JPH0262439B2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention is directed to a steering system for a ship, in particular a system for changing the rudder angle and course in accordance with commands from a pilot, etc., or for maintaining the course at the time of a steady command. The present invention relates to a steering device that can ensure safety and reliability of steering when controlling the rudder.

There are basically two modes for steering a ship: an automatic steering mode and a manual steering mode. Autopilot mode maintains the ship's course on a preset course and is primarily used during ocean voyages. In manual steering mode, the helmsman inputs the commanded rudder angle by turning the steering wheel for setting the rudder angle based on the command from the captain or pilot, or turns the steering wheel to maintain the commanded course. The rudder is used to control the rudder, and is mainly used when passing through ports or narrow waterways (especially inland seas or rivers).

FIG. 1 is an external view of a control stand installed on the bridge to perform such steering. A is a front view, and B is an enlarged top view of the steering handle portion, with elements not directly related to the description of the present invention being omitted. 1 is a control stand housing, 2 is a repeater compass that directs the output of a direction measuring means such as a gyro compass, 3 is a mode changeover switch that switches between automatic steering mode and manual steering mode, and 4 is a display that digitally displays the set course. 5a and 5b are push button switches for changing the set course by increasing or decreasing; 6 is a steering handle for manually setting the rudder angle in manual steering mode; 7 is a set rudder angle display device; It is an analog display with a scale of up to 35 degrees in each direction on the board and port.

FIG. 2 is a block diagram showing the structure of the bridge section A and the rudder room B in which the control stand is installed, and the same elements as in FIG. 1 are given the same reference numerals.

In the bridge section A, the first course setting signal e _s1 set by the course setting device 5 and the direction measurement signal e _j from the gyro compass 8 are subtracted at the addition point 9, and the difference, that is, the first deviation signal e _d1 is obtained. It is guided to the calculation circuit 10 and subjected to appropriate calculations (proportional, integral, differential calculations),
The control output signal e ₀ is supplied to the automatic steering mode position A of the mode changeover switch 3 as a control signal in the automatic steering mode. A first steering angle setting signal e _n is applied to the manual steering mode position M of this switch from a potentiometer 11 interlocked with the steering handle 6 or from a remote manual steering panel 12 using a push button switch via a changeover switch 13. It is being

14 is an amplifier circuit that controls the difference between the output of the mode changeover switch 3 and the steering angle feedback signal e;
The polarity of the output is determined by the comparison circuit 15, and the solenoid valve drive circuits 15a, 15b are controlled to be on/off or proportional. Reference numeral 16 denotes a repeater compass, which has the same function as the repeater compass 2 set on the control stand, and is attached to the side end inside the bridge.

In the steering gear room B, 17 is a solenoid valve drive circuit 15
This is a rudder control mechanism for hydraulically driving the rudder 18, which is controlled by the outputs of the a and 15b, and the rudder angle is converted into an electric signal e by the rudder angle transmitter 19 and sent to the amplifier circuit 1.
Feedback is provided to input No. 4.

The subject matter of the present invention is a problem in the manual steering mode used when passing through a narrow waterway such as an inland sea or a river, among steering devices with such a configuration, and in particular, the problem lies in the manual steering mode used when passing through a narrow waterway such as an inland sea or a river. In order to assist the captain of a vessel navigating in a narrow waterway, an experienced captain who is familiar with the area will board the vessel each time, and the helmsman will manually steer the vessel based on the commands of the person who issues maneuvering commands on behalf of the captain. This occurs when the ship is maneuvered to maintain the rudder angle or course commanded by.

The problem here is that manual steering can only be carried out smoothly when the ship operator and the helmsman are in perfect agreement, and the operator needs to have a grasp of the helmsman's skills. However, the pilot who has boarded the ship has to give commands to maneuver the ship without knowing the skill of the helmsman, and this creates a problem in which the pilot is unable to maneuver the ship smoothly.

