JP6336162B2 - 改良した船舶操縦方法およびシステム - Google Patents
改良した船舶操縦方法およびシステム Download PDFInfo
- Publication number
- JP6336162B2 JP6336162B2 JP2017036671A JP2017036671A JP6336162B2 JP 6336162 B2 JP6336162 B2 JP 6336162B2 JP 2017036671 A JP2017036671 A JP 2017036671A JP 2017036671 A JP2017036671 A JP 2017036671A JP 6336162 B2 JP6336162 B2 JP 6336162B2
- Authority
- JP
- Japan
- Prior art keywords
- waypoint
- heading
- ship
- navigation device
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 42
- 241000251468 Actinopterygii Species 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 13
- 230000004044 response Effects 0.000 claims description 6
- 238000010924 continuous production Methods 0.000 claims 1
- 230000006870 function Effects 0.000 description 12
- 238000012545 processing Methods 0.000 description 12
- 230000015654 memory Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000014759 maintenance of location Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B34/00—Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
- B63B34/05—Vessels specially adapted for hunting or fishing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- 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
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
- B63B2213/02—Navigational aids and use thereof, not otherwise provided for in this class using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
-
- 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
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
- B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Description
本願は、2016年3月1日に出願された米国仮特許出願第62/301,887号の利益を主張し、これは参照により組み込まれる。
Claims (18)
- 推進システムにより駆動される船舶を操縦するための方法であって、
電子航行デバイスへの複数の入力を受け取る段階と、
前記複数の入力に基づいて、連続する複数のウェイポイントを含み、前記連続する複数のウェイポイントにおける各ウェイポイントが各船首方位に関連付けられる所望の航路を生成する段階と、
各ウェイポイントおよびその関連付けられた船首方位に対応する位置・方向情報を制御モジュールに送信する段階とを備え、
前記位置・方向情報に基づいて、前記制御モジュールは、連続する現在のウェイポイントおよび船首方位から連続する次のウェイポイントおよび船首方位へと前記船舶を操縦するべく必要とされる複数の操舵・スラストコマンドを生成し、
前記複数の操舵・スラストコマンドに応じて、前記推進システムは、その後に、前記所望の航路に沿って連続する各ウェイポイントおよびその関連付けられた船首方位へと前記船舶を推進し、
前記制御モジュールは、比例積分偏差制御アルゴリズムを使用して、現在のウェイポイントと次のウェイポイントとの間の位置エラーをゼロにし、現在の船首方位と次の船首方位との間の船首方位エラーをゼロにするための操舵・スラストコマンドを決定し、前記操舵・スラストコマンドに従って、前記推進システムに指示する、
方法。 - 前記推進システムが前記所望の航路に沿って前記船舶を推進する速度を制御する段階を更に備える、請求項1に記載の方法。
- 予め定められた時間間隔で、連続する各ウェイポイントおよびその関連付けられた船首方位に対応する前記位置・方向情報を送信する段階を更に備える、請求項1又は2に記載の方法。
- 前記現在のウェイポイントおよび前記船首方位に到達した後にのみ、前記次のウェイポイントおよび前記船首方位に関する前記位置・方向情報を送信する段階を更に備える、請求項1又は2に記載の方法。
- 前記現在のウェイポイントおよび前記船首方位の所与の距離内に入った後にのみ、前記次のウェイポイントおよび前記船首方位に関する前記位置・方向情報を送信する段階を更に備える、請求項1又は2に記載の方法。
- 前記複数の入力は、航行地図上の所望のルートに関する複数のユーザ入力である、請求項1〜5のいずれか1項に記載の方法。
- 前記複数の入力は、水生生物の位置に関する複数のトランスデューサ入力である、請求項1〜5のいずれか1項に記載の方法。
- 予め定められた期間、前記連続する複数のウェイポイントにおける所与のウェイポイントおよび前記所与のウェイポイントに関連付けられた前記船首方位に前記船舶を保持する段階を更に備える、請求項1〜7のいずれか1項に記載の方法。
- 前記次のウェイポイントに関連付けられた前記船首方位は、前記現在のウェイポイントと前記次のウェイポイントとの間の方位に等しくない、請求項1〜8のいずれか1項に記載の方法。
- 船舶のための航行システムであって、
電子航行デバイスと、
前記電子航行デバイスと信号を通信する制御モジュールと、
前記制御モジュールと信号を通信する船舶推進システムとを備え、
