WO2023053966A1

WO2023053966A1 - Ship maneuvering system, ship control device, ship control method, and program

Info

Publication number: WO2023053966A1
Application number: PCT/JP2022/034411
Authority: WO
Inventors: 真人白尾; 隆史神谷; 潤徳重; まり乃秋田
Original assignee: 日本発條株式会社
Priority date: 2021-09-29
Filing date: 2022-09-14
Publication date: 2023-04-06
Also published as: JP2023049504A

Abstract

Provided is a ship maneuvering system comprising: an actuator having a function of generating thrust for a ship and a function of generating a moment in the ship; an operating unit that receives input operations by a ship operator; and a ship control device that operates the actuator, wherein when the operating unit receives the input operation for stopping the operation of the actuator while the ship control device is operating the actuator, the ship control device operates the actuator such that the actuator generates thrust in the opposite direction of an inertial force occurring to the ship and/or generates, in the ship, a moment in the opposite direction of a moment of inertia occurring to the ship, without the need for the operating unit to receive the input operation.

Description

Ship maneuvering system, ship control device, ship control method and program

The present invention relates to a ship maneuvering system, a ship control device, a ship control method, and a program.
This application claims priority based on Japanese Patent Application No. 2021-159280 filed in Japan on September 29, 2021, the content of which is incorporated herein.

Patent Literature 1 describes a technique that enables a ship to be operated as if it were a vehicle. In the technique described in Patent Literature 1, the hull is provided with a brake pedal that limits the moving speed of the hull. In addition, in the technique described in Patent Document 1, when the brake pedal is strongly depressed, the output direction of the outdrive device is reversed (that is, when the brake pedal is strongly depressed when the ship moves forward, the backward thrust is generated) and the vessel slows down. Furthermore, in the technique described in Patent Literature 1, a moving ship is brought to a halt by depressing the brake pedal, and when the brake pedal is continued to be depressed, the ship is kept at a fixed point.
In other words, with the technique described in Patent Document 1, the operator must depress the brake pedal in order to bring the moving ship to a stopped state.

Patent Document 2 discloses that if the operator simply stops the engine or disengages the clutch in order to stop the ship, the ship continues to coast by inertia and travels a considerable distance before coming to a stop. It is stated that it will happen. Further, Patent Document 2 describes that when a ship is sailing forward at full speed, the operator should put the clutch in reverse to slightly increase the engine speed in order to stop the ship in a short distance. Are listed.
In other words, in the technique described in Patent Document 2, in order to bring the moving vessel into a stopped state, the operator must engage the clutch in reverse to slightly increase the engine speed.
That is, in the techniques described in Patent Documents 1 and 2, the operator must perform an input operation in order to stop the moving ship without continuing to move due to inertia. In other words, with the techniques described in Patent Documents 1 and 2, the operator must perform an input operation in order to cancel the inertial force generated in the ship when the ship moves from the moving state to the stopped state.

Japanese Patent No. 6642898 JP-A-5-124586

In view of the above-described problems, the present invention eliminates the need for an operator's input operation for canceling the inertial force and/or moment of inertia generated in the vessel when the actuator is shifted from the activated state to the actuator deactivated state. It is an object of the present invention to provide a ship maneuvering system, a ship control device, a ship control method, and a program capable of controlling a ship.

One aspect of the present invention includes an actuator having a function of generating a propulsive force for a ship and a function of generating a moment in the ship, an operation unit that receives an input operation from a ship operator, and a ship control device that operates the actuator. wherein, when the operation unit receives an input operation to stop the operation of the actuator while the ship control device is operating the actuator, the ship control device controls the inertial force generated in the ship so that the actuator generates a thrust in a direction opposite to the direction of and/or causes the ship to generate a moment in a direction opposite to the direction of the moment of inertia occurring in the ship. A marine vessel maneuvering system that operates the actuator without the need to accept an input operation.

According to one aspect of the present invention, a marine vessel steering system includes an actuator having a function of generating a propulsive force of a vessel and a function of generating a moment in the vessel; wherein, when the operation unit receives an input operation to stop the operation of the actuator while the ship control device is operating the actuator, the inertia generated in the ship The operation unit is configured such that the actuator generates a thrust in a direction opposite to the direction of the force and/or causes the ship to generate a moment in a direction opposite to the direction of the moment of inertia occurring in the ship. is a ship control device that operates the actuator without the need to accept an input operation.

According to one aspect of the present invention, a marine vessel steering system includes an actuator having a function of generating a propulsive force of a vessel and a function of generating a moment in the vessel; a first step of actuating the actuator in response to an input operation received by the operation unit; When the operation unit receives an input operation to stop the actuation of the actuator, the actuator generates thrust in a direction opposite to the direction of the inertial force generated in the ship, and/or the ship and a second step of actuating the actuator without the need for the operation unit to accept an input operation so as to generate a moment in the vessel in a direction opposite to the direction of the generated moment of inertia. .

According to one aspect of the present invention, a marine vessel steering system includes an actuator having a function of generating a propulsive force of a vessel and a function of generating a moment in the vessel; a first step of causing a computer mounted on a ship control device to operate the actuator according to an input operation received by the operation unit; When the operation unit receives an input operation to stop the operation of the and a second step of actuating the actuator without the need for the operation unit to receive an input operation so as to generate a moment in the vessel in a direction opposite to the direction of the inertia moment.

INDUSTRIAL APPLICABILITY According to the present invention, a ship maneuvering system that eliminates the need for an input operation by a ship operator to cancel the inertial force and/or moment of inertia generated in the ship when the actuator transitions from an operating state to an actuator stop state. A control device, ship control method and program can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows an example of the ship maneuvering system provided with the ship to which the ship control apparatus of 1st Embodiment was applied. It is a figure which shows an example of the behavior of the ship of 1st Embodiment when an operation part receives input operation which advances a ship, and then receives input operation which stops advancing of a ship. 9 is a flowchart for explaining an example of processing executed by the ship control device of the first embodiment when the operation unit receives an input operation for advancing the ship and then receives an input operation for stopping the advance of the ship; . 9 is a flowchart for explaining an example of processing executed by the ship control device of the first embodiment when the operation unit receives an input operation for causing the ship to go astern and then receives an input operation for stopping the ship from going astern; . Processing executed by the ship control device of the first embodiment when the operation unit receives an input operation for causing the ship to turn clockwise on the spot, and then receives an input operation for stopping the ship from turning clockwise on the spot. It is a flow chart for explaining an example of. Executed by the ship control device of the first embodiment when the operation unit receives an input operation to turn the ship counterclockwise on the spot, and then receives an input operation to stop the ship from turning counterclockwise on the spot. 3 is a flow chart for explaining an example of a process for processing; Executed by the ship control device of the first embodiment when the operation unit receives an input operation to move the ship forward and turn clockwise, and then receives an input operation to stop the ship from moving forward and turning clockwise. 4 is a flowchart for explaining an example of processing; Executed by the ship control device of the first embodiment when the operation unit receives an input operation to cause the ship to move astern and turn counterclockwise, and then receives an input operation to stop the ship from moving backward and turning counterclockwise. 10 is a flowchart for explaining an example of processing performed; 9 is a flowchart for explaining an example of processing executed by the ship control device of the second embodiment when the operation unit receives an input operation for advancing the ship and then receives an input operation for stopping the advance of the ship; . 10 is a flowchart for explaining an example of processing executed by the ship control device of the second embodiment when the operation unit receives an input operation for causing the ship to go astern and then receives an input operation for stopping the ship from going astern; . Processing executed by the ship control device of the second embodiment when the operation unit receives an input operation for causing the ship to turn clockwise on the spot, and then receives an input operation for stopping the ship from turning clockwise on the spot. It is a flow chart for explaining an example of. Executed by the ship control device of the second embodiment when the operation unit receives an input operation to turn the ship counterclockwise on the spot, and then receives an input operation to stop the ship from turning counterclockwise on the spot. 3 is a flow chart for explaining an example of a process for processing; Executed by the ship control device of the second embodiment when the operation unit receives an input operation to move the ship forward and turn clockwise, and then receives an input operation to stop the ship from moving forward and turning clockwise. 4 is a flowchart for explaining an example of processing; Executed by the ship control device of the second embodiment when the operation unit receives an input operation to cause the ship to move astern and turn counterclockwise, and then receives an input operation to stop the ship from moving backward and turning counterclockwise. 10 is a flowchart for explaining an example of processing performed; It is a figure which shows an example of the ship maneuvering system provided with the ship to which the ship control apparatus of 3rd Embodiment was applied. FIG. 12 is a diagram for explaining the behavior of the boat of the comparative example when the operation unit receives an input operation to advance the boat and then receives an input operation to stop the boat from moving forward; It is a flowchart for demonstrating the process performed in the ship of a comparative example.

Before describing embodiments of a ship maneuvering system, a ship control device, a ship control method, and a program according to the present invention, a ship control method of a comparative example will be explained.
FIG. 16 is a diagram for explaining the behavior of the ship R11 of the comparative example when the operation unit receives an input operation for advancing the ship R11 and then receives an input operation for stopping the advance of the ship R11. FIG. 17 is a flow chart for explaining the processing executed in the ship R11 of the comparative example.
In the comparative example shown in FIGS. 16 and 17, in step SR1 of FIG. 17, for example, the ship control device of the ship R11 determines whether or not the operating unit has received an input operation to move the ship R11 forward. When the operation unit has not received an input operation for advancing the ship R11, step SR1 is repeatedly executed. On the other hand, when the operation unit receives an input operation for moving the ship R11 forward, the process proceeds to step SR2.
In step SR2, the ship R11 generates a propulsive force that moves the ship R11 forward. As a result, as shown in FIG. 16(C), the ship R11 moves forward (that is, the ship R11 moves upward in FIG. 16).
Next, at step SR3 in FIG. 17, the ship control device of the ship R11, for example, determines whether or not the operation unit has received an input operation to stop the forward movement of the ship R11. When the operation unit has not received an input operation to stop the forward movement of the ship R11, step SR3 is repeatedly executed. On the other hand, when the operation unit receives an input operation to stop the forward movement of the ship R1, the process proceeds to step SR4.
In step SR4, the vessel R11 stops generating upward propulsive force in FIG. As a result, an upward inertial force (going forward) in FIG. 16 that tries to continue forward movement is generated, and the ship R11 moves upward in FIG. 16 (going forward).
In the ship R11 of the comparative example, the operator must perform an input operation to cancel the inertial force in order to suppress this forward movement.

<First Embodiment>
A first embodiment of a ship maneuvering system, a ship control device, a ship control method, and a program according to the present invention will be described below.
FIG. 1 is a diagram showing an example of a ship maneuvering system 1 including a ship 11 to which a ship control device 11C of the first embodiment is applied.
The ship control device 11C of the first embodiment includes a PWC and a jet propulsion device having functions similar to those of the personal watercraft (PWC, personal watercraft) described in FIG. 1 of Japanese Patent No. 5196649, for example. (For example, ships equipped with outboard motors described in Japanese Patent No. 6198192, Japanese Patent Application Laid-Open No. 2007-22284, ships equipped with inboard/outboard motors or inboard engines, large ships equipped with side thrusters, etc.) It is applicable to any type of vessel 11 such as
In the example shown in FIG. 1 , the ship maneuvering system 1 includes a ship 11 . The ship 11 includes an actuator 11A, an operation section 11B, a ship control device 11C, a heading detection section 11D, a ship speed detection section 11E, and a ship position detection section 11F.
The actuator 11A includes a rudder portion 11A1 and a thrust force generating portion 11A2. The rudder portion 11A1 has a function of generating a moment in the ship 11 . The thrust generator 11A2 has a function of generating a propulsive force for the ship 11 .
In an example where the vessel 11 is a PWC, the actuator 11A includes, for example, the engine, nozzle, deflector, trim actuator, bucket, bucket actuator, etc. described in FIG. 1 of JP-A-2019-171925.

In the example shown in FIG. 1 , the operation unit 11B receives an input operation from the operator of the ship 11 . The operating section 11B includes, for example, a steering section 11B1 and a throttle operating section 11B2. The steering section 11B1 receives an input operation by the operator who operates the steering section 11A1. The throttle operation unit 11B2 receives an input operation by the operator who operates the thrust force generation unit 11A2.
In an example where the ship 11 is a PWC, the steering unit 11B1 and the throttle operation unit 11B2 are, for example, the steering handle device described in FIG. It is configured in the same way as the steering unit.