The second issue is the experience and skill of the helmsman. In recent years, as the number of people wishing to board a ship has decreased, it has been pointed out that the skills of helmsmen are on average inferior to those in the past. If precise steering is required, there is always an inherent risk of collision or grounding. Incidentally, an example of steering when passing through a narrow waterway will be explained using the explanatory diagram of FIG.

The steering mode is switched to manual steering, and the steering commander steers the ship while giving the following commands to the helmsman.

(1) Announce “Course 300 degrees”.

(2) The helmsman says ``Course 300 degrees'' and operates the steering wheel to steer the ship to a course of 300 degrees. When the ride is finished, it will say "Course 300 degrees sir" to let the person in charge know that the temperature has reached 300 degrees.

(3) The helmsman maintains a course of 300 degrees and continues manual operation.

(4) The ship operator commands "starboard 10 degrees" at point P.

(5) The helmsman says "Starboard 10 degrees," operates the steering wheel, and when the actual steering angle reaches 10 degrees, says "Starboard 10 degrees sir."

(6) When the ship turns and approaches the desired course at point Q, the steering commander issues the command "Mizdo Ship".

(7) The helmsman says "Mitsudoshitsupu", operates the steering wheel, sets the rudder angle to 0 degrees, and says "Mitsudoshipusa".

(8) The ship turns further and at point R takes the desired course, e.g.
Once the ship is at 45 degrees, the ship operator will issue a "steady" command.

(9) The helmsman will say "Steady" and set the ship on the current course of 45 degrees, and when he has finished loading the ship, he will say "Steady Sir" and continue to manually steer the ship to maintain the course at 45 degrees.

During this time, it becomes even more complicated if a steering command is entered to prevent a collision with another ship.

As mentioned above, it is necessary for the ship operator and the helmsman to operate the ship while repeating commands, repeating them, and reporting the steering results, and it is important that both parties are in the same spirit and that the helmsman's skills are excellent. This is important for ensuring safety and reliability. In particular, manual steering to maintain a commanded course requires a high degree of skill, and in the case of an inexperienced helmsman, meandering due to hunting is inevitable, making it impossible to steer as commanded, which is very dangerous.

<Structure of the present invention> The present invention has been made in view of the problems of the prior art described above, and its structural features are as follows: (1) In addition to the conventional automatic steering mode and manual steering mode, remote steering is possible. Add mode.

(2) Remote steering mode is formed by three types of modes,
Each mode has the following functions.

(a) Rudder angle mode: The commanded rudder angle (second rudder angle setting signal) including the midship can be set with a push button switch, realizing the same function as the conventional manual steering mode.

(b) Course mode...commanded course (second course setting signal)
can be set using a push-button switch, achieving the same functionality as the conventional automatic steering mode.

(c) Steady mode...If the pushbutton switch is operated when a steady command is issued, the direction measurement signal (third course setting signal) at the time the command was issued is used as the course setting signal, and the course is subsequently set using this setting signal. The automatic steering mode automatically matches the current steering mode, realizing the same function as the conventional automatic steering mode.

With such functions in remote steering mode, the helmsman can steer as instructed by simply inputting the commanded rudder angle, course, or steady command using the corresponding push button switch on the remote steering panel. It becomes possible to solve the conventional problems.

The configuration of the present invention will be described below based on examples. FIG. 4 shows an embodiment of the present invention, and the difference from FIG. 2 is that a remote steering section C is added, and a mode changeover switch 3 on the bridge section A is accordingly added.
Other elements are the same as in FIG. 2, except that a remote steering mode position R has been added to , and a microcomputer 20 is used to effectively process signal processing in various modes. .

First, the microcomputer 20 consists of a processor 21, a read-only memory 22, a random access memory 23, an input/output circuit 24, and a data and address bus 52 connecting these elements. The input/output circuit 24 receives the status signal ST of the mode selector switch 3 and the direction measurement signal from the gyro compass 8.
e _j , the first course setting signal e _s1 from the course setting device 5, the rudder angle signal e from the rudder angle transmitter 19, and the command and data from the remote steering unit C given via the signal line 26. , executes predetermined signal processing and sends a first or second course setting signal to the display device 4, a control output signal e _p to the mode changeover switch 3, and an answer back signal to the remote steering unit C via the signal line 27. ,
Further, an analog signal is transmitted via a signal line 28 for indicating the steering angle and turning speed on the remote steering panel.

