turns to the right or turns to the right even though the operator does not want the ship 11 to turn to the right or turn to the right. This is because the operator wants to determine the target bow azimuth of the ship 11 while observing the movement of the ship 11. Also, since the actual bow azimuth of the ship 11 changes with a delay compared to the target bow azimuth, when the bow azimuth holding control of the ship 11 is executed based on the target bow azimuth shown in FIG. 3(B) as described above, the operator has to determine the timing to stop the input operation to turn the ship 11 to the right or turn it to the right while considering the delay in the change of the actual bow azimuth.

[0023] In view of the above points, in the example shown in FIG. 3, for example, when the ship control device 11C executes feedback control of the ship's bow direction based on the deviation between the target bow direction changed by a predetermined angle (n degrees) and the actual bow direction, specifically, when in the state shown in FIG. 3(B) (for example, immediately after time t2), if the right-turn operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the right or making a right turn, the ship control device 11C sets the actual bow direction at the time when the right-turn operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the right or making a right turn (for example, immediately after time t2) (the actual bow direction shown in FIG. 3(B)) as the target bow direction, and executes bow direction holding control of the ship 11.

[0024] Also, for example, when the ship control device 11C executes feedback control of the ship's bow direction based on the deviation between the target bow direction with an additional change amount of a predetermined angle (n degrees) and the actual bow direction, specifically, when in the state shown in FIG. 3(C) (for example, immediately after time t3), if the right-turn operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the right or making a right turn, the ship control device 11C sets the actual bow direction at the time when the right-turn operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the right or making a right turn (for example, immediately after time t3) (the actual bow direction shown in FIG. 3(C)) as the target bow direction, and executes bow direction holding control of the ship 11.

[0025] Also, for example, when the ship control device 11C executes feedback control of the ship's bow direction of the ship 11 based on the deviation between the target bow direction with an additional change amount of a predetermined angle (n degrees) and the actual bow direction, specifically, when in the state shown in FIG. 3(D) (for example, immediately after time t4), if the right-turn operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the right or making a right turn, the ship control device 11C sets the actual bow direction (the actual bow direction shown in FIG. 3(D)) at the time when the right-turn operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the right or making a right turn (for example, immediately after time t4) as the target bow direction, and executes the bow direction holding control of the ship 11.

[0026] In the ship control system 1 of the first embodiment, when the left-turn operation unit 12A3 of the second operation unit 12A receives the input operation of the operator for turning the ship 11 to the left or making a left turn in the second operation mode of the ship 11, similar to the case where the right-turn operation unit 12A4 of the second operation unit 12A receives the input operation of the operator for turning the ship 11 to the right or making a right turn, the ship control device 11C changes the target bow direction of the ship 11 by a predetermined angle (n degrees). Further, the ship control device 11C executes feedback control of the bow direction of the ship 11 based on the deviation between the target bow direction changed by a predetermined angle (n degrees) and the actual bow direction. When, after a predetermined time (for example, one control cycle of the ship control device 11C) has elapsed, the left-turn operation unit 12A3 of the second operation unit 12A continues to receive the input operation of the operator for turning the ship 11 to the left or making a left turn, the ship control device 11C adds a predetermined angle (n degrees) to the change amount of the target bow direction of the ship 11. Further, the ship control device 11C executes feedback control of the bow direction of the ship 11 based on the deviation between the target bow direction with the change amount increased by a predetermined angle (n degrees) and the actual bow direction.

[0027] Also, in the ship control system 1 of the first embodiment, when the left-turn operation unit 12A3 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the left or making a left turn, similar to the case where the right-turn operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the right or making a right turn, when the ship control device 11C is performing feedback control of the ship's bow direction based on the deviation between the target bow direction changed by a predetermined angle (n degrees) and the actual bow direction, the ship control device 11C sets the actual bow direction at the time when the left-turn operation unit 12A3 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the left or making a left turn as the target bow direction, and executes the bow direction holding control of the ship 11. Also, in the ship control system 1 of the first embodiment, when the left-turn operation unit 12A3 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the left or making a left turn, similar to the case where the right-turn operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the right or making a right turn, when the ship control device 11C is performing feedback control of the ship's bow direction based on the deviation between the target bow direction with an additional change amount of a predetermined angle (n degrees) and the actual bow direction, the ship control device 11C sets the actual bow direction at the time when the left-turn operation unit 12A3 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to the left or making a left turn as the target bow direction, and executes the bow direction holding control of the ship 11.

