JP3530763B2 - Rudder dip tracking device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rudder dip tracking device equipped with an autopilot device and an electronic chart device, which can be applied to all ships capable of automatic navigation. About. 2. Description of the Related Art A known method is to set a navigation route, that is, a tracking course, on an electronic chart device when a ship is navigating, and to automatically navigate by an autopilot device while inputting a position of the ship from a GPS signal or the like. (Japanese Patent Laid-Open No. 8-33)
8739). Further, as shown in FIG. 7, in order to suppress the sideways motion of the ship 120 during navigation, the phenomenon in which the hull tilts when the ship turns due to steering is actively used to maintain the target course while maintaining the target course. There has been proposed a method of reducing the swing by steering so that the roll of the hull 122 is suppressed by the rudder 124 (rudder tilting method) (Japanese Patent Laid-Open No. 4-31485). In the prior art, both the tracking navigation by the electronic chart device and the navigation by the rudder reduction device are performed by independent facilities. [0003] However, the automatic navigation method using the electronic charting device also performs steering while maintaining a prescribed course, so that both sets the course signal and sets the steering device. Common processing and common equipment are often used, such as performing control driving. However, there is no case where the two were linked. The present invention has been made in view of the above-mentioned problems, and relates to a rudder attenuating tracking device. In particular, the present invention newly incorporates tracking information from an electronic chart device into a rudder attenuating device, and controls the rudder attenuating. An object of the present invention is to provide a rudder dip tracking device that can navigate a tracking course while performing. [0005] In order to achieve the above object, a rudder rocking tracking device according to the present invention reduces the roll of a ship by a rudder rocking device and tracks the ship by an electronic chart device. An electronic charting device that outputs a tracking course signal,
A rudder dip control arithmetic unit for selectively inputting the tracking heading signal or the heading signal input from the rudder lowering operation panel, calculating and outputting a roll suppression steering angle, and automatically navigating by inputting the tracking heading signal. A first changeover switch that has an autopilot device that outputs a steering angle, and a steering device, and that switches an input path to the steering device to one of the autopilot device and the steering reduction control device; While the input course signal to the swing control arithmetic unit is switched between the electronic chart device and the steering reduction operation panel, the tracking course signal is input to the autopilot device when the switching position is on the steering reduction operation panel side. And a second changeover switch for performing the operation. According to the above construction, the electronic chart device and the steering stand, and the rudder reduction device and the steering stand are connected to each other by C.
Signals are exchanged between the PUs by communication. The type and format of the communication differ depending on the signal content, and all of them may be comprehensively taken into the rudder reduction device, and only the necessary information may be selected and used. An extension device that has a communication function to capture signals from the electronic charting device and a function to switch the output destination of the signal as necessary has been added to the rudder attenuating control arithmetic unit. Output to the device by communication. All signals including the set course signal output from the electronic chart device are temporarily taken into the rudder reduction / expansion device. Here, when steering rudder is not activated, all signals are passed through and output to the steering stand as it is. When steering rudder is activated, only signals necessary for the rudder dip operation are selected and output to the rudder dip control arithmetic unit, and the other signals are output to the steering stand without any processing. The steering reduction control arithmetic unit that receives the selected signal calculates a set course, a required steering angle, and the like, and outputs the calculated data to the steering device. Also, the validity of the navigation direction is constantly monitored and collated by the feedback signal from the gyro compass.
Further, during the automatic navigation, the roll angular velocity of the ship is detected, and steering for reducing the rocking is performed according to the roll angular velocity of the ship. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a rudder reduction tracking device according to the present invention will be described in detail with reference to the drawings. FIG. 1 shows an overall schematic configuration diagram of a rudder anti-rolling tracking device 1 that performs anti-rolling navigation during tracking, and FIG. 2 et seq. Shows a specific configuration thereof. In FIG. 1, a rudder dip tracking device 1 is shown.
Is a steering stand 10 that outputs a command to the steering device 6 of the rudder 4 of the ship 2, an electronic chart device 30 that is connected to the steering stand 10 and outputs a tracking course signal, and a steering stand 1
0 and an electronic chart device 30 for outputting a command to operate the rudder 4 to reduce the roll of the ship 2 to the steering device 6 via the steering stand 10 as necessary.
