JP2001334996A - Steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering device which can consistently move a hull in a diagonal direction even when the moving speed of the hull is increased. SOLUTION: This steering device comprises an operating means for setting the movement of the hull, a controller for outputting the signal to control the movement of a propulsion propeller, a rudder and a bow thruster based on the setting by the operating means, and a speed detector for detecting the speed in the movement in the longitudinal direction of the hull. The controller implements the control so as to obtain the propulsion force and the speed in the longitudinal direction and the propulsion force and the speed in the transverse direction required for the propulsion propeller and the rudder in the setting of moving the hull in the diagonal direction while maintaining the azimuth, and implements the control so as to obtain the propulsion force and the speed in the transverse direction required for the bow thruster, and also controls the movement in the longitudinal direction by the signal received from the speed detector so that the movement of the hull in the diagonal direction is suppressed to a value below changed by the movement only in the longitudinal direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joystick type steering device.

[0002]

2. Description of the Related Art In a ship, for example, a work boat for performing various operations in a harbor or the like, in addition to a boat maneuvering device that usually performs a main operation of the hull, a joystick type so-called joystick type that operates the hull in an emergency or the like. The device is mounted.

This ship maneuvering device is mounted on a hull provided with a propulsion propeller comprising a variable pitch propeller for obtaining a propulsion force in the hull longitudinal direction, a rudder, and a bow thruster having a variable pitch propeller for obtaining a propulsion force in a lateral direction of the hull. That
Operating means for performing tilting operations in the front-rear direction, lateral direction and diagonal direction from the upright stop position, and setting the movement of the hull in accordance with the tilting direction, and a propelling propeller, rudder and bow thruster based on the settings made by the operating means And a controller for outputting a signal for controlling the movement of the controller.

Conventionally, in this joystick type boat maneuvering apparatus, when the hull is moved in an oblique direction while maintaining the azimuth,
The controller controls the propulsion propeller and the rudder so that the hull maintains the heading and moves in an oblique direction, so as to obtain forward and backward propulsion force and speed and lateral propulsion force and speed, and Control is performed so as to obtain the necessary lateral propulsion force and speed required for the hull to move diagonally while maintaining the heading with respect to the bow thruster.

[0005] Here, the movement of the hull in the oblique direction means to translate the hull in the oblique direction sandwiched between the longitudinal direction and the lateral direction of the hull while keeping the azimuth in the longitudinal direction constant. .

[0006] Further explanation will be added. FIG. 8 is an explanatory view schematically showing the control in the lateral movement of the hull, FIG. 9 is a clear view schematically showing the control in the case of maintaining the azimuth of the hull, and FIG. 10 is a schematic view showing the control in the longitudinal movement of the hull. FIG.

In the hull 1, a propelling propeller 2 and a rudder 3 are provided at the stern, and a bow thruster 4 is provided at the bow. The propulsion propeller 2 and the rudder 3 are driven by the combination of the wing angle and the rotation speed of the propulsion propeller 2 with the angle of the rudder 3. Gaining propulsion and speed. The bow thruster 4 obtains the propulsion force and speed in the hull lateral direction necessary for moving the hull 1 in an oblique direction in combination with the propulsion propeller 2 and the rudder 3 by the wing angle and the rotation speed.

As shown in FIG. 8, for the lateral movement of the hull 1, the lateral thrust Fb output by the combination of the propeller 2 and the rudder 3 is basically changed to the lateral thrust Fc output by the bow thruster 4. In addition, control is performed so as to have the same size in the same direction. As shown in FIG. 9, the azimuth of the propulsion propeller 2 and the rudder 3 is adjusted so that the azimuth of the hull 1 is corrected in accordance with the inclination direction and angle of the azimuth of the hull 1 as shown in FIG. Set the direction and magnitude of the lateral propulsion force output by the combination (usra thruster 4
Is set to the same magnitude in the opposite direction to the lateral propulsion force Fb. The forward and backward movement of the hull 1 is obtained by the bow thruster 4 and the lateral thrust Fb obtained by the propeller 2 and the rudder 3 with respect to the propeller 2 and the rudder 3 as described above, as shown in FIG. Is controlled so as to obtain a front-rear propulsion force Fa corresponding to the lateral propulsion force obtained by the sum of the lateral propulsion force Fc obtained by the combination of

The hull 1 is moved obliquely at a predetermined speed by the resultant force obtained by combining the lateral propulsion force and the forward / backward propulsion force thus obtained.

