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1. 发明授权

US08798824B2 Ship maneuvering control method and ship maneuvering control system 有权
标题翻译：船舶操纵控制方法和船舶操纵控制系统
公开(公告)号：US08798824B2
公开(公告)日：2014-08-05
申请号：US13501971
申请日：2010-10-26
申请人： Masanori Hamamatsu , Makoto Baino , Yasuo Saito , Hiroaki Mori
发明人： Masanori Hamamatsu , Makoto Baino , Yasuo Saito , Hiroaki Mori
IPC分类号： G01C21/00 , G06F7/00
CPC分类号： B63H25/04 , B63B49/00 , B63H21/21 , B63J2099/008 , G01C21/203 , G05D1/0005 , G05D1/0206 , Y02T70/74 , Y02T70/745 , Y02T70/747
摘要： A short-term planned route from a start position that is a ship position at a first time up to an end position that is the ship position at a second time is designed based on a planned route, an estimated encounter marine phenomenon information, operation performance information measured on a ship, and a hull motion model of the ship, the estimated encounter marine phenomenon information being measured on the ship based on actually encountered marine phenomenon information. The short-term planned route makes a first evaluation function optimal, the first evaluation function containing: an index indicating an influence of a fluctuation portion between a planned position that is a ship position planned at the second time on the planned route and the end position; a fuel consumption index when the ship sails along the short-term planned route; and a safety index when the ship sails along the short-term planned route.
摘要翻译：基于计划路线，估计遇到的海洋现象信息，操作性能，设计从起始位置开始的第一次船舶位置到第二时间作为船舶位置的最终位置的短期规划路线在船上测量的信息，船舶的船体运动模型，根据实际遇到的海洋现象信息，在船上测量的估计遇到的海洋现象信息。短期计划路线使得第一评估函数为最佳，第一评估函数包括：指示作为在规划路线上第二次计划的船舶位置的计划位置与终点位置之间的波动部分的影响的指标 ; 当船舶沿短期计划路线航行时的燃油消耗指数; 以及沿着短期计划路线航行时的安全指标。

2. 发明申请

US20120259489A1 SHIP MANEUVERING CONTROL METHOD AND SHIP MANEUVERING CONTROL SYSTEM 有权
标题翻译：船舶管理控制方法和船舶管理控制系统
公开(公告)号：US20120259489A1
公开(公告)日：2012-10-11
申请号：US13501971
申请日：2010-10-26
申请人： Masanori Hamamatsu , Makoto Baino , Yasuo Saito , Hiroaki Mori
发明人： Masanori Hamamatsu , Makoto Baino , Yasuo Saito , Hiroaki Mori
IPC分类号： G01C21/00 , G06F7/00
CPC分类号： B63H25/04 , B63B49/00 , B63H21/21 , B63J2099/008 , G01C21/203 , G05D1/0005 , G05D1/0206 , Y02T70/74 , Y02T70/745 , Y02T70/747
摘要： A short-term planned route from a start position that is a ship position at a first time up to an end position that is the ship position at a second time is designed based on a planned route, an estimated encounter marine phenomenon information, operation performance information measured on a ship, and a hull motion model of the ship, the estimated encounter marine phenomenon information being measured on the ship based on actually encountered marine phenomenon information. The short-term planned route makes a first evaluation function optimal, the first evaluation function containing: an index indicating an influence of a fluctuation portion between a planned position that is a ship position planned at the second time on the planned route and the end position; a fuel consumption index when the ship sails along the short-term planned route; and a safety index when the ship sails along the short-term planned route.
摘要翻译：基于计划路线，估计遇到的海洋现象信息，操作性能，设计从起始位置开始的第一次船舶位置到第二时间作为船舶位置的最终位置的短期规划路线在船上测量的信息，船舶的船体运动模型，根据实际遇到的海洋现象信息，在船上测量的估计遇到的海洋现象信息。短期计划路线使得第一评估函数为最佳，第一评估函数包括：指示作为在规划路线上第二次计划的船舶位置的计划位置与终点位置之间的波动部分的影响的指标 ; 当船舶沿短期计划路线航行时的燃油消耗指数; 以及沿着短期计划路线航行时的安全指标。

