JP7752016B2 - Ship control system and ship - Google Patents

Description

This disclosure relates to a vessel control system and a vessel.

Some ships are equipped with multiple propulsion devices (see, for example, Patent Document 1). In a ship equipped with multiple propulsion devices, when the steering direction of the hull is specified using a steering device (steering lever, etc.), the magnitude and direction of output of each propulsion device are automatically determined so that the hull moves in the specified steering direction.

Japanese Patent Application Laid-Open No. 2019-131178

Because ships such as those described above are designed on the assumption that each propulsion device operates normally, if an abnormality occurs in one of the propulsion devices, it may not be possible to move the hull in the specified steering direction. In light of this, the present disclosure aims to provide a ship control system that controls the ship so that the hull moves in the steering direction specified by the steering device, as under normal circumstances, even if an abnormality occurs in one of the multiple propulsion devices.

A ship control system according to one aspect of the present disclosure includes a processing device that, when the output of some of the propulsion devices equipped on a ship is limited, acquires output limit information including which propulsion device has its output limited and the upper limit output of the output-limited propulsion device, as well as command information including the steering direction of the hull specified by the steering device, and, based on the acquired output limit information and command information, determines the output magnitude and direction of the output of the propulsion devices whose output is not limited so that the hull moves in the steering direction specified by the steering device, and also executes partial output limit steering control that determines the output magnitude and direction of the output of the output-limited propulsion devices.

A ship control system according to another aspect of the present disclosure includes a processing device that, when it becomes impossible to set the output direction of some of the propulsion devices equipped on a ship, acquires direction setting impossible information including which propulsion device has become unable to set its output direction and the output direction of the propulsion device for which it has become impossible to set its output direction, as well as command information including the steering direction of the hull specified by the steering device, and executes partial direction setting impossible steering control that determines the output magnitude and output direction of the propulsion device for which it has become impossible to set its output direction, and determines the output magnitude of the propulsion device for which it has become impossible to set its output direction, so that the hull moves in the steering direction specified by the steering device, based on the acquired direction setting impossible information and command information.

The above configuration makes it possible to provide a ship control system that controls the ship so that the hull moves in the steering direction specified by the steering device, just as under normal circumstances, even if an abnormality occurs in one of the multiple propulsion devices.

FIG. 1 is a plan view of a ship. FIG. 2 is a block diagram of a vessel and a vessel control system. FIG. 3 is a table showing an example of normal steering control and partial output limiting steering control. FIG. 4 is a table showing an example of normal steering control and partial direction setting impossible steering control.

<Ship>
First, a boat 100 according to this embodiment will be described. Fig. 1 is a plan view of the boat 100. The top, bottom, right, and left sides of the page in Fig. 1 correspond to the front, rear, right, and left sides of the boat hull 101, respectively. The front part of the boat hull 101 is the bow, and the rear part of the boat hull 101 is the stern. Fig. 2 is a block diagram of the boat 100 and a boat control system 200. As shown in Figs. 1 and 2, the boat 100 according to this embodiment includes a first propulsion unit 10, a second propulsion unit 20, and a steering unit 30.

The first propulsion unit 10 is located in the rear right portion of the hull 101. In this embodiment, the first propulsion unit 10 is a so-called slew-type azimuth thruster. The thrust generation unit 11 has a propeller 12, and the thrust generation unit 11 swivels horizontally around a swivel axis 13. This allows the first propulsion unit 10 to generate an output (thrust) of any magnitude in any direction. Note that the first propulsion unit 10 may not be a slew-type azimuth thruster, but may instead be composed of a line shaft propeller and rudder.

The second propulsion unit 20 is installed on the left rear portion of the hull 101. Except for its installation position, the second propulsion unit 20 has the same configuration as the first propulsion unit 10. In this embodiment, the second propulsion unit 20 is a so-called slew-type azimuth thruster. The thrust generation unit 21 has a propeller 22, and the thrust generation unit 21 swivels horizontally around a swivel axis 23. This allows the second propulsion unit 20 to generate output (thrust) of any magnitude in any direction. Note that the second propulsion unit 20 may not be a slew-type azimuth thruster, but may instead be composed of a line shaft propeller and rudder.

