EP2534044B1 - Method for maneuvering a yacht - Google Patents

Description

The invention relates to a method for maneuvering a yacht and to an apparatus for carrying out the method.

By the WO 02/085702 A1 a motor yacht was known with a propulsion plant, which has two each driving a propeller drive units. In addition to the propulsion system, the motor yacht on a bow thruster and a stern thruster, ie acting transversely to the longitudinal direction of the yacht thrusters. The propellers and the thrusters are controlled together by a control device via a control lever designed as a joystick. The joystick can be tilted within a full 360 ° circle in eight different directions, each differing by 45 °. Depending on which maneuver is to be driven with the yacht, either the propulsion or the thruster or propulsion and thrusters are activated.

By the US Pat. No. 7,234,983 B2 a motor yacht was known, which has two pivotable about a vertical axis propeller drives, shortly called rotary actuators. By pivoting the thrust vector generated by the propellers yaw moments are introduced into the hull, which determine the course of the boat. A lateral movement, ie a maneuvering of the yacht transversely to the longitudinal direction is not possible with this drive.

By the US 7,267,068 B2 was a motor yacht with two rotary actuators known which allow depending on the orientation of the two thrust vectors any maneuvering movements such as forward, backward, sideways and rotating. A pure lateral movement, ie a lateral displacement of the yacht is not possible due to the two juxtaposed in the rear area pivot drives. The control of the motor yacht via a control device designed as a joystick, wherein the joystick can be tilted in any direction within a full circle and rotated about its longitudinal axis. Tilting or turning the joystick causes obvious maneuvering movements of the boat initiated. A disadvantage of the known maneuvering method is that two part-turn actuators are required for generating a force pair of thrust vectors. Such a double drive system is not useful for smaller yachts, especially sailing yachts for cost, weight and space reasons.

By the WO 2005/005249 A1 was a swivel propeller drive for a boat known, hereinafter also referred to briefly as a pivot drive. The known rotary actuator is used as a single drive for boats, which can be dispensed with due to the pivoting of the thrust vector generated by the propeller on a rudder blade.

From the WO 2007/089177 A1 Furthermore, a method according to the preamble of claim 1 is known.

It is an object of the present invention to provide a method for maneuvering a yacht, which is also useful for smaller yachts.

The object of the invention is achieved by claim 1. Advantageous embodiments emerge from the subclaims.

According to the known maneuvering method by means of a joystick, which is tiltable and rotatable by hand, transferred to a yacht, which has only a pivot drive and also a bow thruster. This achieves the advantage that the control by means of a joystick can also be used for smaller yachts with a less complex drive system.

The pivoting drive, also called rudder propeller, comprises a propulsion device, in particular with a ship's propeller, which is pivotable about a high or control axis and thus allows a different thrust direction relative to the ship's hull. The bow thruster is firmly in the forefront arranged the trunk, generates a thrust across the longitudinal direction of the ship and thus accelerates a rotational movement. By means of the rotary actuator and the bow thruster, the maneuvering can be carried out advantageously, ie it is a sensitive, intuitive, quickly responsive maneuverability of the yacht achieved. For example, lateral or lateral movements of the yacht can be represented by the transverse position of the pivoting drive and the use of the bow thruster. This is a significant advantage in maneuvering, especially for sailing yachts.

According to one embodiment, the pivot drive can be controlled by tilting and / or rotating the joystick. By the tilting direction, which takes place preferably in Mitschiffsrichtung or transversely to the midships direction, the direction of the thrust vector, d. H. the control angle of the rotary actuator determined. The tilt angle from 0 ° to approx. 45 ° determines the strength of the thrust.

By rotating the joystick about its longitudinal axis, a yaw movement of the yacht is initiated, wherein the thrust vector is pivoted so that a yaw moment is exerted on the underwater vessel of the yacht.

According to one embodiment, the pivot drive and the bow thruster can be controlled simultaneously by tilting the joystick in the transverse direction. As a result, pure lateral movements of the yacht, so a Querversetzung with the same course orientation, possible. The thrust of the bow thruster and the pivot drive act in the same direction, the thrust is controlled so that no rotational movement of the hull occurs.

