Ship control device, ship control method, and program

Abstract

Improve the operability of ships in terms of switching between automatic and manual navigation modes. [Solution] A control device for a vessel, comprising a shift lever for instructing the vessel to move forward and backward, a throttle lever for instructing an increase or decrease in the vessel's engine speed, and a steering unit for instructing the vessel's rudder angle, and a control unit for switching between an automatic navigation mode in which the vessel's thrust and rudder angle are automatically controlled, and a manual navigation mode in which the vessel's thrust and rudder angle are instructed by the vessel operator, and the control unit switches to the manual navigation mode when, during the automatic navigation mode, the shift lever is operated to a state different from when it was switched to the automatic navigation mode, or when the amount of operation of the steering unit exceeds a predetermined threshold.

Description

Technical Field

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

Background Art

[0002] Conventionally, regarding ship operation, there are an automatic navigation mode in which the ship system controls navigation and a manual navigation mode in which a passenger operates, and a configuration in which these can be switched is known.

[0003] For example, Patent Document 1 discloses a configuration in which it is determined whether or not a specific water area has been entered based on ship position information, and automatic navigation and manual navigation are switched according to the determination result. Further, Patent Document 2 describes that in a ship capable of switching between automatic navigation and manual navigation, when an operation input is made during automatic navigation, ship speed control is performed according to the input content.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] For example, in navigation on the system side and manual navigation, the criteria for judging danger with respect to the surrounding environment may be different. Therefore, when there are places or situations that cannot be handled on the system side, it is necessary to operate the ship manually. In response to such a change in the situation, it is required to quickly change the ship operation entity.

[0006] In view of the above problems, an object of the present invention is to improve the operability of a ship related to mode switching between automatic navigation / manual navigation of the ship.

Means for Solving the Problem

[0007] In order to solve the above problems, one embodiment of the present invention has the following configuration. That is, a control device for a ship including a shift lever for instructing forward and reverse movement of the ship, a throttle lever for instructing an increase or decrease in the rotational speed of the engine of the ship, and a steering unit for instructing the rudder angle of the ship, comprising a control unit that switches between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship, wherein the control unit, during the automatic navigation mode, when the shift lever is operated to a state different from when it is switched to the automatic navigation mode, or when the operation amount for the steering unit exceeds a predetermined threshold, switches to the manual navigation mode.

[0008] Another embodiment of the present invention has the following configuration. That is, a control method for a ship including a shift lever for instructing forward and reverse movement of the ship, a throttle lever for instructing an increase or decrease in the rotational speed of the engine of the ship, and a steering unit for instructing the rudder angle of the ship, including a control step of switching to a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship when the shift lever is operated to a state different from when it is switched to the automatic navigation mode during the automatic navigation mode for automatically controlling the thrust and rudder angle of the ship, or when the operation amount for the steering unit exceeds a predetermined threshold.

[0009] Another embodiment of the present invention has the following configuration. That is, a program, for causing a computer provided in a ship including a shift lever for instructing forward and reverse movement of the ship, a throttle lever for instructing an increase or decrease in the rotational speed of the engine of the ship, and a steering unit for instructing the rudder angle of the ship, Function as a control unit that switches between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship. The control unit During the automatic navigation mode, when the shift lever is operated to a state different from when it is switched to the automatic navigation mode, or when the operation amount for the steering unit exceeds a predetermined threshold value, switch to the manual navigation mode.

Effect of the Invention

[0010] According to the present invention, it is possible to improve the operability of the ship related to the mode switching between automatic navigation / manual navigation of the ship.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings and the like. Note that the embodiments described below are one embodiment for explaining the present invention, and are not intended to be construed as limiting the present invention, and not all the configurations described in each embodiment are essential configurations for solving the problems of the present invention. Also, in each drawing, the same reference numerals are assigned to the same components to indicate the correspondence. Note that, in order to avoid unnecessary redundancy and facilitate the understanding of those skilled in the art, a part of the description may be omitted or simplified. For example, detailed descriptions of well-known matters and duplicate descriptions of substantially the same configurations may be omitted.