前記電子航行デバイスは、連続する複数のウェイポイントを含む所望の航路を生成し、前記連続する複数のウェイポイントにおける各ウェイポイントは、各船首方位に関連付けられ、
前記制御モジュールは、前記電子航行デバイスから各ウェイポイントおよびその関連付けられた船首方位に対応する位置・方向情報を受信し、
前記位置・方向情報に基づいて、前記制御モジュールは、前記所望の航路に沿って連続する各ウェイポイントおよびその関連付けられた船首方位へと前記船舶を推進するように、前記船舶推進システムに指示し、
前記制御モジュールは、比例積分偏差制御アルゴリズムを使用して、現在のウェイポイントと次のウェイポイントとの間の位置エラーをゼロにし、現在の船首方位と次の船首方位との間の船首方位エラーをゼロにするための操舵・スラストコマンドを決定し、前記操舵・スラストコマンドに従って、前記船舶推進システムに指示する、
航行システム。 - 前記電子航行デバイスは、ディスプレイ画面およびユーザ入力手段を有する、請求項10に記載の航行システム。
- 前記電子航行デバイスは、組み合わされた魚群探知機およびチャートプロッタである、請求項11に記載の航行システム。
- 前記電子航行デバイスは、前記ディスプレイ画面上に表示される航行地図上の所望のルートに基づいて前記所望の航路を生成する、請求項12に記載の航行システム。
- 前記電子航行デバイスの一部であるか、または前記電子航行デバイスと信号を通信する全地球測位システムレシーバを更に備える、請求項13に記載の航行システム。
- 前記電子航行デバイスは、水生生物の位置に基づいて前記所望の航路を生成する、請求項12に記載の航行システム。
- 前記水生生物を検出するためのトランスデューサアセンブリを更に備え、
前記トランスデューサアセンブリは、前記電子航行デバイスと信号を通信する、請求項15に記載の航行システム。 - 前記ユーザ入力手段は、前記船舶が前記所望の航路に沿って推進される速度に対するユーザ制御を可能にする、請求項11〜16のいずれか1項に記載の航行システム。
- 前記ユーザ入力手段は、(a)前記連続する複数のウェイポイントにおける所与のウェイポイントへと前記船舶を推進しつつ、同時に、前記所与のウェイポイントに関連付けられた前記船首方位へと前記船舶を回転させること、または(b)前記所与のウェイポイントに関連付けられた前記船首方位へと前記船舶を回転させた後に、前記所与のウェイポイントへと前記船舶を推進することのユーザ選択を可能にする、請求項11〜17のいずれか1項に記載の航行システム。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662301887P | 2016-03-01 | 2016-03-01 | |
US62/301,887 | 2016-03-01 | ||
US15/416,318 | 2017-01-26 | ||
US15/416,318 US9952595B2 (en) | 2016-03-01 | 2017-01-26 | Vessel maneuvering methods and systems |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017154734A JP2017154734A (ja) | 2017-09-07 |
JP6336162B2 true JP6336162B2 (ja) | 2018-06-06 |
Family
ID=58162418
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017036671A Active JP6336162B2 (ja) | 2016-03-01 | 2017-02-28 | 改良した船舶操縦方法およびシステム |
Country Status (3)
Country | Link |
---|---|
US (1) | US9952595B2 (ja) |
EP (1) | EP3214522B9 (ja) |
JP (1) | JP6336162B2 (ja) |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8082100B2 (en) * | 2007-10-19 | 2011-12-20 | Grace Ted V | Watercraft automation and aquatic effort data utilization |
US10198005B2 (en) | 2016-03-01 | 2019-02-05 | Brunswick Corporation | Station keeping and waypoint tracking methods |
US10640190B1 (en) | 2016-03-01 | 2020-05-05 | Brunswick Corporation | System and method for controlling course of a marine vessel |
US10322787B2 (en) * | 2016-03-01 | 2019-06-18 | Brunswick Corporation | Marine vessel station keeping systems and methods |
US9952595B2 (en) | 2016-03-01 | 2018-04-24 | Brunswick Corporation | Vessel maneuvering methods and systems |
US10259555B2 (en) | 2016-08-25 | 2019-04-16 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
EP3551966B1 (en) * | 2016-12-06 | 2021-03-03 | Nissan North America, Inc. | Solution path overlay interfaces for autonomous vehicles |
US10671073B2 (en) * | 2017-02-15 | 2020-06-02 | Brunswick Corporation | Station keeping system and method |
US10324468B2 (en) | 2017-11-20 | 2019-06-18 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
