JP5036570B2 - Multi-ship automatic maneuvering control system - Google Patents

Multi-ship automatic maneuvering control system Download PDF

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JP5036570B2
JP5036570B2 JP2008002758A JP2008002758A JP5036570B2 JP 5036570 B2 JP5036570 B2 JP 5036570B2 JP 2008002758 A JP2008002758 A JP 2008002758A JP 2008002758 A JP2008002758 A JP 2008002758A JP 5036570 B2 JP5036570 B2 JP 5036570B2
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隆 飯田
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Universal Shipbuilding Corp
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本発明は、船の自動操船に係わり、自動操船により航行する複数の他船を管制制御する複数船の自動操船制御システムに関するものである。 The present invention relates to an automatic maneuvering of the ship, it relates to automatic marine vessel maneuvering control system of a plurality vessels for control controls a plurality of other ships sailing by automatic maneuvering.

従来の自動操船制御システムとして、例えば海上消火活動を行う際、火災船と消防艇との距離を所定距離に保ちつつ常に風上から消火を行えるように、海上の対象物である火災船との距離および角度が適切な距離および角度となるように自船（消防艇）を自動操縦するシステムがある（例えば、特許文献１参照）。   As a conventional automatic ship maneuvering control system, for example, when performing marine fire fighting activities, the distance between the fire ship and the firefighting boat is kept at a predetermined distance, so that fire extinguishing can always be done from the windward. There is a system for automatically maneuvering a ship (fireboat) so that the distance and the angle are appropriate (for example, see Patent Document 1).

特開２００２−３６２４９０号公報JP 2002-362490 A

前述した従来の自動操船制御システムは、自船の操船のみを自動化するものであり、自船の操船に合わせて他船の操船を制御したり、他船の操船に合わせて自船の操船を調整したり、また、自船と複数の他船を一括して管制するような機能を持つものではなかった。   The above-described conventional automatic ship maneuvering control system automates only the ship maneuvering of the ship, and controls the ship maneuvering of the other ship according to the ship maneuvering of the ship, It did not have the function of adjusting or controlling the ship and other ships at once.

本発明は、前記のような課題を解決するためになされたもので、自船の自動操船を行いながら他船の自動操船を一括して制御したり、各船の自動操船を個々に制御することのできる複数船の自動操船制御システムを得ることを目的とする。 The present invention has been made to solve the above-described problems, and controls the automatic maneuvering of other ships collectively while performing the automatic maneuvering of the own ship or individually controls the automatic maneuvering of each ship. and to obtain the automatic marine vessel maneuvering control system of a plurality vessels can.

本発明に係る複数船の自動操船制御システムは、本船と共に自動操船により航行する複数の他船からの航路情報・運動情報が受信されたときに、各他船の航路情報・運動情報に対して、予め設定された目標航路・目標船速と本船の航路情報・運動情報を基にそれぞれ航路・運動を指令する管制情報を生成し、複数の他船にそれぞれ送信する管制／制御装置を備え、管制／制御装置は、複数の他船にも搭載され、管制又は被管制の何れかを判別する管制／被管制判別部を備え、この管制／被管制判別部により管制と判断されたときは管制船として、定期的に航路情報・運動情報を取得するための要求信号を送信するようにしたものである。 The automatic ship maneuvering control system for a plurality of ships according to the present invention, when route information / motion information from a plurality of other ships navigating with the ship by automatic maneuvering is received, with respect to the route information / motion information of each other ship. , Equipped with a control / control device that generates control information for commanding the route and movement based on the preset target route / target speed and the ship's route information / motion information, respectively, and transmits them to a plurality of other ships , The control / control device is mounted on a plurality of other ships and includes a control / controlled control unit for determining whether the control is controlled or controlled. When the control / controlled control unit determines that the control is controlled, As a ship, a request signal for periodically acquiring route information and motion information is transmitted .

