JP7130015B2 - AUTOMATIC SHIPMANOPERATION SYSTEM, SHIP CONTROL DEVICE, SHIP CONTROL METHOD AND PROGRAM - Google Patents

Description

The present invention relates to an automatic ship maneuvering system, a ship control device, a ship control method, and a program.

A personal watercraft (PWC) auto-return system has been conventionally known (see, for example, Patent Document 1). The PWC auto-return system described in US Pat. No. 6,200,008 includes a user device and an autopilot unit located within the PWC. The user device comprises a passenger positioning unit, a user interface and a communication unit. In the technology described in Patent Document 1, when a passenger carrying a user device leaves the PWC (falls into the water), the PWC receives a request from the user interface and advances to the position of the user device by autopilot.
By the way, Patent Document 1 does not describe the speed of the PWC during automatic maneuvering. During autopilot, if the speed of the PWC is not properly controlled, it can pose a danger to passengers carrying user devices.

U.S. Patent Application Publication No. 2018/0335780

SUMMARY OF THE INVENTION In view of the above-described problems, an object of the present invention is to provide an automatic ship maneuvering system, a ship control device, a ship control method, and a program capable of appropriately controlling the speed of a ship in the automatic ship maneuvering mode.

One aspect of the present invention is an automatic ship maneuvering system comprising a ship and a communication device, wherein the ship includes an actuator having a function of generating a propulsive force of the ship and a function of generating a turning moment in the ship; An operation unit that receives an input operation for operating the actuator, and a ship control device that operates the actuator based on at least the input operation received by the operation unit, wherein the ship control device receives the input received by the operation unit. It has a manual ship maneuvering mode in which the actuators are operated based on an operation, and an automatic ship maneuvering mode in which the actuators are operated without the need for the operation unit to receive an input operation. and an automatic ship steering system that controls the speed of the ship based on the relative distance between the ship and the communication device.

According to one aspect of the present invention, the marine vessel includes an actuator having a function of generating a propulsive force of the marine vessel and a function of generating a turning moment in the marine vessel, and an operating section that receives an input operation for operating the actuator. A ship control device, wherein the ship control device has a manual ship operation mode in which the actuator is operated based on an input operation received by the operation unit, and a manual operation mode in which the actuator is operated without the need for the operation unit to receive the input operation. and an automatic ship maneuvering mode, wherein the ship control device controls the speed of the ship based on the relative distance between the ship and the communication device in the automatic ship maneuvering mode.

According to one aspect of the present invention, the vessel is provided with an actuator having a function of generating a propulsive force of the vessel and a function of generating a turning moment in the vessel, and an operation section that receives an input operation for operating the actuator. The ship control method comprises at least a ship control step of operating the actuator based on the input operation received by the operation unit, wherein the ship control step includes operating the actuator based on the input operation received by the operation unit. and an automatic ship maneuvering step in which the actuator is operated without the need for the operation unit to accept an input operation, and in the automatic ship maneuvering step, the relative distance between the ship and the communication device , a ship control method, wherein the speed of the ship is controlled;

According to one aspect of the present invention, the actuator is mounted on the marine vessel and includes an actuator having a function of generating a propulsive force of the marine vessel and a function of generating a turning moment in the marine vessel; a program for causing a computer to execute a ship control step of operating the actuator based on at least the input operation received by the operation unit, wherein the ship control step includes: and an automatic ship maneuvering step in which the actuator is operated without the need for the operation unit to accept an input operation. A program wherein the speed of the vessel is controlled based on the distance.

According to the present invention, it is possible to provide an automatic ship maneuvering system, a ship control device, a ship control method, and a program capable of appropriately controlling the speed of a ship in the automatic ship maneuvering mode.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows schematically an example of the automatic ship maneuvering system of 1st Embodiment. FIG. 4 is a diagram for explaining an example of the relationship between the relative distance between the ship and the communication device and the speed of the ship in the automatic ship maneuvering mode of the automatic ship maneuvering system of the first embodiment; 7 is a diagram showing another example of the relationship between the relative distance between the ship and the communication device and the speed of the ship in the automatic ship maneuvering mode of the automatic ship maneuvering system of the first embodiment; FIG. FIG. 4 is a sequence diagram for explaining an example of processing executed in the automatic ship maneuvering system of the first embodiment; FIG. 10 is a diagram schematically showing an example of an automatic ship maneuvering system according to a second embodiment; FIG. FIG. 11 is a sequence diagram for explaining an example of processing executed in the automatic ship maneuvering system of the second embodiment; FIG. 21 is a diagram schematically showing an example of an automatic ship maneuvering system according to a sixth embodiment; FIG. FIG. 20 is a sequence diagram for explaining an example of processing executed in the automatic ship maneuvering system of the sixth embodiment; FIG. 21 is a diagram schematically showing an example of an automatic ship maneuvering system according to a seventh embodiment; FIG. FIG. 20 is a sequence diagram for explaining an example of processing executed in the automatic ship maneuvering system of the seventh embodiment; FIG. 21 is a diagram schematically showing an example of an automatic ship maneuvering system according to an eighth embodiment; FIG. 20 is a sequence diagram for explaining an example of processing executed in the automatic ship maneuvering system of the eighth embodiment;

<First embodiment>
A first embodiment of an automatic 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 schematically showing an example of an autopilot system 1 according to the first embodiment.
In the example shown in FIG. 1 , an autopilot system 1 includes a vessel 11 and a communication device 12 .
The vessel 11 of the first embodiment is a PWC having functions similar to those of the personal watercraft (PWC, personal watercraft) described in FIG. 1 of Japanese Patent No. 5196649, for example. The ship 11 includes an actuator 11A, an operation unit 11B, a ship control device 11C, a trigger generation unit 11D, a ship position detection unit 11E, a heading detection unit 11F, a communication unit 11G, and a relative distance calculation unit 11H. It has
The actuator 11</b>A has a function of generating a propulsion force for the ship 11 and a function of generating a turning moment in the ship 11 . 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.
The operation unit 11B receives an input operation of the operator who operates the actuator 11A. The operation unit 11B is configured similarly to, for example, the steering handle device described in FIG. 1 of Japanese Patent No. 5196649, the steering unit described in FIG. 1 of JP-A-2019-171925, and the like.
The ship control device 11C performs control for operating the actuator 11A based on the operator's input operation received by the operation unit 11B. The ship control device 11C has a manual ship maneuvering mode in which the actuator 11A is operated based on the operator's input operation received by the operation section 11B, and an automatic ship maneuvering mode in which the actuator 11A is operated without the need for the operation section 11B to receive the input operation. and

