CN114379744B - Ship control system and ship - Google Patents

Abstract

A ship control system for controlling a ship in such a manner that a ship body moves in a steering direction designated by a steering device even if some of a plurality of propulsion devices are abnormal, is provided with a processing device for executing some of output limitation steering control, and when some of the plurality of propulsion devices provided in the ship are limited in output, obtains output limitation information including which of the propulsion devices are limited in output and the upper limit output of the propulsion devices limited in output, and command information including the steering direction of the ship body designated by the steering device, and determines the magnitude of the output of the propulsion devices not limited in output and the direction of generation of the output and determines the magnitude of the output of the propulsion devices limited in output and the direction of generation of the output in such a manner that the ship body moves in the steering direction designated by the steering device based on the obtained output limitation information and command information.

Description

Ship control system and ship

Technical Field

The present disclosure relates to a ship control system and a ship.

Background

Some vessels are provided with a plurality of propulsion devices (for example, refer to patent document 1). In a ship provided with a plurality of propulsion devices, when a steering direction of a ship body is specified by using a steering device (steering handle, etc.), the magnitude of the output of each propulsion device and the direction of generation of the output are automatically determined in such a manner that the ship body moves in the specified steering direction.

Prior art literature:

Patent literature:

Patent document 1: japanese patent application laid-open No. 2019-131178.

Disclosure of Invention

Problems to be solved by the invention:

In the above-described ship, since the design is based on the premise that each propulsion device is normal, when some propulsion devices are abnormal, the ship body may not be moved in a predetermined steering direction. In view of the above, an object of the present disclosure is to provide a ship control system for controlling a ship in such a manner that a hull moves in a steering direction designated by a steering device, as in a normal case, even if some of a plurality of propulsion devices are abnormal.

Means for solving the problems:

The ship control system according to one aspect of the present disclosure includes a processing device that executes a part of output limitation steering control as follows: when the output of some of the propulsion devices included in the ship is limited, output limitation information including which propulsion device the output of which is limited and the upper limit output of the propulsion device of which is limited is obtained, and command information including the steering direction of the hull designated by the steering device, and the output limitation information and the command information are obtained, the size of the output of the propulsion device of which the output is not limited and the direction of generation of the output are determined based on the obtained output limitation information and the command information, and the size of the output of the propulsion device of which the output is limited and the direction of generation of the output are determined.

Another aspect of the present disclosure provides a ship control system including a processing device that executes a partial direction non-settable steering control, the partial direction non-settable steering control being as follows: when the direction of output generation of some of the propulsion devices included in the ship cannot be set, direction-unsetting information including which propulsion device cannot set the direction of output generation and the direction of output generation of the propulsion device cannot be set, and command information including the steering direction of the hull designated by the steering device are acquired, and the magnitude of output of the propulsion device capable of setting the direction of output generation and the direction of output generation are determined based on the acquired direction-unsetting information and the command information in such a manner that the hull moves in the steering direction designated by the steering device, and the magnitude of output of the propulsion device incapable of setting the direction of output generation is determined.

The invention has the following effects:

According to the above configuration, it is possible to provide a ship control system for controlling a ship in such a manner that the ship body moves in a direction in which the ship body is steered by the steering device, as in the normal case, even if some of the plurality of propulsion devices are abnormal.

Drawings

FIG. 1 is a top view of a vessel;

FIG. 2 is a block diagram of a vessel and a vessel control system;

Fig. 3 is a table showing an example of normal steering control and a part of output limit steering control;

fig. 4 is a table showing an example in which normal steering control and steering control cannot be set in a part of directions;

Symbol description:

10. A first propulsion device;

20. a second propulsion device;

30. Steering means;

40. A processing device;

50. A setting device;

60. A monitoring device;

70. A storage device;

100. A vessel;

101. A hull;

200. A marine vessel control system.

Detailed Description

< Ship >

First, the ship 100 according to the present embodiment will be described. Fig. 1 is a top view of a vessel 100. The upper, lower, right and left sides of the plane of the drawing of fig. 1 correspond to the front, rear, right and left sides of the hull 101, respectively. The forward portion of hull 101 is the bow and the aft portion of hull 101 is the stern. Fig. 2 is a block diagram of the ship 100 and the ship control system 200. As shown in fig. 1 and 2, a ship 100 according to the present embodiment includes a first propulsion device 10, a second propulsion device 20, and a steering device 30.