本発明によれば、複数の他船からの航路情報・運動情報が受信されたときに、各他船の航路情報・運動情報に対して、予め設定された目標航路・目標船速と本船の航路情報・運動情報を基にそれぞれ航路・運動を指令する管制情報を生成し、複数の他船にそれぞれ送信する管制／制御装置を備えているので、本船と他船との間で連携や協調を考慮した制御が可能になり、このため、曳航作業や捜索作業などを効率よく行うことができると共に、作業中の安全面も向上する。また、広範囲な海底の地質調査においても複数の船で効率よく行うことが可能になり、調査時間を大幅に短縮できる。
また、管制／制御装置は、複数の他船にも搭載され、管制又は被管制の何れかを判別する管制／被管制判別部を備え、この管制／被管制判別部により管制と判断されたときは管制船として、定期的に航路情報・運動情報を取得するための要求信号を送信するようにしているので、管制／制御装置を搭載したどの船でも管制船になれるという運用面における自由度や、製造時のコストダウンといったメリットが得られている。 According to the present invention, when the route information / motion information from a plurality of other ships is received, the preset target route / target speed and the ship's Since it has a control / control device that generates control information that commands route and motion based on the route information and motion information, and sends them to multiple other ships, it is linked and coordinated between the ship and other ships. Therefore, it is possible to efficiently perform towing work, search work, etc., and improve safety during work. In addition, a wide range of ocean bottom geological surveys can be efficiently performed by a plurality of ships, and the survey time can be greatly reduced.
The control / control device is also mounted on a plurality of other ships and includes a control / controlled control unit for determining whether it is controlled or controlled, and when the control / controlled control unit determines that the control is performed. As a controlled ship, it regularly sends a request signal to acquire route information and movement information, so that any ship equipped with a control / control device can be a controlled ship. Advantages such as cost reduction during manufacturing have been obtained.

図１は本発明の実施の形態に係る複数船の自動操船制御方法が適用される複数船の自動操船制御システムの構成を示すブロック図、図２は実施の形態における管制／制御装置の構成を示すブロック図である。
本実施の形態においては、例えば図１に示すように、３隻の船のうち左側の船を管制船１として、残りの２隻を被管制船２、３として説明する。なお、本実施の形態では船の数を３隻としているが、２隻でも良いし、４隻以上でも良い。各船１、２、３には、同じ機能を有する管制／制御装置１０および自動操船装置２０がそれぞれ搭載されている。入力部３０は、被管制船２、３側には図示していないが、自動操船により同じ目標に向かって航行させるための全船の目標航路・目標船速を管制／制御装置１０に入力する装置である。 FIG. 1 is a block diagram showing a configuration of an automatic ship maneuvering control system for a plurality of ships to which an automatic ship maneuvering control method according to an embodiment of the present invention is applied, and FIG. 2 shows a structure of a control / control apparatus in the embodiment. FIG.
In the present embodiment, for example, as shown in FIG. 1, the left ship among the three ships will be described as a control ship 1 and the remaining two ships will be described as controlled ships 2 and 3. In the present embodiment, the number of ships is three, but it may be two or four or more. Each ship 1, 2 and 3 is equipped with a control / control device 10 and an automatic boat maneuvering device 20 having the same function. Although not shown on the controlled ships 2 and 3 side, the input unit 30 inputs to the control / control apparatus 10 the target route and target ship speed of all the ships to be navigated toward the same target by automatic maneuvering. Device.

各船１、２、３に搭載された管制／制御装置１０は、図２に示すように、情報収集処理部１１と、管制／被管制の何れかを選択するためのスイッチ１２と、このスイッチ操作に基づいて自船が管制側か被管制側かを判別する管制／被管制判別部１３と、第１の演算処理部１４と、第２の演算処理部１５と、第３の演算処理部１６と、第４の演算処理部１７とを備えている。その第１の演算処理部１４〜第４の演算処理部１７は、自船が管制側の場合に動作する。   As shown in FIG. 2, the control / control device 10 mounted on each ship 1, 2, 3 includes an information collection processing unit 11, a switch 12 for selecting either control / controlled, and this switch A control / controlled control determination unit 13, a first calculation processing unit 14, a second calculation processing unit 15, and a third calculation processing unit that determine whether the ship is on the controlled side or the controlled side based on the operation. 16 and a fourth arithmetic processing unit 17. The first calculation processing unit 14 to the fourth calculation processing unit 17 operate when the ship is on the control side.

