Ship control system and ship

Abstract

To provide a ship control system for controlling a ship so that a hull moves in a maneuvering direction designated by a steering device in the same way as in normal time even if an abnormality occurs in a part of a plurality of propulsion devices.SOLUTION: A ship control system according to an aspect of the present disclosure includes a processing unit that executes partial output limitation steering control for: when an output of a part of a plurality of propulsion devices equipped on a ship is limited, acquiring output limitation information including which is the propulsion device whose output is limited and an upper limit output of the propulsion device whose output is limited, and command information including a hull maneuvering direction designated by a steering device; and on the basis of the acquired output limitation information and command information, determining the magnitude and generation direction of an output of the propulsion device whose output is not limited, and determining the magnitude and generation direction of an output of the propulsion device whose output is limited, so that the hull is moved in the maneuvering direction designated by the steering device.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a vessel control system and a vessel. [Background technology]

[0002] Some ships are equipped with multiple propulsion devices (see, for example, Patent Document 1). In a ship equipped with multiple propulsion devices, when the steering direction of the hull is specified using a steering device (steering lever, etc.), the magnitude of the output of each propulsion device and the direction in which the output is generated are automatically determined so that the hull moves in the specified steering direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-131178 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described vessel, because the vessel is designed on the assumption that each propulsion device is normal, if an abnormality occurs in one of the propulsion devices, the vessel may not be able to move in the specified steering direction. In light of this, an object of the present disclosure is to provide a vessel control system that controls the vessel so that the vessel moves in the steering direction specified by the steering device, as in normal cases, even if an abnormality occurs in one of the propulsion devices. [Means for solving the problem]

[0005] A ship control system according to one aspect of the present disclosure includes a processing device that, when the output of some of the propulsion devices among multiple propulsion devices equipped on a ship is restricted, acquires output restriction information including which propulsion device has its output restricted and the upper limit output of the output-restricted propulsion device, and command information including the steering direction of the hull specified by the steering device, and, based on the acquired output restriction information and command information, determines the output magnitude and direction of output generation of the propulsion devices whose output is not restricted so that the hull moves in the steering direction specified by the steering device, and also executes partial output restriction steering control that determines the output magnitude and direction of output generation of the output-restricted propulsion devices.

[0006] A ship control system according to another aspect of the present disclosure includes a processing device that, when it becomes impossible to set the output generation direction of some of the propulsion devices equipped on a ship, acquires direction setting impossible information including which propulsion device has become unable to set its output generation direction and the output generation direction of the propulsion device for which it becomes impossible to set its output generation direction, and command information including the steering direction of the hull specified by the steering device, and, based on the acquired direction setting impossible information and command information, determines the output magnitude and output generation direction of the propulsion device for which it is possible to set its output generation direction so that the hull moves in the steering direction specified by the steering device, and also performs partial direction setting impossible steering control that determines the output magnitude of the propulsion device for which it is impossible to set its output generation direction. [Effects of the Invention]

[0007] According to the above configuration, a ship control system can be provided that controls the ship so that the hull moves in the steering direction specified by the steering device, as under normal circumstances, even if an abnormality occurs in some of the multiple propulsion devices. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a plan view of a ship. [Figure 2] FIG. 2 is a block diagram of a vessel and a vessel control system. [Figure 3]FIG. 3 is a table showing an example of normal steering control and partial output limiting steering control. [Figure 4] FIG. 4 is a table showing an example of normal steering control and partial direction setting impossible steering control. DETAILED DESCRIPTION OF THE INVENTION

[0009] <Ship> First, a boat 100 according to this embodiment will be described. FIG. 1 is a plan view of the boat 100. The top, bottom, right, and left of the page in FIG. 1 correspond to the front, rear, right, and left of the hull 101, respectively. The front part of the hull 101 is the bow, and the rear part of the hull 101 is the stern. FIG. 2 is a block diagram of the boat 100 and a boat control system 200. As shown in FIGS. 1 and 2, the boat 100 according to this embodiment is equipped with a first propulsion device 10, a second propulsion device 20, and a steering device 30.

