Control device and control method

Abstract

To improve a technique for controlling ship docking.SOLUTION: A control device 20 has a control part 25 that sets a first intermediate target point in a range of a water area when a ship 10 is positioned outside the range of the water area in which automatic steering to a target shore-arrival point can be started; formulates a sea route for navigation of the ship 10 from a position of the ship 10 to the target shore-arrival point via the set first intermediate target point when a distance of a vector connecting the position of the ship 10 and the first intermediate target point and an angle between a bow direction of the ship 10 and a direction of the vector satisfy the prescribed criteria; and automatically steers the ship 10 according to the formulated sea route.SELECTED DRAWING: Figure 1

Description

Technical Field

[0006] , , ,

[0005] , ,

[0001] The present disclosure relates to a control device and a control method.

Background Art

[0002] Conventionally, technologies related to ship landing control have been known. For example, Patent Document 1 discloses a technology for assisting the landing operation of a ship.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Ship landing control cannot be started from a safety perspective when the location where the ship is located is not within an appropriate distance and azimuth range with respect to the target landing point, or when there is an obstacle between the location where the ship is located and the target landing point. Therefore, from the viewpoints of convenience and safety, there has been room for improvement in technologies related to ship landing control.

[0005] In view of such circumstances, an object of the present disclosure is to improve technologies related to ship landing control.

Means for Solving the Problems

[0006] A control device according to one embodiment of the present disclosure is a control device for automatically steering a ship, and includes a control unit that, when the ship is located outside the range of a water area from which automatic steering to a target docking point can be initiated, sets a first intermediate target point within the range of the water area, and if the distance of the vector connecting the ship's position and the first intermediate target point, and the angle between the ship's bow direction and the direction of the vector, satisfies a predetermined criterion, formulates a route for the ship to travel from the ship's position, via the set first intermediate target point, to the target docking point, and automatically steers the ship according to the formulated route.

[0007] A control method according to one embodiment of the present disclosure is a control method performed by a control device for automatically piloting a ship, wherein the control device performs the following actions when the ship is located outside the range of a water area from which automatic piloting to a target docking point can be initiated: setting a first intermediate target point within the range of the water area; formulating a route for the ship to travel from the ship's position, via the set first intermediate target point, to the target docking point, if the distance of the vector connecting the ship's position and the first intermediate target point, and the angle between the ship's bow direction and the direction of the vector, satisfy predetermined criteria; and automatically piloting the ship according to the formulated route. [Effects of the Invention]

[0008] According to one embodiment of the present disclosure, the technology relating to ship docking control is improved. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing a schematic configuration example of a system according to one embodiment of the present disclosure. [Figure 2] This flowchart shows an example of the control device's operation. [Figure 3] This is a schematic diagram showing an example of a shipping route. [Figure 4] This is a schematic diagram showing an example of setting the first intermediate target point. [Figure 5]This is a schematic diagram showing an example of setting a second intermediate target point. [Modes for carrying out the invention]

[0010] The embodiments of this disclosure will be described below.

[0011] (Summary of the embodiment) Referring to Figure 1, an overview of System 1 according to the embodiment of this disclosure will be described. System 1 comprises a ship 10 and a control device 20. The ship 10 and the control device 20 are communicably connected to a network 2, which includes, for example, the Internet and a mobile communication network.

[0012] The vessel 10 is equipped with a control device 20. The vessel 10 is communicated with the control device 20 by wire. The vessel 10 may also be communicated with the control device 20 via a network 2.

[0013] The control device 20 is a computer installed on the ship 10. The control device 20 performs automatic maneuvering to bring the ship 10 to a target docking point. The control device 20 can communicate with the ship 10 via a wired connection. In addition, the control device 20 can communicate with the ship 10 via the network 2.

[0014] First, an overview of this embodiment will be described, and details will be described later. When the vessel 10 is located outside the range of waters in which automatic steering to the target docking point can be initiated, the control device 20 sets a first intermediate target point within the range of said waters. If the distance of the vector connecting the position of the vessel 10 and the first intermediate target point, and the angle between the bow direction of the vessel 10 and the direction of said vector, meet predetermined criteria, the control device 20 formulates a route for the vessel 10 to travel from the position of the vessel 10, via the set first intermediate target point, to the target docking point, and automatically steers the vessel 10 according to the formulated route.

