JP5957695B2 - MOBILE BODY CONTROL DEVICE, HULLE CONTROL DEVICE, SHIP, MOBILE BODY CONTROL METHOD, AND MOBILE BODY CONTROL PROGRAM - Google Patents

Description

  The present invention relates to a hull control method and a hull control device for constantly keeping a ship in the same position.

  In a single fishing fishing boat, it is necessary to fish while staying at a specific position where a large number of target fish such as fish reefs and sets live. In other words, it is necessary to fish with the ship held at a fixed point. However, at sea, the hull may be swept away from a specific target position due to wind and tide.

  For this reason, conventionally, various hull control methods have been devised for keeping a ship at a fixed point even under wind and tidal currents. For example, the ship shown in Patent Document 1 includes a side thruster. The side thruster is a mechanism for moving the hull in the lateral direction, that is, in the starboard and port directions. In addition, some conventional ships include a propeller that can be rotated in the horizontal direction in order to realize such lateral movement.

JP 2002-87389 A

  However, the above-mentioned side thrusters and propellers that can be rotated in the horizontal direction are very large, expensive, and generally attached to large ships. For this reason, it is not very realistic to equip a pleasure boat or small fishing boat with a side thruster or a propeller that can be rotated horizontally. Further, in the case of fishing boats that place importance on economic efficiency, the cost is greatly increased, and therefore it is not possible to easily equip these side thrusters and propellers that can be rotated in the horizontal direction.

  An object of the present invention is to provide a hull control method and a hull control device capable of holding a hull at a fixed point without performing large-scale additional equipment such as a side thruster and a propeller capable of rotating in a horizontal direction.

  The present invention includes a propulsive force generating unit that propels a moving body only in one specific direction, and a moving direction adjusting unit that adjusts the direction of movement by the propulsive force, and controls the moving body to a fixed point. It is the moving body control apparatus to perform. The moving body control device includes a fixed point position setting unit, a moving direction detection unit, and a moving body direction control unit. The fixed point position setting unit sets the position of the fixed point. The moving direction detection unit detects a direction in which the moving body is caused to flow by the disturbance element from a fixed point. The moving body direction control unit controls the attitude of the moving body using the propulsive force generation unit and the moving direction adjustment unit so as to be in the direction opposite to the direction in which a specific one direction flows.

  In this configuration, a propulsive force generating unit that generates propulsive force only in a specific direction under a situation in which a moving body on the water such as a ship is swept away from a fixed point by a disturbance element (for example, wind or tidal current in the case of a hull) The posture of the moving body can be controlled so that the direction in which the moving body flows and the specific direction coincide with each other only with the moving direction adjusting unit that adjusts the moving direction without generating a propulsive force. Thereby, the moving body is held at a fixed point substantially constantly while being moved by the disturbance element.

  The moving direction detection unit of the moving body control device according to the present invention includes a moving body position detecting unit that detects the position of the moving body, and the distance from the fixed point to the moving body based on the position of the fixed point and the position of the moving body. A distance calculation unit for calculating. The movement direction detection unit detects a direction in which the distance flows when the distance is equal to or greater than a predetermined threshold.

  In this configuration, the above-described moving body posture control is performed from the time when the moving body is separated from the fixed point by a predetermined distance or more.

  Moreover, the moving direction detection part of the moving body control apparatus of this invention is provided with the moving body position detection part which detects the position of a moving body. The moving direction detection unit detects the flowing direction based on the position of the moving body detected at two different times.

  In this configuration, after a predetermined time has elapsed, the moving direction of the moving body is detected, and the above-described moving body posture control is performed.

  In addition, the moving body direction control unit of the moving body control device according to the present invention sets the predetermined position on the upstream side in the direction of flow from the fixed point as the reference position with the fixed point position as the reference position, and reaches the target position. The propulsive force generating unit and the moving direction adjusting unit are controlled as described above.

  In this configuration, the moving body moves to the target position set on the upstream side from the fixed point while the attitude is controlled so that the specific direction and the flowing direction gradually coincide with each other. After moving to the target position, the moving body is caused to flow by the disturbance element, and as a result, the moving body can be moved to a fixed point.

