JP2788199B2 - Control device with control lever - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device provided with a control lever used for controlling a ship such as a ship or an automobile (hereinafter referred to as a ship).

[0002]

2. Description of the Related Art In the case of a passenger car, for example, in order to facilitate understanding, such as a ship, in a passenger car, various steering devices including a steering handle are arranged in front of a driver's seat (driver's seat). ing. Conventionally, these control devices were all the control devices arranged in front of the cockpit, but now, in addition to these, a clock, a radio, a television, a telephone, a position display device, a traffic information display device, and the like. It is to be equipped.

If each device other than these control devices is generally referred to as multimedia, these multimedia tend to increase in content and quantity in the future. In the meantime, it is easily expected that the leading position is changed in the arrangement position with the above-described control device and the control device is arranged in front of the cockpit, and the control device is placed beside the cockpit.

[0004] The above-mentioned tendency is the same in ships, but in the case of ships, in addition to the multimedia in the above-mentioned passenger cars, mooring, anchoring,
Intensive response is expected for onboard power, air conditioning, cargo handling, and much more related elements (equipment) of ships. That is, it cannot be denied that the specific gravity of the control device is steadily decreasing.

[0005] It is needless to say that the navigation device of the marine vessel must be compact and perform its required functions simply and reliably, as in the case of a passenger car.

The control lever according to the present invention relates to a control device having such a tendency in the future.

Japanese Patent Application No. 1-222278, filed by the present inventor, discloses a conventional control device that performs the same function.
Alternatively, there is one described in Japanese Patent Application No. 280135/1988. Each of the control devices described in these documents includes a two-dimensional tilting lever or a control ball that controls the translational movement of the hull, and a turning dial that controls the rotational movement.

[0008]

However, in the steering apparatus described in the above-mentioned Japanese Patent Application No. 1-222278 or Japanese Patent Application No. 63-280135, two operating means of a tilting lever and a turning dial are used in maneuvering operation. Since the operation must be performed and the operation becomes complicated, for example, the tilting lever that tilts and displaces two-dimensionally in the steering device described in Japanese Patent Application No. 63-280135 is provided with a shaft of the control lever. The addition of the function of turning around will make it necessary to rotate around the axis of the control lever even in a tilted state, giving a great sense of incongruity to the driver and a considerably complicated mechanical structure. I have to be.

[0009] Further, the ship's maneuvering device is provided with
When a plurality of control units (a control unit consisting of a tilting lever and a turning dial, etc.) are installed side by side for the convenience of control when berthing, for example, a control room in the center of the hull, One control unit may be arranged, but in such a configuration, when changing from one control unit to another control unit (for example, changing from a control unit in a wheelhouse to a control unit arranged on the starboard side). In this case, it is necessary that all the control units, for example, the respective tilting levers perform the same movement in synchronization with each other so that a continuous control operation can be performed before and after the change. Attempting to realize such a configuration would be expensive.

As another method, when changing the control to a new (different) control unit, the control must be performed in the same position as the position of the tilt lever and the turning dial of the control unit which has been controlled so far. There is a configuration in which the switching cannot be performed, but also in this case, the operation becomes complicated and the configuration becomes complicated.

The present invention has been made under such a situation, and has a simple structure in which a plurality of control units are provided without giving the driver a sense of incongruity in operation. It is an object of the present invention to provide a control device provided with the control lever without the above-mentioned problems.

[0012]

According to a first aspect of the present invention, there is provided a control device for controlling a ship with respect to a control console of a ship.
It is erected vertically, with its axis applied to the lever.
Force in X and Y directions in the intersecting plane and around the axis of the lever
The torsional force of the lever and the axial force of the lever.
Detection that can detect the size, direction and orientation
Equipped with a force input fixed lever type control lever
With the input applied to this control lever,
Equipped with setting means for setting the ratio of control output
The steering is operated by operating the control lever.
In steering apparatus have been made, the steering device, the change-over switch, or the marine vessel maneuvering contents or control target
Automatically from the first mode to the third
Is configured to execute any of the modes,
When the first mode is selected, when one or more inputs are given to the control lever, the output is performed in accordance with the given information, and when the force applied to the control lever is released, the neutral state is set. When the second mode is selected, only the input information having the maximum value among the information of one or a plurality of inputs input from the neutral state of the control lever is stored and corresponded to the information. When information having a value in a direction opposite to the previously input information is input, the integrated value is output, and when the third mode is selected, the neutralization of the control lever is performed. Each time a value is input from the state, the value is integrated and stored again, and the value is output in accordance with the stored value.

