JP7702845B2 - Ship steering system, ship control device, ship control method and program - Google Patents

Description

The present invention relates to a ship steering system, a ship control device, a ship control method, and a program.

Patent Document 1 describes a technology that allows a ship to be operated as if it were a vehicle. In the technology described in Patent Document 1, a brake pedal that limits the moving speed of the ship is provided on the ship's hull. In addition, in the technology described in Patent Document 1, when the brake pedal is pressed hard, the output direction of the outdrive device is reversed (i.e., when the brake pedal is pressed hard while the ship is moving forward, a reverse thrust is generated), and the ship slows down. Furthermore, in the technology described in Patent Document 1, a moving ship is stopped by pressing the brake pedal, and when the brake pedal is continued to be pressed, a fixed position holding control of the ship is performed.
In other words, with the technology described in Patent Document 1, the boat operator must depress the brake pedal in order to stop a moving boat.

Patent Document 2 describes that if the vessel operator simply stops the engine or disengages the clutch in order to stop the vessel, the vessel will continue to coast and will move a considerable distance before it stops. Patent Document 2 also describes that when the vessel is sailing at full forward speed, the vessel operator will put the clutch in reverse to slightly increase the engine speed in order to stop the vessel in a short distance.
In other words, with the technology described in Patent Document 2, in order to stop a moving vessel, the vessel operator must put the clutch into reverse and slightly increase the engine speed.
That is, in the technology described in Patent Documents 1 and 2, the ship operator must perform an input operation to stop the moving ship from continuing to move by inertia. In other words, in the technology described in Patent Documents 1 and 2, the ship operator must perform an input operation to counteract the inertial force generated in the ship when the ship transitions from a moving state to a stopped state.

Patent No. 6642898 Japanese Patent Application Publication No. 5-124586

In view of the above-mentioned problems, the present invention aims to provide a ship steering system, ship control device, ship control method, and program that can eliminate the need for input operations by the ship operator to counteract the inertial force and/or moment of inertia that occurs in the ship when the actuators transition from an activated state to a deactivated state.

One aspect of the present invention is a ship maneuvering system that includes an actuator having a function of generating a propulsive force for a ship and a function of generating a moment in the ship, a throttle operation unit that accepts a forward/reverse operation to move the ship forward or backward using the actuator, and a steering unit that accepts a turning operation to turn the ship left or right using the actuator, and is equipped with an operation unit that accepts an operation by a ship operator to the throttle operation unit and/or the steering unit as an input operation, and a ship control device that operates the actuator, wherein when the throttle operation unit and/or the steering unit accepts a stop operation to deactivate the actuator while the ship control device is operating the actuator, the ship control device operates the actuator so that the actuator generates a thrust in a direction opposite to the direction of the inertial force acting on the ship and/or so that a moment in the ship is generated in a direction opposite to the direction of the moment of inertia acting on the ship, without the operation unit needing to accept an additional input operation.

One aspect of the present invention is a ship control device that is provided in a ship steering system that includes an actuator having a function of generating a propulsive force for a ship and a function of generating a moment in the ship, a throttle operation unit that accepts a forward/reverse operation to move the ship forward or backward using the actuator, and a steering unit that accepts a turning operation to turn the ship left or right using the actuator, and an operation unit that accepts an operation by a ship operator to the throttle operation unit and/or the steering unit as an input operation, and that operates the actuator, wherein when the throttle operation unit and/or the steering unit accept a stop operation to deactivate the actuator while the ship control device is operating the actuator, the operation unit operates the actuator so that the actuator generates a thrust in the opposite direction to the direction of the inertial force occurring in the ship and/or so that a moment in the opposite direction to the direction of the moment of inertia occurring in the ship is generated in the ship, without the operation unit having to accept an additional input operation.

One aspect of the present invention is a ship control method for a ship control device that is provided in a ship steering system that includes an actuator having a function of generating a propulsive force for a ship and a function of generating a moment in the ship, a throttle operation unit that receives a forward/reverse operation to drive the ship forward or backward with the actuator, and a steering unit that receives a turning operation to turn the ship left or right with the actuator, and an operation unit that receives an operation by a ship operator to the throttle operation unit and/or the steering unit as an input operation, and that operates the actuator, and a second step of, when the throttle operation unit and/or the steering unit receive a stop operation to deactivate the actuator while the vessel control device is operating the actuator, operating the actuator so that the actuator generates a thrust force opposite to the direction of the inertial force acting on the vessel and/or so that a moment opposite to the direction of the inertial moment acting on the vessel is generated on the vessel, without the need for the operation unit to receive an additional input operation.

One aspect of the present invention is a ship maneuvering system including an actuator having a function of generating a propulsive force for a ship and a function of generating a moment on the ship, a throttle operation unit that receives a forward/reverse operation to move the ship forward or backward by the actuator, and a steering unit that receives a turning operation to turn the ship left or right by the actuator, and an operation unit that receives an operation by a ship operator to the throttle operation unit and/or the steering unit as an input operation, and a ship maneuvering system including an operation unit that receives an operation by a ship operator to the throttle operation unit and/or the steering unit as an input operation, and a ship control device that operates the actuator and controls a ship maneuvering system including a ship control device that operates the actuator and controls a ship maneuvering system including a ship control device that operates the actuator and controls a ship maneuvering system including a ship control device that operates the actuator and controls a ship maneuvering system including a ship control device that operates the ship ... control device that operates the ship and a second step of activating the actuator in response to an input operation received from the throttle operating unit and/or the steering unit when the throttle operating unit and/or the steering unit receives a stop operation to deactivate the actuator while the vessel control device is activating the actuator, without the need for the operating unit to receive an additional input operation, so that the actuator generates a thrust force in the opposite direction to the direction of the inertial force acting on the vessel and/or so that a moment in the opposite direction to the direction of the moment of inertia acting on the vessel is generated on the vessel.

The present invention provides a ship steering system, ship control device, ship control method, and program that can eliminate the need for input operations by the ship operator to counteract the inertial force and/or moment of inertia that occurs in the ship when the actuator transitions from an operating state to a non-operating state.

1 is a diagram illustrating an example of a ship maneuvering system including a ship to which a ship control device according to a first embodiment is applied. 13 is a diagram showing an example of behavior of the vessel of the first embodiment when the operation unit receives an input operation to move the vessel forward and then receives an input operation to stop the forward movement of the vessel. FIG. 10 is a flowchart illustrating an example of processing executed by the vessel control device of the first embodiment when the operation unit receives an input operation to move the vessel forward and then receives an input operation to stop the forward movement of the vessel. 10 is a flowchart illustrating an example of processing executed by the vessel control device of the first embodiment when an operation unit receives an input operation to reverse the vessel and then receives an input operation to stop the vessel from reversing. 10 is a flowchart illustrating an example of processing executed by the vessel control device of the first embodiment when an operation unit receives an input operation to turn the vessel on the spot clockwise, and then receives an input operation to stop the vessel from turning on the spot clockwise. 10 is a flowchart illustrating an example of processing executed by the vessel control device of the first embodiment when an operation unit receives an input operation to turn the vessel on the spot counterclockwise, and then receives an input operation to stop the vessel from turning on the spot counterclockwise. A flowchart to explain an example of processing executed by the vessel control device of the first embodiment when the operation unit receives an input operation to move the vessel forward and rotate clockwise, and then receives an input operation to stop the vessel from moving forward and rotating clockwise. 11 is a flowchart illustrating an example of processing executed by the vessel control device of the first embodiment when an operation unit receives an input operation to cause the vessel to move backward and turn counterclockwise, and then receives an input operation to stop the vessel from moving backward and turning counterclockwise. A flowchart for explaining an example of processing executed by the vessel control device of the second embodiment when the operation unit receives an input operation to move the vessel forward and then receives an input operation to stop the forward movement of the vessel. 13 is a flowchart illustrating an example of processing executed by the vessel control device of the second embodiment when the operation unit receives an input operation to reverse the vessel and then receives an input operation to stop the vessel from reversing. 11 is a flowchart for explaining an example of processing executed by the vessel control device of the second embodiment when the operation unit receives an input operation to turn the vessel on the spot clockwise and then receives an input operation to stop the vessel from turning on the spot clockwise. 11 is a flowchart illustrating an example of processing executed by the vessel control device of the second embodiment when the operation unit receives an input operation to turn the vessel on the spot counterclockwise and then receives an input operation to stop the vessel from turning on the spot counterclockwise. A flowchart to explain an example of processing executed by the vessel control device of the second embodiment when the operation unit receives an input operation to move the vessel forward and rotate clockwise, and then receives an input operation to stop the vessel from moving forward and rotating clockwise. A flowchart for explaining an example of processing executed by the vessel control device of the second embodiment when the operation unit receives an input operation to reverse the vessel and turn it counterclockwise, and then receives an input operation to stop the reverse movement and counterclockwise turning of the vessel. FIG. 13 is a diagram illustrating an example of a ship maneuvering system including a ship to which a ship control device according to a third embodiment is applied. 13 is a diagram for explaining the behavior of the vessel of the comparative example when the operation unit receives an input operation to move the vessel forward and then receives an input operation to stop the forward movement of the vessel. FIG. 10 is a flowchart for explaining a process executed in a 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 described.
Fig. 16 is a diagram for explaining the behavior of the vessel R11 of the comparative example when the operation unit receives an input operation to move the vessel R11 forward and then receives an input operation to stop the forward movement of the vessel R11. Fig. 17 is a flowchart for explaining the processing executed in the vessel R11 of the comparative example.
16 and 17, in step SR1 in Fig. 17, the vessel control device of the vessel R11, for example, determines whether the operation unit has received an input operation to move the vessel R11 forward. If the operation unit has not received an input operation to move the vessel R11 forward, step SR1 is repeatedly executed. On the other hand, if the operation unit has received an input operation to move the vessel R11 forward, the process proceeds to step SR2.
In step SR2, the vessel R11 generates a propulsive force that moves the vessel R11 forward. As a result, the vessel R11 moves forward as shown in Fig. 16(C) (i.e., the vessel R11 moves upward in Fig. 16).
17, the vessel control device of the vessel R11, for example, determines whether the operation unit has received an input operation to stop the forward movement of the vessel R11. If the operation unit has not received an input operation to stop the forward movement of the vessel R11, step SR3 is repeatedly executed. On the other hand, if the operation unit has received an input operation to stop the forward movement of the vessel R11, the process proceeds to step SR4.
In step SR4, the vessel R11 stops generating the upward propulsive force in Fig. 16. As a result, an upward inertial force (starting momentum) in Fig. 16 that tends to continue moving forward is generated, and the vessel R11 moves upward in Fig. 16 (moves forward at the starting momentum).
In the comparative example of the vessel R11, in order to suppress this speed, the vessel operator must perform an input operation to counteract the inertial force.

First Embodiment
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 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 according to a first embodiment is applied.
The vessel control device 11C of the first embodiment can be applied to any type of vessel 11, such as a personal watercraft (PWC) having functions similar to those of the PWC (jet motorcycle) described in FIG. 1 of Japanese Patent No. 5,196,649, a vessel not equipped with a jet propulsion engine (for example, a vessel equipped with an outboard engine described in Japanese Patent No. 6,198,192, JP 2007-22284, etc., a vessel equipped with an inboard/outboard engine or an inboard engine, a large vessel equipped with a side thruster, etc.).
1, the ship maneuvering system 1 includes a ship 11. The ship 11 includes an actuator 11A, an operation unit 11B, a ship control device 11C, a bow direction detection unit 11D, a ship speed detection unit 11E, and a ship position detection unit 11F.
The actuator 11A includes a rudder section 11A1 and a thrust generating section 11A2. The rudder section 11A1 has a function of generating a moment in the vessel 11. The thrust generating section 11A2 has a function of generating a propulsive force for the vessel 11.
In an example in which the vessel 11 is a PWC, the actuator 11A includes, for example, an engine, a nozzle, a deflector, a trim actuator, a bucket, a bucket actuator, and the like, as described in FIG. 1 of JP 2019-171925 A.