According to a further advantageous embodiment, the bow thruster and the pivot drive by turning the joystick in a vertical position, ie not tilted, are controlled. By this rotation of the joystick, a turning of the yacht can be achieved on the spot, ie it requires a minimum maneuvering space for the ship's turn.

It is provided as a device for carrying out the method, a sailing yacht, which is generally equipped with only a motor drive. In this respect, the application of the appropriate method on a sailing yacht means a large increase in comfort and safety during maneuvering.

Fig. 1

eine schematische Darstellung des Rumpfes einer Segelyacht,

Fig. 2

einen Joystick mit seinen drei Bezugsachsen x_j, y_j, z_j sowie eine schematische Darstellung des Schiffsrumpfes mit seinen ortfesten Achsen x, y, z,

Fig. 3

eine schematische Darstellung eines Steuerungssystems der Yacht,

Fig. 4

eine erste Position des Joysticks mit Kippposition nach vorn,

Fig. 4a

den Joystick in seiner ersten Position und die Bewegung der Yacht,

Fig. 4b

den Joystick gedreht und die Bewegung der Yacht,

Fig. 5

eine zweite Position des Joysticks mit Kippposition nach hinten,

Fig. 5a

den Joystick in seiner zweiten Position und die Bewegung der Yacht,

Fig. 5b

den Joystick gedreht und die Bewegung der Yacht,

Fig. 6

die zweite Position des Joysticks mit um 180° geschwenktem Schwenkantrieb,

Fig. 6a

den Joystick in seiner zweiten Position und die Bewegung der Yacht,

Fig. 6b

den Joystick gedreht und die Bewegung der Yacht,

Fig. 7

eine dritte Position des Joysticks mit mittiger Position,

Fig. 7a

den Joystick in seiner dritten Position und die Bewegung der Yacht,

Fig. 8

eine vierte Position des Joysticks mit Kippposition nach Steuerbord,

Fig. 8a

den Joystick in seiner vierten Position und die Bewegung der Yacht,

Fig. 8b

den Joystick gedreht und die Bewegung der Yacht,

Fig. 9

eine fünfte Position des Joysticks mit Kippposition nach Backbord,

Fig. 9a

den Joystick in seiner fünften Position und die Bewegung der Yacht und

Fig. 9b

den Joystick gedreht und die Bewegung der Yacht.

An embodiment of the invention is illustrated in the drawing and will be described in more detail below, which may result from the description and / or the drawing further features and / or advantages. Show it

Fig. 1

a schematic representation of the hull of a sailing yacht,

Fig. 2

a joystick with his three reference axes x _j, y _j, z _j, as well as a schematic representation of the hull with its ortfesten axes x, y, z,

Fig. 3

a schematic representation of a control system of the yacht,

Fig. 4

a first position of the joystick with tilt position forward,

Fig. 4a

the joystick in its first position and the movement of the yacht,

Fig. 4b

turned the joystick and the movement of the yacht,

Fig. 5

a second position of the joystick with tilting position to the rear,

Fig. 5a

the joystick in its second position and the movement of the yacht,

Fig. 5b

turned the joystick and the movement of the yacht,

Fig. 6

the second position of the joystick with swivel drive swiveled by 180 °,

Fig. 6a

the joystick in its second position and the movement of the yacht,

Fig. 6b

turned the joystick and the movement of the yacht,

Fig. 7

a third position of the joystick with central position,

Fig. 7a

the joystick in its third position and the movement of the yacht,

Fig. 8

a fourth position of the joystick with tilt position to starboard,

Fig. 8a

the joystick in its fourth position and the movement of the yacht,

Fig. 8b

turned the joystick and the movement of the yacht,

Fig. 9

a fifth position of the joystick with tilting position to port,

Fig. 9a

the joystick in its fifth position and the movement of the yacht and

Fig. 9b

the joystick turned and the movement of the yacht.

Fig. 1 shows a schematic representation of a hull 1 of a not fully illustrated sailing yacht with a keel 2, a prime mover 3, a bow thruster 4 and a rudder blade 5. The prime mover 3 drives a propeller drive 6, which is designed as a pivot drive 6, ie about the vertical axis is pivotable. Such a rotary actuator is also referred to as a rudder propeller, because it replaces the function of a conventional rudder. The prime mover 3 may be an internal combustion engine or a hybrid drive consisting of an electric motor and an internal combustion engine.