0. Referring to FIGS. 1 and 2, a steering stand 10 is shown.
Is mainly composed of a manual steering device 12, a gyrocompass 14, an auto pilot device 16, a steering changeover switch 18, a first changeover switch 20, and a steering device 22. The manual steering device 12 is connected to the H position of the steering changeover switch 18 and steers the navigation direction of the boat 2 by manual steering. Gyro compass 1
4 is connected to the electronic chart device 30, the autopilot device 16, and a rudder reduction control arithmetic device 92 described later,
The true course and azimuth are measured and output to the electronic chart device 30, the autopilot device 16, and the rudder reduction control arithmetic unit 92 described later. The autopilot device 16 is connected to the gyro compass 14 and the rudder reduction device 60 to receive the heading signal and the tracking course signal Ts of the ship 2, the AP position of the steering switch 18 and the first switch 20. And outputs the automatic navigation steering angle. Further, signals from a boat speed detector, a steering angle detector, and the like (not shown) are input to the autopilot device 16. An operation panel 24, which will be described later, is attached to the control stand 10, and a route, a boat speed, and the like are input. The steering stand 10 is provided with an azimuth indicator, a boat speed indicator, a rudder angle detector, a roll indicator, and the like (not shown). The steering changeover switch 18 has an H (hand) position, an AP (autopilot) position, and an RC (auto pilot) position.
(Remote control) Each position is selected, and the position is selected by the switch 26 and connected. When the steering changeover switch 18 is selected to the H position, a command from the manual steering device 12 is output to the steering device 22, and the steering of the boat 2 is manually operated. Also, when the steering changeover switch 18 is selected to the AP position, a steering angle command from the autopilot device 16 is output to the steering device 22 so that the rudder of the boat 2 is automatically operated in the set azimuth. Further, when the steering changeover switch 18 is selected to the RC position, a signal from the rudder rocking device 60 is output to the steering device 22, and when the rudder of the boat 2 is operated while performing rudder rocking, In some cases, the signal is input to the autopilot device 16 and the signal is input to the steering device 22 to perform the tracking navigation without activating the rudder reduction of the boat 2. The first changeover switch 20 has a NAV (navigation) position and a MAR (steering lowering) position, and the positions are selected by a switch 28 and are connected. When the NAV position is selected, the first changeover switch 20 transmits the tracking course signal Ts from the electronic chart device 30 to the steering device 22 via the autopilot device 16 and the RC position of the steering changeover switch 18.
And outputs an automatic navigation signal based on the tracking course signal Ts. Also, the first changeover switch 2
0 indicates that when the MAR position is selected, the anti-rolling steering angle δa obtained by the rudder anti-rolling control arithmetic device 92 described later is output to the steering device 22 so that the boat 2 sails while performing the rudder anti-rotation. are doing. The electronic chart device 30 is disclosed in, for example,
A configuration similar to the content disclosed in Japanese Patent No. 38739 may be used. Its specification is IMONAV39 / WP. 2 or I
Standards such as HOS-52 and IHOS-57 are defined or have a configuration equivalent to that proposed. That is, as shown in FIG. 3, the electronic chart device 30 mainly includes a panel input circuit 31 for inputting a signal from the operation panel 24, a signal input circuit 32 from the gyro compass 14, a chart, and the like. A so-called video RAM for holding data for drawing
A drawing control circuit 34 for drawing a nautical chart and the like, a tracking course signal output circuit 36 for outputting information of the tracking course signal Ts to the rudder reduction device 60 as a signal in a predetermined message format, and a floppy ( (Registered trademark) disk drive (FDD) 38 and the standard IHOS
CD-ROM which records -57 electronic navigation chart data
A hard disk drive (HDD) 42 for reading the data and various programs, and a memory 44 such as a RAM are provided. It is connected to a control device (CPU) 48. The electronic chart device 30 includes a gyro compass 1
4 and the measured azimuth signal is input.
The electronic chart device 30 is connected to the CRT 50 and outputs signals for drawing charts and the like. The electronic chart device 30 is connected to the rudder reduction device 60 and outputs a tracking course signal Ts. In FIG. 2, the rudder rocking device 60 includes a second changeover switch 70, a rudder rocking operation panel 80, and
And a control device 90. The second changeover switch 70 is used to set the EC position, the MA position, the ECS
It is composed of a position, a MAC position, an ECC position having two connection points connected to each other, and a switch 72 which is connected to each other and switches in conjunction with each other. The EC position is connected to the electronic chart device 30 and receives a tracking course signal Ts from the electronic chart device 30. The MA position is connected to the rudder reduction operation panel 80 and receives a course signal Td from the rudder reduction operation panel 80. The ECS position is connected to the autopilot device 16, and when the switch 72 is selected to the EC position, the EC position and the ECS position are connected, and the tracking course signal Ts from the electronic chart device 30 is transmitted. The signal is output to the auto pilot device 16 through the rudder reduction device 60. As a result, the navigation is performed when tracking is performed by the electronic chart device 30 without the rudder reduction described in (1) described later. The MAC position is connected to the control device 90, and when the MA position is selected, the switch 72 connects the MA position and the MAC position, and the rudder reduction operation panel 8
A course signal Td from 0 is output to the control device 80. The ECC positions are two connection point positions ECC1 and ECC2 connected to each other as described above.