[0010] The first propulsion unit 10 is disposed in the right rear portion of the hull 101. The first propulsion unit 10 of this embodiment is a so-called slew-type azimuth thruster. The thrust generation unit 11 has a propeller 12, and the thrust generation unit 11 swivels horizontally around a swivel axis 13. This allows the first propulsion unit 10 to generate an output (thrust) of any magnitude in any direction. Note that the first propulsion unit 10 may not be a slew-type azimuth thruster, but may instead be configured with a line shaft propeller and rudder.

[0011] The second propulsion unit 20 is installed in the left rear portion of the hull 101. The second propulsion unit 20 has the same configuration as the first propulsion unit 10 except for its installation position. The second propulsion unit 20 in this embodiment is a so-called slew-type azimuth thruster. The thrust generation unit 21 has a propeller 22, and the thrust generation unit 21 swivels horizontally around a swivel axis 23. This allows the second propulsion unit 20 to generate an output (thrust) of any magnitude in any direction. Note that the second propulsion unit 20 may not be a slew-type azimuth thruster, but may instead be configured with a line shaft propeller and rudder.

[0012] The steering device 30 is a device that specifies the steering direction and increase / decrease of the movement speed of the hull 101. As an example, the steering device 30 of this embodiment has a steering lever (not shown), and the steering direction of the hull 101 can be specified by the direction in which the steering lever is tilted, and the movement speed of the hull 101 can be specified by the angle of tilt. The steering direction of the hull 101 includes, in addition to "forward" and "reverse," a "right turn" in which the bow turns to the right, a "left turn" in which the bow turns to the left, a "right turn on the spot" in which the bow turns clockwise on the spot, and a "left turn on the spot" in which the bow turns counterclockwise on the spot. Note that, instead of a steering lever, the steering device 30 may have a thruster operation unit other than a steering lever that can specify the steering direction and increase / decrease of the movement speed of the hull 101.

[0013] <Ship Control System> Next, a description will be given of a ship control system 200 according to this embodiment. The ship control system 200 is a system that controls the ship 100. As shown in Fig. 2, the ship control system 200 includes a processing device 40, a setting device 50, a monitoring device 60, and a storage device 70.

[0014] The processing device 40 can acquire command information from the steering device 30, including the steering direction of the hull 101 and an increase or decrease in the moving speed specified by the steering device 30. The processing device 40 determines the magnitude of the output and the direction in which the output is generated for each propulsion device 10, 20 based on the command information acquired from the steering device 30. The processing device 40 of this embodiment determines the magnitude of the output and the direction in which the output is generated for each propulsion device 10, 20 by executing "normal steering control," "partial output-restricted steering control," or "partial direction-setting-incapable steering control," which will be described later.

[0015] Furthermore, after determining the magnitude and direction of output of each propulsion device 10, 20, the processing device 40 transmits a control signal corresponding to the determined magnitude and direction of output to each propulsion device 10, 20. As a result, the rotational speed, blade angle, and turning angle of each propulsion device 10, 20 are set so that each propulsion device 10, 20 generates an output of the magnitude and direction determined by the processing device 40. Furthermore, the processing device 40 can acquire the actual rotational speed, blade angle, and turning angle (actual turning angle) of each propulsion device 10, 20 from each propulsion device 10, 20.

[0016] The processing device 40 may be located on the ship 100, on land, or on a ship other than the ship 100 (such as a support ship). For example, the processing device 40 may be a server on land configured to exchange information with devices on the ship 100 via an internet connection. In this case, after determining the magnitude and direction of output of each propulsion device 10, 20, the processing device 40 may transmit information regarding the determined magnitude and direction of output of each propulsion device 10, 20 to a control device (not shown) located on the ship 100, for example, and the control device may transmit control signals to each propulsion device 10, 20. In other words, the determination of the magnitude and direction of output of each propulsion device 10, 20 may be performed by the processing device 40, and a device other than the processing device 40 may transmit control signals to each propulsion device 10, 20.