The first propulsion device 10 is disposed at the right rear portion of the hull 101. The first propulsion device 10 of the present embodiment is a so-called rotary azimuth propeller (Azimuth Thruster). The thrust generation unit 11 has a propeller 12, and the thrust generation unit 11 rotates in the horizontal direction around a rotation shaft 13. Thereby, the first propulsion device 10 can generate an output (thrust) of an arbitrary magnitude in an arbitrary direction. The first propulsion device 10 may be configured of a power shaft Propeller (LINE SHAFT Propeller) and a rudder (Rudder), instead of the rotary azimuth Propeller.

The second propulsion device 20 is provided at the left rear portion of the hull 101. The second propulsion device 20 is structurally identical to the first propulsion device 10 except for the set position. The second propulsion device 20 of the present embodiment is a so-called rotary azimuth propeller. The thrust generation unit 21 has a propeller 22, and the thrust generation unit 21 rotates in the horizontal direction around a rotation shaft 23. Thereby, the second propulsion device 20 can generate an output (thrust) of an arbitrary magnitude in an arbitrary direction. The second propulsion device 20 may be constituted by a power shaft propeller and a rudder, instead of the rotary azimuth propeller.

Steering device 30 is a device for designating an increase or decrease in the steering direction and the moving speed of hull 101. As an example, the steering device 30 of the present embodiment has a steering handle not shown, and can specify the steering direction of the hull 101 by tilting the steering handle, and can specify the increase or decrease of the moving speed of the hull 101 by tilting the steering handle. The steering direction of the hull 101 includes, in addition to "forward" and "backward", a "right turn" with the bow directed to the right, a "left turn" with the bow directed to the left, a "right turn" with the bow turned right in place, and a "left turn" with the bow turned left in place. Instead of the steering handle, the steering device 30 may have a propeller operation unit other than the steering handle, which can specify the steering direction of the hull 101 and increase or decrease of the moving speed.

Ship control System

Next, the ship control system 200 according to the present embodiment will be described. The ship control system 200 is a system that controls the ship 100. As shown in fig. 2, the ship control system 200 includes a processing device 40, a setting device 50, a monitoring device 60, and a storage device 70.

The processing device 40 can acquire instruction information including an increase or decrease in the steering direction and the movement speed of the hull 101 designated by the steering device 30 from the steering device 30. The processing device 40 determines the magnitude of the output and the direction of generation of the output of each propulsion device 10, 20 based on the instruction information acquired from the steering device 30. The processing device 40 of the present embodiment determines the magnitude of the output and the direction of generation of the output of each propulsion device 10, 20 by executing "normal steering control", "a part of output limitation steering control", or "a part of direction cannot be set steering control", which will be described later.

After determining the output sizes and the output generation directions of the propulsion devices 10 and 20, the processing device 40 transmits control signals corresponding to the determined output sizes and the determined output generation directions to the propulsion devices 10 and 20. Accordingly, the rotational speed, the blade angle, and the rotation angle of each propulsion device 10, 20 are set so that each propulsion device 10, 20 generates an output according to the size and direction determined by the processing device 40. The processing device 40 can acquire the actual rotational speed, the blade angle, and the turning angle (actual turning angle) of each of the propulsion devices 10 and 20 from each of the propulsion devices 10 and 20.

The processing device 40 may be located on the ship 100, on land, or on a ship (support ship or the like) other than the ship 100. For example, the processing device 40 may be a server on land, and may be configured to exchange information with a device on the ship 100 via the internet. In this case, the processing device 40 may determine the output sizes and the output generation directions of the propulsion devices 10 and 20, and then transmit information on the determined output sizes and output generation directions of the propulsion devices 10 and 20 to a control device located outside the figure on the ship 100, for example, and the control device may transmit control signals to the propulsion devices 10 and 20. That is, the processing device 40 may determine the output sizes and the output generation directions of the propulsion devices 10 and 20, and the other devices than the processing device 40 may transmit control signals to the propulsion devices 10 and 20.