[0028] FIG. 4 is a diagram for explaining an example of control by the ship control device 11C when the forward operation unit 12A1 of the second operation unit 12A of the input device 12 receives the input operation of the operator for moving the ship 11 forward. FIG. 4(A) shows the state at time t11 when the second operation mode of the ship control device 11C is in effect, the second operation unit 12A of the input device 12 is not receiving the input operation of the operator, and the ship control device 11C is performing the bow direction holding control of the ship 11. That is, in the state shown in FIG. 4(A), the ship control device 11C is trying to make the actual bow direction of the ship 11 coincide with the target bow direction. Next, as shown in FIG. 4(B), when the forward operation unit 12A1 of the second operation unit 12A receives an input operation from the operator to move the ship 11 forward at time t12, the ship control device 11C uses the actual bow azimuth (the actual bow azimuth shown in FIG. 4(A)) at the time when the forward operation unit 12A1 of the second operation unit 12A receives the input operation from the operator to move the ship 11 forward (time t12, that is, the start of forward movement) as the target bow azimuth, executes feedback control of the bow azimuth of the ship 11, and starts control to move the ship 11 forward (that is, the thrust generation unit 11A2 of the actuator 11A generates the thrust (propulsive force) shown in FIG. 4).

[0029] Since the ship 11 on the sea is strongly affected by disturbances such as wind and tide, when the ship control device 11C is in the second operation mode and the second operation unit 12A of the input device 12 has not received an input operation from the operator and the ship control device 11C is executing bow azimuth holding control of the ship 11 (time t11), the bow azimuth (actual bow azimuth) of the ship 11 constantly changes. Generally, the operator starts an operation to move the ship 11 forward at the timing when the bow of the ship 11 is facing the direction intended by the operator. Therefore, in the ship control system 1 of the first embodiment, as described above, the ship control device 11C uses the actual bow azimuth at the time when the forward operation unit 12A1 of the second operation unit 12A receives an input operation from the operator to move the ship 11 forward as the target bow azimuth, executes feedback control of the bow azimuth of the ship 11, and starts control to move the ship 11 forward. Therefore, in the ship control system 1 of the first embodiment, the second operability of the ship 11 by the operator can be improved.

[0030] In the example shown in FIG. 4, when the forward operation unit 12A1 of the second operation unit 12A stops receiving the input operation of the operator for advancing the ship 11 at time t13 when the ship control device 11C is executing control to advance the ship 11, the ship control device 11C ends the control for advancing the ship 11, and the thrust generation unit 11A2 of the actuator 11A stops generating the thrust shown in FIG. 4. Further, the ship control device 11C executes the bow azimuth holding control of the ship 11 with the actual bow azimuth at the time (time t13) when the forward operation unit 12A1 of the second operation unit 12A stops receiving the input operation of the operator for advancing the ship 11 (the actual bow azimuth shown in FIG. 4(C)) as the target bow azimuth.

[0031] In an example of the ship control system 1 of the first embodiment, similar to the example shown in FIG. 4, when the reverse operation unit 12A2 of the second operation unit 12A receives the input operation of the operator for reversing the ship 11 in the second operation mode of the ship control device 11C, the ship control device 11C executes the feedback control of the bow azimuth of the ship 11 with the actual bow azimuth at the time (that is, at the start of reversing) when the reverse operation unit 12A2 of the second operation unit 12A receives the input operation of the operator for reversing the ship 11 as the target bow azimuth, and also executes the control for reversing the ship 11.

[0032] Also, in an example of the ship control system 1 of the first embodiment, similar to the example shown in FIG. 4, when the reverse operation unit 12A2 of the second operation unit 12A stops receiving the input operation of the operator for reversing the ship 11, the ship control device 11C executes the bow azimuth holding control of the ship 11 with the actual bow azimuth at the time when the reverse operation unit 12A2 of the second operation unit 12A stops receiving the input operation of the operator for reversing the ship 11 as the target bow azimuth.

[0033] As described above, in the example shown in FIG. 4, during the bow azimuth holding control of the ship 11, when the ship control device 11C receives the input operation of the operator to move the ship 11 forward by the forward operation unit 12A1 of the second operation unit 12A, the actual bow azimuth at that time is set as the target bow azimuth, and the feedback control of the bow azimuth of the ship 11 is executed, and the control to move the ship 11 forward is started. In other examples, during the bow azimuth holding control of the ship 11, the ship control device 11C may set the target bow azimuth at the time when the forward operation unit 12A1 of the second operation unit 12A receives the input operation of the operator to move the ship 11 forward as the target bow azimuth for the control to move the ship 11 forward and the feedback control of the bow azimuth of the ship 11. Also, in an example of the ship control system 1 of the first embodiment described above, during the bow azimuth holding control of the ship 11, when the ship control device 11C receives the input operation of the operator to move the ship 11 backward by the backward operation unit 12A2 of the second operation unit 12A, the actual bow azimuth at that time is set as the target bow azimuth, and the feedback control of the bow azimuth of the ship 11 is executed, and the control to move the ship 11 backward is started. In other examples, during the bow azimuth holding control of the ship 11, the ship control device 11C may set the target bow azimuth at the time when the backward operation unit 12A2 of the second operation unit 12A receives the input operation of the operator to move the ship 11 backward as the target bow azimuth for the control to move the ship 11 backward and the feedback control of the bow azimuth of the ship 11.

