Marine vessel maneuvering supporting apparatus, marine vessel including the marine vessel maneuvering supporting apparatus, and marine vessel maneuvering supporting method
First Claim
1. A marine vessel maneuvering supporting apparatus for performing a stationary marine vessel maneuvering support operation to support maneuvering of a marine vessel in a stationary state, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces gene rated by the respective propulsion systems with respect to the hull, the marine vessel maneuvering supporting apparatus comprising:
- a position detecting section which detects a position of the marine vessel;
a marine vessel maneuvering support starting command section which outputs a stationary marine vessel maneuvering support-starting command for starting the stationary marine vessel maneuvering support operation;
a marine vessel maneuvering support starting position storing section which stores a marine vessel maneuvering support starting position that is defined by a marine vessel position detected by the position detecting section in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;
a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;
a target propulsive force calculating section which calculates, in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section, target propulsive forces to be generated from the respective propulsion systems, based on a current marine vessel position detected by the position detecting section, such that at least one of x- and y-coordinates of the current marine vessel position defined with respect to an x-axis defined along a center line of the hull extending through a stem and a stern of the hull and a y-axis extending substantially perpendicularly relative to the center line is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and
a propulsive force controlling section which controls the propulsion systems to attain the target propulsive forces calculated by the target propulsive force calculating section.
1 Assignment
0 Petitions
Accused Products
Abstract
A marine vessel maneuvering supporting apparatus performs a stationary marine vessel maneuvering support operation, the marine vessel including 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. The apparatus includes a position detecting section which detects a position of the marine vessel, a marine vessel maneuvering support starting command section, a marine vessel maneuvering support starting position storing section, a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero in response to the marine vessel maneuvering support starting command, a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems, such that at least one of x- and y-coordinates of the current marine vessel position is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position, and a propulsive force controlling section which controls the propulsion systems to attain the target propulsive forces.
61 Citations
18 Claims
-
1. A marine vessel maneuvering supporting apparatus for performing a stationary marine vessel maneuvering support operation to support maneuvering of a marine vessel in a stationary state, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces gene rated by the respective propulsion systems with respect to the hull, the marine vessel maneuvering supporting apparatus comprising:
-
a position detecting section which detects a position of the marine vessel;
a marine vessel maneuvering support starting command section which outputs a stationary marine vessel maneuvering support-starting command for starting the stationary marine vessel maneuvering support operation;
a marine vessel maneuvering support starting position storing section which stores a marine vessel maneuvering support starting position that is defined by a marine vessel position detected by the position detecting section in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;
a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;
a target propulsive force calculating section which calculates, in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section, target propulsive forces to be generated from the respective propulsion systems, based on a current marine vessel position detected by the position detecting section, such that at least one of x- and y-coordinates of the current marine vessel position defined with respect to an x-axis defined along a center line of the hull extending through a stem and a stern of the hull and a y-axis extending substantially perpendicularly relative to the center line is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and
a propulsive force controlling section which controls the propulsion systems to attain the target propulsive forces calculated by the target propulsive force calculating section. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A marine vessel maneuvering supporting apparatus for performing a moorage marine vessel maneuvering support operation to support maneuvering of a marine vessel for moorage of the marine vessel, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the marine vessel maneuvering supporting apparatus comprising:
-
a proximity state detecting section which detects a proximity state of the marine vessel; and
a proximity state maintaining controlling section which controls the steering mechanisms and the propulsion systems so as to maintain the marine vessel in the proximity state when the proximity state detecting section detects the proximity state. - View Dependent Claims (8, 9)
-
-
10. A marine vessel comprising:
-
a hull;
a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of the hull;
a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull; and
a marine vessel maneuvering supporting apparatus for performing a stationary marine vessel maneuvering support operation to support maneuvering of the marine vessel in a stationary state, wherein the marine vessel maneuvering supporting apparatus includes;
a position detecting section which detects a position of the marine vessel;
a marine vessel maneuvering support starting command section which outputs a stationary marine vessel maneuvering support starting command for starting the stationary marine vessel maneuvering support operation;
a marine vessel maneuvering support starting position storing section which stores a marine vessel maneuvering support starting position that is defined by a marine vessel position detected by the position detecting section in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;
a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;
a target propulsive force calculating section which calculates, in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section, target propulsive forces to be generated from the respective propulsion systems, based on a current marine vessel position detected by the position detecting section, such that at least one of x- and y-coordinates of the current marine vessel position defined with respect to an x-axis defined along a center line of the hull extending through a stem and a stern of the hull and a y-axis extending perpendicularly to the center line is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and
a propulsive force controlling section which controls the propulsion systems to attain the target propulsive forces calculated by the target propulsive force calculating section.
-
-
11. A marine vessel comprising:
-
a hull;
a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of the hull;
a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull; and
a marine vessel maneuvering supporting apparatus for performing a moorage marine vessel maneuvering support operation to support maneuvering of the marine vessel for moorage of the marine vessel, wherein the marine vessel maneuvering supporting apparatus includes;
a proximity state detecting section which detects a proximity state of the marine vessel; and
a proximity state maintaining controlling section which controls the steering mechanisms and the propulsion systems so as to maintain the marine vessel in the proximity state when the proximity state detecting section detects the proximity state.
-
-
12. A marine vessel maneuvering supporting method for performing a stationary marine vessel maneuvering support operation to support maneuvering of a marine vessel in a stationary state, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the method comprising the steps of:
-
storing a marine vessel maneuvering support starting position at which the stationary marine vessel maneuvering support operation is started in a marine vessel maneuvering support starting position storing section;
controlling the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero;
calculating target propulsive forces to be generated from the respective propulsion systems such that at least one of x- and y-coordinates of a current position of the marine vessel defined with respect to an x-axis defined along a center line extending through a stem and a stern of the hull and a y-axis extending substantially perpendicularly to the center fine is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and
controlling the propulsion systems so as to attain the calculated target propulsive forces. - View Dependent Claims (13, 14, 15, 16)
-
-
17. A marine vessel maneuvering supporting method for performing a moorage marine vessel maneuvering support operation to support maneuvering of a marine vessel for moorage of the marine vessel, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the method comprising the steps of:
-
detecting a proximity state of the marine vessel; and
controlling the steering mechanisms and the propulsion systems so as to maintain the marine vessel in the proximity state when the proximity state is detected. - View Dependent Claims (18)
-
Specification