The steering device 30 is a device that specifies the steering direction and speed of the hull 101. As an example, the steering device 30 of this embodiment has a steering lever (not shown). The steering direction of the hull 101 can be specified by the direction in which the steering lever is tilted, and the speed of the hull 101 can be specified by the angle of tilt. The steering directions of the hull 101 include "forward" and "reverse," as well as "right turn" to turn the bow to the right, "left turn" to turn the bow to the left, "on the spot (right turn)" to rotate clockwise on the spot, and "on the spot (left turn)" to rotate counterclockwise on the spot. Instead of a steering lever, the steering device 30 may have a thruster operating unit other than a steering lever that can specify the steering direction and speed of the hull 101.

<Ship control system>
Next, a description will be given of a vessel control system 200 according to this embodiment. The vessel control system 200 is a system that controls the vessel 100. As shown in Fig. 2, the vessel control system 200 includes a processing device 40, a setting device 50, a monitoring device 60, and a storage device 70.

The processing device 40 can acquire command information from the steering device 30, including the steering direction of the hull 101 and an increase or decrease in travel speed specified by the steering device 30. The processing device 40 determines the magnitude and direction of output of each propulsion device 10, 20 based on the command information acquired from the steering device 30. In this embodiment, the processing device 40 determines the magnitude and direction of output of each propulsion device 10, 20 by executing the "normal steering control," "partial output-restricted steering control," or "partial direction-setting-incapable steering control" described below.

Furthermore, after determining the magnitude and direction of output of each propulsion device 10, 20, the processing device 40 transmits a control signal to each propulsion device 10, 20 according to the determined magnitude and direction of output. This sets the rotational speed, blade angle, and turning angle of each propulsion device 10, 20 so that each propulsion device 10, 20 generates an output of the magnitude and direction determined by the processing device 40. Furthermore, the processing device 40 can obtain the actual rotational speed, blade angle, and turning angle (actual turning angle) of each propulsion device 10, 20 from each propulsion device 10, 20.

The processing device 40 may be located on the ship 100, on land, or on a ship other than the ship 100 (such as a support ship). For example, the processing device 40 may be a server on land configured to exchange information with equipment on the ship 100 via an internet connection. In this case, after determining the output magnitude and direction of each propulsion device 10, 20, the processing device 40 may transmit information regarding the determined output magnitude and direction of each propulsion device 10, 20 to a control device (not shown) located on the ship 100, for example, and the control device may then transmit control signals to each propulsion device 10, 20. In other words, the output magnitude and direction of each propulsion device 10, 20 may be determined by the processing device 40, and a device other than the processing device 40 may transmit control signals to each propulsion device 10, 20.

The setting device 50 is a device for performing various settings. In this embodiment, the setting device 50 can select whether the processing device 40 will execute "partial output limiting steering control" and whether the processing device 40 will execute "partial direction setting disabled steering control." The setting device 50 may be located on the vessel 100 and operated by a passenger. The setting device 50 may also be located on land or on a vessel other than the vessel 100 and operated by a person other than a passenger on the vessel 100. Furthermore, the setting device 50 may be located in multiple locations. For example, the setting device 50 may be located on the vessel 100 and also on land or on a vessel other than the vessel 100 (i.e., a location other than the vessel 100). In this case, the setting device 50 can be operated by both a passenger on the vessel 100 and a person other than a passenger on the vessel 100. Note that if the processing device 40 and the setting device 50 are located in different locations, the setting device 50 may transmit information to the processing device 40 via an internet connection.

The monitoring device 60 is a device that monitors the control status of the processing device 40. The monitoring device 60 can acquire various information from the processing device 40 and display it on a display. In this embodiment, it can display whether the processing device 40 is executing "partial output limiting steering control" and whether the processing device 40 is executing "partial direction setting impossible steering control." Furthermore, the monitoring device 60 in this embodiment may be located on the ship 100, on land, or on a ship other than the ship 100. If the processing device 40 and the monitoring device 60 are located in different locations, the monitoring device 60 may acquire information from the processing device 40 via an internet line. Furthermore, if the monitoring device 60 and the setting device 50 are located in the same location, the monitoring device 60 may be formed integrally with the setting device 50.