FIGS. 11 (a) to 11 (c) are diagrams showing the state of each part (related to the lapse of time) for explaining the form of control when the hull moves diagonally. FIG. 11A is a diagram showing a relationship between a lapse of time during which the hull moves in an oblique direction and a change in the longitudinal propulsion force of the hull;
FIG. 11B is a diagram showing a relationship between a lapse of time during which the hull moves in an oblique direction and a change in the lateral propulsion force of the hull;
FIG. 11C is a diagram illustrating a relationship between a lateral movement distance and a forward / backward movement distance when the hull moves in an oblique direction.

[0011]

However, such a conventional joystick steering device has the following problems. That is, as shown in FIGS. 8 to 10, the hull 11 is designed to be easily moved in the front-rear direction. Therefore, when the hull 1 moves in an oblique direction, if the moving speed of the hull 1 increases, the moving speed of the hull 1 in the front-rear direction increases as shown in FIG. 11A. Here, conventionally, the lateral propulsion force is the sum of the lateral propulsion force Fc obtained by combining the lateral propulsion force Fb obtained by the propulsion propeller 2 and the rudder 3 and the lateral propulsion force Fc obtained by the bow thruster 4. A suitable front-rear propulsion force Fa is obtained, but as the speed of the hull 1 in the front-rear direction increases, FIG.
As shown in FIG. 1B, the lateral propulsion output by the bow thruster 4 decreases. This results in FIG.
As shown in (c), the hull 1 stops moving in the diagonal direction and moves only in the front-rear direction (only forward movement, only reverse movement), and the hull does not move diagonally as intended by the pilot. May be.

Therefore, when the hull 1 is moved in an oblique direction, it is possible to prevent the occurrence of a situation in which the hull 1 stops moving in the oblique direction and changes to only forward / backward movement (only forward movement, only backward movement). There is a demand for stable movement of the hull in a diagonal direction as intended by a pilot.

An object of the present invention is to provide a boat maneuvering device which can stably move in a diagonal direction even when the speed of the hull moves in a diagonal direction.

[0014]

According to a first aspect of the present invention, there is provided a boat maneuvering device having a propulsion propeller comprising a variable pitch propeller for obtaining a forward and backward propulsion force, a rudder, and a variable pitch propeller for obtaining a lateral propulsion force. In a boat maneuvering device equipped on a hull provided with a bow thruster, an operating means for performing a tilting operation in an anteroposterior direction, a lateral direction, and an oblique direction from an upright stop position, and setting a movement of the hull according to the tilting direction, A controller for outputting a signal for controlling the movement of the propeller and the rudder and the bow thruster based on the settings made by the operating means, and a detection signal for controlling a detection signal by detecting a speed at which the hull moves forward and backward. A boat speed detector for outputting to a vessel, and the controller is configured to move the vessel in a diagonal direction while maintaining the azimuth of the vessel, with respect to the propeller and the rudder. While maintaining the heading and controlling so as to obtain the forward and backward propulsion force and speed and the lateral propulsion force and speed necessary for moving in the oblique direction, the hull holds the heading with respect to the bow thruster. It controls so as to obtain the necessary lateral propulsion force and speed for moving in the oblique direction, and receives the detection signal from the ship speed detector and changes the forward / backward moving speed of the hull in the oblique direction of the hull. It is characterized in that the movement is controlled so that the movement does not reach a value that changes to movement only in the front-back direction.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. Here, the movement of the hull in the oblique direction means, as shown in FIG. 7, the hull 11 in an oblique direction sandwiched between the hull front-rear direction (hereinafter referred to as the front-rear direction) and the hull lateral direction (hereinafter referred to as the lateral direction). Is referred to as parallel movement while keeping the azimuth in the front-back direction constant.