US10429845B2 (en) | 2017-11-20 | 2019-10-01 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
US10520577B2 (en) | 2017-11-29 | 2019-12-31 | Steel Shad Fishing Company LLC | Methods and devices for determining and saving location information |
US10739771B2 (en) * | 2017-12-11 | 2020-08-11 | Garmin Switzerland Gmbh | Multiple motor control system for navigating a marine vessel |
FR3075974B1 (fr) * | 2017-12-22 | 2019-12-27 | Ixblue | Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en œuvre par un tel drone |
US10437248B1 (en) | 2018-01-10 | 2019-10-08 | Brunswick Corporation | Sun adjusted station keeping methods and systems |
JP2019196103A (ja) * | 2018-05-10 | 2019-11-14 | 古野電気株式会社 | 自動操舵装置、自動操舵方法および自動操舵プログラム |
US10845812B2 (en) | 2018-05-22 | 2020-11-24 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
NO344522B1 (en) * | 2018-06-05 | 2020-01-20 | Remoey Sea Group As | Dynamic trawl steering system |
US10633072B1 (en) | 2018-07-05 | 2020-04-28 | Brunswick Corporation | Methods for positioning marine vessels |
US11530022B1 (en) | 2018-07-10 | 2022-12-20 | Brunswick Corporation | Method for controlling heading of a marine vessel |
US11181915B2 (en) * | 2018-08-31 | 2021-11-23 | Abb Schweiz Ag | Apparatus and method for maneuvering marine vessel |
JP7044018B2 (ja) | 2018-09-07 | 2022-03-30 | トヨタ自動車株式会社 | 着岸制御装置、船舶、着岸制御方法および着岸制御プログラム |
WO2020111044A1 (ja) * | 2018-11-27 | 2020-06-04 | ヤンマー株式会社 | 制御目標生成装置及び操船制御装置 |
JP7324995B2 (ja) * | 2019-01-18 | 2023-08-14 | 日本発條株式会社 | 船外機用制御装置、船外機用制御方法およびプログラム |
EP3696078B1 (en) * | 2019-02-18 | 2022-10-12 | Xocean Limited | A method and system for piloting an unmanned surface vessel |
TWI714040B (zh) | 2019-03-27 | 2020-12-21 | 財團法人船舶暨海洋產業研發中心 | 船舶導航系統及其導航方法 |
US11858609B2 (en) | 2020-05-27 | 2024-01-02 | Garmin Switzerland Gmbh | Foot controller system for marine motor |
US11531341B2 (en) | 2020-06-12 | 2022-12-20 | Garmin Switzerland Gmbh | Marine autopilot system |
US11673633B1 (en) * | 2020-09-09 | 2023-06-13 | Brunswick Corporation | Marine propulsion system and control method |
CN113009915A (zh) * | 2021-05-08 | 2021-06-22 | 广州小鲇智能科技有限公司 | 一种无人船的控制方法和*** |
Family Cites Families (112)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3771483A (en) | 1969-12-18 | 1973-11-13 | Rca Corp | Apparatus and method for the automatic navigation of a sailing vessel |
US3688252A (en) | 1970-09-29 | 1972-08-29 | Donald O Thompson | Navigational recording and display aid |
US3715571A (en) | 1971-06-07 | 1973-02-06 | Sperry Rand Corp | Ship's turn rate control system |
US4253149A (en) | 1979-02-14 | 1981-02-24 | Metal Marine Pilot, Inc. | Apparatus for providing a course correction signal to an electronic automatic pilot to maintain a vessel on a predetermined geographic course |
US4428052A (en) | 1981-06-09 | 1984-01-24 | Texas Instruments Incorporated | Navigational aid autopilot |
US4513378A (en) | 1981-10-20 | 1985-04-23 | Antkowiak Edward T | High-accuracy navigating apparatus with step-driven projected chart |
