Control target generation device and ship-steering control device

Patent metadata

Field	Value
Publication number	US-12286207-B2
Application number	US-201917296995-A
Country	US
Kind code	B2
Filing date	Nov 26, 2019
Priority date	Nov 27, 2018
Publication date	Apr 29, 2025
Grant date	Apr 29, 2025

Abstract

A control target controller generates control targets in accordance with a route, the control targets being for controlling the location and orientation of a ship. The route has a plurality of via points. Each of the via points has information about a target location and a target orientation for the ship. The route is made up of a plurality of partial routes that sequentially connect the target locations of the via points. 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 that are in the middle of the partial routes and have information about a target location and a target orientation for the ship. On the basis of the current location and the current orientation of the ship, the arrival determination part determines whether the ship has arrived at the transit target points.

First claim

The invention claimed is:

1. A control target generation device that generates a control target for controlling a location and an orientation of a ship in accordance with a route, wherein
the route includes a plurality of control points,
each of the control points has information about a target location and a target orientation of the ship,
the route includes a plurality of partial routes that sequentially connects the target locations of the control points, and
the control target generation device comprises:
a transit target point generating unit that is capable of generating, as the control target in a middle part of the partial route, a transit target point having information about the target location and the target orientation of the ship; and
an arrival determining unit that determines whether the ship has arrived at the transit target point based on a current location and a current orientation of the ship,

in a case where the arrival determining unit determines that the current location of the ship precedes the target location of the transit target point in the partial route, the transit target point generating unit updates the transit target point under a condition that a difference between a current orientation of the ship and the target orientation of the transit target point falls within a predetermined range,
wherein the transit target point generating unit updates the transit target point when the arrival determining unit determines that the ship has arrived at the transit target point, and
when the transit target point is updated, the target location and the target orientation of the transit target point are changed to less than a first threshold from the target location and the target location of the control point at an end point of the partial route.

2. The control target generation device according to claim 1 , wherein a magnitude of change in the target location and the target orientation of the transit target point by each update is constant in at least a part of the route.

3. The control target generation device according to claim 1 , wherein
an end point of the route is a docking location at which the ship is docked, and
a change in the target location and the target orientation of the transit target point by each update becomes smaller as a distance to the docking location becomes shorter.

4. The control target generation device according to claim 1 , wherein, in a case where a magnitude of change in an orientation of the route at the end point of the partial route is more than a predetermined value, a change in the target location and the target orientation of the transit target point by each update is small when the transit target point approaches to the end point of the partial route.

5. The control target generation device according to claim 1 , wherein the arrival determining unit determines whether the ship has arrived at the transit target point in consideration of a distance between the partial route and the current location of the ship.

6. The control target generation device according to claim 1 , wherein
an end point of the route is a docking location at which the ship is docked, and
the arrival determining unit determines whether the ship has arrived at the transit target point less than a second threshold as a distance to the docking location becomes shorter.

7. The control target generation device according to claim 1 , wherein, in a case where a magnitude of change in an orientation of the route at an end point of the partial route is more than a predetermined value, the arrival determining unit determines whether the ship has arrived strictly when the transit target point is approaches the end point.

8. The control target generation device according to claim 1 , wherein
the arrival determining unit is capable of determining whether the current location of the ship precedes the target location of the transit target point in the partial route, and
when the arrival determining unit determines that the current location of the ship precedes, the transit target point generating unit updates the transit target point so as to change the target location and the target orientation.

9. A control target generation device that generates a control target for controlling a location and an orientation of a ship in accordance with a route, wherein
the route includes a plurality of control points
each of the control points has information about a target location and a target orientation of the ship,
the route includes a plurality of partial routes that sequentially connects the target locations of the control points, and
the control target generation device comprises:
a transit target point generating unit that is capable of generating, as the control target in a middle part of the partial route, a transit target point having information about the target location and the target orientation of the ship; and
an arrival determining unit that determines whether the ship has arrived at the transit target point based on a current location and a current orientation of the ship

wherein the transit target point generating unit updates the transit target point, and
when the transit target point is updated, the target location and the target orientation of the transit target point are changed so as to approach the target location and the target orientation of the control point at an end point of the partial route, wherein
in a case where the arrival determining unit determines that the current location of the ship precedes the target location of the transit target point in the partial route, the transit target point generating unit updates the transit target point under a condition that a difference between a current orientation of the ship and the target orientation of the transit target point falls within a predetermined range.

10. The control target generation device according to claim 1 , comprising a display data generating unit that generates display data for displaying a target location and a target orientation of the transit target point in a graphic form.

11. A ship-steering control device comprising:
the control target generation device according to claim 1 ; and
a propulsion control device that controls a propulsion device of the ship such that the current location of the ship is less than the first threshold from the target location of the control target and the current orientation of the ship is less than the first threshold in the target orientation of the control target.

12. The ship-steering control device according to claim 11 , wherein
the propulsion control device sets a target velocity of the ship based on a location deviation that is a deviation between the target location input from the control target generation device and the current location of the ship,
the propulsion control device controls the propulsion device of the ship such that a current velocity of the ship is less than a third threshold from the target velocity of the ship,
the propulsion control device includes a target velocity calculation model for determining a magnitude of the target velocity of the ship based on the location deviation,
the arrival determining unit determines that the ship has arrived at the target location when a distance between the target location and the current location of the ship is less than a second threshold,
the arrival determining unit includes an inverse model of the target velocity calculation model, and
the arrival determining unit obtains the location deviation corresponding to a magnitude of a target cruising velocity from the inverse model and, based on the obtained location deviation, sets the first threshol

Assignees

• Yanmar Power Technology Co Ltd

Inventors

• Hara Naohiro
• Fukukawa Tomoya
• Dake Yuichiro

Classifications

• G05D2109/34

  operating on the water surface · CPC title

• G05D1/661

  Docking at a base station (delivering or retrieving payloads G05D1/667) · CPC title

• G05D1/43

  Control of position or course in two dimensions [2D] · CPC title

• G05D2109/30

  Water vehicles · CPC title

• B63H2025/045

  making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS] · CPC title