1, the operation unit 11B accepts input operations by the operator of the vessel 11. The operation unit 11B includes, for example, a steering unit 11B1 and a throttle operation unit 11B2. The steering unit 11B1 accepts input operations by the operator to operate the rudder unit 11A1. The throttle operation unit 11B2 accepts input operations by the operator to operate the thrust generating unit 11A2.
In an example in which the vessel 11 is a PWC, the steering section 11B1 and the throttle operating section 11B2 are configured in a similar manner to, for example, the steering handle device described in FIG. 1 of Japanese Patent No. 5196649, or the steering unit described in FIG. 1 of Japanese Patent Publication No. 2019-171925.

In the example shown in FIG. 1, the vessel control device 11C operates the actuator 11A based on an input operation by the operator of the vessel 11 received by the operation unit 11B.
In detail, the vessel control device 11C can operate the actuator 11A so that the thrust generating unit 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 generating unit 11A2 of the actuator 11A generates a propulsive force that moves the vessel 11 backward.
In addition, the vessel control device 11C can operate the actuator 11A so that the actuator 11A generates a moment in the vessel 11 that turns the vessel 11 on the spot.
Furthermore, the vessel control device 11C can operate the actuator 11A so that the actuator 11A generates a propulsive force for moving the vessel 11 forward and generates a moment for turning the vessel 11 in the vessel 11. The vessel control device 11C can operate the actuator 11A so that the actuator 11A generates a propulsive force for moving the vessel 11 backward and generates a moment for turning the vessel 11 in the vessel 11.

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

1 , the vessel speed detection unit 11E detects the speed of the vessel 11. The vessel speed detection unit 11E may be, for example, a water pressure sensing type that detects the water speed of the vessel 11, or a GPS measurement type that detects the ground speed of the vessel 11.
The vessel position detection unit 11F detects the position of the vessel 11. The vessel position detection unit 11F includes, for example, a GPS device. The GPS device calculates the position coordinates of the vessel 11 by receiving signals from a plurality of GPS satellites.

Fig. 2 is a diagram showing an example of behavior of the vessel 11 of the first embodiment when the operation unit 11B receives an input operation to move the vessel 11 forward and then receives an input operation to stop the forward movement of the vessel 11. Fig. 3 is a flowchart for explaining an example of processing executed by the vessel control device 11C of the first embodiment when the operation unit 11B receives an input operation to move the vessel 11 forward and then receives an input operation to stop the forward movement of the vessel 11.
2 and 3, in step S11 in Fig. 3, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to move the vessel 11 forward. If the operation unit 11B has not received an input operation to move the vessel 11 forward, step S11 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the vessel 11 forward, the process proceeds to step S12.

In step S12, the vessel 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 vessel 11 forward. As a result, the vessel 11 moves forward as shown in Fig. 2(C) (i.e., the vessel 11 moves upward in Fig. 2).
3, for example, the vessel control device 11C determines whether the operation unit 11B has received an input operation to stop the forward movement of the vessel 11. If the operation unit 11B has not received an input operation to stop the forward movement of the vessel 11, step S13 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the forward movement of the vessel 11, the process proceeds to step S14.

In step S14, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force that moves the vessel 11 forward. As a result, an upward inertial force (starting) in FIG. 2 that tries to continue moving forward is generated. Therefore, in the example shown in FIG. 2 and FIG. 3, in step S14, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (downward in FIG. 2) to the direction of the inertial force generated in the vessel 11 (upward in FIG. 2). In detail, in step S14, the vessel control device 11C causes the actuator 11A to generate a downward thrust in FIG. 2 without the operation unit 11B needing to accept an input operation to cause the actuator 11A to generate a downward thrust in FIG. 2. As a result, as shown in FIG. 2(A) and FIG. 2(B), it is possible to suppress the vessel 11 from moving upward in FIG. 2 (starting) due to the inertial force generated in the vessel 11.
In the example shown in Figures 2 and 3, the magnitude of the reverse thrust (downward in Figure 2) generated by the actuator 11A is set to a constant value, but in other examples, the magnitude of the reverse thrust (downward in Figure 2) generated by the actuator 11A may be changed depending on the magnitude of the inertial force acting on the ship 11.

In the example shown in Fig. 2 and Fig. 3, next, in step S15 in Fig. 3, the vessel control device 11C monitors the elapsed time from when the operation unit 11B received the input operation to stop the operation of the actuator 11A (i.e., when it is determined in step S13 that the operation unit 11B received the input operation to stop the forward movement of the vessel 11). In detail, in step S15, the vessel control device 11C determines whether or not the elapsed time from when the operation unit 11B received the input operation to stop the operation of the actuator 11A has become equal to or greater than a first threshold value. If the elapsed time has not become equal to or greater than the first threshold value (i.e., when it is estimated that the vessel 11 is likely to move upward in Fig. 2 due to the inertial force (foot) of the vessel 11), step S15 is repeatedly executed. On the other hand, if the elapsed time has become equal to or greater than the first threshold value (i.e., when it is estimated that the vessel 11 is unlikely to move upward in Fig. 2 due to the inertial force (foot) of the vessel 11), the process proceeds to step S16.
In step S16, the vessel control device 11C controls the actuator 11A to stop generating the downward thrust in FIG.
2 and 3, a fixed value is used as the "first threshold value", but in other examples, a variable value may be used as the "first threshold value". For example, the smaller the ratio of the magnitude of the thrust in the reverse direction (downward in FIG. 2) generated by the actuator 11A to the magnitude of the inertial force generated in the ship 11, the larger the value that may be used as the "first threshold value".

In other words, in the example shown in Figures 2 and 3, when the actuator 11A is generating a propulsive force to move the vessel 11 forward (i.e., when in the state shown in Figure 2 (C)), if the operation unit 11B receives an input operation to stop the generation of the propulsive force to move the vessel 11 forward, the vessel control device 11C operates the actuator 11A to generate a thrust in the opposite direction (downward in Figure 2) to the direction of the inertial force occurring in the vessel 11 (upward in Figure 2), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figures 2 and 3, the ship control device 11C sets the period for operating the actuator 11A so that the actuator 11A generates a thrust force in the opposite direction to the direction of the inertial force occurring in the ship 11, based on the elapsed time from the time when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when the result of step S13 in Figure 3 is judged to be YES).
In other words, in the example shown in Figures 2 and 3, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is determined in step S13 of Figure 3), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (downward in Figure 2) to the direction of the inertial force occurring in the ship 11 (upward in Figure 2) without the operation unit 11B needing to receive an input operation.
Therefore, in the example shown in Figures 2 and 3, it is possible to eliminate the need for the operator to perform an input operation to counteract the inertial force generated in the vessel 11 when the actuator 11A transitions from an activated state to a deactivated state.

Figure 4 is a flowchart for explaining an example of processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation to reverse the ship 11 and then receives an input operation to stop the reverse movement of the ship 11.
4, in step S21, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to reverse the vessel 11. If the operation unit 11B has not received an input operation to reverse the vessel 11, step S21 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to reverse the vessel 11, the process proceeds to step S22.

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

In step S24, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force that moves the vessel 11 backward. As a result, an inertial force (starting motion) that tries to continue the backward motion is generated. Therefore, in the example shown in FIG. 4, in step S24, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in a direction opposite to the direction of the inertial force generated in the vessel 11 (the forward direction of the vessel 11). In detail, in step S24, the vessel control device 11C causes the actuator 11A to generate a forward thrust for the vessel 11 without the operation unit 11B having to accept an input operation for causing the actuator 11A to generate a forward thrust for the vessel 11. As a result, it is possible to suppress the vessel 11 from moving backward (starting motion) due to the inertial force generated in the vessel 11.
Next, in step S25, the vessel control device 11C monitors the elapsed time from when the operation unit 11B received the input operation to stop the operation of the actuator 11A (i.e., when it is determined in step S23 that the operation unit 11B received the input operation to stop the reverse movement of the vessel 11). In detail, in step S25, the vessel control device 11C determines whether the elapsed time from when the operation unit 11B received the input operation to stop the operation of the actuator 11A is equal to or greater than a first threshold value. If the elapsed time is not equal to or greater than the first threshold value (i.e., when it is estimated that the vessel 11 may move backward due to the inertial force (gait) of the vessel 11), step S25 is repeatedly executed. On the other hand, if the elapsed time is equal to or greater than the first threshold value (i.e., when it is estimated that the vessel 11 may not move backward due to the inertial force (gait) of the vessel 11), the process proceeds to step S26.
In step S26, the vessel control device 11C controls the actuator 11A to stop generating the forward thrust of the vessel 11.

In other words, in the example shown in Figure 4, when the actuator 11A is generating a propulsive force to move the vessel 11 backward and the operation unit 11B receives an input operation to stop the generation of the propulsive force to move the vessel 11 backward, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (forward of the vessel 11) to the direction of the inertial force occurring in the vessel 11 (backward of the vessel 11), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 4, the ship control device 11C sets the period for which the actuator 11A is operated so that the actuator 11A generates a thrust in the opposite direction (forward of the ship 11) to the direction of the inertial force occurring in the ship 11 (rearward of the ship 11), based on the elapsed time from the time when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when YES is determined in step S23).
In other words, in the example shown in Figure 4, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is determined in step S23), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (forward of the ship 11) to the direction of the inertial force occurring in the ship 11 (rearward of the ship 11), without the operation unit 11B needing to receive an input operation.
Therefore, in the example shown in FIG. 4, it is possible to eliminate the need for an input operation by the boat operator to counteract the inertial force generated in the boat 11 when the actuator 11A transitions from an operating state to a non-operating state of the actuator 11A.

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

In step S32, the vessel control device 11C operates the actuator 11A so as to generate a moment in the vessel 11 that turns the vessel 11 on the spot in the clockwise direction. As a result, the vessel 11 turns on the spot in the clockwise direction.
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 turning on the spot of the vessel 11. If the operation unit 11B has not received an input operation to stop the clockwise turning on the spot of the vessel 11, step S33 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the clockwise turning on the spot of the vessel 11, the process proceeds to step S34.

In step S34, the vessel control device 11C causes the actuator 11A to stop generating a moment that turns the vessel 11 on the spot in the clockwise direction. As a result, a moment of inertia that tries to continue the turning on the spot in the clockwise direction is generated. Therefore, in the example shown in FIG. 5, in step S34, the vessel control device 11C operates the actuator 11A so as to generate in the vessel 11 a moment in the opposite direction (counterclockwise) to the direction (clockwise) of the moment of inertia generated in the vessel 11. In detail, in step S34, the vessel control device 11C generates a counterclockwise moment in the vessel 11 without the operation unit 11B needing to accept an input operation that generates a counterclockwise moment in the vessel 11. As a result, it is possible to suppress the vessel 11 from turning on the spot in the clockwise direction too much due to the moment of inertia generated in the vessel 11.
Next, in step S35, the vessel control device 11C monitors the elapsed time from when the operation unit 11B received the input operation to stop the operation of the actuator 11A (i.e., when it is determined in step S33 that the operation unit 11B received the input operation to stop the clockwise on-the-spot turning of the vessel 11). In detail, in step S35, the vessel control device 11C determines whether the elapsed time from when the operation unit 11B received the input operation to stop the operation of the actuator 11A is equal to or greater than a first threshold value. If the elapsed time is not equal to or greater than the first threshold value (i.e., when it is estimated that the vessel 11 may turn too much on the spot in the clockwise direction due to the moment of inertia of the vessel 11), step S35 is repeatedly executed. On the other hand, if the elapsed time is equal to or greater than the first threshold value (i.e., when it is estimated that the vessel 11 may not turn too much on the spot in the clockwise direction due to the moment of inertia of the vessel 11), the process proceeds to step S36.
In step S36, the vessel control device 11C controls the actuator 11A to stop generating the counterclockwise moment.