The control device according to the second aspect of the present invention is arranged so as to be substantially perpendicular to the control console of the ship.
A plane perpendicular to its axial direction applied to the lever
In the X and Y directions and how to twist the lever around its axis
Direction force and lever force in the axial direction.
And detection means capable of detecting the direction and direction.
With a fixed input lever control lever
Both the input applied to this control lever and the control output
Setting means capable of setting the ratio of
It is configured to operate by lever operation.
In a control device, a plurality of control units having the control levers are arranged at different positions, and values input from the control levers of the plurality of control units are stored in common storage means connected to the control levers. , The input is made in accordance with the time sequence input from each of the control levers.

In the control device according to the first or second aspect of the present invention, if the control device has storage means for storing information input to the control lever and constantly outputting the information, the hand from the control lever is controlled. Even if it is released, the input state can be maintained. That is, in the conventional tilting type control lever, the same operation can be exerted by replacing an input state stored in the physical tilting state with an electronic storage device or the like. Recently, many of such control devices are provided with an electronic storage device (a storage device of a microcomputer), and there is no need to newly add such a control device, and only the configuration of the control lever can be made simple and compact. it can.

Further, as a steering apparatus according to claim 1,
The control device is configured to be able to execute any one of the first mode to the third mode by a changeover switch or selectively, and when the first mode is selected, one or more inputs are provided to the control lever. Is output in accordance with the given information, and returns to the neutral state when the force applied to the control lever is released. When the second mode is selected, the control lever returns from the neutral state. Stores only the input information having the maximum value among the input information of one or a plurality of inputs, outputs the information corresponding to the information, and has a value in a direction opposite to the previously input information. When the third mode is selected, the value is integrated and stored again when the third mode is selected, and the stored value is stored again. Corresponding to the value When the driver releases his / her control lever by selecting the first mode, the pilot control device is set in a neutral state, and the steering device of a passenger car or a high-speed boat or the like which needs frequent operation is required. It can be used as such a control device. The form of the input may be, for example, a torsional input about the vertical Z axis. In such a controlled object, two control levers are provided to perform two-hand operation,
It can also create smooth continuity of control (steering).
By selecting the second mode, for example, the steering device can be used as a control device suitable for controlling the output of a marine main engine that uses nerves at the upper limit of horsepower. Further, by selecting the third mode, the control device can be used as a control device suitable for control of a controlled object that requires frequent control in small increments.

As for the input in the Z-axis direction, it is technically possible to perform an analog input as in other input forms, but the operability is not always good, and in a ship moving on a plane, etc. There are few control targets that conform to it. Therefore,
It is conceivable that this is used as a push button, for example, for the simultaneous neutral return of the controlled object or the on / off operation of the clutch of the main engine.

Also, as in the control device according to the second aspect ,
A plurality of control units having the control levers are arranged at different positions, and the values input from the control levers of the plurality of control units are stored in common storage means connected to the control levers from the control levers. If it is configured to input in accordance with the input chronological order, continuous steering operation is possible even if the operating unit to be operated is changed, and a ship having a steering room and a steering unit on both the left and right sides. It becomes a preferable thing as a steering device.
In other words, in the case of a control lever that physically moves (mechanically moves) such as tilting, if a plurality of control levers are provided, the control lever to be operated must be operated unless the control levers are synchronized. When the control lever is changed, continuous control operations cannot be performed before and after the change. However, in the case where the control lever does not physically operate such as tilting and is stored in the common storage means, synchronized movement is unnecessary, and a simple configuration is achieved. Can be

Further , as described in claim 3, claim 1 or
Is provided with a display means for displaying information input from a control lever or information related to control output to a control target, so that the pilot can control his or her own operation status or perform an operation. The operation contents can be easily grasped.

