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

Abstract

To eliminate the need of input operation of a ship operator to cancel inertial force and / or moment of inertia generated in the ship when shifting from an operating state of an actuator to an operation stop state of the actuator.SOLUTION: A ship maneuvering system comprises: an actuator which has a function of generating propulsive power of a ship and a function of causing the ship to generate moment; an operation part which receives an input operation of a ship operator; and a ship control device which activates the actuator. In the case when the operation part receives an input operation that stops activation of the actuator when the ship control device activates the actuator, the ship control device activates the actuator with no need for the operation part to receive an input operation so that the actuator generates propulsive power in a direction opposite to the direction of the inertia force generated in the ship and / or that the ship is caused to generate moment in a direction opposite to the direction of moment of inertia generated in the ship.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] Patent Document 1 describes a technique for enabling a ship to be operated with a vehicle-like feel. In the technique described in Patent Document 1, a brake pedal for restricting the moving speed of the hull is provided on the hull. Further, in the technique described in Patent Document 1, when the brake pedal is strongly depressed, the output direction of the outdrive device is reversed (that is, when the brake pedal is strongly depressed while the ship is moving forward, a reverse thrust is generated), and the ship decelerates. Furthermore, in the technique described in Patent Document 1, a moving ship is brought into a stopped state by depressing the brake pedal, and when the depression of the brake pedal is continued, fixed-point holding control of the ship is performed. That is, in the technique described in Patent Document 1, in order to bring a moving ship into a stopped state, the operator must depress the brake pedal.

[0003] Patent Document 2 describes that in order to stop a ship, if the operator simply stops the engine or only performs an operation of disengaging the clutch, the ship will continue to sail by inertia and move a considerable distance before it stops. Further, Patent Document 2 describes that when the ship is sailing at full speed forward, the operator performs an operation of engaging the clutch in the reverse direction and slightly increasing the engine speed in order to stop the ship in a short distance. That is, in the technique described in Patent Document 2, in order to bring a moving ship into a stopped state, the operator must perform an operation of engaging the clutch in the reverse direction and slightly increasing the engine speed. That is, in the technologies described in Patent Documents 1 and 2, in order to bring a moving ship to a stop without continuing to move inertially, an operator must perform an input operation. In other words, in the technologies described in Patent Documents 1 and 2, an operator must perform an input operation in order to cancel the inertial force generated in the ship when shifting from the moving state to the stopped state of the ship.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] 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 that can eliminate the need for an operator's input operation to cancel the inertial force and / or inertial moment generated in the ship when shifting from the operating state of an actuator to the stopped state of the actuator.

Means for Solving the Problems

[0006] One aspect of the present invention includes an actuator having a function of generating a propulsion force for a ship and a function of generating a moment for the ship, A throttle operation unit that receives a forward / backward operation for moving the ship forward or backward by the actuator, and a steering unit that receives a turning operation for turning the ship left or right by the actuator, and an operation by a ship operator on the throttle operation unit and / or the steering unit, an operation unit that as receives an input operation, and a ship control device that operates the actuator. When the ship control device is operating the actuator, a stop operation for putting the actuator in a non-operating state when the throttle operation unit and / or the steering unit is received, the ship control device causes the actuator to generate a thrust in a direction opposite to the direction of the inertial force generated in the ship and / or causes the ship to generate a moment in a direction opposite to the direction of the inertial moment generated in the ship, as the operation unitadditional A steering system that operates the actuator without the need to receive an input operation.

[0007] One aspect of the present invention is an actuator having a function of generating a propulsive force of a ship and a function of generating a moment on the ship, A throttle operation unit that receives a forward / backward operation for moving the ship forward or backward by the actuator, and a steering unit that receives a turning operation for turning the ship left or right by the actuator, and an operation by a ship operator on the throttle operation unit and / or the steering unit, Input operation as A ship control device provided in a steering system including an operation unit that receives an input operation and operates the actuator, wherein when the ship control device is operating the actuator, a stop operation for putting the actuator in a non-operating state When the throttle operation unit and / or the steering unit is received, the actuator generates a thrust in a direction opposite to the direction of the inertial force generated on the ship, and / or the operation unit generates a moment in a direction opposite to the direction of the inertial moment generated on the ship so as to generate a moment on the ship. additional A ship control device that operates the actuator without the need to receive an input operation.

[0008] One aspect of the present invention is an actuator having a function of generating a propulsive force of a ship and a function of generating a moment on the ship, A throttle operation unit that receives a forward / backward operation for moving the ship forward or backward by the actuator, and a steering unit that receives a turning operation for turning the ship left or right by the actuator, and an operation by a ship operator on the throttle operation unit and / or the steering unit, Input operation as A ship control method for a ship control device provided in a steering system including an operation unit that receives an input operation and operates the actuator, the throttle operation unit and / or the steering unit A first step of operating the actuator in response to an input operation received by a stop operation for putting the actuator in a non-operating state When the throttle operation unit and / or the steering unit is received, the actuator generates a thrust in a direction opposite to the direction of the inertial force generated on the ship, and / or the operation unit generates a moment in a direction opposite to the direction of the inertial moment generated on the ship so as to generate a moment on the ship. additional A second step of operating the actuator without the need to receive an input operation.

[0009] One aspect of the present invention is an actuator having a function of generating a propulsive force of a ship and a function of generating a moment on the ship, and A throttle operation unit that receives a forward / backward operation for moving the ship forward or backward by the actuator, and a steering unit that receives a turning operation for turning the ship left or right by the actuator, and an operation by a ship operator on the throttle operation unit and / or the steering unit, an input operation as a control system for a ship provided with an operation unit that receives the input, and a computer mounted on a ship control device that operates the actuator, the throttle operation unit and / or the steering unit a first step of operating the actuator in response to the input operation received by the operation unit, and when the ship control device is operating the actuator, a stop operation for putting the actuator in a non-operating state when the throttle operation unit and / or the steering unit is received, the operation unit causes the actuator to generate a thrust in a direction opposite to the direction of the inertial force generated on the ship and / or causes the ship to generate a moment in a direction opposite to the direction of the inertial moment generated on the ship, additional a second step of operating the actuator without the need for the operation unit to receive an input operation. The program is for executing the steps.

Advantages of the Invention

[0010] 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 eliminate the need for an operator's input operation to cancel the inertial force and / or inertial moment generated on the ship when shifting from the operating state of the actuator to the stopped state of the actuator.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

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Figure 4

Figure 5

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Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Embodiments for Carrying Out the Invention

[0012] Before explaining the embodiments of the ship operation system, ship control device, ship control method, and program of the present invention, the ship control method of the comparative example will be explained. FIG. 16 is a diagram for explaining the behavior of a ship R11 of a comparative example when an input operation for advancing the ship R11 is received by an operation unit and then an input operation for stopping the advancement of the ship R11 is received. FIG. 17 is a flowchart for explaining the processing executed in the ship R11 of the comparative example. In the comparative example shown in FIGS. 16 and 17, in step SR1 of FIG. 17, for example, a ship control device of the ship R11 determines whether the operation unit has received an input operation for advancing the ship R11. If the operation unit has not received an input operation for advancing the ship R11, step SR1 is repeatedly executed. On the other hand, if the operation unit has received an input operation for advancing the ship R11, the process proceeds to step SR2. In step SR2, the ship R11 generates a propulsive force for advancing the ship R11. As a result, as shown in FIG. 16(C), the ship R11 advances (that is, the ship R11 moves upward in FIG. 16). Next, in step SR3 of FIG. 17, for example, a ship control device of the ship R11 determines whether the operation unit has received an input operation for stopping the advancement of the ship R11. If the operation unit has not received an input operation for stopping the advancement of the ship R11, step SR3 is repeatedly executed. On the other hand, if the operation unit has received an input operation for stopping the advancement of the ship R1, the process proceeds to step SR4. In step SR4, the ship R11 stops generating the upward propulsive force in FIG. 16. As a result, an upward inertial force (momentum) in FIG. 16 that tries to continue advancing is generated, and the ship R11 moves upward in FIG. 16 (advances due to momentum). In the ship R11 of the comparative example, in order to suppress this momentum, the operator must perform an input operation to cancel the inertial force.

[0013] <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. FIG. 1 is a diagram showing an example of a ship control system 1 including a ship 11 to which a ship control device 11C of the first embodiment is applied. The ship control device 11C of the first embodiment is applicable to any type of ship 11 such as a PWC having a function similar to that of a personal watercraft (PWC, water motorcycle) described in FIG. 1 of Japanese Patent No. 5196649, a ship not equipped with a jet propulsion unit (for example, a ship equipped with an outboard motor described in Japanese Patent No. 6198192, Japanese Patent Application Laid-Open No. 2007-22284, etc., a ship equipped with an inboard and outboard motor or an inboard engine, a large ship equipped with a side thruster, etc.). In the example shown in FIG. 1, the ship control system 1 includes a ship 11. The ship 11 includes an actuator 11A, an operation unit 11B, a ship control device 11C, a bow direction detection unit 11D, a ship speed detection unit 11E, and a ship position detection unit 11F. 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 propulsion force of the ship 11. In the example where the ship 11 is a PWC, 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.

[0014] In the example shown in FIG. 1, the operation unit 11B receives an input operation of the operator of the ship 11. The operation unit 11B includes, for example, a steering unit 11B1 and a throttle operation unit 11B2. 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. In the example where the ship 11 is a PWC, the steering unit 11B1 and the throttle operation unit 11B2 are configured in the same manner as, for example, a steering handle device described in FIG. 1 of Japanese Patent No. 5196649, a steering unit described in FIG. 1 of Japanese Patent Application Laid-Open No. 2019-171925, etc.

[0015] In the example shown in FIG. 1, the ship control device 11C operates the actuator 11A based on the input operation of the ship operator of the ship 11 received by the operation unit 11B and the like. Specifically, the ship control device 11C can operate the actuator 11A so that the thrust generating unit 11A2 of the actuator 11A generates a propulsive force for moving the ship 11 forward. The ship control device 11C can operate the actuator 11A so that the thrust generating unit 11A2 of the actuator 11A generates a propulsive force for moving the ship 11 backward. Also, the ship control device 11C can operate the actuator 11A so that the actuator 11A generates a moment for turning the ship 11 on the spot on the ship 11. Furthermore, the ship control device 11C can operate the actuator 11A so that the actuator 11A generates a propulsive force for moving the ship 11 forward and generates a moment for turning the ship 11 on the ship 11. The ship control device 11C can operate the actuator 11A so that the actuator 11A generates a propulsive force for moving the ship 11 backward and generates a moment for turning the ship 11 on the ship 11.

[0016] The bow azimuth detection unit 11D detects the bow azimuth of the ship 11. The bow azimuth detection unit 11D includes, for example, an azimuth sensor. The azimuth sensor calculates the bow azimuth of the ship 11 by using, for example, the 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.