The setting device 50 is a device for performing various settings. The setting device 50 of the present embodiment can select whether or not the processing device 40 performs "a part of the output restriction steering control", and can select whether or not the processing device 40 performs "a part of the direction cannot set the steering control". The setting device 50 may be located on the vessel 100, operated by the rider. The setting device 50 may be located on land or on a different vessel than the vessel 100, and may be operated by a person other than the occupant of the vessel 100. In addition, the setting device 50 may be located at a plurality of places. For example, the setting device 50 may be located on the vessel 100 and on land or on another vessel different from the vessel 100 (i.e., a location other than on the vessel 100). In this case, the operation of the setting device 50 can be performed by both the occupant of the ship 100 and the occupant other than the occupant of the ship 100. In addition, when the processing device 40 and the setting device 50 are located at different positions from each other, the setting device 50 may send information to the processing device 40 via the internet.

The monitoring device 60 is a device that monitors the control condition of the processing device 40. The monitoring device 60 can obtain a variety of information from the processing device 40 and display it on a display. In the present embodiment, the processing device 40 can display whether "a part of the output restriction steering control" is being executed, and the processing device 40 can display whether "a part of the direction cannot be set for the steering control" is being executed. The monitoring device 60 of the present embodiment may be located on the ship 100, on land, or on another ship other than the ship 100. In the case where the processing device 40 and the monitoring device 60 are located at different positions from each other, the monitoring device 60 may acquire information from the processing device 40 via the internet. In the case where the monitor device 60 and the setting device 50 are located at the same position, the monitor device 60 may be integrally formed with the setting device 50.

The storage device 70 is a device that stores a variety of information. The storage device 70 stores output limit information, direction incapability setting information, and the like, which will be described later, in addition to the travel data of the ship 100 and the control data executed by the processing device 40. The storage device 70 acquires information from the processing device 40 and transmits the stored information to the processing device 40. The storage device 70 may be located on the vessel 100, on land, or on a vessel other than the vessel 100. In the case where the processing device 40 and the storage device 70 are located at different positions from each other, the storage device 70 may exchange information with the processing device 40 via the internet.

< Normal steering control >)

Next, the normal steering control, a part of the output restriction steering control, and a part of the direction failure setting steering control executed by the processing device 40 will be described. First, the normal steering control is explained. The normal steering control is control performed when the respective propulsion devices 10 and 20 are not abnormal. When normal steering control is started, processing device 40 acquires instruction information from steering device 30. As described above, the command information includes an increase or decrease in the steering direction and the moving speed of the hull 101 designated by the steering device 30.

Next, the processing device 40 determines the output size and the output generation direction of each propulsion device 10, 20 so that the hull 101 moves in the specified steering direction at the specified moving speed based on the acquired instruction information. Thereafter, the processing device 40 transmits a control signal corresponding to the determined output size and the output generation direction to each of the propulsion devices 10 and 20. Thereby, the rotational speed, the blade angle, and the rotation angle of each propulsion device 10, 20 are set.

Fig. 3 is a diagram showing an example of normal steering control and a part of output limitation steering control. The column of normal steering control in fig. 3 shows the magnitude of the output and the direction of generation of the output of each propulsion device 10, 20 corresponding to each steering direction in the case where normal steering control is performed. In fig. 3, the size of the output is represented by the size of the drawing showing each propulsion device 10, 20. The direction of output generation is indicated by the inclination of the drawing showing each propulsion device 10, 20. In the example shown in fig. 3, the output of each propulsion device 10, 20 is maintained at 100% at the steady state during normal steering control. However, the output of each propulsion device 10, 20 may also vary.

As shown in fig. 3, in the present embodiment, when the commanded steering direction is "forward" in the normal steering control, the processing device 40 determines the generation direction of the output of each propulsion device 10, 20 as backward. Whereby the hull 101 advances. When the commanded steering direction is "backward", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 as the forward direction. Thereby, the hull 101 is retreated.