[0017] The setting device 50 is a device for performing various settings. In this embodiment, the setting device 50 can select whether the processing device 40 executes "partial output limiting steering control" and whether the processing device 40 executes "partial direction setting disabled steering control." The setting device 50 may be located on the vessel 100 and operated by a passenger. The setting device 50 may also be located on land or on a vessel other than the vessel 100 and operated by a person other than a passenger on the vessel 100. Furthermore, the setting device 50 may be located in multiple locations. For example, the setting device 50 may be located on the vessel 100 and also on land or on a vessel other than the vessel 100 (i.e., a location other than the vessel 100). In this case, the setting device 50 can be operated by both a passenger on the vessel 100 and a person other than a passenger on the vessel 100. Note that if the processing device 40 and the setting device 50 are located in different locations, the setting device 50 may transmit information to the processing device 40 via an internet connection.

[0018] The monitoring device 60 is a device that monitors the control status by the processing device 40. The monitoring device 60 can acquire various information from the processing device 40 and display it on a display. In this embodiment, it can display whether the processing device 40 is executing "partial output limiting steering control" and whether the processing device 40 is executing "partial direction setting impossible steering control." Furthermore, the monitoring device 60 of this embodiment may be located on the ship 100, on land, or on a ship other than the ship 100. When the processing device 40 and the monitoring device 60 are located in different locations, the monitoring device 60 may acquire information from the processing device 40 via an internet line. Furthermore, when the monitoring device 60 and the setting device 50 are located in the same location, the monitoring device 60 may be formed integrally with the setting device 50.

[0019] The storage device 70 is a device that stores various information. The storage device 70 stores operation data of the ship 100, control data executed by the processing device 40, as well as output limit information and direction setting inability information, which will be described later. The storage device 70 acquires information via the processing device 40 and transmits the stored information to the processing device 40. The storage device 70 may be located on the ship 100, on land, or on a ship other than the ship 100. When the processing device 40 and the storage device 70 are located in different locations, the storage device 70 may exchange information with the processing device 40 via an internet line.

[0020] <Normal steering control> Next, we will explain the normal steering control, partial output limit steering control, and partial direction setting impossible steering control executed by the processing device 40. First, we will explain the normal steering control. The normal steering control is a control that is performed when there is no abnormality in each of the propulsion devices 10, 20. When the normal steering control is started, the processing device 40 acquires command information from the steering device 30. As mentioned above, the command information includes an increase or decrease in the steering direction and movement speed of the hull 101 specified by the steering device 30.

[0021] Next, based on the acquired command information, the processing device 40 determines the magnitude and direction of output of each propulsion device 10, 20 so that the hull 101 moves in the specified steering direction at the specified moving speed. The processing device 40 then transmits control signals to each propulsion device 10, 20 according to the determined magnitude and direction of output. This sets the rotational speed, blade angle, and turning angle of each propulsion device 10, 20.

[0022] FIG. 3 is a diagram showing an example of normal steering control and partial output-restricted steering control. The column for normal steering control in FIG. 3 shows the magnitude of the output and the direction in which the output is generated for each propulsion device 10, 20 corresponding to each steering direction when normal steering control is executed. In FIG. 3, the magnitude of the output is represented by the size of the diagram showing each propulsion device 10, 20. The direction in which the output is generated is represented by the inclination of the diagram showing each propulsion device 10, 20. In the example shown in FIG. 3, during normal steering control, each propulsion device 10, 20 is maintained at 100% of its steady-state output. However, the output of each propulsion device 10, 20 may be varied.

[0023] As shown in Figure 3, in this embodiment, under normal steering control, when the commanded steering direction is "forward," the processing device 40 determines the direction in which the output of each of the propulsion devices 10, 20 will be generated to be rearward. As a result, the hull 101 will move forward. On the other hand, when the commanded steering direction is "reverse," the processing device 40 determines the direction in which the output of each of the propulsion devices 10, 20 will be generated to be forward. As a result, the hull 101 will move reverse.

