WO2023203959A1 - Ship, ship control device, ship control method, and program - Google Patents

Abstract

A ship is provided with an actuator, an operation unit, a ship control device, a time measurement unit, and a ship position detection unit for detecting the actual ship position. The ship control device has a normal operation mode in which the actuator is actuated according to an input operation, and a ship fixed point holding mode in which the actuator is actuated without the need for an input operation. During the ship fixed point holding mode, the ship control device actuates the actuator on the basis of deviation between a target ship position and an actual ship position, and the time measurement unit starts measuring time at the moment when the actual ship position deviates from a time measurement start determination area including the target ship position. When the actual ship position does not return to a ship fixed point holding mode stop determination area including the target ship position from the start of time measurement until a specified time elapses, the ship control device ceases the ship fixed point holding mode.

Description

Ships, ship control devices, ship control methods and programs

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

Patent Document 1 describes a technology that executes navigation control of a ship to a fixed point position or fixed point maintenance control of a ship based on the fixed point position and the own ship position. In the technology described in Patent Document 1, when the distance between the fixed point position and the own ship position is larger than a predetermined value, navigation control of the ship to the fixed point position is executed, and the distance between the fixed point position and the own ship position is If the value is less than or equal to a predetermined value, fixed point maintenance control of the ship is executed.

Patent No. 6278567

In intensive research, the present inventors have discovered that, like the technology described in Patent Document 1, the method is based only on the distance between the target ship position (fixed point position) and the actual ship position (own ship position). When you switch between executing control to move a distant vessel toward the target vessel position (navigation control of the vessel to a fixed point position) or executing control to keep the vessel at a fixed point, it is possible to control wind, waves, currents, etc. During execution of control to move a ship that has moved away from the target ship position due to a disturbance toward the target ship position, the ship moves around a circular area centered around the target ship position, for example, without approaching the target ship position. It has been discovered that there is a risk that it may continue to orbit (that is, exhibit unstable behavior).
Furthermore, the present inventors have solved the unstable behavior of the ship during ship fixed point holding mode by switching the ship control according to the time elapsed since the actual ship position deviated from a predetermined area including the target ship position. They discovered that it is possible to suppress the

That is, an object of the present invention is to provide a ship, a ship control device, a ship control method, and a program that can suppress unstable behavior of a ship during ship fixed point holding mode.

One aspect of the present invention includes an actuator having a function of generating a thrust for a ship and a function of generating a moment in the ship, an operation section that receives an input operation to actuate the actuator, and an input operation received by the operation section. A ship control device having a function of operating the actuator in accordance with The control device has a normal operation mode in which the actuator is operated in response to an input operation received by the operation unit, and a ship fixed point holding mode in which the actuator is operated without the need for the operation unit to accept an input operation, During the ship fixed point holding mode, the ship control device operates the actuator based on the deviation between the target ship position, which is the target position of the ship during the ship fixed point holding mode, and the actual ship position. The time measurement unit starts measuring time at the moment when the actual ship position leaves a time measurement start determination area that includes the target ship position, and a specified period of time has elapsed since the start of time measurement by the time measurement unit. If the actual ship position does not return within a ship fixed point holding mode termination determination area that includes the target ship position by the time the actual ship position is reached, the ship control device cancels the ship fixed point holding mode.

One aspect of the present invention includes an actuator that has a function of generating a thrust for a ship and a function of generating a moment for the ship, an operation section that receives an input operation to actuate the actuator, and a time measurement section that measures time. and a ship position detection unit that detects an actual ship position that is the actual position of the ship, the ship control having a function of operating the actuator in accordance with an input operation received by the operation unit. The ship control device has a normal operation mode in which the actuator is actuated in response to an input operation received by the operation section, and a ship fixed point in which the actuator is actuated without the need for the operation section to receive an input operation. and a holding mode, and during the ship fixed point holding mode, the ship control device, based on the deviation between the target ship position, which is the target position of the ship in the ship fixed point holding mode, and the actual ship position, The actuator is actuated, and the time measurement section starts measuring time at the moment when the actual ship position leaves the time measurement start determination area including the target ship position, and the time measurement section starts measuring time by the time measurement section. If the actual ship position does not return within a ship fixed point holding mode cancellation determination area that includes the target ship position by the time a specified time elapses from the start, the ship control device cancels the ship fixed point holding mode. It is a ship control device.

One aspect of the present invention includes an actuator that has a function of generating a thrust for a ship and a function of generating a moment for the ship, an operation section that receives an input operation to actuate the actuator, and a time measurement section that measures time. and a ship position detection unit that detects an actual ship position that is the actual position of the ship, the ship control having a function of operating the actuator in accordance with an input operation received by the operation unit. A ship control method for a device, wherein the ship control device has a normal operation mode in which the actuator is actuated in response to an input operation received by the operation section, and a normal operation mode in which the actuator is operated in response to an input operation received by the operation section. and a ship fixed point holding mode in which the ship control device operates, during the ship fixed point holding mode, the deviation between the target ship position, which is the target position of the ship in the ship fixed point holding mode, and the actual ship position. In the first step of activating the actuator based on the above, and during the ship fixed point holding mode, the time measurement section determines that the moment the actual ship position deviates from a time measurement start determination area including the target ship position, When time measurement is started and the actual ship position does not return within the ship fixed point holding mode cancellation determination area that includes the target ship position by the time the specified time elapses from the time when the time measurement unit starts measuring time. and a second step in which the ship control device cancels the ship fixed point holding mode.

One aspect of the present invention includes an actuator that has a function of generating a thrust for a ship and a function of generating a moment for the ship, an operation section that receives an input operation to actuate the actuator, and a time measurement section that measures time. and a ship position detection unit that detects an actual ship position that is the actual position of the ship, the ship control having a function of operating the actuator in accordance with an input operation received by the operation unit. The apparatus has a normal operation mode in which the actuator is operated in response to an input operation received by the operation section, and a ship fixed point holding mode in which the actuator is operated without the need for the operation section to receive an input operation. A computer constituting the ship control device is configured to operate the actuator during the ship fixed point holding mode based on the deviation between the target ship position, which is the target position of the ship during the ship fixed point holding mode, and the actual ship position. and during the ship fixed point holding mode, the time measuring unit starts measuring time at the moment when the actual ship position leaves a time measurement start determination area including the target ship position; If the actual ship position does not return within the ship fixed point holding mode termination determination area that includes the target ship position by the time a specified time elapses from the start of time measurement by the time measuring unit, the ship fixed point holding mode is activated. This is a program for executing the second step of canceling the process.

According to the present invention, it is possible to provide a ship, a ship control device, a ship control method, and a program that can suppress unstable behavior of a ship during ship fixed point holding mode.

It is a figure showing an example of ship 1 of a 1st embodiment. FIG. 3 is a diagram for explaining an example of control executed by the ship control device 13 during the ship fixed point holding mode of the ship control device 13 of the first embodiment. FIG. 3 is a diagram for explaining an example of control executed by the ship control device 13 during the ship fixed point holding mode of the ship control device 13 of the first embodiment. FIG. 3 is a diagram for explaining an example of control executed by the ship control device 13 during the ship fixed point holding mode of the ship control device 13 of the first embodiment. It is a flow chart for explaining an example of processing performed by ship control device 13 of a 1st embodiment during ship fixed point holding mode. It is a flow chart for explaining an example of processing performed by ship control device 13 of a 3rd embodiment during ship fixed point holding mode. It is a figure for explaining an example of control performed by ship control device 13 during ship fixed point holding mode of ship control device 13 of a 4th embodiment. It is a figure for explaining an example of control performed by ship control device 13 during ship fixed point holding mode of ship control device 13 of a 4th embodiment. It is a figure for explaining an example of control performed by ship control device 13 during ship fixed point holding mode of ship control device 13 of a 4th embodiment. It is a flow chart for explaining an example of processing performed by ship control device 13 of a 4th embodiment during ship fixed point holding mode.

<First embodiment>
Hereinafter, a first embodiment of a ship, a ship control device, a ship control method, and a program of the present invention will be described.

FIG. 1 is a diagram showing an example of a ship 1 according to the first embodiment.
In the example shown in FIG. 1, the ship 1 of the first embodiment is a personal watercraft (PWC, personal watercraft) described in, for example, FIG. It is a PWC that has the same basic functions as the PWC. The ship 1 includes, for example, an actuator 11, an operation section 12, a ship control device 13, a time measurement section 14, a ship position detection section 15, a heading detection section 16, and a notification section 17.
The actuator 11 has a function of generating thrust for the ship 1 and a function of generating a moment in the ship 1. Specifically, the actuator 11 includes an engine 111 and a jet propulsion device 112. Engine 111 outputs driving force. The engine 111 is configured similarly to the engine shown in FIG. 1 of Japanese Patent Application Publication No. 2014-073790, for example. The jet propulsion device 112 generates thrust for the ship 1 using the driving force output from the engine 111. The jet propulsion device 112 is configured similarly to the jet propulsion device described in, for example, FIG. 1 of JP-A No. 2003-237693. The jet propulsion device 112 includes a nozzle 112A and a bucket 112B. The nozzle 112A emits a jet stream generated by the driving force output from the engine 111. The nozzle 112A is configured in the same manner as the nozzle shown in FIG. 1 of JP-A No. 2003-237693, for example. Bucket 112B changes the direction of the jet stream ejected from nozzle 112A. The bucket 112B is configured similarly to the bucket described in, for example, FIG. 1 of Japanese Patent Application Publication No. 2003-237693.

