JPH05137823A - Simulator for training yacht steering - Google Patents

Abstract

PURPOSE:To learn sailing technique while enjoying a sailing feeling by actually sending wind to a sail while detecting the sailing condition given to a yacht, adjusting the position of the yacht on the basis of the condition and projecting a sight and a wake of the yacht on a screen. CONSTITUTION:A hull 2 is supported to be turned horizontally while a floor FL is swung in the rolling and pitching directions. Also, the position of the hull 2 is controlled by drive devices 17a-c for adjusting freely angles in the rolling, pitching and turning directions. Forces acting on the hull 2 are detected respectively by sensors 18a, 18b, 18d, and the turning position, rubber angle and boom angle of the hull 2 are detected by sensors 18e, 18c, 18f. Further, moment applied to a mast in the rolling direction is detected by a sensor 18g. Blowers 21, 22 are provided on a ceiling 20 and a screen 23 and projector 23 for projecting a sight, wake, etc., are provided on the floor FL.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a simulator for training sailing of a dinghy yacht.

[0002]

2. Description of the Related Art As sailing for a dinghy yacht such as a sloop, a closed hold for the wind direction,
There are window beams and running, and there are tacking and gybing as direction changes. These can be operated freely by learning the three basic techniques: operation of the main seat that determines the boom angle, operation of the tiller that determines the rudder angle, and the embarkation position and posture (hikeout) that determines the heel angle. , Can sail.

In order to master this basic technique, it is important to actually go out and practice in the sea, but it is actually impossible for a beginner to sail alone, and as an instructor at a yacht school or the like. You need to get on board and learn these techniques.

[0004]

However, since only a few people can actually go to the yacht school, etc., and their practice depends on the weather, it is very easy to learn these techniques while enjoying the feeling of sailing. Very difficult.

Therefore, a device for practicing marine vessel maneuvering on land is disclosed in Japanese Patent Laid-Open No. 60-60338 and Japanese Patent Publication No. 2-101489.
However, all of them have merits and demerits, and there is a problem that beginners can not easily learn the technique while experiencing the sailing sensation.

Therefore, an object of the present invention is to solve the above problems and to provide a simulator for yacht maneuvering training in which sailing techniques can be learned while experiencing the feeling of sailing very easily.

[0007]

In order to achieve the above object, the present invention provides a training yacht, a drive device for swinging the training yacht in a rolling direction and a pitching direction and horizontally turning the training yacht, and a training yacht. The blower that sends the wind to the sail, the sensor that detects the sailing state of the yacht such as the direction of the yacht with respect to the wind and its load, heel angle, rudder angle, boom angle, and the detected values of the sensor are input, and these detected values are input. A control calculation device that calculates and determines the traveling direction and heel angle of the training yacht and outputs it to the drive device, a screen provided in front of the training yacht, a projector that reflects the scenery and wakes, and the above control An image control arithmetic unit for controlling an image projected by a projector, to which an output of the arithmetic unit is input, is provided.

[0008]

According to the above structure, the blower blows wind to the sail to give thrust to the yacht, and the sailing state actually received by the yacht is detected by the sensor based on the operating conditions of the operator's tiller and main seat. The drive adjusts the yacht's attitude such as the direction of travel and heel angle based on the state, and the scenery of the direction of travel and the track of the yacht are displayed on the screen, so you can enjoy the feeling of sailing and learn each technique. ..

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

First, an outline of a training yacht will be described with reference to FIGS.

3 to 7 show a yacht substantially the same as Y15 as the training yacht 1. This training yacht 1
It is outfitted in the same way as a normal yacht.
Is a hull, 3 is a mast, 4 is a mainsail, 5 is a jib sail, 6 is a boom, 7 is a main seat for operating the mainsail 4, 8 is a jib seat, 9 is a rudder, 10 is a rudder 9
Tiller 11 for operating a trainer is a cockpit on which a trainee rides, and a foot belt 12 for hiking out is equipped in the cockpit 11.