FIG. 1 is a side view schematically showing a hull provided with the boat maneuvering device of the present invention, and FIG. 2 is a plan view schematically showing the hull. As shown in FIGS. 1 and 2, a propulsion propeller 12 composed of a variable pitch propeller for obtaining a propulsion force in the longitudinal direction of the hull and a rudder 13 are provided at the stern of the hull 11, and a propulsion force in the hull lateral direction is provided at the bow. Is provided with a bow thruster 14 having a variable pitch propeller. Here, the forward / backward propulsion force of the propulsion propeller 12 is received by the rudder 13 and converted into a lateral propulsion force. The bow thruster 14 directly outputs the propulsive force in the lateral direction of the hull. The moving speed of the hull 1 in the lateral direction is determined by the lateral thrust output from the bow thruster 14.

The hull 11 has a ship maneuvering device 15 of the present invention.
Is installed. The boat maneuvering device 15 of the present invention includes an operation panel 21 having an operation lever 22 as an example of operation means, a controller 23, and a boat speed detector 24. The operation lever 22 is capable of performing a tilting operation including tilting in the hull front-rear direction and the hull lateral direction from the upright stop position, and sets the form of movement of the hull 11 in accordance with the tilting direction. The broken line in FIG. 2 indicates the operation direction of the operation lever.

The controller 23 transmits a signal for controlling the blade angle, the rotation speed and the rotation direction to the propeller 12 based on the setting by the operation lever 22, a signal for controlling the direction and the angle to the rudder 13, A signal for controlling the blade angle, the rotation speed and the rotation direction is output to the bow thruster 14. The controller 23 controls the hull 11
In the setting in which the hull 11 moves in the oblique direction while maintaining the azimuth, the forward and backward propulsion force and speed required in moving the hull 11 in the oblique direction while maintaining the azimuth with respect to the The propulsion force and the speed are controlled so as to be obtained, and the hull 11 is controlled so as to obtain the lateral propulsion force and the speed required for moving the hull 11 in the oblique direction while maintaining the azimuth with respect to the bow thruster 14. A function of receiving a detection signal from the ship speed detector 24 and controlling the moving speed in the direction of the hull 11 to a range where the movement of the hull 11 in the diagonal direction does not reach a value that changes only in the forward and backward directions. It has.

The boat speed detector 24 detects the speed at which the hull 11 moves in the front-rear direction, and outputs a detection signal to the controller 23.

A case where the operation of moving the hull 11 in an oblique direction by the marine vessel maneuvering device 15 will be described with reference to FIGS. FIG. 3 is an explanatory view schematically showing the control in the lateral movement of the hull 11, FIG. 4 is a clear view schematically showing the control in the case where the orientation of the hull 11 is maintained, and FIG. It is explanatory drawing which shows typically.

In order to move the hull 11 obliquely, the operation lever 22 is tilted from a neutral stop position to a predetermined angle obliquely sandwiched in the front-rear direction and the lateral direction to move the hull 11. Set the direction. Controller 2
3 controls the respective movements of the propulsion propeller 12, the rudder 13 and the bow thruster 14 in response to the information signal set by the tilting operation of the operation lever 22 so that the hull 11 moves in the set oblique direction. Output a signal.

This control is basically performed by the propelling propeller 12.
In addition, the ship hull 11 is controlled so as to obtain the propulsion force and speed in the front-rear direction and the thrust force and speed in the lateral direction necessary to move the hull 11 in the oblique direction while maintaining the azimuth with respect to the rudder 13. The hull 11 is controlled so as to obtain a lateral propulsion force and a speed necessary for the hull 11 to move in an oblique direction while maintaining the azimuth, and receives a detection signal from a hull speed detector 24 described later, Is controlled so that the movement speed of the hull 11 does not reach a value at which the movement in the oblique direction of the hull 11 changes to the movement only in the front-back direction.

An explanation will be added. As shown in FIG.
The controller 23 basically controls the lateral propulsion force Fb output by the combination of the propulsion propeller 12 and the rudder 13 in the same direction in the same direction as the lateral propulsion force Fc output by the bow thruster 4. It is controlled to be large.

With respect to maintaining the azimuth in the lateral movement of the hull 11, the controller 23 corrects the azimuth of the hull 1 according to the inclination and angle of the azimuth of the hull 11 as shown in FIG. The direction and magnitude of the lateral propulsion force Fb output by the combination of the rudder 12 and the rudder 13 are set, and the lateral propulsion force Fc output by the bow thruster 14 is set to the same direction in the opposite direction to the lateral propulsion force Fb. .

