Ship control device, ship control system, ship control method, and computer readable medium

Abstract

The ship control device includes processing circuitry. The processing circuitry sets a throttle position based on a tilt state of an operation device operated by a user, sets an upper limit value of the throttle position based on a rotational state of the first operation device, and generates a throttle command signal based on the throttle position and the upper limit value, to easily adjust a propulsion force while using a joystick.

What is claimed is: 
     
         1 . A ship control device to be mounted on a ship, comprising:
 processing circuitry configured to:   set a throttle position based on a tilt state of an operation device that controls the ship;   adjust an upper limit value of the throttle position based on a rotational state of the operation device; and   generate a throttle command signal based on the throttle position and the upper limit value.   
     
     
         2 . The ship control device according to  claim 1 , wherein the processing circuitry is further configured to generate the throttle command signal based on correcting the throttle position with the upper limit value. 
     
     
         3 . The ship control device according to  claim 1 , wherein the processing circuitry is further configured to adjust the upper limit value based on a correspondence relationship between a predetermined rotational state and the upper limit value. 
     
     
         4 . The ship control device according to  claim 3 , wherein, in the correspondence relationship,
 one end in a rotation direction of the operation device is set to the minimum value of the upper limit value; and   the other end in the rotation direction of operation device is set to the maximum value of the upper limit value.   
     
     
         5 . The ship control device according to  claim 3 , wherein, in the correspondence relationship,
 a plurality of regions is assigned according to the rotation direction, and   the upper limit is set for each of the plurality of regions.   
     
     
         6 . The ship control device according to  claim 5 , wherein each upper limit value set in the plurality of regions increases stepwise from one end in the rotation direction to the other end. 
     
     
         7 . The ship control device according to  claim 5 , wherein a rotation range assigned to the plurality of regions is different. 
     
     
         8 . The ship control device according to  claim 5 , wherein the processing circuitry is further configured to determine a forward or backward movement of the ship based on the tilt state,
 wherein the plurality of regions comprises a first assignment pattern corresponding to a forward movement and a second assignment pattern corresponding to a backward movement, and   wherein the first assignment pattern and the second assignment pattern differ in a way the plurality of regions are assigned.   
     
     
         9 . The ship control device according to  claim 1 ,
 wherein the operation device is further configured to have a reference position where the rotation is not occurred, and   wherein the processing circuitry is further configured to determine the forward or backward movement of the ship based on the tilt state; and   wherein the upper limit value of the throttle position at the reference position in the backward movement is greater than the upper limit value of the throttle position at the reference position in the forward movement.   
     
     
         10 . The ship control device according to  claim 1 ,
 wherein the processing circuitry is further configured to;   adjust an upper limit value based on a changed rotational state when detecting a change in the rotational state during a navigation of the ship; and   set the throttle command signal based on the upper limit value.   
     
     
         11 . The ship control device according to  claim 1 , wherein the processing circuitry is further configured to generate the throttle command signal to intermittent control the throttle position when the rotational state meets an intermittent control condition. 
     
     
         12 . The ship control device according to  claim 1 , wherein the processing circuitry is further configured to;
 generate a rudder angle command signal that commands a rudder angle based on the tilt state of the operation device,   generate the rudder angle command signal that commands a command rudder angle within a settable range when the tilt state meets a predefined minimum turning control condition; and   generate the throttle command signal to intermittent control the throttle position.   
     
     
         13 . The ship control device according to  claim 1 , comprising:
 the operation device configured to output a position signal in an x-axis direction parallel to a bow direction and a stern direction of the ship, a position signal in a y-axis direction parallel to a starboard direction and a port direction of the ship, and a position signal in a z-axis direction corresponding to the rotational state,   wherein the position signal in the x-axis direction is set corresponding to the throttle position; and   wherein the position in the y-axis direction is set corresponding to a magnitude and direction of the rudder angle command signal.   
     
     
         14 . The ship control device according to  claim 2 , wherein the processing circuitry is further configured to adjust the upper limit value based on a correspondence relationship between a predetermined rotational state and the upper limit value. 
     
     
         15 . The ship control device according to  claim 14 , wherein, in the correspondence relationship,
 one end in a rotation direction of the operation device is set to the minimum value of the upper limit value; and   the other end in the rotation direction of operation device is set to the maximum value of the upper limit value.   
     
     
         16 . The ship control device according to  claim 15 , wherein, in the correspondence relationship,
 a plurality of regions is assigned according to the rotation direction, and   the upper limit is set for each of the plurality of regions.   
     
     
         17 . The ship control device according to  claim 16 , wherein each upper limit value set in the plurality of regions increases stepwise from one end in the rotation direction to the other end. 
     
     
         18 . The ship control device according to  claim 17 , wherein a rotation range assigned to the plurality of regions is different. 
     
     
         19 . A ship control method, comprising:
 setting a throttle position based on a tilt state of an operation device that controls a ship;   adjusting an upper limit value of the throttle position based on a rotational state of the operation device; and   generating a throttle command signal based on the throttle position and the upper limit value.   
     
     
         20 . A non-transitory computer-readable medium having stored thereon computer-executable instructions which, when executed by a computer, cause the computer to:
 set a throttle position based on a tilt state of an operation device that controls the ship;   adjust an upper limit value of the throttle position based on a rotational state of the operation device; and   generate a throttle command signal based on the throttle position and the upper limit value.