Now, the hull 2 is placed on the floor FL which is the surface of the sea.
It swings in the rolling direction and the pitching direction and is supported so that it can be horizontally swung (yawed). That is, a machine room MR is formed below the floor FL, a horizontally rotatable turntable 14 is provided on the foundation 13, a pitching mechanism 15 is provided on the turntable 14, and rolling is performed on the pitching mechanism 15. A mechanism 16 is provided, through which the hull 2 is supported so as to be swingable in the rolling direction and the pitching direction and rotatable in the horizontal direction.

This hull 2 has a drive unit 1 for freely adjusting the angles of the rolling direction, the pitching direction and the turning direction.
The posture is controlled by 7c, 17b and 17a. That is, as shown in FIGS. 6 and 7, in the horizontal turning, the horizontal turning drive device 17 a
By rotating the roller, the posture is controlled by driving the pitching driving device 17b on the turntable 14 and the rolling by driving the rolling driving device 17c on the pitching mechanism 15. It

The force acting on the hull 2, that is, the load in the lengthwise and widthwise directions of the yacht and the moment M in the rolling (heel angle) direction are detected by the sensors 18a, 18 respectively.
b, 18d, the turning position θ ₁ of the hull 2, the rudder angle θ ₃ by the tiller 10, the boom angle θ ₂ by the operation of the main seat 7, etc., are also sensors 18e, 18c, 18d.
It can be detected by f. The moment Mm in the rolling direction applied to the mast is measured by the sensor 18g.
Detected at.

Ceilings 2 in front of and behind the training yacht 1.
Blowers 21 and 22 are hung down at 0, respectively, and a screen 23 is provided on the floor FL in front of the training yacht 1 for showing a landscape, a wake, etc., and an image is projected on the screen 23. A projector 24 is provided for this purpose.

Next, the yacht maneuvering training simulator of the present invention will be described with reference to FIG.

First, assuming that the yacht 1 is sailing in the closed hold of port tack in the upwind direction 30 as shown in FIGS. 1 (b) and 1 (c), the sensors shown in FIG.
In the sensor circuit 31 of (a), forces in the ship length direction X and the ship width direction Y, an angle θ _{1 in} the traveling direction with respect to the upwind direction 30, a boom angle θ ₂ , a ladder angle θ ₃ (FIG. 1B). ), Heel angle θ ₄ , heel moment M (FIG. 1C), and the like are input, and these detection values are input to the control arithmetic unit 32 as a sailing state. The angle is positive for port tack and negative for starboard tack.

The control arithmetic unit 32 includes a start-up device
An operation panel 3 including a control panel 33 for inputting stop, setting of wind speed and other sailing instructional points, and a CRT 34 for displaying track, boat speed, elapsed time, sailing instructional points, etc.
5 is connected. The operation unit 35 is arranged at an appropriate position on the floor FL so that the instructor can operate it.

The control arithmetic unit 32 includes a motion model circuit 36.
The motion equation is input from, the detection value from various sensors is calculated based on the motion equation, and this is output to the drive device 17 as a control value. The drive device 17 adjusts the turning angle and the heel angle (rolling angle) which are the traveling directions of the yacht 1 according to the control value, generates the pitching angle (corresponding to a wave) at an appropriate cycle, and The sailing state is fed back to the control arithmetic unit 32.

The calculation result of the control arithmetic unit 32 is input to the video control arithmetic unit 37. The image control calculation device 37 changes the image of the landscape stored in advance according to the position of the yacht 1 and calculates the wake and outputs it to the projector 24 and displays it on the screen 23. This screen 2
If the image displayed on 3 is, for example, a wake, the starting point P and the windward mark M are displayed on the screen 40 as shown in FIG. 2, and the sailing locus 41 is also displayed. At the same time, the elapsed time, boat speed, etc. are displayed on the screen. It is displayed on the partial screen 42 of 40. Further, in the case of a landscape, the variation speed of the landscape is changed according to the sailing speed, and the size thereof is changed according to the position with respect to the mark M. In addition, the yacht 1 is displayed on the screen 40 of this wake and landscape.
For sailing (closed hold, abeam, running)
It can also be displayed by the operation of the instructor.