In the example shown in FIG. 1, the vessel control device 11C operates the actuator 11A based on the input operation of the operator of the vessel 11 received by the operation unit 11B.
Specifically, the vessel control device 11C can operate the actuator 11A so that the thrust force generating section 11A2 of the actuator 11A generates a propulsive force that moves the vessel 11 forward. The vessel control device 11C can operate the actuator 11A so that the thrust force generating section 11A2 of the actuator 11A generates a propulsion force for moving the vessel 11 backward.
Further, the vessel control device 11C can operate the actuator 11A so that the actuator 11A causes the vessel 11 to generate a moment that causes the vessel 11 to turn on the spot.
Furthermore, the vessel control device 11C can operate the actuator 11A so that the actuator 11A generates a propulsive force that moves the vessel 11 forward and a moment that causes the vessel 11 to turn. The vessel control device 11C can operate the actuator 11A so that the actuator 11A generates a propulsive force that causes the vessel 11 to move astern and a moment that causes the vessel 11 to turn.

The heading detector 11D detects the heading of the ship 11 . The heading detector 11D includes, for example, a heading sensor. The azimuth sensor calculates the heading of the ship 11 by using geomagnetism, for example.
In another example, the orientation sensor may be a device (gyrocompass) in which a north pointing device and a damping device are added to a rapidly rotating gyroscope to always indicate north.
In yet another example, the azimuth sensor may be a GPS compass that includes multiple GPS (Global Positioning System) antennas and calculates the heading from the relative positional relationship of the multiple GPS antennas.

In the example shown in FIG. 1 , the boat speed detector 11E detects the speed of the boat 11 . The ship speed detection unit 11E may be, for example, a water pressure sensing type that detects the water speed of the ship 11 or a GPS measurement type that detects the ground speed of the ship 11 .
The vessel position detector 11F detects the position of the vessel 11 . The vessel position detector 11F has, for example, a GPS device. The GPS device calculates the position coordinates of the vessel 11 by receiving signals from multiple GPS satellites.

FIG. 2 is a diagram showing an example of the behavior of the boat 11 of the first embodiment when the operation unit 11B receives an input operation to advance the boat 11 and then receives an input operation to stop the boat 11 from moving forward. FIG. 3 shows an example of processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation for advancing the ship 11 and then receives an input operation for stopping the advance of the ship 11. It is a flow chart for explanation.
In the example shown in FIGS. 2 and 3, in step S11 of FIG. 3, the vessel control device 11C, for example, determines whether or not the operating section 11B has received an input operation to move the vessel 11 forward. When the operation unit 11B has not received an input operation to move the ship 11 forward, step S11 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation for moving the ship 11 forward, the process proceeds to step S12.

In step S12, the ship control device 11C operates the actuator 11A so that the thrust force generating section 11A2 of the actuator 11A generates a propulsion force for moving the ship 11 forward. As a result, as shown in FIG. 2(C), the ship 11 moves forward (that is, the ship 11 moves upward in FIG. 2).
Next, at step S13 in FIG. 3, the vessel control device 11C, for example, determines whether or not the operating section 11B has received an input operation to stop the forward movement of the vessel 11. When the operation unit 11B has not received an input operation to stop the forward movement of the ship 11, step S13 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to stop the forward movement of the ship 11, the process proceeds to step S14.

In step S14, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force that moves the vessel 11 forward. As a result, an upward inertial force (going foot) in FIG. 2 is generated, which tends to continue forward movement. Therefore, in the example shown in FIGS. 2 and 3, in step S14, the ship control device 11C generates thrust in a direction (downward in FIG. 2) opposite to the direction of the inertial force generated in the ship 11 (upward in FIG. 2). The actuator 11A is operated so that the actuator 11A generates . Specifically, in step S14, the ship control device 11C causes the actuator 11A to generate downward thrust in FIG. 2 without the operation unit 11B needing to receive an input operation for generating the downward thrust in FIG. 2 to the actuator 11A. As a result, as shown in FIGS. 2(A) and 2(B), it is possible to prevent the ship 11 from moving upward in FIG. .
In the examples shown in FIGS. 2 and 3, the magnitude of the reverse thrust (downward in FIG. 2) generated by the actuator 11A is set to a constant value. The magnitude of the thrust (downward in FIG. 2) may be changed according to the magnitude of the inertial force generated in the ship 11 .

In the example shown in FIGS. 2 and 3, next, in step S15 of FIG. 3, the vessel control device 11C receives an input operation to stop the operation of the actuator 11A when the operation unit 11B receives an input operation (that is, in step S13, the operation unit 11B has received an input operation to stop the forward movement of the ship 11). Specifically, in step S15, the vessel control device 11C determines whether or not the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached a first threshold value or more. If the elapsed time is not equal to or greater than the first threshold (that is, if it can be estimated that the ship 11 may move upward in FIG. 2 due to the inertial force (going foot) of the ship 11), step S15 is repeated. executed. On the other hand, if the elapsed time is equal to or greater than the first threshold (that is, if it can be estimated that there is no risk of the ship 11 moving upward in FIG. 2 due to the inertial force (going foot) of the ship 11), the process proceeds to step S16. move on.
In step S16, the ship control device 11C causes the actuator 11A to stop generating downward thrust in FIG.
Although a fixed value is used as the "first threshold" in the examples shown in FIGS. 2 and 3, a variable value may be used as the "first threshold" in other examples. For example, the smaller the ratio of the reverse (downward in FIG. 2) thrust force generated by the actuator 11A to the inertia force generated in the ship 11, the larger the value used as the “first threshold”.

That is, in the example shown in FIGS. 2 and 3, the actuator 11A moves the ship 11 forward while generating the propulsion force for moving the ship 11 forward (that is, in the state shown in FIG. 2(C)). When the operation unit 11B receives an input operation to stop the generation of the propulsive force, the vessel control device 11C controls the direction of the inertial force generated in the vessel 11 (upward in FIG. 2) opposite to the direction (downward in FIG. 2). ), the actuator 11A is operated without the need for the operation unit 11B to receive an input operation.
In the example shown in FIGS. 2 and 3, the ship control device 11C sets the period during which the actuator 11A is operated so that the actuator 11A generates thrust in the direction opposite to the direction of the inertial force generated in the ship 11. , is set based on the elapsed time from the time when the operation unit 11B receives an input operation for stopping the operation of the actuator 11A (when YES is determined in step S13 of FIG. 3).
In other words, in the example shown in FIGS. 2 and 3, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (step If the determination is YES in S13), the ship control device 11C causes the actuator 11A to generate thrust in the opposite direction (downward in FIG. 2) to the direction of the inertial force generated in the ship 11 (upward in FIG. 2). , the actuator 11A is operated without the need for the operation unit 11B to receive an input operation.
Therefore, in the examples shown in FIGS. 2 and 3, the operator's input operation for canceling the inertial force generated in the vessel 11 when the actuator 11A is shifted from the activated state to the deactivated state of the actuator 11A can be eliminated. .

FIG. 4 shows an example of processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation for causing the ship 11 to go astern and then receives an input operation for stopping the ship 11 from going astern. It is a flow chart for explanation.
In the example shown in FIG. 4, in step S21, for example, the vessel control device 11C determines whether or not the operation section 11B has received an input operation to move the vessel 11 backward. When the operation unit 11B has not received an input operation for moving the ship 11 astern, step S21 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the ship 11 backward, the process proceeds to step S22.

In step S22, the vessel control device 11C operates the actuator 11A so that the thrust force generating section 11A2 of the actuator 11A generates a propulsive force for moving the vessel 11 backward. As a result, the ship 11 moves astern.
Next, in step S23, for example, the vessel control device 11C determines whether or not the operation section 11B has received an input operation to stop the backward movement of the vessel 11. When the operation unit 11B has not received an input operation for stopping the backward movement of the boat 11, step S23 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to stop the backward movement of the boat 11, the process proceeds to step S24.

In step S24, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force for moving the vessel 11 backward. As a result, an inertial force (going foot) that tries to continue backward movement is generated. Therefore, in the example shown in FIG. 4, in step S24, the ship control device 11C applies thrust in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11) to the actuator 11A. Actuator 11A is operated so that Specifically, in step S24, the ship control device 11C causes the actuator 11A to generate forward thrust of the ship 11 without the need for the operation unit 11B to receive an input operation for generating the forward thrust of the ship 11 in the actuator 11A. As a result, it is possible to prevent the ship 11 from moving backward due to the inertial force generated in the ship 11 (going forward).
Next, in step S25, when the operation unit 11B receives an input operation to stop the actuation of the actuator 11A (that is, in step S23, the operation unit 11B receives an input operation to stop the backward movement of the ship 11). monitor the elapsed time from the time when it was determined that Specifically, in step S25, the vessel control device 11C determines whether or not the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached a first threshold value or more. If the elapsed time is not equal to or greater than the first threshold (that is, if it can be estimated that the ship 11 may move backward due to the inertial force (going foot) of the ship 11), step S25 is repeatedly executed. . On the other hand, if the elapsed time is equal to or greater than the first threshold (that is, if it can be estimated that there is no risk of the ship 11 moving backward due to the inertial force (going foot) of the ship 11), the process proceeds to step S26.
In step S26 , the ship control device 11C causes the actuator 11A to stop generating the forward thrust of the ship 11 .

That is, in the example shown in FIG. 4, when the actuator 11A is generating a propulsive force for moving the ship 11 in reverse, the operation unit 11B receives an input operation for stopping the generation of the propulsive force for moving the ship 11 in reverse. , the ship control device 11C causes the actuator 11A to generate a thrust force in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11). actuates actuator 11A without having to accept
In the example shown in FIG. 4, the ship control device 11C controls the actuator 11A to generate thrust in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11). Second, the period for operating the actuator 11A is set based on the elapsed time from when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when determined as YES in step S23).
In other words, in the example shown in FIG. 4, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (it is determined as YES in step S23). ), the ship control device 11C controls the operation unit so that the actuator 11A generates thrust in a direction (forward of the ship 11) opposite to the direction of the inertial force generated in the ship 11 (backward of the ship 11). Actuator 11A is operated without 11B needing to accept an input operation.
Therefore, in the example shown in FIG. 4, the operator's input operation for canceling the inertial force generated in the vessel 11 when the actuator 11A is shifted from the operating state to the non-operating state of the actuator 11A can be eliminated.

FIG. 5 shows the ship control of the first embodiment when the operation unit 11B receives an input operation to turn the ship 11 clockwise on the spot, and then receives an input operation to stop the clockwise on-the-spot turning of the ship 11. 4 is a flowchart for explaining an example of processing executed by device 11C;
In the example shown in FIG. 5, in step S31, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation for turning the vessel 11 clockwise on the spot. When the operation unit 11B has not received an input operation for turning the ship 11 clockwise on the spot, step S31 is repeatedly executed. On the other hand, when the operation unit 11B has received an input operation for turning the ship 11 clockwise on the spot, the process proceeds to step S32.

In step S32, the vessel control device 11C operates the actuator 11A so that the actuator 11A causes the vessel 11 to generate a moment that causes the vessel 11 to turn clockwise on the spot. As a result, the vessel 11 turns clockwise on the spot.
Next, in step S33, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to stop the clockwise on-the-spot turning of the vessel 11 or not. When the operation unit 11B has not received an input operation for stopping the clockwise spot turning of the ship 11, step S33 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation for stopping the clockwise spot turning of the ship 11, the process proceeds to step S34.

In step S34, the ship control device 11C causes the actuator 11A to stop generating the moment that causes the ship 11 to turn clockwise on the spot. This results in a moment of inertia tending to continue the clockwise in-place turning. Therefore, in the example shown in FIG. 5, in step S34, the ship control device 11C causes the ship 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia occurring in the ship 11. to operate the actuator 11A. Specifically, in step S34, the ship control device 11C causes the ship 11 to generate a counterclockwise moment without the need for the operation unit 11B to receive an input operation for generating a counterclockwise moment in the ship 11. As a result, it is possible to prevent the ship 11 from turning excessively clockwise on the spot due to the moment of inertia generated in the ship 11 .
Next, in step S35, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A, the operation unit 11B of the ship control device 11C stops the clockwise spot turning of the ship 11 in step S33. It monitors the elapsed time from the time when it is determined that the input operation to cause the Specifically, in step S35, the vessel control device 11C determines whether or not the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached a first threshold value or more. If the elapsed time has not reached the first threshold value or more (that is, if it can be estimated that the moment of inertia of the ship 11 may cause the ship 11 to turn excessively clockwise on the spot), step S35 is repeatedly executed. . On the other hand, if the elapsed time is equal to or greater than the first threshold (that is, if it can be estimated that there is no risk that the vessel 11 will turn excessively clockwise on the spot due to the moment of inertia of the vessel 11), the process proceeds to step S36.
In step S36, the vessel control device 11C causes the actuator 11A to stop generating the counterclockwise moment.

