Operator warning support system and operator warning support method

Abstract

This ship operator warning support system 100 comprises a PWC 102, an information terminal 101 configured to be capable of obtaining current position information I2 and communicating with the PWC 102, and a control unit 15 that performs predetermined control based on the engine rotation speed, a warning application I1 is installed in the information terminal 101, the warning application I1 obtains a cruising speed of the PWC 102 on the basis of the position information I2 and issues a prescribed warning when the cruising speed exceeds a speed limit in a speed limit area A1 where the cruising speed is limited, and the control unit 15 disables the warning so that the warning is not issued even when the cruising speed exceeds the speed limit, but the engine rotation speed is lower than or equal to a threshold rotation speed.

Description

Technical Field

[0001] This invention relates to a ship operator warning support system and a ship operator warning support method.

Background Art

[0002] Conventionally, ships that acquire the navigation speed based on position information are known. Such ships are disclosed, for example, in Japanese Patent No. 6466600.

[0003] Japanese Patent No. 6466600 discloses a ship that acquires the navigation speed based on position information obtained by a GPS (Global Positioning System) receiver. When the ship exceeds the limit speed when entering a speed limit area, it gives a predetermined warning and is configured to reduce the navigation speed to be below the limit speed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the ship described in Japanese Patent No. 6466600, since it is configured to acquire the navigation speed based on the position information obtained by the GPS receiver, even when a ship operation is performed that clearly reduces the propulsion force so as not to exceed the limit speed, when an external force including wind and waves acts on the hull, the navigation speed may increase. In this case, a warning may be given as if the limit speed is exceeded, and improvement is required.

[0006] This invention was made to solve the above-mentioned problems, and one objective of this invention is to provide a ship operator warning support system and a ship operator warning support method that can suppress the issuance of warnings that the speed limit has been exceeded when external forces, including wind and waves, act on the ship's hull and increase the cruising speed. [Means for solving the problem]

[0007] To achieve the above objective, the operator warning support system in the first aspect of this invention comprises a small vessel including an engine and a communication unit, a warning device configured to acquire current location information and to communicate with the communication unit of the small vessel, and a control unit that performs predetermined control based on engine speed. The warning device acquires the cruising speed of the small vessel based on location information and has a warning application installed that issues a predetermined warning when the cruising speed exceeds the speed limit in a location alert area including a speed limit area where the cruising speed is restricted. The control unit is configured to disable the warning so that no warning is issued if the engine speed is below a threshold speed, even if the cruising speed exceeds the speed limit.

[0008] In the first aspect of this invention, the operator warning support system includes a control unit that disables the warning even when the cruising speed exceeds the speed limit, if the engine speed is below a threshold speed. This allows the system to decide whether or not to issue a warning, taking into account not only the cruising speed based on position information which is affected by external forces including wind and waves, but also the engine speed which is not affected by external forces including wind and waves. Therefore, even when the cruising speed exceeds the speed limit, if the ship is being operated at an engine speed where the thrust is relatively small, such as when the thrust is almost zero, a warning can be prevented. As a result, it is possible to suppress the issuance of a warning that the speed limit has been exceeded when external forces including wind and waves act on the hull and increase the cruising speed.

[0009] In the operator warning support system according to the first phase described above, preferably, the threshold rotational speed is set to a value such that when the engine speed is below the threshold rotational speed and no external forces, including wind and waves, are acting, the cruising speed is below the speed limit. With this configuration, it is possible to more reliably suppress the warning that the speed limit has been exceeded when the ship is being operated while external forces, including wind and waves, are acting, by using an engine speed that results in a cruising speed below the speed limit when no external forces, including wind and waves, are acting.

[0010] In the operator warning support system according to the first phase described above, preferably, the small vessel is configured to be able to navigate by specifying the engine speed, and the control unit is configured to disable the warning when the specified engine speed is below a threshold speed. With this configuration, since the engine speed can be specified, by specifying the engine speed to be the threshold speed, it is possible to more reliably suppress the warning that is issued for exceeding the speed limit.

[0011] In this case, preferably, the small vessel is configured to switch from a state in which the cruising speed is changed by the accelerator to a low-speed holding mode in which the engine speed is maintained at a predetermined engine speed below a threshold speed, and the control unit is configured to disable the warning so that no warning is issued when the vessel switches to the low-speed holding mode, even if the cruising speed exceeds the speed limit. With this configuration, even if the cruising speed exceeds the speed limit, the warning can be easily and reliably disabled when the vessel is in the low-speed holding mode.

[0012] In the configuration in which the above-mentioned small vessel can navigate by specifying the engine speed, preferably the small vessel includes a rotation speed specification control unit for increasing or decreasing the engine speed, and is configured to switch from a state in which the cruising speed is changed by the accelerator to a cruise control mode in which the engine speed is specified by the rotation speed specification control unit, and the control unit is configured to disable the warning so that no warning is issued even if the cruising speed exceeds the speed limit, as long as the engine speed is specified to be below a threshold rotation speed by the rotation speed specification control unit in cruise control mode. With this configuration, the warning can be easily disabled by simply switching to cruise control mode and specifying the engine speed to be below a threshold rotation speed by the rotation speed specification control unit.

[0013] In the operator warning support system according to the first phase described above, preferably, the warning device is configured to acquire current position information from positioning satellites at unit positioning time intervals. With this configuration, the warning device can acquire current position information from positioning satellites at unit positioning time intervals, making it easy to obtain the cruising speed.

[0014] In the operator warning support system according to the first phase described above, preferably, the control unit is configured to disable the warning when the small vessel is in reverse, regardless of the engine speed. With this configuration, it is possible to prevent the warning of exceeding the speed limit from being issued when the vessel is in reverse, where the cruising speed is relatively low and limited.

[0015] In the operator warning support system according to the first aspect described above, preferably, the warning device includes a display unit and is configured to display a warning image on the display unit to issue a warning when the cruising speed exceeds the speed limit in a speed-restricted area, and the control unit is configured to disable the warning so that the warning image is not displayed on the display unit when the engine speed is below a threshold speed. With this configuration, the warning can be disabled so that the warning image displayed on the display unit, which is a warning directed at the operator's vision, is not displayed.

[0016] In the operator warning support system according to the first aspect described above, preferably, a speaker device is provided on the small vessel and outputs a warning sound for warning purposes. The warning device is configured to output a warning sound from the speaker device to issue a warning when the cruising speed exceeds the speed limit in a speed-restricted area. The control unit is configured to disable the warning so that the speaker device does not output a warning sound when the engine speed is below a threshold speed. With this configuration, the warning can be disabled so that the speaker device does not output a warning sound, which is a warning directed at the operator's hearing.

[0017] In this case, preferably, the control unit is configured to reduce the volume of the warning sound after a first time has elapsed since the start of the warning sound output. This configuration prevents the warning sound from continuing to be output at the relatively high volume at the start of output. As a result, the warning sound can be output at a volume that is considerate of the surrounding environment. Furthermore, since the volume of the warning sound can be reduced while it is being output, the operator can be made aware that a warning sound is being output before the volume is reduced.

[0018] In a configuration that reduces the volume of the warning sound after the first time has elapsed, preferably, the control unit is configured to reduce the volume of the warning sound to half or less of the volume at the start of the warning sound output once the first time has elapsed from the start of the warning sound output. With this configuration, the warning sound can be made relatively quiet, so that the warning sound can be output at a volume that is more considerate of the surrounding environment.

[0019] In a configuration that reduces the volume of the warning sound after the first time has elapsed, preferably, the control unit is configured to gradually reduce the volume of the warning sound for a second time, which is shorter than the first time, after the first time has elapsed since the start of the warning sound output. With this configuration, the volume of the warning sound can be gradually reduced over a relatively short second time, so compared to a case where the volume of the warning sound is reduced instantaneously, the operator can be more reliably made to recognize that the warning sound output is continuing even when the volume is reduced.

[0020] In a configuration that reduces the volume of the warning sound after the above-mentioned first time has elapsed, preferably, the location alert area includes a no-entry area where entry of small vessels is prohibited, the warning device is configured to output a warning sound from the speaker device to provide a warning not only when the cruising speed exceeds the speed limit in a speed limit area, but also when a small vessel enters a no-entry area, and the control unit is configured to reduce the volume of the warning sound after the first time has elapsed from the start of the warning sound output, which is the time when the small vessel enters the no-entry area. With this configuration, not only the warning sound for exceeding the speed limit, but also the warning sound for entering a no-entry area can be reduced in volume while still allowing the operator to recognize that a warning sound is being output.

[0021] In the operator warning support system according to the first phase described above, preferably, the system further includes a speaker device installed on the small vessel that outputs a warning sound for warning purposes and audio sound including music, and the control unit is configured to perform at least one of the following when the small vessel enters an audio restriction area where the volume of the audio sound is limited, and the volume of the audio sound is above a threshold volume: reduce the volume of the audio sound and notify the operator that the volume of the audio sound is above a threshold volume. With this configuration, when the audio sound volume is above a threshold volume (when the volume is relatively loud) when entering an audio restriction area, at least one of the following can be performed: reduce the volume of the audio sound and make the operator aware that the volume of the audio sound is relatively loud.Therefore, it is possible to suppress the continuous output of audio sound at a relatively loud volume.As a result, audio sound can be output at a volume that takes the surrounding environment into consideration.

[0022] In this case, preferably, the control unit is configured to reduce the volume of the audio sound to below the threshold volume when the volume of the audio sound is greater than the threshold volume when a small vessel enters an audio restricted area. With this configuration, the audio sound can be made relatively quiet, so the audio sound can be output at a volume that is more considerate of the surrounding environment.

[0023] In the operator warning support system according to the first aspect, preferably, the warning device is configured to be able to acquire current position information from positioning satellites every unit positioning time, and the control unit is configured to perform control to correct the current position to approach the previous position and set a corrected current position when the distance between the current position of the small ship indicated by the current position information and the previous position of the small ship indicated by the previous position information is greater than or equal to a threshold distance. With this configuration, when the distance between the current position and the previous position of the small ship is greater than or equal to the threshold distance, the current position can be corrected to approach the previous position and the corrected current position can be set, so that it is possible to suppress the current position of the small ship from deviating greatly from the previous position. For this reason, more accurate position information can be obtained, so that the navigation speed based on the position information can be obtained more accurately. As a result, it is possible to suppress the situation where, due to the navigation speed obtained based on inaccurate position information, it is erroneously determined that the speed limit is exceeded and a speed - exceeding warning is erroneously issued.

[0024] In this case, preferably, the control unit is configured to set the separation distance from the previous position to the corrected current position based on the navigation speed of the small ship at the previous position. With this configuration, since the separation distance can be set based on the navigation speed, the corrected current position can be set easily and accurately.

[0025] In the configuration of setting the separation distance from the previous position to the corrected current position based on the navigation speed of the small ship, preferably, the small ship includes a rotation speed detection unit that detects the engine rotation speed, and the control unit is configured to acquire the navigation speed used for setting the separation distance based on the detection result of the rotation speed detection unit. With this configuration, since it is possible to acquire the navigation speed based on the engine rotation speed rather than position information with a high possibility of position deviation of the small ship and uncertain accuracy, the corrected current position can be set more accurately.

[0026] In the configuration for setting the corrected current position, preferably, the control unit is configured to set the corrected current position on the straight line connecting the current position and the previous position. With this configuration, the corrected current position can be set on the straight line connecting the current position and the previous position, so that the corrected current position can be easily set.