[0013] <First Embodiment> [System Configuration] FIG. 1 is a block configuration diagram showing a configuration example of a ship 100 according to a first embodiment of the present invention. The ship 100 according to the present embodiment is configured to be able to switch between an automatic navigation mode under the control of the system and a manual navigation mode in which the ship is controlled by a human. The size, specifications, etc. of the ship 100 are not particularly limited as long as the functions described later can be provided.

[0014] The throttle lever 101 is a part for instructing an increase or decrease in the rotational speed of the engine 105 which is a driving part of the ship 100. By operating the throttle lever 101, the acceleration and deceleration of the ship 100 are controlled. The shift lever 102 is a part for giving an instruction related to the progress of the ship 100. For example, by switching the shift lever 102, it is possible to switch between neutral, forward, and reverse. Note that the instruction by the shift lever 102 is not limited to the above, and other instructions may be given. For example, in the forward direction, multiple-stage instructions may be possible. Also, the throttle lever 101 and the shift lever 102 are not limited to a rod shape and may have any shape.

[0015] The UI unit 103 is a user interface for receiving operations by the operator of the ship 100 and presenting various information. The UI unit 103 may be composed of, for example, a touch panel screen, buttons, switches, speakers, microphones, etc. In the UI unit 103, for example, information related to the navigation of the ship 100 (position, speed, state, navigation, etc.) may be displayed. The output by the UI unit 103 may be any of visual, auditory, and tactile outputs such as images, sounds, and vibrations. In the present embodiment, it is configured to be able to receive an instruction for mode switching via the UI unit 103.

[0016] The electronic rudder 104 is a steering unit for indicating the direction of the rudder 109 and is used to adjust the traveling direction of the ship 100. The engine 105 is a mechanism that provides the propulsion force of the ship 100. The configuration of the engine 105 is not particularly limited and may be any of an inboard engine, an inboard / outboard engine, and an outboard engine. In this embodiment, an inboard engine is taken as an example to describe the configuration in which the engine 105 and the rudder 109 are controlled. However, in accordance with the configuration of the applicable ship (outboard engine or inboard / outboard engine), for example, adjustments and omissions of each of the control steps described later may be appropriately made. Also, a plurality of engines 105 may be provided. Further, the engine 105 may be driven by fuel such as gasoline or light oil, or may be driven by electricity.

[0017] The sensor 106 is composed of a plurality of sensors for acquiring the surrounding information and internal information of the ship 100. The sensor 106 may include, for example, a plurality of types of sensors such as a wind direction and speed meter, an acceleration sensor, a temperature sensor, a humidity sensor, LiDAR (Light Detection And Ranging), a radar, a gyro sensor, a position sensor, a rotation sensor, a sonar, a camera, and a remaining amount sensor for fuel and the power supply 110. Also, a plurality of the same type of sensor may be provided. Each type of sensor included in the sensor 106 may be configured to acquire information not only about the entire ship 100 but also about a predetermined part constituting the ship 100.

[0018] The communication unit 107 is a part for transmitting and receiving information to and from the outside. The communication unit 107 may include, for example, a plurality of types of antennas such as a GNSS (Global Navigation Satellite System) antenna and an AIS (Automatic Identification System) antenna.

[0019] The memory unit 108 is a part for storing programs and data related to the control of the ship 100. The memory unit 108 is composed of volatile / non-volatile storage devices such as RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard disk Drive), and flash memory. For example, the navigation history of the ship 100 and the operation history of the operator or the system may be held in the memory unit 108.

[0020] The rudder 109 is a part for defining the direction of travel of the ship 100. The configuration of the rudder 109 is not particularly limited, and it may be one or plural. In the present embodiment, the rudder 109 is hydraulically controlled by the rudder control device 123 based on the operation amount with respect to the electronic rudder 104.

[0021] The power supply 110 is the power source for each part of the ship 100. A plurality of power supplies 110 may be provided according to the parts.

[0022] The control system 120 controls the ship 100. The control system 120 is composed of, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a dedicated circuit, etc., and provides various functions by reading and executing various programs and data stored in the memory unit 108. In the present embodiment, the control system 120 includes an engine control device 121, an automatic navigation control device 122, and a rudder control device 123. Each device may be configured as a separate device or may be collectively configured in one device.