In other words, in the example shown in Figure 5, when the actuator 11A is generating a moment in the vessel 11 that turns the vessel 11 on the spot in a clockwise direction, and the operation unit 11B receives an input operation to stop the generation of the moment that turns the vessel 11 on the spot in a clockwise direction, the vessel control device 11C operates the actuator 11A so as to generate in the vessel 11 a moment in the opposite direction (counterclockwise) to the direction of the moment of inertia occurring in the vessel 11 (clockwise), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 5, the ship control device 11C sets the period for operating the actuator 11A so as to generate a moment in the ship 11 in the opposite direction (counterclockwise) to the direction (clockwise) of the moment of inertia occurring in the ship 11, based on the elapsed time from the time when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when YES is determined in step S33).
In other words, in the example shown in Figure 5, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is determined in step S33), the ship control device 11C operates the actuator 11A so as to generate a moment in the ship 11 in the opposite direction (counterclockwise) to the direction of the moment of inertia occurring in the ship 11, without the operation unit 11B needing to receive an input operation.
Therefore, in the example shown in Figure 5, it is possible to eliminate the need for an input operation by the boat operator to counteract the moment of inertia generated in the boat 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.

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

In step S42, the vessel control device 11C operates the actuator 11A so as to generate a moment in the vessel 11 that turns the vessel 11 on the spot counterclockwise. As a result, the vessel 11 turns on the spot counterclockwise.
Next, in step S43, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to stop the counterclockwise on-the-spot turning of the vessel 11. If the operation unit 11B has not received an input operation to stop the counterclockwise on-the-spot turning of the vessel 11, step S43 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the counterclockwise on-the-spot turning of the vessel 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 turns the vessel 11 counterclockwise on the spot. As a result, a moment of inertia that tries to continue turning the vessel 11 counterclockwise on the spot is generated. Therefore, in the example shown in FIG. 6, in step S44, the vessel control device 11C operates the actuator 11A so as to generate a moment in the vessel 11 in the opposite direction (clockwise) to the direction (counterclockwise) of the moment of inertia generated in the vessel 11. In detail, in step S44, the vessel control device 11C generates a clockwise moment in the vessel 11 without the operation unit 11B needing to accept an input operation that generates a clockwise moment in the vessel 11. As a result, it is possible to suppress the vessel 11 from turning too far on the spot in the counterclockwise direction due to the moment of inertia generated in the vessel 11.
Next, in step S45, the vessel control device 11C monitors the elapsed time from when the operation unit 11B received the input operation to stop the operation of the actuator 11A (i.e., when it is determined in step S43 that the operation unit 11B received the input operation to stop the counterclockwise on-the-spot turning of the vessel 11). In detail, in step S45, the vessel control device 11C determines whether or not the elapsed time from when the operation unit 11B received the input operation to stop the operation of the actuator 11A has become equal to or greater than a first threshold value. If the elapsed time has not become equal to or greater than the first threshold value (i.e., when it is estimated that the vessel 11 may turn counterclockwise too much on the spot due to the moment of inertia of the vessel 11), step S45 is repeatedly executed. On the other hand, if the elapsed time has become equal to or greater than the first threshold value (i.e., when it is estimated that the vessel 11 may not turn counterclockwise too much on the spot due to the moment of inertia of the vessel 11), the process proceeds to step S46.
In step S46, the vessel control device 11C controls the actuator 11A to stop generating the clockwise moment.

In other words, in the example shown in Figure 6, when the actuator 11A is generating a moment in the vessel 11 that turns the vessel 11 on the spot in a counterclockwise direction, and the operation unit 11B receives an input operation to stop the generation of the moment that turns the vessel 11 on the spot in a counterclockwise direction, the vessel control device 11C operates the actuator 11A so as to generate in the vessel 11 a moment in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the vessel 11 (counterclockwise), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 6, the ship control device 11C sets the period for operating the actuator 11A so as to generate a moment in the ship 11 in the opposite direction (clockwise) to the direction (counterclockwise) of the moment of inertia occurring in the ship 11, based on the elapsed time from the time when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when YES is determined in step S43).
In other words, in the example shown in Figure 6, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is determined in step S43), the ship control device 11C operates the actuator 11A so as to generate a moment in the ship 11 in the opposite direction (clockwise) to the direction of the moment of inertia generated in the ship 11 (counterclockwise) without the operation unit 11B needing to receive an input operation.
Therefore, in the example shown in Figure 6, it is possible to eliminate the need for an input operation by the boat operator to counteract the moment of inertia generated in the boat 11 when the actuator 11A transitions from an operating state to a non-operating state of the actuator 11A.

Figure 7 is a flowchart illustrating an example of processing executed by the ship control device 11C of the first embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and rotate it clockwise, and then receives an input operation to stop the forward movement and clockwise rotation of the ship 11.
7, in step S51, for example, the vessel control device 11C determines whether the operation unit 11B has received an input operation to move the vessel 11 forward and turn clockwise. If the operation unit 11B has not received an input operation to move the vessel 11 forward and turn clockwise, step S51 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the vessel 11 forward and turn clockwise, the process proceeds to step S52.

In step S52, the vessel control device 11C activates the actuator 11A so that the actuator 11A generates a propulsive force for moving the vessel 11 forward and generates a moment for turning the vessel 11 clockwise in the vessel 11. 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 operation unit 11B has received an input operation to stop the forward movement and clockwise rotation of the vessel 11. If the operation unit 11B has not received an input operation to stop the forward movement and clockwise rotation of the vessel 11, step S53 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the forward movement and clockwise rotation of the vessel 11, the process proceeds to step S54.

In step S54, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force for moving the vessel 11 forward and a moment for turning the vessel 11 clockwise. As a result, an inertial force that tries to continue moving forward and an inertial moment that tries to continue turning clockwise are generated. Therefore, in the example shown in Fig. 7, in step S54, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in a direction opposite (rearward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (forward of the vessel 11), and so that the vessel 11 generates a moment in a direction opposite (counterclockwise) to the direction of the inertial moment generated in the vessel 11 (clockwise). In detail, in step S54, the vessel control device 11C causes the actuator 11A to generate a backward thrust for the vessel 11 and generates a counterclockwise moment in the vessel 11, without the operation unit 11B having to accept an input operation for generating a backward thrust for the vessel 11 and generating a counterclockwise moment in the vessel 11. As a result, it is possible to suppress the vessel 11 from moving forward due to the inertial force generated in the vessel 11 and the vessel 11 from turning too far in the clockwise direction due to the inertial moment generated in the vessel 11.
Next, in step S55, the vessel control device 11C monitors the elapsed time from when the operation unit 11B received an input operation to stop the operation of the actuator 11A (i.e., when it is determined in step S53 that the operation unit 11B received an input operation to stop the forward movement and clockwise rotation of the vessel 11). In detail, in step S55, the vessel control device 11C determines whether the elapsed time from when the operation unit 11B received an input operation to stop the operation of the actuator 11A is equal to or greater than a first threshold value. If the elapsed time is not equal to or greater than the first threshold value (i.e., when it can be estimated that the vessel 11 is likely to move forward due to the inertial force of the vessel 11 and that the vessel 11 is likely to turn too far clockwise due to the moment of inertia of the vessel 11), step S55 is repeatedly executed. On the other hand, if the elapsed time becomes equal to or greater than the first threshold value (i.e., if it can be estimated that there is no risk of the ship 11 moving forward due to the inertial force of the ship 11, and no risk of the ship 11 turning too far clockwise due to the moment of inertia of the ship 11), proceed to step S56.
In step S56, the vessel control device 11C controls the actuator 11A to stop generating the rearward thrust and the counterclockwise moment for the vessel 11.

In other words, in the example shown in Figure 7, when the actuator 11A is generating a propulsive force to move the vessel 11 forward and is generating a moment in the vessel 11 to turn the vessel 11 clockwise, if the operation unit 11B receives an input operation to stop the generation of the propulsive force to move the vessel 11 forward and the moment to turn the vessel 11 clockwise, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the vessel 11) to the direction of the inertial force acting in the vessel 11 (forward of the vessel 11), and so that the actuator 11A generates a moment in the opposite direction (counterclockwise) to the direction of the moment of inertia acting in the vessel 11 (clockwise), without the operation unit 11B having to accept an input operation.
In addition, in the example shown in Figure 7, the ship control device 11C sets the period for operating the actuator 11A based on the elapsed time from the time when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when YES is determined in step S53) so that the actuator 11A generates a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force acting on the ship 11 (forward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (counterclockwise) to the direction of the moment of inertia acting on the ship 11 (clockwise).
In other words, in the example shown in Figure 7, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is judged in step S53), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force occurring in the ship 11 (forward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (counterclockwise) to the direction of the moment of inertia occurring in the ship 11 (clockwise), without the operation unit 11B having to accept an input operation.
Therefore, in the example shown in Figure 7, it is possible to eliminate the need for an input operation by the boat operator to counteract the moment of inertia generated in the boat 11 when the actuator 11A transitions from an operating state to a non-operating state of the actuator 11A.

Figure 8 is a flowchart for explaining an example of processing executed by the ship control device 11C of the first 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.
8, in step S61, for example, the vessel control device 11C determines whether the operation unit 11B has received an input operation to reverse and turn the vessel 11 counterclockwise. If the operation unit 11B has not received an input operation to reverse and turn the vessel 11 counterclockwise, step S61 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to reverse and turn the vessel 11 counterclockwise, the process proceeds to step S62.

In step S62, the vessel control device 11C operates the actuator 11A so as to generate a propulsive force for moving the vessel 11 backward and generate a moment for turning the vessel 11 counterclockwise in the vessel 11. As a result, the vessel 11 moves backward and turns counterclockwise.
Next, in step S63, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to stop the reverse movement and counterclockwise turning of the vessel 11. If the operation unit 11B has not received an input operation to stop the reverse 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 to stop the reverse movement and counterclockwise turning of the vessel 11, the process proceeds to step S64.

In step S64, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force for moving the vessel 11 backward and a moment for turning the vessel 11 counterclockwise. As a result, an inertial force that tries to continue moving backward and an inertial moment that tries to continue turning counterclockwise are generated. Therefore, in the example shown in Fig. 8, in step S64, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in a direction opposite (forward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (rearward of the vessel 11), and so that the vessel 11 generates a moment in a direction opposite (clockwise) to the direction of the inertial moment generated in the vessel 11 (counterclockwise). In detail, in step S64, the vessel control device 11C causes the actuator 11A to generate a forward thrust for the vessel 11 and generates a clockwise moment in the vessel 11, without the need for the operation unit 11B to accept an input operation for generating a forward thrust for the vessel 11 and generating a clockwise moment in the vessel 11. As a result, it is possible to prevent the vessel 11 from moving backward due to the inertial force generated in the vessel 11, and to prevent the vessel 11 from turning too far counterclockwise due to the inertial moment generated in the vessel 11.
Next, in step S65, the vessel control device 11C monitors the elapsed time from when the operation unit 11B received an input operation to stop the operation of the actuator 11A (i.e., when it is determined in step S63 that the operation unit 11B received an input operation to stop the reverse movement and counterclockwise turning of the vessel 11). In detail, in step S65, the vessel control device 11C determines whether the elapsed time from when the operation unit 11B received an input operation to stop the operation of the actuator 11A is equal to or greater than a first threshold value. If the elapsed time is not equal to or greater than the first threshold value (i.e., when it can be estimated that the vessel 11 is likely to move backward due to the inertial force of the vessel 11 and that the vessel 11 is likely to turn too far counterclockwise due to the moment of inertia of the vessel 11), step S65 is repeatedly executed. On the other hand, if the elapsed time becomes equal to or greater than the first threshold value (i.e., if it can be estimated that there is no risk of the vessel 11 moving backward due to the inertial force of the vessel 11, and no risk of the vessel 11 turning too far counterclockwise due to the moment of inertia of the vessel 11), proceed to step S66.
In step S66, the vessel control device 11C controls the actuator 11A to stop generating the forward thrust and the clockwise moment of the vessel 11.