[0027] In the operator warning support system according to the first aspect, preferably, when the warning device is located in a location alert area including a coastal vicinity area within a predetermined distance from the coastline for a small ship, the warning device automatically sets a target navigation route that extends linearly in a direction away from the coastline in the coastal vicinity area so that the navigation distance of the small ship in the coastal vicinity area becomes shorter. When the small ship moves along the target navigation route, it is configured not to issue a predetermined warning. With this configuration, the target navigation route can be automatically set in the coastal vicinity area, and the operator can recognize that the small ship is moving along the target navigation route due to the absence of a predetermined warning. Therefore, when passing through the coastal vicinity area and leaving or approaching the shore, the operator can easily recognize whether the small ship is moving on an appropriate route.

[0028] In this case, preferably, the control unit is configured to issue a warning when the small ship deviates from the target navigation route. With this configuration, a warning is issued when the small ship deviates from the target navigation route, so that the operator can be more surely made to recognize that the small ship has deviated from the target navigation route.

[0029] In the above configuration for automatically setting the target navigation route, preferably, the control unit is configured to create a smoothed coastline model so that the irregularities of the coastline are reduced, and to automatically set a target navigation route that extends linearly away from the coastline model in the coastal vicinity region so that the navigation distance for small vessels in the coastal vicinity region is minimized. With this configuration, it is possible to suppress the setting of inaccurate target navigation routes, such as setting the target navigation route toward a convex part of the coastline when the vessel wants to go toward a concave part of the coastline in a coastline with relatively large irregularities.

[0030] In the operator warning support system according to the first phase described above, preferably, the warning device is configured to transmit image information and sound information of the warning device to a wearable terminal worn by the operator. With this configuration, the image information and sound information of the warning device can be easily confirmed on the wearable terminal.

[0031] In the operator warning support system according to the first phase described above, preferably, the warning device includes a display unit that displays a water area map showing the current position of the small vessel and the location alert area, and is configured to communicate with a cloud server that holds map information used for displaying the water area map on the display unit, and is configured to acquire map information from the cloud server. With this configuration, map information used for displaying the water area map on the display unit of the warning device can be easily acquired from the cloud server.

[0032] The second aspect of this invention relates to a method for supporting a ship operator's warning, comprising the steps of: using a warning device to acquire the cruising speed of a small vessel based on current location information and determining whether the cruising speed exceeds the speed limit in a location alert area that includes a speed limit area where the cruising speed is restricted; using a warning application installed on the warning device to issue a predetermined warning if the cruising speed exceeds the speed limit in a speed limit area; determining whether the engine speed is below a threshold speed; and disabling the warning so that no warning is issued if the engine speed is below the threshold speed, even if the cruising speed exceeds the speed limit.

[0033] In the second aspect of this invention, the operator warning support method includes a step to disable the warning even if the cruising speed exceeds the speed limit, as described above, if the engine speed is below a threshold speed. This makes it possible to decide whether or not to issue a warning by considering not only the cruising speed based on position information which is affected by external forces including wind and waves, but also the engine speed which is not affected by external forces including wind and waves. Therefore, even if the cruising speed exceeds the speed limit, if the ship is being operated at an engine speed where the thrust force is relatively small, such as when the thrust force is almost zero, a warning can be prevented. As a result, it is possible to suppress the issuance of a warning that the speed limit has been exceeded when external forces including wind and waves act on the ship and increase the cruising speed.

[0034] In the operator warning support method according to the second phase described above, preferably, the step of issuing a warning includes issuing a warning by outputting a warning sound from a speaker device installed on the small vessel when the cruising speed exceeds the speed limit in a speed-restricted area, and the step of disabling the warning includes disabling the warning so that no warning sound is output from the speaker device when the engine speed is below a threshold speed. With this configuration, the warning can be disabled so that no warning sound is output from the speaker device, which is a warning directed at the operator's hearing.

[0035] In this case, preferably, the step of issuing a warning includes a step of reducing the volume of the warning sound after a first time has elapsed since the start of output of the warning sound from the speaker device. With this configuration, it is possible to prevent the warning sound from continuing to be output at the relatively high volume at the start of output. As a result, the warning sound can be output at a volume that is considerate of the surrounding environment. In addition, since the volume of the warning sound can be reduced while it is being output, the operator can be made aware that a warning sound is being output before the volume is reduced.

[0036] In the second phase of the operator warning support method described above, preferably, the method further includes the steps of: determining whether the volume of audio sound, including music, output from a speaker device is above a threshold volume when a small vessel enters an audio restriction area where the volume of audio sound is restricted; and, if the volume of audio sound is above the threshold volume, reducing the volume of audio sound and notifying the user that the volume of audio sound is above the threshold volume, or at least one of these. With this configuration, when the volume of audio sound is above the threshold volume (i.e., the volume is relatively loud) upon entering an audio restriction area, at least one of the following can be performed: automatically reducing the volume of audio sound and making the operator aware that the volume of audio sound is relatively loud. Therefore, it is possible to suppress the continuous output of audio sound at a relatively loud volume. As a result, audio sound can be output at a volume that takes the surrounding environment into consideration.

[0037] In the operator warning support method according to the second phase described above, preferably, the method further includes the steps of: acquiring the current position information of the small vessel from a positioning satellite at each unit positioning time using a warning device; determining whether the distance between the current position of the small vessel indicated by the current position information and the previous position of the small vessel indicated by the previous position information is greater than or equal to a threshold distance; and, if the distance between the current position and the previous position is greater than or equal to a threshold distance, correcting the current position to bring it closer to the previous position and setting a corrected current position. With this configuration, if the distance between the current position and the previous position of the small vessel is greater than or equal to a threshold distance, the current position can be corrected to bring it closer to the previous position and a corrected current position can be set, thereby suppressing the small vessel's current position from deviating significantly from the previous position. As a result, more accurate position information can be acquired, and the cruising speed based on the position information can be acquired more accurately. As a result, it is possible to suppress the erroneous determination that the speed limit has been exceeded based on the cruising speed acquired based on inaccurate position information, and the erroneous issuance of speeding warnings.

[0038] In the operator warning support method according to the second phase described above, preferably, the method further includes the steps of: determining whether the small vessel is located in a location alert area that includes a coastline-proximity area within a predetermined distance from the coastline; if the small vessel is located in the coastline-proximity area, automatically setting a target navigation route that extends in a straight line away from the coastline in the coastline-proximity area so that the navigation distance of the small vessel in the coastline-proximity area is shortened; and refraining from issuing a predetermined warning when the small vessel is moving along the target navigation route. With this configuration, a target navigation route can be automatically set in the coastline-proximity area, and the operator can recognize that they are moving along the target navigation route because there is no predetermined warning. For this reason, when leaving the shore and docking after passing through the coastline-proximity area, the operator can easily recognize whether they are moving along an appropriate route.

[0039] Furthermore, the following configurations are also conceivable in this application.

[0040] (Additional note 1) In other words, the operator warning support system comprises a small vessel including an engine and a communication unit, a warning device configured to communicate with the communication unit of the small vessel, a speaker device installed on the small vessel, and a control unit that controls the volume of the speaker device. The warning device has a warning application installed that outputs a warning sound from the speaker device in at least one of the following cases: when the cruising speed exceeds the speed limit in a speed-restricted area where the cruising speed of the small vessel is restricted, or when the small vessel enters a no-entry area. The control unit is configured to reduce the volume of the warning sound after a predetermined time has elapsed since the start of the warning sound output. With this configuration, it is possible to prevent the warning sound from continuing to be output at the relatively high volume at the start of output. As a result, the warning sound can be output at a volume that is considerate of the surrounding environment. In addition, since the volume of the warning sound can be reduced while it is being output, the operator can be made aware that a warning sound is being output before the warning sound is reduced.

[0041] (Additional note 2) Furthermore, the operator warning support system comprises a small vessel including an engine and a communication unit, a warning device configured to communicate with the communication unit of the small vessel, a speaker device installed on the small vessel, and a control unit that controls the volume of the speaker device. The warning device has a warning application installed that outputs a warning sound from the speaker device in at least one of the following cases: when the cruising speed exceeds the speed limit in a speed-restricted area where the cruising speed of the small vessel is restricted, and when the small vessel enters a no-entry area. The speaker device is configured to output audio sounds, including music, in addition to the warning sound. The control unit is configured to perform at least one of the following when the small vessel enters an audio-restricted area where the volume of audio sounds is restricted: reducing the volume of the audio sound if the volume of the audio sound is greater than a threshold volume, and notifying the operator that the volume of the audio sound is greater than a threshold volume. With this configuration, if the audio volume exceeds a threshold volume (i.e., the volume is relatively loud) when entering an audio-restricted area, at least one of the following can be performed: automatically reducing the audio volume, and making the operator aware that the audio volume is relatively loud. Therefore, it is possible to suppress the continuous output of audio at a relatively loud volume. As a result, audio can be output at a volume that is considerate of the surrounding environment. [Effects of the Invention]

[0042] According to the present invention, as described above, it is possible to provide a ship operator warning support system and a ship operator warning support method that can suppress the issuance of a warning that the speed limit has been exceeded when external forces, including wind and waves, act on the ship hull and the cruising speed increases. [Brief explanation of the drawing]

[0043] [Figure 1] This is a side view showing a personal watercraft and information terminal of a pilot warning support system according to an embodiment. [Figure 2]This diagram shows a portion of the personal watercraft and information terminal of the operator warning support system according to an embodiment, viewed from the rear. [Figure 3] This figure shows a warning screen displayed on the information terminal's display unit when the speed limit is exceeded according to the embodiment. [Figure 4] This figure shows a warning screen displayed on the information terminal's display unit when an entry into a restricted area occurs. [Figure 5] This is a block diagram of a personal watercraft and information terminal for a pilot warning support system according to an embodiment. [Figure 6] This is a flowchart of the control process for disabling the speed limit warning in the operator warning support method according to the embodiment. [Figure 7] This diagram illustrates the relationship between the volume and duration of a warning sound. [Figure 8] This is a flowchart of the control process for reducing the volume of the warning sound in the operator warning support method according to the embodiment, starting midway through the process. [Figure 9] This figure shows a notification screen displayed when the audio restriction area of ​​the information terminal's display unit is entered according to the embodiment. [Figure 10] This diagram illustrates the change in maximum audio volume before and after entering an audio restriction area. [Figure 11] This is a flowchart of the control process for reducing the volume of the audio sound in the operator warning support method according to the embodiment. [Figure 12] This diagram shows the previous position, current position, and corrected current position on the display unit of an information terminal according to the embodiment. [Figure 13] This is a flowchart of the control process for correcting the positional deviation of a personal watercraft in the operator warning support method according to the embodiment. [Figure 14] This diagram shows the coastline vicinity area and the target navigation route on the display unit of an information terminal according to the embodiment. [Figure 15] This is a flowchart of the control process for automatically setting a target navigation route in the coastline vicinity region of the operator warning support method according to the embodiment. [Modes for carrying out the invention]

[0044] The embodiments will be described below with reference to the drawings.

[0045] [Embodiment] (Configuration of the operator warning support system) The configuration of the operator warning support system 100 will be explained with reference to Figures 1 to 15.

[0046] As shown in Figures 1 and 2, the operator warning support system 100 comprises an information terminal 101 and a personal watercraft 102 (hereinafter referred to as PWC). The PWC 102 is equipped with a speaker device 103 that outputs warning sounds for predetermined warnings, as well as audio sounds including music. The information terminal 101 is an example of a "warning device" as defined in the claims. The PWC 102 is an example of a "small vessel" as defined in the claims.

