JP2009132257A - Method, program, and device for maneuvering control, and automatic maneuvering control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a method, program and device for maneuvering control capable of realizing maneuvering of following another ship or a sailing object and control by cooperation with other control devices other than automatic maneuvering, and also to obtain an automatic maneuvering control system. <P>SOLUTION: The method comprises: a step for obtaining information on a position of another ship 2 navigating on the sea surface or under the sea; a step for obtaining a command value to make a ship 1 perform the automatic maneuvering to follow the ship 2; and a step for outputting information of the command value to an automatic maneuvering device 20. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a ship maneuvering control method, a program and an apparatus, and an automatic ship maneuvering control system for controlling an automatic ship maneuvering apparatus for automatically maneuvering a ship.

  Conventionally, as a technology related to automatic boat maneuvering, for example, “... based on the distance from the hull to the quay detected by the distance meter, the propulsion direction and thrust of the bow side thrust engine and the stern side thrust engine are controlled, and An automatic berthing mooring device has been proposed that includes a bow side mooring machine and a controller that controls the winding and unwinding operations of the mooring rope of the stern side mooring machine (see, for example, Patent Document 1).

  Also, for example, “... the propulsion control device operates the water jet propulsion device and the side thruster based on the control instruction from the control panel, the direction detected by the direction sensor, and the wind direction / wind speed detected by the wind direction / wind speed sensor to maintain the direction. An automatic fixed point holding device has been proposed (for example, see Patent Document 2).

  In addition, for example, “the steering angle offset value for performing the swing control by the rudder is calculated based on the data on the physical quantity used for the navigation control and the data on the roll angle, and is output from the steering device for performing the steering control. An oscillation control processing device that outputs a command steering angle signal obtained by adjusting a command steering angle signal based on an offset value to a rudder control system device has been proposed (for example, see Patent Document 3).

  Further, for example, “at least a command value generating unit that generates a command signal for instructing the position of the ship, and an automatic ship operating unit that operates each part of the ship based on the command value signal generated by the command value generating unit; And the command value generation unit is configured to generate a position command value centered on the control reference position ”(for example, see Patent Document 4).

  Also, for example, “... by operating the joystick, the forward / backward propeller and thruster are operated to perform forward / backward movement and lateral movement in the direction corresponding to the tilt direction of the joystick, and output the composite thrust corresponding to the tilt angle, An automatic marine vessel maneuvering apparatus has been proposed that achieves a holding function for holding the ship position detected by the ship position detecting means by operating a fixed point holding operation switch (see, for example, Patent Document 5).

  Further, for example, “... Detecting means for detecting the distance between the object and the ship, ship maneuvering means comprising a propeller, rudder and thruster, and the distance between the object and the ship detected by the detecting means. And a control means for controlling the ship maneuvering means so as to keep the distance at a set distance. An automatic ship maneuvering apparatus has been proposed (see, for example, Patent Document 6).

  Further, for example, “... a thrust distribution calculation unit that calculates the thrust distribution amount of the rudder, thruster, and CPP based on the control force calculated by the PID control force calculation unit, and the rudder, thruster, and CPP are overloaded. An automatic marine vessel maneuvering device is proposed, which is characterized by comprising a thrust fluctuation reducing unit that performs a thrust fluctuation reducing process to prevent the addition (see, for example, Patent Document 7).

  Further, for example, “… a pre-control calculation unit that calculates a control signal, a feedback control calculation unit that calculates a control signal based on the signal of the estimation calculation unit, a known disturbance calculation unit that calculates a disturbance, and the command There has been proposed a “ship maneuvering system” characterized by comprising an adder / subtractor for adding / subtracting the signals of the joystick, the estimation calculation unit, and the known disturbance calculation unit to the output signal of the determination unit (for example, a patent Reference 8).

  Further, for example, “… a thrust distribution means for determining and outputting a rudder thrust command signal and a first propeller thrust command signal,... An azimuth control means for determining and outputting a second propeller thrust command signal for the propeller, and the first An automatic marine vessel maneuvering device has been proposed that includes adding means for outputting the sum of the propeller thrust command signal and the second propeller thrust command signal (see, for example, Patent Document 9).

  In addition, for example, “... has an automatic route holding function that automatically guides the set route, and an optimum thrust distribution function that operates the propulsion unit so that the total required power is minimized with respect to a given thrust command. An automatic marine vessel maneuvering system has been proposed that is equipped with a function that makes use of the features of online optimal control that performs optimization calculations in real time (see Non-Patent Document 1, for example).

  Further, for example, "... this DPS realizes stable position holding control by feedforward control with respect to external force such as wind pressure in addition to feedback control based on position and azimuth deviation." (For example, refer nonpatent literature 2).

  In addition, for example, an automatic ship maneuvering apparatus for automatically maneuvering a ship has been introduced (see, for example, Non-Patent Document 3).

Japanese Patent Laying-Open No. 2005-255058 (paragraph number [0007]) Japanese Patent Laying-Open No. 2005-254956 (paragraph number [0005]) JP-A-2005-247018 (paragraph number [0008]) JP 2002-362490 A (paragraph number [0010]) JP 2002-234494 A (paragraph number [0005]) Japanese Patent Laid-Open No. 9-295600 (paragraph number [0006]) JP-A-8-216989 (paragraph number [0004]) JP-A-8-20391 (paragraph number [0005]) JP-A-6-344986 (paragraph number [0006]) Yukinobu Kono and three others, “Online optimal control technology such as automatic ship handling systems”, Kawasaki Heavy Industries Technical Report No. 159, 2005, p. 36-37 Wataru Murata and five others, “Development of automatic position holding device for deep-sea control vessel“ Chikyu ””, Mitsui Engineering & Ship Technical Report No. 186, 2005, p. 18-23 "Professional Autopilots", [online], 2007, Simrad, [searched June 27, 2007], Internet <http://www.simradyachting.com/default.aspx?path= {72C7648F-1E6B-42D5-876D- E59280F8615C}>

  A conventional automatic ship maneuvering apparatus performs an autopilot for controlling the bow direction of the ship, or performs tracking control and ship position holding control of the ship for special applications. However, the conventional automatic ship maneuvering device has only information related to the self-maneuvering of the own ship, and therefore follows an automatic maneuvering based on external factors other than the own ship, for example, a ship other than the own ship (other ship) and a traveling body. There was a problem that it was not possible to cope with the automation of such maneuvering.