The operation unit 12 receives an input operation by a boat operator who operates the actuator 11 . The operation section 12 includes a throttle operation section 121, a shift operation section 122, a steering section 123, and a fixed point holding mode setting section 124.
The throttle operation section 121 is configured similarly to the throttle operation section described in, for example, Japanese Patent Application Publication No. 2014-073790, and receives an input operation by a boat operator to adjust the rotational speed of the engine 111. The shift operation section 122 is configured similarly to the shift operation section described in, for example, Japanese Patent Application Publication No. 2014-073790, and is operated by a boat operator who switches the position of the bucket 112B between a forward position, a neutral position, and an astern position. Accept input operations. When the steering unit 123 receives an input operation from a boat operator, the actuator 11 generates a moment in the boat 1 . The steering unit 123 and the throttle operation unit 121 are configured similarly to, for example, the steering handle device shown in FIG. 1 of Japanese Patent No. 5196649, the steering unit shown in FIG. 1 of Japanese Patent Application Publication No. 2019-171925, etc. There is.
The fixed point holding mode setting unit 124 receives an input operation from a boat operator who sets the ship control device 13 to a ship fixed point holding mode, which will be described later.
The ship control device 13 has a function of operating the actuator 11 in response to an input operation received by the operation unit 12 from a ship operator. In addition, the ship control device 13 operates in a normal operation mode in which the actuator 11 is operated in response to an input operation from a ship operator received by the operation unit 12, and a fixed point holding mode setting unit 124 sets the ship control device 13 in a ship fixed point holding mode. The present invention has a ship fixed point holding mode in which the operation unit 12 operates the actuator 11 after receiving an input operation from the ship operator.

The time measurement unit 14 measures time.
The ship position detection unit 15 detects the actual ship position, which is the actual position of the ship 1. The ship position detection unit 15 includes, for example, a GPS (Global Positioning System) device. The GPS device calculates the position coordinates of the ship 1 by receiving signals from a plurality of GPS satellites.
The heading detection unit 16 detects the heading of the ship 1 . The bow direction detection section 16 includes, for example, a direction sensor. The orientation sensor calculates the actual heading of the ship 1 by using, for example, geomagnetism.
In another example, the orientation sensor may be a device (gyro compass) in which a north pointing device and a vibration damping device are added to a gyroscope that rotates at high speed so that the gyroscope always points to north.
In yet another example, the direction sensor may be a GPS compass that includes a plurality of GPS (Global Positioning System) antennas and calculates the heading from the relative positional relationship of the plurality of GPS antennas.

In the example shown in FIG. 1, the notification unit 17 notifies a ship operator or the like. The notification unit 17 notifies the boat operator etc. by outputting audio, for example.
In another example, the notification unit 17 may notify the boat operator or the like by, for example, displaying a message on the display or vibrating the steering wheel, the boat operator's seat, or the like.

2 to 4 are diagrams for explaining an example of control executed by the ship control device 13 during the ship fixed point holding mode of the ship control device 13 of the first embodiment. Specifically, FIG. 2A shows the relationship between the ship 1 and the holding OK area at the start of the ship fixed point holding mode in which the ship 1 is held in the holding OK area. FIG. 2(B) shows the relationship between the ship 1 and the holding OK area etc. when the actual ship position changes due to a disturbance. FIG. 3A shows the turning of the ship 1 whose actual ship position has changed due to a disturbance, with the stern of the ship 1 directed toward the target ship position (target coordinates). FIG. 3B shows how the actual ship position of the ship 1 whose stern is directed toward the target ship position (target coordinates) changes again due to a disturbance. FIG. 4 shows how throttle control (regression control) is performed until the actual ship position enters the holding OK area.

In the examples shown in FIGS. 2 to 4, when the fixed point holding mode setting unit 124 receives an input operation from the operator, the ship control device 13 is set to the ship fixed point holding mode (that is, the ship control device 13 is set to the ship fixed point holding mode). (start retention mode).
As shown in FIG. 2(A), the ship control device 13 converts the actual ship position detected by the ship position detection unit 15 at the start of the ship fixed point holding mode into the target ship position (target ship position) during the ship fixed point holding mode. coordinates). Furthermore, at the start of the ship fixed point holding mode, the ship control device 13 sets a "holding OK area" that includes the target ship position (target coordinates). The "holding OK area" is, for example, an area within a circle with a predetermined radius centered on the target ship position (target coordinates). Further, at the start of the ship fixed point holding mode, the ship control device 13 sets an "azimuth control area" around the "holding OK area". The "orientation control area" is, for example, a ring-shaped area around the "holding OK area". Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "regression control area" around the "azimuth control area".

As shown in FIG. 2(B), when the ship 1 (actual ship position) moves from the "holding OK area" to the "azimuth control area" due to a disturbance, as shown in FIG. 3(A), when the ship 1 (actual ship position) The ship 1 is turned so that the stern of the ship is directed toward the target ship position (target coordinates). In other words, as shown in FIG. 2(B), when the actual ship position moves from the "holding OK area" to the "azimuth control area" during the ship fixed point holding mode, the ship control device 13 changes the heading direction. Based on the detection result of the heading of the ship 1 by the detection unit 16, the actual ship position, and the target ship position, heading maintenance control is started to operate the actuator 11 so that the stern of the ship 1 faces the target ship position.
In another example, the ship may be turned so that the bow of the ship 1 is directed toward the target ship position (target coordinates). In this example, when the actual ship position moves from the "holding OK area" to the "heading control area" during the ship fixed point holding mode, the ship control device 13 detects the heading of the ship 1 using the heading detecting section 16. Based on the detection result, the actual ship position, and the target ship position, orientation maintenance control is started to operate the actuator 11 so that the bow of the ship 1 faces the target ship position.

In the examples shown in FIGS. 2 to 4, when ship 1 (actual ship position) moves from the "heading control area" to the "regression control area" due to a disturbance, as shown in FIG. 3(B), As shown, throttle control (regression control) is executed to bring the vessel 1 into the "holding OK area". In other words, when the actual ship position moves from the "azimuth control area" to the "regression control area" during the ship fixed point holding mode, the ship control device 13 performs regression control to return the actual ship position to the "holding OK area". Start.
In other words, in the examples shown in FIGS. 2 to 4, during the ship fixed point holding mode, the ship control device 13 determines the deviation between the target position (target ship position) of the ship 1 in the ship fixed point holding mode and the actual ship position. The actuator 11 is actuated based on this.

As mentioned above, the present inventors have conducted intensive research based on only the distance between the target ship position and the actual ship position (examples shown in FIGS. 2 to 4), as in the technology described in Patent Document 1. Now, based only on whether the actual ship position is located in the "holding OK area," "azimuth control area," or "regression control area," ship 1, which is far from the target ship position, is directed toward the target ship position. If you switch whether or not to execute control to move the ship 1, the ship 1, which has moved away from the target ship position due to disturbances such as wind, waves, and currents, may be moved toward the target ship position while the ship 1 is being executed. It has been found that there is a possibility that the ship may continue to orbit around a circular area centered on the target ship position (that is, exhibit unstable behavior) without approaching the target ship position.

Therefore, in the examples shown in FIGS. 2 to 4, during the ship fixed point holding mode, the time measurement unit 14 starts measuring time at the moment when the actual ship position deviates from the time measurement start determination area that includes the target ship position. . In the examples shown in FIGS. 2 to 4, the time measurement start determination area is composed of a "holding OK area" and a "direction control area" (that is, a combination of "holding OK area" and "direction control area"). Ru. In other words, in the examples shown in FIGS. 2 to 4, during the ship fixed point holding mode, the time measurement unit 14 detects the target ship position at the moment when the actual ship position moves from the "azimuth control area" to the "regression control area". The time measurement starts at the moment when the object moves out of the time measurement start determination area.
Furthermore, the actual ship position is determined to stop the ship fixed point hold mode from the start of time measurement by the time measuring unit 14 until the specified time elapses (in the examples shown in FIGS. 2 to 4, the "hold OK area"). If the ship does not return to the inside, the ship control device 13 cancels the ship fixed point holding mode.
When the ship control device 13 cancels the ship fixed point holding mode, the notification unit 17 notifies the ship operator etc. that the ship fixed point holding mode has been canceled. Therefore, a ship operator or the like can understand that it is difficult to maintain a fixed point on the ship due to disturbances such as wind, waves, and currents.
Further, when canceling the ship fixed point holding mode, the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode. Therefore, for example, it is possible to suppress the possibility that the ship 1 continues to circle around the ship fixed point holding mode termination determination area ("holding OK area") during the ship fixed point holding mode. As a result, it is possible to suppress the possibility of causing anxiety to the users of the vessel 1 (eg, the operator of the vessel 1 and the passengers on the vessel 1).
On the other hand, the actual ship position is within the time measurement reset determination area (in the examples shown in FIGS. 2 to 4, the "holding OK area") by the time the specified time elapses from the start of time measurement by the time measurement unit 14. If the time measurement unit 14 returns, the time measurement unit 14 resets the elapsed time from the start of time measurement by the time measurement unit 14 to zero. Therefore, it is possible to prevent the ship fixed point holding mode from being canceled more than necessary. After the time measurement unit 14 resets the elapsed time from the start of time measurement to zero, the time measurement start determination area where the actual ship position includes the target ship position (Figs. 2 to 4 In the example shown in , if the actual ship position deviates from the "holding OK area" and "heading holding area" again, the time measurement unit 14 determines whether the actual ship position is outside the time measurement start determination area that includes the target ship position. The moment it deviates (the moment it moves from the "azimuth control area" to the "regression control area"), time measurement begins.

