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1. 发明专利

JP2004355105A Method for controlling moving body, and controller 有权
标题翻译：控制移动体的方法和控制器
公开(公告)号：JP2004355105A
公开(公告)日：2004-12-16
申请号：JP2003149160
申请日：2003-05-27
申请人： Kawasaki Heavy Ind Ltd , Kawasaki Shipbuilding Corp , 川崎重工業株式会社 , 株式会社川崎造船
发明人： HAMAMATSU MASANORI , KONO YUKINOBU , SAITO YASUO , GESHI SHUICHI
IPC分类号： B63H25/04 , G05D1/00
摘要： PROBLEM TO BE SOLVED: To provide a moving body control method for dispensing with the previous setting of an optimum schedule waterway, and saving energy consumption within a prescribed constrained condition, so as to control a moving body to be moved along a scheduled movement course (route), and also to provide a controller. SOLUTION: A plurality of way points WP are set on a field with a ship 1 travelling therein. A target point P T is moved at prescribed speed by prescribed azimuth along the route 100 which is defined by connecting the way points Wp with segments. In the meantime, an optimum thrust command value is calculated by performing optimum calculation, based on a terminal end state amount restraint condition for setting the target value of the state amount of the ship 1 only by a terminal end time after a set time (setting time) T elapses from the present time, on an evaluation function including the thrust command value of the ship 1, and on the state amount at the present time which is acquired concerning the ship 1. Then, the ship 1 is moved to follow the target point P T after the delay of the time T. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于分配先前设定的最佳时间表水道的移动体控制方法，并且在规定的约束条件下节省能量消耗，以便控制移动体沿着预定的方向移动运动路线（路线），并提供控制器。解决方案：在其中行进的船舶1的场上设置多个路点WP。目标点P T 沿着路线100以规定的方位移动规定的方位角，通过将路点Wp与段连接来定义。同时，根据用于设定船舶1的状态量的目标值的终端状态量限制条件，仅通过设定时间后的终点时间（设定），通过进行最优计算来计算最佳推力指令值时间）T从当前时刻起，包括船舶1的推力指令值的评价功能以及关于船舶1获取的当前状态量。然后，移动船1以追随时间T延迟后的目标点P T 版权所有：（C）2005，JPO＆NCIPI

2. 发明专利

JP2004352007A Steering method and steering device of sailing body 有权
公开(公告)号：JP2004352007A
公开(公告)日：2004-12-16
申请号：JP2003150223
申请日：2003-05-28
申请人： Kawasaki Heavy Ind Ltd , Kawasaki Shipbuilding Corp , 川崎重工業株式会社 , 株式会社川崎造船
发明人： HAMAMATSU MASANORI , KONO YUKINOBU , SAITO YASUO , GESHI SHUICHI
IPC分类号： B63H25/00 , B63H25/04
摘要： PROBLEM TO BE SOLVED: To provide a steering method of a sailing body which provides an operator with the same steering sense on both of on and off of positional control and improves a steering property in comparison with a conventional one, and also to provide a steering device for use in its practice. SOLUTION: This steering device is constituted so that a manual input receiving means receives thrust and a command value of a thrust moment of the sailing body from the operator in either of the cases when the operator selects output of the thrust and the command value of the thrust moment which the manual input receiving means receives manual input by a change-over means and when the operator selects target thrust gained by computation and output of a target thrust moment. COPYRIGHT: (C)2005,JPO&NCIPI

3. 发明专利

JP2003324786A Underwater sound controller 有权
标题翻译：水下声控器
公开(公告)号：JP2003324786A
公开(公告)日：2003-11-14
申请号：JP2002128920
申请日：2002-04-30
申请人： Kawasaki Shipbuilding Corp , 株式会社川崎造船
发明人： GESHI SHUICHI , SHIMOYAMA KEIJI
IPC分类号： G01H3/08 , G01S3/86 , G01S7/521 , H04R1/44
摘要： PROBLEM TO BE SOLVED: To provide an underwater sound controller for receiving only a sound wave arrived from a desired direction with an excellent S/N.
SOLUTION: A housing 6 is provided to a bottom 3 of a ship 2 in an elevating/descending enabled way, and a directivity selection means 7 is provided to a lower part 9 of the housing 6. An opening 29 is formed to a wall 21 for forming a gas layer 39 of the directivity selection means 7 and only the sound wave through the opening 29 is given to a silencing means 12. The silencing means 12 cancels a noise with a frequency f1 by interfering the sound waves through two propagation paths 44, 45. A sound wave amplification means 13 has a resonance frequency f2 that is a frequency to be substantially received and amplifies the amplitude of the sound wave. Thus, only the sound wave with the excellent S/N is given to a hydrophone 14.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种水下声音控制器，用于仅接收从期望方向到达的声波，具有优异的S / N。解决方案：壳体6以升降方式设置在船2的底部3，并且方向选择装置7设置到壳体6的下部9.开口29形成为用于形成方向性选择装置7的气体层39的壁21和仅通过开口29的声波被提供给沉默装置12.消音装置12通过两次干扰声波来消除具有频率f1的噪声传播路径44,45。声波放大装置13具有作为基本接收的频率的谐振频率f2，并放大声波的振幅。因此，只有具有优良S / N的声波被给予水听器14。版权所有（C）2004，JPO

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