Abstract: The present disclosure includes a radar configured to detect surrounding objects and terrain, and a LIDAR configured to detect the surrounding objects and terrain using a narrower detection range and a higher resolution than the radar. The disclosure also includes a first map, such as a wide-area map, generated based on information about the surrounding as detected by the radar, a second map, such as a high-resolution map, based on information about the surroundings as detected by the LIDAR, and a composite map that has the grid width of the first map and the grid width of the second map.

Abstract: According to the present invention, a route controller generates a route that makes a ship dock at a berthing facility. The route includes a first location and a second location (P2). The first location is a via point 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 for the ship at the berthing facility. The second location is the docking point for the ship at the berthing facility. The first location is immediately before the second location in the sequence to be realized by the ship. The route is generated such that the ship remains oriented in the direction in which the berthing facility is oriented as the ship moves from the first location to the second location.

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.

Abstract: A LiDAR included in this automatic docking device measures the distance to a surrounding object at each predetermined angle by irradiating the object with light and receiving the light reflected by the object. When a ship offshore is instructed to perform automatic docking, the ship navigates to some extent by automatic navigation based on satellite positioning, and is then switched to automatic navigation based on the LiDAR. Before switching to the automatic navigation based on the LiDAR, the LiDAR performs preparatory measurement for measuring the distance to an object around a docking position. In this preparatory measurement, a control unit controls to change, for example, the orientation of the ship such that light emitted from the LiDAR can be reflected by the object around the docking position and can be received by the LiDAR.

Abstract: This construction machine comprises: an attitude sensor that detects the current attitude of an upper turning body; a reference angular acceleration calculation unit that calculates a reference angular acceleration to be generated when an electric turning motor is driven by a torque command value generated according to the operation amount of an operation part; a reference gravity torque calculation unit that, on the basis of the current attitude and the deviation between an actual angular acceleration which is obtained from a rotation speed and the reference angular acceleration, calculates a reference gravity torque which is a torque component to be generated about the turning axis by the gravity in the reference attitude; a gravity compensation torque calculation unit that, on the basis of the reference gravity torque and the current attitude, calculates a gravity compensation torque for compensating a torque component generated about the turning axis by the gravity in the current attitude; and a correctio

Abstract: For a vessel steering apparatus for performing a movement control to move a vessel to a target position on the basis of a signal of a GPS apparatus, a movement control stop area, a buffer area adjacent to the movement control stop area, and a movement-controlling area adjacent to the buffer area are set on the basis of the distance from the target position, wherein in the movement control stop area, thrust generation by a propulsion apparatus is stopped; in the movement-controlling area, thrust is generated by the propulsion apparatus; and in the buffer area, thrust is generated by the propulsion apparatus of the vessel for movement control only in the case where the vessel moves from the movement-controlling area to the buffer area, then stays in the buffer area, and moves in a direction away from the target position.

Abstract: A ship handling device may be provided with which a ship moves and turns in a target orientation toward target coordinates without monitoring the behavior of the ship against disturbance or the characteristics of the ship. The ship handling device moves the ship toward the target coordinates and in the target orientation from a GPS device and a signal from an orientation sensor, wherein the target coordinates and the target orientation are calculated from operation of a joystick lever, and a thrust is generated by a propulsion device so as to move the ship to the target coordinates and the target orientation after a signal finalizing the target coordinates and the target orientation has been acquired.

Abstract: The purpose is providing a ship handling device easily determining a predetermined correction coefficient regardless of positions of a side thruster and a forward/backward propeller and the center of gravity of a ship and the shape of the ship. The device is provided with a joystick lever for indicating a propulsion direction and the magnitude of thrust by tilting direction and angle, wherein: a lateral movement thrust is generated by the side thruster in accordance with the joystick lever; a first correction thrust is generated by the forward/backward propeller in accordance with the joystick lever so as to cancel out a rotation moment; and a first correction coefficient for calculating a first correction thrust with respect to the lateral movement thrust is determined.

Abstract: Provided is a technology that facilitates a calibrating operation. A ship steering system for outdrive device includes an outdrive device, a control device that provides an instruction about a turning direction of the outdrive device, and a ship steering lever that instructs the control device about a traveling direction of a hull, and is provided with a monitor capable of displaying an image for matching an actual traveling direction with the traveling direction of the hull according to the instruction from the ship steering lever. The monitor shows the direction in which the ship steering lever is tipped, and indicates that the operation is proper if the direction in which the ship steering lever is tipped corresponds to a pre-set direction.

Abstract: A ship handling device may be provided with which a ship moves and turns in a target orientation toward target coordinates without monitoring the behavior of the ship against disturbance or the characteristics of the ship. The ship handling device moves the ship toward the target coordinates and in the target orientation from a GPS device and a signal from an orientation sensor, wherein the target coordinates and the target orientation are calculated from operation of a joystick lever, and a thrust is generated by a propulsion device so as to move the ship to the target coordinates and the target orientation after a signal finalizing the target coordinates and the target orientation has been acquired.

Abstract: For a vessel steering apparatus for performing a movement control to move a vessel to a target position on the basis of a signal of a GPS apparatus, a movement control stop area, a buffer area adjacent to the movement control stop area, and a movement-controlling area adjacent to the buffer area are set on the basis of the distance from the target position, wherein in the movement control stop area, thrust generation by a propulsion apparatus is stopped; in the movement-controlling area, thrust is generated by the propulsion apparatus; and in the buffer area, thrust is generated by the propulsion apparatus of the vessel for movement control only in the case where the vessel moves from the movement-controlling area to the buffer area, then stays in the buffer area, and moves in a direction away from the target position.