  In addition, for example, when the own ship follows the navigation body operated by the control device installed in the ship, the conventional automatic ship control device reflects the information of the automatic ship control to the navigation body control motion control. There is a problem that the automatic maneuvering and the control of the maneuvering movement cannot be performed.

  In addition, for example, when towing a towed object with a towing device mounted on the own ship, the conventional automatic ship maneuvering device cannot perform ship maneuvering control in which the tow device and the automatic ship maneuvering device are linked, and There was a problem that it was not possible to cope with the automation of towing vessels such as adjusting the movement of the ship according to the movement.

  Furthermore, when developing a more advanced control system that expands the functions of the above-described automatic ship maneuvering, a control system with high development efficiency and low installation cost has been desired.

  The present invention has been made in order to solve the above-described problems, and realizes control in cooperation with a ship maneuvering to follow another ship or a traveling body or other control devices other than the automatic ship maneuvering. An object is to obtain a marine vessel maneuvering control method, program and apparatus, and an automatic maneuvering control system.

  A ship maneuvering control method according to the present invention is a ship maneuvering control apparatus that outputs a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship, and relates to a step of acquiring information relating to correction of the command value, and at least correction of the command value. Based on the information, the method includes a step of correcting the command value and a step of outputting the command value information to the automatic ship maneuvering device.

  Further, the ship maneuvering control method according to the present invention is a ship maneuvering control method for controlling an automatic ship maneuvering apparatus for automatically maneuvering a ship, the step of acquiring information relating to the position of a moving body navigating the sea surface or the sea, and at least the movement Obtaining a command value for automatically maneuvering the ship so that the ship follows the moving body based on information on a body position; and outputting information on the command value to the automatic ship maneuvering device. Is.

  Further, the ship maneuvering control method according to the present invention is an automatic ship maneuvering apparatus for automatically maneuvering a ship, and a ship maneuvering control method for controlling a navigator maneuvering apparatus for maneuvering a navigator navigating the sea surface or the sea A step of acquiring information on the position of the navigation body, and at least the information on the position of the navigation body, so that the ship follows the navigation body; The method includes a step of obtaining a command value for at least one and a step of outputting information on the command value to the corresponding automatic boat maneuvering device and / or the navigation vehicle maneuvering device.

  Further, the ship maneuvering control method according to the present invention is an automatic ship maneuvering apparatus for automatically maneuvering a ship, and a ship maneuvering control method for controlling a towing apparatus provided in the ship to tow a towed object, Obtaining information relating to position or tow tension, obtaining a command value for at least one of the automatic marine vessel maneuvering device and the towing device based on at least information relating to the position or towed tension of the towed vehicle; And outputting the command value information to the corresponding automatic boat maneuvering device and / or the towing device.

  A program according to the present invention causes a computer to execute the ship maneuvering control method.

  The boat maneuvering control device according to the present invention is a boat maneuvering control device for outputting a command value to an automatic boat maneuvering device for automatically maneuvering a ship, input means for inputting information on correction of the command value, and at least the command Command value calculation means for correcting the command value based on information on value correction is provided.

  Further, the ship maneuvering control device according to the present invention is a ship maneuvering control device that outputs a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship, and is an input to which information relating to the position of a moving body navigating the sea surface or the sea And command value calculation means for obtaining the command value for automatically maneuvering the ship so that the ship follows the moving body based on at least information on the position of the moving body.

  Further, in the boat maneuvering control apparatus according to the present invention, the input means receives information on a relative orientation, a relative distance, and a relative speed between the ship and the moving body as information on the position of the moving body, The command value calculation means obtains an azimuth command value and a boat speed command value for automatically maneuvering the ship so that the relative distance falls within a predetermined range based on the information on the relative azimuth, the relative distance, and the relative speed. .

  Further, in the boat maneuvering control device according to the present invention, the command value calculation means predicts a relative direction between the ship and the moving body after a predetermined time has passed based on information on the position of the moving body, The direction is set as a direction command value to the automatic boat maneuvering device.

  The ship maneuvering control apparatus according to the present invention outputs a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship, and a command value to a traveling body maneuvering apparatus for maneuvering a navigating body navigating the sea surface or the sea. A ship maneuvering control apparatus, wherein the automatic means is configured so that the ship follows the navigation body based on input means for inputting information on the position of the navigation body and at least information on the position of the navigation body. Command value calculation means for obtaining at least one of a command value to the marine vessel maneuvering device and a command value to the traveling body maneuvering device is provided.

  Further, in the boat maneuvering control apparatus according to the present invention, the input means inputs information on a relative azimuth, a relative distance, and a relative speed between the ship and the traveling body as information on the position of the traveling body. The command value calculating means is configured to control the automatic ship maneuvering device and the automatic ship maneuvering device so that a relative distance between the ship and the traveling body is within a predetermined range based on the information on the relative azimuth, the relative distance, and the relative speed. An azimuth command value and a ship speed command value for the navigation vehicle maneuvering device are obtained.

  Further, the ship maneuvering control device according to the present invention is based on information on the position, direction, and speed of the ship and the traveling body, and information on the relative direction, relative distance, and relative speed between the ship and the traveling body. Relative motion calculation means for obtaining the position information, and the input means receives information on the position, direction, and speed of the ship and the navigation body as information on the position of the navigation body, and the command value calculation means. Is based on the information on the relative azimuth, the relative distance, and the relative speed obtained by the relative motion calculating means so that the relative distance between the ship and the traveling body is within a predetermined range. An azimuth command value and a boat speed command value for the marine vessel maneuvering device and the navigation vehicle maneuvering device are obtained.

