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Title:
ROUTE GENERATION DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/111040
Kind Code:
A1
Abstract:
According to the present invention, a route controller generates a route (56) that makes a ship (95) dock at a berthing facility. The route (56) includes a first location (P1) and a second location (P2). The first location (P1) is a via point (via point (A7) in the example in the selected drawing) that is offset a prescribed distance in a direction that is orthogonal to the direction in which the berthing facility is oriented from a docking point (B1) (the second location (P2)) for the ship (95) at the berthing facility. The second location (P2) is the docking point (B1) for the ship (95) at the berthing facility. The first location (P1) is immediately before the second location (P2) in the sequence to be realized by the ship (95). The route (56) is generated such that the ship (95) remains oriented in the direction in which the berthing facility is oriented as the ship (95) moves from the first location (P1) to the second location (P2).

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Inventors:
HARA NAOHIRO (JP)
FUKUKAWA TOMOYA (JP)
DAKE YUICHIRO (JP)
Application Number:
PCT/JP2019/046102
Publication Date:
June 04, 2020
Filing Date:
November 26, 2019
Export Citation:
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Assignee:
YANMAR CO LTD (JP)
International Classes:
B63B49/00; G08G3/00
Domestic Patent References:
WO2018100749A12018-06-07
Foreign References:
JP2005255058A2005-09-22
JP2016083974A2016-05-19
JP2018086988A2018-06-07
Other References:
OKAZAKI, TADATSUGI ET AL.: "A Study on Ship Berthing Support System -Minimum time berthing control", 2008 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, October 2008 (2008-10-01), pages 1522 - 1527, XP031447294, ISSN: 1062-922X
MISUMI, RYUMA ET AL.: "Subgoal generation in consideration of disturbance in autoberthing system", LECTURE SUMMARIES OF JSME ANNUAL CONFERENCE ON ROBOTICS AND MECHATRONICS, ISSN: 2424-3124
Attorney, Agent or Firm:
KATSURAGAWA, Naoki (JP)
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