Abstract: The purpose is providing a ship handling device easily determining a predetermined correction coefficient regardless of positions of a side thruster and a forward/backward propeller and the center of gravity of a ship and the shape of the ship. The device is provided with a joystick lever for indicating a propulsion direction and the magnitude of thrust by tilting direction and angle, wherein: a lateral movement thrust is generated by the side thruster in accordance with the joystick lever; a first correction thrust is generated by the forward/backward propeller in accordance with the joystick lever so as to cancel out a rotation moment; and a first correction coefficient for calculating a first correction thrust with respect to the lateral movement thrust is determined.

Abstract: Provided is a technology that facilitates a calibrating operation. A ship steering system for outdrive device includes an outdrive device, a control device that provides an instruction about a turning direction of the outdrive device, and a ship steering lever that instructs the control device about a traveling direction of a hull, and is provided with a monitor capable of displaying an image for matching an actual traveling direction with the traveling direction of the hull according to the instruction from the ship steering lever. The monitor shows the direction in which the ship steering lever is tipped, and indicates that the operation is proper if the direction in which the ship steering lever is tipped corresponds to a pre-set direction.

Abstract: An engine rotational speed control device (4) includes a noise removal processing unit (6) which corrects a command value, wherein the noise removal processing unit (6) is configured to set a current first output value (B(i)) to be identical to a previous first output value (B(i?1)) in a case where, in a latest step group, the number of successive increase steps is smaller than a first predetermined number (n) and the number of successive decrease steps is smaller than the first predetermined number (n), the increase step is a step in which a current first input value (A(i)) is greater than the previous first output value (B(i?1)) by a first set width (n) or more, and the decrease step is a step in which the current first input value (A(i)) is smaller than the previous first output value (B(i)) by the first set width (n) or more.

Abstract: A ship steering device capable of steering a hull in an intended direction by correcting an unintended rotation that occurs during an oblique sailing operation regardless of the type and size of the hull. A ship steering device is provided with an elevation angle sensor for detecting the elevation angle ? of a hull, a hull speed sensor for detecting the speed V of the hull, a storage means storing the relation among the elevation angle ? of the hull, the speed V of the hull, and a correction value K, and a calculation means serving as a correction value determination means, and an operation amount by which a joystick is operated such that the hull does not turn in the state in which the hull is obliquely sailed is determined by the calculation means and used as the correction value K.

Abstract: Provided is a ship maneuvering device that can increase operation sensitivity and enables smooth operation when simultaneously operating the rotation component determination unit and the oblique sailing component determination unit of an operation means. In the ship maneuvering device 1, a control device 31 computes a rotation component propulsion vector Trot for rotation and an oblique sailing component propulsion vector Ttrans for oblique sailing for left and right out-drive units 10A, 10B from the amount of operation of a joystick 21, calculates the combined torque T by combining the rotation component propulsion vector Trot and the oblique sailing component propulsion vector Ttrans for each of the left and right out-drive units 10A, 10B, and computes the propulsion and orientation for each of the left and right out-drive units 10A, 10B.

Abstract: A ship maneuvering device rotates a propeller at a lower rotational frequency than the rotational frequency of the minimum idling speed of an engine. A control device has a crawling speed navigation mode. A crawling speed navigation mode button that selects whether or not to execute the crawling speed navigation mode is connected to the control device. When the crawling speed navigation mode is selected, and the amount of operation of a joystick lever is at or beneath a baseline amount of operation Ms, the control device causes the rotational frequency N of the engine to be the rotational frequency Nlow of the minimum idling speed, and in accordance with the amount of operation of the joystick lever, varies the duty ratio D, which is the fraction of time T1 that a main clutch is engaged in a predetermined cycle T, within a range of no greater than 100%.

Abstract: An engine rotational speed control device (4) includes a noise removal processing unit (6) which corrects a command value, wherein the noise removal processing unit (6) is configured to set a current first output value (B(i)) to be identical to a previous first output value (B(i?1)) in a case where, in a latest step group, the number of successive increase steps is smaller than a first predetermined number (n) and the number of successive decrease steps is smaller than the first predetermined number (n), the increase step is a step in which a current first input value (A(i)) is greater than the previous first output value (B(i?1)) by a first set width (n) or more, and the decrease step is a step in which the current first input value (A(i)) is smaller than the previous first output value (B(i)) by the first set width (n) or more.

Abstract: A ship steering device capable of steering a hull in an intended direction by correcting an unintended rotation that occurs during an oblique sailing operation regardless of the type and size of the hull. A ship steering device is provided with an elevation angle sensor for detecting the elevation angle ? of a hull, a hull speed sensor for detecting the speed V of the hull, a storage means storing the relation among the elevation angle ? of the hull, the speed V of the hull, and a correction value K, and a calculation means serving as a correction value determination means, and an operation amount by which a joystick is operated such that the hull does not turn in the state in which the hull is obliquely sailed is determined by the calculation means and used as the correction value K.

Abstract: A ship steering device capable of steering a hull in an intended direction by correcting an unintended rotation that occurs during an oblique sailing operation regardless of the type and size of the hull. A ship steering device is provided with an elevation angle sensor for detecting the elevation angle ? of a hull, a hull speed sensor for detecting the speed V of the hull, a storage means storing the relation among the elevation angle ? of the hull, the speed V of the hull, and a correction value K, and a calculation means serving as a correction value determination means, and an operation amount by which a joystick is operated such that the hull does not turn in the state in which the hull is obliquely sailed is determined by the calculation means and used as the correction value K.