JPH0521184Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a deviation display circuit for a course deviation meter.

(Prior art) Conventionally, as disclosed in Japanese Patent Laid-open Publication No. 59-47613 entitled "Workboat Guidance System," a route deviation meter has been used to detect a planned route for guiding a workboat to a destination point. When a deviation meter is installed on a work boat and the ship's position data measured by a positioning device using radio waves or light waves while sailing is input into the course deviation meter, the deviation from the preset course is calculated and the deviation is displayed digitally. At the same time, an analog meter is used to display the information and use it to maneuver the ship to reduce this deviation.

FIG. 2a is a block diagram of an embodiment of a course deviation meter in a conventional work boat guidance system.

In FIG. 2a, A is a main station of a radio wave or light wave positioning instrument installed on board a ship, and B and C are slave stations installed at fixed points, respectively. 1A is a route deviation meter main body, 2 is an arithmetic circuit, 3 is a route setting circuit, 1B is a route deviation meter display unit installed on the bridge of a work boat,
4 is a digital display, 5 is a D/A converter, and 6 is a display meter.

In this work boat guidance system, the distance from the main station A of the positioning instrument installed on the ship to the slave stations B and C installed at fixed points on land is measured, and this measured data is sent to the calculation circuit of the course deviation meter. , calculate the coordinate components of the own ship's position, and at the same time calculate the deviation from the coordinate components of the route set in advance in the route setting circuit 3.
Output as a parallel digital signal from the arithmetic circuit 2,
Display section 1B installed on the bridge using a multi-core cable
The deviation is displayed numerically on the digital display 4, and the deviation is displayed in analog form on the display meter 6 via the D/A converter 5. This display meter 6 is shown in Figure 2b.
As shown in the figure, a scale is used in which the deviation is equally divided on the (+) or (-) side with 0 as the center.

FIG. 2c is an explanatory diagram of the principle of deviation measurement.

To measure the deviation, move the origin P of the coordinate system of the north axis X and east axis Y on the map to the coordinates X ₁ , Y ₁ as shown in Figure 2c.
Move to the origin P ₁ , create a new coordinate system x, y rotated by θ from the X axis, and set w = parallel to the y axis.
Set a route x ₀ . In order to navigate along this set route, the work boat measures its own position using a positioning instrument, and inputs the measured data to the calculation circuit 2 of the route deviation meter, which allows it to navigate along the preset route x.
= x A deviation to the right or left from ₀ is output as a (+) or (-) deviation as a digital signal. This signal is sent to the display section 1B, and the deviation value and the direction of deviation are displayed on the display 4 and the display meter 6, so the operator should mainly watch the pointer on the display meter 6 and make sure that the pointer points to 0. He was maneuvering the ship.

(Problem that the invention aims to solve) However, as mentioned above, in the conventional route deviation meter, the output of the arithmetic circuit that calculates the deviation between the preset route and the own ship's route is a parallel signal. If the deviation of is to be displayed in 4 digits,
When outputting in BCD code, 16 or more wires including other control lines etc. were required, which caused operational problems during installation work, maintenance inspection, etc.

In addition, the deviation calculated by the arithmetic circuit is output as a digital signal and displayed as it is on the digital display, and is also converted to an analog signal by the D/A converter and displayed as a display meter for both deviations around the zero center. The deviation is indicated by At this time, the output voltage of the D/A converter changes linearly in proportion to the digital signal input to the converter, so if the voltage is amplified to increase the accuracy of reading the deviation, it will be displayed at the full scale of the display meter. On the other hand, if you reduce the voltage amplification degree so as to increase the deviation value expressed in full scale, the accuracy of reading the deviation will decrease, so it is necessary to change the sensitivity of the display meter depending on the size of the deviation. The problem was that it required the means of

It is an object of the present invention to provide a course deviation meter which reduces wiring between the main body of the course deviation meter and the display section, has high display reading accuracy in a range of small deviations, and has a wide deviation display range.

(Means for Solving the Problems) The present invention includes a first arithmetic circuit for calculating the position coordinate component of the ship in the main body of the route deviation meter, and a parallel digital signal of the position coordinate component output from this arithmetic circuit. A parallel-to-serial converter for converting into a serial digital signal is provided, and the serial digital signal output from this converter is sent via a pair of lines to a display section provided on the bridge, where the serial-to-parallel converter is The parallel digital signals are converted into parallel digital signals and applied to the second arithmetic circuit. This arithmetic circuit compares the coordinate components of the route set in advance in the route setting circuit to calculate the deviation from the set route. At this time, the arithmetic circuit performs different calculations depending on the magnitude of the difference between the two coordinate components, so that when the calculated deviation is small, the reading accuracy on the display meter is high, and when the deviation is more than a specific value, In this case, the reading accuracy is low, but the calculation result is output so that the deviation display range is wide, and a display meter with a polygonal line scale corresponding to the output is provided via a D/A converter. be.