[0034] FIG. 5 is a diagram for explaining an example of the control by the ship control device 11C when the right movement operation unit 12A6 of the second operation unit 12A of the input device 12 receives the input operation of the operator to move the ship 11 to the right (to move laterally to the right). As shown in Fig. 5(A), when the ship control device 11C is in the second operation mode and the ship control device 11C is performing the bow azimuth holding control of the ship 11 (time t21), when the right movement operation unit 12A6 of the second operation unit 12A receives the input operation of the operator to move the ship 11 laterally to the right, the ship control device 11C sets the bow azimuth obtained by rotating the actual bow azimuth or the target bow azimuth at the time (i.e., time t21) when the right movement operation unit 12A6 of the second operation unit 12A receives the input operation of the operator to move the ship 11 laterally to the right (rightward in Fig. 5) leftward by a predetermined angle (e.g., 90 degrees) as the target bow azimuth, and executes the feedback control of the bow azimuth of the ship 11. As a result, as shown in Figs. 5(B) and 5(C), the bow azimuth of the ship 11 rotates counterclockwise. Furthermore, as shown in Figs. 5(B) and 5(C), the ship control device 11C executes the control to reverse the ship 11. As a result, the thrust as shown in Figs. 5(B) and 5(C) is generated. Next, as shown in Fig. 5(D), when the rightward lateral movement of the ship 11 ends (time t22), the ship control device 11C sets the actual bow azimuth (i.e., the actual bow azimuth shown in Fig. 5(A)) or the target bow azimuth at the time (time t21) when the right movement operation unit 12A6 of the second operation unit 12A receives the input operation of the operator to move the ship 11 laterally to the right as the target bow azimuth, and executes the feedback control of the bow azimuth of the ship 11. As a result, as shown in Figs. 5(E) and 5(F), the bow azimuth of the ship 11 rotates clockwise. Alternatively, when the second operation unit 12A's right movement operation unit 12A6 of the ship control device 11C receives an input operation from the operator to move the ship 11 laterally to the right in the second operation mode of the ship 11, the ship control device 11C rotates the actual ship's head azimuth or the target ship's head azimuth at the time when the second operation unit 12A's right movement operation unit 12A6 receives the input operation from the operator to move the ship 11 laterally to the right by a predetermined angle (for example, 90 degrees) to the right as the target ship's head azimuth, executes feedback control of the ship's head azimuth of the ship 11, and executes control to move the ship 11 forward. When the lateral movement of the ship 11 to the right ends, the ship control device 11C may execute feedback control of the ship's head azimuth of the ship 11 with the actual ship's head azimuth or the target ship's head azimuth at the time when the second operation unit 12A's right movement operation unit 12A6 receives the input operation from the operator to move the ship 11 laterally to the right as the target ship's head azimuth.

[0035] In the ship control system 1 of the first embodiment, when the left movement operation unit 12A5 of the second operation unit 12A receives an input operation from the operator to move the ship 11 laterally to the left in the second operation mode of the ship 11, in the same manner as when the right movement operation unit 12A6 of the second operation unit 12A receives an input operation from the operator to move the ship 11 laterally to the right, the ship control device 11C rotates the actual ship's head azimuth or the target ship's head azimuth at the time when the left movement operation unit 12A5 of the second operation unit 12A receives the input operation from the operator to move the ship 11 laterally to the left by a predetermined angle (for example, 90 degrees) to the right as the target ship's head azimuth, executes feedback control of the ship's head azimuth of the ship 11, and executes control to move the ship 11 backward. Next, when the lateral movement of the ship 11 to the left ends, the ship control device 11C executes feedback control of the ship's head azimuth of the ship 11 with the actual ship's head azimuth or the target ship's head azimuth at the time when the left movement operation unit 12A5 of the second operation unit 12A receives the input operation from the operator to move the ship 11 laterally to the left as the target ship's head azimuth. Alternatively, when the second operation unit 12A's left movement operation unit 12A5 receives an input operation from the operator to move the ship 11 laterally to the left in the second operation mode of the ship control device 11C, the ship control device 11C uses, as the target bow azimuth, the bow azimuth obtained by rotating the actual bow azimuth or the target bow azimuth at the time when the second operation unit 12A's left movement operation unit 12A5 receives the input operation from the operator to move the ship 11 laterally to the left by a predetermined angle (e.g., 90 degrees) to the left. Then, the ship control device 11C executes feedback control of the bow azimuth of the ship 11 and also executes control to move the ship 11 forward. When the lateral movement of the ship 11 to the left ends, the ship control device 11C may execute feedback control of the bow azimuth of the ship 11 using, as the target bow azimuth, the actual bow azimuth or the target bow azimuth at the time when the second operation unit 12A's left movement operation unit 12A5 receives the input operation from the operator to move the ship 11 laterally to the left.