The trigger generator 11D generates a trigger for switching the ship control device 11C from the manual marine vessel maneuvering mode to the automatic marine vessel maneuvering mode. The trigger generation unit 11D includes a falling water detection unit 11D1 and an automatic marine vessel maneuvering start instruction unit 11D2.
The overboard detection unit 11D1 detects that a person on board the ship 11 (for example, a ship operator, a person other than the ship operator, etc.) falls into the water. The falling-in-water detector 11D1 of the first embodiment is configured in the same manner as the lanyard cord and switch described in paragraph 0002 of Japanese Patent No. 4205261, for example. Specifically, one end of the lanyard cord is connected to a person to be detected falling into the water (for example, a ship operator, a passenger other than the ship operator, etc.). The other end of the lanyard cord is connected to a switch (not shown) located within vessel 11 .
When the person to be detected falls into the water from the ship 11, the other end of the lanyard cord is disconnected from the switch, and the switch detects that the person to be detected has fallen into the water. As a result, the trigger generator 11D generates a trigger, and the ship control device 11C switches from the manual ship maneuvering mode to the automatic ship maneuvering mode.
The automatic marine maneuvering start instruction unit 11D2 outputs an automatic marine maneuvering start instruction based on the automatic marine maneuvering start request (the “automatic marine maneuvering start request” will be described later) transmitted from the communication device 12 .
When the automatic marine vessel maneuvering start instruction section 11D2 outputs the automatic marine vessel maneuvering start instruction, the vessel control device 11C starts control to operate the actuator 11A (automatic marine vessel maneuvering mode control) without the need for the operation section 11B to receive an input operation. 11 C of ship control apparatuses control the actuator 11A based on the relative position of the ship 11 and the communication apparatus 12, and the heading of the ship 11 in automatic marine vessel maneuvering mode.
In another example, the trigger generating section 11D may not include the automatic marine vessel maneuvering start instructing section 11D2. In this example, when the falling-in-water detection unit 11D1 detects that a person on board the ship 11 has fallen into the water, the trigger generating unit 11D generates a trigger, and the ship control device 11C switches from the manual ship maneuvering mode to the automatic ship maneuvering mode. control is also started.

In the example shown in FIG. 1 , the vessel position detector 11E detects the position of the vessel 11 . The vessel position detector 11E includes, for example, a GPS (Global Positioning System) device. The GPS device calculates the position coordinates of the vessel 11 by receiving signals from multiple GPS satellites. The position of the ship 11 detected by the ship position detector 11E is used for control of the automatic ship maneuvering mode of the above-described ship control device 11C.
The heading detector 11</b>F detects the heading of the ship 11 . The heading detector 11F includes, for example, a heading sensor. The azimuth sensor calculates the heading of the ship 11 by using geomagnetism, for example. The heading of the ship 11 detected by the heading detector 11F is used for controlling the automatic ship maneuvering mode of the ship control device 11C.
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 orientation sensor may be a GPS compass that includes multiple GPS antennas and calculates the heading from the relative positional relationship of the multiple GPS antennas.

In the example shown in FIG. 1, the communication unit 11G communicates with the communication device 12. FIG.
The communication device 12 is carried by the person (passenger) to be detected as falling into the water. The communication device 12 includes a communication device position detection section 12A, a communication section 12B, and an input section 12C.
The communication device position detector 12A detects the position of the communication device 12 . 12 A of communication apparatus position detection parts are provided with the GPS apparatus, for example. The GPS device calculates the position coordinates of the communication device 12 by receiving signals from multiple GPS satellites.
The input unit 12C receives, for example, an automatic marine maneuvering start request from an operator of the ship 11 (for example, an automatic marine maneuvering start request from an operator who falls overboard from the ship 11 while carrying the communication device 12).
The communication unit 12B transmits to the ship 11 information indicating the position of the communication device 12 detected by the communication device position detection unit 12A. The communication unit 11G of the ship 11 receives the information indicating the position of the communication device 12 transmitted by the communication unit 12B. The position of the communication device 12 detected by the communication device position detection section 12A is used for controlling the automatic marine vessel maneuvering mode of the vessel control device 11C.
Further, the communication unit 12B transmits to the vessel 11 the automatic marine vessel maneuvering start request received by the input unit 12C. The communication unit 11G of the ship 11 receives the automatic marine vessel maneuvering start request transmitted by the communication unit 12B. As described above, the automatic marine maneuvering start instruction unit 11D2 of the ship 11 outputs the automatic marine maneuvering start instruction based on the automatic marine maneuvering start request transmitted from the communication device 12 .
In another example, the communication device 12 may not include the input section 12C. In this example, the communication unit 12B does not transmit the automatic marine vessel maneuvering start request to the marine vessel 11, and the marine vessel control device 11C starts controlling the automatic marine vessel maneuvering mode based on the trigger generated by the trigger generating unit 11D.

In the example shown in FIG. 1, the relative distance calculation unit 11H calculates the position of the ship based on the position of the communication device 12 detected by the communication device position detection unit 12A and the position of the ship 11 detected by the ship position detection unit 11E. 11 and the communication device 12 are calculated.
11 C of ship control apparatuses control the speed of the ship 11 based on the relative distance of the ship 11 and the communication apparatus 12 calculated by the relative distance calculation part 11H in automatic marine vessel maneuvering mode. In other words, the ship control device 11C autonomously controls the speed of the ship 11 in the automatic ship maneuvering mode.