[0023] When in the manual navigation mode, the engine control device 121 controls the engine 105 based on the operations of the throttle lever 101 and the shift lever 102 by the operator. Also, when in the automatic navigation mode, the engine control device 121 controls the engine 105 based on instructions from the automatic navigation control device 122. In addition, regardless of whether it is in the manual navigation mode or the automatic navigation mode, the engine control device 121 may perform auxiliary control of the engine 105 based on predetermined parameters and conditions.

[0024] The automatic navigation control device 122 collects various information from the sensor 106, the communication unit 107, etc., and cooperates with the engine control device 121 and the rudder control device 123 to control the navigation of the ship 100. For example, when in the automatic navigation mode, the automatic navigation control device 122 cooperates with the engine control device 121 to control the acceleration and deceleration of the ship 100 by the engine 105. Also, when in the automatic navigation mode, the automatic navigation control device 122 cooperates with the rudder control device 123 to control the direction (angle) of the rudder 109. In addition, the automatic navigation control device 122 may identify the current position and surrounding conditions of the ship 100, and present or adjust parameters and information related to navigation to the operator.

[0025] Note that the configuration of the ship 100 shown in FIG. 1 is an example, and further configurations may be provided or further connections may be made between parts. For example, a connection for data communication may be further provided, or a connection with a configuration serving as a power source or a drive source (not shown) may be provided.

[0026] [Mode Switching] In this embodiment, when the ship 100 is performing automatic navigation in the automatic navigation mode, a switch to the manual navigation mode is made when a predetermined event occurs. The automatic navigation mode may, for example, be capable of forward movement, backward movement, station-keeping at a predetermined position, navigation from the current position to the destination, and docking and undocking. The automatic navigation mode may, for example, be provided with a plurality of stages. For example, a plurality of automatic navigation modes corresponding to the navigation area may be provided, or a plurality of automatic navigation modes corresponding to the control parameters may be provided. In addition, the automatic navigation mode may be a mode in which movement in the front-rear direction (X direction) and the left-right direction (Y direction), left and right turning, etc. are performed by operating a joystick (not shown). Such an automatic navigation mode may be a mode that enables navigation based on the operation amount while suppressing the influence of the surrounding environment. The control parameters during the automatic navigation mode and the functions that can be provided during the automatic navigation mode are not particularly limited.

[0027] In this embodiment, during the manual navigation mode, after the operator sets the shift lever 102 to the neutral state, the automatic navigation mode can be switched by instructing the switch to the automatic navigation mode via the UI unit 103. As described above, when a plurality of automatic navigation modes can be set, any one of them may be specified.

[0028] [Processing Flow] FIG. 2 shows a flowchart of the mode switching control according to this embodiment. This processing flow is realized by the cooperation of each device of the control system 120 shown in FIG. 1. Here, for the sake of simplicity of explanation, the processing subject is collectively described as the control system 120. Also, at the start of this processing flow, it is assumed that the ship 100 is in the manual navigation mode.

[0029] In step S201, the control system 120 accepts the neutral operation of the shift lever 102.

[0030] In step S202, the control system 120 receives an instruction to switch to the automatic navigation mode via the UI unit 103. At this time, it may receive the designation of the destination in the automatic navigation mode and the conditions (navigation time, navigation speed, etc.) in the automatic navigation mode.

[0031] In step S203, the control system 120 sets a threshold value for the operation amount of the electronic rudder 104. The threshold value may be defined in advance or specified by the operator. Also, the threshold value and the range within which it can be set may be defined based on the specifications of the steering of the ship 100. For example, the threshold value may be set for the operation amount (change amount) within a predetermined range with respect to the angle of the electronic rudder 104 at a certain point in time. More specifically, the threshold value may be set, for example, in the range from 0 degrees to 35 degrees.

[0032] In step S204, the control system 120 switches from the manual navigation mode to the automatic navigation mode. At this time, it may notify the operator via the UI unit 103 that the mode has been switched. Also, it may notify the current mode via the UI unit 103. Further, when switching to the automatic navigation mode, the control system 120 may start the process of state monitoring based on the information acquired by the sensor 106 and the communication unit 107.