That is, in the example shown in FIG. 5, when the actuator 11A is generating a moment in the ship 11 that causes the ship 11 to turn clockwise on the spot, the generation of the moment that causes the ship 11 to turn clockwise on the spot is stopped. When the operation unit 11B receives an input operation, the vessel control device 11C causes the vessel 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia occurring in the vessel 11. In addition, the actuator 11A is operated without the need for the operation section 11B to receive an input operation.
Further, in the example shown in FIG. 5, the ship control device 11C causes the ship 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia occurring in the ship 11. The period for operating actuator 11A is set based on the elapsed time from when operation unit 11B receives an input operation to stop the operation of actuator 11A (when determined as YES in step S33).
In other words, in the example shown in FIG. 5, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (it is determined as YES in step S33). ), the ship control device 11C causes the ship 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia occurring in the ship 11. To operate the actuator 11A without having to accept the operation.
Therefore, in the example shown in FIG. 5, the operator's input operation for canceling the moment of inertia that occurs in the vessel 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated.

FIG. 6 shows the operation of the first embodiment when the operation unit 11B receives an input operation to turn the ship 11 counterclockwise on the spot, and then receives an input operation to stop the counterclockwise on-the-spot turning of the ship 11. 4 is a flowchart for explaining an example of processing executed by a ship control device 11C;
In the example shown in FIG. 6, in step S41, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation for turning the vessel 11 counterclockwise on the spot. When the operation unit 11B has not received an input operation for turning the ship 11 counterclockwise on the spot, step S41 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation for turning the ship 11 counterclockwise on the spot, the process proceeds to step S42.

In step S42, the vessel control device 11C operates the actuator 11A so that the actuator 11A causes the vessel 11 to generate a moment that turns the vessel 11 counterclockwise on the spot. As a result, the ship 11 turns counterclockwise on the spot.
Next, in step S43, for example, the vessel control device 11C determines whether or not the operation section 11B has received an input operation to stop the counterclockwise on-the-spot turning of the vessel 11 or not. When the operation unit 11B has not received an input operation for stopping the counterclockwise spot turning of the ship 11, step S43 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to stop the counterclockwise spot turning of the ship 11, the process proceeds to step S44.

In step S44, the vessel control device 11C causes the actuator 11A to stop generating a moment that causes the vessel 11 to turn counterclockwise on the spot. As a result, there is a moment of inertia that tends to continue the counterclockwise in-situ turning. Therefore, in the example shown in FIG. 6, in step S44, the vessel control device 11C causes the vessel 11 to generate a moment (clockwise) opposite to the direction of the moment of inertia (counterclockwise) occurring in the vessel 11. to operate the actuator 11A. Specifically, in step S44, the vessel control device 11C causes the vessel 11 to generate a clockwise moment without the need for the operation unit 11B to receive an input operation for causing the vessel 11 to generate a clockwise moment. As a result, it is possible to prevent the ship 11 from turning too counterclockwise on the spot due to the moment of inertia generated in the ship 11 .
Next, in step S45, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A, the ship control device 11C causes the operation unit 11B to turn the ship 11 counterclockwise on the spot in step S43. The elapsed time from the time when it is determined that the input operation to stop is accepted) is monitored. Specifically, in step S45, the vessel control device 11C determines whether or not the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached a first threshold value or more. If the elapsed time has not reached the first threshold value or more (that is, if it can be estimated that the moment of inertia of the ship 11 may cause the ship 11 to turn too counterclockwise on the spot), step S45 is repeatedly executed. be. On the other hand, if the elapsed time is equal to or greater than the first threshold (that is, if it can be estimated that there is no risk of the ship 11 turning too counterclockwise on the spot due to the moment of inertia of the ship 11), the process proceeds to step S46.
In step S46, the vessel control device 11C causes the actuator 11A to stop generating the clockwise moment.

That is, in the example shown in FIG. 6, when the actuator 11A is generating a moment to turn the ship 11 counterclockwise on the spot, the actuator 11A generates a moment to turn the ship 11 counterclockwise on the spot. When the operation unit 11B receives an input operation to stop, the ship control device 11C generates a moment (clockwise) on the ship 11 opposite to the direction of the moment of inertia (counterclockwise) generated in the ship 11. The actuator 11A is operated without the need for the operation unit 11B to receive the input operation.
Further, in the example shown in FIG. 6, the ship control device 11C causes the ship 11 to generate a moment (clockwise) opposite to the direction (counterclockwise) of the moment of inertia occurring in the ship 11. The period for operating actuator 11A is set based on the elapsed time from when operation unit 11B receives an input operation to stop the operation of actuator 11A (when determined as YES in step S43).
In other words, in the example shown in FIG. 6, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (it is determined as YES in step S43). ), the ship control device 11C causes the ship 11 to generate a moment in the opposite direction (clockwise direction) to the direction of the moment of inertia (counterclockwise direction) generated in the ship 11 by the operation unit 11B. To operate the actuator 11A without having to accept the operation.
Therefore, in the example shown in FIG. 6, the operator's input operation for canceling the moment of inertia generated in the vessel 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated.

FIG. 7 shows the ship of the first embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and turn clockwise, and then receives an input operation to stop the ship 11 from moving forward and turning clockwise. 4 is a flowchart for explaining an example of processing executed by the control device 11C;
In the example shown in FIG. 7, in step S51, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to move the vessel 11 forward and turn it clockwise. When the operation unit 11B has not received an input operation to move the ship 11 forward and turn it clockwise, step S51 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to move the ship 11 forward and turn it clockwise, the process proceeds to step S52.

In step S52, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force that moves the vessel 11 forward and a moment that rotates the vessel 11 clockwise. . As a result, the vessel 11 moves forward and turns clockwise.
Next, in step S53, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to stop the forward movement and clockwise turning of the vessel 11. When the operation unit 11B has not received an input operation to stop the ship 11 from moving forward and turning clockwise, step S53 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to stop the ship 11 from moving forward and turning clockwise, the process proceeds to step S54.

In step S54, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force that moves the vessel 11 forward and the moment that rotates the vessel 11 clockwise. As a result, an inertial force that tends to keep moving forward and a moment of inertia that tends to keep clockwise turning are generated. Therefore, in the example shown in FIG. 7, in step S54, the ship control device 11C applies thrust in the opposite direction (rearward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (forwardward direction of the ship 11) to the actuator 11A. The actuator 11A is actuated so that the moment of inertia generated in the ship 11 is generated in the opposite direction (counterclockwise direction) to the direction of the moment of inertia (clockwise direction) generated in the ship 11 . Specifically, in step S54, the ship control device 11C does not require the operation unit 11B to receive an input operation that causes the ship 11 to generate a backward thrust and a counterclockwise moment to the ship 11. is generated in the actuator 11A and a counterclockwise moment is generated in the ship 11. As a result, it is possible to prevent the ship 11 from moving forward due to the inertial force generated in the ship 11 and from turning the ship 11 excessively clockwise due to the moment of inertia generated in the ship 11. .
Next, in step S55, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A, the operation unit 11B of the vessel control device 11C stops the forward movement and clockwise turning of the vessel 11 in step S53. It monitors the elapsed time from the time when it is determined that the input operation to cause the Specifically, in step S55, the vessel control device 11C determines whether or not the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached a first threshold value or more. If the elapsed time is not equal to or greater than the first threshold (that is, the ship 11 may move forward due to the inertial force of the ship 11 and the moment of inertia of the ship 11 may cause the ship 11 to turn excessively clockwise). ), step S55 is repeatedly executed. On the other hand, when the elapsed time is equal to or greater than the first threshold value (that is, there is no possibility that the inertial force of the ship 11 will cause the ship 11 to move forward, and the moment of inertia of the ship 11 will cause the ship 11 to turn excessively clockwise). If it can be estimated that there is no case), the process proceeds to step S56.
In step S56, the vessel control device 11C causes the actuator 11A to stop the generation of the backward thrust and the counterclockwise moment of the vessel 11 .

That is, in the example shown in FIG. 7, when the actuator 11A is generating a propulsive force to move the ship 11 forward and generating a moment to turn the ship 11 clockwise, the ship 11 is When the operation unit 11B receives an input operation to stop the generation of the forward propulsive force and the moment that rotates the ship 11 clockwise, the ship control device 11C controls the direction of the inertial force generated in the ship 11 (the direction of the inertial force of the ship 11 (forward of the ship 11) so that the actuator 11A generates a thrust in the opposite direction (backward of the ship 11), and the direction (counterclockwise) of the moment of inertia occurring in the ship 11 (clockwise) The actuator 11A is actuated so as to generate a moment in the ship 11 without the need for the operation section 11B to receive an input operation.
In the example shown in FIG. 7, the ship control device 11C controls the actuator 11A to generate a thrust force in the opposite direction (rearward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (forwardward direction of the ship 11). In addition, the period during which the actuator 11A is operated so as to generate a moment (counterclockwise) in the ship 11 that is opposite to the direction (clockwise) of the moment of inertia generated in the ship 11 is the operation of the actuator 11A. is set based on the elapsed time from when the operation unit 11B receives an input operation to stop the operation (when determined as YES in step S53).
In other words, in the example shown in FIG. 7, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (it is determined as YES in step S53). ), the ship control device 11C causes the actuator 11A to generate a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force generated in the ship 11 (forwardward of the ship 11), and The actuator 11A is operated without the need for the operation unit 11B to receive an input operation so as to generate a moment (counterclockwise) in the ship 11 in a direction (counterclockwise) opposite to the direction (clockwise) of the moment of inertia generated in the ship 11. .
Therefore, in the example shown in FIG. 7, the operator's input operation for canceling the moment of inertia generated in the ship 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated.

FIG. 8 shows the first embodiment when the operation unit 11B receives an input operation for causing the ship 11 to move backward and turn counterclockwise, and then receives an input operation for stopping the ship 11 from moving backward and turning counterclockwise. is a flow chart for explaining an example of a process executed by the ship control device 11C.
In the example shown in FIG. 8, in step S61, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to cause the vessel 11 to move backward and turn counterclockwise. When the operation unit 11B has not received an input operation for causing the ship 11 to move backward and turn counterclockwise, step S61 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation for causing the ship 11 to move backward and turn counterclockwise, the process proceeds to step S62.

In step S62, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force that causes the vessel 11 to move astern and a moment that causes the vessel 11 to turn counterclockwise. Let As a result, the vessel 11 moves astern and turns counterclockwise.
Next, in step S63, for example, the vessel control device 11C determines whether or not the operation section 11B has received an input operation to stop the vessel 11 from moving backward and turning counterclockwise. When the operation unit 11B has not received an input operation to stop the backward movement and counterclockwise turning of the vessel 11, step S63 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation for stopping the backward movement and counterclockwise turning of the vessel 11, the process proceeds to step S64.