[0024] If the specified steering direction is "turn left," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated diagonally rearward to the left. Because each propulsion device 10, 20 is disposed in the rear portion of the hull 101, if each propulsion device 10, 20 generates output diagonally rearward to the left, the hull 101 will move forward while rotating slightly counterclockwise around the center of gravity 102. On the other hand, if the specified steering direction is "turn right," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated diagonally rearward to the right. As a result, the hull 101 will move forward while rotating slightly clockwise around the center of gravity 102.

[0025] If the specified maneuvering direction is "turn on the spot (counterclockwise)", the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to the left. Because each propulsion device 10, 20 is disposed in the rear part of the hull 101, if each propulsion device 10, 20 generates output to the left, the hull 101 will turn on the spot (counterclockwise) around the center of gravity 102. On the other hand, if the specified maneuvering direction is "turn on the spot (clockwise)", the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to the right. As a result, the hull 101 will turn on the spot (clockwise) around the center of gravity 102.

[0026] <Partial output limiting steering control> Next, partial output limiting steering control will be described. Partial output limiting steering control is performed when the output of either the first propulsion unit 10 or the second propulsion unit 20 is limited. For example, if a sign of a failure is detected in the first propulsion unit 10, the output of the first propulsion unit 10 is limited and an upper limit output of the first propulsion unit 10 is determined. For example, if the gears, bearings, or propeller 12 of the first propulsion unit 10 are damaged, or if hydraulic equipment for changing the blade angle of the propeller 12 or the like fails, the output of the first propulsion unit 10 is limited.

[0027] When partial power limit steering control is initiated, the processing device 40 acquires command information and power limit information. As described above, the command information includes the steering direction of the hull 101 specified by the steering device 30 and an increase or decrease in travel speed. Meanwhile, the power limit information includes which propulsion device has its output limited and the upper limit power of the propulsion device whose output has been limited. For example, if the output of the first propulsion device 10 is limited to 80% of the steady-state power, the processing device 40 acquires power limit information including the fact that the first propulsion device 10 is the propulsion device whose output has been limited and that the upper limit power of the first propulsion device 10 is 80% of the steady-state power.

[0028] Next, based on the acquired command information and output limit information, the processing device 40 determines the magnitude and direction of output of each propulsion device 10, 20 so that the hull 101 moves in the steering direction specified at the moving speed specified by the steering device 30. The processing device 40 then transmits control signals to each propulsion device 10, 20 according to the determined magnitude and direction of output. This sets the rotational speed, blade angle, and turning angle of each propulsion device 10, 20.

[0029] The column for partial power limit steering control in Fig. 3 shows an example of the magnitude of the output of each propulsion device 10, 20 corresponding to each steering direction and the direction in which the output is generated when partial power limit steering control is executed. In the example shown in Fig. 3, the output of the first propulsion device 10 is limited. Furthermore, in partial power limit steering control, the first propulsion device 10 is maintained at the upper limit output (80% of the steady-state output in the above example), and the second propulsion device 20 is maintained at an output that is 100% of the steady-state output. However, the output of each propulsion device 10, 20 may be varied.

[0030] As shown in Figure 3, in this embodiment, under partial output limiting steering control, when the commanded steering direction is "forward," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 is generated to be diagonally rearward to the left, rather than rearward. Because the first propulsion device 10 has a smaller output than the second propulsion device 20, the above determination causes the hull 101 to move forward. Furthermore, when the commanded steering direction is "reverse," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 is generated to be diagonally forward to the right, rather than forward. This causes the hull 101 to move reverse.