The remote steering section C includes a remote steering panel 29 that can be operated within the bridge of the ship apart from the control stand. The figure shows the front panel of the remote steering board, dotted line groups 30 and 31 are starboard and port steering angle setting pushbutton switches, respectively, and 301 and 311 are little setting switches.
~5 degree preset, 302 and 312 are easy setting switches for 10~15 degree preset, 3
03 and 313 are hardware setting switches that can be preset at 30 to 35 degrees, respectively. 304,314
is a frequently used setting steering angle, e.g. 0, 1, 2,
It is a push button switch that can be set to 3, 4, 5, 7.5, 10, 15, 20, and 30 degrees. 32 is a push-button switch for setting the midship, and by this operation, the steering angle can be set to zero.

Steering mode changeover switch 3 is in remote steering mode R
When one of the pushbutton switch groups 30 and 31 or the pushbutton switch 32 is operated at the position, the microcomputer 20 is sent a steering angle mode command and the steering angle mode command corresponding to the pushbutton switch via the signal line 26. The angle setting signal is transmitted as a second steering angle setting signal, and the microcomputer generates a control output signal e _p corresponding to the set steering angle and applies it to the R position of the mode changeover switch 3. Such a steering angle mode is basically the same as the conventional manual operation mode, and the steering angle signal e follows the set second steering angle setting signal.

In the remote steering panel 29, 33 is a numeric keypad for remotely setting the second course setting signal in the course mode, and a 3-digit keypad displayed on the display device 34.
Set a 3-digit number in the range of 000 to 359 degrees. 35
is an entry key, and by this operation, a command instructing the microcomputer to set the course mode and a second course setting signal of the contents displayed on the display device 34 are transmitted to the microcomputer 20 side via the signal line 26. . When this command is given, the microcomputer calculates the difference between the direction measurement signal e _j from the gyro compass 8 and the second course setting signal from the remote steering board, that is, the second deviation signal, and uses this deviation signal to A control output signal _e0 , which has been subjected to an appropriate calculation, is supplied to the R position of the steering mode changeover switch 3.

In the remote steering panel 29, 36 is a steady command push button, and when this push button is operated, a steady mode command is transmitted to the microcomputer 20 via the signal line 26. The microcomputer that receives this command holds the direction measurement signal e _j at the time the command was generated,
This signal is used as the third course setting signal to calculate the difference from the backward measurement signal e _j , that is, the third deviation signal, and the control output obtained by performing appropriate calculations on this deviation signal is used as the signal e _p to switch the steering mode. Supply to the R position of switch 3.

The signal line 27 is for transmitting an answer back signal given to the remote steering panel 29 from the microcomputer 20 side. The command and setting signals in each mode are sent to the microcomputer 2.
When the remote steering panel receives the answer back signal that is generated when 0 is correctly received, the voice generator 3
7 is driven, and the set rudder angle, set course, midship, steady, etc. are read back audibly. Further, when a command for abnormal reception is answered from the microcomputer 20 side, a voice such as "steering abnormality" is generated.

In the remote steering panel 29, 38 and 39 are analog indicators, 38 indicates the steering angle, and 39 indicates the steering angle.
indicates the turning angular velocity obtained by differentiating the azimuth measurement signal e _j of the gyro compass, and the indicator is driven by receiving an analog signal from the signal line 28 from the microcomputer 20. This indicator is for confirmation purposes and is not required to be equipped.