When the designated steering direction is "left turn", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 as the left oblique rear direction. Since the propulsion devices 10 and 20 are disposed at the rear portion of the hull 101, when the propulsion devices 10 and 20 generate output obliquely backward to the left, the hull 101 advances while rotating slightly to the left about the center of gravity 102. When the designated steering direction is "right turn", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 as the right-hand rear direction. Thereby, the hull 101 advances while rotating slightly to the right about the center of gravity 102.

When the designated steering direction is "turn-in-place (turn left)", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 to the left. Since the propulsion devices 10 and 20 are disposed at the rear portion of the hull 101, when the propulsion devices 10 and 20 generate an output to the left, the hull 101 turns around the center of gravity 102 (turns left). When the designated steering direction is "turn-in-place (turn right)", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 to the right. Thereby, the hull 101 turns around the center of gravity 102 in place (right turn).

< Part of output limiting steering control >

Next, a part of the output restriction steering control will be described. Some of the output restriction steering control is performed when the output of either the first propulsion device 10 or the second propulsion device 20 is restricted. For example, when the first propulsion device 10 detects a sign of a failure, the output of the first propulsion device 10 is limited, and the upper limit output of the first propulsion device 10 is determined. For example, the output of the first propulsion device 10 is limited in the event of damage to the gears, bearings, or the propeller 12 of the first propulsion device 10, or in the event of a malfunction such as an oil-pressure machine for changing the blade angle of the propeller 12.

When a part of the output restriction steering control is started, the processing device 40 acquires instruction information and output restriction information. As described above, the command information includes an increase or decrease in the steering direction and the moving speed of the hull 101 designated by the steering device 30. On the other hand, the output restriction information includes which one of the propulsion apparatuses whose output is restricted and the upper limit output of the propulsion apparatus whose output is restricted. For example, in the case where the output of the first propulsion device 10 is limited to 80% of the steady-state output, the processing device 40 acquires output limitation information including that the propulsion device whose output is limited is the first propulsion device 10 and that the upper limit output of the first propulsion device 10 is 80% of the steady-state output.

Next, the processing device 40 determines the magnitude of the output and the direction of generation of the output of each propulsion device 10, 20 so that the hull 101 moves in the specified steering direction at the movement speed specified by the steering device 30, based on the acquired instruction information and output limitation information. Thereafter, the processing device 40 transmits a control signal corresponding to the determined output size and the output generation direction to each of the propulsion devices 10 and 20. Thereby, the rotational speed, the blade angle, and the rotation angle of each propulsion device 10, 20 are set.

A column of some output limiting steering control in fig. 3 shows an example of the magnitude of the output and the direction of generation of the output of each propulsion device 10, 20 corresponding to each steering direction when some output limiting steering control is performed. In the example shown in fig. 3, the output of the first propulsion device 10 is limited. In some of the output limit steering control, the first propulsion device 10 maintains the upper limit output (80% of the steady-state output in the above example), and the second propulsion device 20 maintains the output of 100% of the steady-state output. However, the output of each propulsion device 10, 20 may also be varied.

As shown in fig. 3, in the present embodiment, when the commanded steering direction is "forward" in some of the output-limited steering control, the processing device 40 determines the direction of generation of the outputs of the propulsion devices 10 and 20 to be diagonally rearward rather than rearward. Since the output of the first propulsion device 10 is smaller than that of the second propulsion device 20, the hull 101 advances by the determination as described above. When the commanded steering direction is "backward", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 as the rightward and forward direction rather than the forward direction. Thereby, the hull 101 is retreated.

When the designated steering direction is "left turn", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 as the left oblique rear direction. However, the relative angle with respect to the reference axis extending in the front-rear direction is determined to be larger than that in the normal steering control. When the designated steering direction is "right turn", the processing device 40 determines the generation direction of the output of each propulsion device 10, 20 to be diagonally right rearward and to be more right than during normal steering control.

When the designated steering direction is "in-place turning (left turning)", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 to the left as in the case of normal steering control. When the designated steering direction is "in-place turning (right turning)", the processing device 40 determines the direction of generation of the output of each propulsion device 10, 20 to the right as in the case of normal steering control.