  Moreover, this invention is the ship provided with the mobile body control apparatus in any one of the above-mentioned. The main body of the moving body is a hull, the propulsive force generating unit is a propeller that is connected to the power source and generates the propulsive force in the bow-stern direction, and the moving direction adjusting means is a rudder. The moving body direction control unit controls the attitude of the hull so that the direction of the bow is opposite to the direction in which the bow direction flows.

  In this configuration, as a moving body, a case where a propulsive force is specifically obtained only in the bow-stern direction and the moving direction is adjusted by a rudder is shown.

  Further, the propulsive force generator of the ship according to the present invention includes a motor and an engine, and the motor and the engine are connected to each other by switching to a propeller.

  In this configuration, the case where the ship is a hybrid ship that switches between a motor and an engine and uses it as a power source is shown.

  Moreover, the power source of the ship of this invention is an engine.

  In this structure, the case where the ship is a ship which uses an engine as a power source is shown.

  According to this invention, the fixed point holding | maintenance of the moving body which moves on the water, such as a ship, can be easily implement | achieved, without performing a large additional equipment.

1 is a block diagram showing a main configuration of a ship 10 according to a first embodiment of the present invention. It is a flowchart which shows the hull control method of fixed point holding | maintenance based on the 1st Embodiment of this invention. It is a figure for demonstrating the control concept of fixed point holding | maintenance which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the hull control method of the fixed point holding | maintenance which concerns on the 2nd Embodiment of this invention. It is a figure for demonstrating the control concept of fixed point holding | maintenance which concerns on the 2nd Embodiment of this invention.

  A ship provided with a hull control device according to a first embodiment of the present invention and a hull control method will be described with reference to the drawings. FIG. 1 is a block diagram showing the main configuration of a ship 10 according to an embodiment of the present invention.

  The ship 10 includes a hull control device 20, a power source 30, a propeller 31, and a rudder 40. The hull control device 20 includes an antenna 21, a positioning unit 22A, a sensor 22B, a hull control unit 23, a power control unit 24, a rudder control unit 25, and an operation unit 26. The positioning unit 22A corresponds to the “moving body position detecting unit” of the present invention. The hull control unit 23 corresponds to the “position information setting unit”, “movement direction detection unit”, and “distance calculation unit” of the present invention. Further, a set of the hull direction control unit 23, the power control unit 24, and the rudder control unit 25 corresponds to a “movement direction control unit”. Further, the set of the power source 30 and the propeller 31 corresponds to a “propulsion generation unit”. The rudder 40 corresponds to a “moving direction adjusting unit”.

  The antenna 21 receives the GPS positioning signal and outputs it to the positioning unit 22A. The positioning unit 22A performs a positioning calculation using the GPS positioning signal and calculates the position of the ship 10. This positioning calculation is executed at every positioning timing set in advance. The positioning unit 22A outputs the calculated position of the ship 10 to the hull control unit 23.

  The sensor 22B includes, for example, necessary ones among a heading sensor that detects a bow direction, a wind direction sensor, a wind speed sensor, a tide meter, and the like. The sensor 22B outputs the detected bow direction, wind direction, wind speed, and tidal current to the hull control unit 23 as necessary. In addition, what is necessary is just to attach the sensor 22B as needed, and the aspect which is not attached may be sufficient.

  The hull control unit 23 stores a fixed point position set in advance by the user via the operation unit 26. The hull control unit 23 calculates the distance between the position of the ship 10 output from the positioning unit 22A and the fixed point position. Although details will be described later, the hull control unit 23 sets control information for controlling the ship 10 to remain at the fixed point position based on the fixed point position and the position of the ship 10. The control information includes, for example, power amount information and propulsion direction information. Information on the amount of power is output to the power control unit 24. Information on the propulsion direction is output to the rudder control unit 25.

  The power control unit 24 performs drive control of the power source 30 based on the power amount information. The rudder control unit 25 performs rudder angle control of the rudder 40 based on information on the propulsion direction.

  The operation unit 26 is a so-called user interface device, and outputs an operation input by the user to the hull control unit 23.