FIG. 2 is a diagram for explaining an example of the relationship between the relative distance between the ship 11 and the communication device 12 and the speed of the ship 11 in the automatic ship maneuvering mode of the automatic ship maneuvering system 1 of the first embodiment. Specifically, FIG. 2A shows an example of the moving direction of the vessel 11 in the automatic navigation mode of the automatic navigation system 1 of the first embodiment, and FIG. 1 shows an example of the relationship between the relative distance between the vessel 11 and the communication device 12 and the velocity of the vessel 11 in automatic marine vessel maneuvering mode 1. FIG.
In the example shown in FIG. 2A, in the automatic marine vessel maneuvering mode, the vessel control device 11C operates the actuator 11A so that the relative distance between the vessel 11 and the communication device 12 decreases. That is, in the automatic marine vessel maneuvering mode, the vessel control device 11C moves the vessel 11 so that the vessel 11 approaches the communication device 12 .
In the examples shown in FIGS. 2A and 2B, in the autopilot mode, the vessel control device 11C reduces the speed of the vessel 11 to a smaller value as the relative distance between the vessel 11 and the communication device 12 decreases. Control. Specifically, the ship control device 11C controls the speed of the ship 11 to zero when the relative distance between the ship 11 and the communication device 12 is equal to or less than the threshold value DTH.
In the example shown in FIG. 2, when the relative distance between the ship 11 and the communication device 12 decreases from a value larger than the threshold value DTH to the threshold value DTH, the actuator 11A stops generating the propulsion force of the ship 11 (for example, the engine stop state, neutral state, etc.).
In another example, when the relative distance between the ship 11 and the communication device 12 decreases from a value larger than the threshold value DTH to the threshold value DTH, the actuator 11A generates a propulsion force for the ship 11 moving away from the communication device 12. (That is, by setting the inertial force of the ship 11 approaching the communication device 12 to zero), the ship 11 may be stopped at the position where the relative distance between the ship 11 and the communication device 12 is the threshold value DTH.
In yet another example, when the speed of the ship 11 is controlled to zero (that is, when the relative distance between the ship 11 and the communication device 12 is equal to or greater than zero and equal to or less than the threshold DTH), the actuator 11A moves the ship 11 to a fixed point. A holding force may be generated.

FIG. 3 is a diagram showing another example of the relationship between the relative distance between the ship 11 and the communication device 12 and the speed of the ship 11 in the automatic ship maneuvering mode of the automatic ship maneuvering system 1 of the first embodiment.
As described above, in the example shown in FIG. 2B, the speed of the ship 11 decreases as the relative distance between the ship 11 and the communication device 12 decreases. In other words, the speed of the ship 11 increases as the relative distance between the ship 11 and the communication device 12 increases. Specifically, in the relationship between the relative distance between the ship 11 and the communication device 12 and the speed of the ship 11 shown in FIG. increases linearly.
In the example shown in FIG. 3, as in the example shown in FIG. 2B, the speed of the ship 11 decreases as the relative distance between the ship 11 and the communication device 12 decreases. In other words, the speed of the ship 11 increases as the relative distance between the ship 11 and the communication device 12 increases. Specifically, in the relationship between the relative distance between the ship 11 and the communication device 12 and the speed of the ship 11 shown in FIG. increase to
In the example shown in FIG. 3, similar to the examples shown in FIGS. 2A and 2B, the vessel control device 11C controls the vessel 11 speed is controlled to zero.

FIG. 4 is a sequence diagram for explaining an example of processing executed in the automatic navigation system 1 of the first embodiment.
In the example shown in FIG. 4, in step S11, the overboard detection unit 11D1 of the ship 11 detects that a person boarding the ship 11 has fallen into the water.
Next, in step S12, the input unit 12C of the communication device 12 receives a request for starting automatic ship maneuvering by a ship operator who has fallen overboard from the ship 11 while carrying the communication device 12 with him.
Next, in step S13, the communication unit 12B of the communication device 12 transmits the automatic marine maneuvering start request accepted in step S12, and the communication unit 11G of the vessel 11 receives the automatic marine maneuvering start request.
Next, in step S14, the automatic marine maneuvering start instruction section 11D2 of the vessel 11 outputs an automatic marine maneuvering start instruction based on the automatic marine maneuvering start request.
Next, in step S15, the vessel control device 11C of the vessel 11 starts control (automatic navigation mode control) to operate the actuator 11A without the need for the operation section 11B to receive an input operation.

Next, in step S<b>16 , the communication device position detector 12</b>A of the communication device 12 detects the position of the communication device 12 .
Next, in step S17, the communication unit 12B of the communication device 12 transmits information indicating the position of the communication device 12 detected in step S16, and the communication unit 11G of the ship 11 receives the information.
Further, in step S18, the vessel position detector 11E of the vessel 11 detects the position of the vessel 11. FIG.
Further, in step S19, the heading detection unit 11F of the ship 11 detects the heading of the ship 11. FIG.

Next, in step S20, the relative distance calculator 11H of the ship 11 calculates the position of the ship 11 and the communication device 12 based on the position of the communication device 12 detected in step S16 and the position of the ship 11 detected in step S18. Calculate the relative distance from
Next, in step S21, the vessel control device 11C of the vessel 11 controls the speed of the vessel 11 based on the relative distance between the vessel 11 and the communication device 12 calculated in step S20.

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

FIG. 5 is a diagram schematically showing an example of the autopilot system 1 of the second embodiment.
In the example shown in FIG. 5 , the autopilot system 1 includes a vessel 11 and a communication device 12 .
The ship 11 includes an actuator 11A, an operation unit 11B, a ship control device 11C, a trigger generation unit 11D, a ship position detection unit 11E, a heading detection unit 11F, a communication unit 11G, and a relative distance detection unit 11I. It has
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 trigger generation section 11D is configured in the same manner as the trigger generation section 11D shown in FIG. 1, and includes a falling water detection section 11D1 and an automatic marine vessel maneuvering start instruction section 11D2.

In the example shown in FIG. 5, the vessel position detection section 11E is configured similarly to the vessel position detection section 11E shown in FIG.
In another example, the ship 11 may not include the ship position detector 11E.