[0033] In step S205, the control system 120 determines whether it has received an instruction to end the automatic navigation mode via the UI unit 103. If it has received the end instruction (step S205: YES), the process of the control system 120 proceeds to step S210. If it has not received the end instruction (step S205: NO), the process of the control system 120 proceeds to step S206.

[0034] In step S206, the control system 120 determines whether the shift lever 102 has been operated to a position other than neutral. In this embodiment, since the shift lever 102 is operated to neutral when switching to the automatic navigation mode, it is determined whether it has been operated to a state different from this. Note that the state of the shift lever 102 when switching to the automatic navigation mode may be other than neutral, and in that case, it may be determined whether the state has changed from the state of the shift lever 102 when switching to the automatic navigation mode. If the shift lever 102 has been operated to a position other than neutral (step S206: YES), the process of the control system 120 proceeds to step S210. On the other hand, if the shift lever 102 is maintained in neutral (step S206: NO), the process of the control system 120 proceeds to step S207.

[0035] In step S207, the control system 120 determines whether the operation amount of the electronic rudder 104 has exceeded the threshold value set in step S203. Here, the electronic rudder 104 is operated by the operator, and it is determined whether the operation amount within a predetermined time interval has exceeded the threshold value. If the operation amount has exceeded the threshold value (step S207: YES), the process of the control system 120 proceeds to step S210. On the other hand, if the operation amount has not exceeded the threshold value (step S207: NO), the process of the control system 120 proceeds to step S208.

[0036] In step S208, the control system 120 determines whether the destination or its vicinity has been reached. The destination may be the position specified in step S202 or a position defined in advance. If the destination has been reached (step S208: YES), the process of the control system 120 proceeds to step S210. On the other hand, if the destination has not been reached (step S208: NO), the process of the control system 120 proceeds to step S209.

[0037] In step S209, the control system 120 determines whether an abnormality has been detected. The abnormality may be detected based on information obtained from the sensor 106 or the communication unit 107. The abnormality may be, for example, detection of an obstacle around the ship 100, detection of an abnormality in each part within the ship 100, detection of an abnormality in the power supply 110, occurrence of a communication abnormality with the outside, pressing of an emergency button (not shown) or a kill switch by the operator, detection of an event that makes it impossible to continue automatic navigation, and the like. If an abnormality is detected (step S209: YES), the process of the control system 120 proceeds to step S210. On the other hand, if no abnormality is detected (step S209: NO), the process of the control system 120 returns to step S205 and the process is repeated.

[0038] In step S210, the control system 120 controls the engine 105 and the rudder 109 to be in a predetermined state. The predetermined state may be specified according to the previous state or may be predefined. For example, the engine 105 may be controlled to stop, or may be controlled to maintain the current output. Alternatively, the rotational speed of the engine 105 may be controlled so that the speed of the ship 100 reaches a predetermined state. Also, the direction of the rudder 109 may be controlled to be 0 degrees, or may be controlled to maintain the current direction. Alternatively, output control corresponding to the operations of the throttle lever 101, the shift lever 102, and the electronic rudder 104 by the operator immediately before the mode switch may be performed. In this case, adjustment of the control amount may be performed with the occurrence of the mode switch. For example, even when the same operation instruction is given by the operator, the control amounts for the engine 105 and the rudder 109 may be made different between the normal manual navigation mode and immediately after switching from the automatic navigation mode to the manual navigation mode.

[0039] In step S211, the control system 120 switches from the automatic navigation mode to the manual navigation mode. At this time, the control system 120 may notify the operator via the UI unit 103 that the mode has been switched. Also, the control system 120 may notify the current mode via the UI unit 103. Then, this processing flow ends.

[0040]

[0040]

[0041] [Modification Example]

[0040]

[0042]

[0040]

[0043] In the configuration of FIG. 3, it is assumed that the steering control device 123 cannot obtain the operation amount for the hydraulic rudder 301. In that case, the process of step S207 in FIG. 2 may be omitted. Alternatively, a separate sensor (not shown) for the operation amount of the hydraulic rudder 301 may be provided so that the steering control device 123 can detect the operation amount. Then, based on the detected operation amount, the process of step S207 in FIG. 2 may be performed. In this case, it may be determined whether or not the change amount exceeds a predetermined threshold value based on the combined amount of the operation amount by the pressure from the hydraulic pump 302 via the solenoid valve 303 and the operation amount by the operator via the hydraulic rudder 301. Alternatively, each operation amount may be configured to be detected separately, and the determination may be made based only on the operation amount by the operator via the hydraulic rudder 301.