FIG. 5 shows a somewhat concrete example of the hardware configuration of the microcomputer 20, in which 40 is a status signal of each mode and a first course setting signal from a switch 3' which is interlocked with the mode changeover switch 3. An interface 41 connects to the bus upon receiving the contact information of the pushbutton switches 5a and 5b of the setting device 5 for setting the setting device 5; 41 is an interface that receives the direction measurement signal e _j from the gyro compass 8 and connects to the bus; 42; 43 is an interface for providing the first and second course setting signals to the display device 4;
44 is an interface for giving the control output signal _e0 of the microcomputer in each mode to the steering mode changeover switch 3, and 44 is a bus for signal lines 26 and 27 for exchanging information between the remote steering section C and the microcomputer 20. 45 is an interface for connecting the signal line 28 for supplying an analog signal to the remote steering section to the bus, and 46 is an interface for connecting the steering angle signal e _p to the bus. These interfaces form the input/output circuit 24 in FIG.

FIG. 6 shows an example of the hardware configuration of the remote steering panel 29, which, like the remote steering panel 20, is composed of a microcomputer. 47 is a processor, 48
49 is a read-only memory, 49 is a random access memory, 50 is an interface for receiving contact input groups of pushbutton switches or numeric keys in each mode explained in FIG. 4, 51 is a signal line connected to the microcomputer 20, 26,
27 interface, 52 voice generation signal 3
7 an interface, 53 an interface for the second course setting signal display device 34, 54;
indicates the address and data bus connecting these elements.

The processor 47 determines the content of the operated pushbutton switch or key, addresses a table stored in the memory 48 or 49, and transmits the data of this table to the microcomputer 20 via the interface 51.

FIG. 7 shows an example of the contents of the transmission data in each mode, where A is the steering angle mode, steering angle mode command D, starboard,
It consists of a port identification signal P/S, 3-digit numerical data for setting the steering angle, and a check sum CS. B is for the heading mode, which consists of a heading mode command C, 3-digit heading setting numerical data, and a checksum CS. C is for the steady mode and consists of a steady mode command S, zero dummy data, and check sum CS. In each data, the checksum CS is written with bit data that becomes a constant value when all the bits of the data are added, and the microcomputer 20 side uses this checksum data to determine whether the transmission is normal or abnormal.

In the configuration of the embodiment of the present invention described above, the software operations in each steering mode are shown in FIG.
This will be explained using the flowchart shown in FIG.
Note that the manual steering mode is the same as that of the prior art, so the explanation will be omitted.

(1) Automatic steering mode (Figure 8) The steering mode selector switch 3 is in position A, and automatic A is determined in the mode check in step (1). In this mode, step (2)
The course setting signal e _s1 is read and the next step is started.
(3) Direction measurement signal e _jo from the gyroscope
is read, and in the next step (4), calculation of the first deviation signal _edlo is executed. In step (5), this deviation signal e _dlo is calculated according to the formula shown in the figure.
A PID calculation (Ti=integral time, Td=differential time) is performed to calculate the control signal Uc. Next, in step (6), this control signal Uc is multiplied by a steering angle conversion coefficient (for example, 0.12V/deg) to calculate the steering angle control output signal e _pa in automatic mode, and the routine returns to step (3). Repeat.

(2) Remote steering mode (Figure 9) The steering mode selector switch 3 is in the R position, and remote R is determined in the mode check in step (1). In this mode, in step (2), the control signal Uc is set to neutral (Uc=0) to control the rudder to the center, and the system enters a state of waiting for an interrupt.

When the pushbutton switch or entry key on the remote steering panel is operated, an interrupt occurs in step (3), and in step (4), a command is issued from the remote steering panel.
A signal consisting of data is transmitted and read. In step (5), the steering angle mode, course mode, and steady mode are determined based on the read transmission signal commands (D, C, S).

(a) Rudder angle mode (steps (6) to (8)) When command D is determined in step (5), the rudder angle mode is set, and in step (6), the second rudder angle setting signal is read and the control signal is Uc is calculated. Next, in step (7), a rudder angle conversion calculation is performed, and the rudder angle control output signal e _pd in the rudder angle mode is calculated.
Return to waiting for an interrupt at step (8).

(b) Heading mode (steps (9) to (13)) When command C is determined in step (5), the heading mode is entered, and in step (9) the second
The course setting signal e _s2 is input, and the direction measurement signal e _jo is read from the gyro compass 8 in step (10).
Next, in step (11), the second deviation signal e _do2 is calculated, and in step (12), the PID
The calculation is performed and the control signal Uc is calculated. Next, in step (13), a rudder angle conversion calculation is performed on this control signal Uc to calculate a rudder angle control output signal e _pc in the course mode, and then in step (10)
Return to repeat routine.