In step S64, the ship control device 11C causes the actuator 11A to stop generating the propulsive force for moving the ship 11 backward and the moment for turning the ship 11 counterclockwise. As a result, an inertial force that tends to continue backward movement and an inertial moment that tends to continue counterclockwise turning are generated. Therefore, in the example shown in FIG. 8, in step S64, the ship control device 11C applies thrust in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11) to the actuator 11A. The actuator 11A is actuated so that the moment of inertia generated in the ship 11 (counterclockwise) is generated in the ship 11 in the opposite direction (clockwise). Specifically, in step S64, the ship control device 11C controls the forward thrust of the ship 11 without the operation unit 11B needing to receive an input operation that causes the ship 11 to generate a forward thrust and a clockwise moment to the ship 11. A thrust force is generated in the actuator 11A and a clockwise moment is generated in the ship 11 . As a result, it is possible to prevent the ship 11 from moving backward due to the inertial force generated in the ship 11 and from turning the ship 11 excessively counterclockwise due to the moment of inertia generated in the ship 11. can.
Next, in step S65, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A, the vessel control device 11C causes the operation unit 11B to cause the vessel 11 to move backward and turn counterclockwise in step S63. The elapsed time from the time when it is determined that the input operation to stop is accepted) is monitored. Specifically, in step S65, the vessel control device 11C determines whether or not the elapsed time since the operation unit 11B received an input operation to stop the operation of the actuator 11A has reached a first threshold value or more. If the elapsed time is not equal to or greater than the first threshold value (that is, the inertia of the ship 11 may cause the ship 11 to move backward, and the moment of inertia of the ship 11 causes the ship 11 to turn too counterclockwise). If it can be estimated that there is a risk), step S65 is repeatedly executed. On the other hand, if the elapsed time is equal to or greater than the first threshold value (that is, there is no risk of the ship 11 moving backward due to the inertial force of the ship 11, and the inertial moment of the ship 11 may cause the ship 11 to turn too counterclockwise). If it can be estimated that there is no ), the process proceeds to step S66.
In step S66, the vessel control device 11C causes the actuator 11A to stop generating the forward thrust and the clockwise moment of the vessel 11 .

That is, in the example shown in FIG. 8, when the actuator 11A is generating a propulsive force that causes the ship 11 to move astern and also generates a moment that causes the ship 11 to turn counterclockwise, the ship 11 When the operation unit 11B receives an input operation to stop the generation of the propulsive force that causes the ship to go astern and the moment that turns the ship 11 counterclockwise, the ship control device 11C changes the direction of the inertial force generated in the ship 11 ( The actuator 11A generates a thrust in the direction opposite to (backward of the ship 11) (forward of the ship 11), and in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the ship 11 (counterclockwise). ) is generated in the ship 11, the actuator 11A is operated without the need for the operation unit 11B to receive the input operation.
In the example shown in FIG. 8, the ship control device 11C controls the actuator 11A to generate a thrust force in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11). In addition, the period during which the actuator 11A is operated so as to generate a moment (clockwise) in the ship 11 in the opposite direction (counterclockwise) to the moment of inertia generated in the ship 11 is defined as the operation of the actuator 11A. is set based on the elapsed time from when the operation unit 11B receives an input operation to stop the operation (when determined as YES in step S63).
In other words, in the example shown in FIG. 8, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (it is determined as YES in step S63). ), the vessel control device 11C causes the actuator 11A to generate thrust in the opposite direction (forward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (rearward of the vessel 11), and The actuator 11A is operated without the need for the operation unit 11B to receive an input operation so as to generate a moment (clockwise) in the ship 11 in the opposite direction (counterclockwise) of the moment of inertia generated in the ship 11. .
Therefore, in the example shown in FIG. 8, the operator's input operation for canceling the moment of inertia generated in the vessel 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated.

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

A ship maneuvering system 1 including a ship 11 to which a ship control device 11C of the second embodiment is applied is configured in the same manner as the ship maneuvering system 1 of the first embodiment shown in FIG.

FIG. 9 shows an example of processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation for advancing the ship 11 and then receives an input operation for stopping the advance of the ship 11. It is a flow chart for explanation.
In the example shown in FIG. 9, at step SA1, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to move the vessel 11 forward. When the operation unit 11B has not received an input operation to move the ship 11 forward, step SA1 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation for moving the ship 11 forward, the process proceeds to step SA2.

In step SA2, the ship control device 11C operates the actuator 11A so that the thrust generating section 11A2 of the actuator 11A generates a propulsive force for moving the ship 11 forward. As a result, the ship 11 moves forward.
Next, at step SA3, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to stop the forward movement of the vessel 11. When the operation unit 11B has not received an input operation to stop the forward movement of the ship 11, step SA3 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to stop the forward movement of the ship 11, the process proceeds to step SA4.

In step SA4, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force that moves the vessel 11 forward. As a result, an inertial force (going foot) that tries to continue forward movement is generated. Therefore, in the example shown in FIG. 9, in step SA4, the ship control device 11C applies thrust in the opposite direction (rearward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (forwardward direction of the ship 11) to the actuator 11A. Actuator 11A is operated so that Specifically, in step SA4, the vessel control device 11C causes the actuator 11A to generate a backward thrust of the vessel 11 without the operation unit 11B needing to receive an input operation for generating a backward thrust of the vessel 11 in the actuator 11A. As a result, it is possible to prevent the ship 11 from moving forward due to the inertial force generated in the ship 11 (going forward).
Next, at step SA5, the ship control device 11C monitors the speed of the ship 11. FIG. Specifically, in step SA5, the vessel control device 11C determines whether or not the velocity of the vessel 11 detected by the vessel velocity detector 11E has decreased to the second threshold or less. If the speed of the ship 11 has not decreased to the second threshold or less (that is, if the ship 11 continues to move forward due to the inertial force (going foot) of the ship 11), step SA5 is repeatedly executed. On the other hand, when the speed of the ship 11 has decreased to the second threshold or less (that is, when it can be estimated that the forward movement of the ship 11 due to the inertial force (going foot) of the ship 11 has ended), the process proceeds to step SA6.
In step SA6, the vessel control device 11C causes the actuator 11A to stop generating the backward thrust of the vessel 11. FIG.

In other words, in the example shown in FIG. 9, when the actuator 11A is generating a propulsive force to move the ship 11 forward, the operation unit 11B receives an input operation to stop the generation of the propulsive force to move the ship 11 forward. , the ship control device 11C causes the actuator 11A to generate a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force generated in the ship 11 (forwardward of the ship 11). actuates actuator 11A without having to accept
Further, in the example shown in FIG. 9, the ship control device 11C causes the actuator 11A to generate a thrust force in the opposite direction (rearward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (forwardward direction of the ship 11). Secondly, the period for operating the actuator 11A is set based on the speed of the ship 11 .
In other words, in the example shown in FIG. 9, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (it is determined as YES in step SA3). ), the ship control device 11C controls the operation unit so that the actuator 11A generates thrust in a direction (rearward of the ship 11) opposite to the direction of the inertial force generated in the ship 11 (forwardward of the ship 11). Actuator 11A is operated without 11B needing to accept an input operation.
Therefore, in the example shown in FIG. 9, the operator's input operation for canceling the inertial force generated in the vessel 11 when the actuator 11A is shifted from the operating state to the non-operating state of the actuator 11A can be eliminated.

FIG. 10 shows an example of processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation for causing the ship 11 to go astern and then receives an input operation for stopping the ship 11 from going astern. It is a flow chart for explanation.
In the example shown in FIG. 10, in step SB1, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to move the vessel 11 backward. When the operation unit 11B has not received an input operation for moving the ship 11 astern, step SB1 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to move the ship 11 backward, the process proceeds to step SB2.

In step SB2, the ship control device 11C operates the actuator 11A so that the thrust force generating section 11A2 of the actuator 11A generates a propulsive force for moving the ship 11 backward. As a result, the ship 11 moves astern.
Next, at step SB3, the vessel control device 11C, for example, determines whether or not the operating section 11B has received an input operation to stop the backward movement of the vessel 11 or not. When the operation unit 11B has not received an input operation for stopping the backward movement of the boat 11, step SB3 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation for stopping the backward movement of the boat 11, the process proceeds to step SB4.

At step SB4, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force for moving the vessel 11 backward. As a result, an inertial force (going foot) that tries to continue backward movement is generated. Therefore, in the example shown in FIG. 10, in step SB4, the ship control device 11C applies thrust in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11) to the actuator 11A. Actuator 11A is operated so that Specifically, at step SB4, the ship control device 11C causes the actuator 11A to generate a forward thrust of the ship 11 without the need for the operation unit 11B to receive an input operation for generating a forward thrust of the ship 11 in the actuator 11A. As a result, it is possible to prevent the ship 11 from moving backward due to the inertial force generated in the ship 11 (going forward).
Next, at step SB5, the ship control device 11C monitors the speed of the ship 11. FIG. Specifically, at step SB5, the ship control device 11C determines whether the speed of the ship 11 detected by the ship speed detector 11E has decreased to the second threshold or less. When the speed of the ship 11 has not decreased to the second threshold or less (that is, when the ship 11 continues to move astern due to the inertial force (going foot) of the ship 11), step SB5 is repeatedly executed. On the other hand, if the speed of the ship 11 has decreased to the second threshold or less (that is, if it can be estimated that the backward movement of the ship 11 due to the inertial force (going foot) of the ship 11 has ended), the process proceeds to step SB6.
In step SB6, the ship control device 11C causes the actuator 11A to stop generating the forward thrust of the ship 11. FIG.

That is, in the example shown in FIG. 10, when the actuator 11A is generating a propulsive force for moving the ship 11 in reverse, the operation unit 11B receives an input operation for stopping the generation of the propulsive force for moving the ship 11 in reverse. , the ship control device 11C causes the actuator 11A to generate a thrust force in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11). actuates actuator 11A without having to accept
Further, in the example shown in FIG. 10, the ship control device 11C causes the actuator 11A to generate a thrust force in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11). Secondly, the period for operating the actuator 11A is set based on the speed of the ship 11 .
In other words, in the example shown in FIG. 10, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (YES is determined in step SB3). ), the ship control device 11C controls the operation unit so that the actuator 11A generates thrust in a direction (forward of the ship 11) opposite to the direction of the inertial force generated in the ship 11 (backward of the ship 11). Actuator 11A is operated without 11B needing to accept an input operation.
Therefore, in the example shown in FIG. 10, the operator's input operation for canceling the inertial force generated in the vessel 11 when the actuator 11A is shifted from the operating state to the non-operating state of the actuator 11A can be eliminated.

FIG. 11 shows the ship control of the second embodiment when the operation unit 11B receives an input operation to turn the ship 11 clockwise on the spot, and then receives an input operation to stop the clockwise on-the-spot turning of the ship 11. 4 is a flowchart for explaining an example of processing executed by device 11C;
In the example shown in FIG. 11 , in step SC1, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation for turning the vessel 11 clockwise on the spot. When the operation unit 11B has not received an input operation for turning the vessel 11 clockwise on the spot, step SC1 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to turn the ship 11 clockwise on the spot, the process proceeds to step SC2.

In step SC2, the vessel control device 11C operates the actuator 11A so that the actuator 11A causes the vessel 11 to generate a moment that causes the vessel 11 to turn clockwise on the spot. As a result, the vessel 11 turns clockwise on the spot.
Next, at step SC3, for example, the vessel control device 11C determines whether or not the operation section 11B has received an input operation to stop the clockwise on-the-spot turning of the vessel 11 or not. When the operation unit 11B has not received an input operation for stopping the clockwise spot turning of the ship 11, step SC3 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to stop the clockwise spot turning of the ship 11, the process proceeds to step SC4.

In step SC4, the vessel control device 11C causes the actuator 11A to stop generating the moment that causes the vessel 11 to turn clockwise on the spot. This results in a moment of inertia tending to continue the clockwise in-place turning. Therefore, in the example shown in FIG. 11, in step SC4, the ship control device 11C causes the ship 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia occurring in the ship 11. to operate the actuator 11A. Specifically, at step SC4, the vessel control device 11C causes the vessel 11 to generate a counterclockwise moment without the need for the operation section 11B to receive an input operation for causing the vessel 11 to generate a counterclockwise moment. As a result, it is possible to prevent the ship 11 from turning excessively clockwise on the spot due to the moment of inertia generated in the ship 11 .
Next, at step SC5, the ship control device 11C monitors the angular velocity of the ship 11. FIG. Specifically, at step SC5, the vessel control device 11C determines whether or not the angular velocity of the vessel 11 calculated based on the heading detected by the heading detection section 11D has decreased to the third threshold or less. When the angular velocity of the ship 11 has not decreased to the third threshold or less (that is, when the ship 11 continues to turn clockwise due to the moment of inertia of the ship 11), step SC5 is repeatedly executed. On the other hand, if the angular velocity of the ship 11 has decreased to the third threshold or less (that is, if it can be estimated that the ship 11 has finished turning in place clockwise due to the moment of inertia of the ship 11), the process proceeds to step SC6.
At step SC6, the ship control device 11C causes the actuator 11A to stop generating the counterclockwise moment.