In other words, in the example shown in Figure 8, when the actuator 11A is generating a propulsive force that moves the vessel 11 backward and is generating a moment in the vessel 11 that turns the vessel 11 counterclockwise, if the operation unit 11B receives an input operation to stop the generation of the propulsive force that moves the vessel 11 backward and the moment that turns the vessel 11 counterclockwise, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (forward of the vessel 11) to the direction of the inertial force occurring in the vessel 11 (rearward of the vessel 11), and so that the vessel 11 generates a moment in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the vessel 11 (counterclockwise), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 8, the ship control device 11C sets the period for operating the actuator 11A based on the elapsed time from the time when the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when YES is determined in step S63) so that the actuator 11A generates a thrust in the opposite direction (forward of the ship 11) to the direction of the inertial force acting on the ship 11 (rearward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (clockwise) to the direction of the moment of inertia acting on the ship 11 (counterclockwise).
In other words, in the example shown in Figure 8, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is judged in step S63), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (forward of the ship 11) to the direction of the inertial force occurring in the ship 11 (rearward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the ship 11 (counterclockwise), without the operation unit 11B having to accept an input operation.
Therefore, in the example shown in Figure 8, it is possible to eliminate the need for an input operation by the boat operator to counteract the moment of inertia generated in the boat 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.

Second Embodiment
A second embodiment of the ship maneuvering system, ship control device, ship control method, and program of the present invention will be described below.
The ship maneuvering system 1 of the second embodiment is configured similarly to the ship maneuvering system 1 of the first embodiment described above, except for the points described below. Therefore, the ship maneuvering system 1 of the second embodiment can achieve the same effects as the ship maneuvering system 1 of the first embodiment described above, except for the points described below.

The ship steering system 1 equipped with the ship 11 to which the ship control device 11C of the second embodiment is applied is configured similarly to the ship steering system 1 of the first embodiment shown in FIG. 1.

Figure 9 is a flowchart for explaining an example of processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and then receives an input operation to stop the forward movement of the ship 11.
9 , in step SA1, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to move the vessel 11 forward. If the operation unit 11B has not received an input operation to move the vessel 11 forward, step SA1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the vessel 11 forward, the process proceeds to step SA2.

In step SA2, the vessel 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 vessel 11 forward. As a result, the vessel 11 moves forward.
Next, in step SA3, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to stop the forward movement of the vessel 11. If the operation unit 11B has not received an input operation to stop the forward movement of the vessel 11, step SA3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the forward movement of the vessel 11, the process proceeds to step SA4.

In step SA4, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force that moves the vessel 11 forward. As a result, an inertial force (starting speed) that tries to continue the forward movement is generated. Therefore, in the example shown in FIG. 9, in step SA4, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in a direction opposite to the direction of the inertial force generated in the vessel 11 (the forward direction of the vessel 11). In detail, in step SA4, the vessel control device 11C causes the actuator 11A to generate a backward thrust for the vessel 11 without the operation unit 11B having to accept an input operation for causing the actuator 11A to generate a backward thrust for the vessel 11. As a result, it is possible to suppress the vessel 11 from moving forward (starting speed) due to the inertial force generated in the vessel 11.
Next, in step SA5, the vessel control device 11C monitors the speed of the vessel 11. More specifically, in step SA5, the vessel control device 11C determines whether the speed of the vessel 11 detected by the vessel speed detection unit 11E has decreased to a second threshold value or less. If the speed of the vessel 11 has not decreased to a second threshold value or less (i.e., the vessel 11 continues to move forward due to the inertial force (gait) of the vessel 11), step SA5 is repeatedly executed. On the other hand, if the speed of the vessel 11 has decreased to a second threshold value or less (i.e., it can be estimated that the forward movement of the vessel 11 due to the inertial force (gait) of the vessel 11 has ended), the process proceeds to step SA6.
In step SA6, the vessel control device 11C controls the actuator 11A to stop generating the rearward thrust of the vessel 11.

In other words, in the example shown in Figure 9, when the actuator 11A is generating a propulsive force to move the vessel 11 forward and the operation unit 11B receives an input operation to stop the generation of the propulsive force to move the vessel 11 forward, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the vessel 11) to the direction of the inertial force occurring in the vessel 11 (forward of the vessel 11), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 9, the ship control device 11C sets the period for which the actuator 11A is operated based on the speed of the ship 11 so that the actuator 11A generates a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force acting on the ship 11 (forward of the ship 11).
In other words, in the example shown in Figure 9, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is determined in step SA3), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force occurring in the ship 11 (forward of the ship 11), without the operation unit 11B needing to receive an input operation.
Therefore, in the example shown in FIG. 9, it is possible to eliminate the need for an input operation by the boat operator to counteract the inertial force generated in the boat 11 when the actuator 11A transitions from an operating state to a non-operating state of the actuator 11A.

Figure 10 is a flowchart for explaining an example of processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation to reverse the ship 11 and then receives an input operation to stop the reverse movement of the ship 11.
10, in step SB1, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to reverse the vessel 11. If the operation unit 11B has not received an input operation to reverse the vessel 11, step SB1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to reverse the vessel 11, the process proceeds to step SB2.

In step SB2, the vessel control device 11C operates the actuator 11A so that the thrust generating section 11A2 of the actuator 11A generates a thrust for moving the vessel 11 backward. As a result, the vessel 11 moves backward.
Next, in step SB3, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to stop the reverse movement of the vessel 11. If the operation unit 11B has not received an input operation to stop the reverse movement of the vessel 11, step SB3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the reverse movement of the vessel 11, the process proceeds to step SB4.

In step SB4, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force that moves the vessel 11 backward. As a result, an inertial force (starting motion) that tries to continue moving backward is generated. Therefore, in the example shown in FIG. 10, in step SB4, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in the opposite direction (forward direction of the vessel 11) to the direction of the inertial force generated in the vessel 11 (rearward direction of the vessel 11). In detail, in step SB4, the vessel control device 11C causes the actuator 11A to generate a forward thrust for the vessel 11 without the operation unit 11B needing to accept an input operation for causing the actuator 11A to generate a forward thrust for the vessel 11. As a result, it is possible to suppress the vessel 11 from moving backward (starting motion) due to the inertial force generated in the vessel 11.
Next, in step SB5, the vessel control device 11C monitors the speed of the vessel 11. More specifically, in step SB5, the vessel control device 11C determines whether the speed of the vessel 11 detected by the vessel speed detection unit 11E has decreased to a second threshold value or less. If the speed of the vessel 11 has not decreased to a second threshold value or less (i.e., the vessel 11 continues to move astern due to the inertial force (gait) of the vessel 11), step SB5 is repeatedly executed. On the other hand, if the speed of the vessel 11 has decreased to a second threshold value or less (i.e., it can be estimated that the astern movement of the vessel 11 due to the inertial force (gait) of the vessel 11 has ended), the process proceeds to step SB6.
In step SB6, the vessel control device 11C controls the actuator 11A to stop generating the forward thrust of the vessel 11.

In other words, in the example shown in Figure 10, when the actuator 11A is generating a propulsive force to move the vessel 11 backward and the operation unit 11B receives an input operation to stop the generation of the propulsive force to move the vessel 11 backward, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (forward of the vessel 11) to the direction of the inertial force occurring in the vessel 11 (backward of the vessel 11), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 10, the ship control device 11C sets the period for which the actuator 11A is operated based on the speed of the ship 11 so that the actuator 11A generates a thrust in the opposite direction (forward of the ship 11) to the direction of the inertial force acting on the ship 11 (rearward of the ship 11).
In other words, in the example shown in Figure 10, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is judged in step SB3), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (forward of the ship 11) to the direction of the inertial force occurring in the ship 11 (rearward of the ship 11), without the operation unit 11B needing to receive an input operation.
Therefore, in the example shown in FIG. 10, it is possible to eliminate the need for an input operation by the boat operator to counteract the inertial force generated in the boat 11 when the actuator 11A transitions from an activated state to a deactivated state.

Figure 11 is a flowchart for explaining an example of processing executed by the ship control device 11C 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 turning of the ship 11 on the spot.
11, in step SC1, for example, the vessel control device 11C determines whether the operation unit 11B has received an input operation to turn the vessel 11 on the spot clockwise. If the operation unit 11B has not received an input operation to turn the vessel 11 on the spot clockwise, step SC1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to turn the vessel 11 on the spot clockwise, the process proceeds to step SC2.

In step SC2, the vessel control device 11C operates the actuator 11A so as to generate a moment in the vessel 11 that turns the vessel 11 on the spot in the clockwise direction. As a result, the vessel 11 turns on the spot in the clockwise direction.
Next, in step SC3, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to stop the clockwise turning on the spot of the vessel 11. If the operation unit 11B has not received an input operation to stop the clockwise turning on the spot of the vessel 11, step SC3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the clockwise turning on the spot of the vessel 11, the process proceeds to step SC4.

In step SC4, the vessel control device 11C causes the actuator 11A to stop generating a moment that turns the vessel 11 on the spot in the clockwise direction. As a result, a moment of inertia that tries to continue the turning on the spot in the clockwise direction is generated. Therefore, in the example shown in FIG. 11, in step SC4, the vessel control device 11C operates the actuator 11A so as to generate in the vessel 11 a moment in the opposite direction (counterclockwise) to the direction (clockwise) of the moment of inertia generated in the vessel 11. In detail, in step SC4, the vessel control device 11C generates a counterclockwise moment in the vessel 11 without the operation unit 11B needing to accept an input operation that generates a counterclockwise moment in the vessel 11. As a result, it is possible to suppress the vessel 11 from turning on the spot in the clockwise direction too much due to the moment of inertia generated in the vessel 11.
Next, in step SC5, the ship control device 11C monitors the angular velocity of the ship 11. In detail, in step SC5, the ship control device 11C determines whether the angular velocity of the ship 11 calculated based on the bow direction detected by the bow direction detection unit 11D has decreased to a third threshold value or less. If the angular velocity of the ship 11 has not decreased to the third threshold value or less (i.e., the ship 11 continues to turn on the spot 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 value or less (i.e., it can be estimated that the clockwise turning on the spot of the ship 11 due to the moment of inertia of the ship 11 has ended), the process proceeds to step SC6.
In step SC6, the vessel control device 11C controls the actuator 11A to stop generating the counterclockwise moment.

