JP2009067287A - 船舶 - Google Patents
船舶 Download PDFInfo
- Publication number
- JP2009067287A JP2009067287A JP2007239331A JP2007239331A JP2009067287A JP 2009067287 A JP2009067287 A JP 2009067287A JP 2007239331 A JP2007239331 A JP 2007239331A JP 2007239331 A JP2007239331 A JP 2007239331A JP 2009067287 A JP2009067287 A JP 2009067287A
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- Prior art keywords
- ship
- navigation
- maneuvering
- marine vessel
- intention
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000001514 detection method Methods 0.000 claims description 10
- 230000001141 propulsive effect Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 description 8
- 230000007935 neutral effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H2020/003—Arrangements of two, or more outboard propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/026—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Control Devices (AREA)
Abstract
【解決手段】船舶10の所定位置に付与される推進力又は抵抗力の大きさ及び/又は方向を調整可能な操船機器20xを複数備えると共に、複数の操船機器20xを操作する操作機器30xと、複数の操船機器20xをそれぞれ駆動するアクチュエータと、操作機器30xの操作状態に基づいてアクチュエータの駆動量をそれぞれ制御する制御装置13とを備え、制御装置13は、船舶10の航行状態を検知する航行状態検知手段50と、操作機器30xの操作状態を検知する操作状態検知手段60と、航行状態及び操作状態に基づいて操船者の航行意図を推定する航行意図推定手段70と、航行意図に基づき、複数の操船機器20xから制御対象の操船機器20xを選定して、それを駆動するアクチュエータの駆動量を制御する操船機器制御手段80とを備えている。
【選択図】図3
Description
13 制御装置
20a〜20x 操船機器
30a〜30n 操作機器
40a〜40x 航行状態検出器
50 航行状態検知手段
60 操作状態検知手段
70 航行意図推定手段
80 操船機器制御手段
Claims (5)
- 船舶の所定位置に付与される推進力又は抵抗力の大きさ及び/又は方向を調整可能な操船機器を複数備えると共に、前記複数の操船機器を操作する操作機器と、前記複数の操船機器をそれぞれ駆動するアクチュエータと、前記操作機器の操作状態に基づいて前記アクチュエータの駆動量をそれぞれ制御する制御装置とを備えた船舶であり、
前記制御装置は、
前記船舶の航行状態を検知する航行状態検知手段と、
前記操作機器の操作状態を検知する操作状態検知手段と、
前記航行状態及び前記操作状態に基づいて操船者の航行意図を推定する航行意図推定手段と、
前記航行意図に基づき、前記複数の操船機器から制御対象の操船機器を選定して該制御対象の操船機器を駆動する前記アクチュエータの駆動量を制御する操船機器制御手段とを備えたことを特徴とする船舶。 - 前記操作機器は、アクセル等の船舶の航行速度を調整するために操作される速度操作装置と、ハンドル、ジョイスティック等の船舶の進行方向を調整するために操作される方向操作装置とを備え、
前記操船機器は、前記船舶に対して付与される推進力又は抵抗力の大きさを調整可能な推力調整装置と、前記船舶に対して付与される推進力又は抵抗力の作用方向や作用点を調整可能な方向調整装置とを備え、
前記操船機器制御手段は、前記方向操作装置の操作により選定される前記制御対象の操船装置として前記推力調整装置を含むことを特徴とする請求項1に記載の船舶。 - 前記操船機器制御手段は、前記航行意図を実現するために必要な前記船舶の目標挙動変化を設定し、該目標挙動変化に基づいて前記船舶全体に付与する推進力又は抵抗力の大きさ、方向並びに作用点からなる目標制御力を算出し、該目標制御力に基づいて前記制御対象の操船機器を選定すると共に、該操船機器の前記アクチュエータの駆動量を決定することを特徴とする請求項1又は2に記載の船舶。
- 前記操船機器制御手段は、前記航行意図に基づく前記アクチュエータの駆動量の制御後、該制御前後の前記航行状態の差と前記目標挙動変化との間の偏差量に応じて、再度前記目標挙動変化を設定することを特徴とする請求項3に記載の船舶。
- 前記操船機器制御手段は、選定した前記制御対象の操船機器が故障と判定されたときに、該制御対象の操船機器とは異なる前記操船機器を選定すると共に該操船機器の駆動量を決定することを特徴とする請求項1乃至4の何れか一つに記載の船舶。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007239331A JP5133637B2 (ja) | 2007-09-14 | 2007-09-14 | 船舶 |
US12/189,282 US8965606B2 (en) | 2007-09-14 | 2008-08-11 | Watercraft including operating devices to adjust an amount and a direction of a propulsive force of the watercraft |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007239331A JP5133637B2 (ja) | 2007-09-14 | 2007-09-14 | 船舶 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009067287A true JP2009067287A (ja) | 2009-04-02 |