[0047] In Figure 1, the forward direction of the PWC102 is indicated by FWD, and the reverse direction of the PWC102 is indicated by BWD.

[0048] Information terminal 101 is equipped with a warning application I1 that issues a predetermined warning if the PWC 102 exceeds its speed limit in speed-restricted area A1 (see Figure 3), or if the PWC 102 enters no-entry area A2 (see Figure 4), where entry is prohibited. Speed-restricted area A1 and no-entry area A2 are examples of the "location alert area" within the scope of the claim.

[0049] (Configuration of information terminals) For example, the information terminal 101 consists of a smartphone or tablet device. The information terminal 101 is attached to the PWC 102 by bracket B. Bracket B is positioned in front of the seat where the operator U is seated.

[0050] As shown in Figure 5, the information terminal 101 includes a storage unit 10, a first communication unit 11 that can connect to the internet N, a second communication unit 12 that can communicate with the communication unit 2 of the PWC 102, a display unit 13, a location acquisition unit 14 that acquires location information I2, and a control unit 15.

[0051] (Configuration of the "storage unit" of an information terminal) The memory unit 10 stores various information, such as the warning application I1. Figure 5 shows an example where the memory unit 10 is separate from the control unit 15, but the memory unit may also be included in the control unit.

[0052] (Configuration of the "First Communication Unit" of the information terminal) The first communication unit 11 includes an internet communication antenna capable of connecting to the Internet N, and a transmitting and receiving unit that processes transmitted and received information. For example, the first communication unit 11 is configured to connect to the Internet N using a communication standard such as Wi-Fi (registered trademark).

[0053] The information terminal 101 is configured to communicate with a cloud server CS connected to the Internet N via a first communication unit 11. The information terminal 101 is configured to acquire various information, such as map information I3, from the cloud server CS via the first communication unit 11. The cloud server CS holds various information, such as map information I3, warning application I1 (information), and update information for the warning application. Map information I3 is used to display the water area map I10 on the display unit 13 of the information terminal 101. The water area map I10 shows the sea area, land, structures such as bridges, etc., in which the PWC 102 is navigating, as well as the current position of the PWC 102, speed limit area A1, and no-entry area A2. Map information I3 is information included in warning application I1, but it may be information separate from the warning application.

[0054] (Configuration of the "Second Communication Unit" of the information terminal) The second communication unit 12 includes a communication antenna capable of communicating with the PWC 102 and a transceiver unit that processes transmitted and received information. For example, the second communication unit 12 is configured to communicate with the communication unit 2 of the PWC 102 using a communication standard such as Bluetooth (registered trademark).

[0055] The second communication unit 12 is configured to transmit sound information such as warning sounds and audio sounds to the PWC 102. The warning sounds and audio sounds are output from the speaker device 103 provided in the PWC 102. The second communication unit 12 may also be configured to communicate directly with the speaker device 103 without going through the information terminal 101.

[0056] The audio sound described above is the sound produced when music information stored in the storage unit 10 of the information terminal 101 is played back through the speaker device 103. Therefore, the information terminal 101 is configured to allow the volume of the audio sound output from the speaker device 103 to be changed. The audio sound described above may also be the sound produced when music information stored in the PWC 102 is played back through the speaker device 103. In this case as well, the information terminal 101 can also change the volume of the audio sound output from the speaker device 103.

[0057] Furthermore, the second communication unit 12 is configured to communicate with a wearable terminal 104 worn by the operator U. The information terminal 101 is configured to transmit image information and sound information from the information terminal 101 to the wearable terminal 104 worn by the operator U. For example, the wearable terminal 104 is composed of a head-mounted display worn on the operator U's head like eyeglasses.

[0058] (Configuration of the "display unit" of an information terminal) For example, the display unit 13 is composed of a touch panel type liquid crystal display. The information terminal 101 is configured to display the water area map I10 on the display unit 13 in the warning application I1 that is currently running.

[0059] Furthermore, the information terminal 101 is configured to display a warning image 13a (warning icon) on the display unit 13 when the PWC 102's cruising speed exceeds the speed limit in the speed-restricted area A1, in the running warning application I1.

[0060] Furthermore, the information terminal 101 is configured to output a warning sound from the speaker device 103 to issue a warning when the PWC 102's cruising speed exceeds the speed limit in the speed-restricted area A1, according to the running warning application I1. The warning sound continues until the PWC 102 leaves the speed-restricted area A1 or its cruising speed falls below the speed limit. In other words, the warning sound continues until the speed-over-speed situation in the speed-restricted area A1 improves.

[0061] Furthermore, the warning sound when exceeding the speed limit in the above-mentioned speed-restricted area A1 may be a continuously emitted electronic sound such as a buzzer, or it may be a repeated voice message such as "Please reduce your cruising speed."

[0062] Furthermore, the information terminal 101 is configured to display a warning image 13b (warning icon) on the display unit 13 when the PWC 102 enters the restricted area A2, in the warning application I1 that is currently running.

[0063] Furthermore, the information terminal 101 is configured to output a warning sound from the speaker device 103 to issue a warning when the PWC 102 enters the restricted area A2, according to the warning application I1 currently running.

[0064] The warning sound when entering the restricted area A2 may be a continuously emitted electronic sound such as a buzzer, or it may be a repeated voice message such as "Please leave the restricted area."

[0065] (Configuration of the "location acquisition unit" of the information terminal) The position acquisition unit 14 is configured to acquire the current position information I2 of the information terminal 101 (PWC 102) from the positioning satellite 500 at unit positioning time intervals. For example, "unit positioning time intervals" means every second. The information terminal 101 is configured to acquire the navigation speed of the PWC 102 based on the information terminal 101.

[0066] (Configuration of the "control unit" of the information terminal) The control unit 15 includes a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory) as storage units. The control unit 15 is configured to perform control for executing the warning application I1. The control unit 15 is also configured to perform predetermined control related to speed limit warnings based on the engine speed of the PWC 102. Details of the control unit 15 will be described later.

[0067] (PWC configuration) The PWC102 comprises a communication unit 2, a display unit 3, an engine 4 including a crankshaft 4a, a rotational speed detection unit 40, a jet propulsion mechanism 5 driven by the engine E, a drive operation unit 6 provided on the handle H, and a control unit 7.

[0068] (Configuration of the "communications section" of a PWC) The communication unit 2 includes a communication antenna capable of communicating with the second communication unit 12 of the information terminal 101, and a transmitting / receiving unit that processes transmitted and received information. For example, the communication unit 2 is configured to communicate with the second communication unit 12 of the information terminal 101 using a communication standard such as Bluetooth.

[0069] (Configuration of the "display unit" of a PWC) For example, the display unit 3 is composed of a touch panel type liquid crystal display. The display unit 3 is configured to display various information such as the shift status of the PWC 102, including neutral (N), forward (F), and reverse (R), as well as engine speed. The PWC's display unit may also be configured to display water area maps and warning images by synchronizing (mirroring) the display image with an information terminal.

[0070] (Configuration of the "engine and rotational speed detection unit" of a PWC) The engine 4 is configured to obtain a driving force to rotate the crankshaft 4a by burning a mixture of air and fuel, which is drawn in through an intake passage (not shown) equipped with a throttle valve (not shown), in the combustion chamber.

[0071] As shown in Figure 1, the rotational speed detection unit 40 is configured to detect the engine speed. More specifically, the rotational speed detection unit 40 is provided on the crankshaft 4a and is configured to detect the rotation angle of the crankshaft 4a.

[0072] (Configuration of the "jet propulsion system" of a PWC) The jet propulsion mechanism 5 is driven by the engine 4 to take in water into a water channel 5a having an opening on the lower rear surface of the PWC 102, and to eject the taken-in water from a nozzle 52 located at the rear end of the PWC 102. As a result, the PWC 102 is propelled.

[0073] The jet propulsion system 5 includes a drive shaft 50 connected to the crankshaft 4a, an impeller 51, a nozzle 52, a deflector 53, and a reverse gate 54 (bucket).

[0074] The drive shaft 50 extends in the longitudinal direction, with its front end connected to the crankshaft 4a and its rear end positioned within the water channel 5a. An impeller 51 is fixed near the rear end of the drive shaft 50.

[0075] The impeller 51 is configured to rotate together with the drive shaft 50 to generate a flow within the water channel 5a toward the nozzle 52.

[0076] The nozzle 52 is located at the downstream end of the water channel 5a where the impeller 21 is positioned. The nozzle 52 functions as a water outlet (injection port). That is, the nozzle 52 is configured to generate thrust by injecting water. The nozzle 52 is equipped with a deflector 53 and a reverse gate 54.

[0077] The deflector 53 is configured to be rotatable in the left-right direction around an axis extending in the vertical direction. In other words, the deflector 53 is configured to change the direction of the water sprayed from the nozzle 52 in the left-right direction. The deflector 53 is configured to rotate in the left-right direction in response to the operation of the handle H.

[0078] The reverse gate 54 is configured to be rotatable vertically around an axis extending horizontally. In other words, the reverse gate 54 is configured to change the direction of the water ejected from the nozzle 52 in the front-rear direction. The reverse gate 54 is configured to rotate vertically in response to the operation of the reverse deceleration lever 62.

[0079] Furthermore, the PWC102 is in the forward position (F) when the reverse gate 54 is positioned above the nozzle 52 so that the reverse gate 54 does not obstruct the water ejected from the nozzle 52. Also, the PWC102 is in the reverse position (F) when the reverse gate 54 moves downward from the forward position (F), i.e., when the reverse gate 54 is positioned behind the nozzle 52, so that the reverse gate 54 obstructs the water ejected from the nozzle 52. In addition, the PWC102 is in the neutral position (N) when the reverse gate 54 is positioned between the position of the reverse gate 54 in the forward position and the position of the reverse gate 54 in the reverse position, so that the reverse gate 54 slightly obstructs the water ejected from the nozzle 52.

[0080] (Configuration of the PWC's "drive control unit") As shown in Figure 2, the drive operation unit 6 includes an engine start switch 60, a throttle lever 61 (accelerator lever), a reverse deceleration lever 62, an engine speed specification operation unit 63 (switch for cruise control mode) for increasing or decreasing the engine speed, and a low speed hold switch 64 (switch for no-wake mode).

[0081] The engine start switch 60 is located on the left-hand handle H. The engine start switch 60 is a switch that drives the starter motor (not shown) to start the engine 4.

[0082] The throttle lever 61 is located on the right-hand handle H. The throttle lever 61 is used to adjust the opening of the throttle valve (not shown) of the engine 4 and change the engine speed. When the throttle lever 61 is operated, the PWC 102 will generally move forward. The greater the amount the throttle lever 61 is operated, the higher the engine speed will be.

[0083] The reverse deceleration lever 62 is located on the left-hand handle H. The reverse deceleration lever 62 is a lever that moves the reverse gate 54 downward (towards the rear of the nozzle 52) to put the PWC 102 into reverse position. The PWC 102 is configured to decelerate in the forward position when the throttle lever 61 is operated and the reverse deceleration lever 62 is also operated.

[0084] The PWC102 is configured to allow navigation by specifying the engine speed. For example, the PWC102 is configured to switch from a state where the cruising speed is changed by the accelerator to a cruise control mode in which the engine speed is specified by the engine speed specification control unit 63. In addition, the PWC102 is configured to switch from a state where the cruising speed is changed by the accelerator to a low speed holding mode (no wake mode) in which the engine speed is maintained at a predetermined engine speed below a threshold speed.