Fig. 2 shows a joystick formed as a joystick control lever 7 for controlling the drive machine 3, the pivot drive 6 and the bow thruster 4. The joystick 7 has a handle 7a and formed as a hinge pivot point 7b, through which the longitudinal axis z _{j of} the joystick 7 extends. Further, the joystick 7, the axes x _j and y _j assigned. The joystick 7 can be tilted in the direction of the axes x _j and y _j and rotated about its longitudinal axis z _j .

On the right side of Fig. 2 3 is a schematic plan view of the yacht 1 (the reference numeral 1 is used for both the hull and the yacht) with three axes x, y, z, where y represents the longitudinal axis of the yacht 1, x its transverse axis and z the vertical axis. The axes x _j , y _j . z _j are arranged parallel to the stationary shafts x, y, z.

Fig. 3 shows a schematic representation of a control system 8 with the components joystick 7, pivot drive 6, bow thruster 4 and engine 3. All components 3, 4, 6, 7 are connected to an electronic control unit 9 by control lines 9a, 9b, 9c, 9d. The movements of the joystick 7, tilting and / or turning, are introduced via the control line 9a as input signals to the electronic control unit 9 and passed as control commands to the drive machine 3, the pivot drive 6 and / or the bow thruster 4. The sailing yacht can thus be controlled solely by the movements of the joystick 7 - which will be explained in more detail below, in particular maneuvered at low boat speeds. The speed of the prime mover 3, the control or pivot angle of the pivot drive 6 and / or the thrust direction of the bow thruster 4 are driven.

Based on the following FIGS. 4 to 9 the individual positions that can be taken in by the joystick 7 and their effects on the movement of the yacht are explained in detail.

Fig. 4 shows the joystick 7, represented by a circle with center M in a first tilted position. The coordinates x _j , y _j assigned to the joystick 7 are represented as a coordinate system with the center O in a circle k, which marks the pivot range of the joystick 7. The joystick 7 with the longitudinal axis z _j is tiltable about the origin of coordinates and center O in the direction of the axes +/- x _j and +/- y _j . The position of the joystick 7 shown in the drawing corresponds to a forward tilt, ie in the direction of the longitudinal axis y of the yacht or in the direction of forward travel. The tilt angle, measured from the vertical (vertical axis), is decisive for the rotational speed of the engine 3, ie the strength of the propeller thrust. The farther the joystick is tilted 7, ie, the greater the tilt angle is, the higher the rotational speed of the driving machine 3 and the thrust of the rotary actuator 6. The rotational speed of the rotary actuator 6 is denoted by n and plotted on a graph on the axis y _j. It can be seen that the rotational speed n increases in proportion to the deflection of the joystick 7 in the direction of the axis y _j . On the right side of Fig. 4 is the floor plan of the yacht with bow thruster 4 and pivot drive 6, the pivot region is indicated about the vertical axis by the angle +/- α, shown schematically. By rotation of the joystick 7 about its longitudinal axis z _j , represented by a double arrow α _zj , the pivot drive 6 is pivoted about the vertical axis and causes a yaw movement of the yacht. The pivot or control angle of the pivot drive 6 about the vertical axis is indicated by α and in the diagram at the bottom right in Fig. 4 plotted over the rotation angle α _{zj of} the joystick 7. One recognizes the linear dependence between both angles, however with opposite signs. In a clockwise rotation of the joystick 7, the pivoting of the pivot drive 6 takes place counterclockwise, so that intuitively a clockwise yaw moment, ie turning the yacht to starboard is achieved. The pivot drive 6 rotates so proportionally, but in opposite directions to the rotational movement of the joystick 7. The bow thruster 4 is turned off in this maneuver.

Fig. 4a shows - in addition to Fig. 4 - the joystick 7 (left picture) in forward tilted position. The associated position of the pivot drive 6 is shown in the right image: the pivot drive 6 is amidships and drives the yacht 1 in the direction of arrow V forward and straight.