[0044] As described above, according to the present embodiment, it is possible to improve the operability of the ship related to the mode switching between the automatic navigation / manual navigation of the ship.

[0045] <Other Embodiments> The specifications, characteristics, sizes, shapes, etc. of the ship to which the above is applicable are not particularly limited. Also, in the case of a ship capable of setting a plurality of types of automatic navigation modes, the automatic navigation modes that can be switched to the manual navigation mode by the above control method may be defined in advance. The first automatic navigation mode may be configured to be switchable to the manual navigation mode by the above control method, and the second automatic navigation mode may be configured not to be switchable to the manual navigation mode by the above control method. For example, the first automatic navigation mode and the second automatic navigation mode may be controlled to be switchable to the manual navigation mode under different conditions. Also, it may be possible to set whether or not the operator can switch the mode by the above control method.

[0046] Also, in the present invention, a program or application for realizing the functions of one or more of the above-described embodiments can be supplied to a system or device using a network or a storage medium, etc., and the process can also be realized by one or more processors in the computer of the system or device reading and executing the program.

[0047] Alternatively, it may be implemented by a circuit (e.g., an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array)) that implements one or more functions.

[0048] As described above, various embodiments have been described with reference to the drawings. Needless to say, the present disclosure is not limited to such examples. It is obvious that those skilled in the art can make various changes, modifications, substitutions, additions, deletions, and equivalents within the scope described in the claims, and it is naturally understood that they also belong to the technical scope of the present disclosure. Also, within the scope not departing from the gist of the invention, the components in the above-described various embodiments may be arbitrarily combined.

[0049] Thus, the present invention is not limited to the above-described embodiments, and it is also contemplated by the present invention that those skilled in the art can combine each configuration of the embodiments with each other, and make changes and applications based on the description in the specification and well-known techniques, which are included in the scope for which protection is sought.

[0050] As described above, the following matters are disclosed in this specification.

[0051] (Technology 1) A control device (e.g., 120) for a ship, comprising a shift lever (e.g., 102) for instructing forward and reverse of the ship (e.g., 100), a throttle lever (e.g., 101) for instructing increase and decrease of the rotational speed of the engine (e.g., 105) of the ship, and a steering unit (e.g., 104) for instructing the rudder angle of the ship, comprising a control unit (e.g., 120, 122) for switching between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode for the operator to instruct the thrust and rudder angle of the ship, the control unit is A control device that switches to the manual navigation mode when, during the automatic navigation mode, the shift lever is operated to a state different from when it is switched to the automatic navigation mode, or when the amount of operation on the steering unit exceeds a predetermined threshold value. With this configuration, for example, it becomes possible to improve the operability of the ship related to the mode switching between automatic navigation / manual navigation of the ship.

[0052] (Technology 2) Further includes a monitoring unit (for example, 120, 122) that monitors abnormalities of the ship based on information from a sensor (for example, 106) that detects the state of the ship or a communication unit (for example, 107) that communicates with the outside. The control unit switches to the manual navigation mode when an abnormality is detected by the monitoring unit during the automatic navigation mode, and the control device according to any one of Technologies 1 to 3. With this configuration, for example, smooth switching from the automatic navigation mode to the manual navigation mode becomes possible according to the state inside and around the ship or the communication state with the outside.

[0053] (Technology 3) The state different from when the shift lever is switched to the automatic navigation mode is a state where the shift lever is in a non-neutral state, and the control device according to Technology 1 or Technology 2. With this configuration, smooth switching from the automatic navigation mode to the manual navigation mode becomes possible when the shift lever is operated to a non-neutral state.

[0054] (Technology 4) The control unit switches to the manual navigation mode when receiving an instruction to switch to the manual navigation mode via the operation unit (for example, 103) of the ship during the automatic navigation mode, and the control device according to any one of Technologies 1 to 3. With this configuration, for example, smooth switching from the automatic navigation mode to the manual navigation mode becomes possible based on a switching instruction by the operator of the ship.