In other words, in the example shown in Figure 11, when the actuator 11A is generating a moment in the vessel 11 that turns the vessel 11 on the spot in a clockwise direction, and the operation unit 11B receives an input operation to stop the generation of the moment that turns the vessel 11 on the spot in a clockwise direction, the vessel control device 11C operates the actuator 11A so as to generate in the vessel 11 a moment in the opposite direction (counterclockwise) to the direction of the moment of inertia occurring in the vessel 11 (clockwise), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 11, the ship control device 11C sets the period for which the actuator 11A is operated based on the angular velocity of the ship 11 so as to generate a moment in the ship 11 in the opposite direction (counterclockwise) to the direction (clockwise) of the moment of inertia occurring in the ship 11.
In other words, in the example shown in Figure 11, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is judged in step SC3), the ship control device 11C operates the actuator 11A so as to generate in the ship 11 a moment in the opposite direction (counterclockwise) to the direction of the moment of inertia occurring in the ship 11, without the operation unit 11B needing to receive an input operation.
Therefore, in the example shown in Figure 11, it is possible to eliminate the need for an input operation by the boat operator to counteract the moment of inertia generated in the boat 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.

Figure 12 is a flowchart for explaining an example of processing executed by the ship control device 11C of the second 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 turning of the ship 11 on the spot.
12, in step SD1, for example, the vessel control device 11C determines whether the operation unit 11B has received an input operation to turn the vessel 11 on the spot counterclockwise. If the operation unit 11B has not received an input operation to turn the vessel 11 on the spot counterclockwise, step SD1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to turn the vessel 11 on the spot counterclockwise, the process proceeds to step SD2.

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

In step SD4, the vessel control device 11C causes the actuator 11A to stop generating a moment that turns the vessel 11 counterclockwise on the spot. As a result, a moment of inertia that tries to continue turning the vessel 11 counterclockwise on the spot is generated. Therefore, in the example shown in FIG. 12, in step SD4, the vessel control device 11C operates the actuator 11A so as to generate a moment in the vessel 11 in the opposite direction (clockwise) to the direction (counterclockwise) of the moment of inertia generated in the vessel 11. In detail, in step SD4, the vessel control device 11C generates a clockwise moment in the vessel 11 without the operation unit 11B needing to accept an input operation that generates a clockwise moment in the vessel 11. As a result, it is possible to suppress the vessel 11 from turning too far on the spot in the counterclockwise direction due to the moment of inertia generated in the vessel 11.
Next, in step SD5, the ship control device 11C monitors the angular velocity of the ship 11. In detail, in step SD5, the ship control device 11C determines whether the angular velocity of the ship 11 calculated based on the bow direction detected by the bow direction detection unit 11D has decreased to a third threshold value or less. If the angular velocity of the ship 11 has not decreased to the third threshold value or less (i.e., 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, if the angular velocity of the ship 11 has decreased to the third threshold value or less (i.e., it can be estimated that the counterclockwise turning on the spot of the ship 11 due to the moment of inertia of the ship 11 has ended), the process proceeds to step SD6.
In step SD6, the vessel control device 11C controls the actuator 11A to stop generating the clockwise moment.

In other words, in the example shown in Figure 12, when the actuator 11A is generating a moment in the vessel 11 that turns the vessel 11 on the spot counterclockwise and the operation unit 11B receives an input operation to stop the generation of the moment that turns the vessel 11 on the spot counterclockwise, the vessel control device 11C operates the actuator 11A so as to generate in the vessel 11 a moment in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the vessel 11 (counterclockwise), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 12, the ship control device 11C sets the period for which the actuator 11A is operated based on the angular velocity of the ship 11 so as to generate a moment in the ship 11 in the opposite direction (clockwise) to the direction (counterclockwise) of the moment of inertia occurring in the ship 11.
In other words, in the example shown in Figure 12, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is judged in step SD3), the ship control device 11C operates the actuator 11A so as to generate a moment in the ship 11 in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the ship 11 (counterclockwise) without the operation unit 11B needing to receive an input operation.
Therefore, in the example shown in Figure 12, it is possible to eliminate the need for an input operation by the boat operator to counteract the moment of inertia generated in the boat 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.

Figure 13 is a flowchart illustrating an example of processing executed by the ship control device 11C of the second embodiment when the operation unit 11B receives an input operation to move the ship 11 forward and rotate it clockwise, and then receives an input operation to stop the forward movement and clockwise rotation of the ship 11.
13, in step SE1, for example, the vessel control device 11C determines whether the operation unit 11B has received an input operation to move the vessel 11 forward and turn clockwise. If the operation unit 11B has not received an input operation to move the vessel 11 forward and turn clockwise, step SE1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to move the vessel 11 forward and turn clockwise, the process proceeds to step SE2.

In step SE2, the vessel control device 11C operates the actuator 11A so as to generate a propulsive force for moving the vessel 11 forward and a moment for turning the vessel 11 clockwise in the vessel 11. As a result, the vessel 11 moves forward and turns clockwise.
Next, in step SE3, for example, the vessel control device 11C determines whether or not the operation unit 11B has received an input operation to stop the forward movement and clockwise rotation of the vessel 11. If the operation unit 11B has not received an input operation to stop the forward movement and clockwise rotation of the vessel 11, step SE3 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to stop the forward movement and clockwise rotation of the vessel 11, the process proceeds to step SE4.

In step SE4, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force for moving the vessel 11 forward and a moment for turning the vessel 11 clockwise. As a result, an inertial force that tries to continue moving forward and an inertial moment that tries to continue turning clockwise are generated. Therefore, in the example shown in Fig. 13, in step SE4, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (forward of the vessel 11), and so that the vessel 11 generates a moment in the opposite direction (counterclockwise) to the direction of the inertial moment generated in the vessel 11 (clockwise). In detail, in step SE4, the vessel control device 11C causes the actuator 11A to generate a backward thrust for the vessel 11 and generates a counterclockwise moment in the vessel 11, without the operation unit 11B having to accept an input operation for generating a backward thrust for the vessel 11 and generating a counterclockwise moment in the vessel 11. As a result, it is possible to suppress the vessel 11 from moving forward due to the inertial force generated in the vessel 11 and the vessel 11 from turning too far in the clockwise direction due to the inertial moment generated in the vessel 11.
Next, in step SE5, the vessel control device 11C monitors the speed of the vessel 11. In detail, in step SE5, the vessel control device 11C determines whether or not the speed of the vessel 11 detected by the vessel speed detection unit 11E has decreased to a fourth threshold value or less. If the speed of the vessel 11 has not decreased to the fourth threshold value or less (i.e., the vessel 11 is moving forward due to the inertial force of the vessel 11 and is continuing to rotate clockwise due to the inertial moment of the vessel 11), step SE5 is repeatedly executed. On the other hand, if the speed of the vessel 11 has decreased to the fourth threshold value or less (i.e., it can be estimated that the forward movement of the vessel 11 due to the inertial force of the vessel 11 and the clockwise rotation of the vessel 11 due to the inertial moment of the vessel 11 have ended), the process proceeds to step SE6.
In step SE6, the vessel control device 11C controls the actuator 11A to stop generating the rearward thrust and the counterclockwise moment for the vessel 11.

In other words, in the example shown in Figure 13, when the actuator 11A is generating a propulsive force to move the vessel 11 forward and is generating a moment in the vessel 11 to turn the vessel 11 clockwise, if the operation unit 11B receives an input operation to stop the generation of the propulsive force to move the vessel 11 forward and the moment to turn the vessel 11 clockwise, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the vessel 11) to the direction of the inertial force occurring in the vessel 11 (forward of the vessel 11), and so that the vessel 11 generates a moment in the opposite direction (counterclockwise) to the direction of the moment of inertia occurring in the vessel 11 (clockwise), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 13, the ship control device 11C sets the period for which the actuator 11A is operated based on the speed of the ship 11 so that the actuator 11A generates a thrust force in the opposite direction (rearward of the ship 11) to the direction of the inertial force acting on the ship 11 (forward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (counterclockwise) to the direction of the moment of inertia acting on the ship 11 (clockwise).
In other words, in the example shown in Figure 13, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is judged in step SE3), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force occurring in the ship 11 (forward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (counterclockwise) to the direction of the moment of inertia occurring in the ship 11 (clockwise), without the operation unit 11B having to accept an input operation.
Therefore, in the example shown in Figure 13, it is possible to eliminate the need for the operator to perform an input operation to counteract the inertial force and moment of inertia generated in the vessel 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.

Figure 14 is a flowchart illustrating an example of processing executed by the ship control device 11C of 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.
14, in step SF1, for example, the vessel control device 11C determines whether the operation unit 11B has received an input operation to reverse and turn the vessel 11 counterclockwise. If the operation unit 11B has not received an input operation to reverse and turn the vessel 11 counterclockwise, step SF1 is repeatedly executed. On the other hand, if the operation unit 11B has received an input operation to reverse and turn the vessel 11 counterclockwise, the process proceeds to step SF2.

In step SF2, the vessel control device 11C operates the actuator 11A so as to generate a propulsive force for moving the vessel 11 backward and generate a moment for turning the vessel 11 counterclockwise in the vessel 11. As a result, the vessel 11 moves backward and turns counterclockwise.
Next, in step SF3, for example, the vessel control device 11C determines whether the operation unit 11B has received an input operation to stop the reverse movement and counterclockwise turning of the vessel 11. If the operation unit 11B has not received an input operation to stop the reverse 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 to stop the reverse 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 a propulsive force for moving the vessel 11 backward and a moment for turning the vessel 11 counterclockwise. As a result, an inertial force that tries to continue moving backward and an inertial moment that tries to continue turning counterclockwise are generated. Therefore, in the example shown in Fig. 14, in step SF4, the vessel control device 11C operates the actuator 11A to generate a thrust in the opposite direction (forward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (backward of the vessel 11), and to generate a moment in the vessel 11 in the opposite direction (clockwise) to the direction of the inertial moment generated in the vessel 11 (counterclockwise). In detail, in step SF4, the vessel control device 11C causes the actuator 11A to generate a forward thrust for the vessel 11 and generates a clockwise moment in the vessel 11, without the need for the operation unit 11B to accept an input operation for generating a forward thrust for the vessel 11 and generating a clockwise moment in the vessel 11. As a result, it is possible to suppress the vessel 11 from moving backward due to the inertial force generated in the vessel 11, and the vessel 11 from turning too far counterclockwise due to the inertial moment generated in the vessel 11.
Next, in step SF5, the vessel control device 11C monitors the speed of the vessel 11. In detail, in step SF5, the vessel control device 11C determines whether the speed of the vessel 11 detected by the vessel speed detection unit 11E has decreased to a fourth threshold or less. If the speed of the vessel 11 has not decreased to the fourth threshold or less (i.e., the vessel 11 is moving backward due to the inertial force of the vessel 11 and is continuing to rotate counterclockwise due to the inertial moment of the vessel 11), step SF5 is repeatedly executed. On the other hand, if the speed of the vessel 11 has decreased to the fourth threshold or less (i.e., it can be estimated that the backward movement of the vessel 11 due to the inertial force of the vessel 11 and the counterclockwise rotation of the vessel 11 due to the inertial moment of the vessel 11 have ended), the process proceeds to step SF6.
In step SF6, the vessel control device 11C causes the actuator 11A to stop generating the forward thrust and the clockwise moment of the vessel 11.

In other words, in the example shown in Figure 14, when the actuator 11A is generating a propulsive force that moves the vessel 11 backward and is generating a moment in the vessel 11 that turns the vessel 11 counterclockwise, if the operation unit 11B receives an input operation to stop the generation of the propulsive force that moves the vessel 11 backward and the moment that turns the vessel 11 counterclockwise, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (forward of the vessel 11) to the direction of the inertial force occurring in the vessel 11 (rearward of the vessel 11), and so that the vessel 11 generates a moment in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the vessel 11 (counterclockwise), without the operation unit 11B having to receive an input operation.
In addition, in the example shown in Figure 14, the ship control device 11C sets the period for which the actuator 11A is operated based on the speed of the ship 11 so that the actuator 11A generates a thrust in the opposite direction (forward of the ship 11) to the direction of the inertial force acting on the ship 11 (rearward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (clockwise) to the direction of the moment of inertia acting on the ship 11 (counterclockwise).
In other words, in the example shown in Figure 14, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (if YES is judged in step SF3), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (forward of the ship 11) to the direction of the inertial force occurring in the ship 11 (rearward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (clockwise) to the direction of the moment of inertia occurring in the ship 11 (counterclockwise), without the operation unit 11B having to accept an input operation.
Therefore, in the example shown in Figure 14, it is possible to eliminate the need for the operator to perform an input operation to counteract the inertial force and moment of inertia generated in the vessel 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.