[0017] In the example shown in FIG. 1, the ship speed detection unit 11E detects the speed of the ship 11. The ship speed detection unit 11E may be, for example, a water pressure sensing type that detects the speed of the ship 11 through water, or a GPS measurement type that detects the speed of the ship 11 relative to the ground. The ship position detection unit 11F detects the position of the ship 11. The ship position detection unit 11F is provided with, for example, a GPS device. The GPS device calculates the position coordinates of the ship 11 by receiving signals from a plurality of GPS satellites.

[0018] FIG. 2 is a diagram showing an example of the behavior of the ship 11 in the first embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and then receives an input operation to stop the forward movement of the ship 11. FIG. 3 is a flowchart for explaining an example of the processing executed by the ship control device 11C in the first embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and then receives an input operation to stop the forward movement of the ship 11. In the example shown in FIGS. 2 and 3, in step S11 of FIG. 3, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to move the ship 11 forward. If the operation unit 11B has not received an input operation to move the ship 11 forward, step S11 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the ship 11 forward, the process proceeds to step S12.

[0019] In step S12, the ship control device 11C operates the actuator 11A so that the thrust generation unit 11A2 of the actuator 11A generates a propulsion force to move the ship 11 forward. As a result, as shown in FIG. 2(C), the ship 11 moves forward (that is, the ship 11 moves upward in FIG. 2). Next, in step S13 of FIG. 3, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the forward movement of the ship 11. If the operation unit 11B has not received an input operation to stop the forward movement of the ship 11, step S13 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the forward movement of the ship 11, the process proceeds to step S14.

[0020] In step S14, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force for advancing the vessel 11. As a result, the upward inertial force (run-on) shown in FIG. 2 that attempts to continue the forward movement is generated. Therefore, in the example shown in FIGS. 2 and 3, in step S14, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in the direction opposite to the direction of the inertial force generated in the vessel 11 (upward in FIG. 2, i.e., downward in FIG. 2). Specifically, in step S14, the vessel control device 11C causes the actuator 11A to generate the downward thrust force in FIG. 2 without receiving an input operation from the operation unit 11B to generate the downward thrust force in FIG. 2 in the actuator 11A. As a result, as shown in FIGS. 2(A) and 2(B), it is possible to suppress the vessel 11 from moving upward in FIG. 2 (run-on) due to the inertial force generated in the vessel 11. In the example shown in FIGS. 2 and 3, the magnitude of the thrust force in the opposite direction (downward in FIG. 2) generated by the actuator 11A is set to a constant value. However, in other examples, the magnitude of the thrust force in the opposite direction (downward in FIG. 2) generated by the actuator 11A may be changed according to the magnitude of the inertial force generated in the vessel 11.

[0021] In the example shown in FIGS. 2 and 3, then, in step S15 of FIG. 3, when the operation unit 11B receives an input operation for stopping the operation of the actuator 11A (that is, when it is determined in step S13 that the operation unit 11B has received an input operation for stopping the forward movement of the ship 11), the ship control device 11C monitors the elapsed time from that point. Specifically, in step S15, the ship control device 11C determines whether or not the elapsed time from when the operation unit 11B received an input operation for stopping the operation of the actuator 11A has reached a first threshold value or more. If the elapsed time has not reached the first threshold value or more (that is, if it can be estimated that there is a possibility that the ship 11 will move upward in FIG. 2 due to the inertia (forward momentum) of the ship 11), step S15 is repeatedly executed. On the other hand, if the elapsed time has reached the first threshold value or more (that is, if it can be estimated that there is no possibility that the ship 11 will move upward in FIG. 2 due to the inertia (forward momentum) of the ship 11), the process proceeds to step S16. In step S16, the ship control device 11C causes the actuator 11A to stop generating the downward thrust in FIG. 2. In the example shown in FIGS. 2 and 3, a fixed value is used as the "first threshold value", but in other examples, a variable value may be used as the "first threshold value". For example, the smaller the ratio of the magnitude of the reverse (downward in FIG. 2) thrust generated by the actuator 11A to the magnitude of the inertia force generated in the ship 11, the larger value may be used as the "first threshold value".

[0022] That is, in the example shown in FIGS. 2 and 3, when the operation unit 11B receives an input operation for stopping the generation of the propulsion force for moving the ship 11 forward while the actuator 11A is generating the propulsion force for moving the ship 11 forward (that is, in the state shown in FIG. 2(C)), without the operation unit 11B needing to receive the input operation, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertia force generated in the ship 11 (upward in FIG. 2) (downward in FIG. 2). In the examples shown in FIGS. 2 and 3, the ship control device 11C sets the period for operating the actuator 11A based on the elapsed time from when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when it is determined YES in step S13 of FIG. 3) so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11. In other words, in the examples shown in FIGS. 2 and 3, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step S13 of FIG. 3), the ship control device 11C operates the actuator 11A without the operation unit 11B needing to receive an input operation so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the upward direction in FIG. 2, i.e., the downward direction in FIG. 2). Therefore, in the examples shown in FIGS. 2 and 3, it is possible to eliminate the need for an input operation by the operator to cancel the inertial force generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0023] FIG. 4 is a flowchart for explaining an example of the processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation to reverse the ship 11 and then receives an input operation to stop the reverse of the ship 11. In the example shown in FIG. 4, in step S21, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to reverse the ship 11. If the operation unit 11B has not received an input operation to reverse the ship 11, step S21 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to reverse the ship 11, the process proceeds to step S22.

[0024] In step S22, the ship control device 11C operates the actuator 11A so that the thrust generation unit 11A2 of the actuator 11A generates a propulsive force to reverse the ship 11. As a result, the ship 11 reverses. Next, in step S23, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the reverse movement of the ship 11. If the operation unit 11B has not received an input operation to stop the reverse movement of the ship 11, step S23 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the reverse movement of the ship 11, the process proceeds to step S24.

[0025] In step S24, the ship control device 11C stops the actuator 11A from generating the propulsive force for reversing the ship 11. As a result, an inertial force (momentum) that attempts to continue the reverse movement is generated. Therefore, in the example shown in FIG. 4, in step S24, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11). Specifically, in step S24, the ship control device 11C generates a forward thrust for the ship 11 in the actuator 11A without the need for the operation unit 11B to receive an input operation to generate a forward thrust for the ship 11 in the actuator 11A. As a result, it is possible to suppress the ship 11 from moving backward due to the inertial force generated in the ship 11 (momentum). Next, in step S25, the ship control device 11C monitors the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A (that is, when it is determined in step S23 that the operation unit 11B has received an input operation to stop the reverse movement of the ship 11). Specifically, in step S25, the ship control device 11C determines whether the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has become equal to or greater than a first threshold value. If the elapsed time has not become equal to or greater than the first threshold value (that is, when it can be estimated that there is a possibility that the ship 11 will move backward due to the inertial force (momentum) of the ship 11), step S25 is repeatedly executed. On the other hand, if the elapsed time has become equal to or greater than the first threshold value (that is, when it can be estimated that there is no possibility that the ship 11 will move backward due to the inertial force (momentum) of the ship 11), the process proceeds to step S26. In step S26, the ship control device 11C causes the actuator 11A to stop generating the forward thrust of the ship 11.

[0026] That is, in the example shown in FIG. 4, when the operation unit 11B receives an input operation to stop generating the propulsion force for moving the ship 11 backward while the actuator 11A is generating the propulsion force for moving the ship 11 backward, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), without the operation unit 11B having to receive an input operation. Also, in the example shown in FIG. 4, the ship control device 11C sets the period during which the actuator 11A is operated so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), based on the elapsed time from when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when it is determined YES in step S23). In other words, in the example shown in FIG. 4, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step S23), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), without the operation unit 11B having to receive an input operation. Therefore, in the example shown in FIG. 4, it is possible to eliminate the need for an input operation by the operator to cancel the inertial force generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0027] FIG. 5 is a flowchart for explaining an example of processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation for turning the ship 11 clockwise in place and then receives an input operation for stopping the clockwise in-place turning of the ship 11. In the example shown in FIG. 5, in step S31, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation for turning the ship 11 clockwise in place. If the operation unit 11B has not received an input operation for turning the ship 11 clockwise in place, step S31 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation for turning the ship 11 clockwise in place, the process proceeds to step S32.

[0028] In step S32, the ship control device 11C activates the actuator 11A so that the actuator 11A generates a moment for turning the ship 11 clockwise in place on the ship 11. As a result, the ship 11 turns clockwise in place. Next, in step S33, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation for stopping the clockwise in-place turning of the ship 11. If the operation unit 11B has not received an input operation for stopping the clockwise in-place turning of the ship 11, step S33 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation for stopping the clockwise in-place turning of the ship 11, the process proceeds to step S34.

[0029] In step S34, the ship control device 11C causes the actuator 11A to stop generating the moment for turning the ship 11 clockwise on the spot. As a result, an inertial moment occurs that attempts to continue the clockwise turning on the spot. Therefore, in the example shown in FIG. 5, in step S34, the ship control device 11C operates the actuator 11A so as to generate a moment in the ship 11 in the direction opposite to the direction (clockwise) of the inertial moment generated in the ship 11 (counterclockwise). Specifically, in step S34, the ship control device 11C generates a counterclockwise moment in the ship 11 without the need for the operation unit 11B to receive an input operation for generating a counterclockwise moment in the ship 11. As a result, it is possible to prevent the ship 11 from turning too much clockwise on the spot due to the inertial moment generated in the ship 11. Next, in step S35, the ship control device 11C monitors the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A (that is, when it is determined in step S33 that the operation unit 11B received an input operation to stop the clockwise turning on the spot of the ship 11). Specifically, in step S35, the ship control device 11C determines whether or not the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached a first threshold value. If the elapsed time has not reached the first threshold value (that is, when it can be estimated that there is a risk that the ship 11 will turn too much clockwise on the spot due to the inertial moment of the ship 11), step S35 is repeatedly executed. On the other hand, if the elapsed time has reached the first threshold value (that is, when it can be estimated that there is no risk that the ship 11 will turn too much clockwise on the spot due to the inertial moment of the ship 11), the process proceeds to step S36. In step S36, the ship control device 11C causes the actuator 11A to stop generating a counterclockwise moment.