In this manner, the controller 23 controls the propulsion propeller 12 and the rudder 13 so as to obtain the lateral propulsion force and the speed required for the hull 11 to move in the oblique direction while maintaining the azimuth. At the same time, the hull 11 is controlled so as to obtain a lateral propulsion force and a speed required for the hull 11 to move obliquely while maintaining the azimuth with respect to the bow thruster 14.

The forward and backward movement of the hull 11 is controlled by a controller 23.
As shown in FIG. 5, the propelling propeller 12
The propeller 12 and the rudder 13
Corresponding to the lateral propulsion force which is the sum of the lateral propulsion force Fb obtained by the above and the lateral propulsion force Fc obtained by the bow thruster 4, the size required for holding the hull 11 in the azimuth and moving it in the oblique direction. Is controlled so as to obtain the propulsive force Fa in the front-rear direction.

That is, the controller 23 is provided by the controller shown in FIGS.
Receiving the detection signal from the ship speed detector 24 shown in FIG.
Is controlled so that the moving speed in the front-rear direction of the hull 11 is suppressed to a value less than the size at which the movement of the hull 11 in the oblique direction changes to the movement only in the front-rear direction. The boat speed detector 24 detects the moving speed of the hull 11 when it moves, and outputs a detection signal to the controller 23. The controller 23 receives the detection signal of the moving speed so that the speed in the front-rear direction when the hull 11 moves in the oblique direction does not exceed the value at which the movement of the hull 11 in the oblique direction changes to the movement only in the front-rear direction. The wing angle and rotation speed of the propeller 12 are controlled, and the angle of the rudder 13 is controlled. With this, the propeller 1
The moving speed of the hull 11 along the front-back direction obtained by the combination of the rudder 2 and the rudder 13 is suppressed to a value smaller than the value at which the movement of the hull 11 in the oblique direction changes to the movement only in the front-rear direction.

As described above, the propeller 12 and the rudder 13
By using the combination of the wing angle and the rotation speed of the propelling propeller 12 with the angle of the rudder 13, the propulsive force and speed in the hull longitudinal direction and the lateral propulsive force and speed necessary for moving the hull 11 in the oblique direction are obtained. The bow thruster 14 obtains the propulsion force and speed in the hull lateral direction necessary for moving the hull 11 in an oblique direction in combination with the propulsion propeller 12 and the rudder 13 by setting the wing angle and the rotation speed. The hull 11 is moved at a predetermined speed in a predetermined diagonal direction by a resultant force obtained by a combination of the lateral propulsion force and the speed thus obtained and the forward and backward propulsion force and the speed.

Here, as described above, the moving speed of the hull 11 moving in the oblique direction in the front-rear direction does not exceed the magnitude at which the movement of the hull 11 in the oblique direction changes to the movement only in the front-rear direction. The value is in the range less than the value. Therefore, the hull 11 moves while maintaining the movement in the oblique direction (maintaining a measure smaller than the size that changes from the oblique direction to the movement in the front-back movement direction), and does not change to the movement only in the front-back direction.

Therefore, when the hull 11 is moved obliquely, it is possible to prevent a situation in which the hull 11 stops moving in the oblique direction and moves only in the front-rear direction (only forward movement, only reverse movement). The hull 11 can be stably moved at a predetermined speed in a predetermined diagonal direction as intended by the operator.

FIGS. 6 (a) to 6 (c) are diagrams showing the state of each part (related to the passage of time) for explaining the form of control when the hull 11 is moved obliquely.
FIG. 6A is a diagram showing the relationship between the lapse of time during which the hull 11 moves in the oblique direction and the change in the longitudinal propulsion force of the hull. According to this diagram, the hull 11 moves in the oblique direction. It can be seen that as the time elapses after the start, the moving speed (component) in the front-rear direction increases to a certain level, and thereafter, the level substantially maintains the level. This level is a value at which the movement of the hull 11 in the oblique direction does not change only in the movement in the front-back direction.

