JP6773874B2 - 近接に基づく速度制限を有する船舶用推進制御システム及び方法 - Google Patents
近接に基づく速度制限を有する船舶用推進制御システム及び方法 Download PDFInfo
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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
- B63H25/50—Slowing-down means not otherwise provided for
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
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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
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
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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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Description
Claims (20)
- 海洋船舶上の推進制御システムであって、
前記海洋船舶を推進するように構成された少なくとも1つの推進装置と、
前記海洋船舶に対する物体の近接を記述する近接測定値を生成するように構成された少なくとも1つの近接センサシステムと、
コントローラと、
を備え、前記コントローラが、
前記近接測定値を受信し、
プリセット余裕距離にアクセスし、
前記海洋船舶が前記物体からの前記プリセット余裕距離に近づくのに伴い速度制限を累進的に低下させるべく前記近接測定値及び前記プリセット余裕距離に基づいて前記物体の方向の前記海洋船舶の速度制限を計算し、
前記海洋船舶の速度が前記物体の方向の前記速度制限を超えないように前記少なくとも1つの推進装置を制御する、
ように構成される、推進制御システム。 - 前記海洋船舶の移動方向及び速度を制御するためにユーザ制御入力を提供するべく操作可能な少なくとも1つの入力デバイスをさらに備え、
前記速度制限が、前記海洋船舶を少なくとも前記物体からの余裕距離に維持するべく前記近接測定値及び前記入力デバイスによるユーザ制御入力に基づいて前記少なくとも1つの推進装置による前記物体の方向の推進出力のユーザ入力権限を制限し、
前記海洋船舶が前記物体からの前記プリセット余裕距離に到達するとき、前記速度制限がゼロである、請求項1に記載のシステム。 - 前記コントローラがさらに、正のX方向速度制限、負のX方向速度制限、正のY方向速度制限、及び負のY方向速度制限のそれぞれを計算するように構成される、請求項1に記載のシステム。
- 前記近接センサシステムが、正のX方向、負のX方向、正のY方向、及び負のY方向のそれぞれの1つの最も近い近接測定値を特定するように構成され、
前記正のX方向速度制限が、最も近い正のX方向近接測定値に基づいており、前記負のX方向速度制限が、最も近い負のX方向近接測定値に基づいており、前記正のY方向速度制限が、最も近い正のY方向近接測定値に基づいており、前記負のY方向速度制限が、最も近い負のY方向近接測定値に基づいている、請求項3に記載のシステム。 - 前記コントローラがさらに、正のヨー方向速度制限及び負のヨー方向速度制限のそれぞれを計算するように構成される、請求項3に記載のシステム。
- 前記近接センサシステムがさらに、正のヨー方向及び負のヨー方向のそれぞれの1つの最も近い近接測定値を特定するように構成され、
前記コントローラがさらに、最も近い正のヨー方向近接測定値に基づく正のヨー方向速度制限及び最も近い負のヨー方向近接測定値に基づく負のヨー方向速度制限のそれぞれを計算するように構成される、請求項5に記載のシステム。 - 前記速度制限が、前記海洋船舶が最大加速度を超えずに前記物体からの前記プリセット余裕距離で停止することを可能にするべく前記物体の方向の前記速度制限が計算されるように、前記海洋船舶の前記最大加速度に基づいて計算される、請求項1に記載のシステム。
- 前記海洋船舶の前記最大加速度が、前記少なくとも1つの推進装置の推進能力に基づいている、請求項7に記載のシステム。
- 前記コントローラがさらに、前記海洋船舶と前記物体との少なくとも前記プリセット余裕距離を維持するように構成される、請求項1に記載のシステム。
- 前記海洋船舶が前記物体からの前記プリセット余裕距離未満のとき、前記物体の方向の前記速度制限が負である、請求項9に記載のシステム。
- 前記コントローラがさらに、前記海洋船舶が前記物体からの前記プリセット余裕距離に到達するまで前記物体の方向の前記負の速度制限に基づいて前記物体から離れる方へ推力を発揮するように前記少なくとも1つの推進装置を自動制御するように構成される、請求項10に記載のシステム。
- 前記コントローラが、前記物体が前記海洋船舶の長さにわたるときに前記海洋船舶を前記物体に向けて操舵するユーザ入力に応答して前記海洋船舶を前記物体と自動的に並べるように構成される、請求項11に記載のシステム。
- 船舶用推進制御方法であって、
海洋船舶上の1つ又は複数の近接センサにより測定された、物体の近接を記述する近接測定値を受信することと、
プリセット余裕距離にアクセスすることと、
前記海洋船舶が前記物体からの前記プリセット余裕距離に近づくのに伴い速度制限を累進的に低下させるべく前記近接測定値及び前記プリセット余裕距離に基づいて前記物体の方向の前記海洋船舶の速度制限を計算することと、
前記海洋船舶の速度が前記物体の方向の前記速度制限を超えないように前記海洋船舶上の少なくとも1つの推進装置を制御することと、
を含む、方法。 - 前記海洋船舶を前記物体から少なくとも前記余裕距離に維持するべく、少なくとも1つの推進装置による前記物体の方向の推進出力のユーザ入力権限を前記速度制限に制限することをさらに含み、前記海洋船舶が前記物体からの前記プリセット余裕距離にあるとき、前記速度制限がゼロである、請求項13に記載の方法。
- 前記海洋船舶と前記物体との少なくとも前記プリセット余裕距離を維持するように前記少なくとも1つの推進装置を制御することをさらに含む、請求項13に記載の方法。
- 前記海洋船舶が前記物体からの前記プリセット余裕距離未満のとき、前記物体の方向の前記速度制限が負である、請求項15に記載の方法。
- 前記海洋船舶が前記物体からの前記プリセット余裕距離に到達するまで前記物体の方向の前記負の速度制限に基づいて前記物体から離れる方へ推力を発揮するように前記少なくとも1つの推進装置を自動制御することをさらに含む、請求項16に記載の方法。
- 正のX方向速度制限、負のX方向速度制限、正のY方向速度制限、及び負のY方向速度制限のそれぞれを計算することをさらに含む、請求項13に記載の方法。
- 正のヨー方向速度制限及び負のヨー方向速度制限のそれぞれを計算することをさらに含む、請求項18に記載の方法。
- 正のX方向、負のX方向、正のY方向、負のY方向、正のヨー方向、及び負のヨー方向のそれぞれの1つの最も近い近接測定値を受信することをさらに含み、前記速度制限が前記最も近い近接測定値に基づいて計算される、請求項19に記載の方法。
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US201862780028P | 2018-12-14 | 2018-12-14 | |
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US16/694,587 | 2019-11-25 | ||
US16/694,587 US11403955B2 (en) | 2018-12-14 | 2019-11-25 | Marine propulsion control system and method with proximity-based velocity limiting |
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