  The power source 30 is composed of a diesel engine or a motor. Further, a hybrid power mechanism that includes these diesel engines and motors and that can be used depending on the situation may be used. The power source 30 gives the generated power to the propeller 31.

  The ship 10 advances or retreats so as to remain at the fixed position by the propulsion force of the propeller 31 and the rudder angle of the rudder 40.

  In the above description, the position of the ship 10 is measured by the positioning unit 22A, and the distance is calculated by the hull control unit 23. However, the relative speed of the ship 10 is calculated by the positioning unit 22A and the hull control unit is calculated. The distance may be calculated from the integrated value of the relative speed by the hull control unit 23.

  Next, hull control for holding a fixed point according to the present embodiment will be described. FIG. 2 is a flowchart showing a fixed point holding hull control method according to the present embodiment. FIG. 3 is a diagram for explaining a fixed point holding control concept according to the present embodiment.

  First, when the user navigates the ship 10 and reaches the top of the target fish reef or set, an operation input for fixed point setting is performed using the operation unit 26. The operation input information is output to the hull control unit 23. The hull control unit 23 determines and stores the position of the ship 10 input from the positioning unit 22A as the fixed point position Pp as shown in FIG. 3A at the timing when the operation input is performed (S101). Here, the fixed point position Pp may be longitude and latitude or may be coordinates in a preset two-dimensional coordinate system. The fixed point position Pp is given to the positioning unit 22A.

  In this state, when the propulsive force is turned off, that is, when the power source 30 is turned off or the propeller 31 is disconnected from the power source 30, the ship 10 is driven by wind and tidal currents as shown in FIGS. As shown by the broken ship thick arrow 901, it flows from the upstream side to the downstream side in the flowing direction Ddr.

  During this time, the positioning unit 22A measures the position of the ship 10 at a predetermined positioning timing interval, calculates the distance between the measured position and the fixed point position, and outputs the distance to the hull control unit 23 (S102). In addition, what is necessary is just to use the calculation method of the general two-dimensional distance between two points for distance calculation. Such a distance calculation process is continuously performed.

  If the calculated distance is less than the threshold value R (S103: No), the hull control unit 23 performs the positioning and the distance calculation in a state where the above-described propulsive force is turned off, and continues the comparison between the calculated distance and the threshold value R. To do. Note that the threshold R may be set as appropriate by the user, and may be set to about 15 to 30 m, for example.

  As a specific state, it is the state shown in FIG. 3 (B), and the above-mentioned propulsive force is turned off while the ship 10 exists in a circle having a distance of the threshold R around the fixed point position Pp. Positioning and calculation of the distance are performed, and the comparison between the calculated distance and the threshold value R is continued.

  As shown in FIG. 3C, when the hull control unit 23 detects that the calculated distance is equal to or greater than the threshold value R (S103: Yes), the hull control unit 23 starts feedback control so as to return to the fixed point position Pp ( S104).

  Specifically, the hull control unit 23 sets the vector direction starting from the fixed point position Pp and ending at the position of the ship 10 at the timing when the calculated distance is detected to be equal to or greater than the threshold R as the flow direction. It is detected as Ddr (moving direction from a fixed point).

  Next, the hull control unit 23 automatically navigates the ship 10 such that the position of the ship 10 at the timing when the calculated distance is detected to be equal to or greater than the threshold R is set as the start point and the fixed point position Pp is set as the end point. For this purpose (corresponding to the thick solid line in FIG. 3D). At this time, since the route of the automatic navigation for return cannot be made straight, the hull control unit 23 sets the route while taking into consideration the influence received by the ship 10 along the flow direction Ddr. Further, the hull control unit 23, when the ship 10 reaches the fixed point position Pp, the ship's tail direction and the flow direction Ddr substantially coincide with each other so that the bow is flown and is upstream of the direction Ddr. Set.

  When the route is set, the hull control unit 23 sequentially determines control information including information on the amount of power and information on the propulsion direction according to the route, and supplies the control information to the power control unit 24 and the rudder control unit 25. By controlling the power source 30, the propeller 31, and the rudder 40 based on such control information, the ship 10 can move to the fixed point position Pp along the set route as indicated by a white thick arrow 902 in FIG. To sail automatically.