The storage device 70 is a device that stores various information. In addition to operating data for the vessel 100 and control data executed by the processing device 40, the storage device 70 stores output limit information and direction setting impossible information, which will be described later. The storage device 70 acquires information via the processing device 40 and transmits the stored information to the processing device 40. The storage device 70 may be located on the vessel 100, on land, or on a vessel other than the vessel 100. If the processing device 40 and the storage device 70 are located in different locations, the storage device 70 may exchange information with the processing device 40 via an internet line.

<Normal steering control>
Next, we will explain the normal steering control, partial output restriction steering control, and partial direction setting impossible steering control executed by the processing device 40. First, we will explain the normal steering control. The normal steering control is a control that is performed when there is no abnormality in each of the propulsion devices 10, 20. When the normal steering control is started, the processing device 40 acquires command information from the steering device 30. As mentioned above, the command information includes an increase or decrease in the steering direction and movement speed of the hull 101 specified by the steering device 30.

Next, based on the acquired command information, the processing device 40 determines the magnitude and direction of output of each propulsion device 10, 20 so that the hull 101 moves in the specified steering direction at the specified movement speed. The processing device 40 then transmits control signals to each propulsion device 10, 20 according to the determined magnitude and direction of output. This sets the rotational speed, blade angle, and turning angle of each propulsion device 10, 20.

Figure 3 shows an example of normal steering control and partial output-restricted steering control. The normal steering control column in Figure 3 shows the output magnitude and output generation direction of each propulsion device 10, 20 corresponding to each steering direction when normal steering control is executed. In Figure 3, the output magnitude is represented by the size of the diagram showing each propulsion device 10, 20. The output generation direction is represented by the inclination of the diagram showing each propulsion device 10, 20. In the example shown in Figure 3, during normal steering control, each propulsion device 10, 20 is maintained at 100% steady-state output. However, the output of each propulsion device 10, 20 may be varied.

As shown in Figure 3, in this embodiment, under normal steering control, if the commanded steering direction is "forward," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to be rearward. As a result, the hull 101 will move forward. Also, if the commanded steering direction is "reverse," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to be forward. As a result, the hull 101 will move reverse.

If the specified steering direction is "turn left," the processing device 40 determines that the output of each propulsion device 10, 20 will be generated diagonally rearward to the left. Because each propulsion device 10, 20 is located in the rear part of the hull 101, if each propulsion device 10, 20 generates output diagonally rearward to the left, the hull 101 will move forward while rotating slightly counterclockwise around the center of gravity 102. Also, if the specified steering direction is "turn right," the processing device 40 determines that the output of each propulsion device 10, 20 will be generated diagonally rearward to the right. As a result, the hull 101 will move forward while rotating slightly clockwise around the center of gravity 102.

If the specified maneuvering direction is "turn on the spot (left)," the processing device 40 determines the direction in which the output of each propulsion unit 10, 20 will be generated to the left. Because each propulsion unit 10, 20 is located in the rear part of the hull 101, if each propulsion unit 10, 20 generates output to the left, the hull 101 will turn on the spot (left) around the center of gravity 102. Also, if the specified maneuvering direction is "turn on the spot (right)," the processing device 40 determines the direction in which the output of each propulsion unit 10, 20 will be generated to the right. As a result, the hull 101 will turn on the spot (right) around the center of gravity 102.

<Partial output limiting steering control>
Next, partial output limiting steering control will be described. Partial output limiting steering control is performed when the output of either the first propulsion unit 10 or the second propulsion unit 20 is limited. For example, if a sign of a failure is detected in the first propulsion unit 10, the output of the first propulsion unit 10 is limited and an upper limit output of the first propulsion unit 10 is determined. For example, the output of the first propulsion unit 10 is limited if the gears, bearings, or propeller 12 of the first propulsion unit 10 are damaged, or if hydraulic equipment for changing the blade angle of the propeller 12 or the like fails.

When partial power limit steering control is initiated, the processing device 40 acquires command information and power limit information. As described above, the command information includes the steering direction of the hull 101 specified by the steering device 30 and an increase or decrease in travel speed. Meanwhile, the power limit information includes which propulsion device has its output limited and the upper limit output of the propulsion device whose output has been limited. For example, if the output of the first propulsion device 10 is limited to 80% of the steady-state output, the processing device 40 acquires power limit information including the fact that the first propulsion device 10 is the propulsion device whose output has been limited and that the upper limit output of the first propulsion device 10 is 80% of the steady-state output.