  The ship maneuvering control apparatus according to the present invention is a ship maneuvering control apparatus that outputs a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship and a command value to a towing apparatus provided in the ship to tow a towed object. Input means for inputting information on the position of the towed vehicle or the snooping tension, and at least a command value to the automatic marine vessel maneuvering device and the towing device based on the information on the position of the towed vehicle or the snooping tension Command value calculating means for obtaining at least one of the command values to

  Further, in the boat maneuvering control apparatus according to the present invention, the input means receives information on a relative azimuth and a relative distance between the ship and the towed vehicle as information on the position of the towed vehicle, and the command value The computing means is based on the information on the relative azimuth and the relative distance, so that the relative distance between the ship and the towed vehicle is within a predetermined range, the azimuth command value and the boat speed command value to the automatic marine vessel maneuvering device. In addition, a winch command value for the towing device is obtained.

  Further, in the boat maneuvering control apparatus according to the present invention, the command value calculation means is configured to determine a direction command value to the automatic ship maneuvering device based on the information on the snooping tension so that the snooping tension falls within a predetermined range. And a ship speed command value and a winch command value for the towing device.

  Moreover, in the boat maneuvering control apparatus according to the present invention, the command value calculation means obtains the command value every time information input to the input means is updated.

  An automatic ship maneuvering control system according to the present invention includes the ship maneuvering control apparatus and an automatic ship maneuvering apparatus for automatically maneuvering a ship based on a command value input from the ship maneuvering control apparatus.

  In addition, the automatic boat maneuvering control system according to the present invention further includes an observation / measurement device that acquires information related to the position of a moving body navigating the sea surface or the sea and outputs the information to the boat maneuvering control device.

  In addition, the automatic ship maneuvering control system according to the present invention further includes a traveling body maneuvering apparatus for maneuvering a navigating body navigating the sea surface or the sea based on a command value input from the ship maneuvering control apparatus. .

  The automatic boat maneuvering control system according to the present invention further includes a towing device that is provided in the ship and tows the towed object based on a command value input from the boat maneuvering control device.

  The present invention obtains a command value for automatically maneuvering the ship so that the ship follows the moving body based on at least information related to the position of the moving body, and outputs the command value to the automatic ship maneuvering device so as to follow the moving body. Can be realized.

  Further, based on at least information on the position of the traveling body, a command value for the automatic marine vessel maneuvering device and a command value for at least one of the traveling body maneuvering device are obtained so that the ship follows the navigation body, By outputting the command value information to the corresponding automatic marine vessel maneuvering device and / or navigation vehicle maneuvering device, it is possible to realize the marine vessel maneuvering control that follows the navigating body, and cooperation between the automatic marine vessel maneuvering device and the navigating vehicle maneuvering device Can be achieved.

  Further, based on at least information on the position of the towed vehicle or the squeezing tension, a command value to the automatic marine vessel maneuvering device and a command value to at least one of the towing device are obtained, and the information on the command value is applied to the corresponding automatic marine maneuvering device and By outputting to / to the towing device, it is possible to realize control in which cooperation between the automatic boat maneuvering device and the towing device is achieved.

An automatic ship maneuvering control system according to the present invention includes at least an automatic ship maneuvering apparatus for automatically maneuvering a ship and a ship maneuvering control apparatus for outputting a command value to the automatic ship maneuvering apparatus, and is based on some external factor other than the own ship. By using the information (information relating to the correction of the command value) to correct the command value for the automatic boat maneuvering device, more advanced automatic boat maneuvering is realized.
Hereinafter, in the embodiment, a description will be given by taking, as an example, control in cooperation or cooperation with a ship other than the own ship (another ship), a traveling body, a towed body towed by the own ship, and the like. Needless to say, the invention includes various modifications within the spirit of the invention.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of an automatic boat maneuvering control system according to the first embodiment. In FIG. 1, the automatic ship maneuvering control system according to the first embodiment is mounted on the own ship 1 that is a ship that is an object of the automatic ship maneuvering, and a command value to an automatic ship maneuvering apparatus 20 (described later) that automatically maneuver the own ship 1. A ship maneuvering control apparatus 10 for outputting the ship, an automatic ship maneuvering apparatus 20 for automatically maneuvering the ship 1 based on the command value input from the ship maneuvering control apparatus 10, and information on correction of the command value, for example, navigating the sea surface The other ship position observation / measurement device 30 is configured as an observation / measurement device that acquires information related to the position of the other ship 2 that is the ship of the ship and outputs the information to the ship maneuvering control device 10. The other ship 2 is not limited to a ship navigating the sea surface, but may be any mobile body navigating the sea surface or the sea.

  Further, the ship maneuvering control apparatus 10 follows the input section 11 as input means for inputting information (described later) on the position of the other ship 2 from the other ship position observation / measurement apparatus 30, and the own ship 1 follows the other ship 2. And a command value calculation unit 12 that is a command value calculation means for obtaining a command value for automatically maneuvering the ship. Based on information on the position of the other ship 2, the target direction and the target ship speed are It correct | amends and calculates | requires the command value to the automatic boat maneuvering apparatus 20. FIG.

  The automatic boat maneuvering device 20 controls the rudder angle for the ship 1 to advance to the command heading based on the heading command value and the boat speed command value input from the boat maneuvering control device 10 so that the boat speed becomes the command boat speed. Controls propulsion devices (propellers). The other ship position observation / measurement device 30 is mounted on the own ship 1, measures the relative azimuth, relative distance, and relative speed between the own ship 1 and the other ship 2 by observing the other ship 2, and measures them. The information is input to the input unit 11 of the boat maneuvering control apparatus 10 as information related to the position of the other ship 2.