In the example shown in FIG. 5, the heading detection section 11F is configured in the same manner as the heading detection section 11F shown in FIG.
In another example, the ship 11 may not include the heading detector 11F.

In the example shown in FIG. 5, the communication section 11G is configured similarly to the communication section 11G shown in FIG.
Like the communication device 12 shown in FIG. 1, the communication device 12 is carried by a detection target person (passenger) who falls into the water. The communication device 12 includes a communication device position detection section 12A, a communication section 12B, and an input section 12C.
The communication device position detector 12A is configured in the same manner as the communication device position detector 12A shown in FIG. The communication section 12B is configured similarly to the communication section 12B shown in FIG. The input section 12C is configured similarly to the input section 12C shown in FIG.
In another example, the communication device 12 does not have the communication device position detection section 12A, and the communication section 12B does not need to transmit the information indicating the position of the communication device 12 to the ship 11 .

In the example shown in FIG. 5, the relative distance detection unit 11I includes, for example, a camera that captures an image of the communication device 12, and detects the relative distance between the ship 11 and the communication device 12 (more specifically, the image of the communication device 12). , the relative distance between the ship 11 and the communication device 12 is estimated).
11 C of ship control apparatuses control the speed of the ship 11 based on the relative distance of the ship 11 and the communication apparatus 12 detected by the relative distance detection part 11I in automatic marine vessel maneuvering mode.

FIG. 6 is a sequence diagram for explaining an example of processing executed in the automatic navigation system 1 of the second embodiment.
In the example shown in FIG. 6, in step S31, the falling-in-water detection unit 11D1 of the ship 11 detects that a person boarding the ship 11 has fallen into the water.
Next, in step S32, the input unit 12C of the communication device 12 receives a request to start automatic ship maneuvering by a ship operator who has fallen overboard from the ship 11 while carrying the communication device 12 with him.
Next, in step S33, the communication unit 12B of the communication device 12 transmits the automatic marine maneuvering start request accepted in step S32, and the communication unit 11G of the vessel 11 receives the automatic marine maneuvering start request.
Next, in step S34, the automatic marine maneuvering start instruction section 11D2 of the vessel 11 outputs an automatic marine maneuvering start instruction based on the automatic marine maneuvering start request.
Next, in step S35, the ship control device 11C of the ship 11 starts control (automatic ship maneuvering mode control) to operate the actuator 11A without the need for the operation unit 11B to receive an input operation.

Next, in step S<b>36 , the relative distance detector 11</b>I of the ship 11 detects the relative distance between the ship 11 and the communication device 12 .
Next, in step S37, the vessel control device 11C of the vessel 11 controls the speed of the vessel 11 based on the relative distance between the vessel 11 and the communication device 12 detected in step S36.

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

As described above, in the automatic ship maneuvering system 1 of the second embodiment, the relative distance detector 11I includes, for example, a camera that captures the communication device 12 and detects the relative distance between the ship 11 and the communication device 12 .
On the other hand, in the automatic ship maneuvering system 1 of the third embodiment, the relative distance detection unit 11I includes, for example, a radar, and detects the relative distance between the ship 11 and the communication device 12 (more specifically, the relative distance from the communication device 12 is Based on the reflected wave, the relative distance between the ship 11 and the communication device 12 is measured).

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

As described above, in the automatic marine vessel maneuvering system 1 of the first embodiment, the overwater detection unit 11D1 of the vessel 11 is configured in the same manner as the lanyard cord and switch described in paragraph 0002 of Japanese Patent No. 4205261, for example. When the other end of is disconnected from the switch, it is detected that a person on board the ship 11 (for example, an operator or a person other than the operator) falls into the water.
On the other hand, in the automatic ship maneuvering system 1 of the fourth embodiment, the overboard detection unit 11D1 detects a person on the ship 11 overboard based on the relative distance between the ship 11 and the communication device 12 calculated by the relative distance calculation unit 11H. detect. Specifically, when the relative distance between the ship 11 and the communication device 12 calculated by the relative distance calculation unit 11H exceeds a predetermined threshold value, the overboard detection unit 11D1 determines that the person on board the ship 11 has fallen overboard. presume. As a result, the trigger generator 11D generates a trigger, and the ship control device 11C switches from the manual ship maneuvering mode to the automatic ship maneuvering mode. Further, when the input unit 12C of the communication device 12 receives a request to start automatic marine maneuvering, the ship control device 11C controls the speed of the ship 11 based on the relative distance between the ship 11 and the communication device 12.

<Fifth Embodiment>
A fifth embodiment of an automatic ship maneuvering system, a ship control device, a ship control method, and a program according to the present invention will be described below.
The automatic ship maneuvering system 1 of the fifth embodiment is configured in the same manner as the automatic ship maneuvering system 1 of the first embodiment described above, except for points to be described later. Therefore, according to the automatic ship maneuvering system 1 of the fifth embodiment, the same effects as those of the above-described automatic ship maneuvering system 1 of the first embodiment can be achieved, except for the points described later.

As described above, the boat 11 of the first to fourth embodiments is a PWC having functions similar to those of the personal watercraft (PWC, watercraft) described in FIG. 1 of Japanese Patent No. 5196649, for example. be.
On the other hand, the ship 11 of the fifth embodiment is a ship having functions similar to those of the ship described in FIG. 1 of Japanese Patent No. 6198192, for example.
The actuator 11A of the ship 11 of the fifth embodiment has a function of generating a propulsion force for the ship 11 and a function of generating a turning moment in the ship 11 . The actuator 11A includes, for example, the outboard motor, engine, actuator, shift mechanism, etc. described in FIG. 1 of Japanese Patent No. 6,198,192.
The operation unit 11B of the boat 11 of the fifth embodiment receives an input operation from the boat operator who operates the actuator 11A. The operation unit 11B is configured in the same manner as the steering wheel, remote control device, operation lever, etc. described in FIG. 1 of Japanese Patent No. 6198192, for example. For example, a joystick or the like may be included in the operation unit 11B of the boat 11 of the fifth embodiment.