That is, in the example shown in FIG. 11, when the actuator 11A is generating a moment in the ship 11 that causes the ship 11 to turn clockwise on the spot, the generation of the moment that causes the ship 11 to turn clockwise on the spot is stopped. When the operation unit 11B receives an input operation, the vessel control device 11C causes the vessel 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia occurring in the vessel 11. In addition, the actuator 11A is operated without the operation section 11B needing to receive an input operation.
Further, in the example shown in FIG. 11, the ship control device 11C causes the ship 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia occurring in the ship 11. 11A is activated based on the angular velocity of the vessel 11;
In other words, in the example shown in FIG. 11, when the operation unit 11B receives an input operation for stopping the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (YES is determined in step SC3). ), the ship control device 11C causes the ship 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia occurring in the ship 11. To operate the actuator 11A without having to accept the operation.
Therefore, in the example shown in FIG. 11, the operator's input operation for canceling the moment of inertia generated in the ship 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated.

FIG. 12 shows the operation of the second embodiment when the operation unit 11B receives an input operation for turning the ship 11 counterclockwise on the spot, and then receives an input operation for stopping the counterclockwise on-the-spot turning of the ship 11. 4 is a flowchart for explaining an example of processing executed by a ship control device 11C;
In the example shown in FIG. 12, at step SD1, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to turn the vessel 11 counterclockwise on the spot. When the operation unit 11B has not received an input operation to turn the ship 11 counterclockwise on the spot, step SD1 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to turn the ship 11 counterclockwise on the spot, the process proceeds to step SD2.

In step SD2, the vessel control device 11C operates the actuator 11A so that the actuator 11A causes the vessel 11 to generate a moment that turns the vessel 11 counterclockwise on the spot. As a result, the ship 11 turns counterclockwise on the spot.
Next, in step SD3, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to stop the counterclockwise on-the-spot turning of the vessel 11 or not. When the operation unit 11B has not received an input operation to stop the counterclockwise spot turning of the ship 11, step SD3 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to stop the counterclockwise spot turning of the ship 11, the process proceeds to step SD4.

In step SD4, the vessel control device 11C causes the actuator 11A to stop generating the moment that causes the vessel 11 to turn counterclockwise on the spot. As a result, there is a moment of inertia that tends to continue the counterclockwise in-situ turning. Therefore, in the example shown in FIG. 12, in step SD4, the vessel control device 11C causes the vessel 11 to generate a moment (clockwise) opposite to the direction (counterclockwise) of the moment of inertia occurring in the vessel 11. to operate the actuator 11A. Specifically, in step SD4, the vessel control device 11C causes the vessel 11 to generate a clockwise moment without the need for the operation section 11B to receive an input operation for causing the vessel 11 to generate a clockwise moment. As a result, it is possible to prevent the ship 11 from turning too counterclockwise on the spot due to the moment of inertia generated in the ship 11 .
Next, at step SD5, the ship control device 11C monitors the angular velocity of the ship 11. FIG. Specifically, in step SD5, the ship control device 11C determines whether or not the angular velocity of the ship 11 calculated based on the heading detected by the heading detection section 11D has decreased to the third threshold or less. When the angular velocity of the ship 11 has not decreased to the third threshold or less (that is, when the ship 11 continues to turn counterclockwise on the spot due to the moment of inertia of the ship 11), step SD5 is repeatedly executed. . On the other hand, when the angular velocity of the ship 11 has decreased to the third threshold or less (that is, when it can be estimated that the counterclockwise on-the-spot turning of the ship 11 due to the moment of inertia of the ship 11 has ended), the process proceeds to step SD6.
At step SD6, the ship control device 11C causes the actuator 11A to stop generating the clockwise moment.

That is, in the example shown in FIG. 12, when the actuator 11A is generating a moment to turn the ship 11 counterclockwise on the spot, the moment causing the ship 11 to turn counterclockwise on the spot is generated. When the operation unit 11B receives an input operation to stop, the ship control device 11C generates a moment (clockwise) on the ship 11 opposite to the direction of the moment of inertia (counterclockwise) generated in the ship 11. The actuator 11A is operated without the need for the operation unit 11B to receive the input operation.
Further, in the example shown in FIG. 12, the ship control device 11C causes the ship 11 to generate a moment (clockwise) opposite to the direction of the moment of inertia (counterclockwise) occurring in the ship 11, and the actuator 11A is activated based on the angular velocity of the vessel 11;
In other words, in the example shown in FIG. 12, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (YES is determined in step SD3). ), the ship control device 11C causes the ship 11 to generate a moment in the opposite direction (clockwise direction) to the direction of the moment of inertia (counterclockwise direction) generated in the ship 11 by the operation unit 11B. To operate the actuator 11A without needing to accept an operation.
Therefore, in the example shown in FIG. 12, the operator's input operation for canceling the moment of inertia generated in the vessel 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated.

FIG. 13 shows the ship of the second embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and turn clockwise, and then receives an input operation to stop the ship 11 from moving forward and turning clockwise. 4 is a flowchart for explaining an example of processing executed by the control device 11C;
In the example shown in FIG. 13, in step SE1, for example, the vessel control device 11C determines whether or not the operation section 11B has received an input operation to move the vessel 11 forward and turn it clockwise. When the operation unit 11B has not received an input operation to move the ship 11 forward and turn it clockwise, step SE1 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to move the ship 11 forward and turn it clockwise, the process proceeds to step SE2.

In step SE2, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force that moves the ship 11 forward and a moment that turns the ship 11 clockwise. . As a result, the vessel 11 moves forward and turns clockwise.
Next, at step SE3, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation to stop the forward movement and clockwise turning of the vessel 11. When the operation unit 11B has not received an input operation to stop the ship 11 from moving forward and turning clockwise, step SE3 is repeatedly executed. On the other hand, when the operation unit 11B receives an input operation to stop the ship 11 from moving forward and turning clockwise, the process proceeds to step SE4.

In step SE4, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force that moves the vessel 11 forward and the moment that rotates the vessel 11 clockwise. As a result, an inertial force that tends to keep moving forward and a moment of inertia that tends to keep clockwise turning are generated. Therefore, in the example shown in FIG. 13, in step SE4, the ship control device 11C applies thrust in the opposite direction (rearward direction of the ship 11) to the direction of the inertia force generated in the ship 11 (forwardward direction of the ship 11) to the actuator 11A. The actuator 11A is actuated so that the moment of inertia generated in the ship 11 is generated in the opposite direction (counterclockwise direction) to the direction of the moment of inertia (clockwise direction) generated in the ship 11 . Specifically, in step SE4, the ship control device 11C does not require the operation unit 11B to receive an input operation that causes the ship 11 to generate a backward thrust and a counterclockwise moment to the ship 11. is generated in the actuator 11A and a counterclockwise moment is generated in the ship 11. As a result, it is possible to prevent the ship 11 from moving forward due to the inertial force generated in the ship 11 and from turning the ship 11 excessively clockwise due to the moment of inertia generated in the ship 11. .
Next, at step SE5, the ship control device 11C monitors the speed of the ship 11. FIG. Specifically, in step SE5, the vessel control device 11C determines whether or not the velocity of the vessel 11 detected by the vessel velocity detector 11E has decreased to the fourth threshold or less. When the speed of the ship 11 has not decreased to the fourth threshold or less (that is, when the ship 11 moves forward due to the inertial force of the ship 11 and the ship 11 continues to turn clockwise due to the moment of inertia of the ship 11 ), step SE5 is repeatedly executed. On the other hand, when the speed of the ship 11 has decreased to the fourth threshold or less (that is, when it can be estimated that the forward movement of the ship 11 due to the inertial force of the ship 11 and the clockwise turning of the ship 11 due to the moment of inertia of the ship 11 have ended) , go to step SE6.
In step SE6, the ship control device 11C causes the actuator 11A to stop the generation of the backward thrust and the counterclockwise moment of the ship 11 .

That is, in the example shown in FIG. 13, when the actuator 11A is generating a propulsive force to move the ship 11 forward and generating a moment to turn the ship 11 clockwise, the ship 11 is When the operation unit 11B receives an input operation to stop the generation of the forward propulsive force and the moment that rotates the ship 11 clockwise, the ship control device 11C controls the direction of the inertial force generated in the ship 11 (the direction of the inertial force of the ship 11 (forward of the ship 11) so that the actuator 11A generates a thrust in the opposite direction (backward of the ship 11), and the direction (counterclockwise) of the moment of inertia occurring in the ship 11 (clockwise) The actuator 11A is actuated so as to generate a moment in the ship 11 without the need for the operation section 11B to receive an input operation.
In the example shown in FIG. 13, the ship control device 11C controls the actuator 11A to generate a thrust force in the opposite direction (backward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (forward direction of the ship 11). In addition, the period during which the actuator 11A is operated so as to generate a moment (counterclockwise) in the ship 11 that is opposite to the direction (clockwise) of the moment of inertia generated in the ship 11 is defined by the speed of the ship 11. set based on
In other words, in the example shown in FIG. 13, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (it is determined as YES in step SE3). ), the vessel control device 11C causes the actuator 11A to generate thrust in the opposite direction (rearward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (forwardward of the vessel 11), and The actuator 11A is operated without the need for the operation unit 11B to receive an input operation so as to generate a moment (counterclockwise) in the ship 11 in the opposite direction (clockwise) of the moment of inertia generated in the ship 11. .
Therefore, in the example shown in FIG. 13, the operator's input operation for canceling the inertial force and moment of inertia generated in the ship 11 when the actuator 11A is shifted from the operating state to the non-operating state of the actuator 11A can be eliminated. .

FIG. 14 shows the second embodiment when the operation unit 11B receives an input operation to cause the ship 11 to move backward and turn counterclockwise, and then receives an input operation to stop the ship 11 from moving backward and turning counterclockwise. is a flow chart for explaining an example of a process executed by the ship control device 11C.
In the example shown in FIG. 14, in step SF1, for example, the vessel control device 11C determines whether or not the operating section 11B has received an input operation for causing the vessel 11 to move backward and turn counterclockwise. When the operation unit 11B has not received an input operation for causing the ship 11 to move backward and turn counterclockwise, step SF1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation for causing the ship 11 to move backward and turn counterclockwise, the process proceeds to step SF2.

In step SF2, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a propulsive force to move the ship 11 backward and a moment to turn the ship 11 counterclockwise. Let As a result, the vessel 11 moves astern and turns counterclockwise.
Next, in step SF3, for example, the vessel control device 11C determines whether or not the operation section 11B has received an input operation to stop the vessel 11 from moving backward and turning counterclockwise. When the operation unit 11B has not received an input operation to stop the backward movement and counterclockwise turning of the vessel 11, step SF3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation for stopping the backward movement and counterclockwise turning of the vessel 11, the process proceeds to step SF4.

In step SF4, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force for moving the vessel 11 backward and the moment for turning the vessel 11 counterclockwise. As a result, an inertial force that tends to continue backward movement and an inertial moment that tends to continue counterclockwise turning are generated. Therefore, in the example shown in FIG. 14, in step SF4, the ship control device 11C applies a thrust force in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11) to the actuator 11A. The actuator 11A is actuated so that the moment of inertia generated in the ship 11 (counterclockwise) is generated in the ship 11 in the opposite direction (clockwise). Specifically, in step SF4, the ship control device 11C controls the forward thrust of the ship 11 without the operation unit 11B needing to receive an input operation that causes the ship 11 to generate a forward thrust and a clockwise moment to the ship 11. A thrust force is generated in the actuator 11A and a clockwise moment is generated in the ship 11 . As a result, it is possible to prevent the ship 11 from moving backward due to the inertial force generated in the ship 11 and from turning the ship 11 excessively counterclockwise due to the moment of inertia generated in the ship 11. can.
Next, in step SF5, the ship control device 11C monitors the speed of the ship 11. FIG. Specifically, in step SF5, the ship control device 11C determines whether or not the speed of the ship 11 detected by the ship speed detector 11E has decreased to the fourth threshold or less. If the speed of the ship 11 has not decreased to the fourth threshold or less (that is, the inertial force of the ship 11 causes the ship 11 to go astern, and the moment of inertia of the ship 11 causes the ship 11 to continue turning counterclockwise). case), step SF5 is repeatedly executed. On the other hand, when the speed of the ship 11 decreases to the fourth threshold or less (that is, when it can be estimated that the ship 11 moves backward due to the inertial force of the ship 11 and the counterclockwise turning of the ship 11 due to the moment of inertia of the ship 11 ends) ), go to step SF6.
In step SF6, the ship control device 11C causes the actuator 11A to stop generating forward thrust and clockwise moment of the ship 11. FIG.