  In the first embodiment, a case will be described in which information on the relative orientation, relative distance, and relative speed between the own ship 1 and the other ship 2 is input to the boat maneuvering control apparatus 10, but only for these data. The command value may be obtained by adding other physical quantities such as wind force and wind direction data. Further, for example, the relative speed may be calculated from the change rate (differential value) of the relative distance.

  In the first embodiment, a case where information such as relative azimuth is obtained by observation of the other ship position observation / measurement device 30 will be described. However, the present invention is not limited to this, and for example, GPS (Global Positioning System) or the like. May be used to obtain position information from the other ship 2, and the relative distance, relative direction, and relative speed may be calculated from the position information of the other ship 2 and the position information of the own ship 1.

  Furthermore, in this Embodiment 1, although the case where an automatic ship maneuvering is performed by controlling the azimuth and ship speed of the ship 1 based on the azimuth command value and the ship speed command value, the automatic ship maneuvering control is not limited to this. Needless to say, other ship maneuvering control, for example, shaking control may be performed together.

  Here, the boat maneuvering control device 10 and each component constituting the boat maneuvering control device 10 may be configured by hardware such as a circuit device, or may be executed by an arithmetic device such as a CPU (Central processing Unit) or a microcomputer. It can also be configured as software. When implemented as software, programs that realize the functions of these units are stored in ROM (Read Only Memory), HDD (Hard Disk Drive), etc., and an arithmetic device such as a CPU or microcomputer reads the program, It can be configured by executing processing corresponding to the function of each unit in accordance with the instructions of the program. In addition, although each component is configured as a separate component (means) here, for example, a process based on a program performed by each unit may be performed by one control arithmetic processing device.

  In addition, the automatic ship maneuvering control system of the first embodiment is obtained by adding the ship maneuvering control apparatus 10 to the existing automatic ship maneuvering apparatus 20 and the other ship position observation / measurement apparatus 30 provided in the own ship 1. It is possible to configure. Further, the present invention is not limited to this, and when the automatic boat maneuvering device 20 is newly installed, the functions of the respective parts constituting the boat maneuvering control device 10 can be incorporated in the automatic boat maneuvering device 20.

  With such a configuration, the azimuth target value and ship speed target value of the ship 1 are input to the boat maneuvering control apparatus 10, and when the follow-up control to the other ship 2 is not performed, the azimuth target value and ship speed The target value is output as an azimuth command value and a boat speed command value to the automatic boat maneuvering device 20, and the own boat 1 is controlled by the automatic boat maneuvering device 20 so as to be the azimuth and boat speed of the target value. On the other hand, when the follow-up control to the other ship 2 is performed, the ship maneuvering control apparatus 10 corrects the input azimuth target value and ship speed target value based on the information from the other ship position observation / measurement apparatus 30. The value is output to the automatic ship maneuvering device 20 so that the ship 1 automatically follows the other ship 2. Next, the operation of the first embodiment will be described with reference to FIG.

FIG. 2 is a flowchart showing the operation of the boat maneuvering control apparatus according to the first embodiment. In FIG. 2, first, the other ship position observation / measurement device 30 observes the other ship 2, and information on the relative direction, relative distance, and relative speed of the other ship 2 is updated each time the information is updated. Or it outputs to the ship maneuvering control apparatus 10 for every predetermined time.
Next, the command value calculation unit 12 of the boat maneuvering control apparatus 10 automatically steers the ship so that the relative distance falls within a predetermined range based on the information on the relative direction, the relative distance, and the relative speed input to the input unit 11. Obtain the command value and ship speed command value. That is, a command value that allows the own ship 1 to follow the other ship 2 is obtained. For example, using the relative azimuth and the relative speed, the relative azimuth of the other ship 2 after a lapse of a predetermined time is predicted, and the relative azimuth is set as an azimuth command value to the automatic boat maneuvering apparatus 20 (S101).
When the relative distance between the own ship 1 and the other ship 2 is outside the predetermined range using the relative speed and the relative distance, the ship speed is increased or decreased according to the relative speed and the relative distance. A ship speed command value for adjusting the ship speed is output (S102).
Then, the automatic boat maneuvering device 20 automatically maneuvers the ship 1 based on the corrected azimuth command value and boat speed command value input from the boat maneuvering control device 10.

  The command value calculation unit 12 may correct the azimuth command value and the boat speed command value by, for example, feedback control each time information from the other ship position observation / measurement device 30 is updated. In the above description, the case has been described in which the relative direction of the other ship 2 is predicted and used as the direction command value after a predetermined time has elapsed. However, the present invention is not limited to this, and the simply input relative direction may be used as the direction command value. .

  In the first embodiment, the case has been described in which the directional target value and the boat speed target value of the ship 1 are input to the boat maneuvering control device 10, but the present invention is not limited to this, and the follow-up control is performed. When the purpose is only for the purpose, the heading command value and the boat speed command value are obtained using only the information from the other ship ship position observation / measurement device 30 without inputting the heading target value and the boat speed target value. You may do it.

  As described above, in the first embodiment, the automatic ship maneuvering control system is configured by the automatic ship maneuvering apparatus 20 and the host ship maneuvering control apparatus 10 that sends a command to the automatic ship maneuvering apparatus 20. Based on the information about the position of the other ship 2 observed by the other ship position observation / measurement device 30, the direction target value and the ship speed target value are corrected so that the own ship 1 follows the other ship 2 automatically. Since the automatic ship maneuvering apparatus 20 performs automatic ship maneuvering control based on this command value, the automating of the ship maneuvering to the other ship 2 can be realized. That is, it is possible to realize control in consideration of cooperation between the automatic boat maneuvering device 20 and the boat maneuvering control device 10, and it is possible to configure an advanced control system with further expanded functions.

  In addition, since the system can be configured by using the existing automatic ship maneuvering apparatus 20 and the other ship position observation / measurement apparatus 30 as they are, advanced control with more expanded functions can be performed without fundamental equipment change. A system can be realized. In addition, development efficiency increases when developing more sophisticated control systems. Furthermore, installation time and cost are not required, which is convenient in terms of cost.

