JP3057413B2 - Automatic ship maneuvering equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic ship maneuvering device capable of moving a ship, turning and changing the heading direction using a joystick lever and a turning dial.

[0002]

2. Description of the Related Art A conventional automatic maneuvering device using a joystick lever or a turning dial requires, for example, an operation of a set switch or the like for setting a heading holding mode when changing the heading during parallel movement of a ship. Met.

[0003]

However, during operation of the joystick lever or the turning dial, there is a problem that the operation of other devices, that is, the operation of a set switch for setting the heading holding mode is very troublesome. .
The present invention has been made in view of such a conventional problem, and its purpose is to operate a joystick lever and a turning dial, and to move a ship, turn, a heading, and the like according to their operation status. To provide an automatic ship maneuvering device capable of easily controlling the ship.

[0004]

That is, an automatic ship maneuvering device according to the present invention includes a CPP, a thruster, a rudder, a ship speed detector, an azimuth speed detector, an azimuth angle detector, and a control device. In a ship provided with an arithmetic unit, the control arithmetic unit
A remote control box is connected, and the remote control box is
Set the moving direction of the hull according to the tilting direction of the bar,
The joystick that sets the speed of the hull
The rotation direction of the clever and dial sets the turning direction of the hull.
Set the turning angular velocity according to the amount of dial rotation.
With joystick lever and turning dial
Holds the hull heading when both ears are in neutral,
Neutral for both joystick lever and turning dial
The hull is turned and the joystick lever is neutral
The hull rotates in place when the turning dial is in the neutral state.
Head, joystick lever in neutral, turning die
When the dial is in the neutral state, it translates while maintaining the hull direction.
Make the joystick lever and turning dial only
It is characterized by being realized by .

[0005]

According to the above arrangement, the ship operator can easily control the movement, turning and heading of the ship only by operating the joystick lever and turning dial.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a control system diagram of an automatic boat maneuvering device according to the present invention. A hull (not shown) includes a propulsion propeller (single-axis CPP) 3 driven by a main engine 2 having a speed reducer 1, a bow thruster 4, and a stern Thruster 5, normal rudder 6, wind speed detector 7, wind direction detector 8, ship speed detector 9 for detecting ship speed (front, rear, left and right), azimuth speed detector 10, azimuth angle detector 11 And a control arithmetic unit 12.

The portable remote control box 13 connected to the control arithmetic unit 12 includes a joystick lever 14, a turning dial 15, a system navigation button 16, a water speed holding button 17, and a wind attitude holding button 18. have. The moving direction of the hull is given by the tilting direction of the joystick lever 14, and the moving speed of the hull is given in proportion to the tilt angle of the joystick lever 14.

In addition, turning is performed on the spot while maintaining the turning angular velocity set by turning the turning dial 15 while keeping the joystick lever 14 in the neutral position. The turning direction of the turning dial 15 corresponds to the turning direction of the boat, and the magnitude of the turning of the turning dial 15 is proportional to the turning angular velocity.

On the other hand, as shown in FIG. 2, the control arithmetic unit 12 comprises a wind speed detector 7, a wind direction detector 8, and a ship speed detector 9.
And an azimuth velocity detector 10, a data check unit 121 for checking whether data input from the azimuth detector 11 is abnormal, and a filtering unit 12 for filtering the data checked by the data check unit 121.
2. Calculate the control force required to move, turn, and change the heading of the ship according to the tilt direction and tilt angle of the joystick lever 14 and the turning direction and turning angle of the turning dial 15. I. D control force calculator 123, P.D. I. A thrust distribution calculating unit 124 for calculating a thrust distribution amount between the rudder 6, the bow thruster 4, the stance thruster 5, and the CPP 3 based on the control force calculated by the D control force calculating unit 123;
It is composed of a bow thruster 4, a stance thruster 5, and a thrust fluctuation reducing unit 125 that performs a thrust fluctuation reducing process to prevent an overload from being applied to the CPP 3.

Next, the operation of the above automatic ship maneuvering device will be described. When the azimuth holding control arithmetic unit 12 is started, as shown in FIG. 3 and FIG.
Azimuth, azimuth speed, wind direction, wind speed,
The boat speed is input (n1).

