Back to results
US 12,673,759 B2Granted
Hull attitude control apparatus
AssigneeHonda Motor Co., Ltd.
InventorNorikazu Kawai
Life of this patent
Estimating the term…
Abstract
A hull attitude control apparatus (1) includes: an outboard engine (3) that includes a propeller (12) which is provided on a hull (2) and generates a thrust force at the hull (2) and a propeller drive motor (9) which drives the propeller (12); an attitude control portion (4) that controls an inclination angle of a propeller rotation axis line (S2); an outboard engine control portion (20) that performs a drive control of the propeller drive motor (9); and a shake detection sensor that detects a shake of the hull (2). The attitude control portion (4) and the outboard engine control portion (20) perform a drive control of the propeller (12) so as to prevent shaking of the hull (2) based on a detection result of the shake detection sensor.
Claims31
A hull attitude control apparatus comprising:
- an outboard engine that comprises a propeller which is provided on a hull and generates a thrust force at the hull and an electric motor which drives the propeller;
- an inclination angle control portion that controls an inclination angle of a propeller rotation axis line in the propeller;
- a motor control portion that performs a drive control of the electric motor;
- and
- a state detection sensor that detects or predicts at least one of shaking or movement of the hull,
- wherein the inclination angle control portion and the motor control portion perform a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result of the state detection sensor,
- the state detection sensor detects or predicts the shaking of the hull, and
- the motor control portion repeatedly rotates the electric motor forward and backward in accordance with the shaking of the hull.
5 more elements
A hull attitude control apparatus comprising:
- an outboard engine that comprises a propeller, which is provided on a hull and generates a thrust force at the hull, and an electric motor, which drives the propeller;
- an inclination angle control portion that controls an inclination angle of a propeller rotation axis line in the propeller;
- a motor control portion that performs a drive control of the electric motor;
- and
- a state detection sensor that detects or predicts at least one of shaking or movement of the hull,
- wherein the inclination angle control portion and the motor control portion perform a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result of the state detection sensor,
- the state detection sensor detects or predicts the movement of the hull, and
- in an anchorage state of the hull,
- the motor control portion rotates the electric motor forward and backward so as to generate a thrust force in a direction opposite to a direction of the movement of the hull, and
- the motor control portion determines a drive time of the electric motor so as to stop the hull at a place.
7 more elements
A hull attitude control apparatus comprising:
- an outboard engine that comprises a propeller, which is provided on a hull and generates a thrust force at the hull, and an electric motor, which drives the propeller;
- an inclination angle control portion that controls an inclination angle of a propeller rotation axis line in the propeller;
- a motor control portion that performs a drive control of the electric motor;
- and
- a state detection sensor that detects or predicts at least one of shaking or movement of the hull,
- wherein the inclination angle control portion and the motor control portion perform a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result of the state detection sensor,
- the state detection sensor comprises a distance sensor that is provided on the hull and detects a distance from an arrangement position to a water surface, and
- the shaking of the hull is detected based on a change of the distance detected by the distance sensor.
5 more elements
A hull attitude control apparatus comprising:
- an outboard engine that comprises a propeller which is provided on a hull and generates a thrust force at the hull and an electric motor which drives the propeller;
- an inclination angle control portion that controls an inclination angle of a propeller rotation axis line in the propeller;
- a motor control portion that performs a drive control of the electric motor;
- and
- a state detection sensor that detects or predicts at least one of shaking or movement of the hull,
- wherein the inclination angle control portion and the motor control portion perform a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result of the state detection sensor,
- the state detection sensor comprises:
- a plurality of buoys that float around the hull, and
- a buoy detection sensor that detects a position of each of the plurality of buoys,
- a state of a wave around the hull is obtained based on a detection result of the buoy detection sensor, and
- the at least one of shaking or movement of the hull is predicted based on the state of the wave.
8 more elements
A hull attitude control apparatus comprising:
- an outboard engine that comprises a propeller, which is provided on a hull and generates a thrust force at the hull, and an electric motor which drives the propeller;
- an inclination angle control portion that controls an inclination angle of a propeller rotation axis line in the propeller;
- a motor control portion that performs a drive control of the electric motor;
- and
- a state detection sensor that detects or predicts at least one of shaking or movement of the hull,
- wherein the inclination angle control portion and the motor control portion perform a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result of the state detection sensor,
- the state detection sensor comprises a wave camera that images a wave around the hull, and
- the at least one of shaking or movement of the hull is predicted based on a state of the wave imaged by the wave camera.
5 more elements
A hull attitude control apparatus comprising:
- an outboard engine that comprises a propeller which is provided on a hull and generates a thrust force at the hull and an electric motor which drives the propeller;
- an inclination angle control portion that controls an inclination angle of a propeller rotation axis line in the propeller;
- a motor control portion that performs a drive control of the electric motor;
- and
- a state detection sensor that detects or predicts at least one of shaking or movement of the hull,
- wherein the inclination angle control portion and the motor control portion perform a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result of the state detection sensor,
- the state detection sensor comprises an object camera that images an object around the hull or a horizontal line as a reference, and
- the at least one of shaking or movement of the hull is detected based on a shake of the object or of the horizontal line imaged by the object camera or by a change of a distance to the object.