Embodiment 2. FIG.
In the first embodiment, the ship maneuvering control that follows the other ship 2 is performed. However, in the second embodiment, the ship 1 that cooperates with the navigation body (described later) controlled by the own ship 1 is used. Controls maneuvering and maneuvering of the ship.

  FIG. 3 is a configuration diagram of an automatic boat maneuvering control system according to the second embodiment. In FIG. 3, the automatic boat maneuvering control system according to the second embodiment includes a command value to the automatic boat maneuvering device 20 for automatically maneuvering the own boat 1 and a traveling body for maneuvering the traveling body 3 sailing on the sea surface or in the sea. A marine vessel maneuvering control device 10 that outputs a command value to a maneuvering device 40 (described later), an automatic maneuvering device 20 that automatically maneuvers the ship 1 based on the command value input from the marine vessel maneuvering control device 10, and a marine vessel maneuvering control device 10 And a traveling body maneuvering device 40 for maneuvering the traveling body 3 that travels on the sea surface or in the sea based on the command value input from.

Further, the ship maneuvering control device 10 includes an input unit 11 which is an input means for inputting the azimuth target value and ship speed target value of the own ship 1 and the azimuth target value and speed target value of the traveling body 3, and the own ship. Based on a command value calculation unit 12 that is a command value calculation means for obtaining a command value such that 1 follows the traveling body 3 and information on the position, direction and speed of the ship 1 and the traveling body 3 (described later). , As information on the correction of the command value, it is constituted by a relative motion calculation unit 13 which is a relative motion calculation means for obtaining information on the relative azimuth, the relative distance, and the relative speed between the ship 1 and the traveling body 3, Based on the information regarding the positions of the ship 1 and the traveling body 3, the automatic steering device 20 and the traveling body operation are corrected by correcting the target direction and the target ship speed to the own ship 1 and the traveling body 3 based on the information on the positions of the ship 1 and the traveling body 3. A command value for at least one of the devices 40 is obtained.
As in the first embodiment, the relative orientation, relative distance, and relative speed of the traveling body 3 are obtained by observation using, for example, an observation / measurement device, and the information is output to the input unit 11 and commanded. The value calculator 12 may obtain the command value based on the input information on the relative orientation, relative distance, and relative speed.

  The automatic ship maneuvering apparatus 20 performs the automatic ship maneuvering of the own ship 1 based on the own ship direction command value and the own ship ship speed command value input from the ship maneuvering control apparatus 10 as in the first embodiment. . Furthermore, the automatic boat maneuvering apparatus 20 according to the second embodiment provides the ship maneuvering control device 10 with information on the position, heading, and boat speed of the ship 1 detected using, for example, a gyrocompass, a speed detector, or GPS. Output.

  The traveling body maneuvering device 40 is mounted on the own ship 1, and the traveling body 3 advances to the command direction based on the traveling body direction command value and the traveling body speed command value input from the boat maneuvering control device 10. The propulsion device (propeller) of the traveling body 3 and the like are controlled so as to achieve the command speed. Furthermore, for example, by detecting a beacon signal (sound wave signal) transmitted from the traveling body 3 or by position information from a GPS or the like mounted on the traveling body 3, the position, direction, The speed information is output to the boat maneuvering control device 10.

  The traveling body 3 receives control (steering) information from the traveling body control device 40 by, for example, a radio signal, and travels on the sea surface or in the sea based on the control information.

  In the second embodiment, the case where information on the relative direction, the relative distance, and the relative speed between the own ship 1 and the traveling body 3 is input to the boat maneuvering control device 10 will be described. The command value may be obtained by adding other physical quantities such as wind force and wind direction data. Further, for example, the relative speed may be calculated from the change rate (differential value) of the relative distance.

  The automatic boat maneuvering control system according to the second embodiment is configured by adding the marine vessel maneuvering control device 10 to the existing automatic boat maneuvering device 20 and the navigation vehicle maneuvering device 40 provided in the own ship 1. It is possible. Further, the present invention is not limited to this, and when the automatic boat maneuvering device 20 is newly installed, the functions of the respective parts constituting the boat maneuvering control device 10 can be incorporated in the automatic boat maneuvering device 20.

With such a configuration, the boat maneuvering control device 10, when not performing the follow-up control to the traveling body 3, the own ship target value input to the input unit 11 is the direction command value to the automatic boat maneuvering device 20 and It is output as a ship speed command value, and the ship 1 is controlled by the automatic ship maneuvering device 20 so that the direction and ship speed of the target value are obtained. In addition, the navigation body target value is output as an azimuth command value and a speed command value to the navigation body maneuvering device 40, and the navigation body 3 so that the navigation body maneuvering device 40 has the azimuth and speed of the target value. Is controlled.
On the other hand, when the follow-up control to the traveling body 3 is performed, the boat maneuvering control apparatus 10 automatically outputs the command values obtained by correcting the input target values based on the information on the positions of the own ship 1 and the traveling body 3. It outputs to the boat maneuvering device 20 and the traveling body maneuvering device 40 and controls at least one of the own ship 1 and the traveling body so that the own ship 1 follows the traveling body 3. Next, the operation of the second embodiment will be described with reference to FIG.