US4939661A (en) | 1988-09-09 | 1990-07-03 | World Research Institute For Science And Technology | Apparatus for a video marine navigation plotter with electronic charting and methods for use therein |
EP0360524A3 (en) | 1988-09-19 | 1992-04-29 | Fuji-Royal Co., Ltd. | Plotter apparatus for a vessel |
US5375059A (en) | 1990-02-05 | 1994-12-20 | Caterpillar Inc. | Vehicle position determination system and method |
US5172324A (en) | 1990-06-14 | 1992-12-15 | Johnson Fishing Inc. | Electronic steering system |
US5202835A (en) | 1990-06-14 | 1993-04-13 | Johnson Fishing Inc. | Trolling motor with heading lock |
WO1992005505A1 (en) | 1990-09-26 | 1992-04-02 | Garmin International, Inc. | Course-to-steer navigation system |
US5331558A (en) | 1991-11-19 | 1994-07-19 | Raytheon Company | Autopilot having an adaptive deadband feature |
JPH05203638A (ja) | 1991-11-26 | 1993-08-10 | Mitsui Eng & Shipbuild Co Ltd | 水質測定用ロボット装置 |
US5362263A (en) | 1992-03-26 | 1994-11-08 | Petty Ralph E | Trolling autopilot |
US5386368A (en) | 1993-12-13 | 1995-01-31 | Johnson Fishing, Inc. | Apparatus for maintaining a boat in a fixed position |
JP2926533B2 (ja) | 1994-02-15 | 1999-07-28 | 三井造船株式会社 | 船舶の自動定点復帰制御方法 |
US5491636A (en) | 1994-04-19 | 1996-02-13 | Glen E. Robertson | Anchorless boat positioning employing global positioning system |
US5736962A (en) | 1996-02-28 | 1998-04-07 | Tendler Cellular, Inc. | Time since last fix annunciation system for GPS-based wireless rescue system |
US5884213A (en) | 1996-03-22 | 1999-03-16 | Johnson Worldwide Asociates, Inc. | System for controlling navigation of a fishing boat |
JPH11129978A (ja) | 1997-10-29 | 1999-05-18 | Mitsui Zosen Akishima Kenkyusho:Kk | 係留船舶の動揺抑制方法および装置 |
US6092007A (en) | 1998-04-29 | 2000-07-18 | Sikorsky Aircraft Corporation | Aircraft course correction for wind and fuzzy logic course intercept profile based upon accuracy and efficiency |
US6059226A (en) | 1998-04-29 | 2000-05-09 | Sikorsky Aircraft Corporation | Navigation of helicopter with limited polar groundspeed commands |
US6230642B1 (en) | 1999-08-19 | 2001-05-15 | The Talaria Company, Llc | Autopilot-based steering and maneuvering system for boats |
US6234853B1 (en) | 2000-02-11 | 2001-05-22 | Brunswick Corporation | Simplified docking method and apparatus for a multiple engine marine vessel |
US6273771B1 (en) | 2000-03-17 | 2001-08-14 | Brunswick Corporation | Control system for a marine vessel |
JP4736158B2 (ja) * | 2000-04-07 | 2011-07-27 | ユニバーサル造船株式会社 | 船舶の航路保持制御装置 |
US6446003B1 (en) | 2000-07-12 | 2002-09-03 | Trimble Navigation Limited | Method for determining drift with a digital compass |
US6377889B1 (en) | 2000-10-13 | 2002-04-23 | Trimble Navigation Limited | Non-linear method of guiding to arbitrary curves with adaptive feedback |
JP4633919B2 (ja) | 2000-12-08 | 2011-02-16 | 三菱重工業株式会社 | 二浮体相対位置保持装置 |
JP2002178990A (ja) * | 2000-12-14 | 2002-06-26 | Yokogawa Denshikiki Co Ltd | 自動航行装置 |