JP5133637B2 JP5133637B2 (ja) | 2013-01-30 |
Family
ID=40455443
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007239331A Active JP5133637B2 (ja) | 2007-09-14 | 2007-09-14 | 船舶 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8965606B2 (ja) |
JP (1) | JP5133637B2 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014034269A (ja) * | 2012-08-08 | 2014-02-24 | Yamaha Motor Co Ltd | 船舶推進制御装置、船舶推進装置および船舶 |
JP6167392B1 (ja) * | 2016-10-05 | 2017-07-26 | 株式会社ニチギ | 水上移動体 |
JPWO2019069382A1 (ja) * | 2017-10-03 | 2020-06-18 | 本田技研工業株式会社 | 操船支援装置 |
US11465726B2 (en) | 2019-10-11 | 2022-10-11 | Yamaha Hatsudoki Kabushiki Kaisha | Control system for posture control tabs of marine vessel, marine vessel, and method for controlling posture control tabs of marine vessel that are capable of assisting operations of steering control |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010001102A1 (de) | 2009-11-06 | 2011-05-12 | Becker Marine Systems Gmbh & Co. Kg | Anordnung zur Ermittlung einer auf ein Ruder wirkenden Kraft |
US10518788B2 (en) * | 2013-08-15 | 2019-12-31 | Ge Global Sourcing Llc | Vehicle control system and method |
FR3016154B1 (fr) * | 2014-01-09 | 2017-05-05 | Dcns | Dispositif de compensation du roulis d'un navire, navire comprenant un tel dispositif et procede associe |
US9505479B2 (en) | 2014-10-31 | 2016-11-29 | The Boeing Company | Position-locking for a watercraft using an auxiliary water vessel |
JP6523568B2 (ja) | 2015-08-03 | 2019-06-05 | アピアム インコーポレイティド | 水中ドローン |
US10275775B2 (en) | 2015-12-10 | 2019-04-30 | Microsoft Technology Licensing, Llc | Context generation for routing on-demand services |
US10322787B2 (en) | 2016-03-01 | 2019-06-18 | Brunswick Corporation | Marine vessel station keeping systems and methods |
US10640190B1 (en) | 2016-03-01 | 2020-05-05 | Brunswick Corporation | System and method for controlling course of a marine vessel |
US10671073B2 (en) * | 2017-02-15 | 2020-06-02 | Brunswick Corporation | Station keeping system and method |
US10633072B1 (en) * | 2018-07-05 | 2020-04-28 | Brunswick Corporation | Methods for positioning marine vessels |
US10562602B1 (en) * | 2018-07-31 | 2020-02-18 | Brunswick Corporation | System and method for maneuvering marine vessel with non-engine-powered propulsion device |
US11480966B2 (en) * | 2020-03-10 | 2022-10-25 | Brunswick Corporation | Marine propulsion control system and method |
US11181916B2 (en) * | 2020-03-20 | 2021-11-23 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft and watercraft control system |
JP2022068615A (ja) * | 2020-10-22 | 2022-05-10 | ヤマハ発動機株式会社 | 操船システム及び船舶 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6255292A (ja) * | 1985-09-05 | 1987-03-10 | Tokyo Keiki Co Ltd | 船舶の旋回制御装置 |
