US-12617516-B2 - Control device and control method

US12617516B2US 12617516 B2US12617516 B2US 12617516B2US-12617516-B2

Abstract

The control device includes a control unit. The control unit sets the first intermediate target point within the range of waters when the ship is located outside the range of waters capable of starting the automatic steering to the target docking point. When the distance of the vector connecting the position of the ship and the first intermediate target point and the angle between the bow direction of the ship and the direction of the vector satisfy a predetermined criterion, the control unit formulates a route to be sailed by the ship from the position of the ship to the target docking point via the set first intermediate target point. The control unit automatically steers the ship according to the established route.

Inventors

Yoshihisa Shinoda
Isao Kobayashi
Naoyuki Tsuzuki
Yasutaka Nishimura

Assignees

TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date: 20260505
Application Date: 20240528
Priority Date: 20230901

Claims (11)

1 . A control device for automatically steering a ship including a sensor configured to detect an obstruction in waters, the control device comprising: a processor configured to determine whether the ship is at a first position that is inside of a first range of the waters or the ship is at a second position that is outside of the first range, set a first intermediate target point within the first range in a case where the processor determines that the ship is at the second position, determine whether a first distance of a first vector connecting the second position and the first intermediate target point is equal to or smaller than a first predetermined distance, determine whether a first angle between a bow direction of the ship and a first direction of the first vector is equal to or smaller than a predetermined angle, determine whether the sensor detects the obstruction in the waters between the second position and the first intermediate target point, determine whether a second distance of a second vector connecting the first intermediate target point and a third position is equal to or smaller than the first predetermined distance, the third position being between the second position and the first intermediate target point, determine whether a second angle between the bow direction and a second direction of the second vector is equal to or smaller than the predetermined angle, set the third position as a second intermediate target point in a case where the processor determines that the sensor detects the obstruction in the waters between the second position and the first intermediate target point, that the second distance is equal to or smaller than the first predetermined distance, and that the second angle is equal to or smaller than the predetermined angle, plot a route that the ship sails, the route being from the second position of the ship to a target docking point, via the first intermediate target point and the second intermediate target point, in a case where the processor determines that the first distance is equal to or smaller than the first predetermined distance and the first angle is equal to or smaller than the predetermined angle, and automatically steer the ship in accordance with the route that the processor plots.
2 . The control device according to claim 1 , wherein the processor is further configured to: accept selection of order of arrival of the ship at each of two or more second intermediate target points in a case where the two or more second intermediate target points are set in the waters between the second position and the first intermediate target point; and plot the route, by associating the second position, each of the two or more second intermediate target points based on the selection of the order of arrival, the first intermediate target point, and the target docking point.
3 . The control device according to claim 1 , wherein the obstruction is an artificial structure.
4 . The control device according to claim 3 , wherein the artificial structure is a pier or a quay.
5 . The control device according to claim 1 , wherein the obstruction is an area that docking is not possible due to topographical or legal constraints.
6 . The control device according to claim 1 , wherein the obstruction is an object that hinders sailing of the ship.
7 . A control method executed by a processor configured to automatically steer a ship including a sensor configured to detect an obstruction in waters, the control method comprising: determining whether the ship is at a first position that is inside of a first range of the waters or the ship is at a second position that is outside of the first range; setting a first intermediate target point within the first range in a case where the ship is at the second position; determining whether a first distance of a first vector connecting the second position and the first intermediate target point is equal to or smaller than a first predetermined distance; determining whether a first angle between a bow direction of the ship and a first direction of the first vector is equal to or smaller than a predetermined angle; determining whether the sensor detects the obstruction in the waters between the second position and the first intermediate target point; determining whether a second distance of a second vector connecting the first intermediate target point and a third position is equal to or smaller than the first predetermined distance, the third position being between the second position and the first intermediate target point; determining whether a second angle between the bow direction and a second direction of the second vector is equal to or smaller than the predetermined angle; setting the third position as a second intermediate target point in a case where the sensor detects the obstruction in the waters between the second position and the first intermediate target point, the second distance is equal to or smaller than the first predetermined distance, and the second angle is equal to or smaller than the predetermined angle; plotting a route that the ship sails, the route being from the second position of the ship to a target docking point, via the first intermediate target point that is set and the second intermediate target point that is set, in a case where the first distance is equal to or smaller than the first predetermined distance and the first angle is equal to or smaller than the predetermined angle; and automatically steering the ship in accordance with the route that is plotted.