[0055] (Technology 5) The control device further includes a determination unit (for example, 120 and 122) that determines whether or not the ship has arrived at a predetermined destination based on the position information of the ship. During the automatic navigation mode, when it is determined that the ship has arrived at the predetermined destination, the control unit switches to the manual navigation mode. The control device according to any one of Technologies 1 to 4. With this configuration, for example, based on the position of the ship, a smooth switch from the automatic navigation mode to the manual navigation mode becomes possible.

[0056] (Technology 6) The control unit can switch to a plurality of types of modes including a first automatic navigation mode and a second automatic navigation mode as the automatic navigation mode. During the first automatic navigation mode, when the shift lever is operated to a state different from when it is switched to the automatic navigation mode, or when the operation amount for the steering unit exceeds a predetermined threshold value, the control unit switches to the manual navigation mode. During the second automatic navigation mode, when the shift lever is operated to a state different from when it is switched to the automatic navigation mode, or when the operation amount for the steering unit exceeds a predetermined threshold value, the control unit can switch to the manual navigation mode when a predetermined condition different from the above is satisfied. The control device according to any one of Technologies 1 to 5. With this configuration, for example, for each of the plurality of types of automatic navigation modes, operation conditions for mode switching to the manual navigation mode can be set. Therefore, it is possible to enhance the versatility for mode switching.

[0057] (Technology 7) The control device according to any one of Technologies 1 to 6 further includes a notification unit (for example, 103, 120, 122) that notifies information regarding the mode switching before the mode switching by the control unit. With this configuration, the operator can easily grasp information regarding the mode on the ship.

[0058] (Technology 8) The predetermined threshold value is a control device according to any one of Technologies 1 to 7, which is set according to the operator of the ship or the specifications of the ship. With this configuration, for example, it becomes possible to set the operation amount when switching from the automatic navigation mode to the manual navigation mode based on various conditions.

[0059] (Technology 9) When the control unit switches from the automatic navigation mode to the manual navigation mode, based on the operation instruction of the ship operator immediately before the switching, the control amounts of the thrust and rudder angle of the ship at the time of switching are adjusted. The control device according to claim 1. With this configuration, for example, it becomes possible to adjust the control amount immediately after switching from the automatic navigation mode to the manual navigation mode according to the operation content of the ship operator. Therefore, for example, the transfer of operation to the ship operator who becomes the ship handling entity due to mode switching becomes smooth, and it becomes possible to improve the operability of the ship.

[0060] (Technology 10) When the control unit switches from the automatic navigation mode to the manual navigation mode, before the switching, it controls so that the speed of the ship or the rotational speed of the engine falls within a predetermined range. The control device according to any one of Technologies 1 to 9. With this configuration, for example, it becomes possible to perform highly stable ship handling when switching from the automatic navigation mode to the manual navigation mode.

[0061] (Technology 11) When the control unit switches from the automatic navigation mode to the manual navigation mode, it switches while maintaining the direction of the rudder (for example, 109) provided in the ship. The control device according to any one of Technologies 1 to 10. With this configuration, for example, it becomes possible to perform highly stable ship handling when switching from the automatic navigation mode to the manual navigation mode.

[0062] (Technology 12) When switching from the automatic navigation mode to the manual navigation mode, the control unit switches after controlling the direction of the rudder (for example, 109) provided on the ship to a predetermined angle. The control device according to any one of Technologies 1 to 10. With this configuration, for example, when switching from the automatic navigation mode to the manual navigation mode, it becomes possible to make the state of the ship easy for the user to grasp.

[0063] (Technology 13) The steering unit is an electronic rudder (for example, 104). The control device according to any one of Technologies 1 to 12. With this configuration, for example, for a ship equipped with an electronic rudder, it becomes possible to improve the operability of the ship related to the mode switching between automatic navigation / manual navigation.

[0064] (Technology 14) The steering unit is a hydraulic rudder (for example, 301). The control device according to any one of Technologies 1 to 12. With this configuration, for example, for a ship equipped with a hydraulic rudder, it becomes possible to improve the operability of the ship related to the mode switching between automatic navigation / manual navigation.