US6485341B1 (en) | 2001-04-06 | 2002-11-26 | Brunswick Corporation | Method for controlling the average speed of a vehicle |
JP2003276677A (ja) | 2002-03-27 | 2003-10-02 | Mitsui Eng & Shipbuild Co Ltd | 船舶の離着桟支援装置 |
US6678589B2 (en) | 2002-04-08 | 2004-01-13 | Glen E. Robertson | Boat positioning and anchoring system |
JP4301861B2 (ja) | 2002-05-20 | 2009-07-22 | 川崎重工業株式会社 | 移動体の操縦方法及び装置 |
US6848382B1 (en) | 2002-12-23 | 2005-02-01 | Joannes Raymond Mari Bekker | Portable dynamic positioning system with self-contained electric thrusters |
NO320692B1 (no) | 2002-12-30 | 2006-01-16 | Stiftelsen Det Norske Veritas | Fremgangsmate og system for testing av datamaskinbaserte styre- og overvakningssystemer i et fartoy via en kommunikasjonskanal |
US8138970B2 (en) | 2003-03-20 | 2012-03-20 | Hemisphere Gps Llc | GNSS-based tracking of fixed or slow-moving structures |
US6995527B2 (en) | 2003-05-15 | 2006-02-07 | Innovative Technologies Corporation | Point-n-click steering |
JP4213518B2 (ja) | 2003-05-27 | 2009-01-21 | 川崎重工業株式会社 | 移動体の制御方法及び制御装置 |
JP3840467B2 (ja) | 2003-07-31 | 2006-11-01 | ニチモウ株式会社 | オートトロールシステム |
US7268703B1 (en) | 2003-09-18 | 2007-09-11 | Garmin Ltd. | Methods, systems, and devices for cartographic alerts |
US7476134B1 (en) | 2003-10-29 | 2009-01-13 | Fell William P | Jet powered steering system for small boat outboard motors |
US20070017426A1 (en) | 2003-12-16 | 2007-01-25 | Hirotaka Kaji | Marine vessel maneuvering supporting apparatus, marine vessel including the marine vessel maneuvering supporting apparatus, and marine vessel maneuvering supporting method |
JP4261330B2 (ja) | 2003-12-16 | 2009-04-30 | 古野電気株式会社 | 自動操舵制御装置および自動操舵装置 |
JP4327617B2 (ja) | 2004-01-29 | 2009-09-09 | ヤマハ発動機株式会社 | 船舶推進装置のステアリング制御方法 |
JP4447371B2 (ja) | 2004-05-11 | 2010-04-07 | ヤマハ発動機株式会社 | 推進機制御装置、推進機制御装置制御プログラム、推進機制御装置制御方法及び航走制御装置 |
US20060089794A1 (en) | 2004-10-22 | 2006-04-27 | Depasqua Louis | Touch display fishing boat steering system and method |
JP4716214B2 (ja) | 2004-11-12 | 2011-07-06 | 株式会社三井造船昭島研究所 | 船舶の入出港離着桟支援方法およびシステム |
WO2006058232A1 (en) | 2004-11-24 | 2006-06-01 | Morvillo Robert A | System and method for controlling a waterjet driven vessel |
KR101154079B1 (ko) | 2005-02-16 | 2012-06-11 | 삼성전자주식회사 | 네비게이션 장치의 초기 위치 결정 방법 |
JP2006290196A (ja) | 2005-04-12 | 2006-10-26 | Honda Motor Co Ltd | 船外機の制御装置 |
US7630798B2 (en) | 2005-08-05 | 2009-12-08 | The Boeing Company | Heading reference command and control algorithm systems and methods for aircraft turn-to-target maneuvers |
AU2006292895B2 (en) | 2005-09-22 | 2012-05-24 | Cwf Hamilton & Co Limited | Steering system for a marine vessel |
US7267068B2 (en) | 2005-10-12 | 2007-09-11 | Brunswick Corporation | Method for maneuvering a marine vessel in response to a manually operable control device |
US7305928B2 (en) | 2005-10-12 | 2007-12-11 | Brunswick Corporation | Method for positioning a marine vessel |