In the present embodiment, by executing a part of the output restriction steering control as described above, the hull 101 can be propelled in the steering direction designated by the steering device 30 even when the output of a part of the propulsion devices is restricted. In addition, in some of the output-limited steering control of the present embodiment, the propulsion devices whose outputs are limited do not stop, so that a decrease in the output of the propulsion devices 10 and 20 as a whole can be suppressed.

< A part of the direction cannot be set to the steering control >)

Next, a description will be given of a case where steering control cannot be set in a part of the directions. The steering control cannot be set in a part of the directions, and is executed when the direction of generation of the output of either the first propulsion device 10 or the second propulsion device 20 (in the present embodiment, the rotation angle is set) cannot be set. For example, when an abnormality occurs in the first propulsion device 10 in which the thrust generation unit 11 rotates, the direction of the output of the first propulsion device 10 may not be set, and when the direction of the output cannot be set, steering control may not be set in some directions. The processing device 40 transmits a control signal for changing the turning angle to the first propulsion device 10, but if the actual turning angle acquired from the first propulsion device 10 does not change, it can be determined that the direction of the output of the first propulsion device 10 cannot be set.

When the steering control cannot be set in a part of the direction, the processing device 40 acquires instruction information and direction non-setting information. As described above, the command information includes an increase or decrease in the steering direction and the moving speed of the hull 101 designated by the steering device 30. On the other hand, the direction unset information is information including which of the propulsion devices cannot set the direction of generation of the output and the direction of generation of the output of the propulsion device cannot set the direction of generation of the output. For example, when the direction of output generation of the first propulsion device 10 is forward and the direction of output generation of the first propulsion device 10 cannot be set, the processing device 40 acquires information that the propulsion device that cannot set the direction of output generation is the first propulsion device 10 and that the direction of output generation of the first propulsion device 10 is forward cannot be set.

Next, the processing device 40 determines the output size and the output generation direction of each propulsion device 10, 20 so that the hull 101 moves in the specified steering direction at the movement speed specified by the steering device 30, based on the acquired instruction information and the direction inability-to-set information. Thereafter, the processing device 40 transmits a control signal corresponding to the determined output size and the output generation direction to each of the propulsion devices 10 and 20. Thereby, the rotational speed, the blade angle, and the rotation angle of each propulsion device 10, 20 are set.

Fig. 4 is a diagram showing an example in which normal steering control and steering control cannot be set in a part of directions. The normal steering control column of fig. 4 is the same as the normal steering control column of fig. 3. On the other hand, a column of the partial direction non-setting steering control in fig. 4 shows the magnitude of the output and the direction of generation of the output of each propulsion device 10, 20 corresponding to each steering direction when the partial direction non-setting steering control is performed. The method of indicating the magnitude of the output and the direction of generation of the output in fig. 4 is similar to that in fig. 3. In the example shown in fig. 4, when the direction of output generation of the first propulsion device 10 is rearward, the direction of output generation of the first propulsion device 10 cannot be set. In addition, in the steering control, a part of the directions cannot be set, and the first propulsion device 10 generates an output of 100% maximum steady-state output at the time of operation, and the second propulsion device 20 maintains an output of 100% maximum steady-state output.

As shown in fig. 4, in the present embodiment, when the steering control cannot be set in a part of the directions, and the commanded steering direction is "forward", the processing device 40 operates the first propulsion device 10 and determines the direction of generation of the output of the second propulsion device 20 to be rearward. When the commanded steering direction is "backward", the processing device 40 stops the first propulsion device 10 and determines the direction of generation of the output of the second propulsion device 20 to be diagonally right and forward. Since the first propulsion device 10 is stopped, the second propulsion device 20 disposed on the left side of the hull 101 can retract the hull 101 when an output is generated obliquely forward to the right.

When the designated steering direction is "left turn", the processing device 40 operates the first propulsion device 10 and determines the direction of generation of the output of the second propulsion device 20 to the left. Since the direction of the output of the first propulsion device 10 is rearward, the hull 101 turns left when so determined. When the designated steering direction is "right turn", the processing device 40 stops the first propulsion device 10 and determines the direction of generation of the output of the second propulsion device 20 to be rearward. Since the first propulsion device 10 does not generate an output, the hull 101 turns right when so determined.