  At this time, the hull control unit 23 compares the position sequentially input from the positioning unit 22A with the set route, and if there is a deviation from the set route, the control information is appropriately updated, and the ship is moved along the set route. Control 10 to sail.

  Furthermore, if the above-mentioned heading sensor is provided, the bow direction can be used for automatic navigation along the set route, which is effective. Further, when returning to the fixed point position Pp, it is possible to easily detect that the bow-stern direction and the flow direction Ddr substantially coincide with each other and the bow direction is flown and upstream of the direction Ddr. .

  If a wind speed sensor, a wind direction sensor, and a tidal current sensor are provided, it is possible to detect a change in the direction Ddr from the detected values of these sensors, and it is effective for optimizing the set route and appropriately correcting it.

  Such automatic navigation to the fixed point position Pp is continuously executed until it is detected that the ship 10 has returned to the fixed point position Pp (S105: No → S104). Whether or not the ship 10 has returned to the fixed point position Pp can be determined based on whether or not the position of the measured ship 10 matches the fixed point position Pp, whether the calculated distance is substantially zero, or the like. It should be noted that the fact that the bow direction and the flow direction Ddr are substantially coincident and the bow direction is flowed and is upstream of the direction Ddr can be easily detected with a heading sensor. From the change of the positioning position at each timing in the process of approaching the position Pp, the bow direction can be roughly estimated.

  When the ship 10 returns to the fixed point position Pp as shown in FIG. 3 (E) by such automatic navigation, the hull control unit 23 detects this (S105: Yes). Then, the hull control unit 23 shifts to the fixed point holding control only by the forward movement and the reverse movement as shown in FIGS. 3 (F) and 3 (G) (S106). Note that FIGS. 3F and 3G show a case where only forward movement is used.

  Specifically, when detecting that the ship 10 has returned to the fixed point position Pp, the hull control unit 23 performs control to turn off the propulsive force and maintain the rudder parallel to the bow-stern direction. When such control is performed, as shown by a broken ship arrow 911 in FIG. 3F, the flow is caused to flow from the upstream side to the downstream side in the flowing direction Ddr. At this time, since the flowing direction Ddr and the fore-and-aft direction are substantially coincident (parallel), it is agreed that the ship 10 moves backward.

  The hull control unit 23 continuously acquires the position of the ship 10 that has been measured, and when the position of the ship 10 is separated from the fixed point position Pp by a predetermined distance, the hull control unit 23 controls the propulsion to turn on and move forward. In addition, the predetermined distance used as the trigger which turns on the driving force in this case should be smaller than the above-mentioned threshold value R, for example, should be about 10 m or less. This predetermined distance can also be set appropriately by the user.

  Here, when the ship 10 returns to the original fixed point position Pp, the bow direction is flushed with the direction Ddr, and the bow direction is flushed and is upstream of the direction Ddr. Therefore, at the timing when the propulsive force is turned on again, the bow-stern direction and the flow direction Ddr substantially coincide with each other, and the bow direction is flowed and becomes upstream of the direction Ddr. Therefore, only forward control by the propeller 31 and the rudder 40 is performed. Thus, as indicated by the thick thick arrow 912 in FIG. 3G, it is possible to return to the fixed point position Pp linearly. When the ship 10 returns to the fixed point position Pp, the hull control unit 23 detects this, turns off the propulsive force, and performs control to keep the rudder parallel to the bow-stern direction.

  Thereafter, the fixed point holding control based on the simple forward control by the propeller 31 and the rudder 40 is continuously executed.

  By executing the control as described above, automatic fixed point holding control of the ship 10 without performing a large additional equipment such as a side thruster in addition to the propeller 31 and the rudder 40 originally provided in the ship 10. Can be easily realized.