The position ECC1 is set to the EC position and the position EC
C2 connects to the MAC position. The position ECC1 is such that the switch 72 is
When it is connected to the position, it receives the tracking course signal Ts from the electronic chart device 30 and receives the position ECC.
2 The position ECC2 receives the tracking course signal Ts and outputs it to the MAC position to which the switch 72 is connected. The tracking course signal Ts received at the MAC position is output to the control device 90 connected as described above. Thus, the navigation is performed in the case where the rudder dip navigation is performed during the tracking by the electronic chart device 30 described in (2) described later. The switch 72 of the second changeover switch 70 is
The position is switched to one of the position ECC1 connected to the electronic chart device 30 and the MAC position connected to the rudder reduction operation panel 80.
When in the MAC position connected to the 0 side, the tracking course signal Ts from the electronic chart device 30 is passed through as it is and input to the autopilot device 16. The rudder reduction operation panel 80 is connected to the MA position of the second changeover switch 70 and the control device 90. The rudder lowering operation panel 80 is provided with a selection switch 82 for selecting whether or not to sail on the course while performing the lowering by the rudder 4 when the boat 2 receives the shear wave. When the steering operator operates the selection switch 82 when the transverse wave of the ship 2 is larger than the predetermined value and the rudder 4 needs to be attenuated, the switch 72 of the second changeover switch 70 switches the MA position and the MAC position. When the selector switch 82 is operated, the steering signal Td is output to the control device 90, and the steering control signal 90 is output from the control device 90.
Output to The control unit 90 includes a rudder reduction control arithmetic unit 92
And a roll detector 94. Similarly to the autopilot device 16, signals from a boat speed detector, a steering angle detector, and the like (not shown) are input to the control device 90. The rudder reduction control computing device 92
The gyro compass 14 is connected to the gyro compass 14 and receives a measurement direction signal of the ship 2. Further, the rudder dip control arithmetic unit 92 is connected to the rudder dip operation panel 80 and receives a course signal MC for causing the rudder 4 to sail the boat 2. The rudder anti-rolling control arithmetic unit 92 is connected to the MAR position of the first changeover switch 20, receives detection signals from the gyro compass 14 and the anti-rolling detector 94, and controls the rudder 4 according to the rolling of the boat 2. And calculates the anti-rolling steering angle δ to reduce the rocking by using the MA of the first switch 20.
A command is output to the steering device 6 that operates the rudder 4 via the R position, the RC position of the steering changeover switch 18, and the steering device 22. Next, a description will be given of an embodiment of the operation of the above-described configuration with respect to the navigation of the ship 2. When the ship 2 is navigating, the navigation conditions of the ship 2 (such as ocean navigation or navigation in a port),
The following cases are mainly considered according to the state of the sea (rough sea surface). (1) The case where the electronic chart device 30 performs tracking without rudder reduction when the ship 2 travels a long distance in a quiet sea (including a slightly rough sea that can be crewed). (2) When the ship 2 navigates a rough sea (a rough sea that cannot be tolerated by occupants), the rudder rocking navigation is performed during tracking by the electronic chart device 30. (3) When the ship 2 travels in the ocean with the very rough waves 100 (shown in FIG. 6), the rudder vibration reduction device 60 performs the anti-rolling navigation without tracking by the electronic chart device 30. (4) The case where the ship 2 navigates in the harbor and the like by the manual steering device 12. (Hereinafter, description will be omitted because it is the same as the conventional case.) First, a case where tracking is performed by the electronic chart device 30 without rudder reduction will be described with reference to FIG. When the ship 2 travels a long distance in a quiet sea, the operator of the ship 2 selects the RC position of the steering switch 18 and the NAV position of the first switch 20. The second changeover switch 70 operates a switch 72 which is connected to each other and switches in conjunction with each other, and operates the EC 72
While connecting the position and the ECS position,
Connect the MA position and the MAC position. As a result, the tracking course signal Ts commanded from the electronic chart device 30 is connected to the EC position and the ECS position of the second changeover switch 70, and the rudder reduction control arithmetic operation device 9
2 without passing through the second changeover switch 70 without operating the rudder reduction,
Is output to The autopilot device 16 converts the steering angle signal into the required steering angle, and converts the converted steering angle signal and the set boat speed signal into the NAV position of the first changeover switch 20, the RC position of the steering changeover switch 18, and the steering device. The command is output to the steering device 6 that operates the rudder 4 via the command line 22. The switch 7 of the second changeover switch 70
2, the MA position and the MAC position are connected from the MAC position to the rudder reduction control arithmetic operation device 92. However, since the MAR position and the RAC position of the first changeover switch 20 are cut off, the rudder 4 No rudder reduction is performed. Accordingly, the ship 2 is navigated by the electronic chart device 30 by the tracking course signal Ts without rudder tilting. (2) In the case where the rudder anti-rolling device performs the anti-rolling navigation during the tracking by the electronic chart device 30,
This will be described with reference to FIG. When the ship 2 navigates the rough sea, the operator of the ship 2 sets the steering changeover switch 18 to the R position.
