US 12,330,762 B2
Automatic steering device, automatic steering system, automatic steering method, and automatic steering program
Tomoyasu Takahashi, Nishinomiya (JP)
Assigned to FURUNO ELECTRIC COMPANY LIMITED, Hyogo (JP)
Filed by FURUNO ELECTRIC CO., LTD., Hyogo (JP)
Filed on Mar. 6, 2023, as Appl. No. 18/178,777.
Claims priority of application No. 2022-041377 (JP), filed on Mar. 16, 2022.
Prior Publication US 2023/0294812 A1, Sep. 21, 2023
Int. Cl. B63H 25/06 (2006.01)
CPC B63H 25/06 (2013.01) 20 Claims
OG exemplary drawing
 
1. An automatic steering device, comprising:
a sensor configured to acquire a traveling state including a heading or a position of a ship, and ship information on the ship; and
processing circuitry configured to:
calculate a first evaluation value that is an evaluation value indicative of a performance for maintaining the heading of the ship or a route based on the traveling state;
calculate a second evaluation value that is an evaluation value related to a ship handling control based on the ship information;
set a control parameter related to a motion control of the ship based on the first evaluation value or the second evaluation value;
set a first upper limit corresponding to the first evaluation value and a second upper limit corresponding to the second evaluation value;
adjust the control parameter based on a relationship between the first evaluation value and the second evaluation value;
calculate a command rudder angle based on an algorithm for calculating the command rudder angle with the control parameter; and
control a rudder angle of a rudder of the ship based on the command rudder angle.