JP2022035433A - Remote control system of ship - Google Patents

Abstract

To provide a remote control system of a ship capable of enabling a remote control of a ship and capable of maneuvering with a sitting state in a maneuvering seat without returning the ship to its original state.SOLUTION: First-third actuators 26, 28, 30 to operate an operation member 72 for navigating (maneuvering) a ship operated by an operator are detachably installed at the places that do not interfere with the manual operation of the operation member 72 by the operator sitting in a maneuvering seat 1204. A small ship 1010 can be remotely controlled by selecting remote operation modes of an operation member control part 66A and by operating an ignition switch 20, a handle 22, and a throttle lever 24 through controlling first-third actuators 26, 28, 30 based on remote operation command information. The operator seated in the maneuvering seat 1204 can manually operate the ignition switch 20, the handle 22, and the throttle lever 24 by selecting manual operation modes of the operation member control part 66A.SELECTED DRAWING: Figure 1

Description

The present invention relates to a remote control system for ships.

When operating a fishing vessel by navigating a small vessel as a fishing vessel at the inner port, it is necessary for the operator to board each small vessel.
Therefore, when conducting a fishing boat business with a plurality of small vessels, a plurality of operators corresponding to the number of small vessels are required.

Japanese Unexamined Patent Publication No. 2019-199148

Therefore, when the fishing boat is operated by a plurality of small vessels, the human cost is high and there is room for improvement in improving the efficiency of the fishing boat sales.
Therefore, it is conceivable to modify the small vessel so that it can be remotely controlled so that the small vessel can be navigated without the operator getting on board.
However, if the small vessel is modified so that it can be remotely controlled and the remote control is no longer necessary, it is not easy to return the small vessel to the state before the modification, and the cost is high.
The present invention has been made in view of such circumstances, and the remote control of a ship can be made possible, and the ship can be remotely controlled by sitting in the maneuvering seat without returning the ship to its original state. The purpose is to provide a system.

In order to achieve the above object, the present invention is a remote control system for a ship that remotely controls a ship, and a plurality of operating members for operating a plurality of operating members for navigating the ship, which are operated by an operator. It includes an actuator, a ship-side communication unit that receives remote control command information, and an operation member control unit that operates each of the plurality of actuators based on the remote control command information received by the ship-side communication unit. The plurality of actuators are provided at a position that does not interfere with the manual operation of the operation member by the operator seated in the maneuvering seat, and the operation member control unit controls the plurality of actuators based on the remote control command information. It is characterized in that it is configured to be selectable between a remote control mode for operating each of the plurality of operating members and a manual operation mode for allowing the operator to manually operate the plurality of operating members. ..
Further, the present invention has a plurality of detection units that detect the operation amounts of the plurality of operating members by the plurality of actuators, and the plurality of operation amounts based on the plurality of operation amounts detected by the plurality of detection units. The remote operation mode of the operation member control unit is further provided with a servo control unit that performs servo control of the actuators, respectively, and the remote operation mode of the operation member control unit is performed by operating the plurality of actuators via the servo control unit. The manual operation mode of the unit is characterized in that the control operation of the servo control unit is invalidated and the plurality of actuators are made servo-free.
Further, in the present invention, the ship is provided with an image information generation unit that captures an image of the surroundings of the ship and generates image information, a command information generation unit that generates remote control command information, and a ship-side communication unit. A remote control device including a remote control side communication unit that is configured to be communicable and transmits the remote control command information to the ship side communication unit and a display unit is provided, and the ship side communication unit is the image information generation unit. The generated image information is transmitted to the remote control side communication unit, and the display unit displays the image information received by the remote control side communication unit.
Further, in the present invention, the ship is provided with a positioning unit that positions the position of the ship and generates positioning information, and can communicate with the command information generation unit that generates the remote control command information and the ship side communication unit. The remote control side communication unit is provided with a remote control side communication unit that transmits the remote control command information to the ship side communication unit, a display unit, and a map database that stores map information. , The positioning information generated by the positioning unit is transmitted to the remote control side communication unit, and the display unit is read from the map database based on the positioning information received by the remote control side communication unit. It is characterized in that the position of the ship is displayed on the map information.
Further, in the present invention, the plurality of operating members include an ignition switch for starting and stopping a propulsion device mounted on the ship, a handle for steering the ship, and an output adjustment of the propulsion device. The actuator is characterized in that it is provided corresponding to the ignition switch, the steering wheel, and the throttle lever, respectively, including a throttle lever for performing the above.
Further, in the present invention, the plurality of operating members include an ignition switch for starting and stopping the propulsion machine mounted on the ship, and the ignition switch is detachably inserted into the key cylinder. The actuator is configured to include an ignition key to be mounted, and the actuator is configured to include a rotating member that is detachably and integrally rotatably coupled to the ignition key and can be rotated, and a motor that rotates the rotating member. It is characterized by that.
Further, in the present invention, the plurality of operating members are configured to include a handle for steering the ship, the handle exhibits an annular shape, and the actuator is engaged in a part of the circumferential direction of the handle. It is characterized by including a drive roller that enables rotation of the handle and a motor that rotationally drives the drive roller.
Further, in the present invention, the plurality of operating members include a throttle lever for adjusting the output of the propulsion machine, and the throttle lever has a swing shaft protruding from the operation table so as to be swingable. The actuator has a gripped portion provided at the tip of the swing shaft and gripped by hand, and the actuator swings the piston rod coupled to the swing shaft and the piston rod to swing the swing shaft. It is characterized by including a linear motion cylinder including a cylinder body that moves in a direction.
Further, the present invention is characterized in that the plurality of actuators are detachably provided at a position that does not interfere with the manual operation of the operating member by the operator seated in the maneuvering seat.

According to the present invention, a plurality of actuators for operating a plurality of operating members for navigating a ship are provided at locations that do not interfere with the manual operation of the plurality of operating members by the operator seated in the maneuvering seat. By selecting the remote control mode of the control unit, it is possible to remotely control the ship by controlling multiple actuators based on the remote control command information and operating multiple operation members, and control the operation members. By selecting the manual operation mode of the unit, it is possible to manually operate multiple operating members.
Therefore, it is not necessary to modify the ship for remote control, the ship can be remotely controlled, and the ship can be manually controlled by sitting in the maneuvering seat without returning to the original state, which is convenient. It will be advantageous in improving the above.
Further, the remote control mode of the operation member control unit is performed by operating a plurality of actuators via the servo control unit, and the manual operation mode disables the control operation of the servo control unit and makes the plurality of actuators servo-free. If it is done by doing so, it is advantageous in switching between the remote control mode and the manual operation mode with a simple configuration.
In addition, if the ship is provided with an image information generation unit that captures the surroundings of the ship and generates image information, and if the remote control device is provided with a display unit, the image information displayed on the display unit can be used to display the situation around the ship. It can be grasped, which is advantageous for accurately remote control of the ship from a place away from the ship.
Further, if the ship is provided with a positioning unit that positions the position of the ship and generates positioning information, and if the remote control device is provided with a display unit and a map database, the display unit reads from the map database based on the positioning information. The position of the ship can be displayed on the output map information, the current position of the ship can be grasped, and it is advantageous for accurately remote control of the ship from a place away from the ship.
Further, the plurality of operating members include an ignition switch, a handle, and a throttle lever, and if the actuator is provided corresponding to each of the ignition switch, the handle, and the throttle lever, the remote control of the ship can be accurately controlled. It will be advantageous to do.
Further, the ignition switch is configured to include an ignition key, and the actuator is configured to include a rotating member that can be engaged with and detached from the ignition key and is integrally rotatably coupled to be rotatable, and a motor that rotates the rotating member. If this is the case, it is advantageous to operate the ignition switch accurately due to the simple configuration.
Further, the plurality of operating members are configured to include a handle, and the actuator includes a drive roller that engages with a part of the handle in the circumferential direction to enable rotation of the handle, and a motor that rotationally drives the drive roller. If it is configured to include it, it is advantageous for the handle to be operated accurately by a simple configuration.
Further, the plurality of operating members are configured to include a throttle lever for adjusting the output of the propulsion machine, and the actuator swings the piston rod coupled to the swing shaft of the throttle lever and the swing shaft of the piston rod. If it is configured to include a linear motion cylinder including a cylinder body that moves in the direction of movement, it is advantageous in accurately operating the throttle lever with a simple configuration.
Further, if the plurality of actuators are detachably provided at a place that does not interfere with the manual operation of the operating member by the operator seated in the maneuvering seat, the plurality of actuators can be easily attached / detached, and the maintenance work of the plurality of actuators can be performed. It is advantageous in performing the above efficiently.