[0030] That is, in the example shown in FIG. 5, when the actuator 11A generates a moment that causes the ship 11 to turn on the spot clockwise, and the operation unit 11B receives an input operation to stop the generation of the moment that causes the ship 11 to turn on the spot clockwise, the ship control device 11C operates the actuator 11A without the operation unit 11B having to receive an input operation, so as to generate a moment in the ship 11 in the direction opposite to the direction of the inertial moment (clockwise) occurring in the ship 11 (counterclockwise). Also, in the example shown in FIG. 5, the ship control device 11C sets the period for operating the actuator 11A so as to generate a moment in the ship 11 in the direction opposite to the direction of the inertial moment (clockwise) occurring in the ship 11 (counterclockwise), based on the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A (when it is determined YES in step S33). In other words, in the example shown in FIG. 5, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step S33), the ship control device 11C operates the actuator 11A without the operation unit 11B having to receive an input operation, so as to generate a moment in the ship 11 in the direction opposite to the direction of the inertial moment (clockwise) occurring in the ship 11 (counterclockwise). Therefore, in the example shown in FIG. 5, it is possible to eliminate the need for an input operation by the operator to cancel the inertial moment generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0031] FIG. 6 is a flowchart for explaining an example of the processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation to turn the ship 11 on the spot counterclockwise and then receives an input operation to stop the counterclockwise on-the-spot turning of the ship 11. In the example shown in FIG. 6, in step S41, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to turn the ship 11 counterclockwise on the spot. If the operation unit 11B has not received an input operation to turn the ship 11 counterclockwise on the spot, step S41 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to turn the ship 11 counterclockwise on the spot, the process proceeds to step S42.

[0032] In step S42, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a moment that causes the ship 11 to turn counterclockwise on the spot. As a result, the ship 11 turns counterclockwise on the spot. Next, in step S43, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the counterclockwise on-the-spot turn of the ship 11. If the operation unit 11B has not received an input operation to stop the counterclockwise on-the-spot turn of the ship 11, step S43 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the counterclockwise on-the-spot turn of the ship 11, the process proceeds to step S44.

[0033] In step S44, the ship control device 11C stops the actuator 11A from generating a moment that causes the ship 11 to turn counterclockwise on the spot. As a result, an inertial moment that tries to continue the counterclockwise on-the-spot turn is generated. Therefore, in the example shown in FIG. 6, in step S44, the ship control device 11C operates the actuator 11A so as to generate a moment in the direction opposite (clockwise) to the direction (counterclockwise) of the inertial moment generated in the ship 11 in the ship 11. Specifically, in step S44, the ship control device 11C generates a clockwise moment in the ship 11 without the need for the operation unit 11B to receive an input operation to generate a clockwise moment in the ship 11. As a result, it is possible to prevent the ship 11 from turning counterclockwise on the spot too much due to the inertial moment generated in the ship 11. Next, in step S45, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (that is, when it is determined in step S43 that the operation unit 11B has received an input operation to stop the counterclockwise in-place turning of the ship 11), the ship control device 11C monitors the elapsed time. Specifically, in step S45, the ship control device 11C determines whether the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached or exceeded a first threshold value. If the elapsed time has not reached the first threshold value (that is, when it can be estimated that the ship 11 may turn in place counterclockwise too much due to the moment of inertia of the ship 11), step S45 is repeatedly executed. On the other hand, if the elapsed time has reached or exceeded the first threshold value (that is, when it can be estimated that there is no risk that the ship 11 will turn in place counterclockwise too much due to the moment of inertia of the ship 11), the process proceeds to step S46. In step S46, the ship control device 11C causes the actuator 11A to stop generating a clockwise moment.

[0034] That is, in the example shown in FIG. 6, when the operation unit 11B receives an input operation to stop generating the moment that causes the ship 11 to turn in place counterclockwise while the actuator 11A is generating a moment that causes the ship 11 to turn in place counterclockwise, the ship control device 11C operates the actuator 11A without the operation unit 11B having to receive an input operation so as to generate a moment in the direction opposite to the direction of the moment of inertia occurring in the ship 11 (clockwise). Also, in the example shown in FIG. 6, the ship control device 11C sets the period during which the actuator 11A is operated so as to generate a moment in the direction opposite to the direction of the moment of inertia occurring in the ship 11 (clockwise) based on the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A (when it was determined YES in step S43). In other words, in the example shown in FIG. 6, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step S43), the ship control device 11C causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment (counterclockwise) occurring in the ship 11 (clockwise), and operates the actuator 11A without the operation unit 11B having to receive an input operation. Therefore, in the example shown in FIG. 6, it is possible to eliminate the need for an operator's input operation to cancel the inertial moment generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0035] FIG. 7 is a flowchart for explaining an example of the processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and turn it clockwise, and then receives an input operation to stop the forward movement and clockwise turn of the ship 11. In the example shown in FIG. 7, in step S51, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to move the ship 11 forward and turn it clockwise. If the operation unit 11B has not received an input operation to move the ship 11 forward and turn it clockwise, step S51 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the ship 11 forward and turn it clockwise, the process proceeds to step S52.

[0036] In step S52, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force to move the ship 11 forward and generates a moment to turn the ship 11 clockwise. As a result, the ship 11 moves forward and turns clockwise. Next, in step S53, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to stop the forward movement and clockwise turning of the vessel 11. If the operation unit 11B has not received an input operation to stop the forward movement and clockwise turning of the vessel 11, step S53 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the forward movement and clockwise turning of the vessel 11, the process proceeds to step S54.

[0037] In step S54, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force for moving the vessel 11 forward and the moment for turning the vessel 11 clockwise. As a result, an inertial force attempting to continue the forward movement and an inertial moment attempting to continue the clockwise turning occur. Therefore, in the example shown in FIG. 7, in step S54, the vessel control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the vessel 11 (the forward direction of the vessel 11), that is, the backward direction of the vessel 11, and to generate a moment in the direction opposite to the direction of the inertial moment generated in the vessel 11 (clockwise), that is, the counterclockwise direction, in the vessel 11. Specifically, in step S54, the vessel control device 11C causes the actuator 11A to generate a backward thrust in the vessel 11 and to generate a counterclockwise moment in the vessel 11 without the need for the operation unit 11B to receive an input operation to generate a backward thrust and a counterclockwise moment in the vessel 11. As a result, it is possible to suppress the vessel 11 from moving forward due to the inertial force generated in the vessel 11 and the vessel 11 from turning too much clockwise due to the inertial moment generated in the vessel 11. Next, in step S55, when the operation unit 11B receives an input operation for stopping the operation of the actuator 11A (that is, when it is determined in step S53 that the operation unit 11B has received an input operation for stopping the forward movement and clockwise turning of the ship 11), the ship control device 11C monitors the elapsed time from that point. Specifically, in step S55, the ship control device 11C determines whether the elapsed time since the operation unit 11B received an input operation for stopping the operation of the actuator 11A has reached a first threshold value or more. If the elapsed time has not reached the first threshold value (that is, when it can be estimated that the ship 11 may move forward due to the inertial force of the ship 11 and the ship 11 may turn too much clockwise due to the moment of inertia of the ship 11), step S55 is repeatedly executed. On the other hand, if the elapsed time has reached the first threshold value or more (that is, when it can be estimated that there is no possibility that the ship 11 will move forward due to the inertial force of the ship 11 and there is no possibility that the ship 11 will turn too much clockwise due to the moment of inertia of the ship 11), the process proceeds to step S56. In step S56, the ship control device 11C causes the actuator 11A to stop generating the backward thrust of the ship 11 and the counterclockwise moment.

[0038] That is, in the example shown in FIG. 7, when the operation unit 11B receives an input operation for stopping the generation of the propulsion force for moving the ship 11 forward and the generation of the moment for turning the ship 11 clockwise while the actuator 11A is generating the propulsion force for moving the ship 11 forward and generating the moment for turning the ship 11 clockwise on the ship 11, the ship control device 11C operates the actuator 11A without the need for the operation unit 11B to receive an input operation, so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated on the ship 11 (the backward direction of the ship 11) and generates a moment in the direction opposite to the direction of the moment of inertia generated on the ship 11 (clockwise) (counterclockwise) on the ship 11. Also, in the example shown in FIG. 7, the ship control device 11C sets the period for operating the actuator 11A based on the elapsed time from when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when it is determined to be YES in step S53) so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), and so that a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (clockwise) (counterclockwise) is generated in the ship 11. In other words, in the example shown in FIG. 7, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined to be YES in step S53), the ship control device 11C operates the actuator 11A without the operation unit 11B needing to receive an input operation so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), and so that a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (clockwise) (counterclockwise) is generated in the ship 11. Therefore, in the example shown in FIG. 7, it is possible to eliminate the need for an input operation by the operator to cancel the inertial moment generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0039] FIG. 8 is a flowchart for explaining an example of the processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation to reverse the ship 11 and turn it counterclockwise, and then receives an input operation to stop the reverse and counterclockwise turn of the ship 11. In the example shown in FIG. 8, in step S61, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to reverse the ship 11 and turn it counterclockwise. If the operation unit 11B has not received an input operation to reverse the ship 11 and turn it counterclockwise, step S61 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to reverse the ship 11 and turn it counterclockwise, the process proceeds to step S62.

[0040] In step S62, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force to reverse the ship 11 and generates a moment to turn the ship 11 counterclockwise on the ship 11. As a result, the ship 11 reverses and turns counterclockwise. Next, in step S63, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the reverse and counterclockwise turning of the ship 11. If the operation unit 11B has not received an input operation to stop the reverse and counterclockwise turning of the ship 11, step S63 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the reverse and counterclockwise turning of the ship 11, the process proceeds to step S64.

[0041] In step S64, the ship control device 11C causes the actuator 11A to stop generating the propulsive force for moving the ship 11 backward and generating the moment for turning the ship 11 counterclockwise. As a result, an inertial force that attempts to continue moving backward and an inertial moment that attempts to continue turning counterclockwise are generated. Therefore, in the example shown in FIG. 8, in step S64, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and to generate a moment in the ship 11 in the direction opposite to the direction of the inertial moment generated in the ship 11 (counterclockwise) (clockwise). Specifically, in step S64, the ship control device 11C causes the actuator 11A to generate a forward thrust in the ship 11 and generate a clockwise moment in the ship 11 without receiving an input operation in which the operation unit 11B generates a forward thrust in the ship 11 and generates a clockwise moment in the ship 11. As a result, it is possible to suppress the ship 11 from moving backward due to the inertial force generated in the ship 11 and the ship 11 from turning too much counterclockwise due to the inertial moment generated in the ship 11. Next, in step S65, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (that is, when it is determined in step S63 that the operation unit 11B has received an input operation to stop the backward movement and counterclockwise turning of the ship 11), the ship control device 11C monitors the elapsed time since then. Specifically, in step S65, the ship control device 11C determines whether the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached or exceeded the first threshold value. If the elapsed time has not reached the first threshold value (that is, when it can be estimated that the ship 11 may move backward due to the inertial force of the ship 11 and the ship 11 may turn too much counterclockwise due to the moment of inertia of the ship 11), step S65 is repeatedly executed. On the other hand, if the elapsed time has reached or exceeded the first threshold value (that is, when it can be estimated that there is no risk of the ship 11 moving backward due to the inertial force of the ship 11 and there is no risk of the ship 11 turning too much counterclockwise due to the moment of inertia of the ship 11), the process proceeds to step S66. In step S66, the ship control device 11C causes the actuator 11A to stop generating forward thrust and clockwise moment of the ship 11.