FIG. 5 is a flowchart for explaining an example of processing executed by the ship control device 13 of the first embodiment during the ship fixed point holding mode.
In the example shown in FIG. 5, in step S11, the ship control device 13 operates the actuator 11 based on the deviation between the target ship position and the actual ship position.
Specifically, in step S11A, the ship control device 13 determines whether the actual ship position is located within the "holding OK area". As shown in FIG. 2A, when the actual ship position is located within the "holding OK area", the determination in step S11A is repeated without the ship control device 13 operating the actuator 11. If the actual ship position is not within the "holding OK area", the process advances to step S11B.

In step S11B, the ship control device 13 determines whether the actual ship position is located within the "azimuth control area". If the actual ship position is located within the "azimuth control area", that is, if the actual ship position moves from the "holding OK area" to the "azimuth control area" as shown in FIG. 2(B), step S11C Proceed to. On the other hand, if the actual ship position is not located within the "azimuth control area", that is, if the actual ship position moves from the "azimuth control area" to the "regression control area" as shown in FIG. 3(B), The process advances to step S11D.
In step S11C, as shown in FIG. 3(A), the ship control device 13 determines the direction of the ship 1 based on the detection result of the ship's heading by the ship's heading detecting section 16, the actual ship position, and the target ship position. Orientation maintenance control is executed to operate the actuator 11 so that the stern faces the target ship position. Next, the process advances to step S12A (step S12).
In step S11D, the ship control device 13 executes regression control to return the actual ship position to the "holding OK area" based on the deviation between the target ship position and the actual ship position, as shown in FIG. Next, the process advances to step S12A (step S12).

In step S12A, the ship control device 13 determines whether a specified time has elapsed since the time measurement unit 14 started measuring time. If the designated time has not elapsed since the start of time measurement by the time measurement unit 14, the process returns to step S11A. If the specified time has elapsed since the start of time measurement by the time measurement unit 14, the process advances to step S12B.
In step S12B, the ship control device 13 cancels the ship fixed point holding mode.
In other words, as described above, during the ship fixed point holding mode, the time measurement unit 14 detects the time measurement unit 14 at the moment when the actual ship position deviates from the time measurement start determination area (combined "holding OK area" and "azimuth control area"). , start measuring time. Furthermore, if the actual ship position does not return within the ship fixed point holding mode termination determination area ("holding OK area") by the time the specified time elapses from the start of time measurement by the time measuring unit 14, in step S12B. , the ship control device 13 cancels the ship fixed point holding mode.

As described above, in the ship 1 of the first embodiment, the actual ship position does not return to the ship fixed point holding mode termination determination area from the moment the actual ship position deviates from the time measurement start determination area until the specified time elapses. If not, the ship control device 13 cancels the ship fixed point holding mode. Therefore, in the ship 1 of the first embodiment, during the ship fixed point holding mode, for example, the ship 1 continues to circle around the ship fixed point holding mode cancellation determination area ("holding OK area") without approaching the target ship position. The unstable behavior of the ship 1 can be suppressed.

<Second embodiment>
A second embodiment of the ship, ship control device, ship control method, and program of the present invention will be described below.
The ship 1 of the second embodiment is configured in the same manner as the ship 1 of the first embodiment described above, except for the points described below. Therefore, according to the ship 1 of the second embodiment, it is possible to achieve the same effects as the ship 1 of the first embodiment described above, except for the points described later.

In the ship 1 of the second embodiment, similarly to the examples shown in FIGS. 2 to 4, the ship control device 13 is set to the ship fixed point holding mode by the fixed point holding mode setting unit 124 receiving input operations from the ship operator. (In other words, the ship control device 13 starts the ship fixed point holding mode).
Specifically, similar to the example shown in FIG. 2(A), the ship control device 13 uses the actual ship position detected by the ship position detection unit 15 at the start of the ship fixed point holding mode to the target position during the ship fixed point holding mode. Set to ship position (target coordinates). Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "holding OK area". Further, at the start of the ship fixed point holding mode, the ship control device 13 sets an "azimuth control area" around the "holding OK area".
Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "regression control area" around the "azimuth control area".

In an example of the ship 1 of the second embodiment, as shown in FIG. As shown in (A), the ship 1 is turned so that the stern of the ship 1 is directed toward the target ship position (target coordinates). In other words, as shown in FIG. 2(B), when the actual ship position moves from the "holding OK area" to the "azimuth control area" during the ship fixed point holding mode, the ship control device 13 changes the heading direction. Based on the detection result of the heading of the ship 1 by the detection unit 16, the actual ship position, and the target ship position, heading maintenance control is started to operate the actuator 11 so that the stern of the ship 1 faces the target ship position.
In another example of the ship 1 of the second embodiment, the ship may be turned so that the bow of the ship 1 is directed toward the target ship position (target coordinates). In this example, when the actual ship position moves from the "holding OK area" to the "heading control area" during the ship fixed point holding mode, the ship control device 13 detects the heading of the ship 1 using the heading detecting section 16. Based on the detection result, the actual ship position, and the target ship position, orientation maintenance control is started to operate the actuator 11 so that the bow of the ship 1 faces the target ship position.

In an example of the ship 1 of the second embodiment, as shown in FIG. As shown in the figure, throttle control (regression control) is executed to bring the vessel 1 into the "holding OK area". In other words, when the actual ship position moves from the "azimuth control area" to the "regression control area" during the ship fixed point holding mode, the ship control device 13 performs regression control to return the actual ship position to the "holding OK area". Start.
In other words, in the example of the ship 1 of the second embodiment, during the ship fixed point holding mode, the ship control device 13 determines the difference between the target position (target ship position) of the ship 1 in the ship fixed point holding mode and the actual ship position. Actuator 11 is actuated based on the deviation.

In an example of the ship 1 of the second embodiment, similarly to the examples shown in FIGS. 2 to 4, during the ship fixed point holding mode, the time measurement unit 14 moves from the time measurement start determination area where the actual ship position includes the target ship position. The moment it comes off, it starts measuring time.
In an example of the ship 1 of the second embodiment, unlike the examples shown in FIGS. 2 to 4, the time measurement start determination area is configured by a "holding OK area." That is, in the example of the ship 1 of the second embodiment, during the ship fixed point holding mode, the time measuring unit 14 measures the moment when the actual ship position leaves the "holding OK area" including the target ship position (that is, when the actual ship position is At the moment when you move from the "holding OK area" to the "direction control area"), time measurement starts.
Further, from the time when the time measuring unit 14 starts measuring time until the specified time elapses, the actual ship position is in the ship fixed point holding mode cancellation determination area (in the example of the ship 1 of the second embodiment, the "holding OK area") ), the ship control device 13 cancels the ship fixed point holding mode.
When the ship control device 13 cancels the ship fixed point holding mode, the notification unit 17 notifies the ship operator etc. that the ship fixed point holding mode has been canceled. Therefore, a ship operator or the like can understand that it is difficult to maintain a fixed point on the ship due to disturbances such as wind, waves, and currents.
Further, when canceling the ship fixed point holding mode, the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode. Therefore, for example, it is possible to suppress the possibility that the ship 1 continues to circle around the determination area ("holding OK area") during the ship fixed point holding mode. As a result, it is possible to suppress the possibility of causing anxiety to the users of the vessel 1 (eg, the operator of the vessel 1 and the passengers on the vessel 1).
On the other hand, the actual ship position is within the time measurement reset determination area (in the example of the ship 1 of the second embodiment, the "holding OK area") by the time the specified time elapses from the start of time measurement by the time measurement unit 14. If the time measurement unit 14 returns to , the time measurement unit 14 resets the elapsed time from the start of time measurement by the time measurement unit 14 to zero. Therefore, it is possible to prevent the ship fixed point holding mode from being canceled more than necessary. After the time measurement unit 14 resets the elapsed time to zero since the start of time measurement by the time measurement unit 14, the actual ship position is again moved from the time measurement start determination area (“holding OK area”) that includes the target ship position. If it is outside, the time measuring unit 14 starts measuring time at the moment when the actual ship position goes out of the time measurement start determination area (“holding OK area”) that includes the target ship position.