(c) Steady mode (steps (14) to (19)) When command S is determined in step (5), the mode becomes steady mode, and in steady (14), the direction measurement signal e _io is read from the gyro compass 8. Well,
In step (15), this direction measurement signal is registered as the third course setting signal _es3 . Next, in step (16), the direction measurement signal e _jo+1 is read again from the gyro compass 8, and in step (17), a deviation calculation is performed between it and the third course setting signal e _s3 registered earlier. A third deviation signal e _do3 is calculated. For this deviation signal, in step (18)
A PID calculation is performed to calculate the control output Uc.
Further, in step (19), a steering angle conversion calculation is performed on this control output to calculate a steering angle control output signal _eps in the steady mode, and the routine of returning to step (16) is repeated.

If an interrupt occurs due to operation of the remote steering panel during execution of the repeat routine in the above-mentioned heading mode and steady mode, the interrupt in step (3) is prioritized and the mode is immediately switched to the new mode.

A steering procedure for passing through a narrow waterway similar to that shown in FIG. 3 using the above-described steering system of the present invention will be described.

(1) The ship operator commands “Course 300 degrees”.

(2) The helmsman says “Course 300 degrees” and turns ten 3.
Operate 3 to set the content on the display to 300, and press entry key E. When this data is read into the microcomputer 20, the answer back causes the voice generator to say "Course 300 degrees sir". From then on, the ship is automatically steered in heading mode and maintains a course of 300 degrees.

(3) When the ship reaches point P, the ship operator commands "starboard 10 degrees".

(4) The helmsman speaks "Starboard 10 degrees" and operates the 10 degree pushbutton switch in the pushbutton switch group 304. When this data is read into the microcomputer 20, the answer box utters "Starboard 10 degree sir" via the voice generator. After that, the ship will be in rudder angle mode. Maintain the rudder angle of 10 degrees.

(5) When the ship turns and approaches the desired course at point Q, the ship maneuvering commander issues the command "Mizdo Ship".

(6) The helmsman utters “Mitsudo ship” and operates the push button switch 32. When this data is read into the microcomputer 20, the answer back causes the voice generator to utter "Midshippser". Thereafter, the ship maintains the rudder angle of 0 degrees in the same rudder angle mode.

(7) When the ship turns further and takes the desired course, for example 45 degrees, at point R, the ship operator commands ``Steady''.

(8) The helmsman utters "Steady" and operates the push button switch 36. When this data is read into the microcomputer 20, the answer box causes the voice generator to utter "STEADISAR". After that, the ship will be in steady mode, and the course will be automatically steered when pushbutton 36 is operated.
Maintain 45 degrees.

In this way, the helmsman only has to operate a pushbutton switch or key according to the instructions of the ship operator, and there is no need for the conventional technique of manually steering the ship onto a designated course, which requires skill. The remote steering panel can be operated with a single touch, so there is no need for the helmsman to operate the remote control panel.
It can also be operated by the ship operator himself/herself.

In the present invention, the method for installing the remote steering panel 29 is as follows:
The common method is to connect it to the control stand via a cord, make it movable within the bridge, and allow the helmsman to hold it in his hand and operate it near the person in charge of maneuvering. It is also possible to get involved. Further, it may be used by connecting it to a control stand with a connector only when necessary, and there are no particular restrictions on the installation method.

Furthermore, the present invention is not intended to be realized by a microcomputer as in the embodiments, but can also be realized by conventional discrete circuit elements. Furthermore, the pushbutton switches, keyboard, display device, etc. of the remote steering panel 29 can be modified in various ways, and it is easy to add functions for more detailed boat maneuvering.

<Effects> To summarize the effects of the present invention explained above, (1) In the rudder angle mode, the operation of the push button switch corresponding to the command rudder angle or the command by the idiomatic phrase (little, easy, hard, middle ship) also corresponds to the command rudder angle. Since the vehicle can be steered with a single touch of a button switch, there is no need for manual steering using a conventional steering wheel, and error-free, reliable and quick steering can be achieved.