[0036] As described above, in the ship control system 1 of the first embodiment, by appropriately incorporating the bow azimuth holding control of the ship 11, it is possible to realize safe and smooth remote operation of the ship 11 by an operator located outside the ship 11, for example.

[0037] FIG. 6 is a flowchart for explaining an example of the process executed by the ship control device 11C of the first embodiment. In the example shown in FIG. 6, in step S11, the ship control device 11C determines whether the mode of the ship control device 11C is either the first operation mode (a mode in which a moment is generated in the ship 11 based on the input operation received by the first operation unit 11B) or the second operation mode (a mode in which the actuator 11A is actuated based on the input operation received by the second operation unit 12A). If the mode of the ship control device 11C is the first operation mode, the process proceeds to step S12. On the other hand, if the mode of the ship control device 11C is the second operation mode, the process proceeds to step S13. In step S12, the ship control device 11C executes ship control in the first operation mode. Specifically, a moment is generated in the ship 11 based on the input operation received by the first operation unit 11B. In step S13, the ship control device 11C executes ship control in the second operation mode. Specifically, the actuator 11A is actuated based on the input operation received by the second operation unit 12A of the input device 12. In detail, the ship control device 11C executes feedback control of the ship's bow direction of the ship 11 based on the deviation between the target bow direction and the actual bow direction of the ship 11.

[0038] <Second Embodiment> Hereinafter, a second embodiment of the ship control system, ship control device, ship control method, and program of the present invention will be described. The ship control system 1 of the second embodiment is configured in the same manner as the ship control system 1 of the first embodiment described above, except for the points described later. Therefore, according to the ship control system 1 of the second embodiment, the same effects as those of the ship control system 1 of the first embodiment described above can be obtained, except for the points described later.

[0039] FIG. 7 is a diagram for explaining an example of control by the ship control device 11C when the right turning operation unit 12A4 of the second operation unit 12A of the input device 12 of the ship control system 1 of the second embodiment receives an input operation from the operator to turn the ship 11 to the right or turn the bow to the right. FIG. 7(A) shows a state in which the ship 11 is turning the bow to the right when the ship control device 11C is in the second operation mode and the right turning operation unit 12A4 of the second operation unit 12A has received an input operation from the operator to turn the ship 11 to the right or turn the bow to the right. In detail, FIG. 7(A) shows a state immediately before the input operation by the right turning operation unit 12A4 to turn the ship 11 to the right or turn the bow to the right stops (time t31). In the ship control system 1 of the second embodiment, similar to the ship control system 1 of the first embodiment (the example shown in FIG. 4), when the right turning operation unit 12A4 of the second operation unit 12A receives an input operation from the operator to turn the ship 11 to the right or turn the bow to the right during the second operation mode of the ship control device 11C, the ship control device 11C changes the target bow direction of the ship 11 by a predetermined angle (n degrees), and executes feedback control of the ship's bow direction of the ship 11 based on the deviation between the target bow direction changed by the predetermined angle (n degrees) and the actual bow direction.

[0040] In the example shown in FIG. 7, then, as shown in FIG. 7(B), at time t32, the starboard turning operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to starboard or turning its bow to starboard. The ship control device 11C sets the actual bow azimuth at the time (time t32) when the starboard turning operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to starboard or turning its bow to starboard as the target bow azimuth. On the other hand, even after time t32 when the starboard turning operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to starboard or turning its bow to starboard, as shown in FIG. 7(C), due to the inertial force when the ship was turning its bow to starboard, the ship 11 tends to continue turning its bow to starboard. Therefore, in the example shown in FIG. 7, the ship control device 11C activates the actuator 11A so as to prevent the ship 11 from continuing to turn its bow to starboard due to the inertial force. Specifically, at time t33 after time t32, the ship control device 11C uses the actual bow azimuth at the time (time t32) when the starboard turning operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to starboard or turning its bow to starboard as the target bow azimuth, and generates a moment for turning the ship 11 to port or turning its bow to port on the ship 11. As a result, as shown in FIG. 7(D), at time t34, due to the moment for turning the ship 11 to port or turning its bow to port, the angular velocity of the ship 11 turning its bow to starboard becomes equal to or lower than the threshold value. The ship control device 11C executes bow azimuth holding control of the ship 11 using the actual bow azimuth of the ship 11 at the time (time t34) when the angular velocity of the ship 11 turning its bow to starboard becomes equal to or lower than the threshold value as the target bow azimuth.