In the automatic ship maneuvering system 1 according to the first to fifth embodiments, even if a person who falls into the water from the ship 11 does not operate the operation unit 11B of the ship 11 or the communication device 12, the relative movement between the ship 11 and the communication device 12 is controlled. Based on the distance, the speed of vessel 11 is controlled.
Therefore, in the automatic ship maneuvering system 1 of the first to fifth embodiments, the burden on the person falling into the water can be reduced more than when the person falling into the water is required to perform an operation to control the speed of the ship 11 .
In addition, in the automatic ship maneuvering system 1 of the first to fifth embodiments, since the manipulator is not required to perform an operation to control the speed of the ship 11, it is possible to avoid a situation in which the manipulator is in danger due to an operational error of the man. be able to.
Further, in the automatic ship maneuvering system 1 of the first to fifth embodiments, the speed of the ship 11 is controlled to a smaller value as the relative distance between the ship 11 and the communication device 12 becomes smaller, and the ship 11 approaches the communication device 12. be done. Therefore, in the automatic ship maneuvering system 1 of the first to fifth embodiments, it is possible to achieve both safety and convenience (ease of use of the ship 11) for a person who falls into the water from the ship 11. FIG.

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

FIG. 7 is a diagram schematically showing an example of the automatic ship maneuvering system 1 of the sixth embodiment.
In the example shown in FIG. 7 , an automatic ship maneuvering system 1 includes a ship 11 and a communication device 12 .
The ship 11 of the sixth embodiment is a PWC having functions similar to those of the PWC described in FIG. 1 of Japanese Patent No. 5196649, for example. The vessel 11 includes an actuator 11A configured similarly to the actuator 11A of the first embodiment, an operating section 11B configured similarly to the operating section 11B of the first embodiment, a vessel control device 11C, and a trigger generating section 11D. , a vessel position detection section 11E configured similarly to the vessel position detection section 11E of the first embodiment, a heading detection section 11F configured similarly to the heading detection section 11F of the first embodiment, and a first A communication unit 11G configured similarly to the communication unit 11G of the embodiment and a relative distance calculation unit 11H configured similarly to the relative distance calculation unit 11H of the first embodiment are provided.
The ship control device 11C performs control for operating the actuator 11A based on the operator's input operation received by the operation unit 11B. The ship control device 11C has a manual ship maneuvering mode in which the actuator 11A is operated based on the operator's input operation received by the operation section 11B, and an automatic ship maneuvering mode in which the actuator 11A is operated without the need for the operation section 11B to receive the input operation. and

The trigger generator 11D generates a trigger for switching the ship control device 11C from the manual marine vessel maneuvering mode to the automatic marine vessel maneuvering mode. The trigger generation unit 11D includes a disembarkation detection unit 11D3 and an automatic ship maneuvering start instruction unit 11D2.
The disembarkation detection unit 11D3 detects disembarkation of a person boarding the ship 11 . Disembarkation of the occupants of the ship 11 detected by the disembarkation detection unit 11D3 includes disembarkation for snorkeling around the ship 11, for example. The disembarkation detection unit 11D3 detects disembarkation of the occupants of the vessel 11, for example, by detecting an operation of turning on a switch (not shown) by the occupants of the vessel 11. FIG.
When the disembarkation detection unit 11D3 detects disembarkation of a person on board the ship 11, the trigger generation unit 11D generates a trigger, and the ship control device 11C switches from the manual ship maneuvering mode to the automatic ship maneuvering mode.
The automatic marine vessel maneuvering start instruction section 11D2 outputs an automatic marine vessel maneuvering start instruction based on the automatic marine vessel maneuvering start request transmitted from the communication device 12 .
When the automatic marine vessel maneuvering start instruction section 11D2 outputs the automatic marine vessel maneuvering start instruction, the vessel control device 11C starts control to operate the actuator 11A (automatic marine vessel maneuvering mode control) without the need for the operation section 11B to receive an input operation. 11 C of ship control apparatuses control the actuator 11A based on the relative position of the ship 11 and the communication apparatus 12, and the heading of the ship 11 in automatic marine vessel maneuvering mode.

The communication device 12 of the sixth embodiment includes a communication device position detection section 12A configured similarly to the communication device position detection section 12A of the first embodiment, and a communication device position detection section 12A configured similarly to the communication device position detection section 12B of the first embodiment. A section 12B and an input section 12C configured in the same manner as the input section 12C of the first embodiment are provided.
The input unit 12C receives, for example, an automatic ship maneuvering start request from a ship operator of the ship 11 (for example, an automatic ship maneuvering start request from a ship operator who disembarked from the ship 11 carrying the communication device 12).

The relative distance calculation unit 11H determines the distance between the ship 11 and the communication device 12 based on the position of the communication device 12 detected by the communication device position detection unit 12A and the position of the ship 11 detected by the ship position detection unit 11E. Calculate the relative distance.
11 C of ship control apparatuses control the speed of the ship 11 based on the relative distance of the ship 11 and the communication apparatus 12 calculated by the relative distance calculation part 11H in automatic marine vessel maneuvering mode.

FIG. 8 is a sequence diagram for explaining an example of processing executed in the automatic navigation system 1 of the sixth embodiment.
In the example shown in FIG. 8, the disembarkation detection unit 11D3 of the ship 11 detects disembarkation of the passengers on the ship 11 in step S41.
Next, in step S42, the input unit 12C of the communication device 12 receives a request for starting automatic ship maneuvering from a ship operator who disembarked from the ship 11 carrying the communication device 12 with him.
Next, in step S43, the communication unit 12B of the communication device 12 transmits the automatic marine maneuvering start request accepted in step S42, and the communication unit 11G of the ship 11 receives the automatic marine maneuvering start request.
Next, in step S44, the automatic marine maneuvering start instruction section 11D2 of the vessel 11 outputs an automatic marine maneuvering start instruction based on the automatic marine maneuvering start request.
Next, in step S45, the vessel control device 11C of the vessel 11 starts control (automatic navigation mode control) to operate the actuator 11A without the need for the operation section 11B to receive an input operation.