Select the C position and the first switch 2
Select a MAR position of 0. The second changeover switch 70 connects the EC position and the ECC1 position by operating the selection switch 82,
Connect the ECC2 position and the MAC position.
Thereby, the tracking course signal Ts commanded from the electronic chart device 30 is transmitted from the EC position and the ECC1 position of the second changeover switch 70 to the ECC2 position. The tracking course signal Ts transmitted to the ECC2 position is determined by the M connected to the ECC2 position.
It is transmitted to the rudder reduction control arithmetic unit 92 via the AC position. In addition, the steering operator operates the selection switch 8 for navigating the course while performing the tilting of the rudder tilting operation panel 80 by the rudder 4.
Operate 2. A rudder lowering signal MC that travels on the course while performing the lowering by the rudder 4 of the selection switch 82 is transmitted to the rudder lowering control arithmetic unit 92. Further, although the course signal Td is output, the transmission to the rudder reduction control arithmetic unit 92 is cut off at the MA position. For this reason, the rudder dip control arithmetic operation unit 92 receives the tracking heading signal Ts and the rudder dip signal MC from the electronic chart device 30, and reduces the roll of the ship 2 by the rudder 4 while reducing the tracking heading signal Ts. (A fluctuation value) is calculated so as to take a route corresponding to the (fluctuation value), and the roll suppression steering angle δ is obtained. The obtained steering angle δ is calculated from the MAR position of the first changeover switch 20 to the RAC position, the RC position of the steering changeover switch 18, and the steering device 2.
Through 2, a command is output to the steering machine 6 that operates the rudder 4. As a result, the ship 2 performs navigation based on the tracking course signal Ts by the electronic chart device 30 while performing rudder tilting. (3) A case where the steering is reduced by the rudder reduction device without tracking by the electronic chart device will be described with reference to FIG. When the ship 2 navigates a very rough sea, the operator of the ship 2 operates the selection switch 82 for navigating the course while performing the rocking by the rudder 4.
Further, the RC position of the steering changeover switch 18 is selected, and the MAR position of the first changeover switch 20 is selected. Further, the second changeover switch 70 is operated by operating the selection switch 82, and the switch 72 which is connected to and interlocked with each other is operated, and the EC position and the ECS
Position and the MA position and M
Connect to AC position. Thus, the tracking course signal Ts commanded from the electronic chart device 30 is output to the autopilot device 16 from the EC position and the ECS position of the second changeover switch 70. The tracking course signal Ts output to the autopilot device 16 is cut off at the AP position of the steering changeover switch 18 and the NAV position of the first changeover switch 20, so that the navigation by the tracking course signal Ts is not performed. When the selection switch 82 is operated, the rudder damping signal MC of the rudder caused by the rudder 4 is output directly to the rudder damping control computing device 92, and the course signal Td is passed through the second switch 70 to the rudder damping control computing device. 92. The rudder lowering control arithmetic unit 92 receives the course signal Td, and calculates so that the course corresponding to the course signal Td and the boat speed signal Sp can be obtained while reducing the roll of the boat 2 by the rudder 4, and calculates the steering angle. δa
Ask for. The obtained anti-rolling steering angle δa is calculated from the MAR position of the first switch 20 to the RAC position,
A command is output to the steering device 6 that operates the rudder 4 via the RC position of the steering changeover switch 18 and the steering device 22. As a result, the ship 2 sails with the course signal Td from the course setting device while performing rudder reduction. When the course deviates from the initially set route, the measured azimuth from the gyro compass 14 has been input to the rudder reduction control arithmetic unit 92, so that the rudder returns to the initially set azimuth (fixed value). The anti-rolling control operation device 92 calculates the steering angle to be corrected from the MAR position of the first changeover switch 20 to the R position.