Fig. 4b shows the joystick 7 in the same tilt position as in Fig. 4a , but by the positive rotation angle α _zj , that is rotated in a clockwise direction. The right image shows the yacht 1 with the pivot drive 6, which is pivoted in the counterclockwise direction by the control angle -α. The thrust vector generated by the pivot drive 6 thus exerts a clockwise rotating yaw moment on the yacht 1, which rotates according to the arrow StB to starboard.

Fig. 5 shows the joystick 7 in a second position, ie tilted to the rear or to the rear, ie in the direction -y _j The pivot drive 6 is in the same, ie unchanged position as in Fig. 4 However, the direction of rotation of the propeller is reversed, so that the thrust direction is directed backwards, the yacht moves aft. The speed n of the pivot drive 6 is plotted in the quadrant -n / -y _j . The control angle α of the pivot _drive 6 is plotted in the diagram as a function of the rotation angle α _zj . It can be seen that the joystick 7 and the pivot drive 6 rotate in the same direction.

Fig. 5a shows - in addition to Fig. 5 - the joystick 7 in the tilted backward position (left picture), ie straightforward for reversing. The right image shows the yacht 1 with the midship swivel drive 6, whose propeller, however, runs in the opposite direction as in forward driving. The yacht 1 runs - as indicated by the arrow R - straight backwards.

Fig. 5b shows the joystick 7 in the same tilt position as in Fig. 5a , but rotated clockwise by the angle + α _zj . As the right image shows, the pivot drive 6 is thereby also rotated in a clockwise direction, as indicated by the arrow + α. Due to the control angle + α, the thrust vector of the pivot drive 6 generates a clockwise rotating yaw moment. This has the consequence that the stern of the yacht 1 rotates according to the arrow BB to port.

Fig. 6 shows the joystick 7 in the same position as in Fig. 5 , namely to the rear, ie in the direction -y _j , tilted. However, the pivot drive 6 is 180 ° relative to the position in Fig. 4 pivoted so that it causes a positive thrust n thrust towards the stern and thus a reverse of the yacht. During the reverse movement of the joystick 7 can be rotated about its longitudinal axis z _j by the rotation angle α _zj , which causes a pivoting of the pivot drive 6 by the control angle +/- α and yaw movement of the yacht. As the diagram α = f (α _zj ) shows, the rotational movement takes place on the joystick 7 in the same direction with the pivoting movement of the pivot drive. 6

Fig. 6a shows - in addition to Fig. 6 - The joystick 7 in the rear tilted position, ie for driving straight ahead. The pivot drive 6 is amidships and pushes the yacht 1 just astern, which is indicated by the arrow R.

Fig. 6b shows the joystick 7 in the same position as in Fig. 6a , but rotated by the angle + α _zj clockwise. This causes - as the right picture shows a pivoting of the pivot drive 6 also in a clockwise direction, ie by the control angle + α. As a result, a yaw moment that rotates in a clockwise direction acts on the yacht 1, so that its stern turns to port, as indicated by the arrow BB.

Fig. 7 shows the joystick 7 in a third position in the coordinate origin, ie in a vertical position, ie the tilt angle is equal to zero. By rotation of the joystick 7 about its vertical longitudinal axis z _j , a rotation of the yacht on the spot ("on the plate") can be performed. The propeller _thrust , ie the propeller speed n is, as the corresponding diagram shows, proportional to the rotational angle α _{zf of} the joystick 7. The pivot _drive 6 is preferably pivoted in this maneuver by 90 ° so that it is transverse to Schiffslängsrichfung and thus a yaw moment on the Yacht exercises. The control angle α of the pivot drive 6 remains, as the diagram shows, during the Drehanövers constant. In addition, the bow thruster 4 can be activated in order to support the yaw movement become, so that a pair of forces results with oppositely acting thrust vectors.