That is, in the example shown in FIG. 14, when the actuator 11A is generating a propulsive force that causes the ship 11 to move astern and also generates a moment that causes the ship 11 to turn counterclockwise, the ship 11 When the operation unit 11B receives an input operation to stop the generation of the propulsive force that causes the ship to go astern and the moment that turns the ship 11 counterclockwise, the ship control device 11C changes the direction of the inertial force generated in the ship 11 ( The actuator 11A generates a thrust in the direction opposite to (backward of the ship 11) (forward of the ship 11), and in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the ship 11 (counterclockwise). ) is generated in the ship 11, the actuator 11A is operated without the need for the operation unit 11B to receive the input operation.
In the example shown in FIG. 14, the ship control device 11C controls the actuator 11A to generate a thrust force in the opposite direction (forward direction of the ship 11) to the direction of the inertial force generated in the ship 11 (backward direction of the ship 11). In addition, the period during which the actuator 11A is operated so as to generate a moment (clockwise) in the ship 11 opposite to the direction of the moment of inertia (counterclockwise) generated in the ship 11 is defined by the speed of the ship 11. set based on
In other words, in the example shown in FIG. 14, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (it is determined as YES in step SF3). ), the vessel control device 11C causes the actuator 11A to generate thrust in the opposite direction (forward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (rearward of the vessel 11), and The actuator 11A is operated without the need for the operation unit 11B to receive an input operation so as to generate a moment (clockwise) in the ship 11 in the opposite direction (counterclockwise) of the moment of inertia generated in the ship 11. .
Therefore, in the example shown in FIG. 14, the operator's input operation for canceling the inertial force and moment of inertia generated in the ship 11 when the actuator 11A is shifted from the operating state to the non-operating state of the actuator 11A can be eliminated. .

<Third Embodiment>
A third embodiment of a ship maneuvering system, a ship control device, a ship control method, and a program according to the present invention will be described below.
The ship maneuvering system 1 of the third embodiment is configured in the same manner as the ship maneuvering system 1 of the first embodiment described above, except for the points described later. Therefore, according to the marine vessel maneuvering system 1 of the third embodiment, it is possible to obtain the same effects as the marine vessel maneuvering system 1 of the first embodiment described above, except for the points described later.

FIG. 15 is a diagram showing an example of a ship maneuvering system 1 including a ship 11 to which a ship control device 11C of the third embodiment is applied.
In the example shown in FIG. 15 , a ship maneuvering system 1 includes a ship 11 and an input device 12 . The vessel 11 includes an actuator 11A, an operation section 11B, a vessel control device 11C, a heading detection section 11D, a vessel speed detection section 11E, a vessel position detection section 11F, and a communication section 11G. The actuator 11A is configured similarly to the actuator 11A shown in FIG. The operating section 11B is configured similarly to the operating section 11B shown in FIG. 11 C of ship control apparatuses are comprised similarly to 11 C of ship control apparatuses shown in FIG. The heading detection section 11D is configured in the same manner as the heading detection section 11D shown in FIG. The boat speed detector 11E is configured in the same manner as the boat speed detector 11E shown in FIG. The vessel position detection section 11F is configured in the same manner as the vessel position detection section 11F shown in FIG. The communication unit 11G communicates with the input device 12 .
The input device 12 is provided separately from the ship 11 . That is, the input device 12 can be used by the operator of the vessel 11 at a location remote from the vessel 11, for example. The input device 12 includes an operation section 12A and a communication section 12B. The operation unit 12A receives an input operation from the operator of the ship 11 . The communication unit 12B transmits to the ship 11 information indicating input operations by the operator of the ship 11 received by the operation unit 12A. The communication unit 11G of the ship 11 receives the information indicating the input operation transmitted by the communication unit 12B of the input device 12 . The ship control device 11C of the ship 11 operates the actuator 11A based on the input operation received by the operation unit 12A of the input device 12. FIG.

In the process executed by the ship control device 11C of the third embodiment when the operation unit 12A of the input device 12 receives an input operation for advancing the ship 11 and then receives an input operation for stopping the advance of the ship 11, In a step corresponding to step S11 in FIG. 3 , for example, the vessel control device 11C determines whether or not the operating section 12A of the input device 12 has received an input operation to move the vessel 11 forward. When the operation unit 12A has not received an input operation to move the ship 11 forward, the step corresponding to step S11 in FIG. 3 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation for moving the ship 11 forward, the process proceeds to a step corresponding to step S12 in FIG.

In a step corresponding to step S12 in FIG. 3, the ship control device 11C operates the actuator 11A so that the thrust force generating section 11A2 of the actuator 11A generates a propulsive force that moves the ship 11 forward. As a result, as shown in FIG. 2(C), the ship 11 moves forward (that is, the ship 11 moves upward in FIG. 2).
Next, in a step corresponding to step S13 in FIG. 3, the vessel control device 11C, for example, determines whether or not the operating section 12A of the input device 12 has received an input operation to stop the forward movement of the vessel 11. When the operation unit 12A has not received an input operation to stop the forward movement of the ship 11, the step corresponding to step S13 in FIG. 3 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation to stop the forward movement of the ship 11, the process proceeds to a step corresponding to step S14 in FIG.

In a step corresponding to step S14 in FIG. 3, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force that propels the vessel 11 forward. As a result, an upward inertial force (going foot) in FIG. 2 is generated, which tends to continue forward movement. Therefore, in the ship maneuvering system 1 of the third embodiment, in a step corresponding to step S14 in FIG. The actuator 11A is actuated so that the actuator 11A generates a thrust (downward in FIG. 2). Specifically, in a step corresponding to step S14 in FIG. 3, the vessel control device 11C does not require the operation unit 12A to receive an input operation for causing the actuator 11A to generate a downward thrust force in FIG. is generated in the actuator 11A. As a result, as shown in FIGS. 2(A) and 2(B), it is possible to prevent the ship 11 from moving upward in FIG. .

Next, in a step corresponding to step S15 in FIG. 3, when the operation unit 12A of the input device 12 receives an input operation for stopping the operation of the actuator 11A, the vessel control device 11C (that is, step S13 in FIG. The elapsed time from when it is determined that the operation unit 12A has received an input operation to stop the forward movement of the ship 11 in the step to be performed) is monitored. Specifically, in a step corresponding to step S15 in FIG. 3, the vessel control device 11C determines whether the elapsed time from when the operation unit 12A received an input operation to stop the operation of the actuator 11A has become equal to or greater than the first threshold value. determine whether or not If the elapsed time is not equal to or greater than the first threshold (that is, if it can be estimated that the ship 11 may move upward in FIG. 2 due to the inertial force (going foot) of the ship 11), the steps in FIG. A step corresponding to S15 is repeatedly executed. On the other hand, when the elapsed time is equal to or greater than the first threshold value (that is, when it can be estimated that there is no risk of the ship 11 moving upward in FIG. 2 due to the inertial force (going foot) of the ship 11), the The process proceeds to a step corresponding to step S16.
In a step corresponding to step S16 in FIG. 3, the vessel control device 11C causes the actuator 11A to stop generating downward thrust in FIG.

That is, in the marine vessel maneuvering system 1 of the third embodiment, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (Fig. 3 2), the vessel control device 11C controls the direction of the inertial force generated in the vessel 11 (upward in FIG. 2) opposite to the direction (downward in FIG. 2). The actuator 11A is operated so that the actuator 11A generates thrust without the need for the operation unit 12A to receive an input operation.
Therefore, in the marine vessel maneuvering system 1 of the third embodiment, the operator's input operation for canceling the inertial force generated in the marine vessel 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated. .
Further, in the marine vessel maneuvering system 1 of the third embodiment, even if the operator who is away from the marine vessel 11 cannot grasp the inertial force generated in the marine vessel 11, the state of the marine vessel 11 can be changed from the operating state of the actuator 11A to the deactivation of the actuator 11A. state can be transitioned appropriately.

When the operation unit 12A of the input device 12 receives an input operation to turn the ship 11 clockwise on the spot, and then receives an input operation to stop the clockwise on-the-spot turning of the ship 11, the ship of the third embodiment In the process executed by the control device 11C, in a step corresponding to step S31 in FIG. 5, for example, the ship control device 11C receives an input operation in which the operation unit 12A of the input device 12 turns the ship 11 clockwise on the spot. determine whether or not When the operation unit 12A has not received an input operation for turning the vessel 11 clockwise on the spot, the step corresponding to step S31 in FIG. 5 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation for turning the ship 11 clockwise on the spot, the process proceeds to a step corresponding to step S32 in FIG.

In a step corresponding to step S32 in FIG. 5, the vessel control device 11C operates the actuator 11A so that the actuator 11A causes the vessel 11 to generate a moment that causes the vessel 11 to turn clockwise on the spot. As a result, the vessel 11 turns clockwise on the spot.
Next, in a step corresponding to step S33 in FIG. 5, for example, the vessel control device 11C determines whether or not the operation section 12A of the input device 12 has received an input operation to stop the clockwise spot turning of the vessel 11. . If the operation unit 12A has not received an input operation for stopping the clockwise spot turning of the ship 11, the step corresponding to step S33 in FIG. 5 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation for stopping the clockwise spot turning of the ship 11, the process proceeds to a step corresponding to step S34 in FIG.

In a step corresponding to step S34 in FIG. 5, the ship control device 11C causes the actuator 11A to stop generating a moment that causes the ship 11 to turn clockwise on the spot. This results in a moment of inertia tending to continue the clockwise in-place turning. Therefore, in the ship maneuvering system 1 of the third embodiment, in a step corresponding to step S34 in FIG. The actuator 11A is operated so as to generate a moment in the vessel 11 . Specifically, in a step corresponding to step S34 of FIG. 11. As a result, it is possible to prevent the ship 11 from turning excessively clockwise on the spot due to the moment of inertia generated in the ship 11 .
Next, in a step corresponding to step S35 in FIG. 5, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A, the vessel control device 11C (that is, step S33 in FIG. The elapsed time from the time when it is determined that the operation unit 12A has received an input operation to stop the clockwise spot turning of the ship 11 in the step to be performed) is monitored. Specifically, in a step corresponding to step S35 in FIG. 5, the vessel control device 11C determines whether the elapsed time since the operation unit 12A received an input operation to stop the operation of the actuator 11A has become equal to or greater than the first threshold. determine whether or not If the elapsed time is not equal to or greater than the first threshold value (that is, if it can be estimated that the moment of inertia of the ship 11 may cause the ship 11 to turn excessively clockwise on the spot), this corresponds to step S35 in FIG. The steps to do are repeatedly executed. On the other hand, if the elapsed time is equal to or greater than the first threshold (that is, if it can be estimated that there is no risk that the vessel 11 will turn excessively clockwise on the spot due to the moment of inertia of the vessel 11), the process proceeds to step S36 in FIG. Proceed to the corresponding step.
In a step corresponding to step S36 in FIG. 5, the vessel control device 11C causes the actuator 11A to stop generating the counterclockwise moment.

That is, in the ship maneuvering system 1 of the third embodiment, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (Fig. 5 11), the ship control device 11C transfers the moment of inertia generated in the ship 11 in the opposite direction (counterclockwise) to the direction (clockwise) of the moment of inertia to the ship 11, the actuator 11A is operated without the need for the operation unit 12A to receive the input operation.
Therefore, in the marine vessel maneuvering system 1 of the third embodiment, the operator's input operation for canceling the moment of inertia generated in the marine vessel 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated. .
Further, in the ship steering system 1 of the third embodiment, even if the ship operator who is away from the ship 11 cannot grasp the moment of inertia generated in the ship 11, the state of the ship 11 can be changed from the operating state of the actuator 11A to the deactivation of the actuator 11A. state can be transitioned appropriately.

When the operation unit 12A of the input device 12 receives an input operation to move the ship 11 forward and turn clockwise, and then receives an input operation to stop the ship 11 from moving forward and turning clockwise, the operation of the third embodiment is performed. In the process executed by the ship control device 11C, in a step corresponding to step S51 in FIG. 7, the ship control device 11C, for example, causes the operation unit 12A of the input device 12 to move the ship 11 forward and turn clockwise. is received. When the operation unit 12A has not received an input operation to move the ship 11 forward and turn it clockwise, the step corresponding to step S51 in FIG. 7 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation for moving the ship 11 forward and turning clockwise, the process proceeds to a step corresponding to step S52 in FIG.