  Next, a ship provided with a hull control device according to a second embodiment and a hull control method will be described with reference to the drawings. In addition, since the structure of the hull control apparatus and ship of this embodiment is the same as 1st Embodiment except the process of the hull control part 23, description other than the process of the hull control part 23 is abbreviate | omitted. Therefore, hereinafter, only hull control for holding a fixed point in the hull control unit 23 will be described. FIG. 4 is a flowchart illustrating the fixed point holding hull control method according to the present embodiment. FIG. 5 is a diagram for explaining the fixed point holding control concept according to the present embodiment.

  First, similarly to the first embodiment, when the user navigates the ship 10 and reaches the target fish reef or the top of the target, an operation input for fixed point setting is performed using the operation unit 26. The operation input information is output to the hull control unit 23. The hull control unit 23 determines the position of the ship 10 input from the positioning unit 22A as the fixed point position Pp as shown in FIG. 5A at the timing (T = to) when the operation input is performed, and stores it. (S201). Further, the hull control unit 23 includes a timer, and starts timing with the timing at which the fixed point position Pp is determined as the reference timing T = to.

  When the propulsive force is turned off in this state, the ship 10 breaks the ship from the upstream side to the downstream side in the flowing direction Ddr along the flowing direction Ddr caused by wind or tidal current as shown in FIG. As shown by a thick arrow 901, the flow is performed.

  When the hull control unit 23 detects that the timing T = to + Δt after a predetermined time from the reference timing, the positioning position acquired by the positioning unit 22A at this timing is automatically set to the target position Pt based on the fixed point position Pp. This is adopted as the position of the hull 10 at the start of navigation (S202).

  Based on the position of the adopted hull 10 and the fixed point position Pp, the hull control unit 23 starts the flow direction Ddr (moving direction from the fixed point), that is, the fixed point position Pp, and the adopted position of the hull 10 as the end point. The direction of the vector is calculated. As shown in FIG. 5B, the hull control unit 23 sets a predetermined position upstream of the fixed point position Pp along the flow direction Ddr as the target position Pt.

  The hull control unit 23 sets a route (corresponding to the thick solid line in FIG. 5C) for automatically navigating the vessel 10 with the position of the adopted hull 10 as a start point and the target position Pt as an end point. At this time, the hull control unit 23 is paraphrased so that when the ship 10 reaches the target position Pt, the bow tail direction and the flow direction Ddr are substantially coincided with each other, and the bow is flown and is upstream of the direction Ddr. For example, the route is set so that the bow direction and the direction Ddr are reversed.

  When the route is set, the hull control unit 23 sequentially determines control information including information on the amount of power and information on the propulsion direction according to the route, and supplies the control information to the power control unit 24 and the rudder control unit 25. By controlling the power source 30, the propeller 31, and the rudder 40 based on such control information, the ship 10 can move to the target position Pt along the set route as indicated by a white thick arrow 902A in FIG. (S203).

  At this time, the hull control unit 23 compares the position sequentially input from the positioning unit 22A with the set route, and if there is a deviation from the set route, the control information is appropriately updated, and the ship is moved along the set route. Control 10 to sail.

  Further, as described above, if the heading sensor is provided, the bow direction can be used for automatic navigation along the set route, which is effective. Further, when the vehicle arrives at the target position Pt, the bow-stern direction and the flow direction Ddr substantially coincide with each other, and it can be easily detected that the bow direction is flown and is upstream of the direction Ddr. . In addition, as described above, if a wind speed sensor, a wind direction sensor, and a tidal current sensor are provided, it is possible to detect a change in the direction Ddr that is passed from these sensor detection values, which is effective for optimization of the set route and appropriate correction. is there.

  Such automatic navigation to the target position Pt is continuously executed until it is detected that the ship 10 has arrived at the target position Pt (S204: No → S203). Whether or not the ship 10 has arrived at the target position Pt can be determined based on whether or not the position of the measured ship 10 and the coordinates of the set target position Pt match. It should be noted that the fact that the bow direction and the flow direction Ddr are substantially coincident and the bow direction is flowed and is upstream of the direction Ddr can be easily detected with a heading sensor. From the change of the positioning position at each timing in the process of approaching the position Pt, the bow direction can be roughly estimated.