In the above, for example, as shown in FIG.
From the starting point P, tacking 41b from the closed hold 41a of the starboard tack, running the closed hold 41c of the port tack, running around the windward mark M and running 41d, gybing 41e and running 41f of the port tack. A case of sailing on a course to reach P will be described.

When first starting, the bow starts to blow to the windward, that is, from the blower 21 on the bow side shown in FIGS. 3 and 5, and the practitioner skipper is located on the starboard side and the bow is on the port side. Tiller 10 to turn to about 45 degrees
To operate. The tiller 10 is included in the control arithmetic unit 32.
The rudder angle by the operation of is input from the sensor and is output to the driving device 17 to rotate the bow toward the port side.
Then, return the tiller 10 and pull in the main seat 7 to close the starboard tack 41.
a. In this case, when the practitioner does not operate the main seat properly, the instructor operates the main seat either directly or from the boom angle sensor and the load sensor in the traveling direction via the video control arithmetic device 37. In order to properly perform the procedure, for example, "Please pull the main seat further" or "Too much pulling in" is displayed on the screen 23. If the rudder angle is not enough, the operation of the tiller is also done on the screen 23. Can also be displayed.

Next, when the closed hold 41a of the starboard tack is entered, the control computing unit 32 computes the boat speed from a load sensor in the traveling direction, and the scenery projected on the screen 23 is moved at a speed based on the boat speed. To change the scenery in the direction of travel. That is, since the sail receives wind from the blower 21 and lift is generated, the hull 2
Since a thrust force and a heel moment are generated in the sensor, the sensor detects this as a load, and the detected value is detected by the control arithmetic unit 3
By inputting to 2, the boat speed and the heel angle are calculated, and the calculation results are output to the image control calculation device 37 and the drive device 17c, respectively, whereby the sailing state can be simulated. Further, during this time, the track of the yacht 1 is also calculated for the starting point P and the mark M. Further, during the sailing, the control calculation device 32 causes the hull 2 to periodically generate pitching due to waves, so that the drive device 17b. Is output to.

The heel angle θ ₄ is the total value of the moment that the mainsail 4 receives by the wind from the blower 21 and the heel moment generated by the position of the trainee.
The heel angle θ ₄ is adjusted by the drive device 17c accordingly.

Next, when tacking 41b from the closed hold 41a of the starboard tack into the closed hold 41c of the port tack, the trainee pushes the tiller 10 to perform the tacking 41b, pulls the main seat 7 and pulls the bow to the starboard side. , While returning the tiller 10 while watching the return of the boom 6 from the port side to the starboard side, the main seat 7 and the tiller 10 are exchanged, sitting on the port side, completing the tacking 41b, entering the closed hold 41c of the port tack, and staring. The same control calculation as the closed hold 41a of the board tack is performed.

Closed hold 4 of this port tack
When the driver goes around the windward mark M from 1c to start running the port tack, the blower 21 is stopped, and the blower 22 on the stern side starts to blow the wind, so that the wind blower 22 is actually rotated without rotating the boat 180. As a result, it becomes running 41d. During this running 41d, the image control device 37 or the image is controlled so that the scenery is reduced from the mark M and the scenery on the screen 23 is reduced. When performing gybing 41e during running, the practitioner is Tiller 1
You can learn how to turn the boat by pulling 0, return boom 6 from starboard to port, adjust tilter 10 and adjust balance, etc.

The above is just an example, and various other sailing exercises can be practiced. In this case, the control arithmetic unit 32
The sailing state is input from the sensor circuit 31 in real time, and the sailing state is arithmetically processed to make the boat's direction and state similar to actual sailing, and the practitioner's main seat and the tiller are operated in response to the sailing. When the instructor uses the screen 23 to instruct whether or not the sailing is performed properly, even a very beginner can find various sailing techniques while enjoying the feeling of sailing.