前述した情報収集処理部１１は、管制／被管制判別部１３によって管制側と判断されたとき自船を管制船１として後述する処理を行い、被管制側と判断されたときは自船を被管制船２、３として管制船１の管制下に入るように処理する。
管制船１側においては、第４の演算処理部１７を起動して自動操船装置２０を制御させ、所定時間ｔ１（定期的）毎に被管制船２、３（他船）の位置・船速などの情報を取得するための要求信号を通信部４０およびアンテナ４１を通して送信する。その要求信号に応答して被管制船２、３から位置・船速などの情報が送られてきたときは、例えば、その情報から被管制船２、３の識別符号を順次に抽出して第１の演算処理部１４に送出し、被管制船２、３の位置・船速を順次に抽出して第２の演算処理部１５に送出する。また、第３の演算処理部１６により演算処理された被管制船２、３の管制情報が入力されたときは、通信部４０およびアンテナ４１を通して被管制船２、３に送信する。 The information collection processing unit 11 described above performs the process described later as the controlled vessel 1 when the control / controlled discriminating unit 13 determines that it is the control side, and when it is determined that it is the controlled side, The control ships 2 and 3 are processed so as to enter the control of the control ship 1.
On the controlled ship 1 side, the fourth arithmetic processing unit 17 is activated to control the automatic ship maneuvering device 20, and the positions and speeds of the controlled ships 2, 3 (other ships) at every predetermined time t1 (periodic). A request signal for acquiring such information is transmitted through the communication unit 40 and the antenna 41. When information such as position and boat speed is sent from the controlled vessels 2 and 3 in response to the request signal, for example, the identification codes of the controlled vessels 2 and 3 are sequentially extracted from the information. 1 to the first arithmetic processing unit 14, sequentially extracts the positions and ship speeds of the controlled vessels 2 and 3, and sends them to the second arithmetic processing unit 15. When the control information of the controlled vessels 2 and 3 calculated by the third calculation processing unit 16 is input, the control information is transmitted to the controlled vessels 2 and 3 through the communication unit 40 and the antenna 41.

一方、被管制船２、３側においては、要求信号が受信されたときに自動操船装置２０から自船の位置・船速（図２の括弧内に示す）を読み込んで通信部４０およびアンテナ４１を通して送信し、管制情報が受信されたときはその管制情報（図２の括弧内に示す）を自動操船装置２０に送出して、管制情報に基づく自動操船が行われるようにする。   On the other hand, on the controlled ships 2 and 3 side, when the request signal is received, the position / speed of the ship (shown in parentheses in FIG. 2) is read from the automatic marine vessel maneuvering device 20, and the communication unit 40 and the antenna 41 are read. When the control information is received, the control information (shown in parentheses in FIG. 2) is sent to the automatic ship maneuvering device 20 so that the automatic ship maneuvering based on the control information is performed.

前記の第１の演算処理部１４は、被管制船２、３の識別符号が入力される毎に、予め入力部３０により入力された自船（管制船１）の目標航路・目標船速と被管制船２、３の目標航路・目標船速とからそれぞれ目標相対位置・目標相対船速を算出し第３の演算処理部１６に送出する。第２の演算処理部１５は、被管制船２、３の位置・船速が入力される毎に自船の位置・船速とからそれぞれ相対位置・相対船速を算出し第３の演算処理部１６に送出する。第３の演算処理部１６は、第１の演算処理部１４により算出された目標相対位置・目標相対船速と第２の演算処理部１５により算出された相対位置・相対船速とから自船と他船との相対位置偏差・相対船速偏差を算出し、他船に対する管制情報を生成して情報収集処理部１１に送出する。この処理は、被管制船２，３毎に行われる。   Each time the identification code of the controlled ships 2 and 3 is input, the first arithmetic processing unit 14 calculates the target route / target speed of the own ship (controlled ship 1) input in advance by the input unit 30. The target relative position and target relative ship speed are calculated from the target route and target ship speed of the controlled ships 2 and 3, respectively, and are sent to the third arithmetic processing unit 16. The second calculation processing unit 15 calculates the relative position and relative ship speed from the position and ship speed of the own ship each time the position and ship speed of the controlled vessels 2 and 3 are input, and performs the third calculation process. Send to unit 16. The third arithmetic processing unit 16 uses the target relative position / target relative boat speed calculated by the first arithmetic processing unit 14 and the relative position / relative boat speed calculated by the second arithmetic processing unit 15 to The relative position deviation / relative ship speed deviation between the other ship and the other ship is calculated, and the control information for the other ship is generated and sent to the information collection processing unit 11. This process is performed for each of the controlled ships 2 and 3.

