JP6621102B1 - Ship position control system and ship equipped with the system - Google Patents

Abstract

A moving object position control system and a moving object provided with the system are provided which enable the user to berth at an initial mooring position without visual confirmation at the time of berthing. SOLUTION: A plurality of GPS receivers (11), a recording device (12) for recording each position coordinate data received by each GPS receiver (11), and a control device (11) for controlling the position of a ship (1). 13). The control device (13) is based on a plurality of electric propulsion devices (131). A mobile position control system (2) for operating a control device (13) based on each position coordinate data received by a plurality of GPS receivers (11) is provided. One of the plurality of GPS receivers (11) is located at the bow and one of the other GPS receivers (11) is located at the stern. [Selection diagram] Fig. 1

Description

  The present invention relates to a moving body position control system and a moving body including the system, and more particularly, to a moving body position control system suitable for a ship that is a moving body moving on the water surface and a ship including the system.

For example, as a ship that is a moving body on the surface of the water, Patent Document 1 describes a ship that can be easily taken off and docked even at an unspecified port.
The ship includes a hull, a jet propulsion unit and a side thruster that are driven by a plurality of engines arranged on the hull to generate thrust to move the hull, a distance measuring unit that measures a distance to an object, a ship speed It has a speed detector that detects

Further, the ship moves the hull in a direction opposite to the direction toward the object based on the distance to the object measured by the distance measuring unit and the ship speed detected by the speed detecting unit. There is provided a control unit that executes the shoreline auxiliary control for generating thrust by the propulsion unit.
As a result, the ship speed can be reduced as the hull approaches the target shore or pier, so that the ship can be easily docked at the shore.

Japanese Patent Laid-Open No. 2018-1945

However, since the ship described in Patent Document 1 is not intended to berth at the position where it was moored, it is necessary to always check the berthing at the mooring position visually.
Here, especially for pleasure boat operators who are not always engaged in maneuvering, taking off and landing from the quay or pontoon (pier) are recognized as difficult maneuvers.
And it is known that the most difficult operation of pleasure boats is berthing operation.
Therefore, the present invention provides, for example, a mobile body position control system and a mobile body equipped with the system, which can be docked at the original mooring position without visually confirming the ship when berthing. The issue is to provide.

In addition, as an automatic ship steering function in a small boat, there is "Autopilot" by Marol Co., Ltd. and Unicus Kogyo Co., Ltd., but it goes to the destination by GPS signal and azimuth signal. I didn't have it, and I couldn't take off and shore automatically.
In addition, even though the position of the small boat as the moving body could be held, the direction (azimuth angle) of the moving body could not be controlled. Therefore, when holding the position of the moving body, the moving body There was a change.

  Means for solving the problems of the present invention are as follows.

First,
Multiple GPS receivers;
A control device for controlling the position of the moving body,
A moving body position control system, wherein a control device is operated based on position coordinate data received by a plurality of GPS receivers.
The moving body is a ship that mainly moves on the water surface, and includes various kinds of ships from large ships to small pleasure boats.
By providing the moving body further with an anemometer, it is possible to use the anemometer data.
Second,
About the movable body position control system according to the first aspect,
A moving body position control system comprising a recording device that records position coordinate data received by each GPS receiver.
Third,
The moving body position control system according to claim 1, wherein the control device is a plurality of electric propulsion devices.
Here, various thrusters such as a bow thruster and a stern thruster can be used as the electric propulsion device.
By installing a plurality of the electric propulsion devices on the moving body, the moving body can move back and forth, right and left, turn left and right, and rotate.
Fourth,
A moving body comprising the moving body position control system according to any one of the first to third aspects,
A moving body, wherein a plurality of GPS receivers are provided at two locations on the front and rear of the moving body.
Fifth,
A moving body comprising the moving body position control system according to any one of the first to third aspects,
A moving body, wherein a plurality of GPS receivers are provided at three points of each vertex of a triangle.

  According to the present invention, the following effects can be obtained.

Based on the position coordinate data of at least two points obtained by multiple GPS receivers, the position and orientation of the moving body can be recognized, so when moving to the shore, it moves to the same position as the position coordinate data before berthing. By controlling the body to move, it is possible to dock at the original mooring position by automatic piloting without visual confirmation.
At this time, since the position and orientation of the moving body are recognized and controlled based on the position coordinate data of at least two points, it becomes possible to control the turning position of the moving body, and the berthing surface is moved in parallel to the shoreline. It is also possible to make it.

In addition, based on the arbitrarily set coordinate data, the moving body can be moved to an arbitrary position by automatic piloting and can be taken off and landing.
That is, at the time of berthing, if X meters are input on the right side from the mooring position of the moving body, the position on the designated coordinates is determined from the measured position, and the moving body can be moved to the position by automatic control.

Furthermore, for example, even when the mobile body used for fishing is held at a fixed position on the ocean, the direction of the mobile body can be recognized based on the position coordinate data of two points, so that even if it is affected by ocean currents or winds It becomes possible to maintain a certain orientation.
In addition, based on the coordinate data designated and recorded in advance, it is possible to move the moving body by the automatic steering function so that the moving body is directed to the designated position while tracing the assumed line.

  Moreover, the thing provided with the wind direction anemometer becomes even more difficult to be blown by the wind by aligning the direction in the direction in which the wind comes.