[0041] In other examples, as shown in FIG. 7(B), when at time t32 the starboard turning operation unit 12A4 stops receiving the input operation of the operator for turning the ship 11 to starboard or turning its bow to starboard, the ship control device 11C may not set the actual bow azimuth at the time (time t32) when the starboard turning operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to starboard or turning its bow to starboard as the target bow azimuth. In this example, as shown in FIG. 7(B), when at time t32, the starboard turning operation unit 12A4 stops receiving the input operation of the operator for turning the ship 11 to starboard or for a starboard turn, the ship control device 11C causes a moment for turning the ship 11 to port or for a port turn to occur in the ship 11 by a method other than the method of setting the actual ship's head azimuth at the time (time t32) when the starboard turning operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to starboard or for a starboard turn as the target ship's head azimuth.

[0042] In still another example, as shown in FIG. 7(B), when at time t32, the starboard turning operation unit 12A4 stops receiving the input operation of the operator for turning the ship 11 to starboard or for a starboard turn, the ship control device 11C may not cause a moment for turning the ship 11 to port or for a port turn to occur in the ship 11. In this example, as shown in FIG. 7(B), when at time t32, the starboard turning operation unit 12A4 stops receiving the input operation of the operator for turning the ship 11 to starboard or for a starboard turn, the ship control device 11C stops causing a moment for turning the ship 11 to starboard or for a starboard turn to occur in the ship 11. Therefore, due to water resistance or the like, the angular velocity of the starboard turn of the ship 11 decreases to a value equal to or less than the threshold value.

[0043] In the first example of the ship control system 1 of the second embodiment, when in the second operation mode of the ship control device 11C and the starboard turning operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to starboard or for a starboard turn while the ship 11 is making a starboard turn, the ship control device 11C sets the actual ship's head azimuth at the time when the starboard turning operation unit 12A4 of the second operation unit 12A stops receiving the input operation of the operator for turning the ship 11 to starboard or for a starboard turn as the target ship's head azimuth, and causes a moment for turning the ship 11 to port or for a port turn to occur in the ship 11. Next, the ship control device 11C executes ship's head azimuth holding control of the ship 11 with the actual ship's head azimuth at the time when the angular velocity of the starboard turn of the ship 11 becomes equal to or less than the threshold value due to the moment for turning the ship 11 to port or for a port turn as the target ship's head azimuth.

[0044] In the second example of the ship control system 1 according to the second embodiment, when the second operation mode of the ship control device 11C is in effect and the ship 11 is turning right, if the input operation of the operator to turn the ship 11 to the right or turn it rightward is not accepted by the right-turn operation unit 12A4 of the second operation unit 12A, the ship control device 11C sets the actual ship's head direction at the time when the input operation of the operator to turn the ship 11 to the right or turn it rightward is no longer accepted by the right-turn operation unit 12A4 of the second operation unit 12A as the target ship's head direction, and generates a moment to turn the ship 11 to the left or turn it leftward on the ship 11. Next, when the angular velocity of the right turn of the ship 11 becomes equal to or less than the threshold value due to the moment to turn the ship 11 to the left or turn it leftward, the ship control device 11C sets the actual ship's head direction at that time as the target ship's head direction, executes feedback control of the ship's head direction of the ship 11, and causes the thrust generation unit 11A2 to generate a propulsive force to move the ship 11 forward or backward.

[0045] In the third example of the ship control system 1 according to the second embodiment, when the second operation mode of the ship control device 11C is in effect and the ship 11 is turning left, if the input operation of the operator to turn the ship 11 to the left or turn it leftward is not accepted by the left-turn operation unit 12A3 of the second operation unit 12A, the ship control device 11C sets the actual ship's head direction at the time when the input operation of the operator to turn the ship 11 to the left or turn it leftward is no longer accepted by the left-turn operation unit 12A3 of the second operation unit 12A as the target ship's head direction, and generates a moment to turn the ship 11 to the right or turn it rightward on the ship 11. Next, when the angular velocity of the left turn of the ship 11 becomes equal to or less than the threshold value due to the moment to turn the ship 11 to the right or turn it rightward, the ship control device 11C sets the actual ship's head direction at that time as the target ship's head direction and executes ship's head direction holding control of the ship 11.