  When the ship 10 arrives at the target position Pt as shown by the solid line in FIG. 5C by such automatic navigation, the hull control unit 23 detects this (S204: Yes). Then, the hull control unit 23 shifts to the fixed point holding control only by the forward movement and the reverse movement as shown in FIGS. 5D, 5E, and 5F (S205).

  Specifically, when detecting that the ship 10 has arrived at the target position Pt, the hull control unit 23 performs control to turn off the propulsive force and maintain the rudder parallel to the bow-stern direction. When such control is performed, as shown by a broken ship thick arrow 911 in FIG. 5D, the flow is caused to flow from the upstream side to the downstream side in the flowing direction Ddr. At this time, since the flowing direction Ddr and the fore-and-aft direction are substantially coincident (parallel), it is agreed that the ship 10 moves backward.

  Thus, since the fixed point position Pp is flowed with respect to the target position Pt and is downstream in the direction Ddr, when the hull 10 moves backward, the position of the hull 10 is as shown by the solid line in FIG. It coincides with the fixed point position Pp at the timing. Further, if the propulsion force is kept off as it is, as shown by a broken ship thick arrow 911 in FIG. 5E, it flows from the fixed point position Pp further downstream along the flowing direction Ddr.

  The hull control unit 23 continuously acquires the position of the ship 10 that has been positioned, and when the position of the ship 10 is separated from the fixed point position Pp by a predetermined distance downstream in the flow direction Ddr, the hull control unit 23 turns on the propulsive force. Control to move forward.

  Here, when the ship 10 arrives at the original target position Pt and passes through the fixed point position Pp, the bow-stern direction and the flow direction Ddr substantially coincide with each other, the bow direction is flowed, and the upstream side of the direction Ddr ( The bow direction and the flow direction are opposite directions). Therefore, even when the propulsive force is turned on again, the bow direction and the flow direction Ddr are substantially coincident with each other, and the bow direction is flowed and becomes the upstream side of the direction Ddr. Therefore, only forward control by the propeller 31 and the rudder 40 is performed. As shown by the white thick arrow 912 in FIG. 5 (F), it is possible to return to the fixed point position Pp linearly. When the ship 10 returns to the fixed point position Pp, the hull control unit 23 detects this, turns off the propulsive force, and performs control to keep the rudder parallel to the bow-stern direction.

  Thereafter, the fixed point holding control based on the simple forward control by the propeller 31 and the rudder 40 is continuously executed.

  Even if the above control is executed, automatic fixed point holding control of the ship 10 without performing a large additional equipment such as a side thruster in addition to the propeller 31 and the rudder 40 originally provided in the ship 10. Can be easily realized.

  In the present embodiment, the hull control unit 23 causes the hull 10 to flow in a direction Ddr (moving direction) at one timing (T = to + Δt) after a predetermined time from the fixed point position Pp determination timing (T = to). However, it is also possible to sequentially acquire the position of the hull 10 at preset time intervals (cycles) and detect the direction Ddr that is flowed at each position acquisition timing. In this case, for example, the hull control unit 23 may determine the flow direction Ddr for automatic navigation by averaging a plurality of detected flow directions Ddr, and the latest flow direction Ddr for automatic navigation may be determined. The flow direction Ddr may be set. Further, the hull control unit 23 measures the displacement in the plurality of flowing directions Ddr, and when the displacement in the flowing direction Ddr continues to be substantially zero, the flowing direction Ddr is used for the flow for automatic navigation. The direction Ddr may be set.

  In the present embodiment, the target position Pt is set on the upstream side of the fixed point position Pp, but can be set on the downstream side. However, when set to the downstream side, it is necessary to perform forward control further after reaching the target position Pt. In addition, when the target position Pt is set on the downstream side, the position of the hull 10 at the timing when the flow direction Ddr is detected and the target position Pt become close to each other, so when the hull 10 reaches the target position Pt. When the automatic navigation is performed so that the bow direction and the flow direction Ddr are substantially coincided with each other and the bow direction is flowed and is upstream of the direction Ddr, the route is temporarily moved far from the fixed point position Pp or the target position Pt. May have to be set. Therefore, it is desirable to set the target position Pt on the upstream side of the fixed point position Pp.