第４の演算処理部１７は、情報収集処理部１１により起動されたときに、所定時間ｔ２（ｔ１＞ｔ２）毎に自動操船装置２０から自船の位置・船速を読み込んで、自船の目標航路・目標船速との偏差を算出し、その結果を自船（管制船１）に対する操船指令情報として自動操船装置２０に送出する。   When activated by the information collection processing unit 11, the fourth arithmetic processing unit 17 reads the position / speed of the ship from the automatic ship maneuvering device 20 every predetermined time t <b> 2 (t <b> 1> t <b> 2). The deviation from the target route / target ship speed is calculated, and the result is sent to the automatic ship maneuvering device 20 as ship maneuvering command information for the ship (control ship 1).

自動操船装置２０は、所定時間ｔ１毎に情報収集処理部１１から要求される自船の位置・船速の情報の読み出しを受けたとき、ＧＰＳ受信機２１から自船の位置および船速検出器２２から自船の船速をそれぞれ読み込んで情報収集処理部１１に送出し、情報収集処理部１１からの管制情報が入力されたときは、その管制情報に基づいて自船を操船する。また、所定時間ｔ２毎に第４の演算処理部１７から要求される自船の位置・船速の情報の読み出しを受けたときは、前記と同様に自船の位置・船速の情報を第４の演算処理部１７に送出し、第４の演算処理部１７からの操船指令情報が入力されたときは、操船指令情報に従って自船を操船する。なお、自動操船装置２０から取得する情報として船の位置・船速としたが、船の方位も含ませるようにしても良い。   When the automatic ship maneuvering device 20 receives the information on the position and speed of the ship requested from the information collection processing unit 11 at every predetermined time t1, the position and speed detector of the ship is received from the GPS receiver 21. The ship speed of the ship is read from 22 and sent to the information collection processing unit 11. When the control information is input from the information collection processing unit 11, the ship is operated based on the control information. In addition, when the information on the ship's position / ship speed requested from the fourth arithmetic processing unit 17 is read at every predetermined time t2, the information on the ship's position / speed is received in the same manner as described above. When the ship operation command information is input from the fourth operation processing unit 17, the own ship is operated according to the ship operation command information. In addition, although the ship position and the ship speed are used as the information acquired from the automatic boat maneuvering apparatus 20, the ship orientation may be included.

次に、前記のように構成された複数船の自動操船制御システムにおいて、管制船１側と被管制船２、３側の動作について説明する。なお、管制船１側の動作については図３を参照しながら説明する。図３は管制船側の管制／制御装置の動作を示すフローチャートである。
管制船１側の管制／制御装置１０においては、情報収集処理部１１が、第４の演算処理部１７を起動し、所定時間ｔ１毎に被管制船２、３に要求信号を通信部４０およびアンテナ４１を通して発振する。第４の演算処理部１７は、所定時間ｔ２毎に自動操船装置２０から位置・船速を読み込んで、予め入力された目標航路・目標船速と比較して自船の位置偏差・船速偏差を求め、操船指令情報として自動操船装置２０に送出し自船の自動操船を制御する。 Next, the operations on the controlled ship 1 side and the controlled ships 2 and 3 side in the automatic ship maneuvering control system configured as described above will be described. The operation on the control ship 1 side will be described with reference to FIG. FIG. 3 is a flowchart showing the operation of the control / control device on the control ship side.
In the control / control device 10 on the controlled ship 1 side, the information collection processing unit 11 activates the fourth arithmetic processing unit 17 and sends a request signal to the controlled ships 2 and 3 every predetermined time t1. Oscillates through the antenna 41. The fourth arithmetic processing unit 17 reads the position / ship speed from the automatic ship maneuvering device 20 at every predetermined time t2, and compares the position / ship speed deviation of the ship with the target route / target speed input in advance. And is sent to the automatic ship maneuvering device 20 as ship maneuvering instruction information to control the automatic ship maneuvering of the ship.

