公开(公告)号：US08170734B2

公开(公告)日：2012-05-01

申请号：US12493365

申请日：2009-06-29

申请人： Hirotaka Kaji

发明人： Hirotaka Kaji

IPC分类号： B60L3/00

CPC分类号： B63H21/265 ,  B63H25/02 ,  B63H2025/026

摘要： A marine vessel maneuvering supporting apparatus is used in a marine vessel which includes a propulsion system and a steering mechanism. The marine vessel maneuvering supporting apparatus includes an operational unit, operated by an operator, arranged to control movement and turning of a marine vessel, a target value computing unit having a plurality of computing modes and arranged to compute target values including a target propulsive force for the propulsion system and a target steering angle for the steering mechanism in accordance with an operational input from the operational unit, and a switching unit arranged to switch the computing modes of the target value computing unit.

摘要翻译： 船舶操纵支援装置​​用于包括推进系统和转向机构的船舶。 船舶操纵支援装置​​包括由操作者操作的操作单元，其被设置成控制船舶的运动和转动;目标值计算单元，具有多个计算模式，并被布置成计算包括目标推进力的目标值， 推进系统和根据来自操作单元的操作输入的转向机构的目标转向角以及设置为切换目标值计算单元的计算模式的切换单元。

公开(公告)号：US08150569B2

公开(公告)日：2012-04-03

申请号：US12128733

申请日：2008-05-29

申请人： Hirotaka Kaji

发明人： Hirotaka Kaji

IPC分类号： B60L3/00 ,  B60L15/00

CPC分类号： B63H20/12 ,  G05D1/0206

摘要： A marine vessel running controlling apparatus is applicable to a marine vessel which includes a propulsive force generating unit arranged to generate a propulsive force to be applied to a hull of the marine vessel, and a steering unit arranged to turn the hull. The marine vessel running controlling apparatus includes an operational unit to be operated by an operator of the marine vessel to control a steering angle of the steering unit, and a control unit arranged to update control information related to the steering angle of the steering unit with respect to an operation amount of the operational unit based on data acquired during travel of the marine vessel.

摘要翻译： 海洋船舶运行控制装置适用于包括推进力产生单元的船舶，该推进力产生单元被布置成产生施加到船体的船体的推进力，以及转向所述船体的转向单元。 船舶运行控制装置包括由船舶操作者操作以控制转向单元的转向角的操作单元，以及控制单元，其被配置为更新与转向单​​元的转向角相关的控制信息， 基于在船舶行驶期间获取的数据来操作操作单元的操作量。

公开(公告)号：US20100138083A1

公开(公告)日：2010-06-03

申请号：US12493365

申请日：2009-06-29

申请人： Hirotaka KAJI

发明人： Hirotaka KAJI

IPC分类号： G05D1/02 ,  B63H21/21

CPC分类号： B63H21/265 ,  B63H25/02 ,  B63H2025/026

摘要： A marine vessel maneuvering supporting apparatus is used in a marine vessel which includes a propulsion system and a steering mechanism. The marine vessel maneuvering supporting apparatus includes an operational unit, operated by an operator, arranged to control movement and turning of a marine vessel, a target value computing unit having a plurality of computing modes and arranged to compute target values including a target propulsive force for the propulsion system and a target steering angle for the steering mechanism in accordance with an operational input from the operational unit, and a switching unit arranged to switch the computing modes of the target value computing unit.

摘要翻译： 船舶操纵支援装置​​用于包括推进系统和转向机构的船舶。 船舶操纵支援装置​​包括由操作者操作的操作单元，其被设置成控制船舶的运动和转动;目标值计算单元，具有多个计算模式，并被布置成计算包括目标推进力的目标值， 推进系统和根据来自操作单元的操作输入的转向机构的目标转向角以及设置为切换目标值计算单元的计算模式的切换单元。

公开(公告)号：US07389165B2

公开(公告)日：2008-06-17

申请号：US10809680

申请日：2004-03-26

申请人： Hirotaka Kaji

发明人： Hirotaka Kaji

IPC分类号： G06F17/00 ,  G05D1/02

CPC分类号： B63H21/21 ,  B63H20/08 ,  B63H21/22 ,  B63J2099/008 ,  G05D1/0875 ,  Y02T70/742

摘要： An attitude angle control apparatus, an attitude angle control method, and an attitude angle control apparatus control program select an optimum attitude angle in a short period of time without being affected by disturbances at sea by measuring attitude angles and specific fuel consumption during navigation for any combination of a hull and propeller, create a statistical model based on the measured data, and select an optimum attitude angle on the statistical model. A marine vessel navigation control apparatus includes a constant-speed navigation controller and a trim angle controller. The trim angle controller includes an evaluated-value calculation module which calculates evaluated values of the trim angle, a storage medium, a statistical model creation module which creates statistical models using the evaluated values stored in the storage medium as an explained variable, and predetermined information including the trim angle as an explanatory variable, and a target trim angle calculation module which calculates a target trim angle based on the statistical model.