[0019]

According to the control lever of the control device according to the first or second aspect of the present invention, X, Y
In the direction and around the Z-axis and in the Z-axis direction (very small deformation)
However, since the control lever itself does not physically tilt or turn, it has a very simple and compact structure and is operated using the conventional tilt control lever and turning dial. Operation can be performed only by this control lever. In addition, since the control lever itself does not tilt or turn, for example, when employed in a control device of a ship, a force is applied in the tilt direction to cause the control lever to perform a translational motion, and at the same time, a turning motion is performed. Even if a force in the direction around the axis of the control lever or the force in the axial direction of the control lever is applied, the operation can be performed without any discomfort. Since the control lever is fixed, even if a translational motion is input after a translational motion is input, there is no sense of incongruity, and the structure is compact and simple.

[0020] Then, above all, according to the steering apparatus according to the invention described in claim 1 or 2, you can maneuver operated by the force to be inputted to the control lever having the above simple structure, yet the maneuvering lever Can freely set the ratio between the force input to the controller and the control output, so that even if the control lever is fixed to the console, the operation feeling of the control device can be adjusted according to each driver's strength or preference. be able to.

[0021]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an example of a control device provided with a control lever according to the present invention.

FIG. 1 is an overall configuration diagram conceptually showing a control device provided with a control lever according to an embodiment of the present invention and a control object of a ship provided with the control device, and FIG. 2 is a control device for the control device. It is a perspective view showing one mode of use of a lever.

In FIG. 1, reference numeral 1 denotes a control unit of a control device, 2 denotes a force input type control lever, and 3 denotes a turning (turning) torque of the control lever 2, that is, a torque (distortion) around the Z axis (see the axis indicated by Z in FIG. 1). 4 is a strain gauge for detecting a force in the X and Y directions (see arrows X and Y in FIG. 1) and a force (strain) in the Z-axis direction in the plane of the control lever 2. (Detection means) 5 is a storage device (storage means) for storing a detection value (input value) from the strain gauge, and 6 is a ship based on each detection value (information) so that the ship can be maneuvered in response to the input. Calculating and distributing device for calculating and distributing the control amount (output) of each ship maneuvering element, 7 is a gyro compass, magnetic compass, GP
S (Global Position System), etc., an angle sensor for detecting the azimuth of the ship, 8 is a position sensor for detecting the position of the ship, which is composed of GPS, radio waves, sonar, etc., 9-1
Reference numeral 2 denotes an object to be controlled, 9 denotes a propulsion device of the ship, 10 denotes a rudder of the ship, 11 denotes a main engine (propulsion engine) of the ship, 12 denotes a side thruster, and A denotes a hull. Although only one steering unit 1 is shown in FIG. 1, in this embodiment, a total of three steering units 1 are arranged on both the left and right sides of the ship and the ship.
These are connected to the common storage device 5.

On the upper surface (console) 1a of the control unit 1, the control lever 2 is provided upright. Below the steering lever 2, a plurality of strain gauges 3 for detecting the torque around the Z axis are arranged in an X shape in side view. In the lower position, four strain gauges 4 for detecting the force in the X and Y directions and the force in the Z axis direction are provided at four positions where the outer periphery of the control lever 2 is divided into four equal parts. The strain gauges 3 and 4 are:
In FIG. 1, it is arranged in such a way that a rectangular longitudinal tension or compression is detected.

Each of the strain gauges 3 and 4 is electrically connected to the storage device 5 and transmits a detected value (input value) detected by the strain gauges 3 and 4 to the storage device 5. A display device 13 such as a liquid crystal display device is disposed on the upper surface 1a of the control unit 1. The display device 13 is, as shown in FIG. Clockwise or counterclockwise) and its turning moment,
The translation direction and direction indicated by the arrow S and the magnitude of the thrust are displayed.

The storage device 5 is electrically connected to an input terminal of the operation distribution device 6, and the angle sensor 7 and the position sensor 8 are electrically connected to another input terminal of the operation distribution device 6. It is connected to the.

The output terminal of the operation distribution device 6 is electrically connected to each control device (not shown) of the propulsion device 9, rudder 10, main engine 11, and side thruster 12 of the ship to be controlled. It is connected to the.

