Marine vessel maneuvering supporting apparatus, marine vessel including the marine vessel maneuvering supporting apparatus, and marine vessel maneuvering supporting method

Abstract

A marine vessel maneuvering supporting apparatus performs a stationary marine vessel maneuvering support operation, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles. The apparatus includes a position detecting section which detects a position of the marine vessel, a marine vessel maneuvering support starting command section, a marine vessel maneuvering support starting position storing section, a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero in response to the marine vessel maneuvering support starting command, a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems, such that at least one of x- and y-coordinates of the current marine vessel position is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position, and a propulsive force controlling section which controls the propulsion systems to attain the target propulsive forces.

1 . A marine vessel maneuvering supporting apparatus for performing a stationary marine vessel maneuvering support operation to support maneuvering of a marine vessel in a stationary state, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces gene rated by the respective propulsion systems with respect to the hull, the marine vessel maneuvering supporting apparatus comprising: 
 a position detecting section which detects a position of the marine vessel;    a marine vessel maneuvering support starting command section which outputs a stationary marine vessel maneuvering support-starting command for starting the stationary marine vessel maneuvering support operation;    a marine vessel maneuvering support starting position storing section which stores a marine vessel maneuvering support starting position that is defined by a marine vessel position detected by the position detecting section in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;    a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;    a target propulsive force calculating section which calculates, in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section, target propulsive forces to be generated from the respective propulsion systems, based on a current marine vessel position detected by the position detecting section, such that at least one of x- and y-coordinates of the current marine vessel position defined with respect to an x-axis defined along a center line of the hull extending through a stem and a stern of the hull and a y-axis extending substantially perpendicularly relative to the center line is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and    a propulsive force controlling section which controls the propulsion systems to attain the target propulsive forces calculated by the target propulsive force calculating section.    
   
   
       2 . A marine vessel maneuvering supporting apparatus as set forth in  claim 1 , wherein the target propulsive force calculating section includes: 
 a target control value calculating section which calculates a target movement angle of the marine vessel with respect to a stem direction of the hull and a target combined propulsive force to be applied to the hull by the propulsion systems, based on a deviation of the current marine vessel position detected by the position detecting section from the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and    an individual target propulsive force calculating section which calculates the target propulsive forces to be generated from the respective propulsion systems, based on the target movement angle and the target combined propulsive force calculated by the target control value calculating section.    
   
   
       3 . A marine vessel maneuvering supporting apparatus as set forth in  claim 1 , further comprising a target movement direction inputting section which inputs one of a +x direction and a −x direction defined along the x-axis and a +y direction and a −y direction defined along the y-axis as the target movement direction of the marine vessel, wherein 
 the target propulsive force calculating section calculates the target propulsive forces to be generated from the respective propulsion systems such that the y-coordinate of the current marine vessel position is maintained substantially equal to the y-coordinate of the marine vessel maneuvering support starting position if the target movement direction input by the target movement direction inputting section is the +x direction or the −x direction, and the x-coordinate of the current marine vessel position is maintained substantially equal to the x-coordinate of the marine vessel maneuvering support starting position if the target movement direction input by the target movement direction inputting section is the +y direction or the −y direction.    
   
   
       4 . A marine vessel maneuvering supporting apparatus as set forth in  claim 3 , wherein the target propulsive force calculating section calculates the target propulsive forces to be generated from the respective propulsion systems such that the x- and y-coordinates of the current marine vessel position are maintained substantially equal to the x- and y-coordinates of the marine vessel maneuvering support starting position if nothing is input by the target movement direction inputting section.  
   
   
       5 . A marine vessel maneuvering supporting apparatus as set forth in  claim 1 , further comprising a proximity state detecting section which detects a proximity state of the marine vessel, wherein 
 the target propulsive force calculating section includes a proximity state maintaining target propulsive force calculating section which calculates the target propulsive forces to be generated from the respective propulsion systems such that the marine vessel is maintained in the proximity state when the proximity state detecting section detects the proximity state.    
   
   
       6 . A marine vessel maneuvering supporting apparatus as set forth in  claim 1 , further comprising an angular speed detecting section which detects the turning angular speed of the marine vessel, wherein 
 the steering controlling section includes a target steering angle calculating section which calculates target steering angles of the respective steering mechanisms such that the turning angular speed detected by the angular speed detecting section is set at zero.    
   
   
       7 . A marine vessel maneuvering supporting apparatus for performing a moorage marine vessel maneuvering support operation to support maneuvering of a marine vessel for moorage of the marine vessel, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the marine vessel maneuvering supporting apparatus comprising: 
 a proximity state detecting section which detects a proximity state of the marine vessel; and    a proximity state maintaining controlling section which controls the steering mechanisms and the propulsion systems so as to maintain the marine vessel in the proximity state when the proximity state detecting section detects the proximity state.    
   
   
       8 . A marine vessel maneuvering supporting apparatus as set forth in  claim 7 , wherein the proximity state maintaining controlling section includes: 
 a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero;    a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems such that the marine vessel is maintained in the proximity state detected by the proximity state detecting section; and    a propulsive force controlling section which controls the propulsion systems so as to attain the target propulsive forces calculated by the target propulsive force calculating section.    
   
   
       9 . A marine vessel maneuvering supporting apparatus as set forth in  claim 8 , further comprising an angular speed detecting section which detects the turning angular speed of the marine vessel, wherein 
 the steering controlling section includes a target steering angle calculating section which calculates target steering angles of the respective steering mechanisms such that the turning angular speed detected by the angular speed detecting section is set at zero.    
   