[0065] (Technology 15) A ship control method including a shift lever (for example, 102) for instructing forward and backward movement of a ship (for example, 100), a throttle lever (for example, 101) for instructing an increase or decrease in the rotational speed of the engine (for example, 105) of the ship, and a steering unit (for example, 104) for instructing the rudder angle of the ship, During the automatic navigation mode in which the thrust and rudder angle of the ship are automatically controlled, when the shift lever is operated to a state different from when it is switched to the automatic navigation mode, or when the operation amount for the steering unit exceeds a predetermined threshold value, a control step of switching to a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship. The control method. With this configuration, for example, it becomes possible to improve the operability of the ship related to the mode switching between automatic navigation / manual navigation of the ship.

[0066] (Technology 16) A computer (e.g., 120, 122) provided on a ship, comprising a shift lever (e.g., 102) for instructing forward and reverse movement of the ship (e.g., 100), a throttle lever (e.g., 101) for instructing an increase or decrease in the rotational speed of the engine (e.g., 105) of the ship, and a steering section (e.g., 104) for instructing the rudder angle of the ship, functioning as a control section (e.g., 122) for switching between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship, The control section, during the automatic navigation mode, when the shift lever is operated to a state different from when it is switched to the automatic navigation mode, or when the operation amount for the steering section exceeds a predetermined threshold value, switches to the manual navigation mode, a program. With this configuration, for example, it becomes possible to improve the operability of the ship regarding the mode switching between automatic navigation / manual navigation of the ship.

Industrial Applicability

[0067] The present invention is useful as, for example, an apparatus, system, method, and program for controlling a ship capable of switching between an automatic navigation mode and a manual navigation mode.

Explanation of Signs

[0068] 100... Ship 101... Throttle lever 102... Shift lever 103... UI section 104... Electronic rudder 105... Engine 106... Sensor 107... Communication section 108... Storage section 109... Rudder 110... Power supply 120... Control system 121... Engine control device 122... Automatic navigation control device 123… Steering control device 301… Hydraulic rudder 302… Hydraulic pump 303… Solenoid valve

Claims

1. A control device for a ship, comprising a shift lever for instructing forward and reverse movement of the ship, a throttle lever for instructing an increase or decrease in the rotational speed of the engine of the ship, and a steering unit for instructing the rudder angle of the ship, comprising a control unit for switching between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode for the operator to instruct the thrust and rudder angle of the ship, wherein the control unit during the automatic navigation mode, when either one of the following conditions is satisfied: the shift lever is operated to a state different from when it is switched to the automatic navigation mode by the operator, or the operation amount for the steering unit exceeds a predetermined threshold value, it switches to the manual navigation mode, the shift lever is switched to the automatic navigation mode in a neutral state, a state different from when the shift lever is switched to the automatic navigation mode means a state other than neutral for the shift lever. A control device.

2. A control device for a ship, comprising a shift lever for instructing forward and reverse movement of the ship, a throttle lever for instructing an increase or decrease in the rotational speed of the engine of the ship, and a steering unit for instructing the rudder angle of the ship, comprising a control unit for switching between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode for the operator to instruct the thrust and rudder angle of the ship, the control unit is switchable to a plurality of types of modes including a first automatic navigation mode and a second automatic navigation mode as the automatic navigation mode, wherein the control unit during the first automatic navigation mode, when either one of the following conditions is satisfied: the shift lever is operated to a state different from when it is switched to the first automatic navigation mode, or the operation amount for the steering unit exceeds a predetermined threshold value, it switches to the manual navigation mode, during the second automatic navigation mode, when either one of the following conditions is satisfied: the shift lever is operated to a state different from when it is switched to the second automatic navigation mode, or the operation amount for the steering unit exceeds the predetermined threshold value, it controls so as not to switch to the manual navigation mode. A control device.

3. further comprising a monitoring unit for monitoring an abnormality of the ship based on information from a sensor for detecting the state of the ship or a communication unit for communicating with the outside. The control device according to claim 1 or 2, wherein the control unit switches to the manual navigation mode when an abnormality is detected by the monitoring unit during the automatic navigation mode.