<Third embodiment>
Hereinafter, a third embodiment of a ship, a ship control device, a ship control method, and a program of the present invention will be described.
The ship 1 of the third embodiment is configured in the same manner as the ship 1 of the first embodiment described above, except for the points described later. Therefore, according to the ship 1 of the third embodiment, the same effects as the ship 1 of the first embodiment described above can be achieved except for the points described later.

In the ship 1 of the third embodiment, similarly to the examples shown in FIGS. 2 to 4, the ship control device 13 is set to the ship fixed point holding mode by the fixed point holding mode setting unit 124 receiving input operations from the ship operator. (In other words, the ship control device 13 starts the ship fixed point holding mode).
Specifically, similar to the example shown in FIG. 2(A), the ship control device 13 uses the actual ship position detected by the ship position detection unit 15 at the start of the ship fixed point holding mode to the target position during the ship fixed point holding mode. Set to ship position (target coordinates). Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "holding OK area". Further, at the start of the ship fixed point holding mode, the ship control device 13 sets an "azimuth control area" around the "holding OK area".
Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "regression control area" around the "azimuth control area".

In an example of the ship 1 of the third embodiment, as shown in FIG. As shown in (A), the ship 1 is turned so that the stern of the ship 1 is directed toward the target ship position (target coordinates). In other words, as shown in FIG. 2(B), when the actual ship position moves from the "holding OK area" to the "azimuth control area" during the ship fixed point holding mode, the ship control device 13 changes the heading direction. Based on the detection result of the heading of the ship 1 by the detection unit 16, the actual ship position, and the target ship position, heading maintenance control is started to operate the actuator 11 so that the stern of the ship 1 faces the target ship position.
In another example of the ship 1 of the third embodiment, the ship may be turned so that the bow of the ship 1 is directed toward the target ship position (target coordinates). In this example, when the actual ship position moves from the "holding OK area" to the "heading control area" during the ship fixed point holding mode, the ship control device 13 detects the heading of the ship 1 using the heading detecting section 16. Based on the detection result, the actual ship position, and the target ship position, orientation maintenance control is started to operate the actuator 11 so that the bow of the ship 1 faces the target ship position.

In an example of the ship 1 of the third embodiment, as shown in FIG. As shown in the figure, throttle control (regression control) is executed to bring the vessel 1 into the "holding OK area". In other words, when the actual ship position moves from the "azimuth control area" to the "regression control area" during the ship fixed point holding mode, the ship control device 13 performs regression control to return the actual ship position to the "holding OK area". Start.
In other words, in the example of the ship 1 of the third embodiment, during the ship fixed point holding mode, the ship control device 13 determines the difference between the target position (target ship position) of the ship 1 in the ship fixed point holding mode and the actual ship position. Actuator 11 is actuated based on the deviation.

In an example of the ship 1 of the third embodiment, similarly to the examples shown in FIGS. 2 to 4, during the ship fixed point holding mode, the time measurement unit 14 moves from the time measurement start determination area where the actual ship position includes the target ship position. The moment it comes off, it starts measuring time.
In an example of the ship 1 of the third embodiment, similarly to the examples shown in FIGS. 2 to 4, the time measurement start determination area is a "holding OK area" and a "direction control area" (that is, a "holding OK area" and a "heading control area"). ``Azimuth Control Area''). That is, in the example of the ship 1 of the third embodiment, during the ship fixed point holding mode, the time measuring unit 14 measures the moment when the actual ship position moves from the "azimuth control area" to the "regression control area" (i.e., the target ship position time measurement starts at the moment when the time measurement start determination area including
Further, in an example of the ship 1 of the third embodiment, the actual ship position is determined to be within the ship fixed point holding mode termination determination area (in the third embodiment) from the time when the time measurement unit 14 starts measuring time until the specified time elapses. In an example of the ship 1, if the ship does not return to the "holding OK area" and the "azimuth control area" combined, the ship control device 13 cancels the ship fixed point holding mode. That is, in the example of the ship 1 of the third embodiment, if the actual ship position does not move from the regression control area to the azimuth control area from the time when the time measurement unit 14 starts measuring time until the specified time elapses, The ship control device 13 cancels the ship fixed point holding mode.
When the ship control device 13 cancels the ship fixed point holding mode, the notification unit 17 notifies the ship operator etc. that the ship fixed point holding mode has been canceled.
Further, when canceling the ship fixed point holding mode, the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode.

On the other hand, by the time the specified time has elapsed from the start of time measurement by the time measurement unit 14, the actual ship position is in the time measurement reset determination area (in the example of the ship 1 of the third embodiment, the "holding OK area" and the "holding OK area") When the time measuring section 14 returns to the "direction control area"), the time measuring section 14 resets the elapsed time from the start of time measurement by the time measuring section 14 to zero. In other words, if the actual ship position moves from the "regression control area" to the "azimuth control area" from the start of time measurement by the time measurement unit 14 until the specified time elapses, the time measurement unit 14 The elapsed time from the start of time measurement by the measuring unit 14 is reset to zero.
After the time measurement unit 14 resets the elapsed time to zero since the start of time measurement by the time measurement unit 14, the actual ship position is determined in the time measurement start determination area including the target ship position (in the case of the ship 1 in the third embodiment). In one example, if the ship deviates from the "holding OK area" and the "azimuth control area" again, the time measurement unit 14 determines that the actual ship position is outside the time measurement start determination area that includes the target ship position. The time measurement starts at the moment when you move from the "azimuth control area" to the "regression control area".

FIG. 6 is a flowchart for explaining an example of processing executed by the ship control device 13 of the third embodiment during the ship fixed point holding mode.
In the example shown in FIG. 6, in step S21, the ship control device 13 operates the actuator 11 based on the deviation between the target ship position and the actual ship position.
Specifically, in step S21A, the ship control device 13 determines whether the actual ship position is located within the "holding OK area". As shown in FIG. 2A, when the actual ship position is located within the "holding OK area", the determination in step S21A is repeated without the ship control device 13 operating the actuator 11. If the actual ship position is not within the "holding OK area", the process advances to step S21B.

In step S21B, the ship control device 13 determines whether the actual ship position is located within the "azimuth control area". If the actual ship position is located within the "azimuth control area", that is, if the actual ship position moves from the "holding OK area" to the "azimuth control area" as shown in FIG. 2(B), step S21C Proceed to. On the other hand, if the actual ship position is not located within the "azimuth control area", that is, if the actual ship position moves from the "azimuth control area" to the "regression control area" as shown in FIG. 3(B), The process advances to step S21D.
In step S21C, as shown in FIG. 3(A), the ship control device 13 detects the ship 1 based on the detection result of the ship's heading by the ship's heading detecting section 16, the actual ship position, and the target ship position. Orientation maintenance control is executed to operate the actuator 11 so that the stern faces the target ship position. Then, the process returns to step S21A.
In step S21D, the ship control device 13 executes regression control to return the actual ship position to the "holding OK area" based on the deviation between the target ship position and the actual ship position, as shown in FIG. Next, the process advances to step S22A (step S22).

In step S22A, the ship control device 13 determines whether the specified time has elapsed since the start of time measurement by the time measurement unit 14. If the designated time has not elapsed since the start of time measurement by the time measurement unit 14, the process returns to step S21A. If the specified time has elapsed since the start of time measurement by the time measurement unit 14, the process advances to step S22B.
In step S22B, the ship control device 13 cancels the ship fixed point holding mode.
In the example shown in FIG. 6, during the ship fixed point holding mode, the time measuring unit 14 detects the moment ( In other words, time measurement is started at the moment when the actual ship position moves from the "azimuth control area" to the "regression control area". Furthermore, the actual ship position is determined to be in the ship fixed point holding mode discontinuation determination area (combined "holding OK area" and "azimuth control area") by the time the specified time elapses from the start of time measurement by the time measurement unit 14. If the actual ship position does not move from the "regression control area" to the "azimuth control area", the ship control device 13 cancels the ship fixed point holding mode in step S22B.

<Fourth embodiment>
Hereinafter, a fourth embodiment of a ship, a ship control device, a ship control method, and a program of the present invention will be described.
The ship 1 of the fourth embodiment is configured in the same manner as the ship 1 of the first embodiment described above, except for the points described below. Therefore, according to the ship 1 of the fourth embodiment, it is possible to achieve the same effects as the ship 1 of the first embodiment described above, except for the points described later.

7 to 9 are diagrams for explaining an example of control executed by the ship control device 13 during the ship fixed point holding mode of the ship control device 13 of the fourth embodiment. In detail, FIG. 7(A) shows the relationship between the ship 1 and the holding OK area at the start of the ship fixed point holding mode in which the ship 1 is held in the holding OK area. FIG. 7(B) shows the relationship between the ship 1 and the holding OK area etc. when the actual ship position changes due to a disturbance. FIG. 8(A) shows the turning of the ship 1 whose actual ship position has changed due to a disturbance, with the stern of the ship 1 directed toward the target ship position (target coordinates). FIG. 8B shows how the actual ship position of the ship 1 whose stern is directed toward the target ship position (target coordinates) changes again due to a disturbance. FIG. 9 shows how throttle control (regression control) is performed until the actual ship position enters the holding OK area.