[0042] That is, in the example shown in FIG. 8, when the operation unit 11B receives an input operation to stop the generation of the propulsion force for moving the ship 11 backward and the generation of the moment for turning the ship 11 counterclockwise while the actuator 11A is generating a propulsion force for moving the ship 11 backward and generating a moment for turning the ship 11 counterclockwise on the ship 11, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated on the ship 11 (the forward direction of the ship 11) and generate a moment in the direction opposite to the direction of the moment of inertia generated on the ship 11 (clockwise) on the ship 11 without the operation unit 11B needing to receive an input operation. Also, in the example shown in FIG. 8, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (counterclockwise) (clockwise). The period for operating the actuator 11A is set based on the elapsed time from when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when it is determined to be YES in step S63). In other words, in the example shown in FIG. 8, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined to be YES in step S63), the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (counterclockwise) (clockwise), and operates the actuator 11A without the operation unit 11B needing to receive the input operation. Therefore, in the example shown in FIG. 8, it is possible to eliminate the need for an input operation by the operator to cancel the inertial moment generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0043] <Second Embodiment> Hereinafter, a second embodiment of the ship operation system, ship control device, ship control method, and program of the present invention will be described. The ship operation system 1 of the second embodiment is configured in the same manner as the ship operation system 1 of the first embodiment described above, except for the points described later. Therefore, according to the ship operation system 1 of the second embodiment, except for the points described later, the same effects as those of the ship operation system 1 of the first embodiment described above can be obtained.

[0044] The ship operation system 1 including a ship 11 to which the ship control device 11C of the second embodiment is applied is configured in the same manner as the operation system 1 of the first embodiment shown in FIG. 1.

[0045] FIG. 9 is a flowchart for explaining an example of the process executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and then receives an input operation to stop the forward movement of the ship 11. In the example shown in FIG. 9, in step SA1, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to move the ship 11 forward. If the operation unit 11B has not received an input operation to move the ship 11 forward, step SA1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the ship 11 forward, the process proceeds to step SA2.

[0046] In step SA2, the ship control device 11C operates the actuator 11A so that the thrust generation unit 11A2 of the actuator 11A generates a propulsive force to move the ship 11 forward. As a result, the ship 11 moves forward. Next, in step SA3, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the forward movement of the ship 11. If the operation unit 11B has not received an input operation to stop the forward movement of the ship 11, step SA3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the forward movement of the ship 11, the process proceeds to step SA4.

[0047] In step SA4, the ship control device 11C stops the actuator 11A from generating the driving force for moving the ship 11 forward. As a result, an inertial force (momentum) that attempts to continue moving forward is generated. Therefore, in the example shown in FIG. 9, in step SA4, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11). Specifically, in step SA4, the ship control device 11C generates a backward thrust force for the ship 11 in the actuator 11A without receiving an input operation from the operation unit 11B for generating a backward thrust force for the ship 11 in the actuator 11A. As a result, it is possible to suppress the ship 11 from moving forward (momentum) due to the inertial force generated in the ship 11. Next, in step SA5, the ship control device 11C monitors the speed of the ship 11. Specifically, in step SA5, the ship control device 11C determines whether or not the speed of the ship 11 detected by the ship speed detection unit 11E has decreased to or below the second threshold value. If the speed of the ship 11 has not decreased to or below the second threshold value (that is, if the ship 11 continues to move forward due to the inertial force (momentum) of the ship 11), step SA5 is repeatedly executed. On the other hand, if the speed of the ship 11 has decreased to or below the second threshold value (that is, if it can be estimated that the forward movement of the ship 11 due to the inertial force (momentum) of the ship 11 has ended), the process proceeds to step SA6. In step SA6, the ship control device 11C stops the actuator 11A from generating a backward thrust force for the ship 11.

[0048] That is, in the example shown in FIG. 9, when the operation unit 11B receives an input operation for stopping the generation of the driving force for moving the ship 11 forward while the actuator 11A is generating the driving force for moving the ship 11 forward, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11) without receiving an input operation from the operation unit 11B. Also, in the example shown in FIG. 9, the ship control device 11C sets the period for operating the actuator 11A based on the speed of the ship 11 so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11). In other words, in the example shown in FIG. 9, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step SA3), the ship control device 11C operates the actuator 11A without the operation unit 11B having to receive an input operation so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11). Therefore, in the example shown in FIG. 9, it is possible to eliminate the need for an operator's input operation to cancel the inertial force generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0049] FIG. 10 is a flowchart for explaining an example of the processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation to reverse the ship 11 and then receives an input operation to stop the reverse of the ship 11. In the example shown in FIG. 10, in step SB1, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to reverse the ship 11. If the operation unit 11B has not received an input operation to reverse the ship 11, step SB1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to reverse the ship 11, the process proceeds to step SB2.

[0050] In step SB2, the ship control device 11C operates the actuator 11A so that the thrust generation unit 11A2 of the actuator 11A generates a propulsive force to reverse the ship 11. As a result, the ship 11 reverses. Next, in step SB3, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the backward movement of the ship 11. If the operation unit 11B has not received an input operation to stop the backward movement of the ship 11, step SB3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the backward movement of the ship 11, the process proceeds to step SB4.

[0051] In step SB4, the ship control device 11C stops the actuator 11A from generating the propulsion force for moving the ship 11 backward. As a result, an inertial force (run-on) that attempts to continue the backward movement is generated. Therefore, in the example shown in FIG. 10, in step SB4, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11). Specifically, in step SB4, the ship control device 11C generates a forward thrust force for the ship 11 in the actuator 11A without the need for the operation unit 11B to receive an input operation for generating a forward thrust force for the ship 11 in the actuator 11A. As a result, it is possible to suppress the ship 11 from moving backward (run-on) due to the inertial force generated in the ship 11. Next, in step SB5, the ship control device 11C monitors the speed of the ship 11. Specifically, in step SB5, the ship control device 11C determines whether the speed of the ship 11 detected by the ship speed detection unit 11E has decreased to or below a second threshold value. If the speed of the ship 11 has not decreased to or below the second threshold value (that is, when the ship 11 continues to move backward due to the inertial force (run-on) of the ship 11), step SB5 is repeatedly executed. On the other hand, if the speed of the ship 11 has decreased to or below the second threshold value (that is, when it can be estimated that the backward movement of the ship 11 due to the inertial force (run-on) of the ship 11 has ended), the process proceeds to step SB6. In step SB6, the ship control device 11C stops the actuator 11A from generating the forward thrust force for the ship 11.

[0052] That is, in the example shown in FIG. 10, when the operation unit 11B receives an input operation to stop the generation of the propulsion force for moving the ship 11 backward while the actuator 11A is generating the propulsion force for moving the ship 11 backward, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and operates the actuator 11A without the operation unit 11B receiving the input operation. Also, in the example shown in FIG. 10, the ship control device 11C sets the period for operating the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11) based on the speed of the ship 11. In other words, in the example shown in FIG. 10, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step SB3), the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and operates the actuator 11A without the operation unit 11B receiving the input operation. Therefore, in the example shown in FIG. 10, it is possible to eliminate the need for an input operation by the operator to cancel the inertial force generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0053] FIG. 11 is a flowchart for explaining an example of the processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation to turn the ship 11 clockwise in place and then receives an input operation to stop the clockwise in-place turning of the ship 11. In the example shown in FIG. 11, in step SC1, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to turn the ship 11 clockwise on the spot. If the operation unit 11B has not received an input operation to turn the ship 11 clockwise on the spot, step SC1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to turn the ship 11 clockwise on the spot, the process proceeds to step SC2.

[0054] In step SC2, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a moment that causes the ship 11 to turn clockwise on the spot. As a result, the ship 11 turns clockwise on the spot. Next, in step SC3, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the clockwise on-the-spot turn of the ship 11. If the operation unit 11B has not received an input operation to stop the clockwise on-the-spot turn of the ship 11, step SC3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the clockwise on-the-spot turn of the ship 11, the process proceeds to step SC4.

[0055] In step SC4, the ship control device 11C stops the actuator 11A from generating a moment that causes the ship 11 to turn clockwise on the spot. As a result, an inertial moment that tries to continue the clockwise on-the-spot turn is generated. Therefore, in the example shown in FIG. 11, in step SC4, the ship control device 11C operates the actuator 11A so as to generate a moment in the direction opposite (counterclockwise) to the direction (clockwise) of the inertial moment generated in the ship 11 in the ship 11. Specifically, in step SC4, the ship control device 11C generates a counterclockwise moment in the ship 11 without the need for the operation unit 11B to receive an input operation to generate a counterclockwise moment in the ship 11. As a result, it is possible to suppress the ship 11 from turning too much clockwise on the spot due to the inertial moment generated in the ship 11. Next, in step SC5, the ship control device 11C monitors the angular velocity of the ship 11. Specifically, in step SC5, the ship control device 11C determines whether or not the angular velocity of the ship 11 calculated based on the bow azimuth detected by the bow azimuth detection unit 11D has decreased to or below a third threshold value. If the angular velocity of the ship 11 has not decreased to or below the third threshold value (that is, if the ship 11 continues to turn on the spot clockwise due to the moment of inertia of the ship 11), step SC5 is repeatedly executed. On the other hand, if the angular velocity of the ship 11 has decreased to or below the third threshold value (that is, if it can be estimated that the clockwise turning on the spot of the ship 11 due to the moment of inertia of the ship 11 has ended), the process proceeds to step SC6. In step SC6, the ship control device 11C causes the actuator 11A to stop generating a counterclockwise moment.

[0056] That is, in the example shown in FIG. 11, when the operation unit 11B receives an input operation to stop generating the moment for turning the ship 11 on the spot clockwise while the actuator 11A is generating the moment for turning the ship 11 on the spot clockwise, the ship control device 11C operates the actuator 11A without the operation unit 11B having to receive the input operation so as to generate a moment in the direction opposite (counterclockwise) to the direction of the moment of inertia (clockwise) generated in the ship 11 in the ship 11. Also, in the example shown in FIG. 11, the ship control device 11C sets the period during which the actuator 11A is operated so as to generate a moment in the direction opposite (counterclockwise) to the direction of the moment of inertia (clockwise) generated in the ship 11 based on the angular velocity of the ship 11. In other words, in the example shown in FIG. 11, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step SC3), the ship control device 11C causes the ship 11 to generate a moment in the direction opposite to the direction of the moment of inertia (clockwise) occurring in the ship 11 (counterclockwise) without the operation unit 11B having to receive an input operation, and operates the actuator 11A. Therefore, in the example shown in FIG. 11, it is possible to eliminate the need for an operator's input operation to cancel the moment of inertia generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0057] FIG. 12 is a flowchart for explaining an example of the process executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation to turn the ship 11 counterclockwise in place and then receives an input operation to stop the counterclockwise in-place turning of the ship 11. In the example shown in FIG. 12, in step SD1, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to turn the ship 11 counterclockwise in place. If the operation unit 11B has not received an input operation to turn the ship 11 counterclockwise in place, step SD1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to turn the ship 11 counterclockwise in place, the process proceeds to step SD2.