[0015] Thus, according to this embodiment, even when the ship 10 is navigating outside the range of waters where automatic steering to the target landing point can be started, a first intermediate target point is set within the waters, and further, by satisfying a predetermined criterion for the angle between the distance and the bow direction of the vector connecting the position of the ship 10 and the first intermediate target point, a route for the ship 10 to navigate from the position of the ship 10 to the target landing point by automatic steering is determined. Therefore, the technology related to the landing control of the ship 10 is improved in terms of improving the safety and convenience for the ship operator to land the ship 10 at the target landing point.

[0016] Next, each component of the system 1 will be described in detail.

[0017] (Configuration of the ship) As shown in FIG. 1, the ship 10 includes a communication unit 11, a positioning unit 12, a measurement unit 13, a display unit 14, an input unit 15, a storage unit 16, a control unit 17, and a control device 20. Details of the control device 20 will be described later.

[0018] The communication unit 11 includes both a communication interface connected to the network 2 and a communication interface connected by wire to the communication unit 21 of the control device 20. The communication interface connected to the network 2 corresponds to, for example, a mobile communication standard such as 4G (4th Generation) or 5G (5th Generation), but is not limited thereto and may correspond to any communication standard. In this embodiment, the ship 10 is connected by wire to be communicable with the communication unit 21 of the control device 20 via the communication unit 11. Further, the ship 10 may be connected to be wirelessly communicable with the communication unit 21 of the control device 20 via the communication unit 11 and the network 2.

[0019] The positioning unit 12 includes one or more devices for acquiring the position information of the ship 10. Specifically, the positioning unit 12 includes, for example, a receiver corresponding to GPS, but is not limited thereto and may include a receiver corresponding to any satellite positioning system.

[0020] The measurement unit 13 includes one or more sensors. The measurement unit 13 may be equipped with a sonar, a radar, a gyrocompass, a magnetic compass, an acceleration sensor, a barometric pressure sensor, etc. However, the sensors included in the measurement unit 13 are not limited to these.

[0021] The display unit 14 is configured to include at least one display interface capable of displaying characters or images. The display unit 14 is, for example, a chart plotter, but is not limited thereto. The display interface is, for example, a display such as an LCD or an organic EL display. However, the display interface is not limited to these. The display unit 14 displays information such as the position, course, intermediate target point, target landing point, and water area of the ship 10 together with map information.

[0022] The input unit 15 is configured to include at least one input interface capable of receiving an input by the operator of the ship 10. The input interface is, for example, a physical key, a capacitive key, a pointing device, a camera, a touch screen provided integrally with the display of the above-described display unit 14, or a microphone that picks up the voice of the operator. However, the input interface is not limited to these.

[0023] The storage unit 16 includes one or more memories. The memory is, for example, a semiconductor memory, a magnetic memory, or an optical memory, etc., but is not limited thereto. Each memory included in the storage unit 16 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 16 stores any information used for the operation of the ship 10. For example, the storage unit 16 may store a system program, an application program, and embedded software, map information, a list of target landing points, etc. The information stored in the storage unit 16 may be updated, for example, with information obtained from the network 2 via the communication unit 11.

[0024] The control unit 17 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is a general-purpose processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process, but is not limited to these. The programmable circuit is an FPGA (Field-Programmable Gate Array), but is not limited to this. The dedicated circuit is an ASIC (Application Specific Integrated Circuit), but is not limited to this. The control unit 17 controls the operation of the entire ship 10.

[0025] (Control device configuration) As shown in Figure 1, the control device 20 includes a communication unit 21, a storage unit 22, an input unit 23, a display unit 24, and a control unit 25.

[0026] The communication unit 21 includes both a communication interface for connecting to the network 2 and a communication interface for wired connection to the communication unit 11 of the ship 10. The communication interface for connecting to the network 2 supports, for example, mobile communication standards such as 4G or 5G, but is not limited to these, and may support any communication standard. In this embodiment, the control device 20 is wired and communicatively connected to the communication unit 11 of the ship 10 via the communication unit 21. Furthermore, the control device 20 may be wirelessly connected to the communication unit 11 of the ship 10 via the communication unit 21 and the network 2.