In FIG. 1, reference numeral 14 denotes a setting device (setting means) comprising a dial-type "knob" disposed on the upper surface 1a of the control unit 1, and a force applied to the control lever 2 ( Or torque) and the storage device 5
The dial-type setting device 14 is rotated by an appropriate angle so that the [input / output] ratio of the detected value to be output to the controller, for example, a detected value requiring 100% output when a force of 30 Newton is pressed. It is configured to be adjusted by the following. Note that the torque around the Z axis and the force in the Z axis direction are similarly adjusted.

Thus, the ship can be maneuvered (steered) as follows by the maneuvering device having the maneuvering lever for the maneuvering device configured as described above.

That is, the operator operates the control lever 2 of the control unit 1 shown in FIG. 1 (for example, the control unit of the wheelhouse).
As shown in FIG. 2, while the base of the palm is placed on the console, the head 2a of the control lever 2 is gripped by the palm, and for example, the vessel is propelled in accordance with the content to be maneuvered. When it is desired to move forward with 100% force, the control lever 2 is pressed in the "+ Y" direction in FIG. 1 with a pressing force of 100% (30 Newton in this embodiment) previously set by the setting device 14, and this pressing is performed. As for the pressure, the direction in which the pressure is applied (in this case, the + Y direction) and the magnitude (force) thereof are detected by the strain gauge 4. Then, the detected value is transmitted to the storage device 5, and the storage device 5 stores that the “direction” is the + Y direction and the “force (output)” is 100%. As shown by the bold broken line in FIG. 3, the “direction” and “force (output)” are displayed on the display device 13 of the control unit 1 as indicated by an arrow S1. Is displayed by the length. Therefore, the operator can confirm his / her own operation contents by the display on the display device 13. In addition,
The display shown by a solid line in FIG. 3 indicates an operation state different from the operation of the control lever 2 (that is, the control lever 2
(A state in which the control lever 2 is pressed forward by 5 degrees and a state in which the control lever 2 applies a torsional force clockwise around the Z axis).

Based on the contents of the storage device 5, a calculation for necessary control is performed by the calculation distribution device 6, and the control of the calculation content is executed. That is, the calculation determines, for example, the pitch angle of the propulsion device 9 and the rotation speed of the main engine 11, the steering angle of the rudder 10, and the rotation speed of the side thruster 12. When the input indicated by S1 in FIG. 3 is performed, the pitch angle of the propulsion device 9 and the rotation speed of the main engine 11 become 100% based on the calculation of the calculation distribution device 6,
Further, the rudder angle of the rudder 10 becomes “0” and the side thruster 12
Is performed so that the number of revolutions of the boat becomes “0”, and the boat advances with 100% propulsion. When the input is made by the control lever 2 in this manner, the value (input value) is stored in the storage device 5, and in the second and third modes according to claim 1 , the value is input until the next input is made. Is maintained even after the operator releases his / her hand from the control lever 2 after the input, and the current control contents can be confirmed (understood) by the display device 13.

During navigation in this state, the control lever 2 is
10 previously set by the setting device 14 in the “−Y” direction of
%, The input value is integrated from the value stored in the storage device 5, and the ship moves forward with 90% propulsion. That is, this is an embodiment in the case where the second mode described in claim 1 is being executed.

Next, when the ship is turned (steered), for example, when the rudder 10 is steered to the right by 30 °, the control lever 2 is turned to the right (clockwise) by 30 ° in the same state as described above. When the torsion is caused by the applied torque (for example, the torque of a 2 Newton meter), the torsional force is detected by the strain gauge 3 in the torsional direction and its magnitude (torque). Then, the detected information is stored in the storage device 5.
As described above, the contents are stored, and the “turning direction” and the “magnitude of moment” are displayed on the display device 13 of the steering unit 1.