また、管制船１側の情報収集処理部１１は、要求信号の送信に応答して被管制船２、３側から位置・船速の情報が送られてくると、その情報から被管制船２、３の識別符号を順次に抽出して第１の演算処理部１４に送出し、被管制船２、３の位置・船速を順次に抽出して第２の演算処理部１５に送出する。第１の演算処理部１４は、まず、自船（管制船１）の目標航路・目標船速を本装置１０から読み出すと共に、抽出された最初の識別符号に基づいて被管制船２の目標航路・目標船速を本装置１０から読み出し、これらから自船と被管制船２との目標相対位置・目標相対船速を算出し、第３の演算処理部１６に送出する。次いで、２番目の識別符号に基づいて被管制船２の目標航路・目標船速を本装置１０から読み出し、自船（管制船１）の目標航路・目標船速とから被管制船２との目標相対位置・目標相対船速を算出し、第３の演算処理部１６に送出する。   In addition, when information on the position / ship speed is sent from the controlled ship 2 or 3 side in response to the transmission of the request signal, the information collection processing unit 11 on the controlled ship 1 side receives the controlled ship 2 from the information. 3 are sequentially extracted and transmitted to the first arithmetic processing unit 14, and the positions and ship speeds of the controlled vessels 2 and 3 are sequentially extracted and transmitted to the second arithmetic processing unit 15. The first arithmetic processing unit 14 first reads out the target route / target ship speed of the own ship (control ship 1) from the device 10, and based on the extracted first identification code, the target route of the controlled ship 2 The target ship speed is read from the apparatus 10, and the target relative position / target relative ship speed between the own ship and the controlled ship 2 is calculated from these, and sent to the third arithmetic processing unit 16. Next, based on the second identification code, the target route / target ship speed of the controlled ship 2 is read from the apparatus 10 and the target ship / control ship 2 is controlled based on the target route / target ship speed of the ship (control ship 1). The target relative position / target relative ship speed is calculated and sent to the third arithmetic processing unit 16.

第２の演算処理部１５は、被管制船２、３の位置・船速が入力される毎に自船の位置・船速とからそれぞれ相対位置・相対船速を算出して、第３の演算処理部１６に送出し、第３の演算処理部１６は、第１の演算処理部１４により算出された目標相対位置・目標相対船速と第２の演算処理部１５により算出された相対位置・相対船速とから自船と被管制船２、３との相対位置偏差・相対船速偏差をそれぞれ算出し、被管制船２、３に対する管制情報をそれぞれ生成して情報収集処理部１１に送出する。情報収集処理部１１は、被管制船２、３のそれぞれの管制情報が入力されたとき、先の識別符号を付して通信部４０に送出し、アンテナ４１から送信させる。   The second arithmetic processing unit 15 calculates the relative position and the relative ship speed from the position and ship speed of the own ship every time the position and ship speed of the controlled vessels 2 and 3 are input, The third arithmetic processing unit 16 sends the target relative position / target relative boat speed calculated by the first arithmetic processing unit 14 and the relative position calculated by the second arithmetic processing unit 15. -Calculate the relative position deviation and relative ship speed deviation between the ship and the controlled ships 2 and 3 from the relative ship speed, respectively, and generate control information for the controlled ships 2 and 3 respectively. Send it out. When the control information of each of the controlled ships 2 and 3 is input, the information collection processing unit 11 adds the above identification code, sends it to the communication unit 40, and transmits it from the antenna 41.