[0027] The storage unit 22 includes one or more memories. Each memory included in the storage unit 22 may function as, for example, a main memory, an auxiliary memory, or a cache memory. The storage unit 22 stores any information used for the operation of the control device 20. For example, the storage unit 22 may store a system program, an application program, a database, map information, a list of registered docking locations, the target docking location of the selected vessel 10, and the route of the vessel 10. The information stored in the storage unit 22 may be updateable with information obtained from the network 2 via, for example, the communication unit 21.

[0028] The input unit 23 is configured to include at least one input interface capable of receiving input from the operator of the vessel 10. The input interface may be, for example, a physical key, a capacitive key, a pointing device, a camera, a touchscreen integrated with the display of the display unit 24 (described later), or a microphone for capturing the operator's voice. However, the input interface is not limited to these.

[0029] The display unit 24 is configured to include at least one display interface capable of displaying characters or images. The display interface is, for example, a display such as an LCD or an organic EL display. However, the display interface is not limited to these. The display unit 24 may also have a function to display information such as the position of the ship 10, its route, intermediate target points, target docking points, and water areas, along with map information.

[0030] The control unit 25 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 25 controls the operation of the entire control device 20.

[0031] (Control device operation flow) Referring to Figure 2, the operation of the control device 20 according to this embodiment will be described. This operation relates to automatic steering to dock the ship 10 at the target docking point.

[0032] S101: The control unit 25 acquires information on the position p1 and bow direction d of the ship 10.

[0033] Figure 3 is a schematic diagram showing an example of a route taken by the vessel 10. In this disclosure, the vessel 10 is described as navigating the ocean 3, but the body of water in which the vessel 10 navigates is not limited to the ocean, but may also be a lake, canal, or river.

[0034] As shown in Figure 3, the position p1 information of the vessel 10 refers to the latitude and longitude coordinates (x1, y1) of the point where the vessel 10 is located while sailing. The positioning unit 12 of the vessel 10 acquires the coordinates (x1, y1) of the vessel 10's position p1 using, for example, a GPS-compatible receiver. The control unit 25 acquires the position p1 (x1, y1) information of the vessel 10 from the positioning unit 12 via the communication unit 11 and the communication unit 21.

[0035] On the other hand, the information regarding the bow direction d of the vessel 10 is the azimuth angle to which the bow of the vessel 10, indicated by the arrow, is facing. The bow direction d of the vessel 10 is measured by setting north as 0° and going clockwise from north to 360°. The bow direction d is measured by a GPS compass, but the measurement method is not limited to this. A GPS compass is a device that uses multiple GPS antennas to observe the phase difference of carrier waves of radio waves from GPS satellites and determines the direction of each antenna relative to a reference antenna (called the baseline vector) with high precision. The bow direction d of the vessel 10 may also be measured by a gyrocompass or a magnetic compass.

[0036] S102: The control unit 25 sets the target docking point p2 for the ship 10.

[0037] The control unit 25 extracts one or more registered locations stored in the memory unit 22 that are close to the position p1 of the vessel 10, based on the coordinates (x1, y1) of the position p1 of the vessel 10, and displays one or more of the extracted registered locations where the vessel 10 can dock on the display screen of the display unit 14 of the vessel 10. The control unit 25 may also transmit information about one or more registered locations to the display unit 14 of the vessel 10 via the communication unit 21 and the communication unit 11 of the vessel 10. Alternatively, the control unit 25 may display information about one or more registered locations on the display screen of the display unit 24 of the control device 20 installed on the vessel 10.

[0038] When the control unit 25 selects one or more registered locations on the display screen of the display unit 14 as the target docking location p2(x2,y2) for the ship 10, it sets the selected registered location as the target docking location p2. The control unit 25 may also save the set target docking location p2 in the storage unit 22.

[0039] S103: When the target docking point p2 of the vessel 10 is selected, the control unit 25 sets the water area w in which automatic steering to the selected target docking point p2 can be initiated.