Further, the blowers 21 and 22 can switch their air volumes, and the wind speed can be set by the operation unit 35.
It can be changed in several steps within the range of 1 to 10 m / sec, making it possible to practice stronger and stronger winds for intermediate and advanced players. In other words, by making the angle of rolling larger, making it easier to heel (up to about 30 degrees), and also making pitching larger, practice how to balance by hiking out, and make it easier to sink when tacking or gybing. You will be able to learn the precise operation to prevent sinking.

Although the operation of the jib seat has not been described above, whether the crew operates the jib seat by the boat, the skipper operates it alone, or the direction is changed during tacking. It may be changed automatically.

[0030]

In summary, according to the present invention, the following excellent effects are exhibited.

(1) A blower blows wind to the sail to give thrust to the yacht, and the sailing condition actually received by the yacht is detected by a sensor based on the operating conditions of the operator's tiller and main seat. By adjusting the yacht's posture such as the direction of travel and heel angle based on the above, and by displaying the scenery of the direction of travel and the track of the yacht on the screen, you can enjoy the feeling of sailing and learn each technique.

(2) Due to the use of wind and a screen, the sail is entangled, shivers, and the feeling of speed is high.

(3) Since the boat speed, heel angle, etc. are calculated using the motion model, the wind of the blower may be a scaled down wind, which is extremely advantageous in terms of installation space, cost, noise, etc. ..

(4) By controlling the image on the screen with a control / arithmetic device, it is possible to perform a training simulation such as returning to the starting point around a mark (target).

(5) Since it can be installed in a dry environment without using a water tank, the safety of trainees is maintained and the maintenance of the device is easy.

(6) Since the force and lateral force of the boat in the traveling direction determined by the wind speed, traveling direction, sail angle, etc. are detected by the sensor, these variables are included in the motion model for calculating the actual boat speed. Since it can be calculated without it, the equation of motion becomes simple.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention.

FIG. 2 is a diagram showing an example of a screen showing a track on the screen in the present invention.

FIG. 3 is a diagram showing an outline of a training boat according to the present invention.

FIG. 4 is a plan view of FIG.

FIG. 5 is a left side view of FIG.

FIG. 6 is an enlarged view of a main part of FIG.

FIG. 7 is an enlarged view of a main part of FIG.

[Explanation of symbols]

 1 Training Yacht 4 Mainsail 17 Drive 18 Sensor 21, 22 Blower 23 Screen 24 Projector 31 Sensor Circuit 32 Control Arithmetic Unit 37 Video Control Arithmetic Unit

Front page continuation (72) Inventor Toshinori Kozuka 3-15-1, Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Ltd. Toji Technical Center (72) Inventor Tomio Mizuno 1-1-15, Toyosu, Koto-ku, Tokyo No. Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center (72) Inventor Takao Ushioku 3-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toji Technical Center (72) Inventor Jun Mizoguchi Ishikawajima-Harima Heavy Industry Co., Ltd. Technical Research Institute, Ishikawa-ku, Yokohama, Kanagawa Prefecture (72) Inventor Keizo Miyasaka 2-2-1 Otemachi, Chiyoda-ku, Tokyo Ishi Kawashima-Harima Heavy Industry Co., Ltd.

Claims (1)

[Claims] 1. A training yacht, a drive device for swinging the training yacht in a rolling direction and a pitching direction and horizontally turning, a blower for sending wind to a sail of the training yacht, and a direction of the yacht with respect to the wind. Sensors that detect the sailing state of the yacht such as its load, heel angle, rudder angle, boom angle, and the detected values of the sensors are input, and these detected values are calculated to determine the traveling direction and heel angle of the training yacht. Control arithmetic unit that outputs to the driving device, a screen provided in front of the training yacht, a projector that displays the scenery and wakes, and the output of the control arithmetic unit is input to control the image projected by the projector A yacht maneuvering training simulator characterized by comprising a video control arithmetic unit.