Fig. 7a shows - for further explanation of Fig. 7 - the joystick 7 in a central vertical position to initiate the maneuver "turning on the spot". For this purpose, the joystick 7 is rotated clockwise, as indicated by the arrow + α _zj . The right picture shows the yacht 1 with transversely positioned swivel drive 6, which was swiveled by the control angle α = -90. The rotation of the joystick 7 and the pivoting of the pivot drive 6 are thus in opposite directions. The asked at 90 ° pivot drive 6 exerts a clockwise acting yaw moment on the yacht 1, so that it rotates clockwise according to the arrow D. To support this maneuver, the bow thruster 4 can be switched on, which operates with opposite thrust direction as the pivot drive 6. The rotation of the yacht 1 is thus obvious, ie in the same direction as the rotation of the joystick 7. Analogously, the corresponding maneuver is performed with opposite direction of rotation, which is not shown.

Fig. 8 shows the joystick 7 in a fourth position, namely in the direction of the positive x _j- axis tilted, ie to the starboard side. In this position of the joystick 7, a transverse or sideways movement, also called lateral movement, the yacht can be effected. The pivot drive 6 are pivoted by + 90 ° and the bow thruster 4 is activated with the same thrust direction. On the yacht then act two thrust vectors, which are aligned parallel and transverse to the longitudinal direction of the ship. To avoid yawing the ship, both thrust vectors are balanced against each other via the electronic control unit. The speed n of the pivot drive 6 initially corresponds to the tilt angle of the joystick 7, as shown in the middle diagram n = f (x _j ). The constant speed n _{b of} the bow thruster 4 is slightly higher. In addition, ie after the tilting movement of the joystick 7 can be rotated by the rotation angle α _z , as shown in the left diagram n = f (α _zj ). Thus, the previous thrust balance is removed and exerted a yaw moment on the ship, which leads to a rotational movement - to port or starboard. This can be the pure Lateral movement are superimposed on a rotational movement of the ship, which in certain maneuvers, z. B. may be beneficial in wind influence.

Fig. 8a shows - for further explanation of Fig. 8 move the joystick 7 to starboard tilted position, causing the yacht 1 (right image) to move in the direction of the arrow L. The yacht 1 moves sideways and makes a pure lateral movement, ie without yaw. The pivot drive 6 is pivoted about the control angle α = + 90 °, with shear direction to starboard. The bow thruster 4 is switched on and also pushes to starboard. The sum of the yaw moments from the thrust vector of the bow thruster 4 and the thrust vector of the pivot drive 6 is equal to zero - there is torque balance.

Fig. 8b shows a change of the maneuver according to Fig. 8a in that the joystick 7 is rotated clockwise according to the arrow + α _zj . By this rotation on the joystick, the torque balance is canceled by either the thrust of the pivot drive 6 is reduced, so that the yaw moment dominated due to the bow thruster 4, or the thrust of the bow thruster 4 is amplified so that its yaw moment over the yaw moment dominated by the pivot drive 6. By turning the joystick 7 clockwise, the yacht 1 is rotated in the same direction, ie the lateral movement L according to Fig. 8 is a rotational movement to the starboard side, indicated by the arrow StB, superimposed.

Fig. 9 shows the joystick 7 in a fifth position, namely in the direction of the negative x _j -axis, ie tilted to the port side. In this tilting position, a lateral movement of the yacht can be carried out to port side - analogous to the previous embodiment according to Fig. 8 to the starboard side. The pivot drive 6 is pivoted to the position α = -90 °. The bow thruster 4 is activated so that both thrust directions are directed towards the port side. Both thrust vectors are in turn balanced, so that no yaw movement of the ship occurs, but a pure lateral movement with the same longitudinal alignment. If the lateral movement of the ship is to be corrected by a yawing motion, the joystick 7 can be rotated clockwise or counterclockwise, which causes a change in the rotational speed of the pivot drive 6 and thus a change in thrust - this is shown in the left diagram n = f (α _j ).

Fig. 9a shows - in further explanation of Fig. 9 - The joystick 7 in port tilted position, causing a lateral movement of the yacht, according to the arrow L to the port side. The pivot drive 6 is pivoted by α = -90 °, so it is transverse to the ship's longitudinal direction and pushes to port. The bow thruster 4 is activated and also pushes to port.

Fig. 9b shows a modification of the maneuver according to Fig. 9a , by turning the joystick 7 counterclockwise according to arrow -α _zj . By this rotation on the joystick 7, the previous moment balance is canceled, so that a resulting left-turning yaw moment is generated, which initiates a yaw movement of the yacht 1 to port corresponding to the arrow BB.