In a step corresponding to step S52 in FIG. 7, the vessel control device 11C causes the actuator 11A to generate a propulsive force to move the vessel 11 forward and a moment to turn the vessel 11 clockwise. Then, the actuator 11A is operated. As a result, the vessel 11 moves forward and turns clockwise.
Next, in a step corresponding to step S53 in FIG. 7, for example, the vessel control device 11C determines whether or not the operating section 12A of the input device 12 has received an input operation to stop the forward movement and clockwise turning of the vessel 11. . When the operation unit 12A has not received an input operation to stop the ship 11 from moving forward and turning clockwise, the step corresponding to step S53 in FIG. 7 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation to stop the ship 11 from moving forward and turning clockwise, the process proceeds to a step corresponding to step S54 in FIG.

In a step corresponding to step S54 in FIG. 7, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force that moves the vessel 11 forward and the moment that rotates the vessel 11 clockwise. As a result, an inertial force that tends to keep moving forward and a moment of inertia that tends to keep clockwise turning are generated. Therefore, in the marine vessel maneuvering system 1 of the third embodiment, in a step corresponding to step S54 in FIG. The actuator 11A generates a thrust in the rearward direction of the ship 11, and the ship 11 generates a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia generated in the ship 11. Then, the actuator 11A is operated. Specifically, in a step corresponding to step S54 in FIG. 7, the vessel control device 11C receives an input operation for causing the operation section 12A to generate a backward thrust force on the vessel 11 and to generate a counterclockwise moment on the vessel 11. Unnecessarily, the actuator 11A generates a backward thrust of the vessel 11 and a counterclockwise moment is generated on the vessel 11 . As a result, it is possible to prevent the ship 11 from moving forward due to the inertial force generated in the ship 11 and from turning the ship 11 excessively clockwise due to the moment of inertia generated in the ship 11. .
Next, in a step corresponding to step S55 in FIG. 7, when the operation unit 12A of the input device 12 receives an input operation for stopping the operation of the actuator 11A, the vessel control device 11C (that is, step S53 in FIG. The elapsed time from the time when it is determined that the operation unit 12A has received an input operation for stopping the forward movement and clockwise turning of the ship 11 in the step to be performed) is monitored. Specifically, in a step corresponding to step S55 in FIG. 5, the vessel control device 11C determines whether the elapsed time from when the operation unit 12A received an input operation to stop the operation of the actuator 11A has become equal to or greater than the first threshold value. determine whether or not If the elapsed time is not equal to or greater than the first threshold (that is, the ship 11 may move forward due to the inertial force of the ship 11 and the moment of inertia of the ship 11 may cause the ship 11 to turn excessively clockwise). ), the step corresponding to step S55 in FIG. 7 is repeatedly executed. On the other hand, when the elapsed time is equal to or greater than the first threshold value (that is, there is no possibility that the inertial force of the ship 11 will cause the ship 11 to move forward, and the moment of inertia of the ship 11 may cause the ship 11 to turn excessively clockwise). If it can be estimated that there is no case), the process proceeds to a step corresponding to step S56 in FIG.
In a step corresponding to step S56 in FIG. 7, the vessel control device 11C causes the actuator 11A to stop the generation of the backward thrust and the counterclockwise moment of the vessel 11 .

That is, in the marine vessel maneuvering system 1 of the third embodiment, when the operation unit 12A of the input device 12 receives an input operation for stopping the operation of the actuator 11A while the vessel control device 11C is operating the actuator 11A (Fig. 7 (if determined YES in the step corresponding to step S53 in step S53), the ship control device 11C controls the direction of the inertial force generated in the ship 11 (forward direction of the ship 11) opposite to the direction (backward direction of the ship 11). The operation unit 12A is configured to cause the actuator 11A to generate a thrust force and to cause the ship 11 to generate a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia generated in the ship 11. Actuator 11A is operated without needing to accept an input operation.
Therefore, in the marine vessel maneuvering system 1 of the third embodiment, the operator's input operation for canceling the inertial force and moment of inertia generated in the vessel 11 when the actuator 11A is shifted from the operating state to the non-operating state of the actuator 11A is unnecessary. be able to.
Further, in the marine vessel maneuvering system 1 of the third embodiment, even if the operator who is away from the marine vessel 11 cannot grasp the inertial force and moment of inertia generated in the marine vessel 11, the state of the marine vessel 11 can be changed from the operating state of the actuator 11A to the actuator 11A. can be properly transitioned to the deactivation state of

<Fourth Embodiment>
A fourth embodiment of a ship maneuvering system, a ship control device, a ship control method, and a program according to the present invention will be described below.
The ship maneuvering system 1 of the fourth embodiment is configured in the same manner as the ship maneuvering systems 1 of the second and third embodiments described above, except for the points described later. Therefore, according to the ship maneuvering system 1 of the fourth embodiment, the same effects as those of the above-described ship maneuvering systems 1 of the second and third embodiments can be obtained, except for the points described later.

The ship maneuvering system 1 of the fourth embodiment is configured in the same manner as the ship maneuvering system 1 of the third embodiment shown in FIG.

In the process executed by the ship control device 11C of the fourth embodiment when the operation unit 12A of the input device 12 receives an input operation for advancing the ship 11 and then receives an input operation for stopping the advance of the ship 11, In a step corresponding to step SA1 in FIG. 9, for example, the vessel control device 11C determines whether or not the operating section 12A of the input device 12 has received an input operation for moving the vessel 11 forward. When the operation unit 12A has not received an input operation for moving the ship 11 forward, the step corresponding to step SA1 in FIG. 9 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation for moving the ship 11 forward, the process proceeds to a step corresponding to step SA2 in FIG.

In a step corresponding to step SA2 in FIG. 9, the ship control device 11C operates the actuator 11A so that the thrust force generating section 11A2 of the actuator 11A generates a propulsion force for moving the ship 11 forward. As a result, the ship 11 moves forward.
Next, in a step corresponding to step SA3 in FIG. 9, the vessel control device 11C, for example, determines whether or not the operation section 12A of the input device 12 has received an input operation to stop the forward movement of the vessel 11. When the operation unit 12A has not received an input operation to stop the forward movement of the ship 11, the step corresponding to step SA3 in FIG. 9 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation to stop the forward movement of the ship 11, the process proceeds to a step corresponding to step SA4 in FIG.

In a step corresponding to step SA4 in FIG. 9, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force that moves the vessel 11 forward. As a result, an inertial force (going foot) that tries to continue forward movement is generated. Therefore, in the marine vessel maneuvering system 1 of the fourth embodiment, in a step corresponding to step SA4 in FIG. The actuator 11A is actuated so that the actuator 11A generates thrust in the rearward direction of the ship 11 . Specifically, in a step corresponding to step SA4 in FIG. 9 , the vessel control device 11C does not require the operation unit 12A to receive an input operation for causing the actuator 11A to generate a backward thrust of the vessel 11. is generated in the actuator 11A. As a result, it is possible to prevent the ship 11 from moving forward due to the inertial force generated in the ship 11 (going forward).
Next, in a step corresponding to step SA5 in FIG. 9, the ship control device 11C monitors the speed of the ship 11. FIG. Specifically, in a step corresponding to step SA5 in FIG. 9, the vessel control device 11C determines whether the speed of the vessel 11 detected by the vessel speed detector 11E has decreased to the second threshold or less. If the speed of the ship 11 has not decreased to the second threshold or less (that is, if the ship 11 continues to move forward due to the inertial force (going foot) of the ship 11), a step corresponding to step SA5 in FIG. is executed repeatedly. On the other hand, if the speed of the ship 11 has decreased to the second threshold or less (that is, if it can be estimated that the forward movement of the ship 11 due to the inertial force (going foot) of the ship 11 has ended), this corresponds to step SA6 in FIG. proceed to the step to
In a step corresponding to step SA6 in FIG. 9 , the vessel control device 11C causes the actuator 11A to stop generating the backward thrust of the vessel 11 .

That is, in the ship maneuvering system 1 of the fourth embodiment, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (Fig. 9 (if determined YES in the step corresponding to step SA3 in step SA3), the vessel control device 11C controls the direction of the inertial force generated in the vessel 11 (forward of the vessel 11) opposite to the direction (backward of the vessel 11). The actuator 11A is operated so that the actuator 11A generates thrust without the need for the operation unit 12A to receive an input operation.
Therefore, in the marine vessel maneuvering system 1 of the fourth embodiment, the operator's input operation for canceling the inertial force generated in the marine vessel 11 when the actuator 11A transitions from the operating state to the non-operating state of the actuator 11A can be eliminated. .
Further, in the marine vessel maneuvering system 1 of the fourth embodiment, even if the operator who is away from the marine vessel 11 cannot grasp the inertial force generated in the marine vessel 11, the state of the marine vessel 11 can be changed from the operating state of the actuator 11A to the deactivation of the actuator 11A. state can be transitioned appropriately.

When the operation unit 12A of the input device 12 receives an input operation to turn the ship 11 clockwise on the spot, and then receives an input operation to stop the clockwise on-the-spot turning of the ship 11, the ship of the fourth embodiment In the process executed by the control device 11C, in a step corresponding to step SC1 in FIG. 11, for example, the ship control device 11C accepts an input operation for causing the operation section 12A of the input device 12 to turn the ship 11 clockwise on the spot. determine whether or not When the operation unit 12A has not received an input operation for turning the vessel 11 clockwise on the spot, the step corresponding to step SC1 in FIG. 11 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation for turning the ship 11 clockwise on the spot, the process proceeds to a step corresponding to step SC2 in FIG.

In a step corresponding to step SC2 in FIG. 11, the vessel control device 11C operates the actuator 11A so that the actuator 11A causes the vessel 11 to generate a moment that causes the vessel 11 to turn clockwise on the spot. As a result, the vessel 11 turns clockwise on the spot.
Next, in a step corresponding to step SC3 in FIG. 11, the vessel control device 11C, for example, determines whether or not the operating section 12A of the input device 12 has received an input operation to stop the clockwise spot turning of the vessel 11. . If the operation unit 12A has not received an input operation to stop the clockwise spot turning of the ship 11, the step corresponding to step SC3 in FIG. 11 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation to stop the clockwise spot turning of the ship 11, the process proceeds to a step corresponding to step SC4 in FIG.

In a step corresponding to step SC4 in FIG. 11, the vessel control device 11C causes the actuator 11A to stop generating a moment that causes the vessel 11 to turn clockwise on the spot. This results in a moment of inertia tending to continue the clockwise in-place turning. Therefore, in the ship maneuvering system 1 of the fourth embodiment, in a step corresponding to step SC4 in FIG. The actuator 11A is operated so as to generate a moment in the vessel 11 . Specifically, in a step corresponding to step SC4 in FIG. 11 , the vessel control device 11C applies a counterclockwise moment to the vessel 11 without the operation unit 12A needing to receive an input operation that causes the vessel 11 to generate a counterclockwise moment. 11. As a result, it is possible to prevent the ship 11 from turning excessively clockwise on the spot due to the moment of inertia generated in the ship 11 .
Next, in a step corresponding to step SC5 in FIG. 11, the ship control device 11C monitors the angular velocity of the ship 11. FIG. Specifically, in a step corresponding to step SC5 in FIG. 11, the ship control device 11C determines that the angular velocity of the ship 11 calculated based on the heading detected by the heading detection unit 11D has decreased to the third threshold or less. Determine whether or not If the angular velocity of the ship 11 has not decreased to the third threshold or less (that is, if the ship 11 continues to turn clockwise due to the moment of inertia of the ship 11), this corresponds to step SC5 in FIG. Steps are executed repeatedly. On the other hand, when the angular velocity of the ship 11 has decreased to the third threshold or less (that is, when it can be estimated that the ship 11 has finished turning in place clockwise due to the moment of inertia of the ship 11), the process proceeds to step SC6 of FIG. Proceed to the corresponding step.
In a step corresponding to step SC6 in FIG. 11, the vessel control device 11C causes the actuator 11A to stop generating the counterclockwise moment.