When the designated steering direction is "turn-in-place (turn left)", the processing device 40 operates the first propulsion device 10, and determines the direction of generation of the output of the second propulsion device 20 as the forward direction. Since the direction of the output of the first propulsion device 10 is rearward, the hull 101 turns in place (turns left) when so determined. When the designated steering direction is "turn-in-place (turn right)", the processing device 40 stops the first propulsion device 10 and determines the direction of generation of the output of the second propulsion device 20 to the right. Since the first propulsion device 10 does not generate an output, the hull 101 turns in place (turns right) when so determined.

As described above, in the present embodiment, by performing the steering control in which a part of the directions cannot be set, the hull 101 can be propelled in the steering direction designated by the steering device 30 even when the direction in which the output of a part of the propulsion devices is generated cannot be set. In addition, in the present embodiment, since the propulsion device in which the direction of the output generation cannot be set is operated when the predetermined condition is satisfied in the steering control, the decrease in the output of the propulsion devices 10 and 20 can be suppressed.

In addition, the functions of the elements disclosed in the present specification can be performed using a circuit or a processing circuit including: a general purpose Processor (Processor), an Application specific Processor, an integrated circuit, an ASIC (Application SPECIFIC INTEGRATED Circuits), an existing circuit, and/or combinations thereof, in a form configured or programmed to perform the disclosed functions. The processor is considered to be a processing circuit or circuits since it includes transistors, other circuits, and the like. In this disclosure, a circuit, unit, or means is hardware that performs the recited function or is programmed in a form that performs the recited function. The hardware may be the hardware disclosed in this specification, or may be other known hardware programmed or configured in a form to perform the recited functions. Where hardware is a processor that is considered to be one of the circuits, a circuit, means or unit is a combination of hardware and software, the software being used in the structure of the hardware and/or the processor.

< Modification >

The ship 100 includes two propulsion devices 10 and 20, but may include three or more propulsion devices. However, if there are two propulsion devices provided in the ship 100, there is a possibility that the output of the propulsion devices 10 and 20 as a whole will be greatly reduced when an abnormality occurs in one propulsion device. Therefore, when there are two propulsion devices, it is very effective to not stop some of the output limiting steering control of the propulsion devices and to not set the steering control in some directions of the operation of the propulsion devices in which the output generation direction cannot be set according to the conditions.

In addition, the above description has been given of a method of determining the magnitude of the output and the direction of generation of the output of each propulsion device 10, 20 in the output limitation steering control and the steering control cannot be set in a part of the directions, but these determinations may be performed by the feedback control. For example, after the output sizes and the output generation directions of the propulsion devices 10 and 20 are determined, if the steering direction and the movement speed of the hull 101 specified by the steering device 30 are different from the actual steering direction and the movement speed of the hull 101, the output sizes and the output generation directions of the propulsion devices 10 and 20 may be determined again so as to reduce the difference therebetween.

< Summary >

The ship control system according to one aspect of the present disclosure includes a processing device that executes a part of output restriction steering control that acquires output restriction information including which of the propulsion devices whose output is restricted and an upper limit output of the propulsion devices whose output is restricted when the output of a part of the propulsion devices provided in the ship is restricted, and command information including a steering direction of the ship body specified by the steering device, and determines a magnitude of the output of the propulsion devices whose output is not restricted and a direction of generation of the output in a form of movement of the ship body in the steering direction specified by the steering device based on the acquired output restriction information and command information, and determines the magnitude of the output of the propulsion devices whose output is restricted and the direction of generation of the output.

According to this configuration, even when the output of a part of the propulsion devices is limited, the size of the output of each propulsion device and the direction of generation of the output can be determined based on the output limiting information including which propulsion device is limited and the upper limit output of the propulsion device whose output is limited, thereby moving the hull in the steering direction designated by the steering device. Therefore, according to this configuration, even if an abnormality occurs in a part of the propulsion device, the hull can be moved in the specified steering direction as in the normal case.