[0031] Furthermore, when the specified steering direction is "turn left," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to the left rear. However, this is determined to be more to the left than during normal steering control, i.e., the relative angle with respect to the reference axis extending in the fore-and-aft direction is determined to be larger than during normal steering control. Furthermore, when the specified steering direction is "turn right," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to the right rear, more to the right than during normal steering control.

[0032] When the specified steering direction is "turn on the spot (left)", the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to the left, just as in normal steering control. Also, when the specified steering direction is "turn on the spot (right)", the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to the right, just as in normal steering control.

[0033] In this embodiment, as described above, by executing partial output limiting steering control, even if the output of some of the propulsion devices is limited, the hull 101 can be propelled in the steering direction specified by the steering device 30. Furthermore, the partial output limiting steering control of this embodiment does not stop the propulsion devices whose output is limited, so it is possible to suppress a decrease in output from the entire propulsion devices 10, 20.

[0034] <Steering control with partial direction setting disabled> Next, the partial direction setting impossible steering control will be described. The partial direction setting impossible steering control is executed when it becomes impossible to set the output generation direction of either the first propulsion unit 10 or the second propulsion unit 20 (setting the turning angle in this embodiment). For example, if an abnormality occurs in the device that turns the thrust generating unit 11 in the first propulsion unit 10, it may become impossible to set the output generation direction of the first propulsion unit 10, and if it becomes impossible to set the output generation direction, the partial direction setting impossible steering control is executed. Note that if the processing device 40 has sent a control signal to the first propulsion unit 10 to change the turning angle but there is no change in the actual turning angle acquired from the first propulsion unit 10, it can determine that it is impossible to set the output generation direction of the first propulsion unit 10.

[0035] When partial direction setting impossible steering control is initiated, the processing device 40 acquires command information and direction setting impossible information. As described above, the command information includes the steering direction of the hull 101 specified by the steering device 30 and an increase or decrease in travel speed. On the other hand, the direction setting impossible information is information including which propulsion device has become unable to set its output generation direction and the output generation direction of the propulsion device for which the output generation direction has become unable to be set. For example, if the output generation direction of the first propulsion device 10 is forward and it becomes impossible to set the output generation direction of the first propulsion device 10, the processing device 40 acquires direction setting impossible information including the fact that the first propulsion device 10 is the propulsion device for which the output generation direction has become unable to be set and that the output generation direction of the first propulsion device 10 is forward.

[0036] Next, based on the acquired command information and direction setting impossible information, the processing device 40 determines the magnitude and direction of output of each propulsion device 10, 20 so that the hull 101 moves in the steering direction specified at the moving speed specified by the steering device 30. The processing device 40 then transmits control signals to each propulsion device 10, 20 according to the determined magnitude and direction of output. This sets the rotational speed, blade angle, and turning angle of each propulsion device 10, 20.

[0037] FIG. 4 shows an example of normal steering control and partial direction unsettable steering control. The normal steering control column in FIG. 4 is the same as the normal steering control column in FIG. 3. Meanwhile, the partial direction unsettable steering control column in FIG. 4 shows the output magnitude and output generation direction of each propulsion device 10, 20 corresponding to each steering direction when partial direction unsettable steering control is executed. The method of displaying the output magnitude and output generation direction in FIG. 4 is the same as in FIG. 3. In the example shown in FIG. 4, when the output generation direction of the first propulsion device 10 is aft, it becomes impossible to set the output generation direction of the first propulsion device 10. Furthermore, in partial direction unsettable steering control, the first propulsion device 10 generates an output of up to 100% of its steady output when in operation, and the second propulsion device 20 is also maintained at an output of up to 100% of its steady output.

[0038] As shown in Figure 4, in this embodiment, in partial direction unsettable steering control, when the commanded steering direction is "forward," the processing device 40 operates the first propulsion device 10 and determines the direction in which the second propulsion device 20 will generate output to be rearward. When the commanded steering direction is "reverse," the processing device 40 stops the first propulsion device 10 and determines the direction in which the second propulsion device 20 will generate output to be diagonally forward to the right. Because the first propulsion device 10 is stopped, if the second propulsion device 20, located on the left side of the hull 101, generates output diagonally forward to the right, the hull 101 can be made to move astern.