It is a top view schematically showing the structure of the small ship to which the remote control system of the ship which concerns on 1st Embodiment is applied. It is a block diagram which shows the structure of the propulsion machine of a small ship to which a remote control system of a ship which concerns on 1st Embodiment is applied. It is explanatory drawing of the 1st actuator which operates the ignition switch of a small vessel, (A) is the view which side view was disengaged with the ignition switch and 1st actuator, (B) is (A). BB line arrow view, (C) is a side view of the state in which the ignition switch and the first actuator are engaged, and (D) is a DD line arrow view of (C). It is explanatory drawing of the 2nd actuator which operates a handle of a small ship, (A) is a front view which looked at the handle from the front, (B) is the X-ray arrow view of (A). It is explanatory drawing of the 3rd actuator which operates a throttle lever of a small ship, and is the side view which saw the throttle lever from the hull width direction of a small ship. It is a block diagram which shows the structure of the control system of a small ship to which a remote control system of a ship which concerns on 1st Embodiment is applied. It is a block diagram which shows the structure of the remote control device of the remote control system of a ship which concerns on 1st Embodiment. It is a block diagram which shows the structure of the control system of a small ship to which a remote control system of a ship which concerns on 2nd Embodiment is applied. It is a block diagram which shows the structure of the remote control device of the remote control system of a ship which concerns on 2nd Embodiment. (A) is a diagram showing a state in which image information indicating the periphery of the small vessel is displayed on the display unit, and (B) is a state in which an icon indicating the position of the small vessel is displayed on the display unit superimposed on the map information. It is a figure which shows. It is explanatory drawing of the 2nd actuator in the remote control system of a ship which concerns on 3rd Embodiment, (A) is the front view which the handle was seen from the front, (B) is the BB line arrow view of (A). It is a figure. It is explanatory drawing of the 3rd actuator in the remote control system of a ship which concerns on 4th Embodiment, (A) is the side view which looked at shift lever and accelerator lever from the side of the hull, (B) is (A). It is a B arrow view. It is explanatory drawing of the 4th, 5th, and 6th actuators in the remote control system of a ship which concerns on 5th Embodiment, (A) is a plan view of a propulsion machine (outboard motor), (B) is (A). ) B arrow view. It is explanatory drawing of the 7th actuator in the remote control system of a ship which concerns on 6th Embodiment, (A) is the side view which looked at the tiller handle from the side of the hull, (B) is the B arrow view of (A). It is a figure.

(First Embodiment)
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
First, the ship according to this embodiment will be described.
In the embodiment, a case where the ship is a small ship that is operated unmanned by remote control and is used as a fishing ship will be described.
The small vessel means a vessel having a gross tonnage of less than 20 tons, but a pleasure boat having a gross tonnage of 20 tons or more and satisfying all of the following requirements is also included in the small vessel.
1) A structure that can be operated by one person.
2) Those with a length of less than 24 meters.
3) Used only for sports or recreation, not for business such as fishing boats and passenger ships.
The present invention is not limited to small vessels, but can be applied to various conventionally known vessels such as sightseeing boats, cruisers, leisure boats, motor boats used in boat races, and power boats for competition. The type of ship, total ton number, and use are arbitrary.

Next, the configuration of the small vessel will be described.
As shown in FIG. 1, the small vessel 10 includes a hull 12, a propulsion unit 14, a steering actuator 16, a ship maneuvering control device 18, an ignition switch 20, a handle 22, and a throttle lever 24 that constitute a plurality of operating members. , A first actuator 26, a second actuator 28, a third actuator 30, and a ship-side control device 32, which constitute a plurality of actuators.

The hull 12 has an operation table 1202 provided near the front of the hull 12, a transom seat 1204 arranged behind the operation table 1202 and where the operator sits, and the stern of the hull 12 extending in the width direction of the hull. It is equipped with an existing transom (stern plate) 1206.
The propulsion machine 14 propels the hull 12.
As shown in FIGS. 1 and 2, the propulsion machine 14 includes a cover 1402, an engine 1404, a power transmission mechanism 1406, and a propeller 1408.
The cover 1402 accommodates the engine 1404 and the power transmission mechanism 1406, and is swingably coupled around the steering shaft Z extending in the vertical direction of the hull 12 at the center of the transom 1206 in the hull width direction. There is.
The engine 1404 is a drive source that generates a propulsive force that propels the hull 12.
As shown in FIG. 2, the engine 1404 includes a throttle valve 1404A, a throttle actuator 1404B, and a propulsion machine ECU 1404C.
The throttle valve 1404A adjusts the amount of air sucked into the engine 1404.
The throttle actuator 1404B adjusts the opening degree of the throttle valve 1404A.
The propulsion device ECU 1404C controls the throttle actuator 1404B and the shift actuator 1406B of the power transmission mechanism 1406 described later based on the tilt angle signal of the throttle lever 24 given from the ship maneuvering control device 18 described later.

The power transmission mechanism 1406 includes a drive shaft (not shown) for inputting the driving force of the engine 1404, a shift mechanism 1406A for switching the driving force transmitted to the drive shaft to the propeller shaft 1410 (see FIG. 1), and a shift mechanism 1406A. It is configured to include a propeller shaft 1410 that transmits the driving force transmitted from the mechanism 1406A to the propeller 1408 that generates propulsive force in the hull 12 by rotating in water, and a shift actuator 1406B that operates the shift mechanism 1406A. There is.
The shift mechanism 1406A is switched by the shift actuator 1406B between a forward position for rotating the propeller shaft 1410 in the forward direction, a reverse position for reversing the propeller shaft 1410, and a neutral position for stopping the rotation of the propeller shaft 1410.
When the shift mechanism 1406A is switched to the forward position, the propeller shaft 1410 is rotated in the normal direction, so that the propeller 1408 generates a propulsive force for moving the hull 12 forward.
When the shift mechanism 1406A is switched to the reverse position, the propeller shaft 1410 is inverted, and the propeller 1408 generates a propulsive force for moving the hull 12 backward.
When the shift mechanism 1406A is switched to the neutral position, the rotation of the propeller shaft 1410 is stopped, so that the generation of propulsive force by the propeller 1408 is stopped.

As shown in FIG. 1, the steering actuator 16 swings the propulsion unit 14 around the steering shaft Z based on the operation angle signal of the steering wheel 22 given from the ship maneuvering control device 18 described later, so that the propulsion unit 14 The steering angle (the angle formed by the axis XL of the propeller shaft 1410 with respect to the center line CL of the hull 12) is changed.

The ship maneuvering control device 18 controls the propulsion machine 14 according to the operation of the plurality of operating members 20, 22, 24, and specifically, the propulsion force 14 starts, stops, and propulsion force of the propulsion machine 14. And the steering angle of the propulsion machine 14 are adjusted.

The plurality of operating members 20, 22, and 24 are members operated by the operator to perform navigation (ship maneuvering).
In the present embodiment, the ignition switch 20, the steering wheel 22, and the throttle lever 24 are arranged side by side on the operation table 1202 at intervals in the vehicle width direction.
The ignition switch 20 is for starting and stopping the propulsion machine 14.
As shown in FIGS. 3A to 3D, the ignition switch 20 has a key cylinder 2002 and an ignition key 2004.
The ignition switch 20 gives an off signal, an on signal, and a start signal to the ship maneuvering control device 18 by rotating the ignition key 2004 inserted in the key cylinder 2002 to each of the off position, the on position, and the start position. As a result, the ship maneuvering control device 18 stops and supplies power from the battery to the engine 1404, and also starts the engine 1404.

As shown in FIGS. 4A and 4B, the handle 22 is rotated to steer the small vessel 10.
The handle 22 includes a handle body 2202 having a circular cross section and extending in an annular shape, a handle shaft 2204 of the handle body 2202, and spokes 2206 connecting the handle shaft 2204 and the handle body 2202.
In this embodiment, the handle shaft 2204 extends substantially along the front-rear direction of the hull 12.
An operation angle signal indicating the operation angle of the steering wheel 22 detected by the operation angle sensor (not shown) is supplied to the ship maneuvering control device 18, whereby the ship maneuvering control device 18 drives the steering actuator 16 to adjust the steering angle. Is done.