[0046] In the fourth example of the ship control system 1 according to the second embodiment, when the ship 11 is turning left and the input operation of the operator to turn the ship 11 to the left or turn it left is not accepted by the left turn operation unit 12A3 of the second operation unit 12A in the second operation mode of the ship control device 11C, the ship control device 11C sets the actual ship's head azimuth at the time when the input operation of the operator to turn the ship 11 to the left or turn it left is not accepted by the left turn operation unit 12A3 of the second operation unit 12A as the target ship's head azimuth, and generates a moment for turning the ship 11 to the right or turning it right on the ship 11. Next, when the angular velocity of the left turn of the ship 11 becomes equal to or less than the threshold value due to the moment for turning the ship 11 to the right or turning it right, the ship control device 11C sets the actual ship's head azimuth at that time as the target ship's head azimuth, executes feedback control of the ship's head azimuth of the ship 11, and generates a propulsive force for moving the ship 11 forward or backward in the thrust generation unit 11A2.

[0047] <Third Embodiment> Hereinafter, a third embodiment of the ship control system, ship control device, ship control method, and program of the present invention will be described. The ship control system 1 according to the third embodiment is configured in the same manner as the ship control system 1 according to the first embodiment described above, except for the points described later. Therefore, according to the ship control system 1 according to the third embodiment, the same effects as those of the ship control system 1 according to the first embodiment described above can be achieved, except for the points described later.

[0048] As described above, the ship 11 according to the first embodiment is a PWC having the same functions as those of the PWC described in FIG. 1 of Japanese Patent No. 5196649. On the other hand, the ship 11 according to the third embodiment is a jet-propelled boat having the same functions as those of a jet boat or a sports boat called a jet-propelled boat described in FIG. 1 of Japanese Unexamined Patent Application Publication No. 2020-019321.

[0049] <Fourth Embodiment> Hereinafter, a fourth embodiment of the ship control system, ship control device, ship control method, and program of the present invention will be described. The ship control system 1 of the fourth embodiment is configured in the same manner as the ship control system 1 of the first embodiment described above, except as described later. Therefore, according to the ship control system 1 of the fourth embodiment, the same effects as those of the ship control system 1 of the first embodiment described above can be achieved, except as described later.

[0050] The ship 11 of the fourth embodiment is a ship that does not have a jet propulsion unit (for example, a ship equipped with an outboard engine described in Japanese Patent No. 6198192, Japanese Unexamined Patent Application Publication No. 2007-22284, etc., a ship equipped with an inboard and outboard engine or an inboard engine, a large ship equipped with a side thruster, etc.).

[0051] As described above, the embodiments for implementing the present invention have been described using the embodiments. However, the present invention is not limited to such embodiments, and various modifications and substitutions can be made without departing from the gist of the present invention. The configurations described in the above-described embodiments and each example may be combined.

[0052] Note that the entire function or a part of the functions of each part included in the ship control system 1 in the above-described embodiment may be realized by recording a program for realizing these functions on a computer-readable recording medium, reading the program recorded on this recording medium into a computer system, and executing it. Here, the "computer system" is assumed to include hardware such as an OS and peripheral devices. In addition, the "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, etc., and storage parts such as hard disks built into computer systems. Furthermore, the "computer-readable recording medium" also includes those that dynamically hold a program for a short period of time, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, and those that hold a program for a certain period of time, like the volatile memory inside a computer system serving as a server or client in that case. Also, the above program may be for realizing a part of the aforementioned functions, and may further be realizable in combination with a program already recorded in the computer system for realizing the aforementioned functions.

Explanation of Signs

[0053] 1…Ship control system, 11…Ship, 11A…Actuator, 11A1…Steering part, 11A2…Thrust generation part, 11A21…Engine, 11B…First operation part, 11B1…Steering part, 11B2…Throttle operation part, 11B3…Target bow azimuth setting part, 11C…Ship control device, 11D…Bow azimuth detection part, 11E…Communication part, 12…Input device, 12A…Second operation part, 12A1…Forward operation part, 12A2…Backward operation part, 12A3…Left turn operation part, 12A4…Right turn operation part, 12A5…Left movement operation part, 12A6…Right movement operation part, 12A7…Engine rotation speed switching operation part, 12B…Communication part

Claims

1. A ship control system comprising a ship and an input device, wherein the ship has an actuator having a function of generating the propulsion force of the ship and a function of generating a moment on the ship, a first operation unit that receives an input operation of an operator, a ship control device that operates the actuator, and a bow direction detection unit that detects the actual bow direction of the ship, which is the actual bow direction of the ship, the input device includes a second operation unit that receives an input operation of an operator, the ship control device includes a first operation mode and a second operation mode, in the first operation mode, a moment is generated on the ship based on the input operation received by the first operation unit, in the second operation mode, the actuator is operated based on the input operation received by the second operation unit, when the ship control device is in the second operation mode and the second operation unit is receiving an input operation of an operator to move or turn the ship in a target direction, while executing feedback control of the bow direction of the ship based on the deviation between the target bow direction of the ship and the detected actual bow direction without an instruction of the bow direction to the second operation unit by the operator, the ship is moved or turned in the target direction received by the second operation unit Ship control system.