The operator operates the system navigation button 16.
Pressing (n2) sets the system ship maneuvering mode (n3, n4). Then, in order to maintain the heading of the hull 20, the operator sets the joystick lever 14 to the neutral position and sets the turning dial 15 to the neutral position as shown in FIG. , N
6), the operation amount of the joystick lever 14 is "0" for both the tilting direction and the tilting angle, and the operation amount of the turning dial 15 is also "0" for both the turning direction and the turning angle.
P. I. The D control force calculation unit 123 includes the azimuth angular velocity detector 1
Based on the azimuth velocity data of 0 and the azimuth data of the azimuth detector 11, the heading is required to be maintained at the heading set heading (the heading when the joystick lever 14 and the turning dial 15 are set to the neutral position). The control force is calculated (n7, n12).

Further, P.I. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 calculates the thrust distribution amount of the rudder 6, the bow thruster 4, the stance thruster 5, and the CPP 3 (n13). In this case, since the control amounts of the joystick lever 14 and the turning dial 15 are both “0”, only the thrusts of the bow thruster 4 and the stance thruster 5 are calculated. Further, the bow thruster 4 and the stance thruster 5 calculated by the thrust fluctuation reducing unit 125 are calculated.
The thruster blade angles of the bow thruster 4 and the stance thruster 5 are controlled based on the thruster blade angles (n14, n15), and the heading of the hull 20 is maintained as shown in FIG. 5B (n16).

In-Situ Turning As shown in FIG. 6A, the joystick lever 14
Is set to the neutral position, and the turning dial 15 is rotated clockwise by a predetermined angle (+ α) (n5, n6), the operation amount of the joystick lever 14 is such that the tilting direction and tilting angle are “0”. The operation amount of the turning dial 15 is
Since the rotation is “+ a (° / sec) clockwise (rightward)”, P.E. I. The D control force calculation unit 123 calculates the control force required to turn the hull 20 on the spot based on the operation amounts of the joystick lever 14 and the turning dial 15 (n
8, n12).

Further, P.S. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 calculates the thrust distribution amount of the rudder 6, the bow thruster 4, the stance thruster 5, and the CPP 3 (n13). In this case, since the control amount of the joystick lever 14 is “0” and the control amount of the turning dial 15 is “+ α (° / sec) rotation clockwise”, only the thrust of the bow thruster 4 and the stance thruster 5 is reduced. Is calculated.

Further, the thruster blade angles of the bow thrusters 4 and 5 are controlled based on the thrust blade angles of the bow thrusters 4 and 5 calculated by the thrust fluctuation reducing unit 125 (n13, n14), and FIG. As shown in (5), the hull 20 turns on the spot at a predetermined turning angular velocity in the clockwise direction (rightward) (n16). Turning As shown in FIG. 7A, the joystick lever 14
Is tilted obliquely rightward (n5, n9), the operation amount of the joystick lever 14 becomes “clockwise rotation + β °, + γ ° forward”, and the operation amount of the turning dial 15 becomes “clockwise ( + Α (° / sec) in the right direction). I. The D control force calculation unit 123 calculates a control force required for turning the hull 20 based on the operation amounts of the joystick lever 14 and the turning dial 15 (n10,
n12).

Further, P.I. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 calculates the thrust distribution amount of the rudder 6, the bow thruster 4, the stance thruster 5, and the CPP 3 (n13). Further, the turning angle of the rudder 6, the thruster blade angle of the bow thruster 4 and the stance thruster 5, and the propeller blade angle of the CPP 3 are controlled based on the blade angles of the rudder 6, the bow thruster 4, and the CPP 3 calculated by the thrust fluctuation reducing unit 124. (N14, n15), as shown in FIG. 7B, the hull 20 turns rightward about the turning center O.

Parallel movement As shown in FIG. 8A, the joystick lever 14
Is tilted obliquely rightward (n5, n9), the operation amount of the joystick lever 14 becomes "clockwise rotation + β °, + γ ° forward", and the operation amount of the turning dial 15 depends on the rotation direction and Since both rotation angles are “0”,
P. I. The D control force calculation unit 123 calculates the hull 20 based on the operation amounts of the joystick lever 14 and the turning dial 15.
(N11, n1)
2).