That is, in the ship maneuvering system 1 of the fourth embodiment, when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (Fig. 11 2), the vessel control device 11C applies a moment of inertia generated in the vessel 11 in a direction (counterclockwise) opposite to the direction (clockwise) of the moment of inertia to the vessel 11, the actuator 11A is operated without the need for the operation unit 12A to receive the input operation.
Therefore, in the marine vessel maneuvering system 1 of the fourth embodiment, the operator's input operation for canceling the moment of inertia generated in the marine vessel 11 when the actuator 11A is shifted from the operating state to the non-operating state of the actuator 11A can be eliminated. .
Further, in the ship steering system 1 of the fourth embodiment, even if the ship operator who is away from the ship 11 cannot grasp the moment of inertia generated in the ship 11, the state of the ship 11 can be changed from the operating state of the actuator 11A to the deactivation of the actuator 11A. state can be transitioned appropriately.

When the operation unit 12A of the input device 12 receives an input operation to move the ship 11 forward and turn clockwise, and then receives an input operation to stop the ship 11 from moving forward and turning clockwise, the operation of the fourth embodiment is performed. In the process executed by the ship control device 11C, in a step corresponding to step SE1 in FIG. 13, the ship control device 11C, for example, causes the operation section 12A of the input device 12 to move the ship 11 forward and turn clockwise. is received. When the operation unit 12A has not received an input operation to move the ship 11 forward and turn it clockwise, the step corresponding to step SE1 in FIG. 13 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation to move the ship 11 forward and turn it clockwise, the process proceeds to a step corresponding to step SE2 in FIG.

In a step corresponding to step SE2 in FIG. 13, the vessel control device 11C causes the actuator 11A to generate a propulsive force to move the vessel 11 forward and a moment to turn the vessel 11 clockwise. Then, the actuator 11A is operated. As a result, the vessel 11 moves forward and turns clockwise.
Next, in a step corresponding to step SE3 in FIG. 13, the vessel control device 11C, for example, determines whether or not the operating section 12A of the input device 12 has received an input operation to stop the forward movement and clockwise turning of the vessel 11. . If the operation unit 12A has not received an input operation to stop the ship 11 from moving forward and turning clockwise, the step corresponding to step SE3 in FIG. 13 is repeatedly executed. On the other hand, when the operation unit 12A receives an input operation to stop the ship 11 from moving forward and turning clockwise, the process proceeds to a step corresponding to step SE4 in FIG.

In a step corresponding to step SE4 in FIG. 13, the vessel control device 11C causes the actuator 11A to stop generating the propulsive force that moves the vessel 11 forward and the moment that rotates the vessel 11 clockwise. As a result, an inertial force that tends to keep moving forward and a moment of inertia that tends to keep clockwise turning are generated. Therefore, in the marine vessel maneuvering system 1 of the fourth embodiment, in a step corresponding to step SE4 in FIG. The actuator 11A generates a thrust in the rearward direction of the ship 11, and the ship 11 generates a moment (counterclockwise) opposite to the direction (clockwise) of the moment of inertia generated in the ship 11. Then, the actuator 11A is operated. Specifically, in a step corresponding to step SE4 in FIG. 13 , the ship control device 11C receives an input operation in which the operation unit 12A causes the ship 11 to generate a backward thrust and a counterclockwise moment to the ship 11. Unnecessarily, the actuator 11A generates a backward thrust of the vessel 11 and a counterclockwise moment is generated on the vessel 11 . As a result, it is possible to prevent the ship 11 from moving forward due to the inertial force generated in the ship 11 and from turning the ship 11 excessively clockwise due to the moment of inertia generated in the ship 11. .
Next, in a step corresponding to step SE5 in FIG. 13, the ship control device 11C monitors the speed of the ship 11. FIG. Specifically, in a step corresponding to step SE5 in FIG. 13, the ship control device 11C determines whether the speed of the ship 11 detected by the ship speed detector 11E has decreased to the fourth threshold or less. When the speed of the ship 11 has not decreased to the fourth threshold or less (that is, when the ship 11 moves forward due to the inertial force of the ship 11 and the ship 11 continues to turn clockwise due to the moment of inertia of the ship 11 ), a step corresponding to step SE5 in FIG. 13 is repeatedly executed. On the other hand, when the speed of the ship 11 has decreased to the fourth threshold or less (that is, when it can be estimated that the forward movement of the ship 11 due to the inertial force of the ship 11 and the clockwise turning of the ship 11 due to the moment of inertia of the ship 11 have ended) , the process proceeds to a step corresponding to step SE6 in FIG.
In a step corresponding to step SE6 in FIG. 13 , the vessel control device 11C causes the actuator 11A to stop the generation of the backward thrust and the counterclockwise moment of the vessel 11 .

That is, in the ship maneuvering system 1 of the fourth embodiment, when the operation unit 11B receives an input operation to stop the operation of the actuator 11A while the ship control device 11C is operating the actuator 11A (at step SE3 in FIG. 13 If the determination is YES in the corresponding step), the ship control device 11C applies thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force generated in the ship 11 (forwardward of the ship 11) to the actuator 11A. and to generate a moment (counterclockwise) in the ship 11 opposite to the direction of the moment of inertia (clockwise) generated in the ship 11. Actuator 11A is activated without need.
Therefore, in the marine vessel maneuvering system 1 of the fourth embodiment, the operator's input operation for canceling the inertial force and moment of inertia generated in the marine vessel 11 when the actuator 11A is shifted from the operating state to the non-operating state of the actuator 11A is unnecessary. be able to.
Further, in the marine vessel maneuvering system 1 of the fourth embodiment, even if the operator who is away from the marine vessel 11 cannot grasp the inertial force and moment of inertia generated in the marine vessel 11, the state of the marine vessel 11 can be changed from the operating state of the actuator 11A to the actuator 11A. can be properly transitioned to the deactivation state of

As described above, the mode for carrying out the present invention has been described using the embodiments, but the present invention is not limited to such embodiments at all, and various modifications and replacements can be made without departing from the scope of the present invention. can be added. You may combine the structure as described in each embodiment and each example which were mentioned above.

It should be noted that all or part of the functions of the units provided in the ship maneuvering system 1 in the above-described embodiment are recorded on a computer-readable recording medium by recording a program for realizing these functions. It may be realized by loading the program into a computer system and executing it. It should be noted that the “computer system” here includes hardware such as an OS and peripheral devices.
The term "computer-readable recording medium" refers to portable media such as flexible discs, magneto-optical discs, ROMs and CD-ROMs, and storage units such as hard discs built into computer systems. Furthermore, "computer-readable recording medium" refers to a program that dynamically retains programs for a short period of time, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include a device that retains the program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or client in that case. Further, the program may be for realizing part of the functions described above, or may be capable of realizing the functions described above in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1... Ship steering system, 11... Ship, 11A... Actuator, 11A1... Rudder part, 11A2... Thrust generation part, 11B... Operation part, 11B1... Steering part, 11B2... Throttle operation part, 11C... Vessel control device, 11D... Heading Detector 11E Ship speed detector 11F Ship position detector 11G Communication unit 12 Input device 12A Operation unit 12B Communication unit

Claims

an actuator having a function of generating a propulsion force for a vessel and a function of generating a moment on the vessel;
an operation unit that receives an input operation from an operator;
A ship control device that operates the actuator,
When the operation unit receives an input operation to stop the operation of the actuator while the ship control device is operating the actuator,
The ship control device causes the actuator to generate thrust in a direction opposite to the direction of the inertia force occurring in the ship, and/or causes the actuator to generate a thrust force in the direction opposite to the direction of the moment of inertia occurring in the ship. actuating the actuator without the need for the operation unit to accept an input operation so as to generate a moment on the vessel;
ship steering system.
The ship control device includes:
The actuator generates a thrust in the direction opposite to the direction of the inertia force generated in the ship, and/or the ship generates a moment in the direction opposite to the direction of the moment of inertia generated in the ship. A period of time for actuating the actuator so as to
setting based on the elapsed time from the time when the operation unit receives an input operation for stopping the operation of the actuator;
The ship maneuvering system according to claim 1.
The ship control device includes:
The actuator generates a thrust in the direction opposite to the direction of the inertia force generated in the ship, and/or the ship generates a moment in the direction opposite to the direction of the moment of inertia generated in the ship. setting a period of time for activating the actuator based on the velocity or angular velocity of the vessel,
The ship maneuvering system according to claim 1.
The ship maneuvering system includes the ship and an input device provided separately from the ship,
The ship includes the actuator and the ship control device,
The input device includes the operation unit,
When the operation unit of the input device receives an input operation to stop the operation of the actuator while the ship control device is operating the actuator,
The ship control device is configured to cause the actuator to generate a thrust force in a direction opposite to the direction of the inertia force occurring in the ship, and/or to generate a thrust force in the direction opposite to the direction of the moment of inertia occurring in the ship. actuating the actuator without the need for the operation unit of the input device to accept an input operation so as to generate a moment on the vessel;
The marine vessel maneuvering system according to claim 1.
When the operation unit receives an input operation for stopping the generation of the propulsive force for advancing or reversing the marine vessel while the actuator is generating the propulsive force for advancing or reversing the marine vessel,
The ship control device operates the actuator so that the actuator generates thrust in a direction opposite to the direction of the inertial force generated in the ship, without the need for the operation unit to receive an input operation.
The ship maneuvering system according to claim 1.
When the operation unit receives an input operation for stopping generation of the moment for turning the ship on the spot while the actuator is causing the ship to generate a moment for turning the ship on the spot,
The ship control device operates the actuator so that the ship generates a moment in the ship in a direction opposite to the direction of the moment of inertia generated in the ship, without the need for the operation unit to receive an input operation.
The marine vessel maneuvering system according to claim 1.
When the actuator is generating a propulsive force to move the ship forward and generating a moment to turn the ship, the propulsive force to move the ship forward and the moment to turn the ship When the operation unit receives an input operation to stop generation,
The ship control device generates a moment in a direction opposite to the moment of inertia produced in the ship so that the actuator generates a thrust in a direction opposite to the direction of the inertia force produced in the ship. actuating the actuator without the need for the operation unit to accept an input operation so as to occur on the ship;
The marine vessel maneuvering system according to claim 1.
When the actuator is generating a propulsive force for moving the ship astern and generating a moment for turning the ship, the propulsive force for moving the ship astern and the moment for turning the ship are generated. When the operation unit receives an input operation to stop generation,
The ship control device is configured to cause the actuator to generate a thrust in a direction opposite to the direction of the inertia force generated in the ship, and to generate a moment in the direction opposite to the direction of the moment of inertia generated in the ship. actuating the actuator without the need for the operation unit to accept an input operation so as to occur on the ship;
The ship maneuvering system according to claim 1.
A ship control device provided in a ship maneuvering system comprising an actuator having a function of generating a propulsive force of a ship and a function of generating a moment in the ship, and an operation section for receiving an input operation by a ship operator, and operating the actuator. There is
When the operation unit receives an input operation to stop the operation of the actuator while the ship control device is operating the actuator,
The actuator generates a thrust in the direction opposite to the direction of the inertia force generated in the ship, and/or the ship generates a moment in the direction opposite to the direction of the moment of inertia generated in the ship. actuating the actuator without the need for the operation unit to accept an input operation,
Ship control device.
A ship control device provided in a ship maneuvering system comprising an actuator having a function of generating a propulsive force of a ship and a function of generating a moment in the ship, and an operation section for receiving an input operation by a ship operator, and operating the actuator. A ship control method comprising:
a first step of operating the actuator according to the input operation received by the operation unit;
When the operation unit receives an input operation to stop the operation of the actuator while the ship control device is operating the actuator,
The actuator generates a thrust in the direction opposite to the direction of the inertia force generated in the ship, and/or the ship generates a moment in the direction opposite to the direction of the moment of inertia generated in the ship. a second step of actuating the actuator without the need for the operation unit to accept an input operation so as to cause the
Vessel control method.
A ship control device provided in a ship maneuvering system comprising an actuator having a function of generating a propulsive force of a ship and a function of generating a moment in the ship, and an operation section for receiving an input operation by a ship operator, and operating the actuator. on the computer equipped with
a first step of operating the actuator according to the input operation received by the operation unit;
When the operation unit receives an input operation to stop the operation of the actuator while the ship control device is operating the actuator,
The actuator generates a thrust in the direction opposite to the direction of the inertia force generated in the ship, and/or the ship generates a moment in the direction opposite to the direction of the moment of inertia generated in the ship. and a second step of operating the actuator without the need for the operation unit to accept an input operation.