摘要翻译： 姿态角控制装置，姿态角控制方法和姿态角控制装置控制程序通过在导航期间测量姿态角度和特定燃料消耗量来选择在短时间内的最佳姿态角度而不受海洋干扰的影响 组合船体和螺旋桨，根据测量数据创建统计模型，并对统计模型选择最佳姿态角。 船舶导航控制装置包括恒速导航控制器和调整角度控制器。 调整角度控制器包括评估值计算模块，其计算修剪角度的估计值，存储介质，使用存储在存储介质中的评估值作为说明变量创建统计模型的统计模型创建模块以及预定信息 包括修剪角度作为解释变量，以及目标修剪角度计算模块，其基于所述统计模型来计算目标调整角度。

公开(公告)号：US06997763B2

公开(公告)日：2006-02-14

申请号：US10273776

申请日：2002-10-17

申请人： Hirotaka Kaji

发明人： Hirotaka Kaji

IPC分类号： B63H21/21

CPC分类号： B63H20/10 ,  F02B61/045 ,  Y02T10/42

摘要： A running control device for a watercraft controls propulsion force and tilt angle of a propulsion device relative to the hull of the watercraft. The running control device also sets an optimum trim angle automatically. The running control device includes a propulsion force control section that controls the propulsion force of the propulsion device. The running control device also includes a tilt angle control section that controls the tilt angle of the propulsion device. A target propulsion force calculation module responds to first input information (e.g., watercraft velocity) to calculate a target propulsion force. An amount-of-operation calculation module responds to second input information to calculate an amount of operation of the propulsion device to produce the target propulsion force. The tilt angle control section includes a tilt angle calculation module that determines the tilt angle based on the propulsion force.

公开(公告)号：US20050092225A1

公开(公告)日：2005-05-05

申请号：US10969640

申请日：2004-10-20

申请人： Hirotaka Kaji ,  Masaru Suemori

发明人： Hirotaka Kaji ,  Masaru Suemori

IPC分类号： B63H25/04 ,  B63H25/42 ,  B63H25/00

CPC分类号： B63H25/04 ,  B63H25/42

摘要： A marine vessel running controlling apparatus controls running of a marine vessel and includes a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces with respect to the hull. The apparatus includes a target combined propulsive force acquiring section, a target movement angle acquiring section, a steering controlling section which controls the steering angles of the respective steering mechanisms such that a turning angular speed of the hull is substantially equal to a predetermined target angular speed, a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force, the target movement angle and the steering angles of the respective steering mechanisms, and a propulsive force controlling section which controls the respective propulsion systems so as to attain the target propulsive forces.

摘要翻译： 一种船舶运行控制装置控制船舶的行驶，并且包括一对在船体的后端口侧和后右舷侧分别产生推进力的推进系统和分别改变定义的转向角的一对转向机构 通过推进力相对于船体的方向。 该装置包括目标组合推进力获取部分，目标移动角度获取部分，转向控制部分，其控制各个转向机构的转向角度，使得船体的转动角速度基本上等于预定的目标角速度 目标推进力计算部，其基于目标组合推进力，各个转向机构的目标移动角度和转向角度计算从各推进系统产生的目标推进力;以及推进力控制部，其控制 各自的推进系统以达到目标推进力。

公开(公告)号：US20120218093A1

公开(公告)日：2012-08-30

申请号：US13504373

申请日：2010-03-23

申请人： Shintaro Yoshizawa ,  Hirotaka Kaji

发明人： Shintaro Yoshizawa ,  Hirotaka Kaji

IPC分类号： B60Q1/00

CPC分类号： G08G1/163 ,  B60R1/00 ,  B60R21/0134 ,  B60R2300/302 ,  B60R2300/307 ,  B60W30/08 ,  B60W30/095 ,  B60W40/04 ,  B60W50/16 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2520/10 ,  B60W2540/20 ,  B60W2550/10 ,  B60W2550/14 ,  B60W2550/141 ,  B60W2550/142 ,  B60W2550/146 ,  B60W2550/22 ,  B60W2550/406 ,  B60W2550/408 ,  B60Y2300/18158 ,  G08G1/166

摘要： An ECU of a driving support device predicts the risk of contact between a host vehicle and obstacles around the host vehicle when the host vehicle travels by a driving action related to at least one normative action candidate, which is a normative driving action candidate of the host vehicle for the surrounding conditions of the host vehicle. Therefore, it is possible to provide the normative action candidates considering the risk of contact between the host vehicle 400-and the obstacles around the host vehicle.