3. 发明授权

US07366593B2 Method and system for maneuvering movable object 有权
标题翻译：操纵可移动物体的方法和系统
公开(公告)号：US07366593B2
公开(公告)日：2008-04-29
申请号：US10442003
申请日：2003-05-20
申请人： Hiroaki Fujimoto , Yukinobu Kohno , Masaaki Higashi , Masanori Hamamatsu , Kenichi Nakashima , Yasuo Saito , Hiroshi Ohnishi
发明人： Hiroaki Fujimoto , Yukinobu Kohno , Masaaki Higashi , Masanori Hamamatsu , Kenichi Nakashima , Yasuo Saito , Hiroshi Ohnishi
IPC分类号： G01C21/28
CPC分类号： G05D1/0206
摘要： A movable object maneuver method wherein a destination point is set; wherein a thrust value is calculated in real time which minimizes or maximizes a performance index associated with one or more state variables and thrust required for a movable object to reach the destination point and which takes into account non-linear conditions inherent to the movable object; and wherein the movable object is moved based on the calculated thrust value.
摘要翻译：一种可移动物体操纵方法，其中设定了目的地点; 其中实时地计算推力值，其使与可移动物体到达目的地点所需的一个或多个状态变量和推力相关联的性能指标最小化或最大化，并考虑到可移动物体固有的非线性条件; 并且其中所述可移动物体基于所计算的推力值移动。

4. 发明申请

US20050080522A1 Method and device for allocating thrust 有权
标题翻译：分配推力的方法和装置
公开(公告)号：US20050080522A1
公开(公告)日：2005-04-14
申请号：US10954445
申请日：2004-09-30
申请人： Masanori Hamamatsu , Yukinobu Kohno , Masaaki Higashi , Kenichi Nakashima , Yasuo Saito , Hiroshi Ohnishi
发明人： Masanori Hamamatsu , Yukinobu Kohno , Masaaki Higashi , Kenichi Nakashima , Yasuo Saito , Hiroshi Ohnishi
IPC分类号： B63H25/42 , B64B1/24 , G05D1/02 , G06F17/00
CPC分类号： G05D1/0206 , B63H25/42
摘要： Force balance and moment balance associated with thrust of air and water craft equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders that minimize the performance index are calculated.
摘要翻译：考虑到推力发电机的非线性特性和动力特性，预先设置了配备推力发电机的空气和水力发电机推力的力平衡和力矩平衡。定义了推力发生器产生的推力最小化的性能指标。使用平衡作为限制条件，计算推力发电机的推进器推力和方向舵角度以及使性能指标最小化的方向舵变化速度。

5. 发明授权

US07006905B2 Method and device for allocating thrust 有权
标题翻译：分配推力的方法和装置
公开(公告)号：US07006905B2
公开(公告)日：2006-02-28
申请号：US10954445
申请日：2004-09-30
申请人： Masanori Hamamatsu , Yukinobu Kohno , Masaaki Higashi , Kenichi Nakashima , Yasuo Saito , Hiroshi Ohnishi
发明人： Masanori Hamamatsu , Yukinobu Kohno , Masaaki Higashi , Kenichi Nakashima , Yasuo Saito , Hiroshi Ohnishi
IPC分类号： G01M15/00 , B63H25/04
CPC分类号： G05D1/0206 , B63H25/42
摘要： Force balance and moment balance associated with thrust of air and water craft equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders that minimize the performance index are calculated.
摘要翻译：考虑到推力发电机的非线性特性和动力特性，预先设置了配备推力发电机的空气和水力发电机推力的力平衡和力矩平衡。定义了推力发生器产生的推力最小化的性能指标。使用平衡作为限制条件，计算推力发电机的推进器推力和方向舵角度以及使性能指标最小化的方向舵变化速度。