JPH08142992A (ja) * | 1994-11-24 | 1996-06-04 | Kawasaki Heavy Ind Ltd | 操縦レバーと該操縦レバーを用いた操縦装置 |
JP2002234495A (ja) * | 2001-02-08 | 2002-08-20 | Kawasaki Heavy Ind Ltd | 操船装置 |
WO2007010767A1 (ja) * | 2005-07-20 | 2007-01-25 | Toyota Jidosha Kabushiki Kaisha | 船艇の操船装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001152898A (ja) * | 1999-12-01 | 2001-06-05 | Sanshin Ind Co Ltd | 航走特性制御装置 |
SE521051C2 (sv) * | 2001-11-16 | 2003-09-23 | Volvo Penta Ab | Fjärrmanövreringssystem för ett fordon. |
US6678589B2 (en) * | 2002-04-08 | 2004-01-13 | Glen E. Robertson | Boat positioning and anchoring system |
JP4190855B2 (ja) * | 2002-10-23 | 2008-12-03 | ヤマハマリン株式会社 | 船舶の推進制御装置 |
EP2386480B1 (en) * | 2003-12-01 | 2014-02-12 | Rolls-Royce Naval Marine, Inc. | Control of a waterjet propelled vessel |
US20070028824A1 (en) * | 2005-05-24 | 2007-02-08 | James Stallings | Boat control system |
US7237501B2 (en) * | 2005-11-22 | 2007-07-03 | James Stallings | Means and apparatus for one person to load and unload a marine vessel from a trailer without assistance from other individuals |
US7831617B2 (en) * | 2006-07-25 | 2010-11-09 | Microsoft Corporation | Re-categorization of aggregate data as detail data and automated re-categorization based on data usage context |
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2007
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-
2008
- 2008-08-11 US US12/189,282 patent/US8965606B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6255292A (ja) * | 1985-09-05 | 1987-03-10 | Tokyo Keiki Co Ltd | 船舶の旋回制御装置 |
JPH08142992A (ja) * | 1994-11-24 | 1996-06-04 | Kawasaki Heavy Ind Ltd | 操縦レバーと該操縦レバーを用いた操縦装置 |
JP2002234495A (ja) * | 2001-02-08 | 2002-08-20 | Kawasaki Heavy Ind Ltd | 操船装置 |
WO2007010767A1 (ja) * | 2005-07-20 | 2007-01-25 | Toyota Jidosha Kabushiki Kaisha | 船艇の操船装置 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014034269A (ja) * | 2012-08-08 | 2014-02-24 | Yamaha Motor Co Ltd | 船舶推進制御装置、船舶推進装置および船舶 |
JP6167392B1 (ja) * | 2016-10-05 | 2017-07-26 | 株式会社ニチギ | 水上移動体 |
JP2018058498A (ja) * | 2016-10-05 | 2018-04-12 | 株式会社ニチギ | 水上移動体 |
JPWO2019069382A1 (ja) * | 2017-10-03 | 2020-06-18 | 本田技研工業株式会社 | 操船支援装置 |
US11021220B2 (en) | 2017-10-03 | 2021-06-01 | Honda Motor Co., Ltd. | Boat maneuvering support device |
US11465726B2 (en) | 2019-10-11 | 2022-10-11 | Yamaha Hatsudoki Kabushiki Kaisha | Control system for posture control tabs of marine vessel, marine vessel, and method for controlling posture control tabs of marine vessel that are capable of assisting operations of steering control |
Also Published As
Publication number | Publication date |
---|---|
US8965606B2 (en) | 2015-02-24 |
JP5133637B2 (ja) | 2013-01-30 |
US20090076671A1 (en) | 2009-03-19 |
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