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 now be described.
The ship maneuvering system 1 of the third embodiment is configured similarly to the ship maneuvering system 1 of the first embodiment described above, except for the points described below. Therefore, the ship maneuvering system 1 of the third embodiment can achieve the same effects as the ship maneuvering system 1 of the first embodiment described above, except for the points described below.

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 according to the third embodiment is applied.
In the example shown in FIG. 15 , the ship maneuvering system 1 includes a ship 11 and an input device 12. The ship 11 includes an actuator 11A, an operation unit 11B, a ship control device 11C, a bow direction detection unit 11D, a ship speed detection unit 11E, a ship position detection unit 11F, and a communication unit 11G. The actuator 11A is configured similarly to the actuator 11A shown in FIG. 1. The operation unit 11B is configured similarly to the operation unit 11B shown in FIG. 1. The ship control device 11C is configured similarly to the ship control device 11C shown in FIG. 1. The bow direction detection unit 11D is configured similarly to the bow direction detection unit 11D shown in FIG. 1. The ship speed detection unit 11E is configured similarly to the ship speed detection unit 11E shown in FIG. 1. The ship position detection unit 11F is configured similarly to the ship position detection unit 11F shown in FIG. 1. 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 ship 11, for example, at a location away from the ship 11. The input device 12 includes an operation unit 12A and a communication unit 12B. The operation unit 12A accepts input operations from the operator of the ship 11. The communication unit 12B transmits information indicating the input operations of the operator of the ship 11 accepted by the operation unit 12A to the ship 11. The communication unit 11G of the ship 11 receives the information indicating the input operations 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 operations accepted by the operation unit 12A of the input device 12.

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 to move the ship 11 forward and then receives an input operation to stop the forward movement of the ship 11, for example, in a step corresponding to step S11 in FIG. 3, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to move the ship 11 forward. If 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, if the operation unit 12A has received an input operation to move the ship 11 forward, the process proceeds to a step corresponding to step S12 in FIG. 3.

3, the vessel 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 vessel 11 forward. As a result, the vessel 11 moves forward as shown in FIG 2(C) (i.e., the vessel 11 moves upward in FIG 2).
Next, in a step corresponding to step S13 in Fig. 3, for example, the vessel control device 11C determines whether or not the operation unit 12A of the input device 12 has received an input operation to stop the forward movement of the vessel 11. If the operation unit 12A has not received an input operation to stop the forward movement of the vessel 11, the step corresponding to step S13 in Fig. 3 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the forward movement of the vessel 11, the process proceeds to a step corresponding to step S14 in Fig. 3.

3, the ship control device 11C causes the actuator 11A to stop generating the propulsive force that moves the ship 11 forward. As a result, an upward inertial force (starting) in FIG. 2 that tries to continue moving forward is generated. Therefore, in the third embodiment of the ship maneuvering system 1, in a step corresponding to step S14 in FIG. 3, the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in the opposite direction (downward in FIG. 2) to the direction of the inertial force generated in the ship 11 (upward in FIG. 2). In detail, in a step corresponding to step S14 in FIG. 3, the ship control device 11C causes the actuator 11A to generate a downward thrust in FIG. 2 without the operation unit 12A having to accept an input operation to cause the actuator 11A to generate a downward thrust in FIG. 2. As a result, as shown in FIG. 2(A) and FIG. 2(B), the ship 11 can be prevented from moving upward in FIG. 2 (starting) due to the inertial force generated in the ship 11.

Next, in a step corresponding to step S15 in Fig. 3, the vessel control device 11C monitors the elapsed time from when the operation unit 12A of the input device 12 received an input operation to stop the operation of the actuator 11A (i.e., when it is determined in the step corresponding to step S13 in Fig. 3 that the operation unit 12A received an input operation to stop the forward movement of the vessel 11). In detail, in the step corresponding to step S15 in Fig. 3, the vessel control device 11C determines whether or not the elapsed time from when the operation unit 12A received an input operation to stop the operation of the actuator 11A is equal to or greater than a first threshold value. If the elapsed time is not equal to or greater than the first threshold value (i.e., when it can be estimated that the vessel 11 is likely to move upward in Fig. 2 due to the inertial force (gain) of the vessel 11), the step corresponding to step S15 in Fig. 3 is repeatedly executed. On the other hand, if the elapsed time becomes equal to or greater than the first threshold value (i.e., if it is estimated that there is no risk of the ship 11 moving upward in Figure 2 due to the inertial force (gain) of the ship 11), the process proceeds to a step equivalent to step S16 in Figure 3.
In a step corresponding to step S16 in FIG. 3, the vessel control device 11C controls the actuator 11A to stop generating the downward thrust in FIG.

In other words, in the third embodiment of the ship steering system 1, when the ship control device 11C is operating the actuator 11A and the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A (when the result is determined to be YES in a step corresponding to step S13 in Figure 3), the ship control device 11C operates the actuator 11A without the operation unit 12A needing to receive an input operation so that the actuator 11A generates a thrust in the opposite direction (downward in Figure 2) to the direction of the inertial force occurring in the ship 11 (upward in Figure 2).
Therefore, in the third embodiment of the ship maneuvering system 1, it is possible to eliminate the need for the ship operator to perform an input operation to counteract the inertial force generated in the ship 11 when the actuator 11A transitions from an activated state to a deactivated state.
In addition, in the third embodiment of the ship steering system 1, even if the ship operator who is away from the ship 11 cannot grasp the inertial force acting on the ship 11, the state of the ship 11 can be appropriately transitioned from an operating state of the actuator 11A to a stopped state of the actuator 11A.

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 to turn the ship 11 on the spot clockwise and then receives an input operation to stop the clockwise turning of the ship 11 on the spot, in a step corresponding to step S31 in FIG. 5, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to turn the ship 11 on the spot clockwise. If the operation unit 12A has not received an input operation to turn the ship 11 on the spot clockwise, the step corresponding to step S31 in FIG. 5 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to turn the ship 11 on the spot clockwise, the process proceeds to a step corresponding to step S32 in FIG. 5.

5, the vessel control device 11C operates the actuator 11A so as to generate a moment in the vessel 11 that turns the vessel 11 on the spot in the clockwise direction. As a result, the vessel 11 turns on the spot in the clockwise direction.
Next, in a step corresponding to step S33 in Fig. 5, for example, the vessel control device 11C determines whether or not the operation unit 12A of the input device 12 has received an input operation to stop the clockwise turning on the spot of the vessel 11. If the operation unit 12A has not received an input operation to stop the clockwise turning on the spot of the vessel 11, the step corresponding to step S33 in Fig. 5 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the clockwise turning on the spot of the vessel 11, the process proceeds to a step corresponding to step S34 in Fig. 5.

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 turns the ship 11 on the spot in the clockwise direction. As a result, a moment of inertia that tries to continue the clockwise turning on the spot is generated. Therefore, in the ship maneuvering system 1 of the third embodiment, in a step corresponding to step S34 in Fig. 5, the ship control device 11C operates the actuator 11A so as to generate a moment in the ship 11 in the opposite direction (counterclockwise) to the direction (clockwise) of the moment of inertia generated in the ship 11. In detail, in a step corresponding to step S34 in Fig. 5, the ship control device 11C generates a counterclockwise moment in the ship 11 without the operation unit 12A needing to accept an input operation that generates a counterclockwise moment in the ship 11. As a result, it is possible to suppress the ship 11 from turning on the spot in the clockwise direction too much due to the moment of inertia generated in the ship 11.
Next, in a step corresponding to step S35 in Fig. 5, the vessel control device 11C monitors the elapsed time from when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A (i.e., when it is determined in the step corresponding to step S33 in Fig. 5 that the operation unit 12A has received an input operation to stop the clockwise on-the-spot turning of the vessel 11). In detail, in the step corresponding to step S35 in Fig. 5, the vessel control device 11C determines whether the elapsed time from when the operation unit 12A receives an input operation to stop the operation of the actuator 11A is equal to or greater than a first threshold value. If the elapsed time is not equal to or greater than the first threshold value (i.e., when it can be estimated that the vessel 11 may turn too much on the spot clockwise due to the moment of inertia of the vessel 11), the step corresponding to step S35 in Fig. 5 is repeatedly executed. On the other hand, if the elapsed time is equal to or greater than the first threshold value (i.e., if it is estimated that there is no risk of the vessel 11 turning too far clockwise on the spot due to the moment of inertia of the vessel 11), the process proceeds to a step equivalent to step S36 in FIG. 5.
In a step corresponding to step S36 in FIG. 5, the vessel control device 11C controls the actuator 11A to stop generating the counterclockwise moment.

In other words, in the third embodiment of the ship steering system 1, when the ship control device 11C is operating the actuator 11A and the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A (when the answer is determined to be YES in a step corresponding to step S33 in Figure 5), the ship control device 11C operates the actuator 11A so as to generate in the ship 11 a moment in the opposite direction (counterclockwise) to the direction of the moment of inertia generated in the ship 11, without the operation unit 12A needing to receive the input operation.
Therefore, in the third embodiment of the ship maneuvering system 1, it is possible to eliminate the need for the ship operator to perform an input operation to counteract the moment of inertia generated in the ship 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.
In addition, in the third embodiment of the ship steering system 1, even if the ship operator who is away from the ship 11 cannot grasp the moment of inertia occurring in the ship 11, the state of the ship 11 can be appropriately transitioned from a state in which the actuator 11A is operating to a state in which the actuator 11A is not operating.

In the process executed by the vessel control device 11C of the third embodiment when the operation unit 12A of the input device 12 receives an input operation to move the vessel 11 forward and rotate clockwise, and then receives an input operation to stop the forward movement and clockwise rotation of the vessel 11, in a step corresponding to step S51 in FIG. 7, for example, the vessel control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to move the vessel 11 forward and rotate clockwise. If the operation unit 12A has not received an input operation to move the vessel 11 forward and rotate clockwise, the step corresponding to step S51 in FIG. 7 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to move the vessel 11 forward and rotate clockwise, the process proceeds to a step corresponding to step S52 in FIG. 7.

7, the vessel control device 11C activates the actuator 11A so as to generate a propulsive force for moving the vessel 11 forward and a moment for turning the vessel 11 clockwise in the vessel 11. 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 operation unit 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 forward movement and clockwise turning of the vessel 11, the step corresponding to step S53 in Fig. 7 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the forward movement and clockwise turning of the vessel 11, the process proceeds to a step corresponding to step S54 in Fig. 7.