Next, based on the acquired command information and output limit information, the processing device 40 determines the output magnitude and output direction of each propulsion device 10, 20 so that the hull 101 moves in the steering direction specified at the movement speed specified by the steering device 30. The processing device 40 then transmits control signals to each propulsion device 10, 20 according to the determined output magnitude and output direction. This sets the rotational speed, blade angle, and turning angle of each propulsion device 10, 20.

The column for partial power limit steering control in Figure 3 shows an example of the magnitude and direction of output of each propulsion unit 10, 20 corresponding to each steering direction when partial power limit steering control is executed. In the example shown in Figure 3, the output of the first propulsion unit 10 is limited. Furthermore, in partial power limit steering control, the first propulsion unit 10 is maintained at its upper limit output (80% of the steady-state output in the above example), and the second propulsion unit 20 is maintained at 100% of the steady-state output. However, the output of each propulsion unit 10, 20 may also be varied.

As shown in FIG. 3, in this embodiment, during partial output limiting steering control, when the commanded steering direction is "forward," the processing device 40 determines the direction in which the output of each propulsion unit 10, 20 will be generated, not rearward, but diagonally rearward to the left. Because the first propulsion unit 10 has a smaller output than the second propulsion unit 20, the above determination causes the hull 101 to move forward. Furthermore, when the commanded steering direction is "reverse," the processing device 40 determines the direction in which the output of each propulsion unit 10, 20 will be generated, not forward, but diagonally forward to the right. This causes the hull 101 to move astern.

Furthermore, if the specified steering direction is "turn left," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated diagonally rearward to the left. However, this is determined to be more to the left than during normal steering control, i.e., the relative angle with respect to the reference axis extending in the fore-and-aft direction is determined to be larger than during normal steering control. Further, if the specified steering direction is "turn right," the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated diagonally rearward to the right, more to the right than during normal steering control.

If the specified steering direction is "turn on the spot (left)", the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to the left, just as during normal steering control. Also, if the specified steering direction is "turn on the spot (right)", the processing device 40 determines the direction in which the output of each propulsion device 10, 20 will be generated to the right, just as during normal steering control.

In this embodiment, as described above, by executing partial output limiting steering control, the hull 101 can be propelled in the steering direction specified by the steering device 30, even if the output of some of the propulsion devices is limited. Furthermore, the partial output limiting steering control of this embodiment does not stop the propulsion devices whose output is limited, so it is possible to suppress a decrease in output from the entire propulsion devices 10, 20.

<Steering control with partial direction setting disabled>
Next, the partial direction setting impossible steering control will be described. The partial direction setting impossible steering control is executed when it becomes impossible to set the output generation direction of either the first propulsion unit 10 or the second propulsion unit 20 (setting the turning angle in this embodiment). For example, if an abnormality occurs in the device that turns the thrust generating unit 11 in the first propulsion unit 10, it may become impossible to set the output generation direction of the first propulsion unit 10. If it becomes impossible to set the output generation direction, the partial direction setting impossible steering control is executed. Note that if the processing device 40 sends a control signal to the first propulsion unit 10 to change the turning angle but the actual turning angle acquired from the first propulsion unit 10 does not change, it can determine that it is impossible to set the output generation direction of the first propulsion unit 10.

When partial direction setting impossible steering control is initiated, the processing device 40 acquires command information and direction setting impossible information. As described above, the command information includes the steering direction of the hull 101 specified by the steering device 30 and an increase or decrease in travel speed. On the other hand, the direction setting impossible information includes information on which propulsion device the output generation direction of which has become impossible to set and the output generation direction of the propulsion device for which the output generation direction of which has become impossible to set. For example, if the output generation direction of the first propulsion device 10 is forward and it becomes impossible to set the output generation direction of the first propulsion device 10, the processing device 40 acquires direction setting impossible information that indicates that the propulsion device for which the output generation direction of which has become impossible to set is the first propulsion device 10 and that the output generation direction of the first propulsion device 10 is forward.