Further, P.I. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 calculates the thrust distribution amount of the rudder 6, the bow thruster 4, the stance thruster 5, and the CPP 3 (n13). In this case, since the operation amount of the turning dial 15 is “0”, the bow thruster 4
, The thrust of the stance thruster 5 and the thrust of the CPP 3 are calculated.
Furthermore, the bow thruster 4 calculated by the thrust fluctuation reducing unit 125
, The thruster blade angle of the bow thruster 3 and the stirrer thruster 5 and the propeller blade angle of the CPP 3 are controlled based on the blade angles of the stunner thruster 5 and the CPP 3 (n14, n1).
5), as shown in FIG. 8 (b), the hull 20 translates diagonally right and forward.

By the way, for easy understanding, the following table shows the relationship between the operation state of the joystick lever 14 and the turning dial 15 and the control mode in a table. FIG. 9 shows the relationship between the operation states of the joystick lever 14 and the turning dial 15 and the movement, turning, and turning directions of the boat 20.

[0020] In the above description, the case where the normal rudder 6 is used has been described. However, for example, when the special rudder 6a such as a shilling rudder is used, the stance thruster 5 is not necessarily required.

[0021]

As described above, according to the present invention, the ship operator does not need to operate the changeover switch or the changeover button for changing the ship maneuvering mode other than the operation of the joystick lever and the turning dial during the ship maneuvering. . as a result,
The operator can reduce the mental and physical burden associated with maneuvering the ship and pay attention to monitoring other ships, thus improving safety during navigation.

[Brief description of the drawings]

FIG. 1 is a control system diagram of an automatic boat maneuvering device according to the present invention.

FIG. 2 is a control block diagram of the control arithmetic device of the present invention.

FIG. 3 is a control flow chart showing the first half of the control flow of the present invention.

FIG. 4 is a control flowchart showing the latter half of the control flow of the present invention.

FIG. 5A is an explanatory view showing a state of a joystick lever and a turning dial when holding an orientation. (B) It is explanatory drawing of the ship in a bearing holding state.

FIG. 6A is an explanatory diagram showing a state of a joystick lever and a turning dial when turning on the spot. (B) It is explanatory drawing of the ship under the spot turning state.

FIG. 7A is an explanatory diagram showing a state of a joystick lever and a turning dial when turning. (B) It is explanatory drawing of the ship under turning state.

FIG. 8A is an explanatory diagram showing a state of a joystick lever and a turning dial during a parallel movement. (B) It is explanatory drawing of the ship under a parallel movement state.

FIG. 9 is an explanatory diagram showing a relationship between operation states of a joystick lever and a turning dial and a moving direction of a boat.

[Explanation of symbols]

Reference Signs List 3 CPP 4 Bow thruster 5 Stern thruster 6 Rudder 9 Ship speed detector 10 Azimuth speed detector 11 Azimuth angle detector 12 Control arithmetic unit 13 Remote control box 14 Joystick lever 15 Turn dial 16 System steering button 20 Ship 121 Data check unit 122 Filtering Part 123 p.
I. D control force calculation unit 124 thrust distribution calculation unit 125 thrust fluctuation reduction unit

Continuation of front page (56) References JP-A-59-96096 (JP, A) JP-A-62-50296 (JP, A) JP-A-62-244794 (JP, A) JP-A-2-200597 (JP) , A) JP-A-62-101597 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B63H 25/02-25/04

Claims (1)

(57) [Claims] 1. A ship equipped with a CPP, a thruster, a rudder, a boat speed detector, an azimuth speed detector, an azimuth angle detector, and a control operation device, wherein the control operation device is remotely controlled.
While connecting the box, the remote control box is
Set the moving direction of the hull according to the tilting direction, and tilt the lever
Joystick lever that sets the speed of the hull according to the angle
-The turning direction of the dial sets the turning direction of the hull,
Turning die that sets the turning angular velocity according to the amount of rotation of the dial
Joystick lever and turning dial
Holds the hull heading when both are neutral,
When both the tech lever and the turning dial are in the neutral state
The hull, and the joystick lever is in a neutral state,
When the turning dial is in the neutral state, turn the hull
, Joystick lever in neutral, turning dial
When the ship is in the neutral state,
Only by using the joystick lever and turning dial.
Automatic steering device of a ship, characterized in that to realize I.