In a step corresponding to step S54 in Fig. 7, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force for moving the vessel 11 forward and a moment for turning the vessel 11 clockwise. As a result, an inertial force that tries to continue moving forward and an inertial moment that tries to continue turning clockwise are generated. Therefore, in the vessel maneuvering system 1 of the third embodiment, in a step corresponding to step S54 in Fig. 7, the vessel control device 11C operates the actuator 11A to generate a thrust force in a direction opposite (rearward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (forward of the vessel 11), and to generate a moment in the vessel 11 in a direction opposite (counterclockwise) to the direction of the inertial moment generated in the vessel 11 (clockwise). 7 , the vessel control device 11C causes the actuator 11A to generate a backward thrust for the vessel 11 and generates a counterclockwise moment in the vessel 11, without the operation unit 12A having to accept an input operation for generating a backward thrust for the vessel 11 and generating a counterclockwise moment in the vessel 11. As a result, it is possible to prevent the vessel 11 from moving forward due to the inertial force generated in the vessel 11, and to prevent the vessel 11 from turning too far in the clockwise direction due to the inertial moment generated in the vessel 11.
Next, in a step corresponding to step S55 in Fig. 7, the vessel control device 11C monitors the elapsed time from when the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A (i.e., when it is determined in the step corresponding to step S53 in Fig. 7 that the operation unit 12A has received an input operation to stop the forward movement and clockwise rotation of the vessel 11). In detail, in the step corresponding to step S55 in Fig. 5, the vessel control device 11C determines whether or not the elapsed time from when the operation unit 12A receives an input operation to stop the operation of the actuator 11A is equal to or greater than a first threshold value. If the elapsed time is not equal to or greater than the first threshold value (i.e., when it can be estimated that the vessel 11 is likely to move forward due to the inertial force of the vessel 11 and that the vessel 11 is likely to turn too far clockwise due to the moment of inertia of the vessel 11), the step corresponding to step S55 in Fig. 7 is repeatedly executed. On the other hand, if the elapsed time becomes equal to or greater than the first threshold value (i.e., if it is estimated that there is no risk of the vessel 11 moving forward due to the inertial force of the vessel 11, and no risk of the vessel 11 turning too far clockwise due to the moment of inertia of the vessel 11), the process proceeds to a step equivalent to step S56 in FIG. 7.
In a step corresponding to step S56 in FIG. 7, the vessel control device 11C controls the actuator 11A to stop generating the rearward thrust and the counterclockwise moment for the vessel 11.

In other words, in the third embodiment of the ship steering system 1, when the ship control device 11C is operating the actuator 11A and the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A (when the result is judged to be YES in a step corresponding to step S53 in Figure 7), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in the opposite direction (rearward of the ship 11) to the direction of the inertial force acting on the ship 11 (forward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (counterclockwise) to the direction of the moment of inertia acting on the ship 11 (clockwise), without the operation unit 12A having to accept the input operation.
Therefore, in the third embodiment of the ship steering system 1, it is possible to eliminate the need for the ship operator to perform input operations to counteract the inertial forces and moments of inertia generated in the ship 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.
In addition, in the third embodiment of the ship steering system 1, even if the ship operator who is away from the ship 11 cannot grasp the inertial force and moment of inertia occurring in the ship 11, the state of the ship 11 can be appropriately transitioned from a state in which the actuator 11A is operating to a state in which the actuator 11A is not operating.

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 now be described.
The ship maneuvering system 1 of the fourth embodiment is configured similarly to the ship maneuvering systems 1 of the second and third embodiments, except for the points described below. Therefore, the ship maneuvering system 1 of the fourth embodiment can achieve the same effects as the ship maneuvering systems 1 of the second and third embodiments, except for the points described below.

The fourth embodiment of the ship steering system 1 is configured similarly to the third embodiment of the ship steering system 1 shown in FIG. 15.

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 to move the ship 11 forward and then receives an input operation to stop the forward movement of the ship 11, for example, in a step corresponding to step SA1 in FIG. 9, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to move the ship 11 forward. If the operation unit 12A has not received an input operation to move the ship 11 forward, the step corresponding to step SA1 in FIG. 9 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to move the ship 11 forward, the process proceeds to a step corresponding to step SA2 in FIG. 9.

9, the vessel 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 vessel 11 forward. As a result, the vessel 11 moves forward.
Next, in a step corresponding to step SA3 in Fig. 9, for example, the vessel control device 11C determines whether or not the operation unit 12A of the input device 12 has received an input operation to stop the forward movement of the vessel 11. If the operation unit 12A has not received an input operation to stop the forward movement of the vessel 11, the step corresponding to step SA3 in Fig. 9 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the forward movement of the vessel 11, the process proceeds to a step corresponding to step SA4 in Fig. 9.

In a step corresponding to step SA4 in Fig. 9, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force that moves the vessel 11 forward. As a result, an inertial force (starting speed) that tries to continue the forward movement is generated. Therefore, in the vessel maneuvering system 1 of the fourth embodiment, in a step corresponding to step SA4 in Fig. 9, the vessel control device 11C operates the actuator 11A so that the actuator 11A generates a thrust force in a direction opposite to the direction of the inertial force generated in the vessel 11 (the forward direction of the vessel 11). In detail, in a step corresponding to step SA4 in Fig. 9, the vessel control device 11C causes the actuator 11A to generate a backward thrust for the vessel 11 without the operation unit 12A having to accept an input operation for causing the actuator 11A to generate a backward thrust for the vessel 11. As a result, it is possible to suppress the vessel 11 from moving forward (starting speed) due to the inertial force generated in the vessel 11.
Next, in a step corresponding to step SA5 in Fig. 9, the vessel control device 11C monitors the speed of the vessel 11. In detail, in a step corresponding to step SA5 in Fig. 9, the vessel control device 11C determines whether or not the speed of the vessel 11 detected by the vessel speed detection unit 11E has decreased to a second threshold value or less. If the speed of the vessel 11 has not decreased to a second threshold value or less (i.e., if the vessel 11 continues to move forward due to the inertial force (foot) of the vessel 11), the step corresponding to step SA5 in Fig. 9 is repeatedly executed. On the other hand, if the speed of the vessel 11 has decreased to a second threshold value or less (i.e., if it can be estimated that the forward movement of the vessel 11 due to the inertial force (foot) of the vessel 11 has ended), the process proceeds to a step corresponding to step SA6 in Fig. 9.
In a step corresponding to step SA6 in FIG. 9, the vessel control device 11C controls the actuator 11A to stop generating the rearward thrust of the vessel 11.

In other words, in the fourth embodiment of the ship steering system 1, when the ship control device 11C is operating the actuator 11A and the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A (when the result is determined to be YES in a step corresponding to step SA3 in Figure 9), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force generated in the ship 11 (forward of the ship 11), without the operation unit 12A needing to receive the input operation.
Therefore, in the fourth embodiment of the ship maneuvering system 1, it is possible to eliminate the need for the ship operator to perform an input operation to counteract the inertial force generated in the ship 11 when the actuator 11A transitions from an activated state to a deactivated state.
In addition, in the fourth embodiment of the ship steering system 1, even if the ship operator who is away from the ship 11 cannot grasp the inertial force acting on the ship 11, the state of the ship 11 can be appropriately transitioned from an operating state of the actuator 11A to a stopped state of the actuator 11A.

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 to turn the ship 11 on the spot clockwise and then receives an input operation to stop the clockwise turning of the ship 11 on the spot, in a step corresponding to step SC1 in FIG. 11, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to turn the ship 11 on the spot clockwise. If the operation unit 12A has not received an input operation to turn the ship 11 on the spot clockwise, the step corresponding to step SC1 in FIG. 11 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to turn the ship 11 on the spot clockwise, the process proceeds to a step corresponding to step SC2 in FIG. 11.

11, the vessel control device 11C operates the actuator 11A so as to generate a moment in the vessel 11 that turns the vessel 11 on the spot in the clockwise direction. As a result, the vessel 11 turns on the spot in the clockwise direction.
Next, in a step corresponding to step SC3 in Fig. 11, for example, the vessel control device 11C determines whether or not the operation unit 12A of the input device 12 has received an input operation to stop the clockwise turning on the spot of the vessel 11. If the operation unit 12A has not received an input operation to stop the clockwise turning on the spot of the vessel 11, the step corresponding to step SC3 in Fig. 11 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the clockwise turning on the spot of the vessel 11, the process proceeds to a step corresponding to step SC4 in Fig. 11.

In a step corresponding to step SC4 in Fig. 11, the ship control device 11C causes the actuator 11A to stop generating a moment that turns the ship 11 on the spot in the clockwise direction. As a result, a moment of inertia that tries to continue the turning on the spot in the clockwise direction is generated. Therefore, in the ship maneuvering system 1 of the fourth embodiment, in a step corresponding to step SC4 in Fig. 11, the ship control device 11C operates the actuator 11A so as to generate a moment in the ship 11 in the opposite direction (counterclockwise) to the direction (clockwise) of the moment of inertia generated in the ship 11. In detail, in a step corresponding to step SC4 in Fig. 11, the ship control device 11C generates a counterclockwise moment in the ship 11 without the operation unit 12A needing to accept an input operation that generates a counterclockwise moment in the ship 11. As a result, it is possible to suppress the ship 11 from turning on the spot in the clockwise direction too much 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. In detail, in a step corresponding to step SC5 in Fig. 11, the ship control device 11C determines whether or not the angular velocity of the ship 11 calculated based on the bow direction detected by the bow direction detection unit 11D has decreased to a third threshold value or less. If the angular velocity of the ship 11 has not decreased to the third threshold value or less (i.e., the ship 11 continues to turn on the spot clockwise due to the moment of inertia of the ship 11), the step corresponding to step SC5 in Fig. 11 is repeatedly executed. On the other hand, if the angular velocity of the ship 11 has decreased to the third threshold value or less (i.e., it can be estimated that the clockwise turning on the spot of the ship 11 due to the moment of inertia of the ship 11 has ended), the process proceeds to a step corresponding to step SC6 in Fig. 11.
In a step corresponding to step SC6 in FIG. 11, the vessel control device 11C controls the actuator 11A to stop generating the counterclockwise moment.

In other words, in the fourth embodiment of the ship steering system 1, when the ship control device 11C is operating the actuator 11A and the operation unit 12A of the input device 12 receives an input operation to stop the operation of the actuator 11A (when the answer is determined to be YES in a step corresponding to step SC3 in Figure 11), the ship control device 11C operates the actuator 11A so as to generate in the ship 11 a moment in the opposite direction (counterclockwise) to the direction of the moment of inertia generated in the ship 11, without the operation unit 12A needing to receive the input operation.
Therefore, in the fourth embodiment of the ship maneuvering system 1, it is possible to eliminate the need for the ship operator to perform an input operation to counteract the moment of inertia generated in the ship 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.
In addition, in the fourth embodiment of the ship steering system 1, even if the ship operator who is away from the ship 11 cannot grasp the moment of inertia occurring in the ship 11, the state of the ship 11 can be appropriately transitioned from a state in which the actuator 11A is operating to a state in which the actuator 11A is not operating.

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 to move the ship 11 forward and turn clockwise, and then receives an input operation to stop the forward movement and clockwise turn of the ship 11, in a step corresponding to step SE1 in FIG. 13, for example, the ship control device 11C determines whether the operation unit 12A of the input device 12 has received an input operation to move the ship 11 forward and turn clockwise. If the operation unit 12A has not received an input operation to move the ship 11 forward and turn clockwise, the step corresponding to step SE1 in FIG. 13 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to move the ship 11 forward and turn clockwise, the process proceeds to a step corresponding to step SE2 in FIG. 13.

13, the vessel control device 11C activates the actuator 11A so as to generate a propulsive force for moving the vessel 11 forward and a moment for turning the vessel 11 clockwise in the vessel 11. As a result, the vessel 11 moves forward and turns clockwise.
Next, in a step corresponding to step SE3 in Fig. 13, for example, the vessel control device 11C determines whether the operation unit 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 forward movement and clockwise turning of the vessel 11, the step corresponding to step SE3 in Fig. 13 is repeatedly executed. On the other hand, if the operation unit 12A has received an input operation to stop the forward movement and clockwise turning of the vessel 11, the process proceeds to a step corresponding to step SE4 in Fig. 13.