Next, in step S46, the communication device position detector 12A of the communication device 12 detects the position of the communication device 12. FIG.
Next, in step S47, the communication unit 12B of the communication device 12 transmits information indicating the position of the communication device 12 detected in step S46, and the communication unit 11G of the ship 11 receives the information.
Further, in step S48, the vessel position detector 11E of the vessel 11 detects the position of the vessel 11. FIG.
Further, in step S49, the heading detection unit 11F of the ship 11 detects the heading of the ship 11. FIG.

Next, in step S50, the relative distance calculator 11H of the ship 11 calculates the position of the ship 11 and the communication device 12 based on the position of the communication device 12 detected in step S46 and the position of the ship 11 detected in step S48. Calculate the relative distance from
Next, in step S51, the vessel control device 11C of the vessel 11 controls the speed of the vessel 11 based on the relative distance between the vessel 11 and the communication device 12 calculated in step S50.

<Seventh embodiment>
A seventh embodiment of an automatic ship maneuvering system, a ship control device, a ship control method, and a program according to the present invention will be described below.
The automatic ship maneuvering system 1 of the seventh embodiment is configured in the same manner as the automatic ship maneuvering system 1 of the first embodiment described above, except for the points described later. Therefore, according to the automatic ship maneuvering system 1 of the seventh embodiment, the same effects as those of the above-described automatic ship maneuvering system 1 of the first embodiment can be achieved, except for the points described later.

FIG. 9 is a diagram schematically showing an example of the automatic navigation system 1 of the seventh embodiment.
In the example shown in FIG. 9 , an automatic ship maneuvering system 1 includes a ship 11 and a communication device 12 .
The ship 11 includes an actuator 11A, an operation section 11B, a ship control device 11C, a trigger generation section 11D, a ship position detection section 11E, a heading 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 trigger generation section 11D is configured in the same manner as the trigger generation section 11D shown in FIG. 1, and includes a falling water detection section 11D1 and an automatic marine vessel maneuvering start instruction section 11D2.

In the example shown in FIG. 9, the vessel position detection section 11E is configured similarly to the vessel position detection section 11E shown in FIG.
In another example, the ship 11 may not include the ship position detector 11E.

In the example shown in FIG. 9, the heading detection section 11F is configured in the same manner as the heading detection section 11F shown in FIG.
In another example, the ship 11 may not include the heading detector 11F.

In the example shown in FIG. 9, the communication section 11G is configured similarly to the communication section 11G shown in FIG.
Like the communication device 12 shown in FIG. 1, the communication device 12 is carried by a detection target person (passenger) who falls into the water. The communication device 12 includes a communication device position detection section 12A, a communication section 12B, an input section 12C, and a relative distance detection section 12D.
The communication device position detector 12A is configured in the same manner as the communication device position detector 12A shown in FIG. The communication section 12B is configured similarly to the communication section 12B shown in FIG. The input section 12C is configured similarly to the input section 12C shown in FIG.
In another example, the communication device 12 does not have the communication device position detection section 12A, and the communication section 12B does not need to transmit the information indicating the position of the communication device 12 to the ship 11 .

In the example shown in FIG. 9, the relative distance detection unit 12D includes, for example, a camera that captures an image of the ship 11, and detects the relative distance between the ship 11 and the communication device 12 (specifically, based on the image of the ship 11). to estimate the relative distance between the ship 11 and the communication device 12). Also, the relative distance detection unit 12D estimates the angle formed by the heading of the ship 11 and the communication device 12 by using, for example, an image processing technique similar to the technique described below. In other words, the relative distance detection unit 12D estimates the direction in which the ship 11 should travel in order for the ship 11 to approach the communication device 12 . For example, by pre-storing the shape data of the ship 11 in a storage unit (not shown) of the communication device 12, the relative distance detection unit 12D can detect the shape of the ship 11 based on the image of the ship 11 and the shape data of the ship 11. The direction in which the vessel 11 should proceed in order for the vessel 11 to approach the communication device 12 can be estimated with high accuracy.
https://www.jstage.jst.go.jp/article/jsaeronbun/48/5/48_20174759/_pdf/-char/en

11 C of ship control apparatuses control the speed of the ship 11 based on the relative distance of the ship 11 and the communication apparatus 12 detected by the relative distance detection part 12D in automatic marine vessel maneuvering mode. Specifically, in the automatic marine vessel maneuvering mode, the vessel control device 11C controls the actuator 11A so that the vessel 11 moves in the direction estimated by the relative distance detection section 12D.

FIG. 10 is a sequence diagram for explaining an example of processing executed in the automatic navigation system 1 of the seventh embodiment.
In the example shown in FIG. 10, in step S61, the overwater detection unit 11D1 of the ship 11 detects that a person boarding the ship 11 has fallen into the water.
Next, in step S62, the input unit 12C of the communication device 12 receives a request to start automatic ship maneuvering by a ship operator who has fallen overboard from the ship 11 while carrying the communication device 12 with him.
Next, in step S63, the communication unit 12B of the communication device 12 transmits the automatic marine maneuvering start request accepted in step S62, and the communication unit 11G of the vessel 11 receives the automatic marine maneuvering start request.
Next, in step S64, the automatic marine maneuvering start instruction section 11D2 of the vessel 11 outputs an automatic marine maneuvering start instruction based on the automatic marine maneuvering start request.
Next, in step S65, the ship control device 11C of the ship 11 starts control (automatic ship maneuvering mode control) to operate the actuator 11A without the need for the operation unit 11B to receive an input operation.

Next, in step S66, the relative distance detector 12D of the communication device 12 detects the relative distance between the ship 11 and the communication device 12. FIG.
Next, in step S67, the communication unit 12B of the communication device 12 transmits information indicating the relative distance between the ship 11 and the communication device 12 detected in step S66, and the communication unit 11G of the ship 11 receives the information. .
Next, in step S68, the ship control device 11C of the ship 11 controls the speed of the ship 11 based on the relative distance between the ship 11 and the communication device 12 detected in step S66.