FIG. 4 is a flowchart showing the operation of the boat maneuvering control apparatus according to the second embodiment. In FIG. 4, first, the relative motion calculation unit 13 updates the information based on the input information on the position / orientation / speed of the navigation body 3 and the information on the position / orientation / ship speed of the ship 1. Every time or every predetermined time, the relative azimuth, relative distance, and relative speed between the ship 1 and the traveling body 3 are calculated and output (S201).
Next, the command value calculation unit 12 determines that the relative distance between the ship 1 and the traveling body 3 is within a predetermined range based on the information on the relative direction, the relative distance, and the relative speed obtained by the relative motion calculation unit 13. Thus, the direction command value and the boat speed command value to the automatic boat maneuvering device 20 and the navigation vehicle maneuvering device 40 are obtained (S202). That is, a command value that allows the own ship 1 to follow the traveling body 3 is obtained. For example, when the traveling body 3 precedes the own ship 1 and is traveling at a higher speed than the own ship 1, the speed of the traveling body 3 is reduced to reduce the speed of the own ship 1. Each target value is corrected so that the vehicle speed is increased, or only the navigation body 3 is decelerated or only the own ship 1 is accelerated. Further, for example, using the relative azimuth and the relative speed, the relative azimuth of the traveling body 3 after a predetermined time elapses is predicted, and the automatic marine vessel maneuvering apparatus is made so that the relative azimuth coincides with a predetermined azimuth such as a bow azimuth or stern azimuth. 20 and each target value to the vehicle control apparatus 40 are corrected (S203 to S206).
Then, the automatic ship maneuvering apparatus 20 automatically maneuvers the own ship 1 based on the corrected ship ship direction command value and ship ship speed command value input from the ship maneuvering control apparatus 10. In addition, the navigation body control device 40 controls the navigation body 3 based on the corrected navigation body direction command value and navigation vehicle speed command value input from the boat maneuvering control device 10.

  Note that the command value calculation unit 12 corrects each command value by, for example, feedback control whenever the information calculated by the relative motion calculation unit 13 is updated, as in the first embodiment. good.

  In the second embodiment, the case has been described in which the directional target value and the boat speed target value of the ship 1 are input to the boat maneuvering control device 10, but the present invention is not limited to this, and the follow-up control is performed. In the case of only the purpose, the direction command value and the boat speed command value are obtained by using only the information such as the relative position with respect to the traveling body 3 without inputting the heading target value and the boat speed target value. You may do it.

As described above, in the second embodiment, the automatic boat maneuvering control system is configured by the automatic boat maneuvering device 20 and the navigation vehicle maneuvering device 40, and the upper marine vessel maneuvering control device 10 that sends commands to these maneuvering maneuvering devices 40. The control device 10 corrects each target value based on the information regarding the position of the traveling body 3, so that the own ship 1 follows the traveling body 3 to the automatic marine vessel maneuvering device 20 and the traveling body control device 40. Since the automatic marine vessel maneuvering device 20 and the navigation vehicle maneuvering device 40 perform control based on the command value, automatic marine vessel maneuvering and maneuvering motion control in which the marine vehicle 3 and the own ship 1 are coordinated are possible. It becomes.
That is, it is possible to realize control in consideration of cooperation between the automatic boat maneuvering device 20 and the navigation vehicle maneuvering device 40 and the boat maneuvering control device 10, and an advanced control system with further expanded functions can be configured.

  In addition, since the system can be configured by using the existing automatic boat maneuvering device 20 and the traveling vehicle maneuvering device 40 as they are, an advanced control system with more expanded functions can be provided without radically changing the equipment. realizable. In addition, development efficiency increases when developing more sophisticated control systems. Furthermore, installation time and cost are not required, which is convenient in terms of cost.

Embodiment 3 FIG.
In the first embodiment or the second embodiment, the ship maneuvering control that follows the other ship 2 or the traveling body 3 is performed, but in the present third embodiment, when the towed body (described later) is towed by the own ship 1, The ship maneuvering control is performed according to the movement of the towed vehicle.

  FIG. 5 is a configuration diagram of an automatic boat maneuvering control system according to the third embodiment. In FIG. 5, the automatic ship maneuvering control system according to the third embodiment includes a command value for the automatic ship maneuvering apparatus 20 for automatically maneuvering the ship 1 and a command value for the towing apparatus 50 (described later) for towing the towed vehicle 4. A ship maneuvering control apparatus 10 for outputting the ship, an automatic ship maneuvering apparatus 20 for automatically maneuvering the ship 1 based on a command value input from the ship maneuvering control apparatus 10, and a ship maneuvering control apparatus 10 provided with the ship maneuvering control apparatus 10. And a towing device 50 for towing the towed body 4 based on the command value.

  Further, the ship maneuvering control apparatus 10 includes an input unit 11 that is input means for inputting information on the position of the towed vehicle 4 or the rope tension as information on correction of the command value, and at least the position of the towed vehicle 4 or The command value calculation unit 12 is a command value calculation unit that obtains at least one of a command value to the automatic marine vessel maneuvering device 20 and a command value to the towing device 50 based on information about the squeezing tension.

  The automatic boat maneuvering apparatus 20 controls the steering angle for the own ship 1 to advance to the command azimuth based on the azimuth command value and the boat speed command value input from the boat maneuvering control device 10 as in the first embodiment. At the same time, the propulsion device (propeller) and the like are controlled so as to achieve the command ship speed.

  The towing device 50 is mounted on the own ship 1, and based on the winch command value input from the boat maneuvering control device 10, turns the winch on / off, controls the number of rotations, etc. Adjust the length. Further, the information on the squeezing tension and the information on the relative azimuth and the relative distance of the towed vehicle 4 detected by the position information from the GPS or the like mounted on the towed vehicle 4 are output to the boat maneuvering control device 10.

  The towed body 4 is connected to the towing device 50 by, for example, a wire and is towed by the own ship 1 on the sea surface or in the sea.

In the third embodiment, a description will be given of a case where information on the relative azimuth and relative distance between the own ship 1 and the towed vehicle 4 and the squeeze tension is input to the boat maneuvering control device 10, but only these data are particularly provided. However, the command value may be obtained by adding other physical quantities such as wind force or wind direction data.
Similarly to the first embodiment, the relative azimuth and relative distance of the towed vehicle 4 are obtained by observation using, for example, an observation / measurement device, and the information is output to the input unit 11. Each command value may be obtained based on the input information.