As shown in FIG. 5, the throttle lever 24 is for adjusting the output of the propulsion machine 14.
The throttle lever 24 includes a swing shaft 2404 provided so as to be swingable in the front-rear direction of the hull 12 from the operation table 1202, and a gripped portion 2406 provided at the tip of the swing shaft 2404 and gripped by hand. There is.
The throttle lever 24 is supplied with a tilt angle signal indicating the tilt angle of the throttle lever 24 detected by a lever position sensor (not shown) to the propulsion ECU 1404C of the ship maneuvering control device 18, and the propulsion ECU 1404C supplies the throttle actuator 1404B and the shift actuator 1406B. Is driven and the propulsion machine 14 is controlled.
That is, the throttle lever 24 is provided so as to be tiltable in the neutral range, the forward range in the range in front of the hull 12 from the neutral range, and the reverse range in the range behind the hull 12 from the neutral range.

When the throttle lever 24 is located in the neutral range, the propulsion machine ECU 1404C switches the power transmission mechanism 1406 to the neutral position by the shift actuator 1406B and closes the throttle valve 1404A by the throttle actuator 1404B, whereby the propulsion machine 14 is stopped and the size is reduced. Ship 10 stops.
When the throttle lever 24 is located in the forward range, the propulsion machine ECU 1404C switches the power transmission mechanism 1406 to the forward position by the shift actuator 1406B, and the throttle valve 1404A by the throttle actuator 1404B increases the forward tilt angle of the throttle lever 24. By greatly adjusting the opening degree of the engine 1404, the rotation speed of the engine 1404 is increased, the small vessel 10 is advanced, and the navigation speed is adjusted.
When the throttle lever 24 is located in the reverse range, the propulsion machine ECU 1404C switches the power transmission mechanism 1406 to the reverse position by the shift actuator 1406B, and the throttle valve 1404A by the throttle actuator 1404B increases the rearward tilt angle of the throttle lever 24. By greatly adjusting the opening degree of the engine 1404, the rotation speed of the engine 1404 is increased, the small vessel 10 is moved backward, and the navigation speed is adjusted.

The plurality of actuators 26, 28, 30 operate the plurality of operating members 20, 22, 24.
In the present embodiment, three actuators, a first actuator 26 for operating the ignition switch 20, a second actuator 28 for operating the handle 22, and a third actuator 30 for operating the throttle lever 24, are provided as a plurality of actuators. ing.

As shown in FIGS. 3A to 3D, the first actuator 26 includes a motor 33 and a rotating member 34.
The motor 33 and the rotating member 34 are provided at a position (operation table 1202) that does not interfere with the manual operation of the ignition switch 20 (ignition key 2004) by the operator seated in the maneuvering seat 1204.
The motor 33 is detachably provided on the operation table 1202 via a bracket (not shown).
The rotating member 34 is connected to the drive shaft 3302 of the motor 33.
The rotating member 34 is provided with an engaging recess 3402 that can be engaged with and disengaged from the head portion 2004A of the ignition key 2004 inserted into the key cylinder 2002 of the ignition switch 20.
That is, the rotating member 34 is detachably connected to the ignition key 2004 so as to be integrally rotatable so that the rotating member 34 can be rotated.

As shown in FIGS. 3 (A) and 3 (B), after positioning the engaging recess 3402 of the rotating member 34 to face the head 2004A of the ignition key 2004, it is shown in FIGS. 3 (C) and 3 (D). As described above, by moving the rotating member 34 and the motor 33 in the ignition key 2004 direction, the head portion 2004A is inserted into and engaged with the engaging recess 3402, and in that state, the first actuator 26 is inserted through a bracket (not shown). Is attached to the operating table 1202.
With the engaging recess 3402 engaged with the head 2004A, the motor 33 is driven by supplying a drive signal to the motor 33 from the ship-side control device 32 described later, and the ignition key 2004 is set to the off position, the on position, and so on. It can be rotated to each of the starting positions.
As a result, the ship maneuvering control device 18 stops and supplies electric power from the battery to the engine 1404, and also starts the engine 1404.
Further, in the state where the engaging recess 3402 is engaged with the head 2004A, the drive signal supplied to the motor 33 by the ship side control device 32 is turned off, so that the motor 33 becomes servo-free and is seated in the maneuvering seat 1204. The operator can manually operate the ignition key 2004 via the rotating member 34 by grasping the rotating member 34.
When removing the ignition key 2004 from the key cylinder 2002, the motor 33 may be removed from the operation table 1202, and the engaging recess 3402 may be separated from the head 2004A.

As shown in FIGS. 4A and 4B, the second actuator 28 includes a motor 39 and a drive roller 40.
The motor 39 and the drive roller 40 are detachably provided at a position (operation table 1202) that does not interfere with the manual operation of the handle 22 by the operator seated in the maneuvering seat 1204 via a bracket (not shown).
The motor 39 is arranged so that its drive shaft 3902 is substantially orthogonal to the handle shaft 2204 of the handle 22 in a state of being attached to the operation table 1202.
The drive roller 40 is attached to the tip of the drive shaft 3902.
The drive roller 40 is arranged diagonally downward in front of a part of the hull 12 in the circumferential direction of the handle body 2202, engages with the handle body 2202, and rotates the drive roller 40 to rotate the handle body 2202. Make it possible.
The drive roller 40 includes a concave groove 4002 that engages with a surface of the handle main body 2202 that faces diagonally downward in front of the hull 12, and the rotational driving force of the motor 39 is transmitted through the concave groove 4002 of the drive roller 40 to the handle main body. It is designed to be efficiently transmitted to 2202.

The motor 39 rotates the handle 22 in the forward and reverse directions via the drive shaft 3902 and the drive roller 40 by being supplied with a drive signal from the ship-side control device 32.
Therefore, when the motor 39 rotates in the forward and reverse directions, the handle body 2202 is rotated in the forward and reverse directions by the drive roller 40, and the operation angle signal generated by the operation angle sensor is supplied to the ship maneuvering control device 18 to steer the actuator. 16 is driven and the steering angle is adjusted.
Further, the drive signal supplied to the motor 39 by the ship-side control device 32 is turned off, so that the motor 39 becomes servo-free, and the operator seated in the control seat 1204 can manually operate the handle 22. There is.

As shown in FIG. 5, the third actuator 30 is composed of a linear acting cylinder (direct acting electric cylinder) 30A, and includes a cylinder main body 3002, a motor (not shown) incorporated in the cylinder main body 3002, and a cylinder main body. It is equipped with a piston rod 3004 incorporated in the 3002.
The direct acting cylinder 30A is detachably provided at a position (operation table 1202) that does not interfere with the manual operation of the throttle lever 24 by the operator seated in the maneuvering seat 1204 via a bracket (not shown).
The cylinder body 3002 is arranged so that the infestation direction of the piston rod 3004 is aligned with the front-rear direction of the hull 12.
The tip of the piston rod 3004 is connected to the intermediate portion of the swing shaft 2404 of the throttle lever 24 in the longitudinal direction via a spherical bearing (not shown) of the connecting portion 42.
Therefore, when the drive signal is supplied to the motor by the ship-side control device 32, the piston rod 3004 appears and disappears with respect to the cylinder body 3002, and the throttle lever 24 is tilted over the forward range, the neutral range, and the reverse range. , The output of the propulsion unit 14 is adjusted, and the forward, stop, reverse, and navigation speeds of the small vessel 10 are adjusted.
Further, the motor becomes servo-free by turning off the drive signal supplied to the motor by the ship-side control device 32, and the operator seated in the maneuvering seat 1204 can manually operate the throttle lever 24. ..

The ship-side control device 32 is mounted on the hull 12 and controls the first, second, and third actuators 26, 28, and 30 based on the remote control command information transmitted from the remote control device. The ship-side control device 32 will be described in detail later.
The remote control device 44 is operated by an operator located at a location distant from the small vessel 10, and transmits remote control command information generated by the operator's operation to the ship side control device 32 via a wireless line. It is a thing.

Next, the remote control device 44 will be described in detail with reference to FIG. 7.
The remote control device 44 includes first to third remote control levers 46, 48, 50, angle sensors 52A, 52B, 52C, a mode changeover switch 54, a control unit 56, and a remote control side communication unit 58. It is composed of.
The first to third remote control levers 46, 48, and 50 are remote control operation members (joysticks) in which the ignition switch 20 (ignition key 2004), the handle 22, and the throttle lever 24 are oscillated to be remotely controlled. ).
The angle sensors 52A, 52B, 52C are provided corresponding to the remote control levers 46, 48, 50, and output a detection signal indicating an angle corresponding to the operation position of the remote control levers 46, 48, 50. be.

The mode changeover switch 54 is operated for switching between the remote control mode described later and the manual operation mode.