[0040] The extent of the water area w is determined by the accuracy of the instrument installed in the positioning unit 12 of the vessel 10 to determine the position p1 of the vessel 10, and the size of the vessel 10, etc.

[0041] S104: The control unit 25 determines whether the position p1 of the vessel 10 is within the range of the water area w from which the vessel 10 can dock automatically at the target docking point p2. If the vessel 10 is within the range of the water area w, the process proceeds to S112; otherwise, the process proceeds to S105.

[0042] When the position p1 of the vessel 10 is within the range of the water area w, the control unit 25 can automatically steer the vessel 10 to the target docking point p2 without setting intermediate target points as described later.

[0043] S105: When the ship 10 is located outside the range of the water area w from which automatic maneuvering to the target docking point p2 can be initiated, the control unit 25 sets a first intermediate target point a within the range of the water area w.

[0044] Figure 4 is a schematic diagram showing an example of setting a first intermediate target point a. The first intermediate target point a is an intermediate target point set within the range of the water area w from which automatic maneuvering to the target docking point p2 can be initiated. In this disclosure, the first intermediate target point a is described as being one, but two or more first intermediate target points a may be set. When the vessel 10 reaches the set first intermediate target point a, the control unit 25 can automatically dock the vessel 10 at the target docking point p2.

[0045] S106: The control unit 25 determines whether the distance of the vector v1 connecting the position p1 of the ship 10 and the first intermediate target point a satisfies a predetermined criterion c1. If the distance of the vector v1 satisfies the predetermined criterion c1, the process proceeds to S107; otherwise, the process proceeds to S109.

[0046] The predetermined criterion c1 is explained with reference to Figure 4. The predetermined criterion c1 is that the distance md (in nautical miles, etc.) of vector v1 connecting one point (for example, the position p1 of ship 10) and another point (for example, the first intermediate target point a) is less than or equal to the reference distance pd (in nautical miles, etc.). In the example shown in Figure 4, the distance md of vector v1 is less than or equal to the reference distance pd, so the predetermined criterion c1 is satisfied. Note that one nautical mile at sea is equivalent to 1,852 m.

[0047] S107: The control unit 25 determines whether the angle between the bow direction d of the ship 10 and the direction of vector v satisfies a predetermined criterion c2. If the direction of vector v satisfies the predetermined criterion c2, the process proceeds to S108; otherwise, the process proceeds to S109.

[0048] The predetermined criterion c2 is that the angle ma(°) between the bow direction d of the vessel 10 at one point and the direction of the vector v connecting one point and another point is less than or equal to the reference angle pa(°). In the example shown in Figure 4, the angle ma(°) is less than or equal to the reference angle pa(°), so the predetermined criterion c2 is satisfied.

[0049] The control unit 25 displays the position p1 of the vessel 10, the first intermediate target point a, the target docking point p2, the water area w from which automatic maneuvering to the target docking point p2 can be initiated, and the determination results in S105 to S107, along with map information, on the display screen of the display unit 14 of the vessel 10.

[0050] The display unit 14 of the vessel 10 is, for example, a chartplotter. The chartplotter is an electronic device installed on the vessel 10 for the purpose of navigation, and displays the vessel's position p1, heading d, and speed on an electronic chart. The chartplotter can also display additional information obtained from weather information, wind speed, tides, water depth, fish finders, or various sensors. The display unit 14 of the vessel 10 is capable of displaying map information. The map information includes maps of waters and coastal areas in all of Japan or a designated area. In addition to the position p1 and target docking point p2 of the vessel 10, the display unit 14 can also display a first intermediate target point a and a second intermediate target point b (described later), which are set by touch input or the like on a touchscreen integrated with the display of the display unit 14, along with the map information.

[0051] Furthermore, the display unit 24 of the control device 20 may have a function to display the position p1 of the vessel 10, the target docking point p2, the first intermediate target point a, the water area w from which automatic steering to the target docking point p2 can be initiated, and the judgment results in S105 to S107, along with map information.