[0058] In step SD2, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a moment to turn the ship 11 counterclockwise in place. As a result, the ship 11 turns counterclockwise in place. Next, in step SD3, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the counterclockwise in-place turning of the ship 11. If the operation unit 11B has not received an input operation to stop the counterclockwise in-place turning of the ship 11, step SD3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the counterclockwise in-place turning of the ship 11, the process proceeds to step SD4.

[0059] In step SD4, the ship control device 11C stops the actuator 11A from generating a moment that causes the ship 11 to turn counterclockwise in place. As a result, an inertial moment that attempts to continue the counterclockwise in-place turning is generated. Therefore, in the example shown in FIG. 12, in step SD4, the ship control device 11C operates the actuator 11A so as to generate a moment in the ship 11 that is opposite to the direction (counterclockwise) of the inertial moment generated in the ship 11 (clockwise). Specifically, in step SD4, the ship control device 11C generates a clockwise moment in the ship 11 without the need for the operation unit 11B to receive an input operation to generate a clockwise moment in the ship 11. As a result, it is possible to prevent the ship 11 from turning counterclockwise in place too much due to the inertial moment generated in the ship 11. Next, in step SD5, the ship control device 11C monitors the angular velocity of the ship 11. Specifically, in step SD5, the ship control device 11C determines whether the angular velocity of the ship 11 calculated based on the bow azimuth detected by the bow azimuth detection unit 11D has decreased to or below a third threshold value. If the angular velocity of the ship 11 has not decreased to or below the third threshold value (that is, if the ship 11 is continuously turning counterclockwise in place due to the inertial moment of the ship 11), step SD5 is repeatedly executed. On the other hand, if the angular velocity of the ship 11 has decreased to or below the third threshold value (that is, if it can be estimated that the counterclockwise in-place turning of the ship 11 due to the inertial moment of the ship 11 has ended), the process proceeds to step SD6. In step SD6, the ship control device 11C causes the actuator 11A to stop generating a clockwise moment.

[0060] That is, in the example shown in FIG. 12, when the operation unit 11B receives an input operation to stop generating the moment that causes the ship 11 to turn counterclockwise on the spot while the actuator 11A is generating a moment that causes the ship 11 to turn counterclockwise on the spot, the ship control device 11C operates the actuator 11A without the operation unit 11B having to receive an input operation so as to generate a moment in the direction opposite to the direction of the inertial moment (counterclockwise) generated in the ship 11 (clockwise). Also, in the example shown in FIG. 12, the ship control device 11C sets the period for operating the actuator 11A so as to generate a moment in the direction opposite to the direction of the inertial moment (counterclockwise) generated in the ship 11 (clockwise) based on the angular velocity of the ship 11. In other words, in the example shown in FIG. 12, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step SD3), the ship control device 11C operates the actuator 11A without the operation unit 11B having to receive an input operation so as to generate a moment in the direction opposite to the direction of the inertial moment (counterclockwise) generated in the ship 11 (clockwise). Therefore, in the example shown in FIG. 12, it is possible to eliminate the input operation of the operator for canceling the inertial moment generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0061] FIG. 13 is a flowchart for explaining an example of the processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and turn it clockwise, and then receives an input operation to stop the forward movement and clockwise turn of the ship 11. In the example shown in FIG. 13, in step SE1, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to move the ship 11 forward and turn it clockwise. If the operation unit 11B has not received an input operation to move the ship 11 forward and turn it clockwise, step SE1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the ship 11 forward and turn it clockwise, the process proceeds to step SE2.

[0062] In step SE2, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force to move the ship 11 forward and generates a moment to turn the ship 11 clockwise on the ship 11. As a result, the ship 11 moves forward and turns clockwise. Next, in step SE3, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation to stop the forward movement and clockwise turning of the ship 11. If the operation unit 11B has not received an input operation to stop the forward movement and clockwise turning of the ship 11, step SE3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the forward movement and clockwise turning of the ship 11, the process proceeds to step SE4.

[0063] In step SE4, the ship control device 11C causes the actuator 11A to stop generating the propulsive force for moving the ship 11 forward and generating the moment for turning the ship 11 clockwise. As a result, an inertial force for continuing to move forward and an inertial moment for continuing to turn clockwise are generated. Therefore, in the example shown in FIG. 13, in step SE4, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), and to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (clockwise) (counterclockwise) in the ship 11. Specifically, in step SE4, the ship control device 11C causes the actuator 11A to generate a backward thrust in the ship 11 and generate a counterclockwise moment in the ship 11 without receiving an input operation for the operation unit 11B to generate a backward thrust in the ship 11 and generate a counterclockwise moment in the ship 11. As a result, it is possible to suppress the ship 11 from moving forward due to the inertial force generated in the ship 11 and the ship 11 from turning too much clockwise due to the inertial moment generated in the ship 11. Next, in step SE5, the ship control device 11C monitors the speed of the ship 11. Specifically, in step SE5, the ship control device 11C determines whether or not the speed of the ship 11 detected by the ship speed detection unit 11E has decreased to or below a fourth threshold value. When the speed of the ship 11 has not decreased to or below the fourth threshold value (that is, when the ship 11 is moving forward due to the inertial force of the ship 11 and the ship 11 continues to turn clockwise due to the inertial moment of the ship 11), step SE5 is repeatedly executed. On the other hand, when the speed of the ship 11 has decreased to or below the fourth threshold value (that is, when it can be estimated that the forward movement of the ship 11 due to the inertial force of the ship 11 and the clockwise turning of the ship 11 due to the inertial moment of the ship 11 have ended), the process proceeds to step SE6. In step SE6, the ship control device 11C causes the actuator 11A to stop generating a backward thrust and generating a counterclockwise moment in the ship 11.

[0064] That is, in the example shown in FIG. 13, when the actuator 11A generates a propulsive force for advancing the ship 11 and generates a moment for turning the ship 11 clockwise on the ship 11, and the operation unit 11B receives an input operation for stopping the generation of the propulsive force for advancing the ship 11 and the moment for turning the ship 11 clockwise, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated on the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated on the ship 11 (clockwise) (counterclockwise), and operates the actuator 11A without the operation unit 11B receiving an input operation. Further, in the example shown in FIG. 13, the ship control device 11C sets the period for operating the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated on the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated on the ship 11 (clockwise) (counterclockwise) based on the speed of the ship 11. In other words, in the example shown in FIG. 13, when the operation unit 11B receives an input operation for stopping the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step SE3), the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated on the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated on the ship 11 (clockwise) (counterclockwise), and operates the actuator 11A without the operation unit 11B receiving an input operation. Therefore, in the example shown in FIG. 13, it is possible to eliminate the need for an input operation by the operator to cancel the inertial force and inertial moment generated on the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0065] Figure 14 is a flowchart for explaining an example of the processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation for reversing the ship 11 and turning it counterclockwise, and then receives an input operation for stopping the reverse and counterclockwise turning of the ship 11. In the example shown in Figure 14, in step SF1, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation for reversing the ship 11 and turning it counterclockwise. If the operation unit 11B has not received an input operation for reversing the ship 11 and turning it counterclockwise, step SF1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation for reversing the ship 11 and turning it counterclockwise, the process proceeds to step SF2.

[0066] In step SF2, the ship control device 11C activates the actuator 11A so that the actuator 11A generates a propulsive force for reversing the ship 11 and generates a moment for turning the ship 11 counterclockwise on the ship 11. As a result, the ship 11 reverses and turns counterclockwise. Next, in step SF3, for example, the ship control device 11C determines whether the operation unit 11B has received an input operation for stopping the reverse and counterclockwise turning of the ship 11. If the operation unit 11B has not received an input operation for stopping the reverse and counterclockwise turning of the ship 11, step SF3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation for stopping the reverse and counterclockwise turning of the ship 11, the process proceeds to step SF4.

[0067] In step SF4, the ship control device 11C stops the actuator 11A from generating the propulsive force for the ship 11 to move backward and the moment for the ship 11 to turn counterclockwise. As a result, an inertial force to continue moving backward and an inertial moment to continue turning counterclockwise occur. Therefore, in the example shown in FIG. 14, in step SF4, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (counterclockwise) (clockwise). Specifically, in step SF4, the ship control device 11C causes the actuator 11A to generate a forward thrust for the ship 11 and causes the ship 11 to generate a clockwise moment without receiving an input operation for the operation unit 11B to generate a forward thrust for the ship 11 and a clockwise moment for the ship 11. As a result, it is possible to suppress the ship 11 from moving backward due to the inertial force generated in the ship 11 and the ship 11 from turning too much counterclockwise due to the inertial moment generated in the ship 11. Next, in step SF5, the ship control device 11C monitors the speed of the ship 11. Specifically, in step SF5, the ship control device 11C determines whether or not the speed of the ship 11 detected by the ship speed detection unit 11E has decreased to or below a fourth threshold value. If the speed of the ship 11 has not decreased to or below the fourth threshold value (that is, when the ship 11 moves backward due to the inertial force of the ship 11 and the ship 11 continues to turn counterclockwise due to the inertial moment of the ship 11), step SF5 is repeatedly executed. On the other hand, if the speed of the ship 11 has decreased to or below the fourth threshold value (that is, when it can be estimated that the backward movement of the ship 11 due to the inertial force of the ship 11 and the counterclockwise turning of the ship 11 due to the inertial moment of the ship 11 have ended), the process proceeds to step SF6. In step SF6, the ship control device 11C stops the actuator 11A from generating the forward thrust for the ship 11 and the clockwise moment.

[0068] That is, in the example shown in FIG. 14, when the actuator 11A generates a propulsive force for reversing the ship 11 and generates a moment for turning the ship 11 counterclockwise, and the operation unit 11B receives an input operation for stopping the generation of the propulsive force for reversing the ship 11 and the moment for turning the ship 11 counterclockwise, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (counterclockwise) (clockwise), and operates the actuator 11A without the operation unit 11B receiving an input operation. Further, in the example shown in FIG. 14, the ship control device 11C sets the period for operating the actuator 11A based on the speed of the ship 11 so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (counterclockwise) (clockwise). In other words, in the example shown in FIG. 14, when the operation unit 11B receives an input operation for stopping the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in step SF3), the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) (the forward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (counterclockwise) (clockwise), and operates the actuator 11A without the operation unit 11B receiving an input operation. Therefore, in the example shown in FIG. 14, it is possible to eliminate the need for an input operation by the operator to cancel the inertial force and inertial moment generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0069] <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 of the third 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 third 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.