8 . The control method according to claim 7 , wherein the obstruction is an artificial structure.
9 . The control method according to claim 8 , wherein the artificial structure is a pier or a quay.
10 . The control method according to claim 7 , wherein the obstruction is an area that docking is not possible due to topographical or legal constraints.
11 . The control method according to claim 7 , wherein the obstruction is an object that hinders sailing of the ship.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims priority to Japanese Patent Application No. 2023-142471 filed on Sep. 1, 2023, incorporated herein by reference in its entirety. BACKGROUND 1. Technical Field The present disclosure relates to a control device and a control method. 2. Description of Related Art There conventionally is known technology related to docking control of a ship. For example, Japanese Unexamined Patent Application Publication No. 2020-40470 (JP 2020-40470 A) discloses technology for supporting docking operations of a ship. SUMMARY From a safety standpoint, docking control of a ship cannot be initiated when a point at which the ship is located is not within an appropriate distance and azimuth range with respect to a target docking point, or when there is an obstruction between the point at which the ship is located and the target docking point. Accordingly, there is room for improvement in the technology related to docking control of ships, from the viewpoint of convenience and safety. In view of such circumstances, an object of the present disclosure is to improve technology regarding docking control of a ship. A control device according to an embodiment of the present disclosure is a control device for automatically steering a ship, and includes a control unit that sets, when the ship is at a position outside of a range of waters in which initiating automatic steering to a target docking point is allowable, a first intermediate target point within the range of waters, plots a route for the ship to sail, from the position of the ship to the target docking point, via the first intermediate target point that is set, when a distance of a vector connecting the position of the ship and the first intermediate target point, and an angle between a bow direction of the ship and a direction of the vector, satisfy predetermined criteria, and automatically steers the ship in accordance with the route that is plotted. A control method according to an embodiment of the present disclosure is a control method executed by a control device that automatically steers a ship, the control device executing setting, when the ship is at a position outside of a range of waters in which initiating automatic steering to a target docking point is allowable, a first intermediate target point within the range of waters,plotting a route for the ship to sail, from the position of the ship to the target docking point, via the first intermediate target point that is set, when a distance of a vector connecting the position of the ship and the first intermediate target point, and an angle between a bow direction of the ship and a direction of the vector, satisfy predetermined criteria, and automatically steering the ship in accordance with the route that is plotted. According to an embodiment of the present disclosure, technology regarding docking control of a ship is improved. BRIEF DESCRIPTION OF THE DRAWINGS Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein: FIG. 1 is a block diagram illustrating a schematic configuration example of a system according to an embodiment of the present disclosure; FIG. 2 is a flowchart illustrating an operation example of the control device; FIG. 3 is a schematic diagram illustrating an example of a route in which a ship sails; FIG. 4 is a schematic diagram illustrating an exemplary setting of a first intermediate target point; and FIG. 5 is a schematic diagram illustrating an example of setting a second intermediate target point. DETAILED DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present disclosure will be described. SUMMARY OF THE EMBODIMENT With reference to FIG. 1, an outline of a system 1 according to an embodiment of the present disclosure will be described. The system 1 includes a ship 10 and a control device 20. The ship 10 and the control device 20 are communicably connected to a network 2 including, for example, the Internet and a mobile communication network. The ship 10 includes a control device 20. The ship 10 is communicably connected to the control device 20 by a wire. The ship 10 may be communicably connected to the control device 20 via the network 2. The control device 20 is a computer provided in the ship 10. The control device 20 performs automatic steering for causing the ship 10 to dock at the target docking point. The control device 20 can communicate with the ship 10 by wire. The control device 20 can communicate with the ship 10 via the network 2. First, an outline of the present embodiment will be described, and details will be described later. The control device 20 sets the first intermediate target point within the range of waters when the ship 10 is located outside the range of waters capable of starting the automatic steering to the target docking po