In the above-described ship control system, the processing device may determine the output of the output-limited propulsion device within a range where the output-limited propulsion device is not stopped when the partial output-limited steering control is executed.

According to this configuration, it is possible to suppress a decrease in the output of the entire plurality of propulsion devices, as compared with a case where the propulsion devices whose output is restricted are stopped.

The ship control system may further include a setting device that can select whether or not the processing device executes the partial output restriction steering control.

According to this structure, whether or not to execute a part of the output restriction steering control can be selected, and therefore the degree of freedom in steering by the driver is improved.

In the above-described ship control system, the setting device may be located at a position on the ship and outside the ship.

According to this structure, whether or not to execute a part of the output restriction steering control can be selected from a plurality of places, and therefore convenience is improved.

The ship control system may further include a monitor device that displays whether the processing device is executing the partial output restriction steering control.

According to this structure, the control state of the ship can be grasped.

The ship according to an aspect of the present disclosure includes the plurality of propulsion devices, and is controlled by the ship control system.

According to this configuration, even if an abnormality occurs in a part of the propulsion device, the hull can be moved in the predetermined steering direction as in the normal case.

In the above-described ship, the plurality of propulsion devices may be configured by two propulsion devices, i.e., a propulsion device provided at a right side portion of the hull and a propulsion device provided at a left side portion of the hull.

When the plurality of propulsion devices are configured by two propulsion devices, if the output of one propulsion device is limited, the output of the entire plurality of propulsion devices is greatly reduced, and therefore, it is effective to limit steering control without stopping some of the outputs of the propulsion devices.

The ship control system according to another aspect of the present disclosure includes a processing device that executes a partial direction non-settable steering control that, when the partial direction non-settable steering control fails to set the output generation direction of a partial propulsion device among a plurality of propulsion devices included in the ship, acquires direction non-setting information including which propulsion device fails to set the output generation direction and the output generation direction of the propulsion device that fails to set the output generation direction, and command information including the steering direction of the ship body designated by the steering device, and determines the output size of the propulsion device that can set the output generation direction and the output generation direction of the propulsion device that cannot set the output generation direction in the form of movement of the ship body in the steering direction designated by the steering device based on the acquired direction non-setting information and the command information, and determines the output size of the propulsion device that cannot set the output generation direction.

According to this configuration, even when the direction of generation of the output of a part of the propulsion devices cannot be set, the magnitude of the output of each propulsion device can be determined based on the propulsion device which cannot set the direction of generation of the output and the direction of generation of the output of the propulsion device which cannot set the direction of generation of the output, and the hull can be moved in the direction of the steering device. Therefore, according to this configuration, even if an abnormality occurs in a part of the propulsion device, the hull can be moved in the predetermined steering direction.

In the above-described ship control system, when the steering control cannot be set in the partial direction, the processing device may determine the output of the propulsion device in which the output generation direction cannot be set, within a range of the propulsion device in which the output generation direction cannot be set without stopping the propulsion device when a predetermined condition is satisfied.

According to this configuration, it is possible to suppress a decrease in the output of the entire plurality of propulsion devices, as compared with a case where the propulsion device in which the output generation direction cannot be set is always stopped.

The ship control system may further include a setting device that can select whether or not the processing device is executing the partial direction non-setting steering control.

According to this configuration, it is possible to select whether or not to perform a part of the direction non-setting steering control, and therefore the degree of freedom of steering by the driver is improved.

In the above-described ship control system, the setting device may be located at a position on the ship and outside the ship.

According to this configuration, it is possible to select from a plurality of places whether or not to execute a part of the steering control, and thus the convenience is improved.

The ship control system may further include a monitor device that displays whether or not the processing device is performing the partial direction setting steering control.

According to this structure, the control state of the ship can be grasped.

The ship according to an aspect of the present disclosure includes the plurality of propulsion devices, and is controlled by the ship control system.

According to this configuration, even if an abnormality occurs in a part of the propulsion device, the hull can be moved in a predetermined steering direction.

In the above-described ship, the plurality of propulsion devices may be configured by two propulsion devices, i.e., a propulsion device provided at a right side portion of the hull and a propulsion device provided at a left side portion of the hull.

