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1.发明公开
公开(公告)号：EP3981683A1
公开(公告)日：2022-04-13
申请号：EP20818474.7
申请日：2020-06-05
Applicant: NHK Spring Co., Ltd.
Inventor： SHIRAO Masato , AKITA Marino , OSHIMA Takafumi
Abstract: A ship propulsion device controller controls a plurality of ship propulsion devices disposed on a rear portion of a hull of a ship. The ship includes an operation unit configured to operate the ship propulsion devices. The operation unit is able to be positioned at a first position where the ship propulsion devices do not generate propulsion forces for the ship and a second position where the ship propulsion devices generate propulsion forces for moving the ship in a right direction, a right-forward direction, or a right-backward direction or a third position where the ship propulsion devices generate a propulsion force for moving the ship in a left direction, a left-forward direction, or a left-backward direction. When the operation unit is moved from the first position to the second position and maintained at the second position, the ship propulsion devices generate a clockwise rotating moment in the ship during a first period from a first timing when the operation unit is moved to the second position to a second timing and do not to generate the clockwise rotating moment in the ship during a second period after the second timing.
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Patent Agency Ranking
公开(公告)号：EP4166445A1
公开(公告)日：2023-04-19
申请号：EP21822994.6
申请日：2021-06-08
Applicant: NHK Spring Co., Ltd.
Inventor： SHIRAO Masato , AKITA Marino , OSHIMA Takafumi
Abstract: This automatic ship handling system includes a ship and a communication device, the ship includes an actuator that has a function of generating a propulsion force for the ship and a function of generating a turning moment on the ship, an operation unit that receives an input operation for activating the actuator, and a ship control device that activates the actuator on the basis of at least the input operation received by the operation unit, the ship control device has a manual ship handling mode in which the actuator is activated on the basis of the input operation received by the operation unit, and an automatic ship handling mode in which the actuator is activated without a need for the operation unit to receive the input operation, and in the automatic ship handling mode, the ship control device controls a speed of the ship on the basis of a relative distance between the ship and the communication device.
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公开(公告)号：EP4239418A1
公开(公告)日：2023-09-06
申请号：EP21900632.7
申请日：2021-12-01
Applicant: NHK Spring Co., Ltd.
Inventor： SHIRAO Masato , AKITA Marino , KAMIYA Takafumi
Abstract: A marine vessel includes: an actuator having a rudder; a heading detection unit configured to detect an actual heading of the marine vessel; and a heading control device including a target heading acquisition unit, a heading deviation calculation unit, a PID control unit, and a gain setting unit, the heading deviation calculation unit calculates a heading deviation, which is the difference between a target heading and the actual heading, the PID control unit calculates an instruction value for the actuator through PID control from the heading deviation calculated by the heading deviation calculation unit, the gain setting unit sets, out of a proportional gain, an integral gain, and a derivative gain used in the PID control, at least the derivative gain, and in a case in which the heading deviation calculated by the heading deviation calculation unit is equal to or greater than a first threshold value, the gain setting unit adds a derivative gain addition correction quantity to the current value of the derivative gain.
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公开(公告)号：EP3981682A1
公开(公告)日：2022-04-13
申请号：EP20817763.4
申请日：2020-06-05
Applicant: NHK Spring Co., Ltd.
Inventor： SHIRAO Masato , AKITA Marino , OSHIMA Takafumi
Abstract: An automatic setting device for automatically setting a control device for a plurality of ship propulsion devices configured to generate propulsion forces of a ship includes an input operation setting unit configured to set an input operation for the ship, a target behavior acquisition unit configured to acquire target behavior of the ship corresponding to the input operation set by the input operation setting unit, a ship information acquisition unit configured to acquire ship information that is information about at least one of a position and a direction of the ship, an actual behavior calculation unit configured to calculate actual behavior of the ship on the basis of the ship information acquired by the ship information acquisition unit, and a propulsion force setting unit configured to set a magnitude and a direction of a propulsion force that is generated by each of the plurality of ship propulsion devices on the basis of the actual behavior of the ship calculated by the actual behavior calculation unit and the target behavior of the ship acquired by the target behavior acquisition unit.
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5.发明公开
公开(公告)号：EP4166444A1
公开(公告)日：2023-04-19
申请号：EP21822060.6
申请日：2021-06-08
Applicant: NHK Spring Co., Ltd.
Inventor： SHIRAO Masato , AKITA Marino , OSHIMA Takafumi
Abstract: A watercraft of an automatic maneuvering system includes an actuator configured to generate a propulsive force and a turning moment, an operation unit, and a watercraft control device. The watercraft control device has a manual maneuvering mode in which the actuator is operated on the basis of an input operation received by the operation unit and an automatic maneuvering mode in which the actuator is operated on the basis of a distance between the watercraft and a communication device of the automatic maneuvering system and heading of the watercraft without any need for the operation unit to receive the input operation. In the automatic maneuvering mode, the watercraft control device is able to execute first control in which a rate of decrease in a distance between the watercraft and the communication device is less than or equal to a first threshold value and second control in which the rate of decrease in the distance between the watercraft and the communication device is greater than the first threshold value.
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公开(公告)号：EP4166442A1
公开(公告)日：2023-04-19
申请号：EP21820874.2
申请日：2021-06-08
Applicant: NHK Spring Co., Ltd.
Inventor： SHIRAO Masato , AKITA Marino , OSHIMA Takafumi
Abstract: A watercraft control system includes a watercraft and a communication device. The communication device includes a communication unit configured to transmit information indicating a location of the communication device to the watercraft. The watercraft includes a communication unit configured to receive the information indicating the location of the communication device and a difference calculation unit configured to calculate a difference between the location of the communication device and a location of the watercraft.
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