[0070] FIG. 15 is a diagram showing an example of a ship control system 1 including a ship 11 to which the ship control device 11C of the third embodiment is applied. In the example shown in FIG. 15, the ship control system 1 includes a ship 11 and an input device 12. The ship 11 includes an actuator 11A, an operation unit 11B, a ship control device 11C, a bow azimuth detection unit 11D, a ship speed detection unit 11E, a ship position detection unit 11F, and a communication unit 11G. The actuator 11A is configured in the same manner as the actuator 11A shown in FIG. 1. The operation unit 11B is configured in the same manner as the operation unit 11B shown in FIG. 1. The ship control device 11C is configured in the same manner as the ship control device 11C shown in FIG. 1. The bow azimuth detection unit 11D is configured in the same manner as the bow azimuth detection unit 11D shown in FIG. 1. The ship speed detection unit 11E is configured in the same manner as the ship speed detection unit 11E shown in FIG. 1. The ship position detection unit 11F is configured in the same manner as the ship position detection unit 11F shown in FIG. 1. The communication unit 11G communicates with the input device 12. The input device 12 is provided separately from the ship 11. That is, the input device 12 can be used by the operator of the ship 11 at a position away from the ship 11, for example. The input device 12 includes an operation unit 12A and a communication unit 12B. The operation unit 12A receives an input operation of the operator of the ship 11. The communication unit 12B transmits information indicating the input operation of the operator of the ship 11 received by the operation unit 12A to the ship 11. The communication unit 11G of the ship 11 receives the information indicating the input operation transmitted by the communication unit 12B of the input device 12. The ship control device 11C of the ship 11 activates the actuator 11A based on the input operation received by the operation unit 12A of the input device 12.

[0071] In the process executed by the ship control device 11C of the third embodiment when the operation unit 12A of the input device 12 receives an input operation to move the ship 11 forward and then receives an input operation to stop the forward movement of the ship 11, in the step corresponding to step S11 in FIG. 3, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to move the ship 11 forward. If the operation unit 12A has not received an input operation to move the ship 11 forward, the step corresponding to step S11 in FIG. 3 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to move the ship 11 forward, the process proceeds to the step corresponding to step S12 in FIG. 3.

[0072] In the step corresponding to step S12 in FIG. 3, the ship control device 11C operates the actuator 11A so that the thrust generation unit 11A2 of the actuator 11A generates a propulsive force to move the ship 11 forward. As a result, as shown in FIG. 2(C), the ship 11 moves forward (that is, the ship 11 moves upward in FIG. 2). Next, in the step corresponding to step S13 in FIG. 3, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to stop the forward movement of the ship 11. If the operation unit 12A has not received an input operation to stop the forward movement of the ship 11, the step corresponding to step S13 in FIG. 3 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the forward movement of the ship 11, the process proceeds to the step corresponding to step S14 in FIG. 3.

[0073] In the step corresponding to step S14 in FIG. 3, the ship control device 11C causes the actuator 11A to stop generating the propulsive force for advancing the ship 11. As a result, the upward inertial force (run-on) in FIG. 2 that attempts to continue the forward movement is generated. Therefore, in the ship handling system 1 of the third embodiment, in the step corresponding to step S14 in FIG. 3, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in the direction opposite to the direction of the inertial force generated in the ship 11 (upward in FIG. 2, i.e., downward in FIG. 2). Specifically, in the step corresponding to step S14 in FIG. 3, the ship control device 11C generates a downward thrust force in FIG. 2 for the actuator 11A without receiving an input operation from the operation unit 12A to generate a downward thrust force in FIG. 2 for the actuator 11A. As a result, as shown in FIGS. 2(A) and 2(B), it is possible to suppress the ship 11 from moving upward in FIG. 2 (run-on) due to the inertial force generated in the ship 11.

[0074] Next, in the step corresponding to step S15 in FIG. 3, when the operation unit 12A of the input device 12 receives an input operation for stopping the operation of the actuator 11A (that is, when it is determined that in the step corresponding to step S13 in FIG. 3, the operation unit 12A has received an input operation for stopping the forward movement of the ship 11), the ship control device 11C monitors the elapsed time. Specifically, in the step corresponding to step S15 in FIG. 3, the ship control device 11C determines whether the elapsed time since the operation unit 12A received the input operation for stopping the operation of the actuator 11A has reached the first threshold value or more. If the elapsed time has not reached the first threshold value (that is, if it can be estimated that the ship 11 may move upward in FIG. 2 due to the inertial force (run-on) of the ship 11), the step corresponding to step S15 in FIG. 3 is repeatedly executed. On the other hand, if the elapsed time has reached the first threshold value or more (that is, if it can be estimated that there is no possibility that the ship 11 will move upward in FIG. 2 due to the inertial force (run-on) of the ship 11), the process proceeds to the step corresponding to step S16 in FIG. 3. In the step corresponding to step S16 in FIG. 3, the ship control device 11C causes the actuator 11A to stop generating the downward thrust in FIG. 2.

[0075] That is, in the ship operation system 1 of the third embodiment, when the input device 12's operation unit 12A receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in the step corresponding to step S13 in FIG. 3), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (upward in FIG. 2) (downward in FIG. 2), without the operation unit 12A needing to receive an input operation. Therefore, in the ship operation system 1 of the third embodiment, it is possible to eliminate the need for an operator's input operation to cancel the inertial force generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A. Also, in the ship operation system 1 of the third embodiment, even if an operator who is away from the ship 11 cannot grasp the inertial force generated in the ship 11, the state of the ship 11 can be appropriately shifted from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0076] In the process executed by the ship control device 11C of the third embodiment when the operation unit 12A of the input device 12 receives an input operation to turn the ship 11 clockwise on the spot and then receives an input operation to stop the clockwise on-the-spot turning of the ship 11, in the step corresponding to step S31 in FIG. 5, for example, the ship control device 11C determines whether the operation unit 12A has received an input operation to turn the ship 11 clockwise on the spot. If the operation unit 12A has not received an input operation to turn the ship 11 clockwise on the spot, the step corresponding to step S31 in FIG. 5 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to turn the ship 11 clockwise on the spot, the process proceeds to the step corresponding to step S32 in FIG. 5.

[0077] In the step corresponding to step S32 in FIG. 5, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a moment for the ship 11 to turn on the spot clockwise. As a result, the ship 11 turns on the spot clockwise. Next, in the step corresponding to step S33 in FIG. 5, for example, the ship control device 11C determines whether or not the operation unit 12A of the input device 12 has received an input operation to stop the clockwise turning on the spot of the ship 11. If the operation unit 12A has not received an input operation to stop the clockwise turning on the spot of the ship 11, the step corresponding to step S33 in FIG. 5 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the clockwise turning on the spot of the ship 11, the process proceeds to the step corresponding to step S34 in FIG. 5.

[0078] In the step corresponding to step S34 in FIG. 5, the ship control device 11C stops the actuator 11A from generating a moment for the ship 11 to turn on the spot clockwise. As a result, an inertial moment that tries to continue the clockwise turning on the spot is generated. Therefore, in the ship operation system 1 of the third embodiment, in the step corresponding to step S34 in FIG. 5, the ship control device 11C operates the actuator 11A so as to generate a moment in the direction opposite (counterclockwise) to the direction (clockwise) of the inertial moment generated in the ship 11 for the ship 11. Specifically, in the step corresponding to step S34 in FIG. 5, the ship control device 11C generates a counterclockwise moment for the ship 11 without the need for the operation unit 12A to receive an input operation to generate a counterclockwise moment for the ship 11. As a result, it is possible to suppress the ship 11 from turning on the spot clockwise too much due to the inertial moment generated in the ship 11. Next, in the step corresponding to step S35 in FIG. 5, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A (that is, when it is determined that in the step corresponding to step S33 in FIG. 5, the operation unit 12A has received an input operation to stop the clockwise in-place turning of the ship 11), the ship control device 11C monitors the elapsed time from that point. Specifically, in the step corresponding to step S35 in FIG. 5, the ship control device 11C determines whether the elapsed time since the operation unit 12A received an input operation to stop the operation of the actuator 11A has reached or exceeded the first threshold value. If the elapsed time has not reached the first threshold value (that is, if it can be estimated that due to the moment of inertia of the ship 11, the ship 11 may turn too much clockwise in place), the step corresponding to step S35 in FIG. 5 is repeatedly executed. On the other hand, if the elapsed time has reached or exceeded the first threshold value (that is, if it can be estimated that due to the moment of inertia of the ship 11, the ship 11 is not likely to turn too much clockwise in place), the process proceeds to the step corresponding to step S36 in FIG. 5. In the step corresponding to step S36 in FIG. 5, the ship control device 11C stops the actuator 11A from generating a counterclockwise moment.

[0079] That is, in the ship operation system 1 of the third embodiment, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined as YES in the step corresponding to step S33 in FIG. 5), the ship control device 11C operates the actuator 11A without the operation unit 12A needing to receive an input operation, so as to generate a moment in the direction opposite to the direction of the moment of inertia (clockwise) occurring in the ship 11 (counterclockwise) in the ship 11. Therefore, in the ship operation system 1 of the third embodiment, it is possible to eliminate the need for an operator's input operation to cancel the moment of inertia generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A. Further, in the ship control system 1 of the third embodiment, even if an operator who is away from the ship 11 cannot grasp the moment of inertia generated in the ship 11, the state of the ship 11 can be appropriately shifted from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0080] In the process executed by the ship control device 11C of the third embodiment when the operation unit 12A of the input device 12 receives an input operation to move the ship 11 forward and turn it clockwise, and then receives an input operation to stop the forward movement and clockwise turn of the ship 11, in the step corresponding to step S51 in FIG. 7, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to move the ship 11 forward and turn it clockwise. If the operation unit 12A has not received an input operation to move the ship 11 forward and turn it clockwise, the step corresponding to step S51 in FIG. 7 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to move the ship 11 forward and turn it clockwise, the process proceeds to the step corresponding to step S52 in FIG. 7.

[0081] In the step corresponding to step S52 in FIG. 7, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force to move the ship 11 forward and generates a moment to turn the ship 11 clockwise. As a result, the ship 11 moves forward and turns clockwise. Next, in the step corresponding to step S53 in FIG. 7, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to stop the forward movement and clockwise turn of the ship 11. If the operation unit 12A has not received an input operation to stop the forward movement and clockwise turn of the ship 11, the step corresponding to step S53 in FIG. 7 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the forward movement and clockwise turn of the ship 11, the process proceeds to the step corresponding to step S54 in FIG. 7.