BRIEF DESCRIPTION OF THE DRAWINGS As Example 1, it is a conceptual diagram of the ship provided with the mobile body position control system based on this invention which provided the GPS receiver in two places. It is explanatory drawing at the time of the berthing of the ship shown in FIG. It is explanatory drawing at the time of docking of the ship shown in FIG. It is explanatory drawing of the position holding state on the sea of the ship shown in FIG. As Example 2, it is a conceptual diagram of the ship provided with the mobile body position control system which concerns on this invention which provided the GPS receiver in three places.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be specifically described with reference to the drawings.
Here, in the accompanying drawings, the same reference numerals are given to the same members, and redundant descriptions are omitted.
In addition, since description here is one form by which this invention is implemented, this invention is not limited to a corresponding form.

As shown in FIG. 1, a ship 1 as a moving body of this embodiment includes a moving body position control system 2.
The mobile body position control system 2 includes a GPS receiver 11 disposed at the bow and stern at two front and rear positions of the ship 1, a recording device 12 that records each position coordinate data received by each GPS receiver 11, and a ship. And a control device 13 for controlling the position of 1.

Here, the control device 13 controls the electric propulsion device 131 that is a thruster disposed at three positions on both sides and the stern of the ship 1.
That is, the control device 13 controls the operation of each electric propulsion device 131 so as to move or hold the ship 1 to a predetermined position based on each position coordinate data received by the plurality of GPS receivers 11.

As shown in FIG. 2, two coordinate position data are recorded by GPS receivers 11 arranged at two positions of a bow and a stern in a state where the ship 1 is moored on the shore surface 5 which is a pier or a pontoon. Thus, the current position in the berthing state and the direction of the ship 1 are recognized.
When leaving the shore, enter “Starboard 5m ahead, heading right α = 20 degrees” on the operation panel (not shown), and press the start button (not shown) to measure the position of the two GPS receivers 11 Move to the specified position.
After that, the vehicle travels manually.

  As shown in FIG. 3, at the time of berthing, by pressing an automatic berthing button (not shown) with the ship 1 approaching the shore surface 5, each coordinate position data recorded before berthing is The electric propulsion device operates in a state controlled by the control device so that the coordinate position data received by the GPS receiver 11 match each other.

As shown in FIG. 4, when fishing on the sea, it is necessary to keep the ship 1 at a fixed point.
In this case, the position and orientation of the ship 1 are about to change under the influence of the wind W and the ocean current, but are controlled by the control device so that the coordinate position data received by each GPS receiver 11 does not shift. Since the electric propulsion unit operates, the ship's position can be maintained offshore.
Further, in accordance with the change of the direction of the wind W on the ocean, the azimuth angle formed by the GPS receivers 11 arranged at the two positions of the bow and stern is always parallel to the wind direction and the wind blows on the GPS receiver 11 on the bow side. Since the ship 1 is not subjected to crosswinds by adjusting to the incoming direction, the ship 1 can be stopped at a certain point on the ocean.

For general pleasure boat operators, it is very difficult to take off and dock from the pier and quay. If this point is automated, the occurrence of accidents can be suppressed and the pleasure boat can be used easily.
In that respect, it will lead to the activation of the pleasure boat market.
In addition to being convenient at the time of fishing by being able to stop at a certain point on the ocean accurately or to move to an arbitrary position, it is a specific requirement that requires quiet and exhaust-free navigation with only an electric propulsion machine It can also navigate in tourist areas.

As shown in FIG. 5, in the present embodiment, the ship 1 has GPS receivers 11 installed at three locations on each vertex of the isosceles triangle.
That is, the GPS receiver 11A and the GPS receiver 11B are installed at two locations on the bow side, and the GPS receiver 11C is installed at one location on the stern side.
In this way, GPS receivers are installed at three locations so as to form a triangle, the average values of the coordinates (x, y, z coordinates) of the GPS receiver 11A and the GPS receiver 11B, the average value thereof, and the GPS By obtaining the average value of the coordinates of the receiver 11C, it becomes possible to correct the measurement error due to the shaking of the ship 1, and an accurate azimuth and an accurate position are obtained.

  Although not shown in the figure, using four GPS receivers, the GPS receiver is installed at two locations on the bow side, at two locations on the stern side, and GPS receivers are installed at four locations at each vertex of the square. You can also

DESCRIPTION OF SYMBOLS 1 Ship 2 Mobile body position control system 5 Shore 11 GPS receiver 12 Recording apparatus 13 Control apparatus 131 Electric propulsion machine

Claims (4)

Multiple GPS receivers;
A control device for controlling the position of the ship,
A system for operating a control device based on position coordinate data received by a plurality of GPS receivers,
Records each location coordinate data received by each GPS receiver, a recording apparatus for recording the coordinate position data in a state in which the ship is mooring by each GPS receiver, the time of berthing, the prior rip A ship position control system, wherein the ship is controlled to move to the same position as the position coordinate data . The ship position control system according to claim 1, wherein the control device is a plurality of electric propulsion devices. A ship equipped with the ship position control system according to claim 1 or 2 ,
A marine vessel characterized in that a plurality of GPS receivers are provided at two locations on the front and rear of a moving body. A ship equipped with the ship position control system according to claim 1 or 2 ,
A marine vessel characterized in that a plurality of GPS receivers are provided at three points of each apex of a triangle.