  In addition, in the first embodiment, the flow direction Ddr is detected based on the distance, and in the second embodiment, the time is used as a reference. However, the flow direction is determined by combining both the distance and the time. Ddr may be detected. For example, the hull control unit 23 presets a distance threshold and a detection timing time for the flow direction Ddr. If there is no movement of the hull 10 exceeding the distance threshold before the detection timing, the hull control unit 23 detects the direction Ddr that is flowed at the detection timing. On the other hand, when the hull control unit 23 detects that the amount of movement of the hull 10 exceeds the distance threshold before the detection timing, the hull control unit 23 changes the flow direction Ddr at the timing when the amount of movement exceeds the distance threshold. To detect.

  Further, the combination of the detection timing of the flowing direction Ddr and the return to the fixed point position Pp or the movement to the target position Pt in each of the above embodiments may be reversed. That is, the flow direction Ddr detected by the distance threshold R may be detected and moved to the target position Pt, or the flow direction Ddr may be detected after a predetermined time and returned to the fixed point position Pp.

  In addition, although the example which forms a function part separately was shown in the above-mentioned description, 22 A of positioning parts, the hull control part 23, the power control part 24, and the rudder control part 25 can be combined suitably and integrated. it can. In this case, the above-described hull control can be realized by programming the above-described processing and storing it in a storage medium, and reading and executing the hull-control program by a calculator (computer or the like).

  In the above description, an example in which the positioning position when the ship 10 reaches the fixed point position Pp is set as the fixed point position Pp is shown. However, if a chart is provided, the ship 10 reaches the fixed point position Pp. It is also possible to set the fixed point position Pp before performing. However, in this case, since the direction Ddr is not detected from the trajectory of the ship 10 as described above, the direction Ddr is estimated and detected using various sensors such as a wind direction sensor, a wind speed sensor, and a tide meter. There is a need to. On the other hand, as described above, when the fixed point position Pp is detected at the positioning position at the time when the fixed point position Pp is reached, the temporary position can be temporarily stopped at the fish reef or the sea that is the fixed point position Pp. The fixed point position Pp can be determined with reference to the fishing results during the stopping period.

  In the above description, a ship is shown as an example of the moving body. The configuration and processing of can be applied.

10: ship, 20: hull control device, 21: antenna, 22A: positioning unit, 22B: sensor, 23: hull control unit, 24: power control unit, 25: rudder control unit, 26: operation unit, 30: power source , 31: propeller, 40: rudder

Claims (15)