2. The input device is a communication device separate from the ship The ship control system according to claim 1.

3. When the second operation unit is receiving an input operation of an operator to move the ship forward or backward in the second operation mode, even if a disturbance occurs, without an instruction of the bow direction to the second operation unit by the operator, the ship control device executes control to move the ship forward or backward while executing feedback control of the target bow direction of the ship and the detected bow direction of the ship, The ship control system according to claim 1.

4. In the second operation mode, when the second operation unit is receiving an input operation of an operator to move the ship forward or backward, the ship control device sets the actual bow direction at the time when the second operation unit receives the input operation of the operator to move the ship forward or backward as the target bow direction when moving the ship forward or backward, The ship control system according to claim 3.

5. In the second operation mode, When the second operation unit receives an input operation from the operator to move the ship forward or backward, if the actual bow azimuth of the ship is changing, the ship control device, sets the actual bow azimuth at the time when the angular velocity of the actual bow azimuth of the ship becomes equal to or less than a threshold value as the target bow azimuth when moving the ship forward or backward. The ship control system according to claim 3.

6. When the second operation unit stops receiving an input operation from the operator to move the ship forward or backward, the ship control device, uses the actual bow azimuth at the time when the second operation unit stops receiving the input operation from the operator to move the ship forward or backward as the target bow azimuth, and executes bow azimuth holding control of the ship. The ship control system according to claim 3 or 4.

7. During the second operation mode, when the second operation unit receives an input operation from the operator to move the ship laterally in one direction of the left - right direction, the ship control device, uses the bow azimuth obtained by rotating the actual bow azimuth or the target bow azimuth at the time when the second operation unit receives the input operation for the lateral movement by a predetermined angle in the other direction of the left - right direction as the target bow azimuth, executes feedback control of the bow azimuth of the ship, rotates the ship in one rotation direction without an instruction to rotate to the second operation unit, and then, while the second operation unit is receiving the input operation for the lateral movement, continues to move the ship backward without an instruction to move backward to the second operation unit, when the second operation unit stops receiving the input operation for the lateral movement, the ship control device, after ending the backward movement of the ship, uses the actual bow azimuth or the target bow azimuth at the time when the second operation unit receives the input operation for the lateral movement as the target bow azimuth after the end of the lateral movement of the ship in the one direction, executes feedback control of the bow azimuth of the ship, and rotates the ship in the direction opposite to the one rotation direction without an instruction to rotate to the second operation unit. The ship control system according to claim 1.

8. During the second operation mode, when the second operation unit receives an input operation from the operator to move the ship laterally in one direction of the left - right direction, the ship control device, Using the bow azimuth obtained by rotating the actual bow azimuth or the target bow azimuth at the time when the second operation unit receives the input operation for causing the lateral movement by a predetermined angle in the one direction as the target bow azimuth, the feedback control of the bow azimuth of the ship is executed, and after rotating the ship in one rotation direction without an instruction for rotation to the second operation unit, while the second operation unit is receiving the input operation for causing the lateral movement, the ship is continuously moved forward without an instruction for forward movement to the second operation unit, when the second operation unit stops receiving the input operation for causing the lateral movement, the ship control device, after ending the forward movement of the ship, using the actual bow azimuth or the target bow azimuth at the time when the second operation unit receives the input operation for causing the lateral movement as the target bow azimuth after the end of the lateral movement in the one direction of the ship, the feedback control of the bow azimuth of the ship is executed, and the ship is rotated in the direction opposite to the one rotation direction without an instruction for rotation to the second operation unit. The ship control system according to claim 1.

9. In the second operation mode, even when the second operation unit is not receiving an input operation from the operator, the ship control device executes a bow azimuth holding control which is a feedback control for holding the actual bow azimuth of the ship at the target bow azimuth based on the deviation between the target bow azimuth and the actual bow azimuth of the ship. The ship control system according to claim 1.

10. In the second operation mode, when the second operation unit receives an input operation from the operator for turning or maneuvering the ship, the ship control device, changes the target bow azimuth by a predetermined angle, and executes a feedback control of the bow azimuth of the ship based on the deviation between the target bow azimuth changed by the predetermined angle and the actual bow azimuth, after a lapse of a predetermined time, when the second operation unit continuously receives an input operation from the operator for turning or maneuvering the ship, the ship control device, adds the change amount of the target bow azimuth of the ship by the predetermined angle, and executes a feedback control of the bow azimuth of the ship based on the deviation between the target bow azimuth with the change amount added by the predetermined angle and the actual bow azimuth. The ship control system according to claim 1.

