To suppress unstable motion of a vessel in a vessel fixed-point holding mode.SOLUTION: The vessel comprises an actuator, an operation unit, a vessel control device, a time measurement unit and a vessel position detection unit that detects an actual vessel position. The vessel control device has a normal operation mode for operating the actuator in response to an input operation and a vessel fixed-point holding mode for operating the actuator without the input operation. In the vessel fixed-point holding mode, the vessel control device operates the actuator on the basis of deviation between a target vessel position and the actual vessel position. The time measurement unit starts measurement of time as soon as the actual vessel position deviates from a time measurement start determination area including the target vessel position. When the actual vessel position does not return to a vessel fixed-point holding mode cancellation determination area including the target vessel position before the lapse of designated time from the time measurement start time, the vessel control device cancels the vessel fixed-point holding mode.SELECTED DRAWING: Figure 1
【課題】船舶定点保持モード中における船舶の不安定な挙動を抑制する。【解決手段】船舶は、アクチュエータと、操作部と、船舶制御装置と、時間計測部と、実船舶位置を検出する船舶位置検出部とを備え、船舶制御装置は、入力操作に応じてアクチュエータを作動させる通常操作モードと、入力操作の必要なくアクチュエータを作動させる船舶定点保持モードとを有し、船舶定点保持モード中に、船舶制御装置は目標船舶位置と実船舶位置との偏差に基づいてアクチュエータを作動させ、時間計測部は実船舶位置が目標船舶位置を含む時間計測開始判定エリアから外れた瞬間に時間の計測を開始し、時間計測開始時から指定時間が経過する時までに実船舶位置が目標船舶位置を含む船舶定点保持モード中止判定エリア内に戻らない場合に船舶制御装置は船舶定点保持モードを中止する。【選択図】図1
VESSEL, VESSEL CONTROL DEVICE, VESSEL CONTROL METHOD, AND PROGRAM
船舶、船舶制御装置、船舶制御方法およびプログラム
2023-11-01
Patent
Electronic Resource
Japanese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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