FIG. 6B is a diagram showing the relationship between the lapse of time during which the hull 11 moves in an oblique direction and the change in the lateral propulsion force of the hull. According to this diagram, the hull 11 moves in an oblique direction. As the time elapses after the start of the movement, the level rises to a certain level, and thereafter the level is almost maintained and does not continue to decrease. That is, the hull 1
Does not increase, so that the lateral propulsive force output by the bow thruster 14 does not decrease.

FIG. 6C is a diagram showing the relationship between the lateral movement distance and the forward / backward movement distance when the hull 11 moves in an oblique direction. According to this diagram, the hull 1 shown by a solid line is shown.
The movement trajectory 1 in the oblique direction is indicated by a dotted line on the operation lever 22.
It is shown that the direction almost coincides with the direction set by the operation. As a result, it can be seen that the hull 11 can be moved in an oblique direction as if the pilot had steered.

In the boat maneuvering device of the present invention, the operation of moving the hull 11 in the front-rear direction can be performed without any trouble by the conventional control.

The present invention is not limited to the above-described embodiment, but can be implemented with various modifications.

[0036]

According to the marine vessel maneuvering device of the first aspect of the present invention, when the hull is moved in an oblique direction, the moving speed of the hull reaches a value at which the movement of the hull in the oblique direction changes to the movement only in the front-back direction. By keeping the hull moving speed up, it is possible to stably move it in an oblique direction even if the speed of the hull increases.
Therefore, it is possible to prevent a situation in which the hull moves only in the forward and backward directions in the oblique direction, and to stably move the hull in the oblique direction as intended by the operator.

[Brief description of the drawings]

FIG. 1 is a side view schematically showing a hull equipped with a boat maneuvering device according to an embodiment of the present invention.

FIG. 2 is a plan view schematically showing a hull provided with the boat maneuvering device in the embodiment.

FIG. 3 is an explanatory diagram showing a case where the hull is moved by the boat maneuvering device of the embodiment.

FIG. 4 is an explanatory diagram showing a case where the hull is moved by the boat maneuvering device of the embodiment.

FIG. 5 is an explanatory diagram showing a case where the hull is moved by the boat maneuvering device of the embodiment.

FIG. 6 is a diagram showing a control mode when the hull is moved in the lateral direction by the boat maneuvering device of the embodiment.

FIG. 7 is an explanatory diagram showing a diagonal movement of the hull.

FIG. 8 is an explanatory view showing a case where a hull is moved by a conventional boat maneuvering device.

FIG. 9 is an explanatory view showing a case in which a hull is moved by a conventional boat maneuvering device.

FIG. 10 is an explanatory diagram showing a case where a hull is moved by a conventional boat maneuvering device.

FIG. 11 is a diagram showing a control mode in a case where a hull is moved in a lateral direction by a conventional boat maneuvering device.

[Explanation of symbols]

 11 Hull, 12 Propeller, 13 Rudder, 14 Bow thruster, 15 Ship maneuvering device, 21 Operation panel, 22 Operation lever, 23 Controller. 24 ... hull speed detector.

Claims (1)

[Claims] 1. A boat maneuvering device mounted on a hull provided with a propulsion propeller including a variable pitch propeller for obtaining a propulsion force in a front-rear direction, a rudder, and a bow thruster having a variable pitch propeller for obtaining a propulsion force in a lateral direction. An operating means for performing a tilting operation in the front-rear direction, the lateral direction and the diagonal direction from the upright stop position and setting the movement of the hull in accordance with the tilting direction; and the propelling propeller and the rudder based on the setting by the operating means. And a controller that outputs a signal for controlling the movement of the bow thruster and
A boat speed detector that detects a speed at which the hull moves in the front-rear direction and outputs a detection signal to a controller, wherein the controller holds the hull in the azimuth direction and moves the hull in a diagonal direction. Along with controlling the propulsion propeller and the rudder to obtain the propulsion force and speed in the front-rear direction and the propulsion force and speed in the lateral direction necessary for moving the hull in the oblique direction while maintaining the azimuth with respect to the bow thruster, On the other hand, the hull is controlled so as to obtain the necessary lateral propulsion force and speed for moving in the oblique direction while maintaining the heading, and receiving the detection signal from the hull speed detector, A boat maneuvering device characterized in that the moving speed is controlled so that the moving speed in a diagonal direction of the hull does not reach a value that changes to a movement only in the front-rear direction.