Title:
CONTROL TARGET GENERATION DEVICE AND SHIP-STEERING CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/111044
Kind Code:
A1
Abstract:
According to the present invention, a control target controller generates control targets in accordance with a route (56), the control targets being for controlling the location and orientation of a ship (95). The route (56) has a plurality of via points (A1, A2, … ). Each of the via points (A1, A2, … ) has information about a target location and a target orientation for the ship (95). The route (56) is made up of a plurality of partial routes (56s) that sequentially connect the target locations of the via points (A1, A2, … ). The control target controller comprises a transit target point generation part and an arrival determination part. The transit target point generation part can generate, as control targets, transit target points (65) that are in the middle of the partial routes (56s) and have information about a target location and a target orientation for the ship (95). On the basis of the current location and the current orientation of the ship (95), the arrival determination part determines whether the ship (95) has arrived at the transit target points (65).
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Inventors:
HARA NAOHIRO (JP)
FUKUKAWA TOMOYA (JP)
DAKE YUICHIRO (JP)
FUKUKAWA TOMOYA (JP)
DAKE YUICHIRO (JP)
Application Number:
PCT/JP2019/046110
Publication Date:
June 04, 2020
Filing Date:
November 26, 2019
Export Citation:
Assignee:
YANMAR CO LTD (JP)
International Classes:
B63B49/00; G08G3/00
Domestic Patent References:
| WO2018100748A1 | 2018-06-07 |
Foreign References:
| JPH112534A | 1999-01-06 | |||
| JP2007230455A | 2007-09-13 | |||
| KR20120128741A | 2012-11-28 | |||
| JP2016083974A | 2016-05-19 |
Other References:
TADATSUGI OKAZAKI, KOHEI OHTSU, HITOI FUKUDA: "Study on Automatic Stopping System for Minimum Time Control", THE JOURNAL OF JAPAN INSTITUTE OF NAVIGATION, vol. 106, 25 March 2002 (2002-03-25), pages 105 - 112, XP055819034, ISSN: 0388-7405, DOI: 10.9749/jin.106.105
SIN-DER LEE ; CHING-YAW TZENG ; KAI-YU SHU: "Design and experiment of a small boat auto- berthing control system", ITS TELECOMMUNICATIONS (ITST), 2012 12TH INTERNATIONAL CONFERENCE ON, 5 November 2012 (2012-11-05), pages 397 - 401, XP032327825, ISBN: 978-1-4673-3071-8, DOI: 10.1109/ITST.2012.6425206
HAI-JUN XU; YONG LIU; ZHI-QIANG ZHA: "Design of Trajectory Tracking control of underactuated Ship", 2017 4TH INTERNATIONAL CONFERENCE ON INFORMATION, CYBERNETICS AND COMPUTATIONAL SOCIAL SYSTEMS (ICCSS), 24 July 2017 (2017-07-24), pages 367 - 371, XP033242877, DOI: 10.1109/ICCSS.2017.8091441
NGUYEN, PHUNG-HUNG: "A Study on the Automatic Ship Control Based on Adaptive Neural Networks", CHAPTER 5 ANNAI-BASED BERTHING CONTROL SYSTEM, 2007, pages 57 - 79, XP055713418
See also references of EP 3889031A4
SIN-DER LEE ; CHING-YAW TZENG ; KAI-YU SHU: "Design and experiment of a small boat auto- berthing control system", ITS TELECOMMUNICATIONS (ITST), 2012 12TH INTERNATIONAL CONFERENCE ON, 5 November 2012 (2012-11-05), pages 397 - 401, XP032327825, ISBN: 978-1-4673-3071-8, DOI: 10.1109/ITST.2012.6425206
HAI-JUN XU; YONG LIU; ZHI-QIANG ZHA: "Design of Trajectory Tracking control of underactuated Ship", 2017 4TH INTERNATIONAL CONFERENCE ON INFORMATION, CYBERNETICS AND COMPUTATIONAL SOCIAL SYSTEMS (ICCSS), 24 July 2017 (2017-07-24), pages 367 - 371, XP033242877, DOI: 10.1109/ICCSS.2017.8091441
NGUYEN, PHUNG-HUNG: "A Study on the Automatic Ship Control Based on Adaptive Neural Networks", CHAPTER 5 ANNAI-BASED BERTHING CONTROL SYSTEM, 2007, pages 57 - 79, XP055713418
See also references of EP 3889031A4
Attorney, Agent or Firm:
KATSURAGAWA, Naoki (JP)
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