Next, based on the acquired command information and direction setting impossible information, the processing device 40 determines the output magnitude and output direction of each propulsion device 10, 20 so that the hull 101 moves in the steering direction specified at the movement speed specified by the steering device 30. The processing device 40 then transmits control signals to each propulsion device 10, 20 according to the determined output magnitude and output direction. This sets the rotational speed, blade angle, and turning angle of each propulsion device 10, 20.

Figure 4 shows an example of normal steering control and partial direction unsettable steering control. The normal steering control column in Figure 4 is the same as the normal steering control column in Figure 3. Meanwhile, the partial direction unsettable steering control column in Figure 4 shows the output magnitude and output direction of each propulsion unit 10, 20 corresponding to each steering direction when partial direction unsettable steering control is executed. Note that the method of displaying the output magnitude and output direction in Figure 4 is the same as in Figure 3. In the example shown in Figure 4, when the output direction of the first propulsion unit 10 is aft, it becomes impossible to set the output direction of the first propulsion unit 10. Furthermore, in partial direction unsettable steering control, the first propulsion unit 10 generates a maximum of 100% of its steady output when operating, and the second propulsion unit 20 also maintains an output of a maximum of 100% of its steady output.

As shown in FIG. 4, in this embodiment, in partial direction-unsettable steering control, if the commanded steering direction is "forward," the processing device 40 operates the first propulsion unit 10 and determines the direction in which the output of the second propulsion unit 20 will be generated rearward. Furthermore, if the commanded steering direction is "reverse," the processing device 40 stops the first propulsion unit 10 and determines the direction in which the output of the second propulsion unit 20 will be generated diagonally forward to the right. Because the first propulsion unit 10 is stopped, if the second propulsion unit 20, located on the left side of the hull 101, generates an output diagonally forward to the right, the hull 101 can be driven astern.

If the specified steering direction is "turn left," the processing device 40 operates the first propulsion unit 10 and determines the direction in which the second propulsion unit 20 will generate output to the left. Because the first propulsion unit 10 generates output aft, this determination will cause the hull 101 to turn left. If the specified steering direction is "turn right," the processing device 40 stops the first propulsion unit 10 and determines the direction in which the second propulsion unit 20 will generate output aft. Because the first propulsion unit 10 does not generate output, this determination will cause the hull 101 to turn right.

If the specified steering direction is "turn on the spot (left)," the processing device 40 operates the first propulsion unit 10 and determines the direction in which the second propulsion unit 20 will generate output to be forward. Because the first propulsion unit 10 generates output rearward, this determination causes the hull 101 to turn on the spot (left). Also, if the specified steering direction is "turn on the spot (right)," the processing device 40 stops the first propulsion unit 10 and determines the direction in which the second propulsion unit 20 will generate output to be right. Because the first propulsion unit 10 does not generate output, this determination causes the hull 101 to turn on the spot (right).

As described above, in this embodiment, by executing partial direction setting impossible steering control, the hull 101 can be propelled in the steering direction specified by the steering device 30, even if it becomes impossible to set the output generation direction of some of the propulsion devices. Furthermore, in this embodiment, partial direction setting impossible steering control operates the propulsion devices for which it becomes impossible to set the output generation direction when certain conditions are met, thereby suppressing a decrease in output from the propulsion devices 10 and 20.

It should be noted that the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and/or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and/or processor.

<Modification>
The vessel 100 described above is equipped with two propulsion devices 10, 20, but may also be equipped with three or more propulsion devices. However, when the vessel 100 is equipped with two propulsion devices, if an abnormality occurs in one of the propulsion devices, there is a high possibility that the output of the propulsion devices 10, 20 as a whole will be significantly reduced. Therefore, when there are two propulsion devices, partial output limiting steering control that does not stop the propulsion devices and partial direction setting impossible steering control that operates a propulsion device when it becomes impossible to set the direction of output generation due to certain conditions are very effective.

Note that while the methods for determining the output magnitude and output direction of each propulsion device 10, 20 in partial output-limited steering control and partial direction-unsettable steering control have been described above, these determinations may also be made by feedback control. For example, if, as a result of determining the output magnitude and output direction of each propulsion device 10, 20, the steering direction and movement speed of the hull 101 specified by the steering device 30 differ from the actual steering direction and movement speed of the hull 101, the output magnitude and output direction of each propulsion device 10, 20 may be re-determined to reduce the difference.

