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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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2.发明公开
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
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.
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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
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.
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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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Patent Agency Ranking
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
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.
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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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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
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.
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10.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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