In the examples shown in FIGS. 7 to 9, when the fixed point holding mode setting unit 124 receives an input operation from the operator, the ship control device 13 is set to the ship fixed point holding mode (that is, the ship control device 13 is set to the ship fixed point holding mode). (start retention mode).
As shown in FIG. 7(A), the ship control device 13 converts the actual ship position detected by the ship position detection unit 15 at the start of the ship fixed point holding mode into the target ship position (target ship position) during the ship fixed point holding mode. coordinates). Furthermore, at the start of the ship fixed point holding mode, the ship control device 13 sets a "holding OK area" that includes the target ship position (target coordinates). The "holding OK area" is, for example, an area within a circle with a predetermined radius centered on the target ship position (target coordinates). Furthermore, at the start of the ship fixed point holding mode, the ship control device 13 sets a "regression control area" around the "holding OK area".

As shown in FIG. 7(B), when the actual ship position deviates from the target ship position due to a disturbance, the ship 1 is moved so that the stern of the ship 1 is directed toward the target ship position, as shown in FIG. A turning takes place. In other words, as shown in FIG. 7(B), when the actual ship position deviates from the target ship position during the ship fixed point holding mode, the ship control device 13 detects the bow of the ship 1 using the ship heading detection unit 16. Based on the azimuth detection result, the actual ship position, and the target ship position, azimuth maintenance control is started to operate the actuator 11 so that the stern of the ship 1 faces the target ship position.
In another example, the ship may be turned so that the bow of the ship 1 is directed toward the target ship position. In this example, when the actual ship position deviates from the target ship position during the ship fixed point holding mode, the ship control device 13 uses the detection result of the heading of the ship 1 by the ship heading detection unit 16, the actual ship position, and the target ship position. Based on the ship position, orientation maintenance control is started to operate the actuator 11 so that the bow of the ship 1 faces the target ship position.

In the examples shown in FIGS. 7 to 9, when ship 1 (actual ship position) moves from the "holding OK area" to the "regression control area" due to a disturbance, as shown in FIG. 8(B), As shown, throttle control (regression control) is executed to bring the vessel 1 into the "holding OK area". In other words, when the actual ship position moves from the "holding OK area" to the "regression control area" during the ship fixed point holding mode, the ship control device 13 performs regression control to return the actual ship position within the "holding OK area". Start.
In other words, in the examples shown in FIGS. 7 to 9, during the ship fixed point holding mode, the ship control device 13 determines the deviation between the target position (target ship position) of the ship 1 in the ship fixed point holding mode and the actual ship position. The actuator 11 is actuated based on this.

In the examples shown in FIGS. 7 to 9, during the ship fixed point holding mode, the time measurement unit 14 starts measuring time at the moment when the actual ship position leaves the time measurement start determination area that includes the target ship position. In the examples shown in FIGS. 7 to 9, the time measurement start determination area is configured by a "holding OK area." That is, in the examples shown in FIGS. 7 to 9, during the ship fixed point holding mode, the time measurement unit 14 detects the moment when the actual ship position leaves the "holding OK area" including the target ship position (that is, when the actual ship position is " At the moment when the object moves from the "holding OK area" to the "regression control area", time measurement starts.
Furthermore, from the start of time measurement by the time measurement unit 14 until the specified time elapses, the actual ship position is determined to be in the ship fixed point hold mode discontinuation determination area (in the examples shown in FIGS. 7 to 9, the "hold OK area"). If the ship does not return to the inside, the ship control device 13 cancels the ship fixed point holding mode.
When the ship control device 13 cancels the ship fixed point holding mode, the notification unit 17 notifies the ship operator etc. that the ship fixed point holding mode has been canceled.
Further, when canceling the ship fixed point holding mode, the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode.
On the other hand, the actual ship position is within the time measurement reset determination area (in the examples shown in FIGS. 7 to 9, the "holding OK area") by the time the specified time elapses from the start of time measurement by the time measurement unit 14. If the time measurement unit 14 returns, the time measurement unit 14 resets the elapsed time from the start of time measurement by the time measurement unit 14 to zero. After the time measurement unit 14 resets the elapsed time to zero from the start of time measurement by the time measurement unit 14, the time measurement start determination area (examples shown in FIGS. 7 to 9) in which the actual ship position includes the target ship position If the actual ship position deviates from the "holding OK area"), the time measuring unit 14 moves from the "holding OK area" to the "regression control The moment you move to the "area"), time measurement begins.

FIG. 10 is a flowchart for explaining an example of processing executed by the ship control device 13 of the fourth embodiment during the ship fixed point holding mode.
In the example shown in FIG. 10, in step S31, the ship control device 13 operates the actuator 11 based on the deviation between the target ship position and the actual ship position.
Specifically, in step S31A, the ship control device 13 determines whether the actual ship position has shifted from the target ship position. If the actual ship position does not deviate from the target ship position as shown in FIG. 7(A), the determination in step S31A is repeated without the ship control device 13 operating the actuator 11. If the actual ship position deviates from the target ship position, the process advances to step S31B.

In step S31B, the ship control device 13 determines whether the actual ship position is located within the "holding OK area". When the actual ship position is located within the "holding OK area", that is, when the actual ship position is located within the "holding OK area" as shown in FIG. 7(B), the process advances to step S31C. On the other hand, if the actual ship position is not located within the "holding OK area", that is, if the actual ship position moves from the "holding OK area" to the "regression control area" as shown in FIG. 8(B), The process advances to step S31D.
In step S31C, as shown in FIG. 8(A), the ship control device 13 determines whether the ship 1 is oriented based on the detection result of the ship's heading by the ship's heading detecting section 16, the actual ship position, and the target ship position. Orientation maintenance control is executed to operate the actuator 11 so that the stern faces the target ship position. Then, the process returns to step S31A.
In step S31D, the ship control device 13 executes regression control to return the actual ship position to the "holding OK area" based on the deviation between the target ship position and the actual ship position, as shown in FIG. Next, the process advances to step S32A (step S32).

In step S32A, the ship control device 13 determines whether the specified time has elapsed since the start of time measurement by the time measurement unit 14. If the designated time has not elapsed since the start of time measurement by the time measurement unit 14, the process returns to step S31A. If the specified time has elapsed since the start of time measurement by the time measurement unit 14, the process advances to step S32B.
In step S32B, the ship control device 13 cancels the ship fixed point holding mode.
In the example shown in FIG. 10, during the ship fixed point holding mode, the time measuring unit 14 detects the moment when the actual ship position deviates from the time measurement start determination area (the “holding OK area”) (in other words, the actual ship position is in the “holding OK area”). ” to the “regression control area”), time measurement begins. Furthermore, if the actual ship position does not return to the ship fixed point holding mode termination determination area ("holding OK area") by the time the specified time elapses from the start of time measurement by the time measuring unit 14 (in other words, the actual ship position If the position does not move from the "regression control area" to the "holding OK area"), the ship control device 13 cancels the ship fixed point holding mode in step S32B.

<Fifth embodiment>
Hereinafter, a fifth embodiment of a ship, a ship control device, a ship control method, and a program of the present invention will be described.
The ship 1 of the fifth embodiment is configured in the same manner as the ship 1 of the first embodiment described above, except for the points described later. Therefore, according to the ship 1 of the fifth embodiment, it is possible to achieve the same effects as the ship 1 of the first embodiment described above, except for the points described below.

In the ship 1 of the fifth embodiment, similarly to the examples shown in FIGS. 2 to 4, the ship control device 13 is set to the ship fixed point holding mode by the fixed point holding mode setting unit 124 receiving input operations from the ship operator. (In other words, the ship control device 13 starts the ship fixed point holding mode).
Specifically, similar to the example shown in FIG. 2(A), the ship control device 13 uses the actual ship position detected by the ship position detection unit 15 at the start of the ship fixed point holding mode to the target position during the ship fixed point holding mode. Set to ship position (target coordinates). Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "holding OK area". Further, at the start of the ship fixed point holding mode, the ship control device 13 sets an "azimuth control area" around the "holding OK area".
Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "regression control area" around the "azimuth control area".

In an example of the ship 1 of the fifth embodiment, as shown in FIG. As shown in (A), the ship 1 is turned so that the stern of the ship 1 is directed toward the target ship position (target coordinates). In other words, as shown in FIG. 2(B), when the actual ship position moves from the "holding OK area" to the "azimuth control area" during the ship fixed point holding mode, the ship control device 13 changes the heading direction. Based on the detection result of the heading of the ship 1 by the detection unit 16, the actual ship position, and the target ship position, heading maintenance control is started to operate the actuator 11 so that the stern of the ship 1 faces the target ship position.
In another example of the ship 1 of the fifth embodiment, the ship may be turned so that the bow of the ship 1 is directed toward the target ship position (target coordinates). In this example, when the actual ship position moves from the "holding OK area" to the "heading control area" during the ship fixed point holding mode, the ship control device 13 detects the heading of the ship 1 using the heading detecting section 16. Based on the detection result, the actual ship position, and the target ship position, orientation maintenance control is started to operate the actuator 11 so that the bow of the ship 1 faces the target ship position.