  The automatic boat maneuvering control system of the third embodiment can be configured by adding the marine vessel maneuvering control device 10 to the existing automatic boat maneuvering device 20 and the towing device 50 provided in the own ship 1. It is. Further, the present invention is not limited to this, and when the automatic boat maneuvering device 20 is newly installed, the functions of the respective parts constituting the boat maneuvering control device 10 can be incorporated in the automatic boat maneuvering device 20.

With such a configuration, the boat maneuvering control device 10 uses the target value input to the input unit 11 as the azimuth command value and the boat speed command value when the towed vehicle 4 is not towed. The self-ship 1 is controlled by the automatic ship maneuvering device 20 so that the direction of the target value and the ship speed are obtained.
On the other hand, when towing the towed object 4 by the towing device 50, the boat maneuvering control device 10, based on the information from the towing device 50, corrects the input target value and winches to the towing device 50. A command value is output and at least one of own ship 1 and towing apparatus 50 is controlled. Next, the operation of the third embodiment will be described with reference to FIG.

FIG. 6 is a flowchart showing the operation of the boat maneuvering control apparatus according to the third embodiment. In FIG. 6, first, the towing device 50 controls the marine vessel maneuvering information and the relative azimuth and relative distance information of the towed object 4 every time the information is updated or every predetermined time. Output to the device 10.
Next, the command value calculation unit 12 of the boat maneuvering control device 10 is based on the information on the relative azimuth and relative distance of the towed vehicle 4 from the towed device 50 input to the input unit 11, and the ship 1 and the towed vehicle 4. Azimuth command value and boat speed command value to the automatic marine vessel maneuvering device 20 so that the relative distance is within a predetermined distance or based on the information on the snooping tension, A winch command value for the towing apparatus 50 is obtained (S301). For example, using the relative azimuth and the relative distance, the directional command value, the boat speed command value, and the winch command value such that the towed vehicle 4 navigates the position of a predetermined distance in the stern direction of the ship 1 (S302 to S304). Further, for example, when the snooping tension exceeds a predetermined range using the snooping tension information, the ship speed of the ship 1 is decelerated and the winch of the towing device 50 is unwinded or controlled. Each target value is corrected so as to decelerate only or winch winding control only (S302 to S304). In addition, when the rope tension is below a predetermined range, the ship speed of the ship 1 is increased and the winch of the towing device 50 is wound up, or only the ship 1 is increased or the winch is wound. Each target value is corrected so that only the take control is performed (S302 to S304). It should be noted that the ship maneuvering control is not limited to this. For example, any ship maneuvering control can be performed such as obtaining each command value so that the towed vehicle 4 is towed along a predetermined route.

  Then, the automatic ship maneuvering apparatus 20 automatically maneuvers the own ship 1 based on the corrected ship ship direction command value and ship ship speed command value input from the ship maneuvering control apparatus 10. The towing apparatus 50 controls the rotation of the winch based on the winch command value input from the boat maneuvering control apparatus 10.

  Note that the command value calculation unit 12 may correct each command value, for example, by feedback control or the like each time information from the towing device 50 is updated, as in the first embodiment.

  In the third embodiment, the case has been described in which the directional target value and the ship speed target value of the own ship 1 are input to the boat maneuvering control device 10, but the present invention is not limited to this and the towed tow When the ship maneuvering control is performed only when towing the body 4, the direction command value and the ship speed command value are obtained by using only the information from the towing device 50 without inputting the direction target value and the ship speed target value. In addition, a winch command value may be obtained.

  As described above, in the third embodiment, the automatic boat maneuvering control system is configured by the automatic boat maneuvering device 20 and the towing device 50, and the upper marine vessel maneuvering control device 10 that sends commands to them. Is to correct each target value based on the information on the position of the towed body 4 or the tow tension, and to obtain a command value to the automatic marine vessel maneuvering device 20 and the towing device 50. Since the control is performed based on the command value, the boat maneuvering control in which the towing device 50 and the automatic boat maneuvering device 20 are linked can be realized. For example, when a turning motion is performed during towing, the position of the towed body 4 is adjusted to an appropriate position by adjusting the movement of the ship 1 and the tow tension and the tow length in accordance with the towed body 4 movement. It becomes possible to keep it.

  In addition, since the system can be configured by using the existing automatic boat maneuvering apparatus 20 and the towing apparatus 50 as they are, an advanced control system with more expanded functions can be realized without radically changing the equipment. In addition, development efficiency increases when developing more sophisticated control systems. Furthermore, installation time and cost are not required, which is convenient in terms of cost.

1 is a configuration diagram of an automatic boat maneuvering control system according to Embodiment 1. FIG. FIG. 3 is a flowchart showing the operation of the boat maneuvering control apparatus according to the first embodiment. 6 is a configuration diagram of an automatic boat maneuvering control system according to Embodiment 2. FIG. FIG. 10 is a flowchart showing the operation of the boat maneuvering control apparatus according to the second embodiment. 6 is a configuration diagram of an automatic boat maneuvering control system according to Embodiment 3. FIG. FIG. 10 is a flowchart showing the operation of the boat maneuvering control apparatus according to the third embodiment.

Explanation of symbols

  1 Own ship, 2 other ship, 3 sailing body, 4 towed ship, 10 maneuvering control device, 11 input unit, 12 command value calculation unit, 13 relative motion calculation unit, 20 automatic maneuvering device, 30 Measuring device, 40 navigator control device, 50 towing device.