<Eighth Embodiment>
An eighth embodiment of an automatic ship maneuvering system, a ship control device, a ship control method, and a program according to the present invention will be described below.
The automatic ship maneuvering system 1 of the eighth embodiment is configured in the same manner as the automatic ship maneuvering system 1 of the first embodiment described above, except for the points described later. Therefore, according to the automatic ship maneuvering system 1 of the eighth embodiment, the same effects as those of the above-described automatic ship maneuvering system 1 of the first embodiment can be achieved, except for the points described later.

FIG. 11 is a diagram schematically showing an example of the automatic navigation system 1 of the eighth embodiment.
In the example shown in FIG. 11 , an autopilot system 1 includes a vessel 11 and a communication device 12 .
The ship 11 includes an actuator 11A, an operation section 11B, a ship control device 11C, a trigger generation section 11D, a ship position detection section 11E, a heading 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 trigger generator 11D generates a trigger for switching the ship control device 11C from the manual marine vessel maneuvering mode to the automatic marine vessel maneuvering mode. The trigger generation unit 11D includes a disembarkation detection unit 11D3 and an automatic ship maneuvering start instruction unit 11D2.
The disembarkation detection unit 11D3 detects disembarkation of a person boarding the ship 11 . Disembarkation of the occupants of the ship 11 detected by the disembarkation detection unit 11D3 includes disembarkation for snorkeling around the ship 11, for example. The disembarkation detection unit 11D3 detects disembarkation of the occupants of the vessel 11, for example, by detecting an operation of turning on a switch (not shown) by the occupants of the vessel 11. FIG.
When the disembarkation detection unit 11D3 detects disembarkation of a person on board the ship 11, the trigger generation unit 11D generates a trigger, and the ship control device 11C switches from the manual ship maneuvering mode to the automatic ship maneuvering mode.
The automatic marine vessel maneuvering start instruction section 11D2 outputs an automatic marine vessel maneuvering start instruction based on the automatic marine vessel maneuvering start request transmitted from the communication device 12 .
When the automatic marine vessel maneuvering start instruction section 11D2 outputs the automatic marine vessel maneuvering start instruction, the vessel control device 11C starts control to operate the actuator 11A (automatic marine vessel maneuvering mode control) without the need for the operation section 11B to receive an input operation.

In the example shown in FIG. 11, the vessel position detection section 11E is configured similarly to the vessel position detection section 11E shown in FIG.
In another example, the ship 11 may not include the ship position detector 11E.

In the example shown in FIG. 11, the heading detection section 11F is configured in the same manner as the heading detection section 11F shown in FIG.
In another example, the ship 11 may not include the heading detector 11F.

In the example shown in FIG. 11, the communication section 11G is configured similarly to the communication section 11G shown in FIG.
The communication device 12 of the eighth embodiment includes a communication device position detection section 12A configured similarly to the communication device position detection section 12A of the first embodiment, and a communication device position detection section 12A configured similarly to the communication device position detection section 12B of the first embodiment. A section 12B, an input section 12C configured similarly to the input section 12C of the first embodiment, and a relative distance detection section 12D configured similarly to the relative distance detection section 12D of the seventh embodiment.
The input unit 12C receives, for example, an automatic ship maneuvering start request from a ship operator of the ship 11 (for example, an automatic ship maneuvering start request from a ship operator who disembarked from the ship 11 carrying the communication device 12).
11 C of ship control apparatuses control the speed of the ship 11 based on the relative distance of the ship 11 and the communication apparatus 12 detected by the relative distance detection part 12D in automatic marine vessel maneuvering mode. Specifically, in the automatic marine vessel maneuvering mode, the vessel control device 11C controls the actuator 11A so that the vessel 11 moves in the direction estimated by the relative distance detection section 12D.

FIG. 12 is a sequence diagram for explaining an example of processing executed in the automatic navigation system 1 of the eighth embodiment.
In the example shown in FIG. 12, the disembarkation detection unit 11D3 of the vessel 11 detects disembarkation of the passengers on the vessel 11 in step S71.
Next, in step S72, the input unit 12C of the communication device 12 receives a request for starting automatic ship maneuvering from a ship operator who disembarked from the ship 11 carrying the communication device 12 with him.
Next, in step S73, the communication unit 12B of the communication device 12 transmits the automatic marine maneuvering start request accepted in step S72, and the communication unit 11G of the vessel 11 receives the automatic marine maneuvering start request.
Next, in step S74, the automatic marine maneuvering start instruction section 11D2 of the vessel 11 outputs an automatic marine maneuvering start instruction based on the automatic marine maneuvering start request.
Next, in step S75, the vessel control device 11C of the vessel 11 starts control (automatic navigation mode control) to operate the actuator 11A without the need for the operation section 11B to receive an input operation.

Next, in step S<b>76 , the relative distance detector 12</b>D of the communication device 12 detects the relative distance between the ship 11 and the communication device 12 .
Next, in step S77, the communication unit 12B of the communication device 12 transmits information indicating the relative distance between the ship 11 and the communication device 12 detected in step S76, and the communication unit 11G of the ship 11 receives the information. .
Next, in step S78, the ship control device 11C of the ship 11 controls the speed of the ship 11 based on the relative distance between the ship 11 and the communication device 12 detected in step S76.

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.