In an example of the ship 1 of the fifth embodiment, as shown in FIG. As shown in the figure, throttle control (regression control) is executed to bring the vessel 1 into the "holding OK area". In other words, when the actual ship position moves from the "azimuth control area" to the "regression control area" during the ship fixed point holding mode, the ship control device 13 performs regression control to return the actual ship position to the "holding OK area". Start.
In other words, in the example of the ship 1 of the fifth embodiment, during the ship fixed point holding mode, the ship control device 13 determines the difference between the target position (target ship position) of the ship 1 in the ship fixed point holding mode and the actual ship position. Actuator 11 is actuated based on the deviation.

In an example of the ship 1 according to the fifth embodiment, during the ship fixed point holding mode, the time measuring unit 14 starts measuring time at the moment when the actual ship position deviates from the time measurement start determination area that includes the target ship position.
In an example of the ship 1 of the fifth embodiment, the time measurement start determination area is configured by a combination of a "holding OK area" and an "azimuth control area." That is, in the example of the ship 1 of the fifth embodiment, during the ship fixed point holding mode, the time measurement unit 14 detects the moment when the actual ship position deviates from the time measurement start determination area that includes the target ship position (that is, when the actual ship position The moment you move from the "orientation control area" to the "regression control area", time measurement begins.
Furthermore, by the time the specified time has elapsed from the start of time measurement by the time measuring unit 14, the actual ship position is in the ship fixed point holding mode discontinuation determination area (in the example of the ship 1 of the fifth embodiment, the "azimuth control area"). ), the ship control device 13 cancels the ship fixed point holding mode.
When the ship control device 13 cancels the ship fixed point holding mode, the notification unit 17 notifies the ship operator etc. that the ship fixed point holding mode has been canceled.
Further, when canceling the ship fixed point holding mode, the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode.
On the other hand, the actual ship position is within the time measurement reset determination area (in the example of the ship 1 of the fifth embodiment, the "holding OK area") by the time the specified time elapses from the start of time measurement by the time measurement unit 14. If the time measurement unit 14 returns to , the time measurement unit 14 resets the elapsed time from the start of time measurement by the time measurement unit 14 to zero. After the time measurement unit 14 resets the elapsed time to zero since the start of time measurement by the time measurement unit 14, the actual ship position is determined in the time measurement start determination area including the target ship position (for the ship 1 of the fifth embodiment). In one example, if the ship deviates from the "holding OK area" and the "azimuth control area" again, the time measurement unit 14 determines that the actual ship position is outside the time measurement start determination area that includes the target ship position. Start measuring time instantly.

<Sixth embodiment>
A sixth embodiment of the ship, ship control device, ship control method, and program of the present invention will be described below.
The ship 1 of the sixth embodiment is configured in the same manner as the ship 1 of the first embodiment described above, except for the points described later. Therefore, according to the ship 1 of the sixth embodiment, it is possible to achieve the same effects as the ship 1 of the first embodiment described above, except for the points described below.

In the ship 1 of the sixth embodiment, similarly to the examples shown in FIGS. 2 to 4, the ship control device 13 is set to the ship fixed point holding mode when the fixed point holding mode setting unit 124 receives an input operation from the ship operator. (In other words, the ship control device 13 starts the ship fixed point holding mode).
Specifically, similar to the example shown in FIG. 2(A), the ship control device 13 uses the actual ship position detected by the ship position detection unit 15 at the start of the ship fixed point holding mode to the target position during the ship fixed point holding mode. Set to ship position (target coordinates). Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "holding OK area". Further, at the start of the ship fixed point holding mode, the ship control device 13 sets an "azimuth control area" around the "holding OK area".
Further, at the start of the ship fixed point holding mode, the ship control device 13 sets a "regression control area" around the "azimuth control area".

In an example of the ship 1 of the sixth embodiment, as shown in FIG. As shown in (A), the ship 1 is turned so that the stern of the ship 1 is directed toward the target ship position (target coordinates). In other words, as shown in FIG. 2(B), when the actual ship position moves from the "holding OK area" to the "azimuth control area" during the ship fixed point holding mode, the ship control device 13 changes the heading direction. Based on the detection result of the heading of the ship 1 by the detection unit 16, the actual ship position, and the target ship position, heading maintenance control is started to operate the actuator 11 so that the stern of the ship 1 faces the target ship position.
In another example of the ship 1 of the sixth embodiment, the ship may be turned so that the bow of the ship 1 is directed toward the target ship position (target coordinates). In this example, when the actual ship position moves from the "holding OK area" to the "heading control area" during the ship fixed point holding mode, the ship control device 13 detects the heading of the ship 1 using the heading detecting section 16. Based on the detection result, the actual ship position, and the target ship position, orientation maintenance control is started to operate the actuator 11 so that the bow of the ship 1 faces the target ship position.

In an example of the ship 1 of the sixth embodiment, as shown in FIG. As shown in the figure, throttle control (regression control) is executed to bring the vessel 1 into the "holding OK area". In other words, when the actual ship position moves from the "azimuth control area" to the "regression control area" during the ship fixed point holding mode, the ship control device 13 performs regression control to return the actual ship position to the "holding OK area". Start.
In other words, in the example of the ship 1 of the sixth embodiment, during the ship fixed point holding mode, the ship control device 13 determines the difference between the target position (target ship position) of the ship 1 in the ship fixed point holding mode and the actual ship position. Actuator 11 is actuated based on the deviation.

In an example of the ship 1 according to the sixth embodiment, during the ship fixed point holding mode, the time measuring unit 14 starts measuring time at the moment when the actual ship position deviates from the time measurement start determination area that includes the target ship position.
In an example of the ship 1 of the sixth embodiment, the time measurement start determination area is configured by a "holding OK area." That is, in the example of the ship 1 of the sixth embodiment, during the ship fixed point holding mode, the time measurement unit 14 detects the moment when the actual ship position deviates from the time measurement start determination area including the target ship position (that is, when the actual ship position At the moment when you move from the "holding OK area" to the "direction control area"), time measurement starts.
Furthermore, if the actual ship position moves from the azimuth control area to the regression control area, and the actual ship position moves to the regression control area from the time when the time measurement unit 14 starts measuring time until the specified time elapses. If the position does not return within the ship fixed point holding mode termination determination area (in the example of the ship 1 of the sixth embodiment, the "azimuth control area"), the ship control device 13 cancels the ship fixed point holding mode.
When the ship control device 13 cancels the ship fixed point holding mode, the notification unit 17 notifies the ship operator etc. that the ship fixed point holding mode has been canceled.
Further, when canceling the ship fixed point holding mode, the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode.
On the other hand, the actual ship position is within the time measurement reset determination area (in the example of the ship 1 of the sixth embodiment, the "holding OK area") by the time the specified time elapses from the start of time measurement by the time measurement unit 14. If the time measurement unit 14 returns to , the time measurement unit 14 resets the elapsed time from the start of time measurement by the time measurement unit 14 to zero. After the time measurement unit 14 resets the elapsed time to zero since the start of time measurement by the time measurement unit 14, the actual ship position is determined in the time measurement start determination area including the target ship position (for the ship 1 of the sixth embodiment). In one example, if the actual ship position deviates from the "holding OK area" again, the time measurement unit 14 starts measuring time at the moment the actual ship position deviates from the time measurement start determination area that includes the target ship position.

<Seventh embodiment>
Hereinafter, a seventh embodiment of the ship, ship control device, ship control method, and program of the present invention will be described.
The ship 1 of the seventh embodiment is configured similarly to the ship 1 of the first embodiment described above, except for the points described below. Therefore, according to the ship 1 of the seventh embodiment, it is possible to achieve the same effects as the ship 1 of the first embodiment described above, except for the points described below.

As described above, in the examples shown in FIGS. 2 to 4, the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode when canceling the ship fixed point holding mode.
On the other hand, in an example of the ship 1 of the seventh embodiment, the ship control device 13 executes switching from the ship fixed point holding mode to the heading holding mode when canceling the ship fixed point holding mode. Specifically, when the ship control device 13 cancels the ship fixed point holding mode, the ship control device 13 detects the detection result of the heading of the ship 1 by the heading detecting section 16 and the actual ship position from the ship fixed point holding mode. Based on this and the target ship position, switching to the bearing holding mode is performed in which bearing holding control is executed to operate the actuator 11 so that the stern of the ship 1 faces the target ship position. The notification unit 17 notifies the ship operator etc. that the ship fixed point holding mode has been canceled and that the ship fixed point holding mode has been switched to the heading holding mode.
In another example of the ship 1 according to the seventh embodiment, when canceling the ship fixed point holding mode, the ship control apparatus 13 changes the ship 1 from the ship fixed point holding mode using the heading detection unit 16. Based on the detection result of the ship's heading, the actual ship position, and the target ship position, a switch to a heading holding mode is executed in which heading holding control is executed to operate the actuator 11 so that the bow of the ship 1 faces the target ship position. It's okay.

<Eighth embodiment>
Hereinafter, an eighth embodiment of a ship, a ship control device, a ship control method, and a program of the present invention will be described.
The ship 1 of the eighth embodiment is configured in the same manner as the ships 1 of the first to seventh embodiments described above, except for the points described below. Therefore, according to the ship 1 of the eighth embodiment, it is possible to achieve the same effects as the ships 1 of the first to seventh embodiments described above, except for the points described later.