A thrust generating unit for viewing promotion of the specific one direction movable body that moves on water or underwater, and a moving direction adjustment unit for adjusting the direction of movement by the driving force provided to the moving body, the moving body A mobile control device that performs control to be fixed at a fixed point,
A fixed point position setting unit for setting the position of the fixed point;
A moving direction detection unit that detects a direction in which the moving body is caused to flow by a disturbance element from the fixed point;
A moving body direction control unit that controls the posture of the moving body using the propulsive force generation unit and the moving direction adjustment unit so that the specific one direction is opposite to the flowing direction;
Equipped with a,
The moving body direction control unit
Using the position of the fixed point as a reference position, a predetermined position on the upstream side in the flowing direction from the fixed point is set as a target position,
Controlling the propulsive force generating unit and the moving direction adjusting unit to reach the target position;
Moving body control device. The moving body control device according to claim 1,
The moving direction detector is
A moving body position detector for detecting the position of the moving body;
A distance calculation unit that calculates a distance from the fixed point to the moving body based on the position of the fixed point and the position of the moving body;
A moving body control device that detects the flowing direction when the distance is equal to or greater than a predetermined threshold. The moving body control device according to claim 1,
The moving direction detector is
A moving body position detecting unit for detecting the position of the moving body;
A moving body control device that detects the flowing direction based on the position of the moving body detected at two different times.   It is a moving body control apparatus in any one of Claim 1 thru | or 3, Comprising:
  The mobile body is a ship.
  Mobile control device. A mobile control equipment according to claim 4,
The main body of the mobile body is a hull,
The propulsive force generating unit is a propeller that is connected to the power source and generates a propulsive force in the stern direction.
The moving direction adjustment unit is a rudder,
The moving body direction control unit is a moving body control device that controls the attitude of the hull so that the bow direction is opposite to the flowing direction.   A hull control device that includes a propulsion force generation unit that propels a hull only in a specific direction and a movement direction adjustment unit that adjusts the direction of movement by the propulsion force, and that controls the hull to a fixed point. And
  A fixed point position setting unit for setting the position of the fixed point;
  A moving direction detection unit for detecting a direction in which the hull is caused to flow by a disturbance element from the fixed point;
  A moving body direction control unit that controls the attitude of the hull using the propulsive force generation unit and the moving direction adjustment unit so that the specific direction is opposite to the flowing direction;
  With
  The moving body direction control unit
  Using the position of the fixed point as a reference position, a predetermined position on the upstream side in the flowing direction from the fixed point is set as a target position,
  Controlling the propulsive force generating unit and the moving direction adjusting unit to reach the target position;
Hull control device.   The hull control device according to claim 6,
  The propulsive force generating unit is a propeller that is connected to the power source and generates a propulsive force in the stern direction.
  The moving direction adjustment unit is a rudder,
  The moving body direction control unit controls the attitude of the hull so that the bow direction is opposite to the flowing direction. A ship equipped with the mobile control device according to claim 5 or the hull control device according to claim 7 ,
The power source includes a motor and an engine,
The motor and the engine are connected to the propeller by switching. A ship equipped with the mobile control device according to claim 5 or the hull control device according to claim 7 ,
The power source is an engine. While viewing promotion of the specific one direction movable body that moves on water or underwater, by adjusting the direction of movement by the driving force, a mobile control method for controlling fasten mobile to fixed point ,
A fixed point position setting step for setting the position of the fixed point;
A moving direction detection step of detecting a direction in which the moving body is caused to flow by a disturbance element starting from the fixed point;
A moving body direction control step of controlling the posture of the moving body by adjusting the propulsive force and the moving direction so that the specific one direction is opposite to the flowing direction;
I have a,
The moving body direction control process
Using the position of the fixed point as a reference position, a predetermined position on the upstream side in the flowing direction from the fixed point is set as a target position,
Controlling the propulsive force and the moving direction to reach the target position;
Moving body control method. It is a moving body control method of Claim 10 , Comprising:
The moving direction detection step includes
A moving body position detecting step for detecting the position of the moving body;
A distance calculating step of calculating a distance from the fixed point to the moving body based on the position of the fixed point and the position of the moving body;
A moving body control method for detecting the flowing direction when the distance is equal to or greater than a predetermined threshold. It is a moving body control method of Claim 10 , Comprising:
The moving direction detection step includes
A moving body position detecting step for detecting the position of the moving body;
A moving body control method for detecting the flowing direction based on the position of the moving body detected at two different times. While viewing promotion of the specific one direction movable body that moves on water or underwater, by adjusting the direction of movement by the driving force, the moving object control program for executing a control to keep the mobile on the fixed point on the computer Because
The computer
Fixed point position setting processing for setting the position of the fixed point;
A moving direction detection process for detecting a direction in which the moving body is caused to flow by a disturbance element starting from the fixed point;
A moving body direction control process for controlling the posture of the moving body by adjusting the propulsive force and the moving direction so that the specific one direction is opposite to the flowing direction;
Run
As a moving body direction control process,
Using the position of the fixed point as a reference position, a predetermined position on the upstream side in the flowing direction from the fixed point is set as a target position,
Controlling the propulsive force and the moving direction to reach the target position;
Moving body control program. A moving body control program according to claim 13 ,
The computer
As the moving direction detection process,
A moving body position detection process for detecting the position of the moving body;
A distance calculation process for calculating a distance from the fixed point to the moving body based on the position of the fixed point and the position of the moving body;
A moving body control program for detecting the flowing direction when the distance is equal to or greater than a predetermined threshold. A moving body control program according to claim 13 ,
The computer
As the moving direction detection process,
A moving body position detection process for detecting the position of the moving body;
A moving body control program for detecting the flowing direction based on the position of the moving body detected at two different times.

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