4. The control device according to claim 1 or 2, wherein the predetermined threshold value is set according to the operator of the ship or the specifications of the ship.

5. When the control unit switches from the automatic navigation mode to the manual navigation mode, the control unit controls the engine speed corresponding to the operation of the throttle lever by the operator, maintains the speed of the ship immediately before switching, controls the engine speed so that the speed of the ship becomes a preset speed, or stops the engine. The control device according to claim 1 or 2 performs any one of the above controls.

6. The control device according to claim 1 or 2, wherein when the control unit switches from the automatic navigation mode to the manual navigation mode, the control unit adjusts the control amounts of the thrust and rudder angle of the ship at the time of switching based on the operation instruction of the operator immediately before switching.

7. The control device according to claim 1 or 2, wherein when the control unit switches from the automatic navigation mode to the manual navigation mode, the control unit performs either control of switching while maintaining the direction of the rudder provided on the ship or switching after controlling the direction of the rudder provided on the ship to 0 degrees.

8. A control method for a ship, comprising a shift lever for instructing forward and reverse of the ship, a throttle lever for instructing an increase or decrease in the engine speed of the ship, and a steering unit for instructing the rudder angle of the ship. During the automatic navigation mode in which the thrust and rudder angle of the ship are automatically controlled, when either one of the following conditions is satisfied: when the shift lever is operated to a state different from when it is switched to the automatic navigation mode, or when the operation amount for the steering unit exceeds a predetermined threshold value, a control step of switching to a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship is provided. The shift lever is switched to the automatic navigation mode in the neutral state. A state different from when the shift lever is switched to the automatic navigation mode is a state other than neutral for the shift lever. Control method.

9. A control method for a ship comprising a shift lever for instructing forward and reverse movement of the ship, a throttle lever for instructing an increase or decrease in the rotational speed of the engine of the ship, and a steering unit for instructing the rudder angle of the ship, having a control step of switching between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship, wherein the ship is switchable between a plurality of types of modes including a first automatic navigation mode and a second automatic navigation mode as the automatic navigation mode, in the control step, when either one of the following conditions is satisfied during the first automatic navigation mode: when the shift lever is operated to a state different from when it is switched to the first automatic navigation mode or when the operation amount for the steering unit exceeds a predetermined threshold value, switch to the manual navigation mode, in the control step, during the second automatic navigation mode, control so that it cannot be switched to the manual navigation mode when either one of the following conditions is satisfied: when the shift lever is operated to a state different from when it is switched to the second automatic navigation mode or when the operation amount for the steering unit exceeds the predetermined threshold value.

10. A computer provided in a ship comprising a shift lever for instructing forward and reverse movement of the ship, a throttle lever for instructing an increase or decrease in the rotational speed of the engine of the ship, and a steering unit for instructing the rudder angle of the ship, functioning as a control unit for switching between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship, the control unit during the automatic navigation mode, when either one of the following conditions is satisfied by the operator: when the shift lever is operated to a state different from when it is switched to the automatic navigation mode or when the operation amount for the steering unit exceeds a predetermined threshold value, switch to the manual navigation mode, the shift lever is switched to the automatic navigation mode in the neutral state, a state different from when the shift lever is switched to the automatic navigation mode is a state other than neutral for the shift lever.

11. A computer provided on a ship, comprising a shift lever for instructing forward and reverse movement of the ship, a throttle lever for instructing increase and decrease in the rotational speed of the engine of the ship, and a steering unit for instructing the rudder angle of the ship. Function as a control unit for switching between an automatic navigation mode for automatically controlling the thrust and rudder angle of the ship and a manual navigation mode in which the operator instructs the thrust and rudder angle of the ship. The control unit can be switched to a plurality of types of modes including a first automatic navigation mode and a second automatic navigation mode as the automatic navigation mode. The control unit During the first automatic navigation mode, when either the shift lever is operated to a state different from when it is switched to the first automatic navigation mode or the operation amount for the steering unit exceeds a predetermined threshold value, switch to the manual navigation mode. During the second automatic navigation mode, when either the shift lever is operated to a state different from when it is switched to the second automatic navigation mode or the operation amount for the steering unit exceeds the predetermined threshold value, control so as not to be switched to the manual navigation mode. A program.

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