US7561886B1 (en) | 2006-01-06 | 2009-07-14 | Brunswick Corporation | Method for determining the position of a marine vessel relative to a fixed location |
US20070203623A1 (en) | 2006-02-28 | 2007-08-30 | J3S, Inc. | Autonomous water-borne vehicle |
GB2435692B (en) | 2006-03-01 | 2010-10-06 | Alstom Power Conversion Ltd | Dynamic positioning of marine vessels |
CA2654305C (en) | 2006-06-02 | 2014-03-25 | Cwf Hamilton & Co Limited | Improvements relating to control of marine vessels |
US7398742B1 (en) | 2006-06-07 | 2008-07-15 | Brunswick Corporation | Method for assisting a steering system with the use of differential thrusts |
US8195381B2 (en) | 2006-11-30 | 2012-06-05 | Ab Volvo Penta | Safety system for marine vessels |
US7538511B2 (en) | 2007-01-17 | 2009-05-26 | Johnson Outdoors Inc. | Modular trolling motor control system |
US7467595B1 (en) | 2007-01-17 | 2008-12-23 | Brunswick Corporation | Joystick method for maneuvering a marine vessel with two or more sterndrive units |
JP5139151B2 (ja) | 2007-05-30 | 2013-02-06 | ヤマハ発動機株式会社 | 航走制御装置およびそれを備えた船舶 |
US20090037040A1 (en) | 2007-08-03 | 2009-02-05 | Johnson Outdoors, Inc. | Bidirectional wireless controls for marine devices |
US8082100B2 (en) | 2007-10-19 | 2011-12-20 | Grace Ted V | Watercraft automation and aquatic effort data utilization |
US7727036B1 (en) | 2007-12-27 | 2010-06-01 | Brunswick Corporation | System and method for controlling movement of a marine vessel |
JP5226355B2 (ja) | 2008-03-31 | 2013-07-03 | 三井造船株式会社 | 1軸1舵バウスラスタ船の定点保持システムおよび定点保持方法 |
JP5042906B2 (ja) | 2008-04-10 | 2012-10-03 | 東京計器株式会社 | 船舶用自動操舵装置 |
ES2362122T3 (es) | 2008-09-05 | 2011-06-28 | Converteam Technology Ltd | Arquitectura de posicionamiento dinámico. |
US8155811B2 (en) | 2008-12-29 | 2012-04-10 | General Electric Company | System and method for optimizing a path for a marine vessel through a waterway |
US8050630B1 (en) | 2009-04-28 | 2011-11-01 | Brunswick Corporation | Method for monitoring the operation of a global position system receiver |
DE102009022652A1 (de) | 2009-05-26 | 2010-12-09 | Philipp Gläser | Assistenzsystem für die Steuerung eines Schiffes |
US8215252B1 (en) | 2009-07-14 | 2012-07-10 | Lockheed Martin Corporation | System and method for dynamic stabilization and navigation in high sea states |
US8478464B2 (en) * | 2009-12-23 | 2013-07-02 | Brunswick Corporation | Systems and methods for orienting a marine vessel to enhance available thrust |
US8417399B2 (en) | 2009-12-23 | 2013-04-09 | Brunswick Corporation | Systems and methods for orienting a marine vessel to minimize pitch or roll |
US8761976B2 (en) | 2010-07-16 | 2014-06-24 | Johnson Outdoors Inc. | System and method for controlling a trolling motor |
US8645012B2 (en) | 2010-08-20 | 2014-02-04 | Johnson Outdoors Inc. | System and method for automatically navigating a depth contour |
US9778657B2 (en) | 2010-11-19 | 2017-10-03 | Bradley Tyers | Automatic location placement system |