As described above, in the examples shown in FIGS. 2 to 4, the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode when canceling the ship fixed point holding mode.
Through extensive research, the inventors have discovered that when it is difficult to maintain a fixed point for a ship due to disturbances such as wind, waves, currents, etc., it is possible to maintain a fixed point by changing the target ship position to a different position. We found that there are cases where
In addition, the present inventors have determined that there is a possibility that a ship operator etc. may be fully satisfied with the ship fixed point holding mode that is performed after changing the target ship position to a different position (in other words, the ship operator is not seeking a precise target ship position). It was confirmed that a ship operator was also present.
Therefore, in the example of the ship 1 of the eighth embodiment, after the ship control device 13 executes switching from the ship fixed point holding mode to the normal operation mode, the fixed point holding mode setting unit 124 of the operation unit 12 is set to the ship fixed point holding mode. The ship control device 13 executes the switching from the normal operation mode to the ship fixed point holding mode without having to accept an input operation to start. In this example, when the ship control device 13 executes switching from the normal operation mode to the ship fixed point holding mode, the actual ship position detected by the ship position detection unit 15 is the target ship in the ship fixed point holding mode after switching. set to the position.
In another example of the ship 1 of the eighth embodiment, after the ship control device 13 executes switching from the ship fixed point holding mode to the direction holding mode, the fixed point holding mode setting unit 124 of the operation unit 12 is set to the ship fixed point holding mode. The ship control device 13 executes switching from the heading holding mode to the ship fixed point holding mode without having to accept an input operation to start the process. In this example, when the ship control device 13 executes switching from the heading holding mode to the ship fixed point holding mode, the actual ship position detected by the ship position detection unit 15 is the target ship in the ship fixed point holding mode after switching. set to the position.

<Ninth embodiment>
Hereinafter, a ninth embodiment of a ship, a ship control device, a ship control method, and a program of the present invention will be described.
The ship 1 of the ninth embodiment is configured in the same manner as the ships 1 of the first to eighth embodiments described above, except for the points described below. Therefore, according to the ship 1 of the ninth embodiment, it is possible to achieve the same effects as the ships 1 of the first to eighth embodiments described above, except for the points described later.

As described above, the ships 1 of the first to eighth embodiments are PWCs, but the ships 1 of the ninth embodiment have the basic structure of the sports boat described in FIG. 1 of JP-A No. 2020-019321, for example. ships with functions similar to those of the above, ships not equipped with jet propulsion engines (for example, ships equipped with outboard motors described in Japanese Patent No. 6198192, Japanese Patent Laid-Open No. 2007-22284, etc., ships with inboard-outboard motors or A ship other than a PWC, such as a ship equipped with an inboard engine, a large ship equipped with a side thruster, etc.

Although the mode for implementing the present invention has been described above using embodiments, the present invention is not limited to these embodiments in any way, and various modifications and substitutions can be made without departing from the gist of the present invention. can be added. The configurations described in each of the embodiments and examples described above may be combined.

In addition, all or part of the functions of each part provided in the ship 1 in the embodiment described above can be realized by recording a program for realizing these functions on a computer-readable recording medium, and by recording the program on this recording medium. This may be realized by loading and executing into a computer system. Note that the "computer system" herein includes hardware such as an OS and peripheral devices.
Furthermore, the term "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, and storage units such as hard disks built into computer systems. Furthermore, a "computer-readable recording medium" refers to a storage medium that dynamically stores a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include a device that retains a program for a certain period of time, such as a volatile memory inside a computer system that is a server or client. Further, the above-mentioned program may be one for realizing a part of the above-mentioned functions, or may be one that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1...Ship, 11...Actuator, 111...Engine, 112...Jet propulsion device, 112A...Nozzle, 112B...Bucket, 12...Operation section, 121...Throttle operation section, 122...Shift operation section, 123...Steering section, 124... Fixed point holding mode setting section, 13... Ship control device, 14... Time measurement section, 15... Ship position detection section, 16... Heading direction detection section, 17... Notification section

Claims (16)

