JP4295645B2 - Automatic fixed point holding device for water jet propulsion ship - Google Patents

Description

  The present invention relates to an automatic fixed point holding device for a water jet propulsion ship that is particularly excellent in low-speed ship maneuverability.

  For example, in an ocean observation ship or the like, an automatic ship position holding device is provided, and the hull is held at a predetermined position by the automatic ship position holding device. As this automatic ship position holding device, a device provided with a variable pitch propeller and a large angle rudder (see, for example, Patent Document 1), and a propeller capable of independently adjusting the longitudinal thrust (for example, Patent Document 2). And a propeller on the hull, a bow thruster on the bow, and a stance thruster on the stern (for example, see Patent Document 3).

  In addition, in order to further improve the operability of this automatic ship position holding device with a screw on the hull, a bow thruster on the bow, and a stance thruster on the stern, using the joystick lever and turning dial, Some have made it possible to change the heading (see Patent Document 4).

On the other hand, in recent years, as the speed of ships increases, the number of water jet propulsion ships using water jet propulsion instead of the previous propellers (screws) is increasing. This water jet propulsion ship has been used mainly for the purpose of high speed maneuvering. However, with the diversification of applications of water jet propulsion ships such as marine observation ships, bow thrusters have been developed to improve maneuverability especially at low speeds. Etc. are equipped with side thrusters.
Japanese Unexamined Patent Publication No. 7-165189 (page 2-3, FIG. 1) JP-A-8-58696 (page 3, FIG. 1) JP-A-8-192794 (page 2-3, FIG. 1) JP-A-8-216989 (page 2-4, FIG. 1)

  As described above, the conventional water jet propulsion ship is equipped with a side thruster such as a bow thruster in order to enhance the maneuverability at a low speed. However, the water jet propulsion ship equipped with this bow thruster, etc., is equipped with an automatic fixed point holding device in the form of integrating the side thruster such as the bow thruster and the water jet propulsion like the conventional propeller propulsion ship described above. However, there is a problem that maneuvering at low speed, for example, taking off and landing piers and marine survey observations is extremely difficult.

  The present invention has been made to solve such problems, and in a water jet propulsion ship equipped with a side thruster such as a bow thruster, it is possible to maintain an automatic fixed point in a form in which a water jet propulsion device and a side thruster are integrated. In particular, it is an object of the present invention to provide an automatic fixed point holding device for a water jet propulsion ship that can remarkably increase the maneuverability at a low speed, and thereby can greatly expand the range of use of the water jet propulsion ship. .

In order to solve the above-mentioned problems, the means employed by the present invention is a water jet propulsion ship provided with a water jet propulsion device that generates a thrust in a tail direction in a variable direction and a side thruster that generates a thrust in a dredging direction. This automatic fixed point holding device includes an azimuth sensor that detects a azimuth, a wind direction and wind speed sensor that detects a wind direction and a wind speed, a ship position sensor that detects a ship position, a water jet propulsion device, and a side thruster. A propulsion control device that performs operation control and a control panel that issues a control instruction to the propulsion control device are provided. This propulsion control device detects the control instruction from the control panel, the direction detected by the direction sensor, and the wind direction and wind speed sensor. based on the wind speed and direction, with performing automatic heading maintenance by actuating the water jet propulsor and side thruster control finger from the control panel And based on the wind speed and direction and the ship positioning ship positioning the sensor detects the azimuth and wind speed and direction sensor orientation sensor detects detects, in performing the automatic ship position held by actuating the water jet propulsion unit and the side thrusters.

In this means, the propulsion control device automatically changes the water jet thruster thrust and nozzle angle, and the thrust of the side thruster according to the heading and wind direction, thereby automatically maintaining the direction of the water jet propulsion ship. The propulsion control device appropriately changes the thrust of the water jet thruster and the thrust of the nozzle angle and the side thruster according to the direction, wind direction, wind speed, and ship position, The position of the water jet propulsion ship can be automatically maintained. By automatically performing the azimuth maintenance and the ship position maintenance, it becomes possible to maintain an automatic fixed point in a form in which the water jet propulsion device and the side thruster are integrated, and the maneuverability at a low speed is remarkably improved.