[0039] If the specified steering direction is "turn left," the processing device 40 operates the first propulsion device 10 and determines the direction in which the second propulsion device 20 will generate power to the left. Because the first propulsion device 10 generates power rearward, this determination causes the hull 101 to turn left. On the other hand, if the specified steering direction is "turn right," the processing device 40 stops the first propulsion device 10 and determines the direction in which the second propulsion device 20 will generate power rearward. Because the first propulsion device 10 does not generate power, this determination causes the hull 101 to turn right.

[0040] If the specified maneuvering direction is "turn on the spot (left)", the processing device 40 operates the first propulsion device 10 and determines the direction in which the output of the second propulsion device 20 is generated to be forward. Because the output of the first propulsion device 10 is generated rearward, this determination causes the hull 101 to turn on the spot (left). Also, if the specified maneuvering direction is "turn on the spot (right)", the processing device 40 stops the first propulsion device 10 and determines the direction in which the output of the second propulsion device 20 is generated to be right. Because the first propulsion device 10 does not generate output, this determination causes the hull 101 to turn on the spot (right).

[0041] As described above, in this embodiment, by executing the partial direction setting impossible steering control, even if it becomes impossible to set the output generation direction of some of the propulsion devices, the hull 101 can be propelled in the steering direction specified by the steering device 30. Furthermore, in the partial direction setting impossible steering control of this embodiment, when predetermined conditions are met, the propulsion devices for which it becomes impossible to set the output generation direction are operated, thereby making it possible to suppress a decrease in output from the propulsion devices 10, 20.

[0042] It should be noted that the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0043] <Modification> The vessel 100 described above is equipped with two propulsion devices 10, 20, but may be equipped with three or more propulsion devices. However, when the vessel 100 is equipped with two propulsion devices, if an abnormality occurs in one of the propulsion devices, there is a high possibility that the output of the propulsion devices 10, 20 as a whole will be significantly reduced. Therefore, when there are two propulsion devices, partial output limiting steering control that does not stop the propulsion devices, and partial direction setting impossible steering control that operates a propulsion device when it becomes impossible to set the direction of output generation due to certain conditions are very effective.

[0044] Although the above describes the methods for determining the output magnitude and output generation direction of each propulsion device 10, 20 in partial output-limited steering control and partial direction-unsettable steering control, these determinations may also be made by feedback control. For example, if, as a result of determining the output magnitude and output generation direction of each propulsion device 10, 20, the steering direction and movement speed of the hull 101 specified by the steering device 30 differ from the actual steering direction and movement speed of the hull 101, the output magnitude and output generation direction of each propulsion device 10, 20 may be determined again so as to reduce the difference.

[0045] <Summary> A ship control system according to one aspect of the present disclosure includes a processing device that, when the output of some of the propulsion devices among multiple propulsion devices equipped on a ship is restricted, acquires output restriction information including which propulsion device has its output restricted and the upper limit output of the output-restricted propulsion device, and command information including the steering direction of the hull specified by the steering device, and, based on the acquired output restriction information and command information, determines the output magnitude and direction of output generation of the propulsion devices whose output is not restricted so that the hull moves in the steering direction specified by the steering device, and also executes partial output restriction steering control that determines the output magnitude and direction of output generation of the output-restricted propulsion devices.

[0046] With this configuration, even if the output of some of the propulsion devices is limited, the magnitude and direction of output of each propulsion device can be determined based on output limit information including which propulsion device is limited and the upper limit output of the propulsion device whose output is limited. Therefore, with this configuration, even if an abnormality occurs in some of the propulsion devices, the hull can be moved in the specified steering direction, as in normal times.

[0047] In the above-mentioned ship control system, when executing the partial output limiting steering control, the processing device may determine the magnitude of the output of the output-limited propulsion device within a range that does not stop the output-limited propulsion device.