[0052] S108: The control unit 25 determines whether or not an obstacle is detected in the water area between the position p1 of the ship 10 and the first intermediate target point a. If an obstacle is detected, the process proceeds to S109; if no obstacle is detected, the process proceeds to S112.

[0053] Obstacles include artificial structures such as the pier (quay) 4 displayed on the screen, areas where docking is not possible due to topography or legal reasons, or objects that obstruct the navigation of the vessel 10 as detected by sensors installed on the vessel 10.

[0054] Piers (quays) 4 and areas where docking is not possible due to topography or legal reasons are obtained from map information. In addition, objects that obstruct the navigation of vessels 10 floating in the ocean 3 are detected by sensors equipped in the measuring unit 13 of the vessel 10. Such sensors are, for example, sonar and radar, but are not limited to these. Sonar is a device used as a fish finder on various types of vessels. Radar is a device that detects the precise distance to each object by converting the time it takes for the reflected waves to return when emitted radio waves (microwaves) are reflected by other vessels or floating objects in the path of the radio waves into distance.

[0055] S109: The control unit 25 sets a second intermediate target point b in the water area between the position p1 of the ship 10 and the first intermediate target point a.

[0056] The second intermediate target point b is an intermediate target point set outside the range of the water area w from which automatic maneuvering to the target docking point p2 can be initiated. When the control unit 25 detects an obstacle in the water area between the position p1 of the vessel 10 and the first intermediate target point a, it sets the second intermediate target point b in that water area for the vessel 10 to navigate around the obstacle. The second intermediate target point b is set such that predetermined criteria c (c1 and c2) are satisfied between the position p1 of the vessel 10 and the second intermediate target point b, and between the second intermediate target point b and the first intermediate target point a.

[0057] Furthermore, if the distance md of the vector v1 connecting the position p1 of the vessel 10 and the first intermediate target point a, or the angle ma between the bow direction d of the vessel 10 and the direction of vector v1, does not satisfy predetermined criteria c(c1 and c2), the control unit 25 sets a second intermediate target point b in the water area between the position p1 of the vessel 10 and the first intermediate target point a. The second intermediate target point b is set such that the predetermined criteria c(c1 and c2) are satisfied between the position p1 of the vessel 10 and the second intermediate target point b, and between the second intermediate target point b and the first intermediate target point a.

[0058] Figure 5 is a schematic diagram showing an example of setting the second intermediate target point b. In the example shown in Figure 5, the angle ma between the bow direction d of the ship 10 and the direction of vector v1 is less than or equal to the reference angle pa. Also, the distance md of vector v1 connecting the position p1 of the ship 10 and the first intermediate target point a is less than or equal to the reference distance pd.

[0059] The control unit 25 prompts the user to input a second intermediate target point b on the touchscreen of the input unit 15, which is integrally provided with the display screen of the display unit 14. When the second intermediate target point b is input on the touchscreen, the control unit 25 accepts the input of the second intermediate target point b. As shown in Figure 5, the control unit 25 sets the second intermediate target point b in the water area between the position p1 of the ship 10 and the first intermediate target point a, between the position p1 of the ship 10 and the second intermediate target point b, and between the second intermediate target point b and the first intermediate target point a, such that predetermined criteria c (c1 and c2) are met.

[0060] In Figure 3, when the vessel 10 docks at the target docking point p22, (1) the first intermediate target point a is set within the water area w from which automatic steering to the target docking point p2 can be initiated, and (2) the second intermediate target point b is set such that (i) the distance md of the vector v1 connecting the position p1 of the vessel 10 and the intermediate target point a1 is less than or equal to the reference distance pd, and the angle ma between the bow direction d of the vessel 10 and the direction of vector v1 is less than or equal to the reference angle pa, and (ii) the distance md of the vector v2 connecting the second intermediate target point b and the first intermediate target point a is less than or equal to the reference distance pd, and the angle ma between the bow direction d of the vessel 10 and the direction of vector v2 is less than or equal to the reference angle pa. By setting the first intermediate target point a and the second intermediate target point b in this manner, the control unit 25 can automatically steer the ship 10 along the route r21 from the ship 10's position p1 to the second intermediate target point b, the route r22 from the second intermediate target point b to the first intermediate target point a, and the route r23 from the first intermediate target point a to the target docking point p22.