   
       10 . A marine vessel comprising: 
 a hull;    a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of the hull;    a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull; and    a marine vessel maneuvering supporting apparatus for performing a stationary marine vessel maneuvering support operation to support maneuvering of the marine vessel in a stationary state, wherein the marine vessel maneuvering supporting apparatus includes:    a position detecting section which detects a position of the marine vessel;    a marine vessel maneuvering support starting command section which outputs a stationary marine vessel maneuvering support starting command for starting the stationary marine vessel maneuvering support operation;    a marine vessel maneuvering support starting position storing section which stores a marine vessel maneuvering support starting position that is defined by a marine vessel position detected by the position detecting section in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;    a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section;    a target propulsive force calculating section which calculates, in response to the marine vessel maneuvering support starting command output from the marine vessel maneuvering support starting command section, target propulsive forces to be generated from the respective propulsion systems, based on a current marine vessel position detected by the position detecting section, such that at least one of x- and y-coordinates of the current marine vessel position defined with respect to an x-axis defined along a center line of the hull extending through a stem and a stern of the hull and a y-axis extending perpendicularly to the center line is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and    a propulsive force controlling section which controls the propulsion systems to attain the target propulsive forces calculated by the target propulsive force calculating section.    
   
   
       11 . A marine vessel comprising: 
 a hull;    a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of the hull;    a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull; and    a marine vessel maneuvering supporting apparatus for performing a moorage marine vessel maneuvering support operation to support maneuvering of the marine vessel for moorage of the marine vessel, wherein the marine vessel maneuvering supporting apparatus includes:    a proximity state detecting section which detects a proximity state of the marine vessel; and    a proximity state maintaining controlling section which controls the steering mechanisms and the propulsion systems so as to maintain the marine vessel in the proximity state when the proximity state detecting section detects the proximity state.    
   
   
       12 . A marine vessel maneuvering supporting method for performing a stationary marine vessel maneuvering support operation to support maneuvering of a marine vessel in a stationary state, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the method comprising the steps of: 
 storing a marine vessel maneuvering support starting position at which the stationary marine vessel maneuvering support operation is started in a marine vessel maneuvering support starting position storing section;    controlling the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero;    calculating target propulsive forces to be generated from the respective propulsion systems such that at least one of x- and y-coordinates of a current position of the marine vessel defined with respect to an x-axis defined along a center line extending through a stem and a stern of the hull and a y-axis extending substantially perpendicularly to the center fine is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and    controlling the propulsion systems so as to attain the calculated target propulsive forces.    
   
   
       13 . A marine vessel maneuvering supporting method as set forth in  claim 12 , wherein the target propulsive force calculating step includes the steps of: 
 calculating a target movement angle of the marine vessel with respect to a stem direction of the hull and a target combined propulsive force to be applied to the hull by the propulsion systems, based on a deviation of the current marine vessel position from the marine vessel maneuvering support starting position stored in the marine vessel maneuvering support starting position storing section; and    calculating the target propulsive forces to be generated from the respective propulsion systems, based on the calculated target movement angle and the calculated target combined propulsive force.    
   
   
       14 . A marine vessel maneuvering supporting method as set forth in  claim 12 , wherein 
 the marine vessel further includes a target movement direction inputting section which inputs one of a +x direction and a −x direction defined along the x-axis and a +y direction and a −y direction defined along the y-axis as the target movement direction of the marine vessel, and    the target propulsive force calculating step includes the step of calculating the target propulsive forces to be generated from the respective propulsion systems such that the y-coordinate of the current marine vessel position is maintained substantially equal to the y-coordinate of the marine vessel maneuvering support starting position if the target movement direction input by the target movement direction inputting section is the +x direction or the −x direction, and the x-coordinate of the current marine vessel position is maintained substantially equal to the x-coordinate of the marine vessel maneuvering support starting position if the target movement direction input by the target movement direction inputting section is the +y direction or the −y direction.    
   
   
       15 . A marine vessel maneuvering supporting method as set forth in  claim 14 , wherein 
 the target propulsive force calculating step includes the step of calculating the target propulsive forces to be generated from the respective propulsion systems such that the x- and y-coordinates of the current marine vessel position are maintained substantially equal to the x- and y-coordinates of the marine vessel maneuvering support starting position if nothing is input by the target movement direction inputting section.    
   
   
       16 . A marine vessel maneuvering supporting method as set forth in  claim 12 , further comprising the step of detecting a proximity state of the marine vessel, wherein 
 the target propulsive force calculating step includes the step of calculating the target propulsive forces to be generated from the respective propulsion systems such that the marine vessel is maintained in the proximity state when the proximity state is detected.    
   
   
       17 . A marine vessel maneuvering supporting method for performing a moorage marine vessel maneuvering support operation to support maneuvering of a marine vessel for moorage of the marine vessel, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull of the marine vessel, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the method comprising the steps of: 
 detecting a proximity state of the marine vessel; and    controlling the steering mechanisms and the propulsion systems so as to maintain the marine vessel in the proximity state when the proximity state is detected.    
   
   
       18 . A marine vessel maneuvering supporting method as set forth in  claim 17 , wherein the proximity state maintaining step includes the steps of: 
 controlling the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero;    calculating target propulsive forces to be generated from the respective propulsion systems such that the marine vessel is maintained in the detected proximity state; and    controlling the propulsion systems so as to attain the calculated target propulsive forces.