JP6336162B2 - 改良した船舶操縦方法およびシステム - Google Patents
改良した船舶操縦方法およびシステム Download PDFInfo
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- 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
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B34/00—Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
- B63B34/05—Vessels specially adapted for hunting or fishing
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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
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- 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
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
- B63B2213/02—Navigational aids and use thereof, not otherwise provided for in this class using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
-
- 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
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
-
- 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
- B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
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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)
- Aviation & Aerospace Engineering (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
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Description
本願は、2016年3月1日に出願された米国仮特許出願第62/301,887号の利益を主張し、これは参照により組み込まれる。
Claims (18)
- 推進システムにより駆動される船舶を操縦するための方法であって、
電子航行デバイスへの複数の入力を受け取る段階と、
前記複数の入力に基づいて、連続する複数のウェイポイントを含み、前記連続する複数のウェイポイントにおける各ウェイポイントが各船首方位に関連付けられる所望の航路を生成する段階と、
各ウェイポイントおよびその関連付けられた船首方位に対応する位置・方向情報を制御モジュールに送信する段階とを備え、
前記位置・方向情報に基づいて、前記制御モジュールは、連続する現在のウェイポイントおよび船首方位から連続する次のウェイポイントおよび船首方位へと前記船舶を操縦するべく必要とされる複数の操舵・スラストコマンドを生成し、
前記複数の操舵・スラストコマンドに応じて、前記推進システムは、その後に、前記所望の航路に沿って連続する各ウェイポイントおよびその関連付けられた船首方位へと前記船舶を推進し、
前記制御モジュールは、比例積分偏差制御アルゴリズムを使用して、現在のウェイポイントと次のウェイポイントとの間の位置エラーをゼロにし、現在の船首方位と次の船首方位との間の船首方位エラーをゼロにするための操舵・スラストコマンドを決定し、前記操舵・スラストコマンドに従って、前記推進システムに指示する、
方法。 - 前記推進システムが前記所望の航路に沿って前記船舶を推進する速度を制御する段階を更に備える、請求項1に記載の方法。
- 予め定められた時間間隔で、連続する各ウェイポイントおよびその関連付けられた船首方位に対応する前記位置・方向情報を送信する段階を更に備える、請求項1又は2に記載の方法。
- 前記現在のウェイポイントおよび前記船首方位に到達した後にのみ、前記次のウェイポイントおよび前記船首方位に関する前記位置・方向情報を送信する段階を更に備える、請求項1又は2に記載の方法。
- 前記現在のウェイポイントおよび前記船首方位の所与の距離内に入った後にのみ、前記次のウェイポイントおよび前記船首方位に関する前記位置・方向情報を送信する段階を更に備える、請求項1又は2に記載の方法。
- 前記複数の入力は、航行地図上の所望のルートに関する複数のユーザ入力である、請求項1〜5のいずれか1項に記載の方法。
- 前記複数の入力は、水生生物の位置に関する複数のトランスデューサ入力である、請求項1〜5のいずれか1項に記載の方法。
- 予め定められた期間、前記連続する複数のウェイポイントにおける所与のウェイポイントおよび前記所与のウェイポイントに関連付けられた前記船首方位に前記船舶を保持する段階を更に備える、請求項1〜7のいずれか1項に記載の方法。
- 前記次のウェイポイントに関連付けられた前記船首方位は、前記現在のウェイポイントと前記次のウェイポイントとの間の方位に等しくない、請求項1〜8のいずれか1項に記載の方法。
- 船舶のための航行システムであって、
電子航行デバイスと、
前記電子航行デバイスと信号を通信する制御モジュールと、
前記制御モジュールと信号を通信する船舶推進システムとを備え、
前記電子航行デバイスは、連続する複数のウェイポイントを含む所望の航路を生成し、前記連続する複数のウェイポイントにおける各ウェイポイントは、各船首方位に関連付けられ、
前記制御モジュールは、前記電子航行デバイスから各ウェイポイントおよびその関連付けられた船首方位に対応する位置・方向情報を受信し、
前記位置・方向情報に基づいて、前記制御モジュールは、前記所望の航路に沿って連続する各ウェイポイントおよびその関連付けられた船首方位へと前記船舶を推進するように、前記船舶推進システムに指示し、
前記制御モジュールは、比例積分偏差制御アルゴリズムを使用して、現在のウェイポイントと次のウェイポイントとの間の位置エラーをゼロにし、現在の船首方位と次の船首方位との間の船首方位エラーをゼロにするための操舵・スラストコマンドを決定し、前記操舵・スラストコマンドに従って、前記船舶推進システムに指示する、
航行システム。 - 前記電子航行デバイスは、ディスプレイ画面およびユーザ入力手段を有する、請求項10に記載の航行システム。
- 前記電子航行デバイスは、組み合わされた魚群探知機およびチャートプロッタである、請求項11に記載の航行システム。
- 前記電子航行デバイスは、前記ディスプレイ画面上に表示される航行地図上の所望のルートに基づいて前記所望の航路を生成する、請求項12に記載の航行システム。
- 前記電子航行デバイスの一部であるか、または前記電子航行デバイスと信号を通信する全地球測位システムレシーバを更に備える、請求項13に記載の航行システム。
- 前記電子航行デバイスは、水生生物の位置に基づいて前記所望の航路を生成する、請求項12に記載の航行システム。
- 前記水生生物を検出するためのトランスデューサアセンブリを更に備え、
前記トランスデューサアセンブリは、前記電子航行デバイスと信号を通信する、請求項15に記載の航行システム。 - 前記ユーザ入力手段は、前記船舶が前記所望の航路に沿って推進される速度に対するユーザ制御を可能にする、請求項11〜16のいずれか1項に記載の航行システム。
- 前記ユーザ入力手段は、(a)前記連続する複数のウェイポイントにおける所与のウェイポイントへと前記船舶を推進しつつ、同時に、前記所与のウェイポイントに関連付けられた前記船首方位へと前記船舶を回転させること、または(b)前記所与のウェイポイントに関連付けられた前記船首方位へと前記船舶を回転させた後に、前記所与のウェイポイントへと前記船舶を推進することのユーザ選択を可能にする、請求項11〜17のいずれか1項に記載の航行システム。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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US201662301887P | 2016-03-01 | 2016-03-01 | |
US62/301,887 | 2016-03-01 | ||
US15/416,318 US9952595B2 (en) | 2016-03-01 | 2017-01-26 | Vessel maneuvering methods and systems |
US15/416,318 | 2017-01-26 |
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JP2017154734A JP2017154734A (ja) | 2017-09-07 |
JP6336162B2 true JP6336162B2 (ja) | 2018-06-06 |
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- 2017-02-21 EP EP17020061.2A patent/EP3214522B9/en active Active
- 2017-02-28 JP JP2017036671A patent/JP6336162B2/ja active Active
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US9952595B2 (en) | 2018-04-24 |
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EP3214522B9 (en) | 2021-08-11 |
EP3214522A1 (en) | 2017-09-06 |
JP2017154734A (ja) | 2017-09-07 |
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