[0061] Furthermore, as shown in Figure 3, when a pier 4 (obstacle) is detected in the water area between the position p1 of the vessel 10 and the target docking point p2 of the vessel 10, the control unit 25 receives input for a second intermediate target point b in that water area for the vessel 10 to navigate around the obstacle, on the touchscreen of the input unit 15 which is integrally provided with the display screen of the display unit 14, and sets the second intermediate target point b. The second intermediate target point b may be set at multiple locations for navigation around obstacles.

[0062] S110: The control unit 25 determines a route r for the ship 10 to navigate from the ship 10's position p1 to the first intermediate target point a, via the second intermediate target point b and the first intermediate target point a, if a second intermediate target point b is set.

[0063] Two or more second intermediate target points b(b1, b2, ..., bn) may be set in order to navigate around obstacles or to satisfy predetermined criteria c(c1 and c2). When two or more second intermediate target points b are set in the water area between the position p1 of the vessel 10 and the first intermediate target point a, the control unit 25 may accept the selection of the order in which the vessel 10 will arrive at each of the two or more second intermediate target points b, and formulate a route r by associating the position p1 of the vessel 10, each of the two or more second intermediate target points b for which the arrival order has been set, the first intermediate target point a, and the target docking point p2. When the order in which to reach each of two or more second intermediate target points b(b1, b2, ..., bn) is selected on the touchscreen of the input unit 15, which is integrally provided with the display screen of the display unit 14, the control unit 25 accepts the selection of the order to reach each of them, and associates the position p1 of the ship 10 with each of the two or more second intermediate target points b(b1, b2, ..., bn) for which the order of arrival has been set, the first intermediate target point a, and the target docking point p2 to formulate the route r. Furthermore, if two or more first intermediate target points a are set, the control unit 25 may accept the selection of the arrival order of the vessel 10 to each of two or more first intermediate target points a (a1, a2, ..., an), and formulate a route r by associating the position p1 of the vessel 10 with each of the two or more second intermediate target points b for which the arrival order has been set, each of the two or more first intermediate target points a for which the arrival order has been set, and the target docking point p2.

[0064] As shown in Figure 3, for example, the control unit 25 formulates a route r1 from the position p1 of the ship 10, via a first intermediate target point a, to the target docking point p21, and a route r2 from the position p1 of the ship 10, via a second intermediate target point b and the first intermediate target point a, to the target docking point p22. The control unit 25 may store the formulated routes r1 and r2 in the storage unit 22.

[0065] S111: The control unit 25 automatically steers the vessel 10 to the first intermediate target point a or the second intermediate target point b according to the prescribed route r.

[0066] When one of the one or more routes r stored in the memory unit 22 is selected, the control unit 25 reads the information of the selected route r and automatically steers the ship 10. The information of route r includes the order in which the ship 10 arrives from position p1 to the target docking point p2 via each of the intermediate target points, the latitude and longitude coordinates (x1, y1) of each point, and the water areas where obstacles exist, but the information of route r is not limited to these. In the example shown in Figure 3, route r1 is formulated from position p1 of the ship 10 to the target docking point p21 via the first intermediate target point a, and route r2 is formulated from position p1 of the ship 10 to the target docking point p22 via the second intermediate target point b and the first intermediate target point a, and the information of routes r1 and route r2 is stored in the memory unit 22. When, for example, a route r2 is selected on the touchscreen integrated with the display screen of the control device 20's display unit 24 or the display unit 14 of the ship 10, the control unit 25 reads the information of the route r2 and automatically steers the ship 10 from its position p1 to the target docking point p22, via the second intermediate target point b and the first intermediate target point a.

[0067] S112: When the control unit 25 arrives at the first intermediate target point a or the second intermediate target point b, it determines whether to continue the navigation of the vessel 10 to the first intermediate target point a or the target docking point p2. If the navigation of the vessel 10 is to be continued, the process proceeds to S113; otherwise, control of the vessel 10 is terminated.