5 more elements
A hull attitude control apparatus comprising:
- an outboard engine that comprises a propeller which is provided on a hull and generates a thrust force at the hull and an electric motor which drives the propeller;
- an inclination angle control portion that controls an inclination angle of a propeller rotation axis line in the propeller;
- a motor control portion that performs a drive control of the electric motor;
- and
- a state detection sensor that detects or predicts at least one of shaking or movement of the hull,
- wherein the inclination angle control portion and the motor control portion perform a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result of the state detection sensor,
- the state detection sensor comprises a small flight vehicle that detects an attitude of the hull, and
- the at least one of shaking or movement of the hull is detected based on a detection result from the small flight vehicle.
5 more elements
A hull attitude control method comprising:
- generating a thrust force at a hull by an outboard engine that comprises a propeller which is provided on the hull;
- driving the propeller by an electric motor;
- controlling an inclination angle of a propeller rotation axis line in the propeller;
- performing a drive control of the electric motor;
- and
- detecting or predicting at least one of shaking or movement of the hull,
- wherein the hull attitude control method further comprises:
- performing a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result acquired in the detecting or the predicting,
- the detecting or the predicting is of the shaking of the hull, and
- the performing of the drive control comprises repeatedly rotating the electric motor forward and backward in accordance with the shaking of the hull.
7 more elements
A hull attitude control method comprising:
- generating a thrust force at a hull by an outboard engine that comprises a propeller which is provided on the hull;
- driving the propeller by an electric motor;
- controlling an inclination angle of a propeller rotation axis line in the propeller;
- performing a drive control of the electric motor;
- and
- detecting or predicting at least one of shaking or movement of the hull,
- wherein the hull attitude control method further comprises:
- performing a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result acquired in the detecting or the predicting,
- the detecting or the predicting is of the movement of the hull, and
- in an anchorage state of the hull, the performing of the drive control comprises:
- rotating the electric motor forward and backward so as to generate a thrust force in a direction opposite to a direction of the movement of the hull, and
- determining a drive time of the electric motor so as to stop the hull at a place.
9 more elements
A hull attitude control method comprising:
- generating a thrust force at a hull by an outboard engine that comprises a propeller which is provided on the hull;
- driving the propeller by an electric motor;
- controlling an inclination angle of a propeller rotation axis line in the propeller;
- performing a drive control of the electric motor;
- and
- detecting or predicting at least one of shaking or movement of the hull,
- wherein the hull attitude control method further comprises:
- performing a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result acquired in the detecting or the predicting;
- and
- detecting a distance from an arrangement position to a water surface by a distance sensor that is provided on the hull, and
- the detecting or the predicting comprises detecting the shaking of the hull based on a change of the distance detected by the distance sensor.
8 more elements
A hull attitude control method comprising:
- generating a thrust force at a hull by an outboard engine that comprises a propeller which is provided on the hull;
- driving the propeller by an electric motor;
- controlling an inclination angle of a propeller rotation axis line in the propeller;
- performing a drive control of the electric motor;
- and
- detecting or predicting at least one of shaking or movement of the hull,
- wherein the hull attitude control method further comprises:
- performing a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result acquired in the detecting or the predicting;
- detecting a position of each of a plurality of buoys that float around the hull by a buoy detection sensor;
- and
- obtaining a state of a wave around the hull based on a detection result of the buoy detection sensor, and
- the detecting or the predicting comprises predicting the at least one of shaking or movement of the hull based on the state of the wave.
9 more elements
A hull attitude control method comprising:
- generating a thrust force at a hull by an outboard engine that comprises a propeller which is provided on the hull;
- driving the propeller by an electric motor;
- controlling an inclination angle of a propeller rotation axis line in the propeller;
- performing a drive control of the electric motor;
- and
- detecting or predicting at least one of shaking or movement of the hull,
- wherein the hull attitude control method further comprises:
- performing a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result acquired in the detecting or the predicting;
- and
- imaging a wave around the hull by a wave camera, and
- the detecting or the predicting comprises predicting the at least one of shaking or movement of the hull based on a state of the wave imaged by the wave camera.
8 more elements
A hull attitude control method comprising:
- generating a thrust force at a hull by an outboard engine that comprises a propeller which is provided on the hull;
- driving the propeller by an electric motor;
- controlling an inclination angle of a propeller rotation axis line in the propeller;
- performing a drive control of the electric motor;
- and
- detecting or predicting at least one of shaking or movement of the hull,
- wherein the hull attitude control method further comprises:
- performing a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result acquired in the detecting or the predicting;
- and
- imaging an object around the hull or a horizontal line as a reference by an object camera,
- the detecting or the predicting comprises detecting the at least one of shaking or movement of the hull based on a shake of the object or of the horizontal line imaged by the object camera or by a change of a distance to the object.
8 more elements
A hull attitude control method comprising:
- generating a thrust force at a hull by an outboard engine that comprises a propeller which is provided on the hull;
- driving the propeller by an electric motor;
- controlling an inclination angle of a propeller rotation axis line in the propeller;
- performing a drive control of the electric motor;
- and
- detecting or predicting at least one of shaking or movement of the hull,
- wherein the hull attitude control method further comprises:
- performing a control of the propeller so as to prevent the at least one of shaking or movement of the hull based on a detection result or a prediction result acquired in the detecting or the predicting;
- and
- detecting an attitude of the hull by a small flight vehicle, and
- the detecting or the predicting comprises detecting the at least one of shaking or movement of the hull based on a detection result from the small flight vehicle.
8 more elements
Dependencies are inferred from the claim text.