The contents of the above operation are stored in the storage device 5, and even if the operator releases his / her hand from the control lever 2, the contents, that is, the state in which the rudder 10 is steered to 30 ° are executed. . To end the turning operation, the control lever 2 may be twisted leftward (counterclockwise) with a torque equivalent to 30 ° (for example, a torque of 2 Newton meters). This example is also an embodiment in the case where the second mode described in claim 1 is being executed. Further, the return to the neutral position is, of course, not performed at once, but may be performed a plurality of times, for example, the control lever 2 may be twisted to the left with a torque corresponding to 15 ° in two times. Good. In addition, as another method, a configuration may be employed in which a reset operation is performed to return to the neutral position. This reset operation, like a ship,
When the control lever 2 is pressed in the Z-axis direction, a value that is already stored in the storage device may be reset to zero when the control lever 2 is pressed in the Z-axis direction because there are few control targets that match the motion in the plane. .

When the control device is configured to be capable of so-called "auto-pilot operation", the control lever 2 is rotated rightward (clockwise) with a torque corresponding to 30 ° to thereby input the control lever. The stored information may be stored in the storage device 5 so that the course of the ship is maintained at a right angle of 30 °. That is, this is an embodiment in the case where the second mode described in claim 1 is being executed. Of course, in this case, the operation content from the storage device 5 is corrected by the arithmetic distribution device 6 based on the information from the angle sensor 7, so that the rudder 10 or the side thruster 12 is operated if necessary. A right 30 ° course will be maintained.

Further, in the embodiment where the second mode of claim 1, wherein is running, as corresponding to the "autopilot operation" in the above cruise state, a predetermined distance vessels in a particular direction There is a boat maneuver that performs translational movement to maintain the position and the direction of the ship. For example, in the case where the boat is translated in the “+ X direction” by a distance of 10 m and the state is maintained, the control lever 2 is moved in the “+ X direction” by a distance of 10 m. The input information is stored in the storage device 5 and the ship is translated by a predetermined distance in a specific direction based on the information in the storage device 5 so that the position and the position of the ship Hold the orientation. Of course, in this case, the information from the position sensor (for example, “GPS”) 8 and the contents of the operation from the storage device 5 are calculated by the calculation distribution device 6, so that the propulsion device 9, the main engine 11, the steering 10. By operating the side thrusters 12 and the like, the position and the direction of the ship are maintained.

When the steering unit 1 is disposed on both sides of the center steering room and the shore as in this embodiment, the steering unit on the starboard (or port) side is separated from the steering unit in the steering room at the time of leaving or docking. Even if the operation mode is changed to the above, the operation contents performed in the wheelhouse are stored in the storage device, and the operation performed by the control lever of the control unit on the starboard side (or port side) is input to the input stored in the storage device. Furthermore, since the integration is performed, continuous operation is possible even if the control unit is changed. In this case, the mode of claim 1 is the second mode.
Alternatively, the third mode is adopted.

Although not particularly mentioned in the above embodiment, in the case of a ship equipped with such a control device, it is desirable that the main engine, the propulsion unit, the rudder and the like are provided in two sets.

By the way, in the case of a relatively large vessel as in the above-described embodiment, a ship maneuvering in a voyage state outside the port requires a charge.
As described in item 1 , only the maximum input value of one or a plurality of inputs input from the neutral state of the control lever is stored and output in accordance with the input, and the value is inversed to the input value. When the value of the direction is input, the "second mode" which integrates the value and outputs it to the operation and distribution device side can be automatically selected by the mode changeover switch or by the contents of the maneuver (or the controlled object). It is preferred that The control of the output of the main engine in a state of navigation outside the port, where accurate control is required, is performed in the third mode described in claim 1 , that is, the information (detection) is performed every time the control lever is input. It is preferable that the values are integrated and stored again, and output from the control device in accordance with the stored information.

In the first mode described in claim 1 , when the vehicle must be steered in accordance with the situation in the traveling direction every time as in the case of a high-speed boat or a car (automobile), the storage device has It is preferable to perform steering (driving) such that the steering is performed based on the input value (information) based on the force applied to the control lever, and reset when the control lever is released. In this case, if two control levers are arranged side by side and operated with both hands, continuous operation can be performed with the other hand even if the operation with one hand is limited. When the present invention is applied to an automobile, the operation force of the control lever in the axial direction is turned ON-OFF.
It may be applied to a switch and used to operate a parking brake.