一方、被管制船２、３側の管制／制御装置１０においては、情報収集処理部１１が、管制船１からの要求信号が受信されたかどうかを監視し、要求信号の受信を検知したときは、自動操船装置２０から自船の位置・船速の情報を読み込み、通信部４０およびアンテナ４１を通して管制船１側に送信する。この情報の送信により管制情報が受信されたときは、自動操船装置２０に管制情報を送出して自船の操船を制御させる。その管制情報により、例えば、被管制船３がもう一隻の被管制船２より遅れている場合、被管制船３の船速を上げたり、また逆に、被管制船２の船速を下げたり、さらには、何れか一方の被管制船が航路から外れている場合は、必要に応じて他方の被管制船の航路をずらして各船間の相対位置を保つようになる。   On the other hand, in the control / control device 10 on the controlled ships 2 and 3 side, when the information collection processing unit 11 monitors whether the request signal from the control ship 1 is received and detects reception of the request signal, Then, the information on the position / speed of the ship is read from the automatic ship maneuvering device 20 and transmitted to the control ship 1 side through the communication unit 40 and the antenna 41. When the control information is received by the transmission of this information, the control information is sent to the automatic ship maneuvering apparatus 20 to control the ship's maneuvering. According to the control information, for example, when the controlled ship 3 is behind the other controlled ship 2, the speed of the controlled ship 3 is increased, or conversely, the speed of the controlled ship 2 is decreased. In addition, when either one of the controlled ships is off the route, the relative position between the vessels is maintained by shifting the route of the other controlled ship as necessary.

以上のように実施の形態よれば、被管制船２、３から位置・船速が送られてきたとき、被管制船２、３のそれぞれの位置・船速に対して、予め設定された目標航路・目標船速と自船（管制船１）の位置・船速を基に位置・船速を指令するそれぞれの管制情報を生成し、被管制船２、３にそれぞれ送信して、自動操船装置２０の自動操船を制御させるようにしたので、管制船１と被管制船２、３との間で連携や協調を考慮した制御が可能になり、このため、曳航作業や捜索作業などを効率よく行うことができると共に、作業中の安全面も向上する。また、広範囲な海底の地質調査においても複数の船で効率よく行うことが可能になり、調査時間を大幅に短縮できる。また、管制／制御装置１０における管制側／被管制側の切替を任意に選択できるように構成されているので、本装置１０を搭載したどの船でも管制船になれるという運用面における自由度や、製造時のコストダウンといったメリットが得られている。   As described above, according to the embodiment, when the position / shipping speed is sent from the controlled ships 2, 3, the preset target is set for each position / shipping speed of the controlled ships 2, 3. Based on the route / target ship speed and the position / ship speed of own ship (control ship 1), each control information for commanding position / ship speed is generated and sent to the controlled ships 2 and 3 respectively. Since the automatic ship maneuvering of the device 20 is controlled, it is possible to control the control ship 1 and the controlled ships 2 and 3 in consideration of cooperation and cooperation. For this reason, the towing work and the search work are efficiently performed. It can be done well and also improves safety during work. In addition, a wide range of ocean bottom geological surveys can be efficiently performed by a plurality of ships, and the survey time can be greatly reduced. In addition, since the control / control device 10 is configured so that switching between the control side and the controlled side can be arbitrarily selected, the degree of freedom in operation that any ship equipped with the device 10 can be a control ship, Advantages such as cost reduction during production are obtained.

本発明の実施の形態に係る複数船の自動操船制御方法が適用される複数船の自動操船制御システムの構成を示すブロック図である。It is a block diagram which shows the structure of the automatic ship steering control system of multiple ships to which the automatic ship steering control method of multiple ships which concerns on embodiment of this invention is applied. 実施の形態における管制／制御装置の構成を示すブロック図である。It is a block diagram which shows the structure of the control / control apparatus in embodiment. 管制船側の管制／制御装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the control / control apparatus by the side of a control ship.

符号の説明Explanation of symbols

１ 管制船、２、３ 被管制船、１１ 情報収集処理部、１２ スイッチ、１３ 管制／被管制判別部、１４ 第１の演算処理部、１５ 第２の演算処理部、１６ 第３の演算処理部、１７ 第４の演算処理部、２０ 自動操船装置、２１ ＧＰＳ受信機、２２ 船速検出器、４０ 通信部、４１ アンテナ。   DESCRIPTION OF SYMBOLS 1 Control ship, 2, 3 Controlled ship, 11 Information collection process part, 12 Switch, 13 Control / controlled control part, 14 1st calculation process part, 15 2nd calculation process part, 16 3rd calculation process Part, 17 4th arithmetic processing part, 20 automatic ship maneuvering device, 21 GPS receiver, 22 ship speed detector, 40 communication part, 41 antenna.