6. 发明授权

US06941195B2 Method and device for allocating thrust 有权
公开(公告)号：US06941195B2
公开(公告)日：2005-09-06
申请号：US10440759
申请日：2003-05-19
申请人： Masanori Hamamatsu , Yukinobu Kohno , Masaaki Higashi , Kenichi Nakashima , Yasuo Saito , Hiroshi Ohnishi
发明人： Masanori Hamamatsu , Yukinobu Kohno , Masaaki Higashi , Kenichi Nakashima , Yasuo Saito , Hiroshi Ohnishi
IPC分类号： B63H25/42 , B64B1/24 , G05D1/02 , B63H25/52 , B63H21/22 , B63H25/02 , B63H25/04 , G01M15/00 , G06F15/20
CPC分类号： G05D1/0206 , B63H25/42
摘要： Force balance and moment balance associated with thrust of air and water craft equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders that minimize the performance index are calculated.

7. 发明授权

US09511831B2 Underwater mobile inspection apparatus and underwater inspection equipment 有权
标题翻译：水下移动检测仪器和水下检测设备
公开(公告)号：US09511831B2
公开(公告)日：2016-12-06
申请号：US14347353
申请日：2012-09-13
申请人： Akira Kimura , Noriyuki Okaya , Kazuya Sumino , Minehiko Mukaida , Hiroaki Kagaya , Masanori Hamamatsu , Akiyoshi Saiki , Tetsuya Kubota , Masayuki Enomoto
发明人： Akira Kimura , Noriyuki Okaya , Kazuya Sumino , Minehiko Mukaida , Hiroaki Kagaya , Masanori Hamamatsu , Akiyoshi Saiki , Tetsuya Kubota , Masayuki Enomoto
IPC分类号： B63G8/00 , B63C11/52 , G05D1/06 , B63C11/48 , B63B59/00
CPC分类号： B63G8/001 , B63B59/00 , B63C11/48 , B63C11/52 , B63G2008/004 , B63G2008/005 , B63G2008/008 , G05D1/0692
摘要： An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.
摘要翻译：水下移动检查装置能够巡航时检查海底管道（检查对象）。水下移动式检查装置包括：巡航体，其构造成浸没在水下并沿着不与海底管道接触的方式沿着检查对象巡航; 设置在巡航体上的第一可动臂; 检查工具单元，用于检查海底管道，检查工具单元设置在第一可移动臂上; 以及控制器，其构造成当所述巡航体沿着所述海底管道以不与所述海底管道接触的方式巡航时，操作所述第一可动臂来移动所述检查工具单元，使得所述检查的位置关系具有海底管道的工具单元变为预定的目标位置关系。

8. 发明申请

US20140230713A1 UNDERWATER MOBILE INSPECTION APPARATUS AND UNDERWATER INSPECTION EQUIPMENT 有权
标题翻译：水下检测装置和水下检查设备
公开(公告)号：US20140230713A1
公开(公告)日：2014-08-21
申请号：US14347353
申请日：2012-09-13
申请人： Akira Kimura , Noriyuki Okaya , Kazuya Sumino , Minehiko Mukaida , Hiroaki Kagaya , Masanori Hamamatsu , Akiyoshi Saiki , Tetsuya Kubota , Masayuki Enomoto
发明人： Akira Kimura , Noriyuki Okaya , Kazuya Sumino , Minehiko Mukaida , Hiroaki Kagaya , Masanori Hamamatsu , Akiyoshi Saiki , Tetsuya Kubota , Masayuki Enomoto
IPC分类号： B63G8/00 , B63C11/48 , B63C11/52
CPC分类号： B63G8/001 , B63B59/00 , B63C11/48 , B63C11/52 , B63G2008/004 , B63G2008/005 , B63G2008/008 , G05D1/0692
摘要： An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.
摘要翻译：水下移动检查装置能够巡航时检查海底管道（检查对象）。水下移动式检查装置包括：巡航体，其构造成浸没在水下并沿着不与海底管道接触的方式沿着检查对象巡航; 设置在巡航体上的第一可动臂; 检查工具单元，用于检查海底管道，检查工具单元设置在第一可移动臂上; 以及控制器，其构造成当所述巡航体沿着所述海底管道以不与所述海底管道接触的方式巡航时，操作所述第一可动臂来移动所述检查工具单元，使得所述检查的位置关系具有海底管道的工具单元变为预定的目标位置关系。

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