(2) In heading mode, simply set the commanded course on the display and operate the entry key.
Since the ship is automatically steered along the commanded course, there is no need for manual steering using the steering wheel as in the past, and safe course-keeping steering can be achieved regardless of the experience and skill of the helmsman.

(3) In steady mode, when a command is given, just by operating the corresponding pushbutton switch, the vehicle will be automatically steered from now on using the direction at the time of the command as a course setting signal, so the direction at the time of the command is memorized as before. It is not necessary to keep the course by manual steering using the steering wheel, and similarly to the above, safe course-keeping steering can be achieved regardless of the experience and skill of the helmsman.

(4) The device of the present invention can be used not only when a pilot or the like is on board the ship, but can also be used on the bridge of a ship for remote steering when necessary during normal ocean navigation. If the connection is extended, it can be used outside the bridge for remote steering when berthing, etc., or it can be used inside the rudder cabin.

[Brief explanation of drawings]

Figure 1 is an explanatory view of the appearance of a control stand that performs steering, Figure 2 is a block diagram showing an example of the configuration of a conventional steering device, Figure 3 is an explanatory diagram of the steering procedure when passing through a narrow waterway, and Figure 4 is an explanatory diagram of the steering procedure when passing through a narrow waterway. A block diagram showing one embodiment of the device of the present invention, FIG. 5 is a configuration diagram of a microcomputer that forms the main part of the invention, FIG. 6 is a configuration diagram of a remote steering panel that also forms the main part of the invention, FIG. 7 is an example of the structure of transmission data in the present invention, and FIGS. 8 and 9 are flowcharts for explaining the software operation of the apparatus of the present invention. DESCRIPTION OF SYMBOLS 1... Control stand, 3... Steering mode changeover switch, 5... Course setting device, 6... Steering handle, 8... Gyro compass, 14... Amplification circuit, 15... Comparison circuit, 2, 16... ... Repeater compass, 17... Rudder control mechanism, 18...
Rudder, C ...Remote steering section, 29...Remote steering board, 2
6-28...Signal line.

Claims (1)

[Claims] 1. A first device that is manually set on a control stand.
Manual steering mode using the rudder angle setting signal, and first mode set using the direction measurement signal and control stand.
In a steering system that steers a ship by operating a rudder control mechanism by switching between an automatic steering mode obtained based on a course setting signal, multiple switches for starboard and ports, a midship setting switch, and a course mode are used. a remote steering board having a numeric keypad, a steady command button, and a voice generator for remotely setting a second course setting signal; and signals from the remote steering board, the first course setting signal, the direction measurement signal, and the rudder. A steering angle signal based on the operation of the control mechanism and a status signal from a mode changeover switch for switching between manual steering mode, automatic steering mode, or remote steering mode are input, and predetermined signal processing is performed to control the automatic steering mode or the remote steering mode. a microcomputer that outputs a control output signal to the mode changeover switch and an answer back signal to the remote steering panel; When the mode changeover switch is in the remote steering mode position, a second steering angle setting is set on the remote steering panel based on the operation of one of the port or starboard switch groups or the midship setting switch. A signal is transmitted to the microcomputer to obtain a control output signal corresponding to the second steering angle setting signal, or a second course setting signal set on the remote steering board based on the operation of the numeric keypad is transmitted to the microcomputer. A control output signal based on a second deviation signal transmitted and related to the difference with the azimuth measurement signal is obtained, or a signal based on the steady command button operation is transmitted from the remote steering panel to the microcomputer when the steady command is issued. A control output signal based on a third deviation signal related to the difference between the third course setting signal and the direction measurement signal is obtained later by using the azimuth measurement signal as a third course setting signal, and these signals in each mode are used as a third course setting signal. A steering device in which an answer back signal generated when a computer correctly receives from the remote steering panel is transmitted to the remote steering panel to drive the voice generating device on the remote steering panel.