In a step corresponding to step SE4 in Fig. 13, the vessel control device 11C causes the actuator 11A to stop generating a propulsive force for moving the vessel 11 forward and a moment for turning the vessel 11 clockwise. As a result, an inertial force that tries to continue moving forward and an inertial moment that tries to continue turning clockwise are generated. Therefore, in the vessel maneuvering system 1 of the fourth embodiment, in a step corresponding to step SE4 in Fig. 13, the vessel control device 11C operates the actuator 11A to generate a thrust force in a direction opposite (rearward of the vessel 11) to the direction of the inertial force generated in the vessel 11 (forward of the vessel 11), and to generate a moment in the vessel 11 in a direction opposite (counterclockwise) to the direction of the moment of inertia generated in the vessel 11 (clockwise). 13, the vessel control device 11C causes the actuator 11A to generate a backward thrust for the vessel 11 and generates a counterclockwise moment in the vessel 11, without the operation unit 12A having to accept an input operation for generating a backward thrust for the vessel 11 and generating a counterclockwise moment in the vessel 11. As a result, it is possible to prevent the vessel 11 from moving forward due to the inertial force generated in the vessel 11, and to prevent the vessel 11 from turning too far in the clockwise direction due to the inertial moment generated in the vessel 11.
Next, in a step corresponding to step SE5 in Fig. 13, the vessel control device 11C monitors the speed of the vessel 11. In detail, in a step corresponding to step SE5 in Fig. 13, the vessel control device 11C determines whether or not the speed of the vessel 11 detected by the vessel speed detection unit 11E has decreased to a fourth threshold value or less. If the speed of the vessel 11 has not decreased to the fourth threshold value or less (i.e., if the vessel 11 is moving forward due to the inertial force of the vessel 11 and is continuing to rotate clockwise due to the inertial moment of the vessel 11), the step corresponding to step SE5 in Fig. 13 is repeatedly executed. On the other hand, if the speed of the vessel 11 has decreased to the fourth threshold value or less (i.e., if it can be estimated that the forward movement of the vessel 11 due to the inertial force of the vessel 11 and the clockwise rotation of the vessel 11 due to the inertial moment of the vessel 11 have ended), the process proceeds to a step corresponding to step SE6 in Fig. 13.
In a step corresponding to step SE6 in FIG. 13, the vessel control device 11C causes the actuator 11A to stop generating the rearward thrust and the counterclockwise moment of the vessel 11.

In other words, in the fourth embodiment of the ship steering system 1, when the ship control device 11C is operating the actuator 11A and the operation unit 11B receives an input operation to stop the operation of the actuator 11A (when the answer is determined to be YES in a step corresponding to step SE3 in Figure 13), the ship control device 11C operates the actuator 11A so that the actuator 11A generates a thrust in the opposite direction (rearward of the ship 11) to the direction of the inertial force acting on the ship 11 (forward of the ship 11), and so that a moment in the ship 11 is generated in the opposite direction (counterclockwise) to the direction of the moment of inertia acting on the ship 11 (clockwise), without the operation unit 12A having to accept an input operation.
Therefore, in the fourth embodiment of the ship steering system 1, it is possible to eliminate the need for the ship operator to perform input operations to counteract the inertial forces and moments of inertia generated in the ship 11 when the actuator 11A transitions from an activated state to a deactivated state of the actuator 11A.
In addition, in the fourth embodiment of the ship steering system 1, even if the ship operator who is away from the ship 11 cannot grasp the inertial force and moment of inertia occurring in the ship 11, the state of the ship 11 can be appropriately transitioned from a state in which the actuator 11A is operating to a state in which the actuator 11A is not operating.

Although the above describes the form for carrying out the present invention using the embodiments, the present invention is not limited to these embodiments in any way, and various modifications and substitutions can be made without departing from the scope of the present invention. The configurations described in the above-mentioned embodiments and examples may be combined.

The whole or part of the functions of each unit of the ship maneuvering system 1 in the above-mentioned embodiment may be realized by recording a program for realizing these functions in a computer-readable recording medium, and reading and executing the program recorded in the recording medium into a computer system. Note that the term "computer system" here includes hardware such as an OS and peripheral devices.
Furthermore, "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage units such as hard disks built into computer systems. Furthermore, "computer-readable recording medium" may also include those that dynamically hold a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, and those that hold a program for a certain period of time, such as volatile memory inside a computer system that serves as a server or client in such cases. Furthermore, the above program may be one that realizes part of the above-mentioned functions, or may be one that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

1...ship steering system, 11...ship, 11A...actuator, 11A1...rudder section, 11A2...thrust generating section, 11B...operation section, 11B1...steering section, 11B2...throttle operation section, 11C...ship control device, 11D...bow direction detection section, 11E...ship speed detection section, 11F...ship position detection section, 11G...communication section, 12...input device, 12A...operation section, 12B...communication section

Claims (11)

an actuator having a function of generating a propulsive force for a vessel and a function of generating a moment on the vessel;
an operation unit including a throttle operation unit that receives a forward/reverse operation for moving the vessel forward or backward by the actuator, and a steering unit that receives a turning operation for turning the vessel to the left or right by the actuator, and that receives an operation by a vessel operator to the throttle operation unit and/or the steering unit as an input operation;
a vessel control device that operates the actuator,
When the vessel control device is operating the actuator, if the throttle operation unit and/or the steering unit receives a stop operation to stop the actuator from being operated ,
the vessel control device operates the actuator so that the actuator generates a thrust in a direction opposite to a direction of an inertial force acting on the vessel and/or so that a moment in a direction opposite to a direction of an inertial moment acting on the vessel is generated on the vessel, without the need for the operation unit to receive an additional input operation.
Ship steering system. The ship control device includes:
a period during which the actuator is operated is set based on the elapsed time from when the throttle operation unit and/or the steering unit receives the stop operation to deactivate the actuator so that the actuator generates a thrust in a direction opposite to the direction of the inertial force acting on the vessel and/or generates a moment in the vessel in a direction opposite to the direction of the moment of inertia acting on the vessel ;
The ship steering system according to claim 1 . The ship control device includes:
setting a period during which the actuator is operated based on a velocity or an angular velocity of the vessel so that the actuator generates a thrust in a direction opposite to a direction of an inertial force acting on the vessel and/or generates a moment in the vessel in a direction opposite to a direction of an inertial moment acting on the vessel;
The ship steering system according to claim 1 . The vessel maneuvering system includes the vessel and an input device provided separately from the vessel,
The vessel includes the actuator and the vessel control device,
the input device includes the operation unit that receives a forward movement operation, a reverse movement operation, a left turning operation, a right turning operation, a left turning operation, and a right turning operation of the marine vessel ,
When the vessel control device is operating the actuator, when the operation unit of the input device receives a stop operation for causing the actuator to be in an inoperative state ,
the vessel control device operates the actuator so that the actuator generates a thrust in a direction opposite to a direction of an inertial force acting on the vessel and/or so that a moment in a direction opposite to a direction of an inertial moment acting on the vessel is generated on the vessel, without the need for the operation unit of the input device to receive an additional input operation.
The ship steering system according to claim 1 . When the actuator is generating a propulsive force for moving the vessel forward or backward, and the throttle operation unit receives an input operation to stop the generation of the propulsive force for moving the vessel forward or backward,
the vessel control device activates the actuator so that the actuator generates a thrust in a direction opposite to a direction of an inertial force acting on the vessel, without the operation unit needing to receive an additional input operation;
The ship steering system according to claim 1 . When the actuator generates a moment for turning the vessel on the spot in the vessel, when the throttle operation unit and/or the steering unit receives an input operation for stopping the generation of the moment for turning the vessel on the spot,
the vessel control device operates the actuator so as to generate in the vessel a moment in a direction opposite to a direction of a moment of inertia generated in the vessel, without requiring the operation unit to receive an additional input operation;
The ship steering system according to claim 1 . When the actuator is generating a propulsive force for moving the vessel forward and a moment for turning the vessel, and the throttle operation unit and the steering unit receive an input operation for stopping the generation of the propulsive force for moving the vessel forward and the moment for turning the vessel,
the vessel control device operates the actuator so that the actuator generates a thrust in a direction opposite to a direction of an inertial force acting on the vessel, and so that a moment in a direction opposite to a direction of an inertial moment acting on the vessel is generated on the vessel, without the operation unit needing to receive an additional input operation.
The ship steering system according to claim 1 . When the actuator is generating a propulsive force for moving the vessel astern and a moment for turning the vessel, the throttle operation unit and the steering unit receive an input operation for stopping the generation of the propulsive force for moving the vessel astern and the moment for turning the vessel,
the vessel control device operates the actuator so that the actuator generates a thrust in a direction opposite to a direction of an inertial force acting on the vessel, and so that a moment in a direction opposite to a direction of an inertial moment acting on the vessel is generated on the vessel, without the operation unit needing to receive an additional input operation.
The ship steering system according to claim 1 . A ship control device is provided in a ship maneuvering system including an actuator having a function of generating a propulsive force for a ship and a function of generating a moment on the ship, a throttle operation unit that receives a forward/reverse operation for moving the ship forward or backward using the actuator, and a steering unit that receives a turning operation for turning the ship to the left or right using the actuator, and an operation unit that receives an operation by a ship operator to the throttle operation unit and/or the steering unit as an input operation, the ship control device being configured to operate the actuator,
When the vessel control device is operating the actuator, if the throttle operation unit and/or the steering unit receives a stop operation to stop the actuator from being operated ,
activating the actuator so that the actuator generates a thrust in a direction opposite to a direction of an inertial force acting on the vessel, and/or so that the actuator generates a moment in the vessel in a direction opposite to a direction of an inertial moment acting on the vessel, without the need for the operation unit to receive an additional input operation;
Ship control equipment. A ship control method for a ship control device provided in a ship steering system including an actuator having a function of generating a propulsive force for a ship and a function of generating a moment on the ship, a throttle operation unit that receives a forward/reverse operation for moving the ship forward or backward using the actuator, and a steering unit that receives a turning operation for turning the ship to the left or right using the actuator, and an operation unit that receives an operation by a ship operator to the throttle operation unit and/or the steering unit as an input operation, the method comprising:
a first step of operating the actuator in response to an input operation received by the throttle operation unit and/or the steering unit ;
When the vessel control device is operating the actuator, if the throttle operation unit and/or the steering unit receives a stop operation to stop the actuator from being operated ,
and a second step of operating the actuator so that the actuator generates a thrust in a direction opposite to a direction of an inertial force acting on the vessel and/or so that a moment in a direction opposite to a direction of an inertial moment acting on the vessel is generated on the vessel, without the need for the operation unit to receive an additional input operation.
Ship control method. a throttle operation unit that receives a forward/reverse operation to move the vessel forward or backward by the actuator, and a steering unit that receives a turning operation to turn the vessel to the left or right by the actuator, and an operation unit that receives an operation by a vessel operator to the throttle operation unit and/or the steering unit as an input operation , the vessel maneuvering system including an actuator having a function of generating a propulsive force for a vessel and a function of generating a moment in the vessel,
a first step of operating the actuator in response to an input operation received by the throttle operation unit and/or the steering unit ;
When the vessel control device is operating the actuator, if the throttle operation unit and/or the steering unit receives a stop operation to stop the actuator from being operated ,
and a second step of operating the actuator so that the actuator generates a thrust in a direction opposite to the direction of the inertial force acting on the vessel, and/or so that a moment in the vessel is generated in a direction opposite to the direction of the moment of inertia acting on the vessel, without the operation unit having to accept an additional input operation.

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