A command is output to the steering machine 6 that operates the rudder 4 via the AC position, the RC position of the steering changeover switch 18, and the steering device 22. As shown in FIG. 6, the control line 102 is connected to the rudder reduction control arithmetic unit 92, the first changeover switch 20 and the second
The control signal CL is added as a control signal CL via the first changeover switch 20 and the second changeover switch 70, which are added between the changeover switch 70 and the rollover suppression steering angle δa obtained by the rudder reduction control arithmetic operation device 92. The output is output to the steering machine 6, and the rudder 4 reduces the swing by automatic switching control. At this time,
The selection switch 82 may be set to be operable. When the roll angle θδ of the ship 2 exceeds the first roll allowable angle θδ1, a signal for connecting the RAC position and the MAR position is transmitted to the first changeover switch 20, and the second A signal connected to the EC position and the ECC1 position, and a signal connected to the ECC2 position and the MAC position are output to the changeover switch 70, and (2)
During the tracking by the electronic chart device 30, the anti-rolling navigation is performed by the rudder anti-rolling device. As described above, according to the present invention,
The rudder anti-rolling tracking device operates the rudder anti-rolling device during tracking navigation by the electronic chart device, enabling navigation with less rolling even in stormy weather, reducing the stress of the occupants and reducing the sway of the load. It can be transported safely without damage. Although the anti-oscillation effect varies slightly depending on the ship shape, an anti-oscillation rate of 30 to 60% can be expected. In addition, by connecting the electronic chart device and the rudder rocking device, the switching operation to the rudder rocking device can be performed with one touch, thereby reducing the load on the steering room shift personnel. In addition, by operating the rudder rocking device that automatically switches upon detection of the roll of the ship, there is no difference in the judgment of the steering staff, and the burden on the steering room shift staff is further reduced.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall schematic configuration diagram of a rudder dip tracking device of the present invention. FIG. 2 is an overall schematic configuration diagram of a rudder reduction device of the present invention;
It is a figure for explaining a case where tracking is performed by an electronic chart device without rudder reduction. FIG. 3 is a diagram showing an example of the electronic chart device 30. FIG. 4 is a diagram for explaining a case in which the rudder anti-rolling device performs anti-rolling navigation during tracking according to the present invention. FIG. 5 is a diagram for explaining a case where the rudder anti-rolling device performs the anti-rolling navigation without tracking by the electronic chart device of the present invention. FIG. 6 is an overall schematic configuration diagram of automatic switching of the rudder reduction device of the present invention. FIG. 7 is a diagram for explaining conventional rudder reduction, and FIG.
FIG. 7A is a diagram illustrating a conventional case where there is no rocking, and FIG. 7B is a diagram illustrating a case where there is rocking. [Description of Signs] 1 Rudder dip tracking device 2 Ship 4 Rudder 6 Steering machine 10 Steering stand 12 Manual steering device 14 Gyro compass 16 Autopilot device 18 Steering changeover switch 20 First changeover switch 22 Steering device 24 Operation panel 26 Switch Reference Signs List 30 electronic chart device 32 signal input circuit 34 drawing control circuit 36 output circuit 38 floppy disk drive (FDD) 40 CD-ROM drive 42 hard disk drive (HDD) 44 memory 46 bus line 48 central control unit (CPU) 50 CRT 60 steering reduction Swinging device 70 Second changeover switch 72 Switch 80 Rudder lowering operation panel 82 Selection switch 84 Ship speed setting unit 86 Course setting unit 90 Controller 92 Rudder lowering control arithmetic unit 94 Rolling detector 96 Azimuth detector 98 Ship speed detection Device 100 steering angle detector

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-4-321485 (JP, A) JP-A-8-3388739 (JP, A) JP-A-7-112699 (JP, A) (58) Field (Int.Cl. ⁷ , DB name) B63B 39/04 B63H 25/04 G08G 3/00

Claims (1)

(1) An electronic charting device that outputs a tracking course signal in a rudder dip tracking device that attenuates the roll of a ship by a rudder dip device and tracks by an electronic chart device. By selectively inputting the tracking course signal or the course signal input from the rudder swing operation panel and calculating and outputting a roll suppression steering angle, and inputting the tracking course signal. A first changeover switch that has an autopilot device that outputs an automatic navigation steering angle and a steering device, and that switches an input path to the steering device to one of the autopilot device and the steering reduction control device; While the input course signal to the rudder attenuating control arithmetic unit is switched to either the electronic chart device or the rudder attenuating operation panel, the switching position is set to the rudder attenuated. Kajigen rocking tracking device characterized by comprising a second selector switch for inputting a tracking course signal to the autopilot device when a work panel side.