Claims (20)

A ship maneuvering control device that outputs a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship,
Obtaining information on correction of the command value;
Correcting the command value based on at least information on correction of the command value;
And a step of outputting the command value information to the automatic boat maneuvering device. A marine vessel maneuvering control method for controlling an automatic maneuvering device for automatically maneuvering a ship,
Obtaining information on the position of a moving object navigating the sea surface or the sea;
Obtaining a command value for automatically maneuvering the ship so that the ship follows the moving body based on at least information on the position of the moving body;
And a step of outputting the command value information to the automatic boat maneuvering device. A marine vessel maneuvering control method for controlling an automatic marine vessel maneuvering device for automatically maneuvering a ship and a navigator maneuvering device for maneuvering a navigating body navigating the sea surface or the sea,
Obtaining information regarding the position of the vehicle,
Obtaining a command value to at least one of the automatic marine vessel maneuvering device and the navigating body maneuvering device so that the ship follows the navigating body based on at least information on the position of the navigating body;
And a step of outputting the information of the command value to the corresponding automatic boat maneuvering device and / or the navigation vehicle maneuvering device. An automatic ship maneuvering apparatus for automatically maneuvering a ship, and a ship maneuvering control method for controlling a towing apparatus provided in the ship to tow a towed object,
Obtaining information regarding the position or snooping tension of the towed vehicle;
Obtaining a command value to at least one of the automatic marine vessel maneuvering device and the towed device based on at least the position of the towed object or information on the towline tension; and
And a step of outputting the command value information to the corresponding automatic marine vessel maneuvering device and / or the towing device.   A program for causing a computer to execute the boat maneuvering control method according to any one of claims 1 to 4. A ship maneuvering control device that outputs a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship,
Input means for inputting information on correction of the command value;
A marine vessel maneuvering control device comprising command value calculation means for correcting the command value based on at least information relating to the correction of the command value. A ship maneuvering control device that outputs a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship,
An input means for inputting information relating to the position of a moving object navigating the sea surface or the sea;
A ship maneuvering control apparatus comprising: command value calculation means for obtaining the command value for automatically maneuvering the ship so that the ship follows the moving body based on information on at least the position of the moving body. The input means includes
As information on the position of the mobile body, information on the relative orientation, relative distance, and relative speed between the ship and the mobile body is input,
The command value calculation means includes
8. An azimuth command value and a boat speed command value for automatically maneuvering the ship so that the relative distance falls within a predetermined range based on information on the relative azimuth, the relative distance, and the relative speed. Ship maneuvering control device. The command value calculation means includes
The relative azimuth between the ship and the moving body after a lapse of a predetermined time is predicted based on information on the position of the moving body, and the relative azimuth is set as an azimuth command value to the automatic marine vessel maneuvering device. Item 9. The boat maneuvering control device according to Item 7 or 8. A ship maneuvering control device that outputs a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship, and a command value to a traveling body maneuvering apparatus for maneuvering a traveling body navigating the sea surface or the sea,
Input means for inputting information relating to the position of the vehicle,
A command for obtaining at least one of a command value to the automatic marine vessel maneuvering device and a command value to the navigating vehicle maneuvering device so that the ship follows the navigating body based on at least information on the position of the navigating body. A ship maneuvering control device comprising a value calculating means. The input means includes
As information on the position of the navigation body, information on the relative orientation, relative distance, and relative speed between the ship and the navigation body is input,
The command value calculation means includes
Based on the information on the relative azimuth, the relative distance, and the relative speed, the automatic marine vessel maneuvering device and the navigator maneuvering device are arranged so that the relative distance between the ship and the navigating body is within a predetermined range. 11. The boat maneuvering control device according to claim 10, wherein an azimuth command value and a boat speed command value are obtained. Relative motion calculation means for obtaining information on the relative orientation, relative distance, and relative speed between the ship and the traveling body based on information on the position, orientation, and speed of the ship and the traveling body,
The input means includes
As information on the position of the traveling body, information on the position, direction, and speed of the ship and the traveling body are input,
The command value calculation means includes
The automatic marine vessel maneuvering apparatus so that the relative distance between the ship and the traveling body is within a predetermined range based on the information on the relative azimuth, the relative distance, and the relative speed obtained by the relative motion calculating unit. The ship maneuvering control device according to claim 10, wherein an orientation command value and a boat speed command value for the navigation vehicle maneuvering device are obtained. A ship maneuvering control device for outputting a command value to an automatic ship maneuvering apparatus for automatically maneuvering a ship, and a command value to a towing apparatus towed a towed object provided in the ship,
Input means for inputting information on the position of the towed vehicle or the snooping tension;
Command value calculation means for obtaining at least one of a command value to the automatic marine vessel maneuvering device and a command value to the towed device based on at least information on the position of the towed vehicle or the rope tension. Maneuvering control device. The input means includes
As information on the position of the towed vehicle, information on the relative orientation and relative distance between the vessel and the towed vehicle is input,
The command value calculation means includes
Based on the information on the relative heading and the relative distance, the heading command value and the boat speed command value to the automatic marine vessel maneuvering device and the towing device so that the relative distance between the ship and the towed vehicle is within a predetermined range. The marine vessel maneuvering control device according to claim 13, wherein a winch command value for the tow is obtained. The command value calculation means includes
Based on the information on the snooping tension, obtaining an azimuth command value and a ship speed command value for the automatic marine vessel maneuvering device and a winch command value for the towing device so that the snooping tension falls within a predetermined range. The marine vessel maneuvering control device according to claim 13 or 14, characterized in that The command value calculation means includes
The boat maneuvering control device according to any one of claims 7 to 15, wherein the command value is obtained each time information input to the input means is updated. A boat maneuvering control device according to any one of claims 7 to 16,
An automatic ship maneuvering control system comprising an automatic ship maneuvering apparatus for automatically maneuvering a ship based on a command value input from the ship maneuvering controller.   18. The automatic boat maneuvering control system according to claim 17, further comprising an observation / measurement device that acquires information about the position of a moving body that navigates the sea surface or the sea and outputs the information to the boat maneuvering control device.   19. The automatic ship maneuvering control according to claim 17, further comprising a traveling body maneuvering device for maneuvering a navigating body navigating the sea surface or the sea based on a command value input from the marine vessel maneuvering control apparatus. system.   The automatic ship maneuvering control according to any one of claims 17 to 19, further comprising a towing device that is provided in the ship and tows the towed object based on a command value input from the ship maneuvering control device. system.

Images