The control unit 56 includes a CPU, a ROM for storing and storing a control program, a RAM as an operating area for the control program, an EEPROM for rewritably holding various data, each angle sensor 52A, 52B, 52C, a mode changeover switch 54, and the like. It is configured to include an interface unit that takes an interface with peripheral circuits and the like.
The control unit 56 functions as a command information generation unit 56A by executing the control program.
The command information generation unit 56A generates remote control command information based on the detection signals supplied from the angle sensors 52A, 52B, and 52C.
Further, the command information generation unit 56A generates mode switching command information based on the operation signal supplied from the mode switching switch 54.
The remote control side communication unit 58 is configured to be able to communicate with the small vessel side communication unit 60 via a wireless line, and the remote control command information and mode switching command information generated by the command information generation unit 56A are transmitted to the small vessel side communication unit. It is transmitted to 60 via a wireless line.

As shown in FIG. 6, the ship-side control device 32 includes a small ship-side communication unit 60, first to third detection units 62A to 62C, a servo control unit 64, and a control unit 66. There is.
The small vessel side communication unit 60 receives remote control command information transmitted from the remote control side communication unit 58 via a wireless line.
The first to third detection units 62A to 62C detect the operation amount of the ignition switch 20 (ignition key 2004), the handle 22, and the throttle lever 24 by the first to third actuators 26, 28, and 30.
Specifically, the first detection unit 62A detects the rotation amount (angle) of the drive shaft 2602 of the first actuator (motor) 26 as the operation amount.
The second detection unit 62B detects the rotation amount (angle) of the drive shaft 2802 of the second actuator (motor) 28 as an operation amount.
The third detection unit 62C detects the movement amount of the piston rod 3004 of the third actuator (direct acting electric cylinder) 30 as the operation amount.
The servo control unit 64 has a first actuator 26 (motor 33) and a second actuator 28 (motor 33) based on the operation amounts detected by the first to third detection units 62A, 62B, and 62C under the control of the operation member control unit 66A. The servo control of the motor 39) and the third actuator 30 (direct acting cylinder 30A) is performed respectively.

The control unit 66 includes a CPU, a ROM for storing and storing a control program, a RAM as an operating area for the control program, an EEPROM for rewritably holding various data, first to third detection units 62A to 62C, and servo control. It is configured to include a unit 64, an interface unit that interfaces with peripheral circuits, and the like.
The control unit 66 functions as the operation member control unit 66A by executing the control program.
The operation member control unit 66A controls the servo control unit 64 while monitoring the detection results of the first to third detection units 62A to 62C based on the remote control command information received via the small vessel side communication unit 60. By doing so, the first to third actuators 26, 28, and 30 are driven and controlled to move the ignition switch 20 (ignition key 2004), the handle 22, and the throttle lever 24.
Further, the operation member control unit 66A transmits the mode switching command information generated by the control unit 56 by the operation of the mode changeover switch 54 of the remote control device 44 via the remote control side communication unit 58 and the small vessel side communication unit 60. The remote control mode and the manual operation mode can be selected by receiving the information.
When the operation member control unit 66A is set to the remote control mode according to the mode switching command information, the operation member control unit 66A performs remote control according to the operation of the remote control device 44.
That is, the operation member control unit 66A controls the first to third actuators 26, 28, and 30 based on the remote control command information to operate the ignition switch 20 (ignition key 2004), the handle 22, and the throttle lever 24.
Further, when the operation member control unit 66A is set to the manual operation mode according to the mode switching command information, the operation member control unit 66A controls the servo control unit 64 to control the motor 33 of the first actuator 26, the motor 39 of the second actuator 28, and the like. By turning off the drive signal to the motor of the third actuator, that is, by disabling the servo control of the servo control 64, the first to third actuators 26, 28, and 30 are made servo-free and the ignition switch 20 (the ignition switch 20). The ignition key 2004), the handle 22, and the throttle lever 24 can be manually operated.
The mode changeover switch 54 may be provided in the ship-side control device 32, and the operation member control unit 66A that receives the operation of the mode changeover switch 54 may select the remote control mode or the manual operation mode.

Next, a case where the small vessel 10 is remotely controlled by using the remote control system of the present embodiment will be described.
It is assumed that the engaging recess 3402 of the rotating member 34 is engaged with the head 2004A of the ignition key 2004 in advance, and the ship side control device 32 is set to the remote control mode by the mode changeover switch 54.
The remote control of the small vessel 10 by the operator shall be performed while the operator monitors the small vessel 10.
When the operator operates the first to third remote control levers 46, 48, 50 of the remote control device 44, the command information generation unit 56A is generated based on the detection signals detected by the angle sensors 52A, 52B, 52C. Generate remote control command information. The remote control command information is transmitted from the remote control side communication unit 58 to the small vessel side communication unit 60 via the wireless line.
In the small vessel 10, the remote control command information received via the communication unit 60 on the small vessel side is supplied to the operation member control unit 66A, and the operation member control unit 66A is the first to the first based on the remote control command information. 3 Ignition switch 20 (ignition key 2004), handle 22 by driving and controlling the first to third actuators 26, 28, 30 by controlling the servo control unit 64 while monitoring the detection results of the detection units 62A to 62C. , Operate the throttle lever 24.
That is, by operating the ignition switch 20 by the first actuator 26, the ignition switch 20 is switched to the off position, the on position, and the starting position, so that the engine 1404 of the propulsion machine 14 is stopped and started.
Further, by operating the steering wheel 22 by the second actuator 28, the steering angle of the propulsion machine 14 is adjusted, and the small vessel 10 is steered.
Further, by operating the throttle lever 24 by the third actuator 30, the propulsion force is adjusted by the propulsion machine 14, the small vessel 10 is switched between forward, backward, and stop, and the navigation speed is adjusted. ..

Next, a case where the operator boarding the small vessel 10 manually operates the ignition switch 20 (ignition key 2004), the handle 22, and the throttle lever 24 by using the remote control system of the present embodiment will be described.
It is assumed that the ship-side control device 32 is set to the manual operation mode in advance by the mode changeover switch 54.
The ignition switch 20 is switched between the off position, the on position, and the start position by the manual operation of the operator seated in the maneuvering seat 1204, so that the engine 1404 of the propulsion machine 14 is stopped and started.
Further, the steering wheel 22 is operated by the manual operation of the operator to adjust the steering angle of the propulsion machine 14, and the small vessel 10 is steered.
Further, by manually operating the throttle lever 24 by the operator, the propulsion force is adjusted by the propulsion device 14, the small vessel 10 is switched between forward, backward, and stop, and the navigation speed is adjusted. It will be done.
At this time, since the first to third actuators 26, 28, and 30 are servo-free, the manual operation of the ignition switch 20 (ignition key 2004), the handle 22, and the throttle lever 24 is not hindered.

According to the present embodiment, the first to third actuators 26, 28, and 30 for operating the operating members for navigating (maneuvering) the small vessel 10 operated by the operator are seated in the maneuvering seat 1204. By detachably providing it in a place that does not interfere with the manual operation of the operation member by the ship operator and selecting the remote control mode of the operation member control unit 66A, the first to third actuators 26, 28, based on the remote control command information, By controlling 30 and operating the ignition switch 20 (ignition key 2004), the handle 22, and the throttle lever 24, the small vessel 10 can be remotely controlled, and the manual operation mode of the operation member control unit 66A is selected. By doing so, the first to third actuators 26, 28, and 30 are made servo-free, and the ignition switch 20 (ignition key 2004), the handle 22, and the throttle lever 24 can be manually operated by the operator seated in the maneuvering seat 1204. ..
That is, the operator can sit in the maneuvering seat and operate the small vessel 10 without returning the small vessel 10 to the original state, or the operator can remotely control the small vessel 10 without boarding the vessel. It is advantageous in improving the usability of the.
Therefore, when the remote control system for a ship of the present embodiment is applied when a plurality of small boats 10 are operated as fishing boats, the plurality of small boats 10 can be remotely controlled, and as many operators as the number of small boats 10 are secured. There is no need to do this, which is advantageous in operating the fishing boat efficiently while suppressing human costs, and the operator sits in the maneuvering seat without returning the small boat 10 to its original state, and the small boat 10 is operated. It is also possible to steer.
The first to third actuators 26, 28, and 30 may be provided in a non-detachable place at a position that does not interfere with the manual operation of the operation member by the operator seated in the operator's seat 1204, but as in the present embodiment. If it is detachably provided, the first to third actuators 26, 28, and 30 can be easily removed, which is advantageous in efficiently performing the maintenance work of the first to third actuators 26, 28, 30.

Further, when the operator manually navigates the small vessel 10 and the observer monitors the navigating small vessel 10 from a place away from the small vessel 10, an emergency situation such as deterioration of the operator's physical condition may occur. When it is determined that the small vessel 10 has become difficult to navigate normally, the observer switches from the manual operation mode to the remote control mode using the remote control device 44, and operates the small vessel 10 by remote control to call at the port. Since it is possible to take measures such as making it possible, it is advantageous in appropriately dealing with troubles during remote control.