All or part of the functions of the units provided in the autopilot system 1 in the above-described embodiment are recorded in 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" referred to 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 incorporated in computer systems. Furthermore, "computer-readable recording medium" means a medium that dynamically retains a program 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 holds a 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... Automatic ship maneuvering system 11... Ship, 11A... Actuator, 11B... Operation part, 11C... Ship control device, 11D... Trigger generation part, 11D1... Falling overboard detection part, 11D2... Automatic maneuver start instruction part, 11D3... Disembarkation detection part , 11E... Vessel position detection unit, 11F... Heading detection unit, 11G... Communication unit, 11H... Relative distance calculation unit, 11I... Relative distance detection unit, 12... Communication device, 12A... Communication device position detection unit, 12B... Communication Part 12C... Input part 12D... Relative distance detection part

Claims (12)

An automatic ship maneuvering system comprising a ship and a communication device,
Said vessel is
an actuator having a function of generating a propulsive force for the ship and a function of generating a turning moment on the ship;
an operation unit that receives an input operation for operating the actuator;
A ship control device that operates the actuator based on at least an input operation received by the operation unit,
The ship control device includes:
a manual marine vessel operation mode in which the actuator is operated based on an input operation received by the operation unit;
an automatic ship maneuvering mode in which the actuator is operated without the operation unit needing to accept an input operation;
In the autopilot mode, the vessel control device controls the speed of the vessel based on the relative distance between the vessel and the communication device ,
In the autopilot mode, the vessel control device
actuating the actuator so that the relative distance decreases;
when the relative distance is greater than a threshold , controlling the speed of the vessel to a smaller value as the relative distance becomes smaller ;
controlling the speed of the vessel to zero when the relative distance is greater than or equal to zero and less than or equal to the threshold;
Autopilot system. The communication device
a communication device position detection unit that detects the position of the communication device;
A first communication unit that transmits information indicating the position of the communication device detected by the communication device position detection unit to the ship,
Said vessel is
a ship position detection unit that detects the position of the ship;
a second communication unit that receives information indicating the position of the communication device transmitted by the first communication unit;
a relative distance calculation unit that calculates the relative distance based on the position of the communication device detected by the communication device position detection unit and the position of the ship detected by the ship position detection unit;
In the automatic ship maneuvering mode, the ship control device controls the speed of the ship based on the relative distance calculated by the relative distance calculation unit.
The autopilot system according to claim 1. The ship includes a falling water detection unit that detects a person on board the ship falling into the water,
After the occupants of the vessel have been detected by the falling-in-water detection unit,
The relative distance calculation unit calculates the relative distance,
The autopilot system according to claim 2. The ship includes a relative distance detection unit that detects the relative distance,
In the autopilot mode, the vessel control device controls the speed of the vessel based on the relative distance detected by the relative distance detection unit.
The autopilot system according to claim 1 . The ship includes a falling water detection unit that detects a person on board the ship falling into the water,
After the occupants of the vessel have been detected by the falling-in-water detection unit,
wherein the relative distance detection unit detects the relative distance;
The autopilot system according to claim 4 . The ship includes a disembarkation detection unit that detects disembarkation of a person on board the ship,
After the disembarkation detection unit detects the disembarkation of the person on board the ship,
calculating or detecting the relative distance;
The autopilot system according to claim 1 . The communication device
a relative distance detection unit that detects the relative distance;
A first communication unit that transmits information indicating the relative distance detected by the relative distance detection unit to the ship,
In the autopilot mode, the vessel control device controls the speed of the vessel based on the relative distance detected by the relative distance detection unit.
The autopilot system according to claim 1 . The ship includes a falling water detection unit that detects a person on board the ship falling into the water,
After the occupants of the vessel have been detected by the falling-in-water detection unit,
wherein the relative distance detection unit detects the relative distance;
The autopilot system according to claim 7 . The ship includes a disembarkation detection unit that detects disembarkation of a person on board the ship,
After the disembarkation detection unit detects the disembarkation of the person on board the ship,
wherein the relative distance detection unit detects the relative distance;
The autopilot system according to claim 7 . an actuator having a function of generating a propulsion force for a vessel and a function of generating a turning moment on the vessel;
A ship control device provided in the ship, comprising an operation unit that receives an input operation for operating the actuator,
The ship control device includes:
a manual marine vessel maneuvering mode in which the actuator is operated based on an input operation received by the operation unit;
an automatic ship maneuvering mode in which the actuator is operated without the operation unit needing to accept an input operation;
In the autopilot mode, the vessel control device controls the speed of the vessel based on the relative distance between the vessel and the communication device,
In the autopilot mode, the vessel control device
actuating the actuator so that the relative distance decreases;
when the relative distance is greater than a threshold, controlling the speed of the vessel to a smaller value as the relative distance becomes smaller;
controlling the speed of the vessel to zero when the relative distance is greater than or equal to zero and less than or equal to the threshold;
Ship control device. an actuator having a function of generating a propulsion force for a vessel and a function of generating a turning moment on the vessel;
A ship control method for controlling the ship, comprising an operation unit that receives an input operation for operating the actuator,
A vessel control step of actuating the actuator based on at least an input operation received by the operation unit;
The ship control step includes:
a manual vessel maneuvering step of actuating the actuator based on the input manipulation received by the manipulation unit;
and an automatic ship maneuvering step in which the actuator is operated without the operation unit needing to accept an input operation,
In the automatic ship maneuvering step, the speed of the ship is controlled based on the relative distance between the ship and the communication device,
In the autopilot step,
the actuator is actuated such that the relative distance decreases;
when the relative distance is greater than a threshold, the speed of the ship is controlled to a smaller value as the relative distance becomes smaller;
The speed of the vessel is controlled to zero when the relative distance is greater than or equal to zero and less than or equal to the threshold;
Vessel control method. an actuator having a function of generating a propulsion force for a vessel and a function of generating a turning moment on the vessel;
A computer mounted on the ship, including an operation unit that receives an input operation for operating the actuator,
A program for executing a vessel control step of operating the actuator based on at least an input operation received by the operation unit,
The ship control step includes:
a manual ship maneuvering step of actuating the actuator based on the input manipulation received by the manipulation unit;
and an automatic ship maneuvering step in which the actuator is operated without the operation unit needing to accept an input operation,
In the automatic ship maneuvering step, the speed of the ship is controlled based on the relative distance between the ship and the communication device,
In the autopilot step,
the actuator is actuated such that the relative distance decreases;
when the relative distance is greater than a threshold, the speed of the ship is controlled to a smaller value as the relative distance becomes smaller;
The speed of the vessel is controlled to zero when the relative distance is greater than or equal to zero and less than or equal to the threshold;
program.

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