[0085] In this embodiment, the control unit 15 of the information terminal 101 is configured to disable the warning even if the cruising speed exceeds the speed limit, as long as the engine speed is below a threshold speed. That is, the "threshold speed" is the engine speed that serves as the criterion for disabling the warning. The threshold speed is set to a value such that the cruising speed is below the speed limit when the engine speed is below the threshold speed and no external forces, including wind and waves, are acting on the PWC 102. For example, the threshold speed is set to a predetermined engine speed at which the cruising speed is 5 mph when no external forces, including wind and waves, are acting on the PWC 102. Details of the control unit 15's control to disable the speed limit warning will be described later.

[0086] The engine speed specification control unit 63 is located on the right-hand steering wheel H. The engine speed specification control unit 63 is a switch for the cruise control mode. The cruise control mode is a mode in which the PWC 102 is driven by specifying the engine speed using the engine speed specification control unit 63.

[0087] In detail, the rotational speed specification operation unit 63 includes a cruise set switch 63a, a rotational speed plus switch 63b, and a rotational speed minus switch 63c. The cruise set switch 63a is a switch for starting the cruise control mode. When the cruise set switch 63a is operated, the engine speed at the time the cruise set switch 63a was operated is maintained.

[0088] The RPM plus switch 63b is a switch for increasing the engine speed, and the RPM minus switch 63c is a switch for decreasing the engine speed. More specifically, the PWC 102 is configured so that the engine speed increases by a fixed number of RPMs for each press of the RPM plus switch 63b. Also, the PWC 102 is configured so that the engine speed decreases by a fixed number of RPMs for each press of the RPM minus switch 63c.

[0089] The low-speed retention switch 64 (no-wake mode switch) is located on the right-hand handle H. The low-speed retention switch 64 is a switch for starting the low-speed retention mode. The low-speed retention mode is a mode that maintains the engine speed at a predetermined engine speed below the threshold speed mentioned above.

[0090] (Configuration of the PWC's "control unit") The control unit 7 includes a CPU, RAM, and ROM, which are memory units. The control unit 7 is composed of an ECU (Engine Control Unit) that controls the operation of the engine 4.

[0091] The control unit 7 is configured to transmit various information from the PWC 102 to the information terminal 101 via the communication unit 2.

[0092] For example, the control unit 7 is configured to acquire the engine speed detected by the rotation speed detection unit 40 and to transmit the engine speed to the information terminal 101.

[0093] Furthermore, the control unit 7 is configured to transmit information indicating the shift state of the PWC 102, including the neutral state (N), the forward state (F), and the reverse state (R), to the information terminal 101.

[0094] Furthermore, the control unit 7 is configured to transmit information to the information terminal 101 indicating that the PWC 102 is in cruise control mode and information indicating that it is in no-wake mode.

[0095] (Control to disable speeding warnings) As described above, the control unit 15 of the information terminal 101 is configured to disable the warning even if the cruising speed exceeds the speed limit, as long as the engine speed is below a threshold speed. The reason for this control is to prevent the control unit 15 from executing a warning even if the operator U reduces the thrust of the PWC 102 in the speed-restricted area A1, because the cruising speed of the PWC 102 increases due to the influence of external forces including wind and waves.

[0096] For example, the speeding warning is disabled in the following case: The control unit 15 is configured to disable the warning when the specified engine speed is below a threshold speed.

[0097] In detail, the control unit 15 is configured to disable warnings in cruise control mode if the engine speed is set to a threshold speed or lower by the engine speed specification operation unit 63, even if the cruising speed exceeds the speed limit. Furthermore, the control unit 15 is configured to disable warnings in cruise control mode if the vehicle switches to low engine speed maintenance mode, even if the cruising speed exceeds the speed limit.

[0098] In addition, the control unit 15 is configured to disable warnings when the PWC 102 is in the reverse (R) or neutral (N) state, so that no warning is issued.

[0099] The speed limit warning is disabled in the following manner. The control unit 15 is configured to disable the warning so that the warning image 13a (warning icon) is not displayed on the display unit 13 when the engine speed is below a threshold speed. The control unit 15 is also configured to disable the warning so that the warning sound is not output from the speaker device 103 when the engine speed is below a threshold speed.

[0100] Referring to Figure 6, the control process flow of the operator warning support method that disables the speed limit warning executed by the control unit 15 will be described. The control process flow will start from the moment the PWC 102 enters the speed limit area A1.

[0101] In step S1, it is determined whether the cruising speed of PWC102, obtained based on position information I2, exceeds the speed limit. If the cruising speed of PWC102 exceeds the speed limit, the process proceeds to step S2. If the cruising speed of PWC102 does not exceed the speed limit, the process proceeds to step S5.

[0102] In step S2, it is determined whether the engine speed is below the threshold speed. If the engine speed is below the threshold speed, the process proceeds to step S3. If the engine speed is greater than the threshold speed, the process proceeds to step S4. Note that when the PWC 102 is in reverse or neutral, the engine speed will be below the threshold speed. Also, when the PWC 102 is in low speed holding mode (no wake mode), and when the PWC 102 is in cruise control mode and the engine speed is set to be below the threshold speed by the speed specification operation unit 63, the engine speed will be below the threshold speed. In other words, in reverse, neutral, and low speed holding modes, the process proceeds uniformly to step S3.

[0103] In step S3, the speeding warning is disabled so that no warning is issued. That is, the warning image 13a (warning icon) is not displayed on the display unit 13, and no warning sound is output from the speaker device 103. The process then proceeds to step S5.

[0104] Meanwhile, in step S4, a speeding warning is issued. The process then proceeds to step S5.

[0105] In step S5, it is determined whether or not PWC102 has left speed-restricted area A1. If PWC102 has left speed-restricted area A1, the control process ends. If a warning was issued when PWC102 left speed-restricted area A1, the warning ends upon leaving speed-restricted area A1. If PWC102 has not left speed-restricted area A1, the process returns to step S1.

[0106] (Control to reduce the volume of the warning sound midway through) As shown in Figure 7, the control unit 15 of the information terminal 101 is configured to reduce the volume of the warning sound after a first time t1 has elapsed since the start of the warning sound output. The reason for this control is to prevent the warning sound from being output at a very high volume for an extended period.

[0107] The control unit 15 is configured to reduce the volume of the warning sound to half or less of the initial volume when a first time t1 has elapsed since the start of the warning sound output. For example, if the initial volume of the warning sound output is set to 100%, the reduced volume V1 (minimum warning volume) of the warning sound will be set to approximately 30%.

[0108] The control unit 15 is configured to gradually decrease the volume of the warning sound for a second time t2, which is shorter than the first time t1, once a first time t1 has elapsed since the start of the warning sound output (t1 > t2). For example, the first time t1 is set to approximately 30 seconds, and the second time t2 is set to approximately 5 seconds. In other words, the control unit 15 gradually decreases the volume of the warning sound by multiplying the elapsed time of the first time t1 by the second time t2.

[0109] Here, the PWC 102 is configured to emit a warning sound from the speaker device 103 not only when its cruising speed exceeds the speed limit in the speed-restricted area A1, but also when the PWC 102 enters the no-entry area A2. The control unit 15 starts emitting the warning sound from the moment the PWC 102 enters the no-entry area A2. Then, from the time t1 that has elapsed since the start of the warning sound output, the control unit 15 gradually decreases the volume of the warning sound by a second time t2.

[0110] Referring to Figure 8, the control process flow of the operator warning support method, which reduces the volume of the warning sound midway through the operation, executed by the control unit 15, will be explained. Note that the control process flow will start from the moment the warning sound output from the speaker device 103 begins.

[0111] In step S11, it is determined whether a first time t1 has elapsed since the start of the warning sound output from the speaker device 103. If the first time t1 has elapsed, the process proceeds to step S13. If the first time t1 has not elapsed, the process proceeds to step S12.

[0112] In step S12, it is determined whether the warning has ended. If the warning has ended, the control process ends. If the warning has not ended, the process returns to step S11. The warning has ended when the vehicle leaves the speed restriction area A1 and the no-entry area A2, or when the cruising speed in the speed restriction area A1 is reduced to below the speed limit and the cause of the warning is resolved.

[0113] In step S13, the volume of the warning sound is gradually reduced. For example, there is a proportional relationship between the change in the warning sound volume and time. Then, the process proceeds to step S14.

[0114] In step S14, it is determined whether the second time t2 has elapsed since the first time t1. If the second time t2 has elapsed, proceed to step S16. If the second time t2 has not elapsed, proceed to step S15.

[0115] In step S15, it is determined whether the warning has ended. If the warning has ended, the control process ends. If the warning has not ended, the process returns to step S14.

[0116] In step S16, the gradual reduction of the warning sound volume is completed. That is, the warning sound volume is maintained at V1. Then, the process proceeds to step S17.

[0117] In step S17, it is determined whether the warning has ended. If the warning has ended, the control process ends. If the warning has not ended, step S17 is repeated.

[0118] (Control to reduce the volume of audio) As shown in Figure 9, the information terminal 101 is configured to display the audio restriction area A3 in the water area map I10 on the display unit 13 in the running warning application I1.

[0119] Audio Restriction Area A3 is an area where the volume of audio sounds is restricted, and navigation is required to be as quiet as possible. For example, Audio Restriction Area A3 is set within a predetermined distance from the coastline. Audio Restriction Area may partially or completely overlap with Speed ​​Restriction Area. Also, Audio Restriction Area may partially or completely overlap with No-Entry Area.

[0120] As shown in Figure 10, the control unit 15 of the information terminal 101 is configured to reduce the volume of the audio sound when the PWC 102 enters the audio restriction area A3 and the volume of the audio sound is greater than the threshold volume VL. Specifically, the control unit 15 is configured to reduce the volume of the audio sound to below the threshold volume when the PWC 102 enters the audio restriction area A3. For example, if the threshold volume is set to half of the maximum volume, the control unit 15 is configured to reduce the maximum volume V2 to at least half of the maximum volume (100%) of the audio sound at the time of entering the audio restriction area A3. Note that there are patterns in which the threshold volume is set to a predetermined decibel value (volume setting value) and patterns in which the threshold volume is set to a predetermined percentage of the maximum output of the audio sound. The control unit of the information terminal is configured such that, when the threshold volume is set to a predetermined decibel value, if the decibel value of the audio sound is greater than the threshold volume set by the decibel value when the PWC enters the audio restriction area, the decibel value of the audio sound is set to a predetermined decibel value that is at least less than or equal to the threshold volume. Furthermore, the audio restriction area may consist of various areas, and a threshold value may be set for each of these areas. Also, the degree to which the volume of the audio sound is reduced may differ for each of these areas.

[0121] For example, the threshold volume VL is set to 30% of the maximum audio volume. In this case, if the audio volume when entering the audio restriction area A3 is 60% of the maximum volume, the control unit 15 will reduce the maximum audio volume V2 to 30% of the maximum audio volume before the control processing (before the control processing to reduce the maximum audio volume). In other words, the volume will be halved.

[0122] Furthermore, the control unit may set the reduced maximum volume V2 of the audio sound to a value lower than the threshold volume VL, such as 20% or 15% of the maximum volume of the audio sound before the control process to reduce the maximum volume of the audio sound, rather than the same 30% as the threshold volume VL.

[0123] Furthermore, when the PWC 102 enters the audio restriction area A3, the control unit 15 is configured to notify the operator U that the volume of the audio sound is greater than the threshold volume VL.

[0124] For example, the information terminal 101 (control unit 15) is configured to display a notification image 13c (notification icon) on the display unit 13 in the running warning application I1 to provide notification.

[0125] Referring to Figure 11, the control process flow of the operator warning support method that reduces the volume of audio sound, executed by the control unit 15, will be described. The control process flow will start from the moment the PWC 102 enters the audio restriction area A3.

[0126] In step S21, it is determined whether the volume of the audio sound is greater than the threshold volume VL. If the volume of the audio sound is greater than the threshold volume VL, the process proceeds to step S22. If the volume of the audio sound is less than or equal to the threshold volume VL, the control process ends.

[0127] In step S22, the audio volume is reduced. Then, the process proceeds to step S23.

[0128] In step S23, it is determined whether PWC102 has left audio restricted area A3. If PWC102 has left audio restricted area A3, the process proceeds to step S24. If PWC102 has not left audio restricted area A3, step S23 is repeated.

[0129] In step S24, the audio volume limit is released. That is, the audio volume returns to the setting it was in before PWC102 entered audio restriction area A3, and the control process ends.

[0130] (Control to correct PWC position misalignment) As shown in Figure 12, if PWC102 is located under a structure such as a bridge, it may become impossible to obtain accurate position information I2 from positioning satellite 500 at unit positioning time intervals (for example, every second). In this case, the current position P10 of PWC102 may shift significantly from its previous position P20.

[0131] For example, when PWC102 is navigating while maintaining an engine speed of 7700 rpm, which corresponds to a speed of 30 m / s, the current position P10 may be 200 m away from the previous position P20 one second ago (D0 = 200 m). In such a case, the actual distance D0 between the current position P10 and the previous position P20 will never be greater than 30 m, so the current position P10 is inaccurate.

[0132] Therefore, the control unit 15 of the information terminal 101 is configured to perform control to set the corrected current position P11 by correcting the current position P10 to approach the previous position P20 when the distance D0 between the current position P10 of PWC102 indicated by the current position information I2 and the previous position P20 of PWC102 indicated by the previous position information I2 is greater than or equal to the threshold distance D1.

[0133] When setting a corrected current position, the current position does not need to be displayed on the information terminal's display. Alternatively, when setting a corrected current position, a predetermined display may be shown on the information terminal's display so that the operator is aware that a corrected current position has been set.

[0134] The threshold distance D1 is set to a relatively large distance that the PWC102 cannot travel during a unit of positioning time. For example, the threshold distance D1 is set to a variable distance that increases or decreases depending on the current cruising speed of the PWC102. More specifically, the threshold distance D1 is set to a distance obtained by multiplying the current cruising speed of the PWC102 by a predetermined coefficient greater than 1. Alternatively, the threshold distance may be set to a distance obtained by multiplying the maximum cruising speed that the PWC can output by a unit of positioning time, etc.

[0135] The control unit 15 is configured to set the separation distance D2 from the previous position P20 to the corrected current position P11 based on the navigation speed of the PWC 102 at the previous position P20. The separation distance D2 is set to a distance smaller than at least the threshold distance D1.

[0136] The control unit 15 is configured to acquire the cruising speed used to set the separation distance D2 based on the detection result of the rotation speed detection unit 40 of the PWC 102. For example, if the cruising speed of the PWC 102 is 4000 rpm, which corresponds to an engine rotation speed of 10 m / s, the control unit 15 sets the separation distance D2 to 10 m. Note that the cruising speed for setting the separation distance may be acquired based on position information from positioning satellites, etc., rather than based on the detection result of the rotation speed detection unit.

[0137] The control unit 15 is configured to set the corrected current position P11 at a distance D2 (10m) from the previous position P20, and on the straight line SL connecting the current position P10 and the previous position P20. Alternatively, instead of setting the corrected current position on the straight line connecting the current position and the previous position, the corrected current position may be set based on the PWC's heading at the previous position.

[0138] Referring to Figure 13, the control process flow of the operator warning support method for correcting the positional deviation of the PWC 102, executed by the control unit 15, will be described.

[0139] In step S31, it is determined whether the distance D0 between the current position P10 and the previous position P20 is greater than or equal to the threshold distance D1. If the distance D0 between the current position P10 and the previous position P20 is greater than or equal to the threshold distance D1, the process proceeds to step S32. If the distance D0 between the current position P10 and the previous position P20 is less than the threshold distance D1, the control process ends.

[0140] In step S32, the navigation speed of the PWC102 at the previous position P20 is obtained based on the detection result of the rotation speed detection unit 40, and the separation distance D2 from the previous position P20 to the corrected current position P11 is set based on the obtained navigation speed. Then, the process proceeds to step S33.

[0141] In step S33, the corrected current position P11 is set on the straight line SL connecting the current position P10 and the previous position P20, and the control process ends.

[0142] (Control that automatically sets the target navigation route in the area near the coastline) As shown in Figure 14, in the coastal area A10, which is within a predetermined distance (for example, within 200m) from the coastline CL1, meandering or zigzagging maneuvers by the PWC102 are considered undesirable from a manners standpoint. Therefore, when the PWC102 passes through the coastal area A10 to leave or dock, it is considered good manners to move in a straight line away from or towards the coastline CL1 so that the distance the PWC102 travels through the coastal area A10 is as short as possible. Note that coastal area A10 is an example of the "location alert area" within the scope of the claim.

[0143] Therefore, the control unit 15 of the information terminal 101 is configured to automatically set a target navigation route R that extends in a straight line away from the coastline CL1 in the coastline vicinity area A10, so as to shorten the navigation distance of the PWC 102 in the coastline vicinity area A10 when the PWC 102 is located in the coastline vicinity area A10.

[0144] Furthermore, the control unit 15 is configured to issue a predetermined warning if the PWC 102 deviates from the target navigation route R, and not to issue a predetermined warning if the PWC 102 moves along the target navigation route R.

[0145] For example, if PWC102 deviates from the target navigation route R, it means that PWC102 moves outside the predetermined angle θ range A11 in front of PWC102, which is set around the heading of PWC102 when PWC102 enters the coastline area A10. In addition, if a PWC deviates from the target navigation route, it may simply mean that the PWC is more than a predetermined distance away from the target navigation route.

[0146] When automatically setting the target navigation route R, the control unit 15 is configured to create a smoothed coastline model CL2 so that the irregularities of the coastline CL1 are reduced, and to automatically set the target navigation route R in the coastline vicinity region A10 in a straight line away from the coastline model CL2 so that the navigation distance of the PWC 102 in the coastline vicinity region A10 is minimized. As an example, the least squares method is used to create the coastline model CL2 by smoothing. In addition, it is also possible to use a predetermined approximation curve or the like to create the coastline model by smoothing.

[0147] Furthermore, when creating the coastline model CL2, the control unit 15 is configured to acquire map information I3 (see Figure 5) from the cloud server CS, in which the coastline CL1 is shown as a straight line.

[0148] Referring to Figure 15, the control process flow of the operator warning support method for automatically setting the target navigation route R in the coastal area A10, which is executed by the control unit 15, will be described.

[0149] In step S41, it is determined whether the PWC102 is located in the coastal area A10. If it is docking, it is determined whether the PWC102 has entered the coastal area A10; if it is leaving the shore, it is determined whether the PWC102 has started moving away from the shore in the coastal area A10. If the PWC102 is located in the coastal area A10 in step S41, the process proceeds to step S42. If the PWC102 is not located in the coastal area A10, step S41 is repeated.

[0150] In step S42, a smoothed coastline model CL2 is created, and the target navigation route R is automatically set so that the PWC102's navigation distance in the coastline vicinity region A10 is minimized (for example, approximately 200m). Then, the process proceeds to step S43.

[0151] In step S43, it is determined whether PWC102 is moving along the target navigation route R. If PWC102 is moving along the target navigation route R, the process proceeds to step S44. If PWC102 is not moving along the target navigation route R (i.e., it has deviated from the target navigation route R), the process proceeds to step S46.

[0152] In step S44, no warning is issued because PWC102 is moving along the correct route along the target navigation route R. The process then proceeds to step S45.

[0153] In step S45, it is determined whether the PWC102 has completed its navigation along the target navigation route R. For example, the completion of the navigation along the target navigation route R can be determined by the position information I2 of the information terminal 101 (PWC102). If the navigation along the target navigation route R is completed, the control process is completed. If the navigation along the target navigation route R is not completed, the process returns to step S43.

[0154] In step S46, a warning is initiated. This warning may be given by outputting a predetermined warning sound from a speaker device, or by displaying a predetermined warning image (not shown) on the display unit of the information terminal. The process then proceeds to step S47.

[0155] In step S47, it is determined whether PWC102 has returned to the target navigation route R. If PWC102 has returned to the target navigation route R, the process proceeds to step S48. If PWC102 has not returned to the target navigation route R, the process proceeds to step S49.

[0156] In step S48, the warning is stopped. Then, the process proceeds to step S45.

[0157] In step S49, the warning continues. Then, the process proceeds to step S50.

[0158] In step S50, it is determined whether the PWC102 has completed its navigation along the target route R. If the navigation along the target route R is completed, the control process is completed. If the navigation along the target route R is not completed, the process returns to step S47.

[0159] (Effects of the structure of the embodiment) The structure of this embodiment can provide the following effects.

[0160] In this embodiment, as described above, even if the cruising speed exceeds the speed limit, a control unit 15 is provided that performs control to disable the warning so that no warning is issued if the engine speed is below a threshold speed. This makes it possible to decide whether or not to issue a warning by considering not only the cruising speed based on position information I2 which is affected by external forces including wind and waves, but also the engine speed which is not affected by external forces including wind and waves. Therefore, even if the cruising speed exceeds the speed limit, if the vessel is being operated at an engine speed where the thrust force is relatively small, such as when the thrust force is almost zero, a warning can be prevented. As a result, it is possible to suppress the issuance of a warning that the speed limit has been exceeded when external forces including wind and waves act on the hull and the cruising speed increases.

[0161] In this embodiment, as described above, the threshold rotational speed is set to a value such that when the engine speed is below the threshold rotational speed and no external forces, including wind and waves, are acting, the cruising speed is below the speed limit. This makes it possible to more reliably suppress the warning that the speed limit has been exceeded when the vessel is being operated while external forces, including wind and waves, are acting, by using an engine speed that results in a cruising speed below the speed limit when no external forces, including wind and waves, are acting.

[0162] In this embodiment, as described above, the PWC102 is configured to allow navigation by specifying the engine speed, and the control unit 15 is configured to disable the warning when the specified engine speed is below a threshold speed. As a result, the engine speed can be specified, and by specifying the engine speed to be the threshold speed, it is possible to more reliably suppress the warning that is issued for exceeding the speed limit.

[0163] In this embodiment, as described above, the PWC102 is configured to switch from a state in which the cruising speed is changed by the accelerator to a low-speed holding mode in which the engine speed is maintained at a predetermined engine speed below a threshold speed. The control unit 15 is configured to disable warnings so that no warning is issued when the cruising speed exceeds the speed limit, if the system is switched to the low-speed holding mode. This makes it possible to easily and reliably disable warnings when the cruising speed exceeds the speed limit, as long as the system is in low-speed holding mode.

[0164] In this embodiment, as described above, the PWC102 includes an engine speed specification operation unit 63 for increasing or decreasing the engine speed, and is configured to switch from a state where the cruising speed is changed by the accelerator to a cruise control mode in which the engine speed is specified by the engine speed specification operation unit 63. The control unit 15 is configured to disable the warning so that no warning is issued even if the cruising speed exceeds the speed limit, as long as the engine speed is specified to be below the threshold speed by the engine speed specification operation unit 63 in cruise control mode. As a result, the warning can be easily disabled by simply switching to cruise control mode and specifying the engine speed to be below the threshold speed by the engine speed specification operation unit 63.

[0165] In this embodiment, as described above, the information terminal 101 is configured to acquire current position information I2 from the positioning satellite 500 at each unit positioning time. As a result, the information terminal 101 can acquire current position information I2 from the positioning satellite 500 at each unit positioning time, making it easy to obtain the navigation speed.

[0166] In this embodiment, as described above, the control unit 15 is configured to disable the warning when the PWC 102 is in reverse, regardless of the engine speed. This prevents the warning of exceeding the speed limit from being issued when the cruising speed is relatively low and limited in the reverse state.

[0167] In this embodiment, as described above, the information terminal 101 includes a display unit 13 and is configured to display a warning image on the display unit 13 to issue a warning when the cruising speed exceeds the speed limit in the speed limit area A1. The control unit 15 is configured to disable the warning so that the warning image is not displayed on the display unit 13 when the engine speed is below a threshold speed. This makes it possible to disable the warning so that the warning image displayed on the display unit 13, which is a warning directed at the operator U's vision, is not displayed.

[0168] In this embodiment, as described above, the PWC 102 is further equipped with a speaker device 103 that outputs a warning sound for warning purposes. The information terminal 101 is configured to output a warning sound from the speaker device 103 to issue a warning when the cruising speed exceeds the speed limit in the speed limit area A1. The control unit 15 is configured to disable the warning so that the speaker device 103 does not output a warning sound when the engine speed is below a threshold speed. This makes it possible to disable the warning so that the speaker device 103 does not output a warning sound, which is a warning directed at the hearing of the operator U.

[0169] In this embodiment, as described above, the control unit 15 is configured to reduce the volume of the warning sound when a first time t1 has elapsed since the start of the warning sound output. Conventionally, in the field of small vessels, unlike automobiles where the operator is surrounded by a body, the operator's surroundings are open. Therefore, it is common to output the warning sound at a relatively high volume so that it does not become difficult to hear due to engine noise, etc. However, when the warning sound is output at a relatively high volume, it can become noise to the surrounding environment, so there is a need to output the warning sound at a volume that is considerate of the surrounding environment. The above configuration was devised to solve this problem. This prevents the warning sound from continuing to be output at the relatively high volume at the start of output. As a result, the warning sound can be output at a volume that is considerate of the surrounding environment. In addition, since the volume of the warning sound can be reduced while it is being output, the operator U can be made aware that a warning sound is being output, and then the volume can be reduced.

[0170] In this embodiment, as described above, the control unit 15 is configured to reduce the volume of the warning sound to half or less of the volume at the start of the warning sound output once a first time t1 has elapsed from the start of the warning sound output. This makes the warning sound relatively quiet, allowing the warning sound to be output at a volume that is more considerate of the surrounding environment.

[0171] In this embodiment, as described above, the control unit 15 is configured to gradually reduce the volume of the warning sound for a second time t2, which is shorter than the first time t1, after a first time t1 has elapsed since the start of the warning sound output. This allows the volume of the warning sound to be gradually reduced over a relatively short second time t2, which ensures that the operator U can reliably recognize that the warning sound output is continuing even when the volume is reduced, compared to the case where the volume of the warning sound is reduced instantaneously.

[0172] In this embodiment, as described above, the location alert area includes a no-entry area A2 where entry of the PWC 102 is prohibited. The information terminal 101 is configured to output a warning sound from the speaker device 103 to provide a warning not only when the cruising speed exceeds the speed limit in the speed limit area A1, but also when the PWC 102 enters the no-entry area A2. The control unit 15 is configured to reduce the volume of the warning sound after a first time t1 has elapsed from the start of the warning sound output, which is the moment the PWC 102 enters the no-entry area A2. This makes it possible to reduce the volume of the warning sound not only for exceeding the speed limit, but also for entering the no-entry area A2, while still allowing the operator U to recognize that a warning sound is being output.

[0173] In this embodiment, as described above, the PWC 102 is further equipped with a speaker device 103 that outputs a warning sound for warning purposes and audio sounds including music. The control unit 15 is configured to perform at least one of the following when the PWC 102 enters an audio restriction area where the volume of the audio sound is limited: reduce the volume of the audio sound if the volume of the audio sound is above a threshold volume, and notify the operator U that the volume of the audio sound is above a threshold volume. Conventionally, in the field of small vessels, the operator is not surrounded by a body like in automobiles, but is surrounded by an open structure. Therefore, the volume of the audio sound is often set to a relatively high volume so that the audio sound is not difficult to hear due to engine noise, etc. However, when the volume of the audio sound is set to a relatively high volume, the audio sound can become noise to the surrounding environment, so there is a need to output the audio sound at a volume that is considerate of the surrounding environment. The above configuration was considered in order to solve this problem. This allows the system to automatically reduce the audio volume and, if the audio volume exceeds a threshold level (i.e., the volume is relatively high) when entering an audio-restricted area, to at least one of the following: make the operator U aware that the audio volume is relatively high. Therefore, it is possible to suppress the continuous output of audio at a relatively high volume. As a result, the audio can be output at a volume that is considerate of the surrounding environment.

[0174] In this embodiment, as described above, the control unit 15 is configured to reduce the volume of the audio sound to below the threshold volume when the PWC 102 enters the audio restriction area and the volume of the audio sound is greater than the threshold volume. This makes it possible to reduce the volume of the audio sound relatively, so that the audio sound can be output at a volume that is more considerate of the surrounding environment.

[0175] In this embodiment, as described above, the information terminal 101 is configured to acquire current position information I2 from the positioning satellite 500 at unit positioning time intervals, and the control unit 15 is configured to perform control to set the corrected current position P11 by correcting the current position P10 to approach the previous position P20 when the distance D0 between the current position P10 of the PWC 102 indicated by the current position information I2 and the previous position P20 of the PWC 102 indicated by the previous position information I2 is greater than or equal to a threshold distance D1. Hereinafter, conventionally, when a small vessel is located under a structure such as a bridge, it may become impossible to acquire accurate position information from the positioning satellite, causing the current position of the small vessel to deviate significantly from its previous position, and improvement is needed. Furthermore, when the current position of a small vessel deviates significantly from its previous position, it is undesirable that the vessel may be mistakenly judged to be exceeding the speed limit based on the navigation speed acquired based on inaccurate position information, and a speeding warning may be mistakenly issued. In order to solve these problems, the above configuration was considered. This allows the current position P10 to be adjusted to be closer to the previous position P20 and a corrected current position P11 to be set when the distance D0 between the current position P10 and the previous position P20 of PWC102 is greater than or equal to the threshold distance D1. This prevents the current position P10 of PWC102 from deviating too far from the previous position P20. As a result, more accurate position information can be obtained, and the navigation speed based on that position information can be obtained more accurately. Consequently, it is possible to prevent the system from mistakenly determining that the speed limit has been exceeded based on navigation speed obtained based on inaccurate position information, and issuing incorrect speeding warnings.

[0176] In this embodiment, as described above, the control unit 15 is configured to set the separation distance D2 from the previous position P20 to the corrected current position P11 based on the cruising speed of the PWC 102 at the previous position P20. This allows the separation distance D2 to be set based on the cruising speed, making it easy and accurate to set the corrected current position P11.

[0177] In this embodiment, as described above, the PWC102 includes a rotation speed detection unit for detecting engine rotation speed, and the control unit 15 is configured to acquire the cruising speed used to set the separation distance D2 based on the detection result of the rotation speed detection unit. As a result, the cruising speed can be acquired based on engine rotation speed rather than position information, which is likely to be inaccurate and prone to misalignment of the PWC102, thus enabling the corrected current position P11 to be set with greater accuracy.

[0178] In this embodiment, as described above, the control unit 15 is configured to set the corrected current position P11 on the straight line SL connecting the current position P10 and the previous position P20. This makes it easy to set the corrected current position P11 on the straight line SL connecting the current position P10 and the previous position P20.

[0179] In this embodiment, as described above, when the PWC 102 is located in a location alert area that includes the coastline vicinity area A10 within a predetermined distance from the coastline CL1, the information terminal 101 automatically sets a target navigation route R that extends linearly away from the coastline in the coastline vicinity area A10 so as to shorten the navigation distance of the PWC 102 in the coastline vicinity area A10, and is configured not to issue a predetermined warning when the PWC 102 is moving along the target navigation route R. Hereinafter, conventionally, in the coastline vicinity area within a predetermined distance from the coastline (for example, within 200m), navigation such as meandering or zigzag is considered undesirable in terms of etiquette. For this reason, conventionally, when leaving or docking by passing through the coastline vicinity area, it has been considered good manners to move linearly away from or towards the coastline so as to shorten the navigation distance of the small vessel in the coastline vicinity area as much as possible. However, because there are no route boundaries like those on roads at sea, it is difficult for the operator to recognize whether they are moving along the correct route when leaving and docking in the coastal area, and improvements are needed. To solve this problem, we have devised the above configuration. This allows for the automatic setting of a target navigation route R in the coastal area A10, and the operator U can recognize that they are moving along the target navigation route R without any prescribed warnings. Therefore, when leaving and docking in the coastal area A10, the operator U can easily recognize whether they are moving along the correct route.

[0180] In this embodiment, as described above, the control unit 15 is configured to issue a warning if the PWC 102 deviates from the target navigation route R. This allows the operator U to more reliably recognize that the PWC 102 has deviated from the target navigation route R, as a warning is issued when the PWC 102 deviates from the target navigation route R.

[0181] In this embodiment, as described above, the control unit 15 is configured to create a smoothed coastline model CL2 so that the irregularities of the coastline CL1 are reduced, and to automatically set a target navigation route R that extends linearly away from the coastline model CL2 in the coastline vicinity region A10 so that the navigation distance of the PWC 102 in the coastline vicinity region A10 is minimized. This prevents the setting of an inaccurate target navigation route R, such as setting the target navigation route R toward a convex portion of the coastline CL1 when the PWC 102 wants to head toward a concave portion of the coastline CL1, which has relatively large irregularities.

[0182] In this embodiment, as described above, the information terminal 101 is configured to transmit image information and sound information from the information terminal 101 to a wearable terminal 104 worn by the ship's operator U. This allows the wearable terminal 104 to easily check the image information and sound information from the information terminal 101.

[0183] In this embodiment, as described above, the information terminal 101 includes a display unit 13 that displays a water area map I10 showing the current location P10 and location alert area of ​​the PWC 102, and is configured to communicate with a cloud server CS that holds map information I3 used for displaying the water area map I10 on the display unit 13, and is configured to acquire map information I3 from the cloud server CS. This makes it possible to easily acquire map information I3 used for displaying the water area map I10 on the display unit 13 of the information terminal 101 from the cloud server CS.

[0184] (Effects of the method of the embodiment) The method of this embodiment can provide the following effects.

[0185] In this embodiment, by configuring as described above, it is possible to suppress the issuance of a warning that the speed limit has been exceeded when external forces, including wind and waves, act on the hull and increase the cruising speed, similar to the structure of the above embodiment.

[0186] In this embodiment, as described above, the step of specifying the engine speed is further included, and the step of disabling the warning includes disabling the warning when the specified engine speed is less than or equal to a threshold speed. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0187] In this embodiment, as described above, the PWC102 is configured to switch from a state in which the cruising speed is changed by the accelerator to a low-speed holding mode in which the engine speed is maintained at a predetermined engine speed below a threshold speed. The step of disabling the warning includes disabling the warning so that even if the cruising speed exceeds the speed limit, the warning is not issued when the mode is switched to the low-speed holding mode. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0188] In this embodiment, as described above, the PWC102 is configured to switch from a state in which the cruising speed is changed by the accelerator to a cruise control mode in which the engine speed is specified by an engine speed specification operation unit 63 that increases or decreases the engine speed. The step of disabling the warning includes disabling the warning so that even if the cruising speed exceeds the speed limit, the warning is not issued if the engine speed is specified to be below a threshold speed by the engine speed specification operation unit 63 in cruise control mode. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0189] In this embodiment, as described above, the step of determining whether the cruising speed exceeds the speed limit in the speed-restricted area A1 includes the step of acquiring the current position information I2 from the positioning satellite 500 at each unit positioning time. As a result, the information terminal 101 can acquire the current position information I2 from the positioning satellite 500 at each unit positioning time, making it easy to acquire the cruising speed. This allows the same effects as the structure of the above embodiment to be obtained.

[0190] In this embodiment, as described above, the step of disabling the warning so that no warning is issued regardless of the engine speed when the PWC102 is in reverse is further included. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0191] In this embodiment, as described above, the information terminal 101 includes a display unit 13, and the step of issuing a warning includes displaying a warning image on the display unit 13 when the cruising speed exceeds the speed limit in the speed limit area A1, and the step of disabling the warning includes disabling the warning so that the warning image is not displayed on the display unit 13 when the engine speed is below a threshold speed. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0192] In this embodiment, as described above, the step of issuing a warning includes outputting a warning sound from a speaker device 103 provided on the PWC 102 when the cruising speed exceeds the speed limit in speed-restricted area A1, and the step of disabling the warning includes disabling the warning so that no warning sound is output from the speaker device 103 when the engine speed is below a threshold speed. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0193] In this embodiment, as described above, the step of issuing a warning includes a step of reducing the volume of the warning sound when a first time t1 has elapsed since the start of output of the warning sound from the speaker device 103. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0194] In this embodiment, as described above, the step of reducing the warning sound includes, if a first time t1 has elapsed since the start of the warning sound output, the step of reducing the volume of the warning sound to half or less of the volume at the start of the warning sound output. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0195] In this embodiment, as described above, the step of reducing the warning sound includes, if a first time t1 has elapsed since the start of the warning sound output, gradually reducing the volume of the warning sound for a second time t2 which is shorter than the first time t1. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0196] In this embodiment, as described above, the location alert area includes a no-entry area A2 where entry of the PWC 102 is prohibited. The warning step includes outputting a warning sound from the speaker device 103 to issue a warning not only when the cruising speed exceeds the speed limit in the speed limit area A1, but also when the PWC 102 enters the no-entry area A2. The warning sound reduction step includes reducing the volume of the warning sound when a first time t1 has elapsed from the start of the warning sound output, which is the time when the PWC 102 enters the no-entry area A2. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0197] In this embodiment, as described above, when the PWC 102 enters an audio restriction area where the volume of audio sound, including music, output from the speaker device 103 is restricted, the embodiment further includes the steps of determining whether the volume of the audio sound is above a threshold volume, and, if the volume of the audio sound is above the threshold volume, reducing the volume of the audio sound and notifying the user that the volume of the audio sound is above the threshold volume, at least one of these steps. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0198] In this embodiment, as described above, the step of reducing the volume of the audio sound includes, when the PWC102 enters the audio restriction area and the volume of the audio sound is greater than the threshold volume, the step of reducing the volume of the audio sound to below the threshold volume. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0199] In this embodiment, as described above, the information terminal 101 further includes the steps of: acquiring current position information I2 of PWC102 from positioning satellite 500 at unit positioning time intervals; determining whether the distance D0 between the current position P10 of PWC102 indicated by the current position information I2 and the previous position P20 of PWC102 indicated by the previous position information I2 is greater than or equal to a threshold distance D1; and, if the distance D0 between the current position P10 and the previous position P20 is greater than or equal to a threshold distance D1, correcting the current position P10 to approach the previous position P20 and setting a corrected current position P11. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0200] In this embodiment, as described above, the step of setting the corrected current position P11 includes setting the distance D2 from the previous position P20 to the corrected current position P11 based on the cruising speed of the PWC102 at the previous position P20. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0201] In this embodiment, as described above, the step of setting the separation distance D2 includes the step of obtaining the cruising speed used to set the separation distance D2 based on the detection result of the rotation speed detection unit that detects the engine rotation speed provided in the PWC102. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0202] In this embodiment, as described above, the step of setting the corrected current position P11 includes setting the corrected current position P11 on the straight line SL connecting the current position P10 and the previous position P20. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0203] In this embodiment, as described above, the system further includes the steps of: determining whether the PWC 102 is located in a location alert area that includes a coastline-proximity area A10 within a predetermined distance from the coastline; if the PWC 102 is located in the coastline-proximity area A10, automatically setting a target navigation route R that extends linearly away from the coastline in the coastline-proximity area A10 so as to shorten the navigation distance of the PWC 102 in the coastline-proximity area A10; and refraining from issuing a predetermined warning when the PWC 102 is moving along the target navigation route R. This provides the same effects as the structure of the above embodiment.

[0204] In this embodiment, as described above, the information terminal 101 further provides a predetermined warning when the PWC 102 deviates from the target navigation route R. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0205] In this embodiment, as described above, the step of automatically setting the target navigation route R includes creating a coastline model CL2 that is smoothed to reduce the irregularities of the coastline, and automatically setting a target navigation route R that extends linearly in the coastline vicinity region A10 away from the coastline model CL2 so that the navigation distance of the PWC102 in the coastline vicinity region A10 is minimized. This makes it possible to obtain the same effects as the structure of the above embodiment.

[0206] [Differentiation] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the description of the embodiments above, and further includes all modifications (exceptions) within the meaning and scope of the claims.

[0207] For example, in the above embodiment, the small vessel is shown to be a PWC, but the present invention is not limited to this. In the present invention, the small vessel may be a type of small vessel other than a PWC, such as a jet-propelled boat with a hull that accommodates the operator inside. In addition, the small vessel may not be a jet-propelled boat equipped with a jet propulsion mechanism, but rather an outboard motor boat equipped with an outboard motor, an inboard motor boat equipped with an inboard motor, or an inboard / outboard motor boat equipped with an inboard / outboard motor.

[0208] Furthermore, although the above embodiment shows an example in which a control unit that performs control to disable the speeding warning is provided on an information terminal, the present invention is not limited to this. In the present invention, the control unit that performs control to disable the speeding warning may be provided on the PWC's ECU, or on a microcontroller board installed separately from the ECU on the hull. The microcontroller board is configured to communicate with the ECU via a wired connection. When the microcontroller board executes a warning application installed on the microcontroller board, it is possible to display predetermined information related to the warning application on the display unit of the information terminal or on the display unit of the PWC. Note that if the warning application is installed on the microcontroller board, the operator warning support system does not need to have an information terminal.

[0209] Furthermore, while the above embodiment shows an example in which a control unit that controls the volume of the warning sound to decrease midway is provided on the information terminal, the present invention is not limited to this. In the present invention, the control unit that controls the volume of the warning sound to decrease midway may be provided on the PWC's ECU, or on a microcontroller board installed separately from the ECU on the hull. The microcontroller board is configured to communicate with the ECU via a wired connection. When the microcontroller board executes a warning application installed on the microcontroller board, it is possible to display predetermined information related to the warning application on the display unit of the information terminal or on the display unit of the PWC. Note that if the warning application is installed on the microcontroller board, the operator warning support system does not need to have an information terminal.

[0210] Furthermore, although the above embodiment shows an example in which a control unit for controlling the volume of audio is provided on an information terminal, the present invention is not limited to this. In the present invention, the control unit for controlling the volume of audio may be provided on the PWC's ECU, or on a microcontroller board installed separately from the ECU on the hull. The microcontroller board is configured to communicate with the ECU via a wired connection. When the microcontroller board executes a warning application installed on the microcontroller board, it is possible to display predetermined information related to the warning application on the display unit of the information terminal or on the display unit of the PWC. Note that if the warning application is installed on the microcontroller board, the operator warning support system does not need to have an information terminal.

[0211] Furthermore, while the above embodiment shows an example in which a control unit for correcting the misalignment of the PWC is provided on an information terminal, the present invention is not limited to this. In the present invention, the control unit for correcting the misalignment of the PWC may be provided on the PWC's ECU, or on a microcontroller board installed separately from the ECU on the hull. The microcontroller board is configured to communicate with the ECU via a wired connection. When the microcontroller board executes a warning application installed on the microcontroller board, it is possible to display predetermined information related to the warning application on the display unit of the information terminal or on the display unit of the PWC. Note that if the warning application is installed on the microcontroller board, the operator warning support system does not need to have an information terminal.

[0212] Furthermore, while the above embodiment shows an example in which a control unit that performs control for automatically setting a target navigation route in the coastal area is provided on an information terminal, the present invention is not limited to this. In the present invention, the control unit that performs control for automatically setting a target navigation route in the coastal area may be provided on the PWC's ECU, or on a microcontroller board installed separately from the ECU on the hull. The microcontroller board is configured to communicate with the ECU via a wired connection. When the microcontroller board executes a warning application installed on the microcontroller board, it is possible to display predetermined information related to the warning application on the display unit of the information terminal or on the PWC's display unit. Note that if the warning application is installed on the microcontroller board, the operator warning support system does not need to have an information terminal.

[0213] Furthermore, although the above embodiment shows an example in which the warning device of the present invention is configured using an information terminal, the present invention is not limited thereto. In the present invention, the warning device may be configured using a microcontroller board installed separately from the ECU on the hull. The microcontroller board is configured to communicate with the ECU via a wired connection. When the microcontroller board executes a warning application installed on the microcontroller board, it is possible to display predetermined information related to the warning application on the display unit of the information terminal or on the display unit of the PWC. Note that if the warning application is installed on the microcontroller board, the operator warning support system does not need to have an information terminal.

[0214] Furthermore, in the above embodiment, an example was shown in which a low engine speed is specified using no-wake mode or cruise control to disable the speeding warning, but the present invention is not limited to this. In the present invention, the warning may also be disabled by operating the throttle lever to reduce the engine speed.

[0215] Furthermore, in the above embodiment, an example was shown in which the second time is shorter than the first time in the control of reducing the volume of the warning sound midway through. However, the present invention is not limited to this. In the present invention, the second time may be longer than the first time in the control of reducing the volume of the warning sound midway through. Alternatively, the second time and the first time may be equal.

[0216] Furthermore, in the above embodiment, an example was shown in which a second time period is provided to gradually reduce the volume of the warning sound when controlling the volume to be reduced midway through, but the present invention is not limited to this. In the present invention, when controlling the volume of the warning sound midway through, the volume of the warning sound may be reduced without providing a second time period (a transition time for gradually moving to a lower volume).

[0217] Furthermore, in the above embodiment, an example was shown in which, when entering an audio restriction area, if the audio volume is greater than a threshold volume, both the control to reduce the audio volume and the control to notify the operator that the audio volume is greater than or equal to the threshold volume are performed. However, the present invention is not limited to this. In the present invention, only one of the controls, either reducing the audio volume or notifying the operator that the audio volume is greater than or equal to the threshold volume, may be performed. In addition, if a predetermined time has elapsed after notifying the operator that the audio volume is greater than or equal to the threshold volume, the control to reduce the audio volume may be performed. Furthermore, the threshold volume may be set in two stages, a first threshold and a second threshold greater than the first threshold, and only the above notification may be performed when the audio volume is greater than the first threshold and less than or equal to the second threshold, while both the above notification and the control to reduce the volume may be performed when the audio volume is greater than the second threshold.

[0218] Furthermore, in the above embodiment, an example was shown in which, in the control for correcting the positional deviation of the PWC, the separation distance from the previous position to the corrected current position is set based on the cruising speed of the PWC at the previous position. However, the present invention is not limited to this. In the present invention, the separation distance from the previous position to the corrected current position may be uniformly set to a predetermined distance, such as the same distance as the threshold distance, without being based on the cruising speed of the PWC at the previous position.

[0219] Furthermore, although the above embodiment shows an example in which an information terminal acquires location information from positioning satellites, the present invention is not limited to this. In the present invention, the information terminal may acquire location information from a base station or the like located on land.

[0220] Furthermore, although the above embodiment shows an example in which the wearable terminal is configured with a head-mounted display, the present invention is not limited thereto. In the present invention, the wearable terminal may be configured with a headset or the like.

[0221] Furthermore, in the above embodiment, for the sake of explanation, the processing operations of the control unit were described using a flow-driven flowchart that processes sequentially according to the processing flow, but the present invention is not limited thereto. In the present invention, the processing operations of the control unit may be performed by event-driven processing, which executes processing on an event-by-event basis. In this case, it may be performed as a completely event-driven system, or a combination of event-driven and flow-driven systems may be used. [Explanation of Symbols]

[0222] 2 (PWC) Communications Section 4 (PWC) engines 13. Display unit (of an information terminal) 15. Control unit (of an information terminal) 63 (PWC) Speed ​​setting control 100 Operator Warning Support System 101 Information terminal (warning device) 102 PWC (Small vessel) 103 Speaker equipment 104 Wearable devices 500 positioning satellites A1 Speed ​​restriction area (location alert area) A2 No-Entry Area (Location Alert Area) A10 Coastline vicinity area (location alert area) CS Cloud Server CL1 Coastline CL2 Coastline Model D0 (distance between current and previous positions) D1 Threshold distance D2 separation distance I1 Warning Application I2 Location information I3 Map Information I10 Water Area Map P10 Current position P11 Corrected current position P20 Previous position R Target navigation route SL (Straight line connecting the current position and the previous position) t1 First time t2 Second time U, the ship's operator

Claims

1. A small vessel including an engine and a communications unit, A warning device configured to acquire current location information and to communicate with the communication unit of the small vessel, It includes a control unit that performs predetermined control based on engine speed, The warning device has a warning application installed that acquires the cruising speed of the small vessel based on the location information and issues a predetermined warning when the cruising speed exceeds the speed limit in a location alert area that includes a speed limit area where the cruising speed is restricted. The control unit is configured to disable the warning so that the warning is not issued even if the cruising speed exceeds the speed limit, as long as the engine speed is below a threshold speed.

2. The operator warning support system according to claim 1, wherein the threshold rotational speed is set to a value such that the cruising speed is less than or equal to the speed limit when the engine rotational speed is less than or equal to the threshold rotational speed, in a state where no external forces, including wind and waves, are acting.

3. The small vessel is configured to be able to navigate by specifying the engine speed, The operator warning support system according to claim 1, wherein the control unit is configured to disable the warning when the specified engine speed is less than or equal to the threshold speed.

4. The small vessel is configured to switch from a state in which the cruising speed is changed by the accelerator to a low-speed holding mode in which the engine speed is maintained at a predetermined engine speed below the threshold speed. The operator warning support system according to claim 3, wherein the control unit is configured to disable the warning so that the warning is not issued when the navigation speed exceeds the speed limit, if the system is switched to the low rotation speed holding mode.

5. The small vessel includes a rotation speed specification control unit for increasing or decreasing the engine speed, and is configured to switch from a state in which the cruising speed is changed by the accelerator to a cruise control mode in which the engine speed is specified by the rotation speed specification control unit. The operator warning support system according to claim 3, wherein the control unit is configured to disable the warning so that the warning is not issued even when the cruising speed exceeds the speed limit, if the engine speed is set to or below the threshold speed by the speed speed specification operation unit in the cruise control mode.

6. The operator warning support system according to claim 1, wherein the warning device is configured to acquire the current position information from a positioning satellite at unit positioning time intervals.

7. The operator warning support system according to claim 1, wherein the control unit is configured to disable the warning so that the warning is not issued when the small vessel is in reverse, regardless of the engine speed.

8. The warning device includes a display unit and is configured to display a warning image on the display unit and issue a warning when the cruising speed exceeds the speed limit in the speed limit area. The operator warning support system according to claim 1, wherein the control unit is configured to disable the warning so that the warning image is not displayed on the display unit when the engine speed is below the threshold speed.

9. The small vessel is further equipped with a speaker device that outputs a warning sound for the aforementioned warning, The warning device is configured to output the warning sound from the speaker device to provide a warning when the cruising speed exceeds the speed limit in the speed limit area. The operator warning support system according to claim 1, wherein the control unit is configured to disable the warning so that the warning sound is not output from the speaker device when the engine speed is below the threshold speed.

10. The operator warning support system according to claim 9, wherein the control unit is configured to reduce the volume of the warning sound when a first time has elapsed since the start of outputting the warning sound.

11. The operator warning support system according to claim 10, wherein the control unit is configured to reduce the volume of the warning sound to half or less of the volume at the start of the warning sound output if the first time has elapsed since the start of the output of the warning sound.

12. The operator warning support system according to claim 10, wherein the control unit is configured to gradually reduce the volume of the warning sound for a second time shorter than the first time, once the first time has elapsed since the start of outputting the warning sound.

13. The aforementioned location alert area includes a no-entry area where the entry of the small vessel is prohibited, The warning device is configured to output the warning sound from the speaker device and issue a warning not only when the cruising speed exceeds the speed limit in the speed-restricted area, but also when the small vessel enters the no-entry area. The operator warning support system according to claim 10, wherein the control unit is configured to reduce the volume of the warning sound when the first time has elapsed since the start of outputting the warning sound, which is the time when the small vessel enters the no-entry area.

14. The small vessel is further equipped with a speaker device that outputs a warning sound for the warning and an audio sound including music, The operator warning support system according to claim 1, wherein the control unit is configured to perform at least one of the following when the small vessel enters an audio restriction area in which the volume of the audio sound is limited: reduce the volume of the audio sound when the volume of the audio sound is greater than a threshold volume, and notify the operator that the volume of the audio sound is greater than the threshold volume.

15. The operator warning support system according to claim 14, wherein the control unit is configured to reduce the volume of the audio sound to below the threshold volume when the volume of the audio sound is greater than the threshold volume when the small vessel enters the audio restricted area.

16. The warning device is configured to acquire the current position information from the positioning satellite at intervals of one positioning time, The operator warning support system according to claim 1, wherein the control unit is configured to perform control to correct the current position to bring it closer to the previous position and set a corrected current position when the distance between the current position of the small vessel indicated by the current position information and the previous position of the small vessel indicated by the previous position information is greater than or equal to a threshold distance.

17. The operator warning support system according to claim 16, wherein the control unit is configured to set a distance between the previous position and the corrected current position based on the cruising speed of the small vessel at the previous position.

18. The small vessel includes a rotation speed detection unit for detecting the engine rotation speed, The operator warning support system according to claim 17, wherein the control unit is configured to acquire the cruising speed used for setting the separation distance based on the detection result of the rotation speed detection unit.

19. The operator warning support system according to claim 16, wherein the control unit is configured to set the corrected current position on a straight line connecting the current position and the previous position.

20. The operator warning support system according to claim 1, wherein the control unit is configured to automatically set a target navigation route that extends in a straight line away from the coastline in the coastline vicinity area so as to shorten the navigation distance of the small vessel in the coastline vicinity area when the small vessel is located in a location alert area that includes a coastline vicinity area within a predetermined distance from the coastline, and to refrain from issuing a predetermined warning when the small vessel is moving along the target navigation route.

21. The operator warning support system according to claim 20, wherein the control unit is configured to issue the warning when the small vessel deviates from the target navigation route.

22. The operator warning support system according to claim 20, wherein the control unit is configured to create a coastline model that is smoothed to reduce the irregularities of the coastline, and to automatically set a target navigation route that extends linearly in the direction away from the coastline model in the coastline vicinity region so that the navigation distance of the small vessel in the coastline vicinity region is minimized.

23. The warning device is configured to transmit image information and sound information of the warning device to a wearable terminal worn by the operator, as described in claim 1.

24. The operator warning support system according to claim 1, comprising a display unit that displays a water area map showing the current position of the small vessel and the location alert area, configured to communicate with a cloud server that holds map information used for displaying the water area map on the display unit, and configured to acquire the map information from the cloud server.

25. The warning device acquires the cruising speed of the small vessel based on its current location information, and determines whether the cruising speed exceeds the speed limit in a location alert area that includes a speed limit area where the cruising speed is restricted. In the warning application installed in the warning device, the steps include: issuing a predetermined warning when the cruising speed exceeds the speed limit in the speed limit area; A step to determine whether the engine speed is below a threshold speed, A method for supporting a ship operator's warning, comprising the step of disabling the warning so that the warning is not issued if the cruising speed exceeds the speed limit, but the engine speed is below the threshold speed.

26. The step of issuing the warning includes, when the cruising speed exceeds the speed limit in the speed-restricted area, issuing the warning by outputting a warning sound from a speaker device installed on the small vessel. The operator warning support method according to claim 25, wherein the step of disabling the warning includes disabling the warning so that the speaker device does not output the warning sound when the engine speed is less than or equal to the threshold speed.

27. The method for supporting a ship operator's warning according to claim 26, wherein the step of giving the warning includes a step of reducing the volume of the warning sound when a first time has elapsed since the start of output of the warning sound from the speaker device.

28. When the small vessel enters an audio restriction area where the volume of audio sounds, including music, output from a speaker device is restricted, the steps include determining whether the volume of the audio sounds is above a threshold volume, The operator warning support method according to claim 25, further comprising the steps of reducing the volume of the audio sound and notifying the user that the volume of the audio sound is above the threshold volume, when the volume of the audio sound is above the threshold volume.

29. The warning device includes the step of acquiring the current position information of the small vessel from a positioning satellite at each unit positioning time interval, A step of determining whether the distance between the current position of the small vessel indicated by the current position information and the previous position of the small vessel indicated by the previous position information is greater than or equal to a threshold distance, The operator warning support method according to claim 25, further comprising the step of setting a modified current position by correcting the current position to be closer to the previous position when the distance between the current position and the previous position is greater than or equal to a threshold distance.

30. The steps include determining whether the small vessel is located in a location alert area that includes a coastline vicinity area within a predetermined distance from the coastline, If the small vessel is located in the coastal area, the system automatically sets a target navigation route that extends in a straight line away from the coastline in the coastal area so that the navigation distance of the small vessel in the coastal area is shortened. The operator warning support method according to claim 25, further comprising the step of refraining from issuing a predetermined warning when the small vessel is moving along the target navigation route.

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