Further, in the present embodiment, the servo control unit 64 has the first actuator 26 (motor 33) and the second actuator 28 (the first actuator 26 (motor 33)) based on the operation amounts detected by the first to third detection units 62A, 62B, and 62C, respectively. The servo control of the motor 39) and the third actuator 30 (direct acting cylinder 30A) is performed, and the remote operation mode of the operation member control unit 66A is set to the first actuator 26, the second actuator 28, via the servo control unit 64. It is performed by operating the third actuator 30, respectively, and the manual operation mode is performed by disabling the control operation of the servo control unit 64 and making the actuators 26, 28, and 30 servo-free.
Therefore, a simple configuration is advantageous in switching between the remote control mode and the manual control mode.
The rotating member 34 of the first actuator 26 can be engaged and disengaged by moving it with respect to the ignition key 2004, and the drive roller 40 of the second actuator 28 can be engaged and detached by moving it with respect to the handle 22. It may be configured so that the connecting portion 42 of the third actuator 30 can be connected to and disconnected from the swing shaft 2404, and the remote operation mode and the manual operation mode can be switched.
However, in that case, there is a disadvantage that a plurality of actuators and a complicated mechanism are required, which increases the cost.
On the other hand, it is sufficient to switch between the servo control of the actuators 26, 28, and 30 and the servo free as in the present embodiment, which is advantageous in suppressing such a cost.

Further, in the present embodiment, since the operating member includes the ignition switch 20, the handle 22, and the throttle lever 24, it is advantageous in accurately performing remote control of the small vessel 10.
Further, in the present embodiment, the portion where the first to third actuators 26, 28, and 30 are provided and which does not interfere with the manual operation of the operating member by the operator is the location of the operating table 1202 provided with the operating member. Therefore, the distance between the first to third actuators 26, 28, 30 and the operating member can be shortened, which is advantageous in reliably operating the operating member by the first to third actuators 26, 28, 30.

Further, in the present embodiment, the first actuator 26 includes a rotating member 34 that can be engaged with and detached from the ignition key 2004 and is integrally rotatable and rotatably coupled to the ignition key 2004, and a motor 33 that rotates the rotating member 34. Therefore, it is advantageous in simplifying the configuration of the first actuator 26 and accurately operating the ignition switch 20 (ignition key 2004).

Further, in the present embodiment, the second actuator 28 includes a drive roller 40 that engages with a part of the handle 22 in the circumferential direction to enable rotation of the handle 22, and a motor 39 that rotationally drives the drive roller 40. Since it is configured to include the above, it is advantageous in simplifying the configuration of the second actuator 28 and accurately operating the handle 22.

Further, in the present embodiment, the third actuator 30 is a cylinder body 3002 that moves the piston rod 3004 coupled to the swing shaft 2404 of the throttle lever 24 and the piston rod 3004 in the direction of swinging the swing shaft 2404. Since it is configured to include the linear acting cylinder 30A provided with the above, it is advantageous in simplifying the configuration of the third actuator 30 and accurately operating the throttle lever 24.

In the first embodiment, the second actuator 28 engages with a part of the handle 22 in the circumferential direction to enable the handle 22 to rotate, and the drive roller 40 and the motor for rotationally driving the drive roller 40. Although the case where the handle 22 is configured to be included is described, various conventionally known configurations can be used as an actuator for rotationally driving the handle 22 as illustrated below.
1) The drive shaft of the motor is coupled to the handle shaft 2204, and the handle shaft 2204 (handle 22) is rotated by the rotational driving force of the motor to steer.
2) A plurality of drive rollers 40 and motors 39 shown in FIG. 4 are provided at intervals in the circumferential direction of the handle body 2202, each drive roller 40 is rotationally driven by each motor 39, and the handle 22 is rotated for steering. ..
3) A drive roller that is provided with a ring extending in an annular shape around the rotation axis of the handle shaft 2204 so as to be integrally rotatable with the handle shaft 2204, and is engaged with a part of the circumferential direction of the ring to enable the rotation of the ring. And a motor for rotationally driving the drive roller are provided, and the steering wheel 22 is rotated via the ring by the rotational driving force of the motor to perform steering.
4) A driven sprocket is provided on the handle shaft 2204, a drive sprocket is provided on the drive shaft of the motor, a chain is hung around the driven sprocket and the drive sprocket, and a handle is provided via the drive sprocket, the chain, and the driven sprocket by the rotational driving force of the motor. Steering is performed by rotating the shaft 2204 (handle 22).
5) A driven pinion is provided on the handle shaft 2204, a drive pinion is provided on the drive shaft of the motor, a rack that meshes with the driven pinion is provided, and a drive pinion, a rack, and a driven pinion are provided by the rotational driving force of the motor. Steering is performed by rotating the handle shaft 2204 (handle 22).

(Second embodiment)
Next, the second embodiment will be described with reference to FIGS. 8 and 9.
In the following embodiments, the same parts and members as those in the first embodiment are designated by the same reference numerals as those in the first embodiment, and the description thereof will be omitted.
In the first embodiment, the case where the operator performing the remote control performs the remote control while monitoring the small vessel 10 has been described, but in the second embodiment, the operator performing the remote control to the small vessel 10 has been described. It is possible to perform remote control within a range that cannot be visually recognized.
That is, in the second embodiment, the image information around the small vessel 10 and the positioning information of the small vessel 10 are acquired, and the image information is displayed on the remote control device 44A side based on the image information and the positioning information. At the same time, the positioning information on the map of the small vessel 10 is displayed.

As shown in FIG. 8, the small vessel 10 is provided with four cameras, a front camera 68A, a rear camera 68B, a left camera 68C, and a right camera 68D, which constitute an image information generation unit, and a positioning unit 70. ing.
The front camera 68A captures the front of the hull 12 and generates image information.
The rear camera 68B captures the rear of the hull 12 and generates image information.
The left camera 68C captures the left side of the hull 12 and generates image information.
The right camera 68D captures the right side of the hull 12 and generates image information.
The four image information is transmitted from the ship-side communication unit 60 to the remote control device-side communication unit 58 of the remote control device 44A via a wireless line.
The image information may be a moving image or a still image generated at a fixed time interval.

The positioning unit 70 positions the position of a small vessel based on the positioning signal received from the positioning satellite and generates positioning information.
Such positioning satellites are used in GNSS (Global Navigation Satellite System) such as GPS, GLONASS, Galileo, and Quasi-Zenith Satellite (QZSS), and the positioning satellites used in these positioning systems. One may be used, or two or more positioning satellites may be used in combination.
The positioning information generated by the positioning unit 70 is transmitted from the ship-side communication unit 60 to the remote control device-side communication unit 58 of the remote control device 44A via a wireless line.

As shown in FIG. 9, the remote control device 44A is provided with an operation unit 72, a map database 74, and a display unit 76.
The operation unit 72 instructs the notification unit 56B, which will be described later, to switch the information displayed on the display unit 76 in response to the operation of the operator. The operation unit 72 is composed of, for example, a touch panel provided on the display surface of the display unit 76 and a key switch provided independently of the display unit 76.
The map database 74 stores map information including a place where the small vessel 10 navigates, and the map information is associated with positioning information (position information) on the earth.
The display unit 76 displays image information around the small vessel 10 based on the control of the notification unit 56B, which will be described later, and displays the current position of the small vessel 10 on the map information.

The control unit 56 of the remote control device 44A functions as a notification unit 56B by executing a control program.
The notification unit 56B causes the display unit 76 to display the image information transmitted from the ship-side communication unit 60 via the wireless line, and is based on the positioning information transmitted from the ship-side communication unit 60 via the wireless line. Map information is read from the map database 74, and an icon indicating the current position of the small vessel 10 is superimposed on the map information based on the positioning information and displayed on the display unit 76.
Further, the notification unit 56B switches between image information and map information according to the operation of the operation unit 72 and causes the display unit 76 to display the information. Alternatively, the front, rear, left, and right image information of the hull 12 is selectively displayed on the display unit 76.
For example, FIG. 10A shows a state in which the image information in front of the hull 12 captured by the front camera 68A is displayed on the display screen 7602 of the display unit 76. In this example, the horizontal line 2 and the land are displayed. 4 is displayed.
Further, FIG. 10B shows a state in which the icon 8 indicating the current position of the small vessel 10 is superimposed and displayed on the map information indicating the land 4 and the sea 6 on the display screen 7602 of the display unit 76. There is.

According to the second embodiment, it goes without saying that the same effect as that of the first embodiment is obtained, and the situation around the small vessel 10 is obtained by the image information displayed on the display unit 76. Specifically, it is possible to grasp the presence / absence of other vessels, the positional relationship between those vessels and the small vessel 10, the positional relationship between the small vessel 10 and the land, etc. It is advantageous for the accurate remote control of the ship 10.
Further, the current position of the small vessel 10 can be grasped based on the map information displayed on the display unit 76, which is advantageous in accurately remote-controlling the small vessel 10 from a location away from the small vessel 10. ..
In the second embodiment, the case where both the plurality of cameras 68A to 68D and the positioning unit 70 are provided has been described, but only one of them may be provided. However, according to the second embodiment, since both the state around the small vessel 10 and the current position of the small vessel 10 can be grasped, it is more advantageous for the small vessel 10 to be accurately remotely controlled. ..
Further, in the second embodiment, the case where four cameras of the front camera 68A, the rear camera 68B, the left camera 68C, and the right camera 68D are provided has been described, but the number and arrangement of the cameras are arbitrary. .. Further, instead of providing a plurality of cameras, it is optional to use a spherical camera or a hemispherical camera having a wide imaging range.

(Third embodiment)
Next, the third embodiment will be described with reference to FIGS. 11A and 11B.
The third embodiment is a modification of the first embodiment, and the configuration of the second actuator 78 for operating the handle 22 is different from that of the first embodiment.

As shown in FIGS. 8A and 8B, the second actuator 78 is configured to include two linear motion cylinders (linear motion electric cylinders) 78A and 78B.
Each linear motion cylinder includes a cylinder body 7802, a motor (not shown) incorporated in the cylinder body 7802, and a piston rod 7804 incorporated in the cylinder body 7802.
As shown in FIG. 8A, the connecting portion 80 is attached to the upper part of the steering wheel main body 2202 in a state where the steering wheel 22 is located at a neutral position (turning angle is 0 degrees).
A handle-side support shaft 8002 extending parallel to the central axis of the handle shaft 2204 is projected from the connecting portion 80 toward the rear of the hull 12.
Further, when the handle 22 is viewed from the rear of the hull 12, hull side support shafts 1210A and 1210B extending in parallel with the central axis of the handle shaft 2204 are provided at two locations of the operation table 1202 sandwiching the handle 22 in the hull width direction. Each of them is projected toward the rear of the hull 12, and the two hull side support shafts 1210A and 1210B are provided at point-symmetrical positions with the central axis of the handle shaft 2204 as a point of symmetry via a bracket (not shown). There is.

In one of the two linear motion cylinders 78A and 78B, the base end of the cylinder body 7802 is swingably supported via the one hull side support shaft 1210A, and the tip of the piston rod 7804 is supported. Is swingably supported by the handle side support shaft 8002.
Of the two linear motion cylinders 78A and 78B, the other linear motion cylinder 78B is supported so that the base end of the cylinder body 7802 is swingably supported via the other hull side support shaft 1210B, and the tip of the piston rod 7804. Is swingably supported by the handle side support shaft 8002.
Therefore, the linear motion cylinders 78A and 78B are detachably provided at a position (operation table 1202) that does not interfere with the manual operation of the handle 22 by the operator seated in the maneuvering seat 1204.

Explaining the control system of the third embodiment by diverting FIG. 6, the second detection unit 62B determines the amount of movement of the piston rods 7804 of the two linear motion cylinders 78A and 78B constituting the second actuator 78. Each is detected as an operation amount.
The servo control unit 64 performs servo control of the second actuator 78 (linear acting cylinders 78A, 78B) based on the operation amount detected by the second detection unit 62B under the control of the operation member control unit 66A.
Specifically, one piston rod 7804 protrudes and the other piston rod 7804 contracts, so that the linear motion cylinders 78A and 78B swing with the hull side support shafts 1210A and 1210B as fulcrums, respectively, and each piston. A force in the rotational direction acts on the handle 22 from the rod 7804 via the handle side support shaft 8002 and the connecting portion 80, whereby the handle 22 is rotated.
In the remote operation mode, the drive signal is supplied to the motors of the linearly driven cylinders 78A and 78B by the ship side control device 32, so that the piston rod 7804 appears and disappears with respect to the cylinder body 7802, and the handle 22 rotates in the forward and reverse directions. Then, the operation angle signal generated by the operation angle sensor is supplied to the ship maneuvering control device 18, so that the steering actuator 16 is driven and the steering angle is adjusted.
In the manual operation mode, the drive signals supplied to the motors of the linear motion cylinders 78A and 78B are turned off by the ship side control device 32, so that the linear motion cylinders 78A and 78B become servo-free and the ship maneuvering seat 1204. The operator seated in the cylinder can manually operate the handle 22.
The same effect as that of the first embodiment is obtained by such a third embodiment.

(Fourth Embodiment)
Next, the fourth embodiment will be described with reference to FIGS. 12A and 12B.
In the first embodiment, by operating a single throttle lever 24, the forward position, the neutral position, and the reverse position of the power transmission mechanism 1406 (shift mechanism 1406A) of the propulsion machine 14 are switched, and the opening degree of the throttle valve 1404A is opened. However, in the fourth embodiment, the shift lever 82A (black lever) that switches the forward position, the neutral position, and the reverse position of the power transmission mechanism 1406 (shift mechanism 1406A) of the propulsion machine 14 It is different from the first embodiment in that it is provided with two levers, that is, an accelerator lever 82B (red lever) that adjusts the opening degree of the throttle valve 1404A.

The shift lever 82A and the accelerator lever 82B are a swing shaft 8204 provided so as to be swingable in the front-rear direction of the hull 12 from the operation table 1202, and a gripped portion 8206 provided at the tip of the swing shaft 8204 and gripped by hand. And have.
When the shift lever 82A is in the center, the power transmission mechanism 1406 (shift mechanism 1406A) is in the neutral position (neutral), when it is tilted forward of the hull, the power transmission mechanism 1406 (shift mechanism 1406A) is in the forward position, and when it is tilted backward of the hull, it is powered. The transmission mechanism 1406 (shift mechanism 1406A) is switched to the reverse position.
When the accelerator lever 82B is tilted to the limit position behind (front) the hull, the throttle valve 1404A closes and becomes idle, and the throttle valve 1404A opens so that the accelerator lever 82B is tilted forward from the limit position to navigate. As the speed increases and the accelerator lever 82B is tilted backward toward the limit position, the opening degree of the throttle valve 1404A becomes smaller and the navigation speed decreases.
Explaining by diverting FIG. 2, the shift lever 82A and the accelerator lever 82B receive an inclination angle signal indicating the inclination angle of each of the two levers detected by the lever position sensor (not shown) to the propulsion actuator ECU 1404C of the ship maneuvering control device 18. The shift actuator 1406B and the throttle actuator 1404B are driven by the propulsion machine ECU 1404C to control the propulsion machine 14.

In the fourth embodiment, the actuator 86 for operating the shift lever 82A and the accelerator lever 82B has two types, a linear motion cylinder 86A for operating the shift lever 82A and a linear motion cylinder 86B for operating the accelerator lever 82B. It is configured to include linear acting cylinders 86A and 86B.
Each of the linear acting cylinders 86A and 86B includes a cylinder main body 8602, a motor (not shown) incorporated in the cylinder main body 8602, and a piston rod 8604 incorporated in the cylinder main body 8602.
The linear motion cylinders 86A and 86B are detachably provided at a position (operation table 1202) that does not interfere with the manual operation of the shift lever 82A and the accelerator lever 82B by the operator seated in the maneuvering seat 1204 via a bracket (not shown). Has been done.
The cylinder main body 8602 of each of the linear acting cylinders 86A and 86B is arranged so that the infestation direction of the piston rod 8604 is aligned with the front-rear direction of the hull 12.
The tip of the piston rod 8604 of the linear acting cylinder 86A is connected to the intermediate portion of the swing shaft 8204 of the shift lever 82A in the longitudinal direction via a spherical bearing (not shown) of the connecting portion 88A.
The tip of the piston rod 8604 of one of the linear acting cylinders 86B is connected to the intermediate portion of the swing shaft 8204 of the accelerator lever 82B in the longitudinal direction via a spherical bearing (not shown) of the connecting portion 88B.

Explaining the control system of the fourth embodiment, in the remote operation mode, the drive signals are supplied to the motors of the linear motion cylinders 86A and 86B by the ship side control device 32, so that the linear motion cylinders are respectively. The piston rod 8604 appears and disappears with respect to the cylinder body 8602 of 86A and 86B, and the shift lever 82A and the accelerator lever 82B are tilted, whereby the output of the propulsion machine 14 is adjusted, and the small vessel 10 moves forward, stops, and reverses. And the navigation speed is adjusted.
A detection unit (not shown) for detecting the movement amount of the piston rods 8604 of the two linear acting cylinders 86A and 86B constituting the actuator 86 as an operation amount is provided, and servo control is performed based on the detection result of the detection unit. The control of the actuator 86 by the unit 64 is the same as in the first embodiment.
Further, in the manual operation mode, the drive signals supplied to the motors of the linear acting cylinders 86A and 86B are turned off by the ship side control device 32, so that the motor becomes servo-free and the maneuvering seated in the maneuvering seat 1204 is performed. The person can manually operate the shift lever 82A and the accelerator lever 82B.
The same effect as that of the first embodiment is obtained by such a fourth embodiment.

(Fifth Embodiment)
Next, the fifth embodiment will be described with reference to FIGS. 13 (A) and 13 (B).
In the first embodiment, the case where the propulsion machine 14 is operated by the steering actuator 16 to steer the small vessel 10 has been described, but in the fifth embodiment, the propulsion machine 90 is the hull 12 A case will be described in which the steering wheel is supported so as to be swingable with the steering shaft Z as a fulcrum, and the operator manually operates the tiller handle 92 (rudder rod) provided in the propulsion machine 90 to steer the steering wheel. ..

First, the propulsion machine 90 will be described.
The propulsion machine 90 is a so-called outboard motor, and has an engine (not shown), an engine cover 94, a tiller handle 92, a throttle grip 96, a shift lever 98, a mounting portion 100, and a drive shaft. It is configured to include a housing 102 and a propeller 104.

The engine is covered with an engine cover 94, the power of the engine is transmitted to the propeller 104 via a power transmission mechanism (not shown), and the power transmission mechanism is housed in the drive shaft housing 102.
The tiller handle 92 protrudes from the engine and is provided with a throttle grip 96 at the tip thereof.
The shift lever 98 is provided so as to project from one side in the hull width direction of the engine and swing in the front-rear direction of the hull.
The mounting portion 100 is a hull-side mounting portion 100A that is detachably mounted on the transom 1206, and an engine-side mounting portion that is swingably coupled to the hull-side mounting portion 100A around the steering shaft Z and coupled to the drive shaft housing 102. It is provided with a unit 100B.

When the operator grasps the tiller handle 92 and swings it around the steering shaft Z, the propulsion machine 90 swings, and the direction of the entire propulsion machine 90 including the propeller 104 changes, so that the small vessel 10 rolls. The rudder is done.
When the operator grips the throttle grip 96 and rotates it in one direction, the opening of the throttle valve (not shown) is large, and when the throttle grip 96 is rotated in the opposite direction, the opening of the throttle valve increases. It gets smaller.
When the operator grasps the shift lever 98 and switches the shift lever 98 between the forward position, the neutral position, and the reverse position, the power transmission mechanism is switched between the forward position, the neutral position, and the reverse position.
The engine is started by manually pulling the recoil starter grip (not shown).

In the fifth embodiment, a fourth actuator 106 for swinging the tiller handle 92, a fifth actuator 108 for swinging the throttle grip 96, and a sixth actuator 110 for swinging the shift lever 98 are provided. There is.
The fourth actuator 106 includes a linear acting cylinder (direct acting electric cylinder) 106A, and the linear acting cylinder 106A includes a cylinder main body 10602, a motor incorporated in the cylinder main body 10602 (not shown), and the linear acting cylinder 106A. It is equipped with a piston rod 10604 incorporated in the cylinder body 10602.
The direct acting cylinder 106A is detachably provided at a position (for example, transom 1206) that does not interfere with the manual operation of the tiller handle 92 by the operator seated in the maneuvering seat 1204 via the bracket B1.
The cylinder body 10602 of the linear motion cylinder is arranged so that the infestation direction of the piston rod 10604 is aligned with the width direction of the hull 12.
The tip of the piston rod 10604 of the linear acting cylinder is connected to the intermediate portion in the longitudinal direction of the tiller handle 92 via a spherical bearing (not shown) of the connecting portion 112.

The fifth actuator 108 includes a linear motion cylinder (linear motion electric cylinder) 108A and a rotating member 114.
The direct-acting cylinder includes a cylinder body 10802, a motor (not shown) incorporated in the cylinder body 10802, and a piston rod 10804 incorporated in the cylinder body 10802.
The direct acting cylinder 108A is detachably provided at a position (tiler handle 92) that does not interfere with the manual operation of the throttle grip 96 by the operator seated in the maneuvering seat 1204 via the bracket B2.
The cylinder body 10802 of the linear motion cylinder is arranged so that the infestation direction of the piston rod 10804 matches the vertical direction of the hull 12.
The rotating member 114 has an annular shape, is attached so as to be able to rotate integrally with the throttle grip 96 by sandwiching the outer periphery of the throttle grip 96, and a connecting piece 114A is projected outward from the circumferential direction of the rotating member 114 in the radial direction. ..
The tip of the piston rod 10804 of the linear motion cylinder is connected to the rotating member 114 via a spherical bearing (not shown) of the connecting piece 114A.

The sixth actuator 110 includes a linear acting cylinder (direct acting electric cylinder) 110A, and the linear acting cylinder 110A includes a cylinder main body 11002, a motor incorporated in the cylinder main body 11002 (not shown), and the linear acting cylinder 110A. It is equipped with a piston rod 11004 incorporated in the cylinder body 11002.
The direct acting cylinder 110A is detachably provided at a position (for example, the engine cover 94) that does not interfere with the manual operation of the shift lever 98 by the operator seated in the maneuvering seat 1204 via the bracket B3.
The cylinder body 11002 of the linear motion cylinder is arranged so that the infestation direction of the piston rod 11004 is aligned with the front-rear direction of the hull 12.
The tip of the piston rod 11004 of the linear acting cylinder 110A is connected to the intermediate portion in the longitudinal direction of the shift lever 98 via a spherical bearing (not shown) of the connecting portion 116.

Explaining the control system of the fifth embodiment, in the remote operation mode, the drive signal is supplied to the motors of the linear motion cylinders 106A, 108A, and 110A by the ship side control device 32, so that each linear motion is performed. Piston rods 10604, 10804, 11004 appear and disappear with respect to the cylinder bodies 10602, 10802, 11002 of the formula cylinders 106A, 108A, 110A, whereby the tiller handle 92 is swung, the throttle grip 96 is rotated, and the shift lever 98 is rotated. Is rocked.
As a result, the propulsion machine 90 is swung around the steering shaft Z to steer the small vessel 10, and the output of the propulsion unit 90 is adjusted so that the small vessel 10 can be switched between forward, stop, and reverse. , The navigation speed is adjusted.
Although not shown, the movement amount of the piston rods 10604, 10804, 11004 of the linear motion cylinders 106A, 108A, 110A constituting the fourth, fifth, and sixth actuators 106, 108, 110 is detected as the operation amount. The fourth, fifth, and sixth detection units are provided, respectively, and the fourth, fifth, and sixth actuators 106, 108, and 110 by the servo control unit 64 are provided based on the detection results of the fourth, fifth, and sixth detection units. Control is done.
Further, in the manual operation mode, the drive signals supplied to the motors of the linear acting cylinders 106A, 108A, and 110A are turned off by the ship side control device 32, so that the motor becomes servo-free and is seated in the maneuvering seat 1204. The operator can manually operate the tiller handle 92, the throttle grip 96, and the shift lever 98.
The same effect as that of the first embodiment is obtained by such a fifth embodiment.

(Sixth Embodiment)
Next, the sixth embodiment will be described with reference to FIGS. 14 (A) and 14 (B).
In the first embodiment, the case where the propulsion machine 14 is operated by the steering actuator 16 to steer the small vessel 10 has been described, but the sixth embodiment is a propulsion machine (not shown). Describes a case where the steering wheel is not provided and the operator manually operates the tiller handle 120 (rudder rod) connected to the rudder 118 to steer the rudder.
The functions other than the steering of the propulsion machine are the same as those of the first embodiment, and the configurations of the actuator and the control system for adjusting the output of the propulsion machine are the same as those of the first embodiment. Omit.
The rudder 118 includes a rudder shaft 118A, a rudder main body 118B integrally provided with the rudder shaft 118A, and a tiller handle 120.
The steering shaft 118A is swingably attached to the transom 1206 via the bearing portion 122.
The tiller handle 120 is projected from the upper end of the steering shaft 118A toward the front of the hull 12, and the operator seated in the maneuvering seat can grasp the tiller handle 120 and swing it around the steering shaft 118A. It is configured to be able to.