US20130080044A1 (en) | 2010-11-19 | 2013-03-28 | Maxwell Tyers | Automatic Docking System |
US8622778B2 (en) | 2010-11-19 | 2014-01-07 | Maxwell Tyers | Programmable automatic docking system |
US20120129410A1 (en) | 2010-11-19 | 2012-05-24 | Maxwell Tyers | Automatic docking system |
US8265812B2 (en) | 2010-11-24 | 2012-09-11 | William M Pease | System and method for a marine vessel autopilot |
US8777681B1 (en) | 2010-12-17 | 2014-07-15 | Brunswick Corporation | Systems and methods for maneuvering a marine vessel |
US8694248B1 (en) | 2011-02-08 | 2014-04-08 | Brunswick Corporation | Systems and methods of monitoring the accuracy of a global positioning system receiver in a marine vessel |
US8991751B2 (en) | 2011-03-24 | 2015-03-31 | Dzyne Technologies, Inc. | Long endurance vertical takeoff and landing aircraft |
US8807059B1 (en) | 2011-09-08 | 2014-08-19 | Brunswick Corporation | Marine vessels and systems for laterally maneuvering marine vessels |
GB201215481D0 (en) | 2012-08-30 | 2012-10-17 | Mojo Maritime Ltd | Apparatus and method |
US9110467B2 (en) | 2012-09-14 | 2015-08-18 | Caterpillar Inc. | Automatic control of a marine vessel during sport fishing mode |
WO2014168674A2 (en) | 2013-01-31 | 2014-10-16 | Flir Systems, Inc. | Stabilized directional control systems and methods |
US10747226B2 (en) | 2013-01-31 | 2020-08-18 | Flir Systems, Inc. | Adaptive autopilot control systems and methods |
US9223310B2 (en) | 2013-02-08 | 2015-12-29 | The Boeing Company | Ship course obstruction warning transport |
US9132903B1 (en) | 2013-02-13 | 2015-09-15 | Brunswick Corporation | Systems and methods for laterally maneuvering marine vessels |
US9248898B1 (en) | 2013-03-06 | 2016-02-02 | Brunswick Corporation | Systems and methods for controlling speed of a marine vessel |
US9039468B1 (en) | 2013-03-06 | 2015-05-26 | Brunswick Corporation | Systems and methods for controlling speed of a marine vessel |
US9359057B1 (en) | 2013-03-14 | 2016-06-07 | Brunswick Corporation | Systems and methods for controlling movement of drive units on a marine vessel |
US8924054B1 (en) | 2013-03-14 | 2014-12-30 | Brunswick Corporation | Systems and methods for positioning a marine vessel |
US9377780B1 (en) | 2013-03-14 | 2016-06-28 | Brunswick Corporation | Systems and methods for determining a heading value of a marine vessel |
JP2015066979A (ja) | 2013-09-26 | 2015-04-13 | ヤマハ発動機株式会社 | 船舶用表示システムおよびそれを備えた小型船舶 |
US10431099B2 (en) | 2014-02-21 | 2019-10-01 | FLIR Belgium BVBA | Collision avoidance systems and methods |
EP2952994A1 (en) | 2014-06-03 | 2015-12-09 | GE Energy Power Conversion Technology Ltd | System and method for dynamic positioning |
US10464653B2 (en) | 2014-07-16 | 2019-11-05 | Neil D. Anderson | Networked architecture for a control system for a steerable thrusting device |
JP6479399B2 (ja) | 2014-10-14 | 2019-03-06 | 古野電気株式会社 | 航行ルート生成装置、自動操舵システム及び航行ルート生成方法 |
EP3210878B1 (en) | 2014-10-23 | 2019-05-15 | Yanmar Co., Ltd. | Vessel steering apparatus |