  The water jet propulsion device is preferably composed of two or more units, and the side thruster is desirably composed of one or more units. Since the water jet propulsion device is composed of two or more units and the side thruster is composed of one or more units, the automatic fixed point holding of the water jet propulsion vessel is facilitated from the mechanical aspect.

  For example, the side thruster is a bow thruster that generates thrust in the bow direction.

The control panel preferably comprises a remote control box . In this manner, by enabling the automatic fixed point holding of the vessel from the remote control box , the water jet propulsion vessel can be operated at a low speed.

The control panel preferably includes a joystick lever capable of setting the moving direction and thrust of the hull and a turning dial capable of setting the turning angular velocity of the hull. By providing such a joystick lever and a turning dial, the maneuverability at a low speed of the water jet propulsion ship is further enhanced.

As described above in detail, the automatic fixed point holding device for a water jet propulsion ship according to the present invention includes a water jet propulsion device that generates thrust in the bow-tail direction in a variable direction and a side thruster that generates thrust in the dredging direction. An automatic fixed point holding device for a water jet propulsion ship, wherein the automatic fixed point holding device detects an azimuth sensor, a wind direction wind speed sensor that detects a wind direction and a wind speed, a ship position sensor that detects a ship position, and a water jet propulsion device. A propulsion control device for controlling the operation of the vessel and the side thruster , and a control panel for instructing control to the propulsion control device. The propulsion control device includes a control instruction from the control panel and the direction and wind direction detected by the direction sensor. based on the wind speed and direction in which the wind speed sensor detects performs automatic heading maintenance by actuating the water jet propulsor and side thrusters Both based on the ship positioning the Wind and ship positioning sensor azimuth and wind speed and direction sensor control instruction for azimuth sensor detects from the control panel has detected is detected, automatically actuate the water jet propulsor and side thrusters Hold the ship's position.

  Therefore, the water jet propulsion ship automatic fixed point holding device of the present invention enables automatic fixed point holding in a form in which the water jet propulsion device and the side thruster are integrated in a water jet propulsion ship equipped with a side thruster such as a bow thruster. In particular, the ship maneuverability at a low speed can be remarkably enhanced, and thereby the excellent use of the water jet propulsion ship can be greatly expanded.

  A best mode for carrying out an automatic fixed point holding apparatus for a water jet propulsion ship according to the present invention will be described in detail with reference to FIGS.

  1 is a block diagram showing an automatic fixed point holding device for a water jet propulsion ship according to the present invention, FIG. 2 is a plan view showing the water jet propulsion ship of FIG. 1, and FIG. 3 is a block diagram of the automatic fixed point holding device of FIG. FIG. 4 is a flowchart showing the orientation holding mode of the automatic fixed point holding device of FIG. 3, FIG. 5 is a block diagram showing the position holding mode of the automatic fixed point holding device of FIG. 1, and FIG. FIG. 6 is a flowchart showing a position holding mode of the automatic fixed point holding apparatus of FIG. 5.

  As shown in FIG. 1, the automatic fixed point holding device of the water jet propulsion ship forms part of an automatic maneuvering apparatus that controls movement, turning, etc. of the water jet propulsion ship during normal maneuvering. This is a water jet propulsion device that can generate thrust in the stern direction of the hull in a variable direction by changing its nozzle angle. The water jet propulsion device 1 generates propulsive force using the main engine 2 as power. The water jet propulsion device 1 and the main engine 2 are controlled by the control instruction from the propulsion control device 3 through the engine control device 4 such as the nozzle angle of the water jet propulsion device 1 and the rotational speed of the main device 2.

  On the other hand, a bow thruster 5 which is a kind of side thruster is disposed at the bow. The bow thruster 5 is controlled in its rotational speed, blade angle and the like via the thruster control panel 6 in accordance with a control instruction from the propulsion control device 3. Note that the side thruster is not necessarily limited to the bow thruster 5 and may be provided with a side thruster such as a stance thruster. As shown in FIG. 2, the water jet propulsion device 1 is composed of, for example, two units, and the bow raster 5 is composed of, for example, one unit. The water jet propulsion device 1 is preferably composed of two or more units from the viewpoint of dynamics such as in the case of lateral movement.