Claims (4)

本船と共に自動操船により航行する複数の他船からの航路情報・運動情報が受信されたときに、各他船の航路情報・運動情報に対して、予め設定された目標航路・目標船速と本船の航路情報・運動情報を基にそれぞれ航路・運動を指令する管制情報を生成し、複数の他船にそれぞれ送信する管制／制御装置を備え、
前記管制／制御装置は、前記複数の他船にも搭載され、管制又は被管制の何れかを判別する管制／被管制判別部を備え、この管制／被管制判別部により管制と判断されたときは管制船として、定期的に前記航路情報・運動情報を取得するための要求信号を送信することを特徴とする複数船の自動操船制御システム。 When route information / motion information is received from multiple other vessels that navigate with the vessel by automatic maneuvering, the target route / target vessel speed and vessel each route information and motion information based generates control information for instructing the route, exercise, comprises a control / control unit that transmits to a plurality of other vessels,
The control / control device is mounted on the plurality of other ships, and includes a control / controlled control unit for determining whether the control or controlled, and when the control / controlled control unit determines that the control is performed. Is a control ship, which periodically transmits a request signal for acquiring the route information / movement information . 前記管制／制御装置は、前記管制／被管制判別部により被管制と判断されたときは被管制船として、前記要求信号に応答して自船の航路情報・運動情報を送信し、前記管制情報が受信されたときは当該管制情報に基づく自動操船が行われるようにすることを特徴とする請求項１記載の複数船の自動操船制御システム。 When the control / control device determines that the control / control device is controlled, the control / control device transmits the route information / motion information of the ship as a controlled ship in response to the request signal. There automatic marine vessel maneuvering control system of a plurality ship according to claim 1, characterized in that as automatic maneuvering based on the control information is performed when received. 前記管制／制御装置は、
予め設定された自船の目標航路・目標船速と他船の目標航路・目標船速とから目標相対位置・目標相対船速を算出する第１の演算処理部と、
自船の航路・船速と他船から取得した航路・船速とから相対位置・相対船速を算出する第２の演算処理部と、
前記第１の演算処理部により算出された目標相対位置・目標相対船速と前記第２の演算処理部により算出された相対位置・相対船速とから自船と他船との相対位置偏差・相対船速偏差を算出し、これを基に他船に対する管制情報を生成する第３の演算処理部と
を備えていることを特徴とする請求項１又は２記載の複数船の自動操船制御システム。 The control / control device comprises:
A first calculation processing unit for calculating a target relative position and a target relative ship speed from a target route and target ship speed of a ship set in advance and a target route and target ship speed of another ship;
A second arithmetic processing unit that calculates a relative position and a relative ship speed from the ship's route and ship speed and the route and ship speed obtained from another ship;
The relative position deviation between the ship and the other ship from the target relative position / target relative ship speed calculated by the first arithmetic processing unit and the relative position / relative ship speed calculated by the second arithmetic processing unit calculating the relative ship speed deviation, the third arithmetic processing unit and that the automatic marine vessel maneuvering control of multiple vessels of claim 1 or 2 Symbol mounting, characterized in that comprises a generating a control information for other ships based on this system. 前記管制／制御装置は、自船の目標航路・目標船速と自船の航路・船速とから位置偏差・船速偏差を算出し、これを操船指令情報として自船の自動操船装置に送出する第４の演算処理部を備えたことを特徴とする請求項３記載の複数船の自動操船制御システム。 The control / control device calculates the position deviation / ship speed deviation from the ship's target route / target speed and own ship's route / ship speed, and sends this to the ship's automatic ship maneuvering device as maneuvering command information. The automatic ship maneuvering control system for a plurality of ships according to claim 3, further comprising a fourth arithmetic processing unit.
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