JP6821437B2 (ja) | 2014-12-22 | 2021-01-27 | 古野電気株式会社 | 移動体制御装置、移動体制御方法、および移動体制御プログラム |
US10025312B2 (en) | 2015-02-20 | 2018-07-17 | Navico Holding As | Multiple autopilot interface |
US9594375B2 (en) | 2015-05-14 | 2017-03-14 | Navico Holding As | Heading control using multiple autopilots |
US10274959B2 (en) | 2016-01-14 | 2019-04-30 | Garmin Switzerland Gmbh | Autopilot features for marine navigation |
US9764807B2 (en) | 2016-01-21 | 2017-09-19 | Garmin Switzerland Gmbh | Marine vessel display system having automatic selection of mode of operation |
US9952595B2 (en) | 2016-03-01 | 2018-04-24 | Brunswick Corporation | Vessel maneuvering methods and systems |
US10037701B2 (en) | 2016-06-20 | 2018-07-31 | Navico Holding As | Watercraft navigation safety system |
-
2017
- 2017-01-26 US US15/416,318 patent/US9952595B2/en active Active
- 2017-02-21 EP EP17020061.2A patent/EP3214522B9/en active Active
- 2017-02-28 JP JP2017036671A patent/JP6336162B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
EP3214522B9 (en) | 2021-08-11 |
US9952595B2 (en) | 2018-04-24 |
EP3214522A1 (en) | 2017-09-06 |
US20170255200A1 (en) | 2017-09-07 |
JP2017154734A (ja) | 2017-09-07 |
EP3214522B1 (en) | 2021-04-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6336162B2 (ja) | 改良した船舶操縦方法およびシステム | |
US10795366B1 (en) | Vessel maneuvering methods and systems | |
US11260949B2 (en) | Marine vessel station keeping systems and methods | |
US10198005B2 (en) | Station keeping and waypoint tracking methods | |
US10429845B2 (en) | System and method for controlling a position of a marine vessel near an object | |
KR101409627B1 (ko) | 해양 선박의 제어와 관련된 개선 | |
US12017746B2 (en) | System and method for positioning a marine vessel | |
JP6659071B2 (ja) | 物体付近の船舶のポジションを制御するためのシステムおよび方法 | |
US10633072B1 (en) | Methods for positioning marine vessels | |
JP7288791B2 (ja) | 物体の付近での船舶の移動を制御するための方法 | |
EP3653488A1 (en) | Methods and systems for controlling propulsion of a marine vessel to enhance proximity sensing in a marine environment | |
JP2020083090A (ja) | 経路生成装置 | |
JPWO2020111044A1 (ja) | 制御目標生成装置及び操船制御装置 | |
US11531341B2 (en) | Marine autopilot system | |
US12013699B1 (en) | Boat maneuvering control method for boat and boat maneuvering control system for boat | |
US20240174331A1 (en) | Ship maneuvering device and ship | |
JP2022139743A (ja) | 経路生成装置、及び、船舶 | |
JP2020132095A (ja) | 遠隔操船装置及び遠隔操船システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20170627 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20170704 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170927 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20171107 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180123 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180403 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180501 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6336162 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |