JP3525113B2 - Ship maneuvering equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a marine vessel manipulating device provided with a fixed pitch forward / backward propeller for generating thrust in the front / rear direction and a thruster for generating thrust in the lateral direction.

[0002]

2. Description of the Related Art In a ship using a fixed pitch forward / backward propeller as a propulsion device, there is no structure for changing the pitch of the propeller, and therefore, there is an advantage that the structure can be simplified. On the other hand, in order to change the thrust, it is necessary to transmit / disconnect the power from the main engine, which is an internal combustion engine, by a clutch and change and transmit it by a speed reducer. Therefore, it takes, for example, 4 to 8 seconds until the thrust of the forward and backward propellers, and thus the rotational speed of the propeller, reaches a desired value, and there is a problem of low responsiveness. In a ship provided with such a fixed-pitch forward / backward propeller and a thruster that generates lateral thrust, the thrust of the thruster and the thrust due to the thruster is due to the low response of the forward / backward propeller as described above. The allocation cannot be done accurately. As a result, the ship position and heading cannot be accurately controlled, and the operability is poor.

As a prior art using a joystick to improve operability, for example, Japanese Patent Laid-Open No. 8-2169.
89. In this prior art, there is no device for controlling the start timing of the thruster operation with respect to the low responsiveness of the fixed pitch forward / backward propeller.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a marine vessel manipulating device capable of generating thrust by a fixed pitch forward and backward propeller and a thruster to improve operability by a joystick. is there.

[0005]

According to the present invention, there is provided (a) a ship maneuvering device for a ship, wherein a hull is provided with a forward-backward propeller having a fixed pitch for generating a forward-backward thrust and a thruster for generating a lateral thrust. In (b) a joystick in which the tilt direction that indicates the direction of the combined thrust force of forward and backward movement and the tilt angle that indicates the magnitude of the combined thrust force is changed, and (c) to give a turning moment A turning dial which is angularly displaced, (d) a rotation speed detecting means for detecting the rotation speed of the forward / backward propeller, and (e) a control device which responds to the outputs of the joystick and the turning dial to move the forward / backward propeller. The thruster is operated to control the start timing of the thruster operation corresponding to the operation of the forward / backward propeller, and the command value of the rotation speed of the forward / backward propeller is derived to move forward / backward. Controls the rotation speed of the propeller, responds to the change in the instruction by the joystick, and a command value of the rotation speed of the forward and backward propellers,
A boat maneuvering device, comprising: a control device that does not operate the thruster when the detected speed of the rotation speed detection means does not match, and operates the thruster when the detected speed does not match.

According to the present invention, the thrust distribution calculation between the forward-backward propeller having a fixed pitch and the thruster for generating a lateral thrust is performed by the control means by operating the joystick and the turning dial, and the tilting operation of the joystick is performed. An instruction to move laterally is issued to operate the fixed pitch forward / backward propeller and the thruster. To do this, first
The thrust is generated by the forward and backward propellers, and then the start timing of the thruster operation is delayed to control. As a result, thrust is accurately distributed by the forward and backward propellers and thrusters, and the controllability of the ship's position and direction is improved.
The operability with the joystick is improved.

The forward / reverse propeller has a fixed pitch. Therefore, in order to generate the thrust in the forward / backward direction by the forward / reverse propeller, a clutch for transmitting / disconnecting power from the main engine and a speed reducer for transmitting the power are required. And must be operated, which makes the forward / backward propeller unresponsive. On the other hand, in the thruster, a desired lateral thrust can be achieved with good responsiveness by realizing it by using, for example, a variable pitch lateral propeller.
Since the control means delays and controls the start timing of the thruster operation in response to the operation of the forward / backward propeller, the thrust distribution between the forward / backward propeller and the thruster can be easily realized as described above, and the operability is improved. Is improved. Further, in changing the thrust of a fixed pitch forward / backward propeller, after the command value of the rotational speed of the forward / backward propeller and the rotational speed detected by the rotational speed detecting means match, the thruster is operated to move in the lateral direction. Generate thrust.
Also with such a configuration, the thrust distribution between the forward and backward propellers and the thruster can be accurately performed, and the controllability of the ship position and heading can be improved. Further, the present invention relates to (a) a vessel maneuvering apparatus for a ship, in which a hull is provided with a fixed-pitch forward-backward propeller for generating a forward-backward thrust, and a thruster for generating a lateral thrust; A joystick in which a tilt direction instructing the direction of the combined thrust of the lateral movement and an inclination angle instructing the magnitude of the combined thrust are changed, (c) a turning dial angularly displaced to give a turning moment, (D) Rudder angle detecting means for detecting the rudder angle of the rudder associated with the forward / backward propeller, and (e) a controller that operates the forward / backward propeller and the thruster in response to the outputs of the joystick and the turning dial. Then, the start timing of the thruster operation is controlled according to the operation of the forward / backward propeller, the command value of the rudder angle of the rudder is derived, and the rudder angle is controlled to respond to the change of the above instruction by the joystick. In response, the marine vessel maneuvering device is characterized by including a control device that operates the thruster in accordance with the steering angle detected by the steering angle detecting means. According to the present invention, a rudder for converting the direction of thrust by the forward / backward propeller is provided, and the rudder angle of this rudder is a command value for tilting the joystick,
After the rudder angles detected by the rudder angle detection means match, the thruster is operated. As a result, the thrust in the desired direction can be accurately obtained regardless of the low response of the rudder, and the controllability is improved.

Further, according to the present invention, the control means changes the instruction when the joystick is used to change from a forward / backward instruction to a horizontal instruction, or when a horizontal instruction is changed to a forward / backward instruction. After a predetermined time has passed,
It is characterized by operating the thruster.

According to the present invention, when the forward / backward thrust and the lateral thrust are changed by the operation of the thrust distribution by the operation of the tilt of the joystick, a fixed pitch is output from the output of the signal instructing the change. The thruster is operated after a predetermined time, for example, 4 to 8 seconds, including the operation time of the clutch and the speed reducer necessary for changing the thrust of the forward / backward propeller has passed. As a result, the thrust between the forward and backward propellers and the thruster can be accurately distributed, and the controllability of the ship position and heading of the hull is improved.

Such a predetermined time can be set by, for example, a timer, and this time can be set corresponding to the difference between the response speed of the fixed pitch forward / backward propeller and the response speed of the thruster. .

Further, the present invention has a rotational speed detecting means for detecting the rotational speed of the forward / backward propeller, and the control means derives a command value of the rotational speed of the forward / backward propeller to control the rotational speed of the forward / backward propeller. Then, in response to the change of the instruction by the joystick, when the command value of the rotation speed of the forward / backward propeller and the detection speed of the rotation speed detecting means do not match, the thruster is not operated, and when they match, the thruster is operated. It is characterized by

[0012]

[0013]

[0014]

Further, according to the present invention, the forward-reverse propeller is driven by the power of the main engine being transmitted through the clutch and the speed reducer capable of reversing the output rotation direction, and the thruster is a lateral propeller with a variable pitch. The control means is characterized by driving the pitch of the lateral propulsion propeller to generate lateral thrust.

Further, the present invention is characterized in that the forward and backward propellers are provided as a pair on the left and right, and the thrusters are provided on the bow and stern respectively.

Further, the present invention is characterized in that the forward and backward propellers are provided as a pair on the left and right, and the thruster is provided on the bow.

According to the present invention, the forward and backward propellers may be provided in pairs on the left and right, and the thruster may be a bow thruster provided on the bow and a stance thruster provided on the stern. Alternatively, it may consist of a stance thruster provided only on the stern. In other embodiments of the invention, the thrusters may consist solely of bow bow thrusters. A single forward / reverse propeller and a rudder therefor may be provided at the center of the hull in the left-right direction.

The forward / backward propeller has a fixed pitch, and therefore the power of the main engine is transmitted through the clutch and the speed reducer, whereby the change in thrust can be adjusted, generated and interrupted, and thus the response of the forward / backward propeller. The sex is low.
Thrusters, on the other hand, have variable pitch lateral propulsion propellers and are therefore responsive. Therefore, in the present invention, the start timing is controlled after the operation of the forward / backward propeller as described above, and the variable pitch of the lateral propeller of the thruster is controlled. As a result, thrust distribution is realized as desired, and controllability is improved.

According to the present invention, the forward and backward propellers of the fixed pitch, which are provided in pairs on the left and right of the stern of the hull and generate thrust in the forward and backward directions, and the forward and backward propellers, are driven by the main engine power. A pair of forward and backward propeller driving means that are respectively transmitted through a clutch and a speed reducer capable of forward and reverse output rotation directions, respectively, a pair of rudder provided corresponding to each forward and backward propeller, and each rudder. A rudder driving means for driving the angular displacement of the bow, a variable pitch bow thruster, a bows raster driving means for rotating the bow bow raster, a bows raster pitch driving means for changing the pitch of the bow bow raster, a variable pitch stance thruster, and a stance thruster for rotation driving. The stance thruster drive means, the stance thruster pitch drive means for changing the pitch of the stance thruster, and the rotation speed of each forward and backward propeller And a joystick in which a tilt direction that indicates the direction of the combined thrust force of forward and backward movement and a tilt angle that indicates the magnitude of the combined thrust force, and a turning moment are applied. In order to respond to each output of the turning dial which is angularly displaced for this purpose, the control means, the rotation speed detecting means, the joystick and the turning dial, the command value of the rotation speed of the forward / backward propeller is derived and the forward / backward propeller's When the rotation speed is controlled and the change in the instruction by the joystick occurs, when the command value of the rotation speed and the detection speed of the rotation speed detection means do not match with respect to each of the pair of forward and backward propellers, the bow thruster pitch drive means is used. Does not generate thrust of bow thruster and does not generate thrust of stance thruster by stance thruster pitch drive means When a match is found,
The thrust of the bow thruster is generated by the bow thruster pitch driving means and the thrust of the stance thruster is generated by the stance thruster pitch driving means, the command value of the rudder angle of the rudder is derived, and the rudder driving means is controlled. The marine vessel maneuvering device is characterized by including control means which responds to the change and generates thrust by the bow thrust raster pitch driving means and the stance raster pitch driving means in response to the detected steering angle of the steering angle detecting means.

According to the present invention, the forward and backward propellers of a fixed pitch, which are provided in pairs on the left and right of the stern of the hull and generate thrust in the forward and backward directions, and the forward and backward propellers, are driven by the main engine power. A pair of forward and backward propeller driving means that are respectively transmitted through a clutch and a speed reducer capable of forward and reverse output rotation directions, respectively, a pair of rudder provided corresponding to each forward and backward propeller, and each rudder. A rudder driving means for driving the angular displacement, a variable pitch bow thruster, a bow thruster driving means for rotating the bow thruster, a bow thruster pitch driving means for changing the pitch of the bow thruster, and a rotation speed for detecting the rotation speed of each forward and backward propeller. The detection means, the tilt direction that indicates the direction of the combined thrust force of forward and backward movement, and the tilt angle that indicates the magnitude of the combined thrust force are changed. A stick, a turning dial that is angularly displaced to give a turning moment, and a control means that responds to each output of the rotation speed detecting means, the joystick, and the turning dial, and outputs a command value of the rotation speed of the forward / backward propeller. Derived to control the rotation speed of the forward and backward propeller,
When the change of the instruction by the joystick occurs,
A command value of the rotation speed for each pair of forward and backward propellers,
When the detected speed of the rotation speed detection means does not match, the bow thruster pitch driving means does not generate thrust of the bow thruster, and when they match, the bow thruster pitch driving means generates thrust of the bow thruster, and the rudder angle command value Is derived to control the rudder drive means, responds to the change in the instruction by the joystick, and generates thrust by the bow thrust raster pitch drive means in response to the detected rudder angle of the rudder angle detection means. It is a ship maneuvering device.

According to the present invention, a pair of fixed-pitch forward and backward propellers are provided on the stern, a variable-pitch bow thruster and / or a variable-pitch stance thruster are provided, and the tilting operation of the joystick and the angular displacement operation of the turning dial are performed. By the control means performs thrust distribution calculation between the forward and backward propellers and thrusters, and when the calculation result of this thrust distribution changes, after the detected rotation speed matches the command value of the rotation speed of each forward and backward propeller, Vary the pitch of the thruster lateral propeller. As a result, the thrust of the forward / backward propeller and the thrust of the thruster are distributed as desired, the controllability of the ship position and heading is improved, and the operability by the joystick and the turning dial is improved.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing the overall electrical configuration of an embodiment of the present invention. By using the joystick 47 and the turning dial 52, fixed pitch forward / backward propellers 3a, 3b and rudders 4a, 4b associated with these forward / backward propellers 3a, 3b, respectively,
It is possible to control the bow thruster 6 and the stance thruster 7 so as to distribute the thrust and to perform control with good operability.
The suffixes "a" and "b" of the reference numerals may be omitted, and may be generally shown only by numbers.

FIG. 2 is a simplified plan view of the hull 1 showing the forward / backward propellers 3 and thrusters 6, 7, and FIG. 3 is a simplified side view of the hull 1 showing the forward / backward propellers 3 and thrusters 6, 7. Is. On the hull 1, on its stern 2,
A pair of forward / reverse propellers 3 that can be matched in right and left directions is provided, and a rudder 4 is provided corresponding to each of these propellers 3. A bow thruster 6 is provided near the bow 5 of the hull 1, and a stance thruster 7 is provided near the stern 2. Corresponding to each propeller 3, the power from the main engine 15, which is an internal combustion engine, passes through a clutch and is capable of forward rotation output and reduction gear 1
6 is transmitted to the propeller 3 via the drive shaft 17, and each main propulsion unit 18 is configured in this manner. The structure of the main propulsion unit 18 is also shown in FIG. 5 described later. Downstream of the propeller 3 in the stern 2 of the hull 1 in the forward direction 19 (see FIGS. 2 and 3).
The stance thruster 7 is arranged on the right side of FIG.

FIG. 4 is a simplified plan view for explaining the movement operation of the forward / backward propeller 3, the rudder 4, and the thrusters 6 and 7. As shown in FIG. 4A, when the hull 1 moves in the forward direction 19, the thrusters 6 and 7 are stopped and the forward / backward propeller 3 by the main propulsion unit 18 is operated. When moving forward, the propeller 3 generates a reaction force due to the thrust of the arrow 27.

As shown in FIG. 4 (2), when the hull 1 moves in the left lateral direction 28, both the bow thruster 6 and the stance thruster 7 generate a thrust reaction force in the directions of the arrows 29 and 30. To do. When the hull 1 laterally moves to the right in FIG. 4 (2), the thrusters 6 and 7 generate a reaction force due to thrust in the direction opposite to the arrows 29 and 30. When moving in the lateral direction, if the required thrust can be produced by the thrusters 6 and 7, the forward-reverse propeller 3 remains stationary.

In order for the hull 1 to turn in the turning direction 31, as shown in FIG. 4C, the direction 32 of the reaction force by the thrust of the bow thruster 6 and the direction 33 of the reaction force by the thrust of the stance thruster 7. The reverse direction is applied to generate a turning moment on the hull 1. At this time, when the required turning moment can be achieved by the turning moments of the thrusters 6 and 7, the forward / backward propeller 3 remains stopped.

FIG. 5 is a block diagram showing a configuration for driving the main propulsion unit 18 for the forward / backward propeller 3 and the thrusters 6, 7. The bow raster 6 has a variable pitch, and is rotated and driven by the bow raster driving means 101 and the pitch is variably driven by the bow raster raster driving means 102. The stance thruster 7 also has a variable pitch, is rotationally driven by the stance thruster driving means 103, and is the stance thruster pitch driving means 10.
The pitch is changed by 4. In the above-mentioned FIG. 1, these driving means 101 to 104 are omitted and the reference numerals 6 and 7 are omitted.
Are illustrated by and facilitate the illustration.

The rudder 4a, 4b is the rudder drive means 105a, 1
The reciprocating angular displacement is driven by 05b. In FIG. 1, the rudder 4
Only the rudder drive means 105 is omitted.

FIG. 6 is a simplified view of the joystick 47 and the turning dial 52. The operating rod 48 of the joystick 47 can be tilted from the neutral position indicated by reference numeral 53. The angle α of the clockwise and counterclockwise tilt directions around the axis of the neutral position 53
Depending on the position of 1, the forward and backward propeller 3 forward and backward,
It is possible to instruct horizontal movement by the two thrusters 6 and 7. Further, the magnitude of the combined thrust force of forward and backward movement and lateral movement can be designated by the inclination angle β1 of the operation rod 48. Thus, by operating the operating rod 48, the direction of the thrust acting on the hull 1 at the angle α1 can be designated, and the magnitude of the thrust acting on the hull 1 at the angle β1 can be designated. The turning dial 52 can be angularly displaced about its axis to indicate the heading and its turning angle. The output of gyro compass 109 is also used.

Referring again to FIG. 1, in the processing circuit 107 realized by a microcomputer or the like, the thrust distribution circuit 108 receives each output of the joystick 47 and the turning dial 52, and detects the heading of the gyro compass. The output of 109 is received. Further, rotation speed detecting means 111a and 111b for detecting the rotation speeds of the forward and backward propellers 3a and 3b are provided, respectively. Rudder angle detection means 112a and 112b are provided to detect the rudder angles of the rudders 4a and 4b, respectively. The outputs of these detection means 111 and 112 are the thrust distribution circuit 1
It is given to 08.

The thrust distribution circuit 108 includes a forward / reverse propeller 3
The thrust generated by the steering wheel 4 and the rudder 4 and the thrust generated by the thrusters 6, 7 are distributed, and forward and backward thrust command signals are given to the schedulers 114a and 114b respectively corresponding to the forward and backward propellers 3. , A stern lateral thrust command signal to be generated by the rudder 4 is given to the schedulers 115a and 115b of the respective rudders 4, respectively.

Scheduler 1 for forward / backward propeller 3
The output from 14 is given to and controlled by the main engine 15, the clutch 14, and the speed reducer 16. In this way, the forward / backward propeller 3 is rotationally driven, and the rotational speed thereof is detected by the above-mentioned rotational speed detecting means 111, respectively. Rudder 4
The output from the scheduler 115 for the steering angle is given to the rudder driving means 105, respectively, and the rudder angle of the rudder achieved thereby is detected by the rudder angle detecting means 112, respectively.

The bow lateral thrust command signal of the lateral thrust to be obtained by the bow thruster 6 is given to the time control function circuit 117 of the time control circuit 116. The stern lateral thrust command signal for the lateral thrust generated by the stance thruster 7 is given to another time control function circuit 118 of the time control circuit 116. These time control function circuits 11
The outputs of 7 and 118 are given to schedulers 121 and 122, which control the drive means 101, 102; 103, 104 for the thrusters 6, 7.

Rotational speed detecting means 11 for the forward / backward propeller 3
Both follow-up signals 1 representing the rotation speed detected by 1
Reference numeral 23 is a time control determination circuit 1 for each thruster 6, 7.
24,125. This time control determination circuit 12
4,125 are also fed with both outputs from the scheduler 114 for the forward / backward propeller 3. Further, the respective outputs of the scheduler 115 for the rudder 4 and the output of the steering angle detecting means 112 are correspondingly and individually provided to the time control determination circuits 124 and 125. An output from the marine vessel maneuvering mode setting means 126 is commonly applied to the time control determination circuits 124 and 125. In FIG. 1, for convenience of illustration, the marine vessel maneuvering mode setting means 126 is shown separately. The marine vessel maneuvering mode setting means includes the time control determination circuit 1
The general control mode for operating 24 and the simple individual mode for suspending the time control determination circuit 124 are selected and operated.

The time control function circuits 117 and 118 for the thrusters 6 and 7 include time control determination circuits 124 and 12, respectively.
Outputs 5 are individually given correspondingly, and further set value selecting and setting means 128, 1 individually provided.
The outputs from 29 are correspondingly provided individually. These set value selection setting means 128 and 129 serve to select and set the variables of the functions calculated in the time control function circuits 117 and 118.

FIG. 7 is a flow chart for explaining the operation of the processing circuit 107. The process moves from step s1 to step s2, and the operating rod 48 of the joystick 47 is operated to input the command value. In step s3,
The turning dial 52 is angularly displaced and the command value is input. Further, by operating the marine vessel maneuvering mode setting means 126, the general control mode according to the present invention is set.

In step s5, the thrust distribution circuit 108 causes the forward / reverse propeller 3 to move the rudder 4 and the thrusters 6, 6.
The thrust force to be borne by 7 is calculated. In step s6, the time control determination circuits 124 and 125 determine whether or not the time control operation should be performed, that is, the necessity. This necessity determination is performed as shown in Table 1 when the general control mode is set. That is, it is determined that the time control operation is necessary even when the turning dial 52 is in the neutral state or is operated to a position outside the neutral when the joystick 47 instructs the lateral movement. To be done.

[0039]

[Table 1]

In step s7, the time control determination circuit 12
The in-phase check operation at 4, 125 is performed. The in-phase check operation is performed by comparing the command value represented by the forward / backward thrust command signal of the fixed pitch forward / backward propeller 3 with the value of the follow-up signal 123 representing the rotation speed detected by the rotation speed detecting means 111. For each forward / reverse propeller 3,
It is determined that the time control operation is unnecessary when the forward, reverse, or neutral positions match, and when the positions do not match, it is determined that the time control operation is necessary.
That is, in the in-phase check, the command value of the fixed pitch propeller 3 is compared with the field back result based on the command value, and when each axis is in the forward or reverse position, the time control operation is determined to be unnecessary.

As a result of the in-phase check in step s7, when time control is required, the process proceeds to step s8,
The time control function circuits 117 and 118 perform the operation of the time control function.

Steps s9 to s14 are executed for the in-phase check operation in step s7 and the calculation operation of the time control function in step s8. For each forward / reverse propeller 3, the scheduler 115 is operated in step s9, and the command value corresponding to the thrust to be shared, which is obtained by the thrust distribution calculation, is derived in step s10. It is given to the control determination circuits 124 and 125. In step s11, the rotation speed detection means 111 is detected, and its output is used for the in-phase check operation. These steps s9 to s11 are executed for each forward / reverse propeller 3.

The command value of step s10 and the detected rotation speed of step s11 are used in step s8 of the time control function calculation.

With respect to the rudder 4, the signals representing the thrust to be shared, which have been subjected to the thrust distribution calculation, are given to the scheduler 115, respectively, whereby the command value is derived in step s13. Therefore, the rudder 4 is driven, and the rudder angle is
Each is detected by the steering angle detection means 112. The output of the steering angle detecting means 112 is used for the operation of the time control function calculation in step s8.

In step s15, the scheduler 121 for the thrusters 6 and 7 is operated, whereby the command value based on the time control function calculation is derived in step s16. Therefore, in step s17, the drive operation of the thrusters 6 and 7 is performed. When the thrusters 6 and 7 are variable pitch propellers, their blade angles, that is, pitches are changed. The blade angles of the thrusters 6 and 7 thus obtained may be detected by the blade angle detection means, negatively fed back and fed back in step s8, and used in the operation of calculating the time control function in step s8.

When the simple individual mode is set by the marine vessel maneuvering mode setting means 126, the processing circuit 107 performs the operation shown in Table 2. In this simple individual mode, the operations of the time control determination circuits 124 and 125 are suspended.

[0047]

[Table 2]

FIG. 8 is a simplified plan view for explaining the operation of the hull 1. As shown in FIG. 8 (1), by operating the joystick 47, as shown in FIG. 8 (1), the translational movement indicated by a virtual line 131 of the hull 1 can be performed, and the orientation of the hull 1 changes at this time. Not done. Figure 8
In the translational motion of the hull 1 of (1), when the hull 1 moves laterally with the movability of moving to the left or right, the time control determination operation shown in Table 1 is performed, that is, the step s6, s7 and s8 are executed. As a result, the joystick 47 and / or the turning dial 52 can stably control the ship position and direction of the hull 1, and the operability is improved. By operating the joystick 47 and / or the angular displacement operation of the turning dial 52, the turning motion of the hull 1 shown in FIGS. 8 (2) and 8 (3) can be performed.

FIG. 9 is a perspective view of a joystick 133 according to another embodiment of the present invention. In the above-described embodiment of FIGS. 1 to 8, the joystick 47 and the turning dial 5 are used.
2 is provided separately. To simplify the structure, a turning dial 52 is provided at the end of the operating rod 48. This turning dial 52 is used for the axis line 13 of the operating rod 48.
It is possible to operate angular displacement around 4. Since the turning dial 52 is provided on the joystick 133 in this manner, the structure is simplified. Other configurations in the embodiment of FIG. 9 are similar to those of the embodiment of FIGS.

FIG. 10 is a simplified plan view for explaining the movement operation of the forward / backward propeller 3, the rudder 4, and the bow thruster 6 according to still another embodiment of the present invention. Hull 1
Has no stance thruster. Figure 10
(1) corresponds to the operation of FIG. 4 (2) described above, and FIG.
Move in the lateral direction 28 to the left of (1). At this time, the bow thruster 6 is operated, and the forward / reverse propeller 3a and the rudder 4a generate a reaction force due to the thrust indicated by the arrow 135 at the rear in the diagonally opposite direction with respect to the lateral direction 28. At this time, a reaction force due to the thrust of arrow 136 is generated by the forward / reverse propeller 3b. FIG. 10 (2) corresponds to FIG.
This corresponds to the turning operation of (3). A reaction force 32 due to the thrust by the bow thruster 6 is generated, a reaction force due to the thrust of the arrow 137 is generated at the forward / backward propeller 3a, and a thrust at an obliquely rearward direction of the arrow 138 is caused by the action of the forward / backward propeller 3b and the rudder 4b. Generate a reaction force. Only the bow thruster 6 shown in FIG. 10 is provided and the stance thruster 7 is provided.
Even in the configuration in which is omitted, the same configuration and operation as those of the embodiment shown in FIGS. 1 to 9 are realized.

The present invention can be widely applied to ships equipped with bow thrusters.

In another embodiment of the present invention, the rudder 4 is omitted, and the forward / backward propeller 3 can be angularly displaced about a vertical axis that intersects with the axis of rotation in a virtual plane perpendicular to the axis of rotation. The rudder 4 can also be omitted. In such a configuration in which the rudder 4 is omitted, the forward / backward propeller 3 is angularly displaced about the vertical axis by a signal indicating a steering angle command angle. Such a configuration is also included in the spirit of the present invention.

[0053]

According to the present invention, a forward-backward propeller having a fixed pitch and a thruster are provided, and when operating a ship by tilting the joystick, the forward-backward propeller is provided in response to an instruction to move laterally by operating the joystick. It is possible to temporally balance the balance between the lateral thrust of the stern and the lateral thrust of at least one of the bow and the stern provided with the thruster, that is, the thrust distribution. As a result, the controllability of the ship position and bearing of the hull is improved, and the operability with the joystick is improved. Therefore, the structure can be simplified by using a fixed pitch forward / backward propeller, and even if the thruster has a structure with a variable pitch lateral propulsion propeller, such a thruster is relatively small and easy to realize. Therefore, the structure can be simplified as a whole and the operability can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall electrical configuration of an embodiment of the present invention.

FIG. 2 is a simplified plan view of a hull 1 showing a forward / backward propeller 3 and thrusters 6 and 7. FIG.

FIG. 3 is a simplified side view of the hull 1 showing the forward and backward propellers 3 and thrusters 6, 7.

FIG. 4 is a simplified plan view for explaining a movement operation by a forward / backward propeller 3, a rudder 4, thrusters 6 and 7.

5 is a block diagram showing a configuration for driving a main propulsion unit 18 for the forward / backward propeller 3 and thrusters 6, 7. FIG.

FIG. 6 is a joystick 47 and a turning dial 52.
It is a figure which simplifies and shows.

FIG. 7 is a flowchart for explaining the operation of the processing circuit 107.

FIG. 8 is a simplified plan view for explaining the operation of the hull 1.

FIG. 9 is a joystick 1 according to another embodiment of the present invention.
FIG. 33 is a perspective view of 33.

FIG. 10 is a simplified plan view for explaining a moving operation by a forward / backward propeller 3, a rudder 4, and a bow thruster 6 according to still another embodiment of the invention.

[Explanation of symbols]

1 hull 2 stern 3a, 3b Forward / backward propeller 4a, 4b rudder 5 bow 6 bow thruster 7 stance thruster 14a, 14b clutch 15 Main engine 16 reducer 18 Main propulsion machine 47,133 Joystick 48 control rod 52 head dial 101 Bow thruster driving means 102 Bows raster pitch driving means 103 stance thruster driving means 104 stance raster pitch driving means 105 rudder drive means 107 processing circuit 108 Thrust distribution circuit 111a, 111b Rotational speed detection means 112a, 112b Rudder angle detection means 116 hours control circuit 117,118 time control function circuit 123 Follow-up signal 124, 125 hour control judgment circuit 126 Ship Handling Mode Setting Means

Claims (9)

(57) [Claims] 1. A vessel maneuvering device for a ship, comprising: (a) a forward-backward propeller having a fixed pitch for generating thrust in the front-rear direction and a thruster for generating lateral thrust; A joystick in which a tilt direction instructing the direction of the combined thrust of the lateral movement and an inclination angle instructing the magnitude of the combined thrust are changed, (c) a turning dial angularly displaced to give a turning moment, (D) Rotational speed detecting means for detecting the rotational speed of the forward / backward propeller, and (e) a control device, which operates the forward / backward propeller and the thruster in response to the outputs of the joystick and the turning dial to move forward / backward. Control means to control the start timing of thruster operation in response to propeller operation, and derive the command value for the forward / backward propeller rotational speed to control the forward / backward propeller rotational speed. Then, in response to the change of the instruction by the joystick, when the command value of the forward / backward propeller rotation speed and the detection speed of the rotation speed detection means do not match, the thruster is not operated, and when they match, the thruster is operated. A boat maneuvering device, comprising: 2. A vessel maneuvering device for a ship, comprising: (a) a forward-backward propeller with a fixed pitch for generating thrust in the forward-backward direction and a thruster for generating lateral thrust; A joystick in which a tilt direction instructing the direction of the combined thrust of the lateral movement and an inclination angle instructing the magnitude of the combined thrust are changed, (c) a turning dial angularly displaced to give a turning moment, (D) Rudder angle detection means for detecting the rudder angle of the rudder associated with the forward / backward propeller, and (e) a controller, which operates the forward / backward propeller and the thruster in response to the outputs of the joystick and the turning dial. Then, the start timing of the thruster operation is controlled according to the operation of the forward / backward propeller, the command value of the rudder angle of the rudder is derived, and the rudder angle is controlled. Answer, and steering device, characterized in that in response to the detected steering angle of the steering angle detection means and a controller for operating the thruster. 3. The control means sets a predetermined time from a change in the instruction when the joystick changes the instruction to move forward or backward to change the instruction to move laterally, or when the instruction to change laterally changes the instruction to move forward or backward. The marine vessel manipulating apparatus according to claim 1, wherein the thruster is operated after a lapse of time. 4. A joystick comprising: a rotation speed detecting means for detecting the rotation speed of the forward / backward propeller, wherein the control means controls the rotation speed of the forward / backward propeller by deriving a command value of the rotation speed of the forward / backward propeller. In response to a change in the instruction due to, when the command value of the rotation speed of the forward / backward propeller and the detection speed of the rotation speed detection means do not match, the thruster is not operated, and when they match, the thruster is operated. The marine vessel manipulating apparatus according to claim 2 or 3, which is characterized in that. 5. The forward / backward propeller is driven by the power of a main engine being transmitted through a clutch and a speed reducer capable of reversing the output rotation direction, and the thruster has a lateral propeller with a variable pitch, The control means drives the pitch of the lateral propulsion propeller to generate a lateral thrust force.
Marine vessel maneuvering device described in No. 6. The marine vessel maneuverer according to claim 1, wherein the forward and backward propellers are provided as a pair on the left and right, and the thrusters are provided on the bow and the stern respectively. apparatus. 7. The marine vessel manipulating apparatus according to claim 1, wherein the forward and backward propellers are provided as a pair on the left and right, and the thrusters are provided on the bow. 8. A fixed-pitch forward / backward propeller, which is provided in pairs on the left and right of the stern of the hull and generates thrust in the forward / backward direction, and the forward / backward propellers. A pair of forward and backward propeller driving means that are transmitted through a speed reducer capable of rotating in the forward and reverse directions, respectively, and a pair of rudders provided corresponding to each forward and backward propeller, and angular displacement of each rudder. Rudder driving means for driving, variable-pitch bow thruster, bow-thruster driving means for rotating the bow-thruster, bow-thruster pitch driving means for changing the pitch of the bow-thruster, variable-pitch stance raster, and stance raster driving for rotating the stance raster Means, a stance thruster pitch drive means for changing the pitch of the stance thruster, and a rotation speed of each forward and backward propeller. A rotation speed detecting means for detecting, respectively, the inclination direction for indicating a direction of the resultant thrust of the forward-reverse and YokoSusumu,
A joystick in which the tilt angle that indicates the magnitude of the resultant thrust is changed, a turning dial that is angularly displaced to give a turning moment, and a control means that is a rotational speed detection means, a joystick, and a turning dial. In response to each output, the command value of the forward / backward propeller rotational speed is derived to control the forward / backward propeller rotational speed, and when a change in the above-mentioned instruction by the joystick occurs, the rotational speed of each forward / backward propeller is changed. Command value,
When the detection speed of the rotation speed detection means does not match, the bow thruster pitch driving means does not generate thrust of the bow thruster, and the stance thruster pitch driving means does not generate thrust of the stance thruster, and when matching, the bow thruster pitch driving is performed. The thrust force of the bow thruster is generated by the means, and the thrust force of the stance thruster is generated by the stance thruster pitch driving means, and the rudder angle command value is derived to control the rudder driving means and respond to the change of the instruction by the joystick. The boat maneuvering device further includes a control unit that generates thrust by the bow thrust raster pitch driving unit and the stance raster pitch driving unit corresponding to the steering angle detected by the steering angle detecting unit. 9. A fixed-pitch forward / backward propeller, which is provided in pairs on the left and right of the stern of the hull and generates thrust in the forward / backward direction, and each forward / backward propeller, the power of the main engine outputs the clutch. A pair of forward and backward propeller driving means that are transmitted through a speed reducer capable of rotating in the forward and reverse directions, respectively, and a pair of rudders provided corresponding to each forward and backward propeller, and angular displacement of each rudder. A rudder driving means for driving, a variable pitch bow thruster, a bow thrust raster driving means for rotationally driving the bow thrust raster, a bow thrust raster pitch driving means for changing the pitch of the bow thrust raster, and a rotation speed detecting means for detecting the rotation speed of each forward and backward propeller. , The tilt direction that indicates the direction of the combined thrust force of forward and backward and lateral movement,
A joystick in which the tilt angle that indicates the magnitude of the resultant thrust is changed, a turning dial that is angularly displaced to give a turning moment, and a control means that is a rotational speed detection means, a joystick, and a turning dial. In response to each output, the command value of the forward / backward propeller rotational speed is derived to control the forward / backward propeller rotational speed, and when a change in the above-mentioned instruction by the joystick occurs, the rotational speed of each forward / backward propeller is changed. Command value,
When the detected speed of the rotation speed detection means does not match, the bow thruster pitch driving means does not generate thrust of the bow thruster, and when they match, the bow thruster pitch driving means generates thrust of the bow thruster, and the rudder steering angle command value And controlling the rudder driving means, responding to the change in the instruction by the joystick, and generating thrust by the bow thruster pitch driving means in response to the steering angle detected by the rudder angle detecting means. And the ship maneuvering equipment.