[0082] In the step corresponding to step S54 in FIG. 7, the ship control device 11C causes the actuator 11A to stop generating the propulsive force for advancing the ship 11 and generating the moment for turning the ship 11 clockwise. As a result, an inertial force that attempts to continue advancing and an inertial moment that attempts to continue turning clockwise are generated. Therefore, in the ship handling system 1 of the third embodiment, in the step corresponding to step S54 in FIG. 7, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (clockwise) (counterclockwise). Specifically, in the step corresponding to step S54 in FIG. 7, the ship control device 11C causes the actuator 11A to generate a backward thrust of the ship 11 and generate a counterclockwise moment in the ship 11 without receiving an input operation in which the operation unit 12A generates a backward thrust of the ship 11 and generates a counterclockwise moment in the ship 11. As a result, it is possible to suppress the ship 11 from moving forward due to the inertial force generated in the ship 11 and the ship 11 from turning too much clockwise due to the inertial moment generated in the ship 11. Next, in the step corresponding to step S55 in FIG. 7, when the operation unit 12A of the input device 12 receives an input operation for stopping the operation of the actuator 11A (that is, when it is determined that the operation unit 12A has received an input operation for stopping the forward movement and clockwise turning of the ship 11 in the step corresponding to step S53 in FIG. 7), the ship control device 11C monitors the elapsed time from that point. Specifically, in the step corresponding to step S55 in FIG. 5, the ship control device 11C determines whether the elapsed time since the operation unit 12A received an input operation for stopping the operation of the actuator 11A has reached or exceeded a first threshold value. If the elapsed time has not reached the first threshold value (that is, when it can be estimated that the ship 11 may move forward due to the inertial force of the ship 11 and the ship 11 may turn too much clockwise due to the moment of inertia of the ship 11), the step corresponding to step S55 in FIG. 7 is repeatedly executed. On the other hand, when the elapsed time has reached or exceeded the first threshold value (that is, when it can be estimated that there is no risk of the ship 11 moving forward due to the inertial force of the ship 11 and no risk of the ship 11 turning too much clockwise due to the moment of inertia of the ship 11), the process proceeds to the step corresponding to step S56 in FIG. 7. In the step corresponding to step S56 in FIG. 7, the ship control device 11C causes the actuator 11A to stop generating backward thrust and counterclockwise moment of the ship 11.

[0083] That is, in the ship operation system 1 of the third embodiment, when the operation unit 12A of the input device 12 receives an input operation for stopping the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined as YES in the step corresponding to step S53 in FIG. 7), the ship control device 11C operates the actuator 11A without the need for the operation unit 12A to receive the input operation, so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the backward direction of the ship 11) and generates a moment in the ship 11 in the direction opposite to the direction of the moment of inertia generated in the ship 11 (counterclockwise). Therefore, in the ship control system 1 of the third embodiment, when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A, it is possible to eliminate the need for an operator's input operation to cancel the inertial force and inertial moment generated in the ship 11. Further, in the ship control system 1 of the third embodiment, even if an operator who is away from the ship 11 cannot grasp the inertial force and inertial moment generated in the ship 11, the state of the ship 11 can be appropriately shifted from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0084] <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 systems 1 of the second and third embodiments described above, except for the points described later. Therefore, according to the ship control system 1 of the fourth embodiment, the same effects as the ship control systems 1 of the second and third embodiments described above can be obtained, except for the points described later.

[0085] The ship control system 1 of the fourth embodiment is configured in the same manner as the ship control system 1 of the third embodiment shown in FIG. 15.

[0086] In the process executed by the ship control device 11C of the fourth embodiment when the operation unit 12A of the input device 12 receives an input operation to move the ship 11 forward and then receives an input operation to stop the forward movement of the ship 11, in the step corresponding to step SA1 in FIG. 9, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to move the ship 11 forward. If the operation unit 12A has not received an input operation to move the ship 11 forward, the step corresponding to step SA1 in FIG. 9 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to move the ship 11 forward, the process proceeds to the step corresponding to step SA2 in FIG. 9.

[0087] In the step corresponding to step SA2 in FIG. 9, the ship control device 11C operates the actuator 11A so that the thrust generation unit 11A2 of the actuator 11A generates a propulsive force for moving the ship 11 forward. As a result, the ship 11 moves forward. Next, in the step corresponding to step SA3 in FIG. 9, for example, the ship control device 11C determines whether or not the operation unit 12A of the input device 12 has received an input operation for stopping the forward movement of the ship 11. If the operation unit 12A has not received an input operation for stopping the forward movement of the ship 11, the step corresponding to step SA3 in FIG. 9 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation for stopping the forward movement of the ship 11, the process proceeds to the step corresponding to step SA4 in FIG. 9.

[0088] In the step corresponding to step SA4 in FIG. 9, the ship control device 11C stops the actuator 11A from generating the propulsive force for moving the ship 11 forward. As a result, an inertial force (momentum) that tries to continue moving forward is generated. Therefore, in the ship handling system 1 of the fourth embodiment, in the step corresponding to step SA4 in FIG. 9, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11). Specifically, in the step corresponding to step SA4 in FIG. 9, the ship control device 11C causes the actuator 11A to generate a backward thrust of the ship 11 without the need for the operation unit 12A to receive an input operation for causing the actuator 11A to generate a backward thrust of the ship 11. As a result, it is possible to suppress the ship 11 from moving forward due to the inertial force generated in the ship 11 (momentum). Next, in the step corresponding to step SA5 in FIG. 9, the ship control device 11C monitors the speed of the ship 11. Specifically, in the step corresponding to step SA5 in FIG. 9, the ship control device 11C determines whether the speed of the ship 11 detected by the ship speed detection unit 11E has decreased to or below the second threshold value. If the speed of the ship 11 has not decreased to or below the second threshold value (that is, when the ship 11 continues to move forward due to the inertial force (momentum) of the ship 11), the step corresponding to step SA5 in FIG. 9 is repeatedly executed. On the other hand, if the speed of the ship 11 has decreased to or below the second threshold value (that is, when it can be estimated that the forward movement of the ship 11 due to the inertial force (momentum) of the ship 11 has ended), the process proceeds to the step corresponding to step SA6 in FIG. 9. In the step corresponding to step SA6 in FIG. 9, the ship control device 11C causes the actuator 11A to stop generating the backward thrust of the ship 11.

[0089] That is, in the ship operation system 1 of the fourth embodiment, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined as YES in the step corresponding to step SA3 in FIG. 9), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), without the operation unit 12A needing to receive the input operation. Therefore, in the ship operation system 1 of the fourth embodiment, it is possible to eliminate the need for an operator's input operation to cancel the inertial force generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A. Further, in the ship operation system 1 of the fourth embodiment, even if an operator who is away from the ship 11 cannot grasp the inertial force generated in the ship 11, the state of the ship 11 can be appropriately shifted from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0090] In the process executed by the ship control device 11C of the fourth embodiment when the operation unit 12A of the input device 12 receives an input operation to turn the ship 11 clockwise in place and then receives an input operation to stop the clockwise in-place turn of the ship 11, in the step corresponding to step SC1 in FIG. 11, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to turn the ship 11 clockwise in place. If the operation unit 12A has not received an input operation to turn the ship 11 clockwise in place, the step corresponding to step SC1 in FIG. 11 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to turn the ship 11 clockwise in place, the process proceeds to the step corresponding to step SC2 in FIG. 11.

[0091] In the step corresponding to step SC2 in FIG. 11, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a moment for turning the ship 11 clockwise in place on the ship 11. As a result, the ship 11 turns clockwise in place. Next, in the step corresponding to step SC3 in FIG. 11, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to stop the clockwise in-place turn of the ship 11. If the operation unit 12A has not received an input operation to stop the clockwise in-place turn of the ship 11, the step corresponding to step SC3 in FIG. 11 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the clockwise in-place turn of the ship 11, the process proceeds to the step corresponding to step SC4 in FIG. 11.

[0092] In the step corresponding to step SC4 in FIG. 11, the ship control device 11C stops the actuator 11A from generating a moment that turns the ship 11 clockwise in place. As a result, an inertial moment is generated that attempts to continue the clockwise in-place turn. Therefore, in the ship handling system 1 of the fourth embodiment, in the step corresponding to step SC4 in FIG. 11, the ship control device 11C operates the actuator 11A so as to generate a moment in the ship 11 that is opposite (counterclockwise) to the direction (clockwise) of the inertial moment generated in the ship 11. Specifically, in the step corresponding to step SC4 in FIG. 11, the ship control device 11C generates a counterclockwise moment in the ship 11 without the need to receive an input operation from the operation unit 12A that generates a counterclockwise moment in the ship 11. As a result, it is possible to prevent the ship 11 from turning too much clockwise in place due to the inertial moment generated in the ship 11. Next, in the step corresponding to step SC5 in FIG. 11, the ship control device 11C monitors the angular velocity of the ship 11. Specifically, in the step corresponding to step SC5 in FIG. 11, the ship control device 11C determines whether or not the angular velocity of the ship 11 calculated based on the bow azimuth detected by the bow azimuth detection unit 11D has decreased to or below a third threshold value. If the angular velocity of the ship 11 has not decreased to or below the third threshold value (that is, if the ship 11 continues to turn clockwise in place due to the inertial moment of the ship 11), the step corresponding to step SC5 in FIG. 11 is repeatedly executed. On the other hand, if the angular velocity of the ship 11 has decreased to or below the third threshold value (that is, if it can be estimated that the clockwise in-place turn of the ship 11 due to the inertial moment of the ship 11 has ended), the process proceeds to the step corresponding to step SC6 in FIG. 11. In the step corresponding to step SC6 in FIG. 11, the ship control device 11C stops the actuator 11A from generating a counterclockwise moment.

[0093] That is, in the ship control system 1 of the fourth embodiment, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined to be YES in the step corresponding to step SC3 in FIG. 11), the ship control device 11C causes the ship 11 to generate a moment in the direction opposite to the direction of the moment of inertia generated in the ship 11 (clockwise) (counterclockwise), and operates the actuator 11A without the operation unit 12A needing to receive an input operation. Therefore, in the ship control system 1 of the fourth embodiment, it is possible to eliminate the need for an operator's input operation to cancel the moment of inertia generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A. Further, in the ship control system 1 of the fourth embodiment, even if an operator who is away from the ship 11 cannot grasp the moment of inertia generated in the ship 11, the state of the ship 11 can be appropriately shifted from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0094] In the process executed by the ship control device 11C of the fourth embodiment when the operation unit 12A of the input device 12 receives an input operation to move the ship 11 forward and turn clockwise, and then receives an input operation to stop the forward movement and clockwise turn of the ship 11, in the step corresponding to step SE1 in FIG. 13, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to move the ship 11 forward and turn clockwise. If the operation unit 12A has not received an input operation to move the ship 11 forward and turn clockwise, the step corresponding to step SE1 in FIG. 13 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to move the ship 11 forward and turn clockwise, the process proceeds to the step corresponding to step SE2 in FIG. 13.

