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公开(公告)号：US20240228007A9
公开(公告)日：2024-07-11
申请号：US18397493
申请日：2023-12-27
申请人： NHK SPRING Co., Ltd.
发明人： Masato SHIRAO , Takafumi KAMIYA , Jun TOKUSHIGE , Marino SATO
CPC分类号： B63H25/46 , B63H21/21 , B63H2021/216 , B63H2025/465
摘要： 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-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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公开(公告)号：US20220306263A1
公开(公告)日：2022-09-29
申请号：US17616316
申请日：2020-06-05
申请人： NHK SPRING Co., Ltd.
发明人： Masato SHIRAO , Marino AKITA , Takafumi OSHIMA
摘要： 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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公开(公告)号：US20220081085A1
公开(公告)日：2022-03-17
申请号：US17422658
申请日：2020-02-14
申请人： NHK SPRING Co., Ltd.
发明人： Masato SHIRAO , Marino AKITA , Takafumi OSHIMA
摘要： A control device for an outboard motor controls a plurality of outboard motors included in a ship. Each outboard motor includes a propulsion unit and a steering actuator. The ship includes an operation unit that operates the steering actuator and the propulsion unit. The operation unit can be positioned at a first position at which the outboard motors do not generate a propulsion force for the ship, a second position at which the outboard motors generate a propulsion force for moving the ship in a leftward-rightward direction, and a third position at which the outboard motors generate a propulsion force for moving the ship in an oblique direction that forms an acute angle with the leftward-rightward direction. A forward-backward direction component of a propulsion force in the oblique direction which is generated by the outboard motors in a case in which the operation unit is moved from the first position to the third position via the second position is larger than that in a case in which the operation unit is moved directly from the first position to the third position, or a leftward-rightward direction component of a propulsion force in the oblique direction which is generated by the outboard motors in the former case is smaller than that in the latter case.
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4.发明公开公开(公告)号：US20240166324A1
公开(公告)日：2024-05-23
申请号：US18391046
申请日：2023-12-20
申请人： NHK SPRING Co., Ltd.
发明人： Takafumi KAMIYA , Marino SATO , Jun TOKUSHIGE , Masato SHIRAO
CPC分类号： B63H21/21 , B63H25/42 , B63H2025/026
摘要： 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：US20240132196A1
公开(公告)日：2024-04-25
申请号：US18397493
申请日：2023-12-27
申请人： NHK SPRING Co., Ltd.
发明人： Masato SHIRAO , Takafumi KAMIYA , Jun TOKUSHIGE , Marino SATO
CPC分类号： B63H25/46 , B63H21/21 , B63H2021/216 , B63H2025/465
摘要： 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-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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公开(公告)号：US20230303233A1
公开(公告)日：2023-09-28
申请号：US18325482
申请日：2023-05-30
申请人： NHK SPRING Co., Ltd.
发明人： Masato SHIRAO , Marino AKITA , Takafumi KAMIYA
CPC分类号： B63H25/04 , G05D1/0206 , B63H25/38 , B63H2025/045
摘要： A marine vessel includes: an actuator having a rudder; a heading detection unit; 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 a 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 at least a 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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7.发明公开公开(公告)号：US20240227993A1
公开(公告)日：2024-07-11
申请号：US18618381
申请日：2024-03-27
申请人： NHK SPRING Co., Ltd.
发明人： Masato SHIRAO , Takafumi KAMIYA , Jun TOKUSHIGE , Marino SATO
CPC分类号： B63B49/00 , B63B79/40 , B63C9/0005 , B63H21/21 , B63H2021/216
摘要： 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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8.发明公开公开(公告)号：US20240140581A1
公开(公告)日：2024-05-02
申请号：US18409032
申请日：2024-01-10
申请人： NHK SPRING Co., Ltd.
发明人： Masato SHIRAO , Marino SATO , Jun TOKUSHIGE , Takafumi KAMIYA
IPC分类号： B63H25/42
CPC分类号： B63H25/42
摘要： 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.
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公开(公告)号：US20230211859A1
公开(公告)日：2023-07-06
申请号：US18008845
申请日：2021-06-08
申请人： NHK SPRING Co., Ltd.
发明人： Masato SHIRAO , Marino AKITA , Takafumi OSHIMA
CPC分类号： B63C9/0011 , B63C9/20 , B63H21/21 , B63H25/04
摘要： 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：US20220396345A1
公开(公告)日：2022-12-15
申请号：US17832807
申请日：2022-06-06
摘要： An automatic watercraft maneuvering system includes a watercraft and a communication device.
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