[0068] When the vessel 10 arrives at the first intermediate target point a or the second intermediate target point b, the vessel operator visually checks for obstacles in the route or the navigation status of other vessels to ensure safety. For this purpose, the control unit 25 prompts the operator on the display unit 24 or a touchscreen integrated with the display screen of the display unit 14 whether to continue control to the target docking point p2 or the first intermediate target point a. If "no continuation" is entered, or if no input is received, the control unit 25 keeps the vessel 10 at the arrival point and terminates control of the vessel 10.

[0069] S113: The control unit 25 automatically steers the vessel 10 based on the information of the route r formulated in S110, for the route from the first intermediate target point a or the second intermediate target point b to the first intermediate target point a or the target docking point p2 of the formulated route r.

[0070] S114: The control unit 25 determines whether the vessel 10 has docked at the target docking point p2. If the vessel 10 has not docked at the target docking point p2, the control unit returns to S112. If the vessel has docked, the control unit terminates the automatic control of the vessel 10.

[0071] As described above, when the vessel 10 is located outside the range of the water area w from which automatic steering to the target docking point p2 can be initiated, the control device 20 according to this embodiment sets a first intermediate target point a within the range of the water area w, and if the distance of the vector v1 connecting the position of the vessel 10 and the first intermediate target point a, and the angle between the bow direction d of the vessel 10 and the direction of the vector v1 satisfy predetermined criteria c (c1 and c2), the control device 20 formulates a route r for the vessel 10 to travel from the position p1 of the vessel 10, via the set first intermediate target point a, to the target docking point p2, and automatically steers the vessel 10 according to the formulated route r.

[0072] Thus, according to this embodiment, even when the vessel 10 is navigating outside the water area w from which automatic maneuvering to the target docking point p2 can be initiated, a route r is formulated in which the vessel 10 will dock at the target docking point p2 by automatic maneuvering by setting a first intermediate target point a within the water area w. Therefore, the technology related to docking control of the vessel 10 is improved in that the safety and convenience for the vessel operator in docking the vessel 10 at the target docking point p2 are enhanced.

[0073] While this disclosure has been described based on the drawings and embodiments, it should be noted that those skilled in the art may make various modifications and alterations based on this disclosure. Therefore, it should be noted that these modifications and alterations are within the scope of this disclosure. For example, the functions, etc., included in each component or step can be rearranged in a logically consistent manner, and multiple components or steps can be combined into one or divided into two.

[0074] For example, in the above-described embodiment, it is also possible to distribute the configuration and operation of the control device 20 to multiple computers that can communicate with each other. Alternatively, for example, it is also possible to provide some or all of the components of the control device 20 on the ship 10 or the mobile terminal 30. For example, the display devices provided on the ship 10, the control device 20, or the mobile terminal 30 may appropriately share the information display function.

[0075] In this embodiment, we have described a case in which the control device 20 automatically steers the vessel 10 according to the established route r. However, if there is a section of the route r in which it is difficult to satisfy a predetermined criterion c, for example, between the position p1 of the vessel 10 and an intermediate target point, or between intermediate target points, the vessel 10 may be manually steered in that section of the route.

[0076] Furthermore, it is also possible to implement an embodiment in which a general-purpose computer functions as the control device 20 according to the above embodiment. Specifically, a program describing the processing content that realizes each function of the control device 20 according to the above embodiment is stored in the memory of the general-purpose computer, and the processor reads and executes the program. Therefore, this disclosure can also be implemented as a program that can be executed by a processor, or as a non-temporary computer-readable medium that stores said program. [Explanation of symbols]

[0077] 1 System 2 Network 3 Oceans (lakes, canals, rivers) 4. Pier (quay) 10 ships 11 Communications Department 12 Positioning Unit 13 Measurement Unit 14 Display section 15 Input section 16 Memory section 17 Control Unit 20 Control device 21 Communications Department 22 Memory section 23 Input section 24 Display section 25 Control Unit