Although the above embodiment has been described as applied to a ship, it goes without saying that the embodiment can be applied to a vehicle such as an automobile.

[0042]

According to the steering apparatus having a steering lever according to the present invention according to the present invention, since the control lever itself does not perform the operation of tilting, etc. (displacement), of course it does not give a sense of discomfort to the operator in the operation Since the hand can be stabilized, stable maneuvering is possible, and as a result, the manipulating lever can be operated accurately.

Further, since the steering can be performed by one-handed operation, other elements can be operated with the free hand.

Also, structurally, since three functions are integrated in a state in which one control lever does not cause discomfort compared to the conventional tilting control lever, it can be simplified compactly, and the control lever can be provided with a switch or other switches. It becomes easy to incorporate things. As a result, a highly reliable control lever and control device for control can be provided at low cost.
Moreover, in the case of a ship, even if a plurality of control units with control levers are installed side by side, even if there is no mechanism for synchronizing the levers of each control unit, a series of operations are changed during control Continuity can be ensured even if it is carried out, and simple and continuous maneuvering by one captain is possible. Also, in this case, if the control unit is made portable, preferably a palm-size cordless type, the continuity of control can be more easily ensured from the viewpoint of handling.

Depending on how the information is stored and output in the storage means, it is suitable for controlling the output of the main engine of a large ship in navigation outside the port, or suitable for the main engine or steering in the port, or A desired mode suitable for a high-speed boat or the like can be easily executed by selecting or switching modes.

In this case, if the response of the maneuver is slow like a general ship, the display means according to claim 3 is provided so that the operation state at that time can be accurately grasped at all times. Become.

Further, according to this control device, since the storage device or the arithmetic device of the computer already provided can be used, it can be implemented very inexpensively and easily.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram conceptually showing a control device provided with a control lever according to an embodiment of the present invention and a control object of a ship provided with the control device.

FIG. 2 is an enlarged perspective view of a control lever portion showing one use mode of the control lever shown in FIG.

FIG. 3 is a plan view showing display contents of the display device shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Steering unit 2 ... Steering lever 3 ... Distortion gauge (detection means) which detects the torque around Z-axis 4 ... Strain gauge (detection means) which detects the force of X and Y direction, and the force of Z-axis direction

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B63H 25/02 B63H 25/42

Claims (3)

(57) [Claims] 1. A vehicle which is substantially perpendicular to a control console of a ship.
And perpendicular to the axial direction applied to the lever
Force in X and Y directions in plane and torsion around lever axis
And the axial force of the lever.
And a detecting means capable of detecting the direction and direction.
Equipped with a force input fixed lever type control lever
Together with the input applied to this control lever and the control output
Setting means capable of setting a force ratio;
It is configured to operate by operating the vertical lever
In steering apparatus are, the steering device, the change-over switch, or maneuvering contents
Or, by automatically selecting the
Te, one of the modes of the third mode from the first mode is configured for executing, when the first mode is selected, when one or more of the input is given to the control lever, given its When the second mode is selected, one or more inputs are input from the neutral state of the control lever when the force applied to the control lever is released and the second mode is selected. Only the input information having the maximum value of the information is stored and output corresponding to the information, and when the information having the value of the direction opposite to the previously input information is input, the value is When the third mode is selected, each time the control lever is input from the neutral state, the value is integrated and stored again, and output in accordance with the stored value. , steering vertical device you wherein a. 2. A vehicle which is substantially perpendicular to a navigation console.
And perpendicular to the axial direction applied to the lever
Force in X and Y directions in plane and torsion around lever axis
And the axial force of the lever.
And a detecting means capable of detecting the direction and direction.
It has, Ru equipped with a control lever of power input locking lever type
Together with the input applied to this control lever and the control output
Setting means capable of setting a force ratio;
It is configured to operate by operating the vertical lever
In a control device, a plurality of control units having the control lever are arranged at different positions, and values input from the control levers of the plurality of control units are stored in common storage means connected to the control levers. , steering vertical device you characterized in that it is configured to input according to the temporal order in which they are input from the control lever. 3. The control device according to claim 1, wherein the control device includes display means for displaying information input from a control lever or information relating to control output to a control target.