  As shown in FIG. 1, the propulsion control device 3 includes a direction sensor 10 that detects a direction such as a gyrocompass, a ship speed sensor 11 that detects a ship speed such as an electromagnetic log and a Doppler log, and a wind direction wind speed that detects a wind direction wind speed. A sensor 12, a ship position sensor 13 for detecting the ship position such as GPS, DGPS, and the like are connected. The propulsion control device 3 is connected to a master controller (control panel) 20 that gives control instructions to the propulsion control device 3 and a portable remote operation box (control panel) 21. In this way, by installing the portable remote control box 21 in addition to the master controller 20, the entire marine vessel maneuvering including the water jet propulsion ship orientation maintenance, ship position maintenance, and the like described later becomes easier.

  As shown in FIG. 3, the master controller 20 and the remote control box 21 have a joystick lever 22 capable of setting the moving direction and thrust of the hull, a turning dial 23 capable of setting the turning angular velocity of the hull, and setting of the direction. Each possible azimuth setting button 24 is provided, and as shown in FIG. 5, a ship position setting button 25 capable of setting the ship position is provided.

  The moving direction of the hull is given by the tilting direction of the joystick lever 22, and the moving speed of the hull is given in proportion to the tilting angle of the joystick lever 22. Further, by turning the turning dial 23 while keeping the joystick leper 22 in a neutral state, it is possible to turn around in place while maintaining the set turning angular velocity. The turning direction of the turning dial 23 corresponds to the turning direction of the ship, and the turning amount of the turning dial 23 is proportional to the turning angular velocity. As described above, by providing the joystick lever 22 and the turning dial 23, the water jet propulsion ship can be improved not only at a high speed, but also at a low speed.

  The propulsion control device 3 calculates control values necessary for moving, turning, changing the direction of the ship, etc. according to the tilt direction and tilt angle of the joystick lever 22 and the rotation direction and rotation angle of the turning dial 23. To do. Based on the calculated control value, the thrust and nozzle angle of the water jet thruster 1 and the thrust of the bow thruster 5 are instructed to the engine control device 4 and the thruster control panel 6 shown in FIG.

  The orientation holding mode of the hull will be described with reference to FIGS. As shown in FIG. 3, in the azimuth maintaining mode, the azimuth detected by the azimuth sensor 10 such as a gyrocompass and the wind direction wind speed detected by the wind direction wind speed sensor 12 are input to the propulsion control device 3. As shown in the azimuth holding mode routine of FIG. 4, the joystick lever 22 and the turning dial 23 of the control panel 20 or the remote control box 21 shown in FIG. 3 are set to the neutral position (step S2). The azimuth to be held is set by the azimuth setting button 24 shown in FIG. 3 (step S4). The control calculation unit 3a of the propulsion control device 3 reads the direction detected by the direction sensor 10 and the wind direction and wind speed detected by the wind direction and wind speed sensor 12 (step S6).

  The control calculation unit 3a of the propulsion control device 3 instructs the thrust and nozzle angle of the water jet propulsion device 1 to the engine control device 4 shown in FIG. 1 based on the set direction, the detected direction, and the wind direction and wind speed. At the same time, the thruster control board 6 shown in FIG. 1 is instructed about the thruster rotation speed of the bow thruster 5 (step S8). The feedback of the detected azimuth and the turning angular velocity is performed, and it is determined whether or not the detected azimuth is the set azimuth (step S10). If the determination result in step S10 is negative (No), that is, if the detected direction is not the set direction, steps S6 to S10 described above are repeated. If the determination result in step S10 is affirmative (Yes), that is, if the detected direction is the set direction, the present orientation holding mode routine is terminated.

  The hull position holding mode will be described with reference to FIGS. As shown in FIG. 5, in the position holding mode, the azimuth detected by the azimuth sensor 10 such as a gyrocompass, the wind direction wind speed detected by the wind direction wind speed sensor 12, and the ship position detected by the ship position sensor 13 such as GPS, DGPS, etc. , Input to the propulsion control device 3. As shown in the position holding mode routine of FIG. 5, the azimuth is set by the azimuth setting button 24 of the master controller 20 or the remote control box 21 shown in FIG. 5, and the ship position is set by the ship position setting button 25 (step S20). The azimuth detected by the azimuth sensor 10, the wind direction and wind speed detected by the wind direction and wind speed sensor 12, and the ship position detected by the ship position sensor 13 are read (step S22).