[0048] According to this configuration, it is possible to suppress a decrease in output across the multiple propulsion devices as a whole, compared to when the propulsion devices with limited output are stopped.

[0049] The vessel control system may further include a setting device that allows the processing device to select whether or not to execute the partial output limiting steering control.

[0050] According to this configuration, the driver can select whether or not to execute the partial output limiting steering control, thereby improving the degree of freedom in steering by the driver.

[0051] In the vessel control system, the setting device may be located on the vessel and may also be located at a location other than on the vessel.

[0052] According to this configuration, whether or not to execute partial output limiting steering control can be selected from a plurality of locations, thereby improving convenience.

[0053] The vessel control system may further include a monitoring device that displays whether the processing device is executing the partial output limiting steering control.

[0054] This configuration makes it possible to grasp the control status of the ship.

[0055] A marine vessel according to one aspect of the present disclosure includes the plurality of propulsion devices and is controlled by the marine vessel control system.

[0056] With this configuration, even if an abnormality occurs in one of the propulsion devices, the hull can be moved in the specified steering direction as in normal times.

[0057] In the above-described watercraft, the plurality of propulsion devices may be configured by two propulsion devices, one installed on the right side of the hull and the other installed on the left side of the hull.

[0058] When the aforementioned multiple propulsion devices are configured with two propulsion devices, if the output of one of the propulsion devices is limited, the output of the entire multiple propulsion devices will be significantly reduced, so partial output limiting steering control that does not stop the propulsion devices is very effective.

[0059] A ship control system according to another aspect of the present disclosure includes a processing device that, when it becomes impossible to set the output generation direction of some of the propulsion devices equipped on a ship, acquires direction setting impossible information including which propulsion device has become unable to set its output generation direction and the output generation direction of the propulsion device for which it becomes impossible to set its output generation direction, and command information including the steering direction of the hull specified by the steering device, and, based on the acquired direction setting impossible information and command information, determines the output magnitude and output generation direction of the propulsion device for which it is possible to set its output generation direction so that the hull moves in the steering direction specified by the steering device, and also performs partial direction setting impossible steering control that determines the output magnitude of the propulsion device for which it is impossible to set its output generation direction.

[0060] With this configuration, even if it becomes impossible to set the output direction of some of the propulsion devices, the magnitude of the output of each propulsion device can be determined based on direction setting impossible information including which propulsion device has become unable to set its output direction and the output direction of the propulsion device for which it has become impossible to set its output direction. Therefore, with this configuration, even if an abnormality occurs in some of the propulsion devices, it is possible to move the hull in the specified steering direction.

[0061] In the above-mentioned ship control system, when executing the partial direction setting impossible steering control, the processing device may determine the magnitude of the output of the propulsion device for which the direction of output generation cannot be set, within a range that does not stop the propulsion device for which the direction of output generation cannot be set, when a predetermined condition is met.

[0062] According to this configuration, it is possible to suppress a decrease in output across the multiple propulsion devices as a whole, compared to when a propulsion device for which it has become impossible to set the direction of output generation is always stopped.

[0063] The vessel control system may further include a setting device that allows the processing device to select whether or not to execute the partially direction-unsettable steering control.

[0064] According to this configuration, the driver can select whether or not to execute the partial direction setting impossible steering control, thereby improving the degree of freedom in steering by the driver.

[0065] In the vessel control system, the setting device may be located on the vessel and may also be located at a location other than on the vessel.

[0066] According to this configuration, whether or not to execute the partial direction setting impossible steering control can be selected from a plurality of locations, thereby improving convenience.

[0067] The vessel control system may further include a monitoring device that indicates whether the processing device is performing the partially directionless steering control.

[0068] This configuration makes it possible to grasp the control status of the ship.

[0069] A marine vessel according to one aspect of the present disclosure includes the plurality of propulsion devices and is controlled by the marine vessel control system.