摘要翻译： 驾驶辅助装置的ECU预测当主车辆通过与作为主机的规范驾驶动作候选的至少一个规范动作候选者相关的驾驶动作而行驶时，主车辆与主车辆之间的障碍物之间的接触的风险 适用于本车辆周围环境的车辆。 因此，考虑到主车辆400与主车辆之间的障碍物的接触风险，可以提供规范动作候选者。

公开(公告)号：US07736204B2

公开(公告)日：2010-06-15

申请号：US12128704

申请日：2008-05-29

申请人： Hirotaka Kaji

发明人： Hirotaka Kaji

IPC分类号： B63H21/22

CPC分类号： B63H21/213

摘要： A marine vessel running controlling apparatus is applicable to a marine vessel which includes a propulsive force generating unit having an engine with an electric throttle as a drive source for generating a propulsive force to propel a hull of the marine vessel. The marine vessel running controlling apparatus includes an operational unit to be operated by an operator of the marine vessel for controlling the propulsive force, and a control unit arranged to acquire a normal data sample by eliminating an abnormal data sample from actual data acquired during travel of the marine vessel and update control information related to an opening degree of the electric throttle with respect to an operation amount of the operational unit based on the normal data sample.

摘要翻译： 船舶运行控制装置适用于包括具有电动节气门的发动机作为驱动源的发动机的推进力产生单元的海运船舶，该驱动源用于产生用于推进船舶的船体的推进力。 船舶运行控制装置包括由用于控制推进力的船舶操作员操作的操作单元，以及控制单元，其被配置为通过从在行驶期间获取的实际数据中消除异常数据样本来获取正常数据样本 相对于基于正常数据样本的操作单元的操作量，关于电动油门开度的船舶和更新控制信息。

公开(公告)号：US20100145558A1

公开(公告)日：2010-06-10

申请号：US12493368

申请日：2009-06-29

申请人： Hirotaka KAJI

发明人： Hirotaka KAJI

IPC分类号： G05D1/02 ,  B63H21/21

CPC分类号： B63H25/02 ,  B63H5/08 ,  B63H20/00 ,  B63H21/213 ,  B63H25/42 ,  B63H25/46 ,  B63H2020/003 ,  B63H2025/026 ,  B63J2099/006 ,  G05D1/0206

摘要： A marine vessel maneuvering supporting apparatus is used in a marine vessel which includes a propulsion system and a steering mechanism. The marine vessel maneuvering supporting apparatus includes a first operational unit arranged select a forward drive position for forward drive of the propulsion system, a reverse drive position for reverse drive of the propulsion system, and a neutral position for an inactive state of the propulsion system, a second operational unit arranged to command rightward and leftward movement of the marine vessel, and a target value computing unit arranged to determine target values including a target propulsive force for the propulsion system and a target steering angle for the steering mechanism, such that the marine vessel undergoes parallel movement in a direction that is in accordance with an operation position of the first operational unit when rightward or leftward movement is commanded by the second operational unit.

摘要翻译： 船舶操纵支援装置​​用于包括推进系统和转向机构的船舶。 船舶操纵支援装置​​包括：第一操作单元，其选择用于推进系统的前进驱动的前进驱动位置，推进系统的反向驱动的反向驱动位置和推进系统的非活动状态的中立位置， 第二操作单元，其布置成指示船舶的向右和向左运动;以及目标值计算单元，其被布置成确定包括用于推进系统的目标推进力和用于转向机构的目标转向角的目标值，使得海洋 当由第二操作单元命令向右或向左移动时，容器在与第一操作单元的操作位置相对应的方向上进行平行移动。

公开(公告)号：US07702431B2

公开(公告)日：2010-04-20

申请号：US11613321

申请日：2006-12-20

申请人： Hirotaka Kaji

发明人： Hirotaka Kaji

IPC分类号： B63H25/04 ,  B62D6/00 ,  G06F19/00

CPC分类号： B63H20/10 ,  B63B39/061 ,  B63H20/12 ,  B63H25/02 ,  B63H2020/003

摘要： A marine vessel running controlling apparatus includes a steering angle acquiring unit which acquires the steering angle of a steering mechanism provided in a marine vessel, and a control unit which controls a lift force difference generating unit for generating a lift force difference between a port side and a starboard side of the marine vessel according to the steering angle acquired by the steering angle acquiring unit. The control unit may control the lift force difference generating unit to increase the heel angle of the marine vessel in a direction defined by the steering angle, if the steering angle falls outside a neutral range.

摘要翻译： 船舶运行控制装置包括：转向角获取单元，其获取设置在船舶中的转向机构的转向角;以及控制单元，其控制升力差产生单元，用于产生端口侧和 根据由转向角获取单元获取的转向角度的船只的右舷侧。 如果转向角落在中立范围之外，则控制单元可以控制提升力差产生单元，以在由转向角限定的方向上增加海洋船舶的脚后跟角度。