  The control calculation unit 3a of the propulsion control device 3 performs the water jet propulsion device 1 on the engine control device 4 shown in FIG. 1 based on the set direction, the detected direction, the set ship position, the detected ship position, and the wind direction and wind speed. And the thruster rotation number of the bow thruster 5 are instructed to the thruster control panel 6 shown in FIG. 1 (step S24). The detected direction and the detected ship position are fed back, and it is determined whether or not the detected direction and the detected ship position are the set direction and the set ship position, respectively (step S26). When the determination result of step S26 is negative, that is, when the detected direction and the detected ship position are not the set direction and the set ship position, respectively, the above steps S22 to S26 are repeated. If the determination result of step S26 is affirmative, that is, if the detected azimuth and the detected ship position are the set azimuth and the set ship position, respectively, the present position holding mode routine is terminated.

  As described above, according to the automatic fixed point holding device of the water jet propulsion ship, the propulsion control device 3 detects the thrust and nozzle angle of the water jet propulsion device 1 and the thrust of the bow thruster 5, the ship position and the wind direction and wind speed. By appropriately changing the water jet propulsion vessel, the water jet propulsion vessel can maintain its heading and position automatically. It can also be suitable for pier maneuvers and low speed maneuvers during oceanographic surveys and observations, and the range of use of water jet propulsion vessels can be greatly expanded.

  The above-mentioned automatic fixed point holding device for a water jet propulsion ship is merely an example, and various modifications can be made based on the gist of the present invention, and they are not excluded from the scope of the present invention.

It is a block diagram which shows the automatic fixed point holding | maintenance apparatus of the water jet propulsion ship which concerns on this invention. It is a top view which shows the water jet propulsion ship of FIG. It is a block diagram which shows the azimuth | direction maintenance mode of the automatic fixed point holding | maintenance apparatus of FIG. It is a flowchart which shows the azimuth | direction holding mode of the automatic fixed point holding | maintenance apparatus of FIG. It is a block diagram which shows the position holding mode of the automatic fixed point holding | maintenance apparatus of FIG. It is a flowchart which shows the position holding mode of the automatic fixed point holding | maintenance apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Water jet propulsion device 2 Main machine 3 Propulsion control apparatus 3a Control calculating part 4 Engine control apparatus 5 Bow thruster 6 Thruster control panel 10 Direction sensor 11 Ship speed sensor 12 Wind direction wind speed sensor 13 Ship position sensor 20 Master controller 21 Remote operation box 22 Joystick lever 23 Turn dial 24 Direction setting button 25 Ship position setting button

Claims (5)

An automatic fixed point holding device for a water jet propulsion ship comprising a water jet propulsion device (1) for generating a thrust in a stern direction and a side thruster for generating a thrust in a dredging direction. Controls the operation of the azimuth sensor (10) for detecting the azimuth, the wind direction and wind speed sensor (12) for detecting the wind direction and the wind speed, the ship position sensor (13) for detecting the ship position, the water jet thruster and the side thruster. A propulsion control device (3) to perform, and a control panel for instructing control to the propulsion control device, the propulsion control device, the control instruction from the control panel, the direction detected by the direction sensor and the wind direction co is performed automatically heading maintenance by actuating the water jet propulsion unit and the side thrusters based on said wind speed and direction in which the wind speed sensor detects The water jet propulsion unit and the side thrusters based on the control instruction and the azimuth sensor and the azimuth detected with the Wind said Wind detected by the sensor and the vessel position the vessel position detected by the sensor from the control panel An automatic fixed point holding device for a water jet propulsion ship, characterized in that the ship position is automatically held by operating the. The automatic fixed point holding device for a water jet propulsion ship according to claim 1 , wherein the water jet propulsion device (1) includes two or more units, and the side thruster includes one or more units. The automatic fixed point holding device for a water jet propulsion ship according to claim 1 or 2 , wherein the side thruster is a bow thruster (5) that generates thrust in a bow direction. The automatic fixed point holding device for a water jet propulsion ship according to any one of claims 1 to 3 , wherein the control panel comprises a remote control box (21). The control panel includes a joystick lever (22) capable of setting a moving direction and thrust of the hull, and a turning dial (23) capable of setting a turning angular velocity of the hull. The automatic fixed point holding device for a water jet propulsion ship according to any one of 1 to 4 .

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