When the plurality of propulsion devices are configured by two propulsion devices, if the direction of output generation of one propulsion device cannot be set, the overall output of the marine propulsion system is greatly reduced, and therefore, it is very effective to disable setting of steering control in a part of the direction of operation of the propulsion device in which the direction of output generation cannot be set, depending on the conditions.

Claims (16)

1. A ship control system is characterized in that,

The ship is provided with a processing device for executing a part of output limitation steering control, wherein the part of output limitation steering control is used for acquiring output limitation information and instruction information when the output of a part of propulsion devices in a plurality of propulsion devices of a ship is limited, the output limitation information comprises which propulsion device is limited in output and the upper limit output of the propulsion device is limited in output, the instruction information comprises the steering direction of a ship body designated by the steering device, and the size of the output of the propulsion device without limitation in output and the generation direction of the output are determined based on the acquired output limitation information and the instruction information in a mode that the ship body moves to the steering direction designated by the steering device.

2. The ship control system according to claim 1, characterized in that,

The processing device determines the output of the output-limited propulsion device within a range that does not stop the output-limited propulsion device when executing the partial output-limited steering control.

3. The ship control system according to claim 1 or 2, characterized in that,

The apparatus further includes a setting device capable of selecting whether the processing device executes the partial output restriction steering control.

4. The ship control system according to claim 3, characterized in that,

The setting device is located on the vessel and at a location external to the vessel.

5. The ship control system according to any one of claims 1, 2 and 4,

And a monitor device for displaying whether the processing device is executing the partial output restriction steering control.

6. The ship control system according to claim 3, characterized in that,

And a monitor device for displaying whether the processing device is executing the partial output restriction steering control.

7. A ship is characterized in that,

A plurality of the propelling devices are provided, and the device comprises a plurality of propelling devices,

Controlled by a vessel control system according to any one of claims 1 to 6.

8. The vessel according to claim 7, wherein the vessel is configured to receive the vessel,

The plurality of propulsion devices are composed of a propulsion device arranged at the right side part of the ship body and two propulsion devices arranged at the left side part of the ship body.

9. A ship control system is characterized in that,

The ship is provided with a processing device for executing a part of direction non-settable steering control, wherein the part of direction non-settable steering control is to acquire direction non-setting information and instruction information when the output generation direction of a part of propulsion devices cannot be set in a plurality of propulsion devices provided in the ship, the direction non-setting information comprises which propulsion device cannot set the output generation direction and the output generation direction of the propulsion device cannot set the output generation direction, the instruction information comprises the steering direction of the ship body designated by the steering device, and the output size of the propulsion device capable of setting the output generation direction and the output generation direction of the propulsion device capable of setting the output generation direction are determined based on the acquired direction non-setting information and the instruction information in the form of the ship body moving to the steering direction designated by the steering device.

10. The ship control system according to claim 9, characterized in that,

When the steering control is not set in the partial direction, the processing device determines the output of the propulsion device in which the direction of output generation cannot be set within a range of the propulsion device in which the direction of output generation cannot be set without stopping the propulsion device when a predetermined condition is satisfied.

11. The ship control system according to claim 9 or 10, characterized in that,

The apparatus further includes a setting device capable of selecting whether the processing device is executing the steering control in which the partial direction cannot be set.

12. The ship control system according to claim 11, characterized in that,

The setting device is located on the vessel and at a location external to the vessel.

13. The ship control system according to any one of claims 9, 10 and 12, characterized in that,

And a monitor device for displaying whether the processing device is executing the partial direction and cannot set steering control.

14. The ship control system according to claim 11, characterized in that,

And a monitor device for displaying whether the processing device is executing the partial direction and cannot set steering control.

15. A ship is characterized in that,

A plurality of the propelling devices are provided, and the device comprises a plurality of propelling devices,

Controlled by a vessel control system according to any one of claims 9 to 14.

16. The vessel according to claim 15, wherein,

The plurality of propulsion devices are composed of a propulsion device arranged at the right side part of the ship body and two propulsion devices arranged at the left side part of the ship body.