[0070] With this configuration, even if an abnormality occurs in one of the propulsion devices, the hull can be moved in the designated steering direction.

[0071] In the above-described watercraft, the plurality of propulsion devices may be configured by two propulsion devices, one installed on the right side of the hull and the other installed on the left side of the hull.

[0072] When the multiple propulsion devices described above are configured with two propulsion devices, if it becomes impossible to set the direction in which the output of one of the propulsion devices is generated, the output of the entire marine propulsion system will be significantly reduced. Therefore, partial direction setting impossible steering control, which operates the propulsion device when it becomes impossible to set the direction in which the output is generated under certain conditions, is very effective. [Explanation of symbols]

[0073] 10 1st propulsion device 20 2nd propulsion device 30 Steering gear 40 Processing equipment 50 Setting device 60 Monitoring equipment 70 Storage device 100 ships 101 Hull 200 Ship Control System

Claims

1. A ship control system comprising a processing device that, when the output of some of the propulsion devices among a plurality of propulsion devices equipped on a ship is restricted, acquires output restriction information including which propulsion device has its output restricted and the upper limit output of the output-restricted propulsion device, and command information including the steering direction of the hull specified by the steering device, and, based on the acquired output restriction information and command information, determines the output magnitude and direction of output generation of the propulsion devices whose output is not restricted so that the hull moves in the steering direction specified by the steering device, and also executes partial output restriction steering control that determines the output magnitude and direction of output generation of the output-restricted propulsion devices.

2. 2. The vessel control system according to claim 1, wherein, when executing the partial output limiting steering control, the processing device determines the magnitude of the output of the propulsion device whose output is limited within a range that does not cause the propulsion device whose output is limited to stop.

3. 3. The vessel control system according to claim 1, further comprising a setting device that enables the processing device to select whether or not to execute the partial output limiting steering control.

4. The vessel control system according to claim 3 , wherein the setting device is located both on the vessel and at a location other than on the vessel.

5. 5. A vessel control system according to claim 1, further comprising a monitoring device that displays whether the processing device is executing the partial output limiting steering control.

6. the plurality of propulsion devices; A vessel controlled by a vessel control system according to any one of claims 1 to 5.

7. 7. The watercraft according to claim 6, wherein the plurality of propulsion devices are configured by two propulsion devices, one installed on the right side of the hull and the other installed on the left side of the hull.

8. A ship control system comprising a processing device that, when it becomes impossible to set the output generation direction of some of the propulsion devices equipped on a ship, acquires direction setting impossible information including which propulsion device has become unable to set its output generation direction and the output generation direction of the propulsion device for which it becomes impossible to set its output generation direction, and command information including the steering direction of the hull specified by the steering device, and, based on the acquired direction setting impossible information and command information, determines the output magnitude and output generation direction of the propulsion device for which it is possible to set its output generation direction so that the hull moves in the steering direction specified by the steering device, and also executes partial direction setting impossible steering control that determines the output magnitude of the propulsion device for which it is impossible to set its output generation direction.

9. 9. The vessel control system according to claim 8, wherein, when executing the partial direction settable steering control, the processing device determines the magnitude of the output of the propulsion device for which the output generation direction cannot be set, within a range that does not stop the propulsion device for which the output generation direction cannot be set, when a predetermined condition is satisfied.

10. 10. The vessel control system according to claim 8, further comprising a setting device for selecting whether or not the processing device executes the partially direction-unsettable steering control.

11. The vessel control system according to claim 10 , wherein the setting device is located both on the vessel and at a location other than on the vessel.

12. 12. A vessel control system according to any one of claims 8 to 11, further comprising a monitoring device that indicates whether the processing device is performing the partially directionless steering control.

13. the plurality of propulsion devices; A vessel controlled by a vessel control system according to any one of claims 8 to 12.

14. 14. The watercraft according to claim 13, wherein the plurality of propulsion devices are configured by two propulsion devices, one installed on the right side of the hull and the other installed on the left side of the hull.

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