<Summary>
A ship control system according to one aspect of the present disclosure includes a processing device that, when the output of some of the propulsion devices among multiple propulsion devices equipped on a ship is restricted, acquires output restriction information including which propulsion device has its output restricted and the upper limit output of the output-restricted propulsion device, and command information including the steering direction of the hull specified by the steering device, and, based on the acquired output restriction information and command information, determines the output magnitude and direction of output generation of the propulsion devices whose output is not restricted so that the hull moves in the steering direction specified by the steering device, and also executes partial output restriction steering control that determines the output magnitude and direction of output generation of the output-restricted propulsion devices.

With this configuration, even if the output of some of the propulsion devices is limited, the magnitude and direction of output of each propulsion device can be determined based on output limit information, including which propulsion devices are limited and the upper limit output of the limited-output propulsion devices, so the hull can be moved in the steering direction specified by the steering device. Therefore, with this configuration, even if an abnormality occurs in some of the propulsion devices, the hull can be moved in the specified steering direction, just as under normal circumstances.

In the above-mentioned vessel control system, when executing the partial output limiting steering control, the processing device may determine the magnitude of the output of the output-limited propulsion device within a range that does not cause the output-limited propulsion device to stop.

This configuration makes it possible to suppress the reduction in output across multiple propulsion devices as a whole, compared to stopping a propulsion device with limited output.

The above-mentioned vessel control system may further include a setting device that allows the processing device to select whether or not to execute the partial output limiting steering control.

This configuration allows the driver to choose whether or not to execute partial output limiting steering control, improving steering freedom for the driver.

In the above-mentioned vessel control system, the setting device may be located on the vessel, or may be located at a location other than on the vessel.

This configuration allows you to select whether or not to execute partial output limiting steering control from multiple locations, improving convenience.

The above-mentioned vessel control system may further include a monitoring device that displays whether the processing device is executing the partial output limit steering control.

This configuration makes it possible to grasp the ship's control status.

A vessel according to one aspect of the present disclosure is equipped with the above-described multiple propulsion devices and is controlled by the above-described vessel control system.

With this configuration, even if an abnormality occurs in one of the propulsion devices, the hull can be moved in the specified steering direction as usual.

In the above-mentioned vessel, the multiple propulsion devices may be composed of two propulsion devices: one installed on the right side of the hull and one installed on the left side of the hull.

When the multiple propulsion devices described above are composed of two propulsion devices, if the output of one of the propulsion devices is limited, the output of the entire multiple propulsion devices will be significantly reduced, so partial output limiting steering control, which does not stop the propulsion devices, is very effective.

A ship control system according to another aspect of the present disclosure includes a processing device that, when it becomes impossible to set the output direction of some of the propulsion devices equipped on a ship, acquires direction setting impossible information including which propulsion device has become unable to set its output direction and the output direction of the propulsion device for which it has become impossible to set its output direction, as well as command information including the steering direction of the hull specified by the steering device, and executes partial direction setting impossible steering control that determines the output magnitude and output direction of the propulsion device for which it has become impossible to set its output direction, and determines the output magnitude of the propulsion device for which it has become impossible to set its output direction, so that the hull moves in the steering direction specified by the steering device, based on the acquired direction setting impossible information and command information.

With this configuration, even if it becomes impossible to set the output direction of some of the propulsion devices, the hull can be moved in the steering direction specified by the steering device by determining the output magnitude of each propulsion device based on direction setting impossible information, which includes which propulsion device has become unable to set its output direction and the output direction of the propulsion device for which it has become unable to set its output direction. Therefore, with this configuration, even if an abnormality occurs in some of the propulsion devices, the hull can be moved in the steering direction specified.

In the above-mentioned ship control system, when executing the partial direction setting impossible steering control, the processing device may determine the magnitude of the output of the propulsion device for which the output generation direction cannot be set, within a range that does not stop the propulsion device for which the output generation direction cannot be set, if a predetermined condition is met.

This configuration makes it possible to reduce the overall decrease in output across multiple propulsion devices, compared to constantly shutting down a propulsion device when it becomes impossible to set the direction of output generation.

The above-mentioned vessel control system may further include a setting device that allows the processing device to select whether or not to execute the partially direction-unsettable steering control.