Claims

1. A control device for automatically steering a ship, When the aforementioned vessel is located outside the range of waters from which automatic steering toward the target docking point can be initiated. In addition, a first intermediate target point is set within the range of the water area, and the position of the vessel and the first intermediate The distance of the vector connecting the intermediate target point, and the relationship between the bow direction of the vessel and the direction of the vector. If the angle between them satisfies a predetermined standard, the first set from the position of the ship A route is formulated for the ship to navigate, passing through an intermediate target point to reach the target docking point. The vessel is equipped with a control unit that automatically steers the vessel according to the predetermined route, The control unit detects if there are any obstacles in the water area between the position of the vessel and the first intermediate target point. When it is known, a second means of the vessel to navigate around the obstacle in the waters is provided. Set intermediate target points, The second intermediate target point is located between the position of the vessel and the second intermediate target point, and Between the second intermediate target point and the first intermediate target point, the predetermined standard A control device configured to satisfy certain conditions.

2. A control device for automatically steering a ship, When the aforementioned vessel is located outside the range of waters from which automatic steering toward the target docking point can be initiated. In addition, a first intermediate target point is set within the range of the water area, and the position of the vessel and the first intermediate The distance of the vector connecting the intermediate target point, and the relationship between the bow direction of the vessel and the direction of the vector. If the angle between them satisfies a predetermined standard, the first set from the position of the ship A route is formulated for the ship to navigate, passing through an intermediate target point to reach the target docking point. The vessel is equipped with a control unit that automatically steers the vessel according to the predetermined route, The control unit determines the distance of the vector connecting the position of the ship and the first intermediate target point, The angle between the bow direction of the vessel and the direction of the vector does not satisfy the predetermined criteria. If not, a second intermediate target point is set in the waters between the position of the vessel and the first intermediate target point. The second intermediate target point is located between the position of the vessel and the second intermediate target point, and Between the second intermediate target point and the first intermediate target point, the predetermined standard A control device configured to satisfy certain conditions.

3. A control device according to claim 1 or 2, The control unit has two or more units in the water area between the position of the vessel and the first intermediate target point. If a second intermediate target point is set, each of the two or more second intermediate target points The system accepts the selection of the arrival order of the aforementioned vessels, and the position of the aforementioned vessels and the arrival order are set. Each of the two or more second intermediate target points, the first intermediate target point, and the target A control device that determines the aforementioned shipping route in relation to designated docking points.

4. A control method performed by a control device for automatically steering a ship, When the aforementioned vessel is located outside the range of waters from which automatic steering toward the target docking point can be initiated. In addition, a first intermediate target point is set within the range of the water area, The distance of the vector connecting the position of the ship and the first intermediate target point, and the distance of the ship If the angle between the direction of the bow and the direction of the vector satisfies a predetermined standard, the ship From the ship's position, via the designated first intermediate target point, to the target docking point, To formulate the route that the aforementioned vessel will navigate, To automatically steer the vessel according to the predetermined route, Includes, The control method further includes, when an obstacle is detected in the water area between the position of the vessel and the first intermediate target point, setting a second intermediate target point in that water area for the vessel to navigate around the obstacle, The second intermediate target point is located between the position of the vessel and the second intermediate target point, and Between the second intermediate target point and the first intermediate target point, the predetermined standard A control method configured to satisfy the following conditions.

5. A control method performed by a control device for automatically steering a ship, When the aforementioned vessel is located outside the range of waters from which automatic steering toward the target docking point can be initiated. In addition, a first intermediate target point is set within the range of the water area, The distance of the vector connecting the position of the ship and the first intermediate target point, and the distance of the ship If the angle between the direction of the bow and the direction of the vector satisfies a predetermined standard, the ship From the ship's position, via the designated first intermediate target point, to the target docking point, To formulate the route that the aforementioned vessel will navigate, To automatically steer the vessel according to the predetermined route, Includes, The control method further includes setting a second intermediate target point in the water area between the position of the vessel and the first intermediate target point if the distance of the vector connecting the position of the vessel and the first intermediate target point, or the angle between the bow direction of the vessel and the direction of the vector, does not satisfy the predetermined criteria. The second intermediate target point is located between the position of the vessel and the second intermediate target point, and Between the second intermediate target point and the first intermediate target point, the predetermined standard A control method configured to satisfy the following conditions.

Images