[0095] In the step corresponding to step SE2 in FIG. 13, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force for moving the ship 11 forward and generates a moment for turning the ship 11 clockwise on the ship 11. As a result, the ship 11 moves forward and turns clockwise. Next, in the step corresponding to step SE3 in FIG. 13, for example, the ship control device 11C determines whether or not the operation unit 12A of the input device 12 has received an input operation for stopping the forward movement and clockwise turning of the ship 11. If the operation unit 12A has not received an input operation for stopping the forward movement and clockwise turning of the ship 11, the step corresponding to step SE3 in FIG. 13 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation for stopping the forward movement and clockwise turning of the ship 11, the process proceeds to the step corresponding to step SE4 in FIG. 13.

[0096] In the step corresponding to step SE4 in FIG. 13, the ship control device 11C stops the actuator 11A from generating the propulsive force for advancing the ship 11 and generating the moment for turning the ship 11 clockwise. As a result, an inertial force for continuing to advance and an inertial moment for continuing to turn clockwise are generated. Therefore, in the ship operation system 1 of the fourth embodiment, in the step corresponding to step SE4 in FIG. 13, the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (the forward direction of the ship 11) (the backward direction of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (clockwise) (counterclockwise). Specifically, in the step corresponding to step SE4 in FIG. 13, the ship control device 11C causes the actuator 11A to generate a backward thrust of the ship 11 and generate a counterclockwise moment in the ship 11 without receiving an input operation for the operation unit 12A to generate a backward thrust of the ship 11 and generate a counterclockwise moment in the ship 11. As a result, it is possible to suppress the ship 11 from moving forward due to the inertial force generated in the ship 11 and the ship 11 from turning too much clockwise due to the inertial moment generated in the ship 11. Next, in the step corresponding to step SE5 in FIG. 13, the ship control device 11C monitors the speed of the ship 11. Specifically, in the step corresponding to step SE5 in FIG. 13, the ship control device 11C determines whether or not the speed of the ship 11 detected by the ship speed detection unit 11E has decreased to a fourth threshold value or less. When the speed of the ship 11 has not decreased to the fourth threshold value or less (that is, when the ship 11 is advancing due to the inertial force of the ship 11 and the ship 11 is continuing to turn clockwise due to the inertial moment of the ship 11), the step corresponding to step SE5 in FIG. 13 is repeatedly executed. On the other hand, when the speed of the ship 11 has decreased to the fourth threshold value or less (that is, when it can be estimated that the forward movement of the ship 11 due to the inertial force of the ship 11 and the clockwise turning of the ship 11 due to the inertial moment of the ship 11 have ended), the process proceeds to the step corresponding to step SE6 in FIG. 13. In the step corresponding to step SE6 in FIG. 13, the ship control device 11C causes the actuator 11A to stop generating the backward thrust of the ship 11 and the counterclockwise moment.

[0097] That is, in the ship operation system 1 of the fourth embodiment, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (when it is determined YES in the step corresponding to step SE3 in FIG. 13), the ship control device 11C causes the actuator 11A to generate a thrust in the direction opposite to the direction of the inertial force generated in the ship 11 (backward of the ship 11), and causes the ship 11 to generate a moment in the direction opposite to the direction of the inertial moment generated in the ship 11 (clockwise) (counterclockwise), without the operation unit 12A receiving an input operation, and operates the actuator 11A. Therefore, in the ship operation system 1 of the fourth embodiment, it is possible to eliminate the need for an operator's input operation to cancel the inertial force and inertial moment generated in the ship 11 when shifting from the operating state of the actuator 11A to the stopped state of the actuator 11A. Further, in the ship operation system 1 of the fourth embodiment, even if an operator away from the ship 11 cannot grasp the inertial force and inertial moment generated in the ship 11, the state of the ship 11 can be appropriately shifted from the operating state of the actuator 11A to the stopped state of the actuator 11A.

[0098] As described above, the embodiments for carrying out 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 examples may be combined.

[0099] Note that the entire functions of each part included in the ship operation system 1 in the above-described embodiment, or a part thereof, 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 a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, etc., and a storage unit such as a hard disk built in a computer system. Further, the "computer-readable recording medium" also includes, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, a medium that dynamically holds a program for a short time, and, like a volatile memory inside a computer system that becomes a server or a client in that case, a medium that holds a program for a certain period of time. Also, the above program may be for realizing a part of the aforementioned functions, and may further be realized in combination with a program already recorded in the computer system for realizing the aforementioned functions.

Explanation of Reference Numerals

[0100] 1... Ship operation system, 11... Ship, 11A... Actuator, 11A1... Rudder part, 11A2... Thrust generation part, 11B... Operation part, 11B1... Steering part, 11B2... Throttle operation part, 11C... Ship control device, 11D... Bow azimuth detection part, 11E... Ship speed detection part, 11F... Ship position detection part, 11G... Communication part, 12... Input device, 12A... Operation part, 12B... Communication part

Claims

1. An actuator having a function of generating a propulsive force for a ship and a function of generating a moment for the ship, a throttle operation unit that receives a forward / backward operation for moving the ship forward or backward by the actuator, and a steering unit that receives a turning operation for turning the ship left or right by the actuator, and an operation unit that receives an operation by a ship operator on the throttle operation unit and / or the steering unit as an input operation, and a ship control device that operates the actuator, wherein when the ship control device is operating the actuator, if the throttle operation unit and / or the steering unit receives a stop operation for putting the actuator in a non-operating state, the ship control device operates the actuator so that the actuator generates a thrust in a direction opposite to the direction of the inertial force generated in the ship and / or so that a moment in a direction opposite to the direction of the inertial moment generated in the ship is generated in the ship, without the operation unit having to receive an additional input operation. A ship control system.

2. The ship control device sets a period during which the actuator is operated so that the actuator generates a thrust in a direction opposite to the direction of the inertial force generated in the ship and / or so that a moment in a direction opposite to the direction of the inertial moment generated in the ship is generated in the ship, based on the elapsed time since the throttle operation unit and / or the steering unit received the stop operation for putting the actuator in a non-operating state. The ship control system according to Claim 1.

3. The ship control device sets a period during which the actuator is operated so that the actuator generates a thrust in a direction opposite to the direction of the inertial force generated in the ship and / or so that a moment in a direction opposite to the direction of the inertial moment generated in the ship is generated in the ship, based on the speed or angular velocity of the ship. The ship control system according to Claim 1.

4. The ship control system includes the ship and an input device provided separately from the ship, the ship includes the actuator and the ship control device, and the input device includes the operation unit that receives a forward operation, a backward operation, a left turning operation, a right turning operation, a left swiveling operation, and a right swiveling operation of the ship. When the operation unit of the input device receives a stop operation to put the actuator in a non-operating state while the ship control device is operating the actuator, the ship control device operates the actuator without the operation unit of the input device having to receive an additional input operation so that the actuator generates a thrust in a direction opposite to the direction of the inertial force generated in the ship and / or so that a moment opposite to the direction of the inertial moment generated in the ship is generated in the ship. The ship handling system according to claim 1.

5. When the throttle operation unit receives an input operation to stop the generation of the propulsive force for moving the ship forward or backward while the actuator is generating the propulsive force for moving the ship forward or backward, the ship control device operates the actuator without the operation unit having to receive an additional input operation so that the actuator generates a thrust in a direction opposite to the direction of the inertial force generated in the ship. The ship handling system according to claim 1.

6. When the throttle operation unit and / or the steering unit receive an input operation to stop the generation of the moment for turning the ship on the spot while the actuator is generating the moment for turning the ship on the spot, the ship control device operates the actuator without the operation unit having to receive an additional input operation so that a moment opposite to the direction of the inertial moment generated in the ship is generated in the ship. The ship handling system according to claim 1.

7. When the throttle operation unit and the steering unit receive an input operation to stop the generation of the propulsive force for moving the ship forward and the moment for turning the ship while the actuator is generating the propulsive force for moving the ship forward and the moment for turning the ship, the ship control device operates the actuator without the operation unit having to receive an additional input operation so that the actuator generates a thrust in a direction opposite to the direction of the inertial force generated in the ship and so that a moment opposite to the direction of the inertial moment generated in the ship is generated in the ship. The ship handling system according to claim 1.

8. When the actuator generates a propulsive force for reversing the ship and generates a moment for turning the ship on the ship, and the throttle operation unit and the steering unit receive an input operation for stopping the generation of the propulsive force for reversing the ship and the moment for turning the ship, the ship control device operates the actuator so that the actuator generates a thrust in the direction opposite to the direction of the inertial force generated on the ship and generates a moment in the direction opposite to the direction of the inertial moment generated on the ship, without the operation unit receiving an additional input operation. The ship handling system according to claim 1.

9. A ship handling system including an actuator having a function of generating a propulsive force of a ship and a function of generating a moment on the ship, a throttle operation unit for receiving a forward / backward operation for moving the ship forward or backward by the actuator, and a steering unit for receiving a turning operation for turning the ship left or right by the actuator, and an operation unit for receiving an operation by a ship operator on the throttle operation unit and / or the steering unit as an input operation, the ship control device for operating the actuator, when the ship control device is operating the actuator and the throttle operation unit and / or the steering unit receive a stop operation for putting the actuator in a non-operating state, the operation unit operates the actuator so that the actuator generates a thrust in the direction opposite to the direction of the inertial force generated on the ship and / or generates a moment in the direction opposite to the direction of the inertial moment generated on the ship, without receiving an additional input operation. Ship control device.

10. An actuator having a function of generating a propulsion force of a ship and a function of generating a moment on the ship, a throttle operation unit that receives a forward / backward operation for moving the ship forward or backward by the actuator, and a steering unit that receives a turning operation for turning the ship left or right by the actuator, and an operation unit that receives an operation by a ship operator on the throttle operation unit and / or the steering unit as an input operation. A ship control method for a ship control device that operates the actuator, A first step of operating the actuator in response to an input operation received by the throttle operation unit and / or the steering unit; When the ship control device is operating the actuator, when a stop operation for putting the actuator in a non-operating state is received by the throttle operation unit and / or the steering unit, A second step of operating the actuator such that the actuator generates a thrust in a direction opposite to the direction of the inertial force generated on the ship and / or such that the ship generates a moment in a direction opposite to the direction of the inertial moment generated on the ship, without the operation unit receiving an additional input operation. Ship control method.

11. An actuator having a function of generating a propulsion force of a ship and a function of generating a moment on the ship, a throttle operation unit that receives a forward / backward operation for moving the ship forward or backward by the actuator, and a steering unit that receives a turning operation for turning the ship left or right by the actuator, and an operation unit that receives an operation by a ship operator on the throttle operation unit and / or the steering unit as an input operation. In a computer mounted on a ship control device that operates the actuator, A first step of operating the actuator in response to an input operation received by the throttle operation unit and / or the steering unit; When the ship control device is operating the actuator, when a stop operation for putting the actuator in a non-operating state is received by the throttle operation unit and / or the steering unit, A program for causing the operation unit to execute a second step of operating the actuator without receiving an additional input operation so that the actuator generates a thrust in a direction opposite to the direction of the inertial force generated in the ship and / or so that the ship generates a moment in a direction opposite to the direction of the inertial moment generated in the ship.

Images