This configuration allows the driver to choose whether or not to perform partial direction setting impossible steering control, thereby improving the driver's steering freedom.

In the above-mentioned vessel control system, the setting device may be located on the vessel, or may be located at a location other than on the vessel.

This configuration improves convenience by allowing the driver to select whether or not to execute partial direction setting impossible steering control from multiple locations.

The above-mentioned vessel control system may further include a monitoring device that indicates whether the processing device is performing the partially direction-unsettable steering control.

This configuration makes it possible to grasp the ship's control status.

A vessel according to one aspect of the present disclosure is equipped with the above-described multiple propulsion devices and is controlled by the above-described vessel control system.

With this configuration, even if an abnormality occurs in one of the propulsion devices, the hull can still be moved in the specified steering direction.

In the above-mentioned vessel, the multiple propulsion devices may be composed of two propulsion devices: one installed on the right side of the hull and one installed on the left side of the hull.

When the multiple propulsion devices described above are made up of two propulsion devices, if it becomes impossible to set the direction of output from one of the propulsion devices, the output from the entire marine propulsion system will be significantly reduced. Therefore, partial direction setting impossible steering control, which operates the propulsion device when it becomes impossible to set the direction of output generation under certain conditions, is very effective.

10 First propulsion device 20 Second propulsion device 30 Steering device 40 Processing device 50 Setting device 60 Monitoring device 70 Storage device 100 Ship 101 Hull 200 Ship control system

Claims (14)

A ship control system equipped with a processing device that, when the output of some of the propulsion devices equipped on a ship is restricted, acquires power restriction information including which propulsion device has its output restricted and the upper limit output of the power-restricted propulsion device, as well as command information including the steering direction of the hull specified by the steering device, and, based on the acquired power restriction information and command information, determines the output magnitude and direction of output of the propulsion devices whose output is not restricted so that the hull moves in the steering direction specified by the steering device, and also executes partial power restriction steering control that determines the output magnitude and direction of output of the power-restricted propulsion devices. The vessel control system described in claim 1, wherein the processing device, when executing the partial output limiting steering control, determines the magnitude of the output of the output-limited propulsion device within a range that does not cause the output-limited propulsion device to stop. The vessel control system described in claim 1 or 2 further includes a setting device that allows the processing device to select whether or not to execute the partial output limit steering control. The vessel control system described in claim 3, wherein the setting device is located both on the vessel and at a location other than on the vessel. A vessel control system as described in any one of claims 1 to 4, further comprising a monitoring device that displays whether the processing device is executing the partial output limit steering control. a plurality of propulsion devices;
A vessel controlled by a vessel control system according to any one of claims 1 to 5. The vessel described in claim 6, wherein the multiple propulsion devices are composed of two propulsion devices: one installed on the right side of the hull and one installed on the left side of the hull. A ship control system equipped with a processing device that, when it becomes impossible to set the output direction of some of the propulsion devices equipped on a ship, acquires direction setting impossible information including which propulsion device has become unable to set its output direction and the output direction of the propulsion device for which it has become unable to set its output direction, as well as command information including the steering direction of the hull specified by the steering device, and executes partial direction setting impossible steering control that determines the output magnitude and output direction of the propulsion device for which it has become unable to set its output direction, and determines the output magnitude of the propulsion device for which it has become unable to set its output direction, so that the hull moves in the steering direction specified by the steering device, based on the acquired direction setting impossible information and command information. The vessel control system described in claim 8, wherein, when executing the partial direction-unsettable steering control, the processing device determines the magnitude of the output of the propulsion device for which the output generation direction cannot be set, within a range that does not stop the propulsion device for which the output generation direction cannot be set, if predetermined conditions are met. The vessel control system described in claim 8 or 9, further comprising a setting device that enables the processing device to select whether or not to execute the partially direction-unsettable steering control. The vessel control system according to claim 10 , wherein the setting device is located both on the vessel and at a location other than on the vessel. A vessel control system as described in any one of claims 8 to 11, further comprising a monitoring device that indicates whether the processing device is executing the partially directionless steering control. a plurality of propulsion devices;
A vessel controlled by a vessel control system according to any one of claims 8 to 12. The vessel described in claim 13, wherein the multiple propulsion devices are composed of two propulsion devices: one installed on the right side of the hull and one installed on the left side of the hull.