11. When the ship control device executes feedback control of the ship's bow direction based on the deviation between the target bow direction changed by the predetermined angle and the actual bow direction, or when the ship control device executes feedback control of the ship's bow direction based on the deviation between the target bow direction with an additional change amount of the predetermined angle and the actual bow direction, if the second operation unit stops accepting the input operation of the operator for turning or maneuvering the ship, The ship control device, Regarding the actual bow direction at the time when the second operation unit stops accepting the input operation of the operator for turning or maneuvering the ship as the target bow direction, executes bow direction holding control of the ship. The ship control system according to claim 10.

12. When, in the second operation mode, the second operation unit accepts the input operation of the operator for turning or maneuvering the ship in either the clockwise or counterclockwise direction, The ship control device changes the target bow direction by a predetermined angle, and executes feedback control of the ship's bow direction based on the deviation between the target bow direction changed by the predetermined angle and the actual bow direction. After the second operation unit stops accepting the input operation of the operator for turning or maneuvering the ship in either the clockwise or counterclockwise direction, when the angular velocity of turning or maneuvering the ship in either the clockwise or counterclockwise direction becomes equal to or less than the threshold value, the ship control device regards the actual bow direction at the time when the angular velocity of turning or maneuvering the ship in either the clockwise or counterclockwise direction becomes equal to or less than the threshold value as the target bow direction, and executes bow direction holding control of the ship. The ship control system according to claim 1.

13. When the second operation unit stops accepting the input operation of the operator for turning or maneuvering the ship in either the clockwise or counterclockwise direction, the ship control device generates a moment for turning or maneuvering the ship in the other of the clockwise and counterclockwise directions on the ship, so that the angular velocity of turning or maneuvering the ship in either the clockwise or counterclockwise direction becomes equal to or less than the threshold value. The ship control system according to claim 12.

14. When the second operation unit stops receiving the input operation of the operator for turning or maneuvering the ship either clockwise or counterclockwise, the ship control device sets the actual ship's head azimuth at the time when the second operation unit stops receiving the input operation of the operator for turning or maneuvering the ship either clockwise or counterclockwise as the target ship's head azimuth, and generates a moment for turning or maneuvering the ship in the other direction of clockwise or counterclockwise for the ship. The ship control system according to claim 12.

15. A ship control device provided in the ship, comprising: an actuator having a function of generating a propulsion force of the ship and a function of generating a moment for the ship; a first operation unit that receives an input operation of an operator; and a ship's head azimuth detection unit that detects the actual ship's head azimuth, which is the actual ship's head azimuth of the ship. The ship control device includes a first operation mode and a second operation mode. In the first operation mode, a moment is generated for the ship based on the input operation received by the first operation unit. In the second operation mode, the actuator is operated based on the input operation received by the second operation unit provided in the input device. When the ship control device is in the second operation mode and the second operation unit is receiving the input operation of the operator for moving or turning / maneuvering the ship in the target direction, While performing feedback control of the ship's head azimuth based on the deviation between the target ship's head azimuth and the detected actual ship's head azimuth without an instruction of the ship's head azimuth to the second operation unit by the operator, the ship is moved or turned / maneuvered in the target direction received by the second operation unit. Ship control device.

16. A ship control method for controlling a ship including an actuator having a function of generating a propulsion force of the ship and a function of generating a moment for the ship, a first operation unit that receives an input operation of an operator, and a ship's head azimuth detection unit that detects the actual ship's head azimuth, which is the actual ship's head azimuth of the ship, A first operation step of generating a moment for the ship based on the input operation received by the first operation unit; And a second operation step of operating the actuator based on the input operation received by the second operation unit provided in the input device. When, in the second operation step, the second operation unit receives an input operation of an operator for moving the ship in a target direction or turning / rotating the ship, while executing feedback control of the ship's bow direction based on the deviation between the target bow direction of the ship and the detected actual bow direction without an indication of the bow direction to the second operation unit by the operator, move or turn / rotate the ship in the target direction received by the second operation unit A ship control method.

17. In a computer mounted on the ship, comprising: an actuator having a function of generating a propulsive force of the ship and a function of generating a moment on the ship; a first operation unit that receives an input operation of an operator; and a bow direction detection unit that detects an actual bow direction that is the actual bow direction of the ship, a first operation step of generating a moment on the ship based on the input operation received by the first operation unit; A program for executing a second operation step of operating the actuator based on an input operation received by a second operation unit provided in an input device, When, in the second operation step, the second operation unit receives an input operation of an operator for moving the ship in a target direction or turning / rotating the ship, while executing feedback control of the ship's bow direction based on the deviation between the target bow direction of the ship and the detected actual bow direction without an indication of the bow direction to the second operation unit by the operator, move or turn / rotate the ship in the target direction received by the second operation unit A program.

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