In the sixth embodiment, a seventh actuator 124 for swinging the tiller handle 120 is provided.
The seventh actuator 124 is configured to include a linear acting cylinder 124A (direct acting electric cylinder), and the linear acting cylinder 124A includes a cylinder main body 12402, a motor incorporated in the cylinder main body 12402 (not shown), and a linear acting cylinder 124A. It is equipped with a piston rod 12404 incorporated in the cylinder body 12402.
The direct acting cylinder 124A is detachably provided at a position (for example, transom 1206) that does not interfere with the manual operation of the tiller handle 120 by the operator seated in the maneuvering seat 1204 via the bracket B4.
The cylinder body 12402 of the linear motion cylinder 124A is arranged so that the direction of appearance of the piston rod 12404 is aligned with the width direction of the hull 12.
The tip of the piston rod 12404 of the linear acting cylinder 124A is connected to the intermediate portion in the longitudinal direction of the tiller handle 120 via a spherical bearing (not shown) of the connecting portion 126.

Explaining the control system of the sixth embodiment, in the remote control mode, the drive signal is supplied to the motor of the linear motion cylinder 124A by the ship side control device 32, respectively, so that the cylinder body of the linear motion cylinder 124A is supplied. The cylinder rod 12404 appears and disappears with respect to 12402.
As a result, the rudder 118 is swung around the steering shaft 118A, so that the small vessel 10 is steered.
Although not shown, a seventh detection unit is provided to detect the movement amount of the piston rod 12404 of the linear motion cylinder 124A constituting the seventh actuator 124 as an operation amount, and is based on the detection result of the seventh detection unit. The seventh actuator 124 is controlled by the servo control unit 64.
Further, in the manual operation mode, the drive signals supplied to the motor of the direct acting cylinder 124A are turned off by the ship side control device 32, so that the motor becomes servo-free, and the operator seated in the maneuvering seat 1204 The tiller handle 120 can be manually operated.
The same effect as that of the first embodiment is obtained by such a sixth embodiment.

In the embodiment, the case where the small vessel 10 is provided with a single propulsion device has been described, but the present invention is of course applicable even when the small vessel 10 is equipped with two or more propulsion devices.
Further, although the case where the actuator for operating the operating member is composed of a motor or a direct-acting electric cylinder has been described, various conventionally known actuators such as an air cylinder, a hydraulic cylinder, and a linear motor can be used as the actuator. ..

Further, in the present embodiment, the case where the ship (small ship) is operated as a fishing ship has been described as an example, but the ship of the present invention is used when performing various evaluation tests such as maneuvering performance, safety, and durability of the ship. Of course, remote control systems can be applied.
When the remote control system for a ship of the present invention is applied to an evaluation test, the same effect as that of the embodiment is obtained.
In other words, by remotely controlling the ship to be tested, the number of operators for conducting various evaluation tests is reduced, which is advantageous in efficiently performing the evaluation test of the ship while suppressing human costs. It is also possible for the operator to sit in the maneuvering seat and operate the ship to perform an evaluation test without returning the ship to its original state.
In addition, the operator manually controls the vessel to navigate and conducts an evaluation test, and when the observer is monitoring the vessel from a distance from the vessel, for example, an emergency situation such as deterioration of the operator's physical condition. When it is determined that the evaluation test of the ship is difficult due to the above, the observer switches from the manual operation mode to the remote control mode using the remote control device, and controls the ship under the evaluation test by remote control to the appropriate place. Since it is possible to take measures such as moving to, it is advantageous in appropriately dealing with troubles during remote control.

10 Small ship (ship)
12 Hull 1202 Operation table 1204 Maneuvering seat 14 Propulsion machine 16 Steering actuator 18 Ship maneuvering control device 20 Ignition switch device (operation member)
2002 Key Cylinder 2004 Ignition Key 2004A Head 22 Handle 22 (Operating member)
24 Throttle lever (operation member)
2404 Swing shaft 2406 Grasped portion 26 1st actuator 28 2nd actuator 30 3rd actuator 30A Direct acting cylinder (direct acting electric cylinder)
3002 Cylinder body 3004 Piston rod 32 Ship side control device 33 Motor 34 Rotating member 3402 Engagement recess 39 Motor 40 Drive roller 4002 Recess groove 42 Connecting part 44 Remote control device 46 First remote control lever 48 Second remote control lever 50 Third Remote control lever 52A, 52B, 52C Angle sensor 54 Mode changeover switch 56 Control unit 56A Command information generation unit 58 Remote control side communication unit 60 Ship side communication unit 62A to 62C 1st to 3rd detection units 64 Servo control unit 66A Operation member Control unit

Claims (9)

A remote control system for ships that remotely controls ships.
A plurality of actuators for operating a plurality of operating members for navigating the ship operated by the operator, and a plurality of actuators, respectively.
The communication unit on the ship side that receives remote control command information,
It is provided with an operation member control unit that operates each of the plurality of actuators based on the remote control command information received by the ship-side communication unit.
The plurality of actuators are provided at a position that does not interfere with the manual operation of the operating member by the operator seated in the maneuvering seat.
The operation member control unit controls a plurality of actuators based on the remote control command information to operate the plurality of operation members, respectively, and a manual operation of the plurality of operation members by the operator. Each is configured to be selectable with a manual operation mode that enables
A remote control system for ships characterized by this. A plurality of detection units for detecting the amount of operation of the plurality of operating members by the plurality of actuators, and
Further, a servo control unit that performs servo control of the plurality of actuators based on the plurality of operation amounts detected by the plurality of detection units is further provided.
The remote control mode of the operation member control unit is performed by operating the plurality of actuators via the servo control unit.
The manual operation mode of the operation member control unit is performed by disabling the control operation of the servo control unit and making the plurality of actuators servo-free.
The remote control system for a ship according to claim 1. The ship is provided with an image information generation unit that captures an image of the surroundings of the ship and generates image information.
The command information generation unit that generates the remote control command information, the remote control side communication unit that is configured to be communicable with the ship side communication unit and transmits the remote control command information to the ship side communication unit, and the display unit. Equipped with a remote control device
The ship-side communication unit transmits the image information generated by the image information generation unit to the remote control-side communication unit.
The display unit displays the image information received by the remote control side communication unit.
The remote control system for a ship according to claim 1 or 2. The ship is provided with a positioning unit that positions the position of the ship and generates positioning information.
A command information generation unit that generates the remote control command information, a remote control side communication unit that is configured to be communicable with the ship side communication unit and transmits the remote control command information to the ship side communication unit, a display unit, and the display unit. A remote control device equipped with a map database that stores map information is provided.
The ship-side communication unit transmits the positioning information generated by the positioning unit to the remote control-side communication unit.
The display unit displays the position of the ship on the map information read from the map database based on the positioning information received by the remote control side communication unit.
The remote control system for a ship according to claim 1 or 2. The plurality of operating members include an ignition switch for starting and stopping the propulsion machine mounted on the ship, a handle for steering the ship, and a throttle lever for adjusting the output of the propulsion machine. Including and
The actuators are provided corresponding to the ignition switch, the steering wheel, and the throttle lever, respectively.
The remote control system for a ship according to any one of claims 1 to 4. The plurality of operating members are configured to include an ignition switch for starting and stopping the propulsion machine mounted on the ship.
The ignition switch is configured to include an ignition key that is detachably inserted into the key cylinder.
The actuator is configured to include a rotating member that is detachably and integrally rotatably coupled to the ignition key and can be rotated, and a motor that rotates the rotating member.
The remote control system for a ship according to any one of claims 1 to 4. The plurality of operating members are configured to include a handle for steering the ship.
The handle is annular and has an annular shape.
The actuator includes a drive roller that engages with a part of the handle in the circumferential direction to enable rotation of the handle, and a motor that rotationally drives the drive roller.
The remote control system for a ship according to any one of claims 1 to 4. The plurality of operating members are configured to include a throttle lever for adjusting the output of the propulsion machine.
The throttle lever has a swing shaft that is swingably projected from the operation table, and a gripped portion that is provided at the tip of the swing shaft and is gripped by a hand.
The actuator is configured to include a linear acting cylinder comprising a piston rod coupled to the swing shaft and a cylinder body that moves the piston rod in a direction that swings the swing shaft.
The remote control system for a ship according to any one of claims 1 to 4. The plurality of actuators are detachably provided at a position that does not interfere with the manual operation of the operating member by the operator seated in the maneuvering seat.
The remote control system for a ship according to any one of claims 1 to 8.

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