an actuator having a function of generating thrust for a ship and a function of generating a moment for the ship;
an operation unit that receives an input operation to operate the actuator;
a ship control device having a function of operating the actuator according to an input operation received by the operation unit;
A time measurement unit that measures time;
a ship position detection unit that detects an actual ship position that is the actual position of the ship,
The ship control device includes:
a normal operation mode in which the actuator is operated in response to an input operation received by the operation unit;
a ship fixed point holding mode in which the actuator is operated without the need for the operation unit to accept an input operation;
During the ship fixed point holding mode,
The ship control device operates the actuator based on a deviation between a target ship position, which is a target position of the ship in the ship fixed point holding mode, and the actual ship position,
The time measuring unit starts measuring time at the moment when the actual ship position leaves a time measurement start determination area including the target ship position,
If the actual ship position does not return to a ship fixed point holding mode termination determination area that includes the target ship position by the time a designated time elapses from the start of time measurement by the time measurement unit, the ship control device canceling the ship fixed point holding mode;
ship. If the actual ship position returns to a time measurement reset determination area that includes the target ship position from the start of time measurement by the time measurement unit until the specified time elapses, the time measurement unit: resetting the elapsed time to zero since the start of time measurement by the time measurement unit;
A ship according to claim 1. comprising a heading detection unit that detects the heading of the ship,
The ship control device sets the actual ship position detected by the ship position detection unit at the start of the ship fixed point holding mode as the target ship position during the ship fixed point holding mode, and maintains the target ship position including the target ship position. setting an OK area, setting an orientation control area around the holding OK area, and setting a regression control area around the orientation control area;
The time measurement start determination area is configured by the retention OK area and the direction control area, and the ship fixed point retention mode termination determination area and the time measurement reset determination area are configured by the retention OK area,
During the ship fixed point holding mode, when the actual ship position moves from the holding OK area to the heading control area, the ship control device detects the heading of the ship by the heading detecting section and the heading control area. Starting orientation maintenance control that operates the actuator so that the bow or stern of the ship faces the target ship position based on the actual ship position and the target ship position,
When the actual ship position moves from the azimuth control area to the regression control area during the ship fixed point holding mode, the ship control device starts regression control to return the actual ship position to the holding OK area. death,
The time measuring unit starts measuring time at the moment the actual ship position moves from the azimuth control area to the regression control area,
If the actual ship position does not return within the holding OK area from the start of time measurement by the time measuring unit until the specified time elapses, the ship control device cancels the ship fixed point holding mode. ,
If the actual ship position returns to the holding OK area from the start of time measurement by the time measurement unit until the specified time elapses, the time measurement unit controls the time measurement by the time measurement unit. Reset the elapsed time from the start of measurement to zero,
A ship according to claim 2. comprising a heading detection unit that detects the heading of the ship,
The ship control device sets the actual ship position detected by the ship position detection unit at the start of the ship fixed point holding mode as the target ship position during the ship fixed point holding mode, and maintains the target ship position including the target ship position. setting an OK area, setting an orientation control area around the holding OK area, and setting a regression control area around the orientation control area;
The time measurement start determination area, the ship fixed point holding mode termination determination area, and the time measurement reset determination area are configured by the holding OK area,
During the ship fixed point holding mode, when the actual ship position moves from the holding OK area to the heading control area, the ship control device detects the heading of the ship by the heading detecting section and the heading control area. Starting orientation maintenance control that operates the actuator so that the bow or stern of the ship faces the target ship position based on the actual ship position and the target ship position,
When the actual ship position moves from the azimuth control area to the regression control area during the ship fixed point holding mode, the ship control device starts regression control to return the actual ship position to the holding OK area. death,
The time measuring unit starts measuring time at the moment the actual ship position leaves the holding OK area,
If the actual ship position does not return within the holding OK area from the start of time measurement by the time measuring unit until the specified time elapses, the ship control device cancels the ship fixed point holding mode. ,
If the actual ship position returns to the holding OK area from the start of time measurement by the time measurement unit until the specified time elapses, the time measurement unit controls the time measurement by the time measurement unit. Reset the elapsed time from the start of measurement to zero,
A ship according to claim 2. comprising a notification unit that notifies that the ship fixed point holding mode has been canceled when the ship control device cancels the ship fixed point holding mode;
A ship according to claim 1. The ship control device executes switching from the ship fixed point holding mode to the normal operation mode when canceling the ship fixed point holding mode.
A ship according to claim 1. comprising a heading detection unit that detects the heading of the ship,
The ship control device sets the actual ship position detected by the ship position detection unit at the start of the ship fixed point holding mode as the target ship position during the ship fixed point holding mode, and maintains the target ship position including the target ship position. setting an OK area, setting an orientation control area around the holding OK area, and setting a regression control area around the orientation control area;
The time measurement start determination area, the ship fixed point holding mode termination determination area, and the time measurement reset determination area are configured by the azimuth control area,
During the ship fixed point holding mode, when the actual ship position moves from the holding OK area to the heading control area, the ship control device detects the heading of the ship by the heading detecting section and the heading control area. Starting orientation maintenance control that operates the actuator so that the bow or stern of the ship faces the target ship position based on the actual ship position and the target ship position,
When the actual ship position moves from the azimuth control area to the regression control area during the ship fixed point holding mode, the ship control device starts regression control to return the actual ship position to the holding OK area. death,
The time measuring unit starts measuring time at the moment the actual ship position moves from the azimuth control area to the regression control area,
If the actual ship position does not move from the regression control area to the azimuth control area from the start of time measurement by the time measurement unit until the specified time elapses, the ship control device maintains the ship fixed point. abort the mode,
If the actual ship position moves from the regression control area to the direction control area from the start of time measurement by the time measurement unit until the specified time elapses, the time measurement unit reset the elapsed time to zero since the start of time measurement by the unit,
A ship according to claim 2. comprising a heading detection unit that detects the heading of the ship,
The ship control device sets the actual ship position detected by the ship position detection unit at the start of the ship fixed point holding mode as the target ship position during the ship fixed point holding mode, and maintains the target ship position including the target ship position. setting an OK area, setting a regression control area around the holding OK area,
The time measurement start determination area, the ship fixed point holding mode termination determination area, and the time measurement reset determination area are configured by the holding OK area,
During the ship fixed point holding mode, if the actual ship position deviates from the target ship position, the ship control device may detect the ship's heading by the ship's heading detecting section, the actual ship position, and the ship's heading. based on the target ship position, start orientation maintenance control to operate the actuator so that the bow or stern of the ship faces the target ship position;
When the actual ship position moves from the holding OK area to the regression control area during the ship fixed point holding mode, the ship control device starts regression control to return the actual ship position to the holding OK area. death,
The time measuring unit starts measuring time at the moment the actual ship position leaves the holding OK area,
If the actual ship position does not return within the holding OK area from the start of time measurement by the time measuring unit until the specified time elapses, the ship control device cancels the ship fixed point holding mode. ,
If the actual ship position returns to the holding OK area from the start of time measurement by the time measurement unit until the specified time elapses, the time measurement unit controls the time measurement by the time measurement unit. Reset the elapsed time from the start of measurement to zero,
A ship according to claim 2. comprising a heading detection unit that detects the heading of the ship,
The ship control device sets the actual ship position detected by the ship position detection unit at the start of the ship fixed point holding mode as the target ship position during the ship fixed point holding mode, and maintains the target ship position including the target ship position. setting an OK area, setting an orientation control area around the holding OK area, and setting a regression control area around the orientation control area;
The time measurement start determination area and the ship fixed point holding mode termination determination area are configured by the azimuth control area, the time measurement reset determination area is configured by the hold OK area,
During the ship fixed point holding mode, when the actual ship position moves from the holding OK area to the heading control area, the ship control device detects the heading of the ship by the heading detecting section and the heading control area. Starting orientation maintenance control that operates the actuator so that the bow or stern of the ship faces the target ship position based on the actual ship position and the target ship position,
When the actual ship position moves from the azimuth control area to the regression control area during the ship fixed point holding mode, the ship control device starts regression control to return the actual ship position to the holding OK area. death,
The time measuring unit starts measuring time at the moment the actual ship position moves from the azimuth control area to the regression control area,
If the actual ship position does not return within the azimuth control area from the start of time measurement by the time measuring unit until the specified time elapses, the ship control device cancels the ship fixed point holding mode. ,
If the actual ship position returns to the holding OK area from the start of time measurement by the time measurement unit until the specified time elapses, the time measurement unit controls the time measurement by the time measurement unit. Reset the elapsed time from the start of measurement to zero,
A ship according to claim 2. comprising a heading detection unit that detects the heading of the ship,
The ship control device sets the actual ship position detected by the ship position detection unit at the start of the ship fixed point holding mode as the target ship position during the ship fixed point holding mode, and maintains the target ship position including the target ship position. setting an OK area, setting an orientation control area around the holding OK area, and setting a regression control area around the orientation control area;
The time measurement start determination area and the time measurement reset determination area are configured by the holding OK area, and the ship fixed point retention mode discontinuation determination area is configured by the azimuth control area,
During the ship fixed point holding mode, when the actual ship position moves from the holding OK area to the heading control area, the ship control device detects the heading of the ship by the heading detecting section and the heading control area. Starting orientation maintenance control that operates the actuator so that the bow or stern of the ship faces the target ship position based on the actual ship position and the target ship position,
When the actual ship position moves from the azimuth control area to the regression control area during the ship fixed point holding mode, the ship control device starts regression control to return the actual ship position to the holding OK area. death,
The time measuring unit starts measuring time at the moment the actual ship position leaves the holding OK area,
When the actual ship position moves from the azimuth control area to the regression control area, the actual ship position moves to the regression control area from the start of time measurement by the time measuring unit until the specified time elapses. If the actual ship position does not return within the azimuth control area, the ship control device cancels the ship fixed point holding mode,
If the actual ship position returns to the holding OK area from the start of time measurement by the time measurement unit until the specified time elapses, the time measurement unit controls the time measurement by the time measurement unit. Reset the elapsed time from the start of measurement to zero,
A ship according to claim 2. comprising a heading detection unit that detects the heading of the ship,
When canceling the ship fixed point holding mode, the ship control apparatus detects the detection result of the ship's heading by the ship's heading detecting section and the actual ship position from the ship fixed point holding mode. Based on the target ship position, switching to a bearing holding mode is performed in which the actuator is actuated so that the bow or stern of the ship faces the target ship position.
A ship according to claim 1. After the ship control device executes switching from the ship fixed point holding mode to the normal operation mode,
The operation unit does not need to accept an input operation to start the ship fixed point holding mode,
the ship control device executes switching from the normal operation mode to the ship fixed point holding mode;
A ship according to claim 6. After the ship control device executes switching from the ship fixed point holding mode to the heading holding mode,
The operation unit does not need to accept an input operation to start the ship fixed point holding mode,
the ship control device executes switching from the orientation holding mode to the ship fixed point holding mode;
A ship according to claim 11. an actuator having a function of generating thrust for a ship and a function of generating a moment for the ship;
an operation unit that receives an input operation to operate the actuator;
A time measurement unit that measures time;
A ship control device that is installed in the ship and has a function of operating the actuator in response to an input operation received by the operation unit, and the ship position detection unit detects an actual ship position that is the actual position of the ship. There it is,
The ship control device includes:
a normal operation mode in which the actuator is operated in response to an input operation received by the operation unit;
a ship fixed point holding mode in which the actuator is operated without the need for the operation unit to accept an input operation;
During the ship fixed point holding mode,
The ship control device operates the actuator based on a deviation between a target ship position, which is a target position of the ship in the ship fixed point holding mode, and the actual ship position,
The time measuring unit starts measuring time at the moment when the actual ship position leaves a time measurement start determination area including the target ship position,
If the actual ship position does not return to a ship fixed point holding mode termination determination area that includes the target ship position by the time a designated time elapses from the start of time measurement by the time measurement unit, the ship control device canceling the ship fixed point holding mode;
Ship control equipment. an actuator having a function of generating thrust for a ship and a function of generating a moment for the ship;
an operation unit that receives an input operation to operate the actuator;
A time measurement unit that measures time;
a ship position detection section that detects an actual ship position, which is the actual position of the ship; A ship control method, comprising:
The ship control device includes:
a normal operation mode in which the actuator is operated in response to an input operation received by the operation unit;
a ship fixed point holding mode in which the actuator is operated without the need for the operation unit to accept an input operation;
A first step in which, during the ship fixed point holding mode, the ship control device operates the actuator based on a deviation between the target ship position, which is the target position of the ship during the ship fixed point holding mode, and the actual ship position. step and
During the ship fixed point holding mode, the time measurement unit starts measuring time at the moment the actual ship position leaves the time measurement start determination area that includes the target ship position, and the time measurement unit starts measuring time. If the actual ship position does not return within a ship fixed point holding mode cancellation determination area that includes the target ship position by the time a specified time elapses from the start of measurement, the ship control device cancels the ship fixed point holding mode. A second step of controlling a ship. an actuator having a function of generating thrust for a ship and a function of generating a moment for the ship;
an operation unit that receives an input operation to operate the actuator;
A time measurement unit that measures time;
A ship control device that is installed in the ship and has a function of operating the actuator in response to an input operation received by the operation unit, and the ship position detection unit detects an actual ship position that is the actual position of the ship. The ship control has a normal operation mode in which the actuator is actuated in response to an input operation received by the operation unit, and a ship fixed point holding mode in which the actuator is actuated without the need for the operation unit to receive an input operation. The computer that makes up the device,
A first step of activating the actuator during the ship fixed point holding mode based on a deviation between the target ship position, which is the target position of the ship in the ship fixed point holding mode, and the actual ship position;
During the ship fixed point holding mode, the time measurement unit starts measuring time at the moment when the actual ship position leaves the time measurement start determination area that includes the target ship position, and then the time measurement unit calculates the time by the time measurement unit. a second step of canceling the ship fixed point holding mode if the actual ship position does not return within a ship fixed point holding mode cancellation determination area that includes the target ship position by the time a specified time elapses from the start of measurement; A program to run this.

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