公开(公告)号：EP4365073A1

公开(公告)日：2024-05-08

申请号：EP22833150.0

申请日：2022-06-28

Applicant: NHK Spring Co., Ltd.

Inventor： SHIRAO Masato ,  KAMIYA Takafumi ,  TOKUSHIGE Jun ,  SATO Marino

IPC: B63H11/11 ,  B63B79/40 ,  B63H25/46

CPC classification number: B63H11/11 ,  B63B79/40 ,  B63H25/46

Abstract: A ship including an engine, a jet propulsion device, a ship controller, and a ship position detection unit, in which the jet propulsion device includes a nozzle that ejects a jet stream generated by the driving force output from the engine, and a bucket that changes a direction of the jet stream, the position of the bucket includes at least a forward position where the jet propulsion device generates a propulsive force for moving the ship forward, a neutral position where the jet propulsion device does not generate a propulsive force for moving the ship, and a forward-side intermediate position between the forward position and the neutral position, the ship controller has a ship fixed point holding mode in which feedback control of the engine and the jet propulsion device is performed based on a deviation between a preset target ship position and the actual ship position, and both control of the position of the bucket including the forward-side intermediate position and control of a rotational speed of the engine are performed in the ship fixed point holding mode.

公开(公告)号：EP4410663A1

公开(公告)日：2024-08-07

申请号：EP22875834.8

申请日：2022-09-14

Applicant: NHK Spring Co., Ltd.

Inventor： SHIRAO Masato ,  KAMIYA Takafumi ,  TOKUSHIGE Jun ,  SATO Marino

IPC: B63H25/02 ,  B63B49/00 ,  B63B79/40 ,  B63H21/21 ,  B63H25/04 ,  B63H25/42 ,  B63H25/50 ,  G05D3/00

CPC classification number: B63B49/00 ,  B63B79/40 ,  B63H21/21 ,  B63H25/04 ,  B63H25/02 ,  B63H25/42 ,  B63H25/50 ,  G05D3/00

Abstract: A vessel includes an actuator having a function of generating a propulsive force of a vessel and a function of generating a moment of the vessel and a vessel control device that operates the actuator, wherein the vessel control device can perform automatic cruise control and fixed-point holding control of the vessel and includes a fixed-point holding target position setting unit that sets a fixed-point holding target position that is a target position of the vessel where the fixed-point holding control of the vessel is to be performed, and when the vessel control device performs automatic cruise control of the vessel and then performs fixed-point holding control of the vessel, the fixed-point holding target position setting unit sets a position different from an automatic cruise stop position that is a position of the vessel where the automatic cruise control of the vessel is stopped as the fixed-point holding target position.

公开(公告)号：EP4371868A1

公开(公告)日：2024-05-22

申请号：EP22841966.9

申请日：2022-06-30

Applicant: NHK Spring Co., Ltd.

Inventor： SHIRAO Masato ,  SATO Marino ,  TOKUSHIGE Jun ,  KAMIYA Takafumi

IPC: B63C3/12 ,  B63H11/107 ,  B63H21/21 ,  B63H25/04 ,  B63H25/46

CPC classification number: B63H25/04 ,  B63H21/21 ,  B63H25/46 ,  B63C3/12 ,  B63H11/107

Abstract: Provided is a ship launching support system configured to support launching work of a ship of disengaging the ship from a trailer on which the ship is loaded,
the ship including an actuator having a function of generating propulsion power of the ship and a function of generating a moment on the ship, and a ship control device configured to actuate the actuator, during the launching work of the ship, the ship control device causing the actuator to generate backward propulsion power of the ship, and executing feedback control of a bow azimuth of the ship on the basis of a deviation between an actual bow azimuth that is a bow azimuth of the ship in actuality and a target bow azimuth.

公开(公告)号：EP4361021A1

公开(公告)日：2024-05-01

申请号：EP22828154.9

申请日：2022-05-30

Applicant: NHK Spring Co., Ltd.

Inventor： KAMIYA Takafumi ,  SATO Marino ,  TOKUSHIGE Jun ,  SHIRAO Masato

IPC: B63H25/02 ,  B63H21/21 ,  B63H25/42 ,  B63H25/46 ,  B63H25/48

CPC classification number: B63H25/48 ,  B63H21/21 ,  B63H25/46 ,  B63H25/02 ,  B63H25/42

Abstract: A ship control system that includes a ship and an input device, in which the ship includes an actuator having a function of generating thrust for the ship and a function of generating a moment in the ship, a first operation unit configured to receive an input operation from a ship operator, and a ship control device configured to activate the actuator, the input device includes a second operation unit configured to receive an input operation from the ship operator, the ship control device includes a first operation mode and a second operation mode, a moment is generated in the ship on the basis of the input operation received by the first operation unit in the first operation mode, the actuator is activated on the basis of the input operation received by the second operation unit in the second operation mode, and the ship control device executes bow direction feedback control of the ship on the basis of a deviation between a target bow direction and an actual bow direction of the ship in the second operation mode.

公开(公告)号：EP4410664A1

公开(公告)日：2024-08-07

申请号：EP22875837.1

申请日：2022-09-14

Applicant: NHK Spring Co., Ltd.

Inventor： SHIRAO Masato ,  KAMIYA Takafumi ,  TOKUSHIGE Jun ,  SATO Marino

IPC: B63H25/50 ,  B63H21/21 ,  B63H25/42 ,  G05D3/00

CPC classification number: B63H21/21 ,  B63H25/42 ,  B63H25/50 ,  G05D3/00

Abstract: A watercraft maneuvering system includes an actuator having a function of generating a propulsion force of a watercraft and a function of causing the watercraft to generate a moment, an operation unit configured to receive an input operation of a watercraft operator, and a watercraft control device configured to operate the actuator. When the operation unit has received an input operation for stopping an operation of the actuator while the watercraft control device is operating the actuator, the watercraft control device operates the actuator without any need for the operation unit to receive the input operation for at least one function of the actuator generating the propulsion force in an opposite direction to a direction of an inertial force occurring in the watercraft and causing the watercraft to generate the moment in an opposite direction to a direction of a moment of inertia occurring in the watercraft.

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

IPC: G05B11/36 ,  G05B13/02 ,  B63B79/40 ,  B63H25/04 ,  B63H25/30

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.