By equipping the yacht 1 with a swivel drive 6, also called rudder propeller, can be dispensed with a stern thruster and a conventional rudder with rudder blade.

reference numeral

1

Hull (yacht)

2

keel

3

prime mover

4

Bow

5

rudder blade

6

Rotary actuator

7

joystick

7a

handle

7b

fulcrum

8th

control system

9

control unit

9a -9d

control lines

x _j ; _yj ; z _j

Axes of joystick

x, y, z

Axes of yacht

n

Speed (rotary actuator)

n _b

Speed (bow thruster)

α

Control angle (rotary actuator)

α _zj

Rotation angle (joystick)

M

Center point joystick

O

origin

k

circle

BB

port

StB

starboard

V

Forward

R

Backward

L

lateral movement

D

Rotate

Claims (8)

1. Method for manoeuvring a yacht (1) by means of a control element formed as a joystick (7), wherein the joystick (7) is tilted in the direction of a longitudinal axis (y) and a transverse axis (x), extending perpendicular to the longitudinal axis (y), of the yacht to initiate forward or reverse movements and transverse movements of the yacht and is turned by a turning angle (+(α_xj, -α_zj) about its longitudinal axis (z_u) to initiate yawing movements of the yacht, wherein the yacht (1) has a swivel drive (6), formed as an individual drive, with a thrust vector which can swivel about a vertical axis, and has a bow thruster (4) with a thrust vector parallel to the transverse axis (x) and wherein the control movements of the joystick (7) are logically transferred to the swivel drive (6) and the bow thruster (4), characterized in that the bow thruster (4) and the swivel drive (6) are activated by a tilting of the joystick (7) in its transverse direction (+x_j, -x_j) in such a way that their thrust vectors act in the same direction of thrust parallel to the transverse axis (x) of the yacht and in that the strengths of the two thrust vectors are set by way of an electronic control unit in dependence on the turning angle (+α_zj, -α_zj) of the joystick (7).
2. Method according to Claim 1, characterized in that, with a turning angle (α_zj) of 0°, the two thrust vectors are balanced with respect to one another by way of an electronic control unit in such a way that the sum of the yawing moments from the thrust vector of the bow thruster (4) and the thrust vector of the swivel drive (6) is equal to zero, or there is an equilibrium of moments, and consequently a yawing movement of the yacht (1) is avoided and a purely lateral movement (L) of the yacht takes place.
3. Method according to Claim 1, characterized in that the equilibrium of moments is ended by a turning of the joystick (7) by the turning angle (+α_zj, -α_zj) about its longitudinal axis (z_u) before or after the tilting, in that the thrust of the swivel drive (6) is reduced, so that the yawing moment caused by the bow thruster (4) dominates and a lateral movement (L) overlaid with a yawing movement of the yacht (1) is initiated.
4. Method according to Claim 1, characterized in that the equilibrium of moments is ended by a turning of the joystick (7) by the turning angle (+α_zj, -α_zj) about its longitudinal axis (z_u) before or after the tilting, in that the thrust of the bow thruster (4) is increased, so that its yawing moment dominates over the yawing moment from the swivel drive (6) and a lateral movement (L) overlaid with a yawing movement of the yacht (1) is initiated.
5. Method according to Claim 1, characterized in that the bow thruster (4) and the swivel drive (6) are activated by turning of the joystick (7) in its upright position by the turning angle (+α_zj, -α_zj) in such a way that a pair of forces with opposed thrust vectors (x) acting parallel to the transverse axis of the yacht (1) is obtained and the yacht (1) is made to turn on the spot.
6. Method according to one of the preceding claims, characterized in that the swivel drive (6) is activated with respect to the strength of its thrust by tilting of the joystick (7).
7. Method according to Claim 6, characterized in that the strength of the thrust increases with an increasing tilting angle of the joystick (7) and decreases with a decreasing tilting angle.
8. Method according to one of Claims 1 to 7, characterized in that the swivel drive (6) can be swivelled by a control angle (α) of 0° to +/-90°, preferably of 0° to +/-180° and in that the control angle (α) is selected by turning of the joystick (7).

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