(Function) According to the present invention, since the main body and display part of the route deviation meter are configured as described above, the position coordinate components of the ship from the main body are used for general computer communication via a pair of lines. It can be transmitted as a serial digital signal using a standard method such as RS-232C.

In addition, the display on the deviation indicator is a program built into the arithmetic circuit that calculates the deviation between the coordinate components of the set route and the position coordinates of the ship.If the deviation exceeds a certain value, the deviation is compressed to 1/n. By adding a subroutine to output the output from the arithmetic circuit, the output of the arithmetic circuit is outputted as an analog value by the D/A converter, and the deviation is measured by a display meter having a polygonal scale corresponding to this output. When the deviation is small, the reading accuracy is fine, and when the deviation is large, the reading accuracy is coarse, but the display range of the deviation can be expanded.

(Example) Fig. 1a is a block diagram of an embodiment of the present invention, Fig. 1b is a block diagram of an embodiment of the display section of the present invention, and Fig. 1c is a diagram of the display meter used in the present invention. It is a figure showing one example of a scale.

In FIG. 1a, A is the main station of a positioning instrument using radio waves or light waves, and B and C are slave stations installed at fixed points on land.

11A is the main body of the route deviation meter, which includes an arithmetic circuit 12;
It consists of a parallel-to-serial converter 13 and is installed together with the positioning device main station A. Reference numeral 11B denotes a display section of a route deviation meter, which is comprised of a serial-parallel converter 14, an arithmetic circuit 15, a route setting circuit 16, a digital display 17, a D/A converter 18, and a display meter 19, and is installed on the bridge. Note that the main body portion 11A and the display portion 11B are connected by a pair of lines.

FIG. 1b is a block diagram of an embodiment of the display section centered on a micro CPU used in the arithmetic circuit 15 of the display section 11B, where 21 is the micro CPU, 22 is a memory, 23 is an input circuit, and 24 is an output circuit. The other parts are the same as the numbers in Figure 1a.

The operation of the deviation display circuit of the course deviation meter according to the present invention will be explained with reference to FIGS. 1a and 1b. The position information of the vessel during navigation measured by the positioning instrument main station A is calculated into position coordinate components in the arithmetic circuit 12 of the course deviation meter main body 11A, and is sent to the display section 11B via the parallel-to-serial converter and the line. .

In the display section 11B, position coordinate components based on serial digital signals are converted into parallel digital signals by a serial-parallel converter 14, stored in a memory 22, and sequentially sent to an input circuit 23 by a micro CPU.
The deviation from the coordinate components of the route set in advance from the route setting circuit input through the route setting circuit is calculated, and the deviation is displayed on the digital display 1 via the output circuit 24.
At the same time as the numerical value is displayed on 7, the D/A converter 1
8 and is displayed on the display meter 19.

In this case, the output voltage of the D/A converter 18 is proportional to the input digital value, and the voltmeter used as a deviation indicator normally changes linearly, so it is necessary to read it during navigation, for example. If the maximum deviation value is 100m and 100m is taken as the full scale of the display meter, the minimum deviation that can be read becomes extremely rough as shown in Figure 2b, making it difficult to navigate accurately along the set route. becomes. Therefore, when the deviation A is from 0 to a specific value B, the output voltage V ₁ of the A/D converter 18 is V ₁ = A・β (β is a coefficient), and when the deviation A exceeds the specific value B, the deviation is 1. It is only necessary to program the arithmetic circuit so that the output voltage V ₂ is compressed to /n and the output voltage V 2 becomes V ₂ =(A-B/n+B)β.

In this way, the deflection of the display meter does not change linearly as in the past, and the accuracy of reading the deviation is increased within deviations where vessel maneuvering time delays are a problem. Although it will be rough, it is possible to widen the display range of deviation. In Figure 1 c, B is 10 (m), n is 10, maximum display deviation is 100 (m)
This is an example of a scale in the case of .

Next, we will explain the operation of the micro CPU and its flowchart.

FIG. 1b shows an embodiment in which the display section 11B is constructed using a micro CPU as described above.

In Figure 1b, 21 is a micro CPU;
2 is a memory, 23 is an input circuit, 24 is an output circuit:
14 is a serial-parallel converter, 16 is a route setting circuit,
17 is a digital display, 18 is a D/A converter, 1
9 is a display meter.

The operation of each part is as follows.

1 The micro CPU 21 performs calculations and executes programs.

2. The serial-parallel converter 14 receives the ship position data in the form of a serial digital signal sent from the main body 11A, converts it into a parallel digital signal, and outputs it.

3. Memory 22 contains programs and data.

4. The D/A converter 18 converts the deviation calculated by the micro CPU 21 into an analog signal.

5 The route setting circuit 16 calculates the coordinate components of the planned route x ₀ ,
Set y ₀ .

6. The input circuit 23 inputs the set coordinate components x ₀ and y ₀ . Here, x ₀ and y ₀ are offset values with respect to the x axis or y axis, and the deviation is calculated with respect to x ₀ or y ₀ .

7 The output circuit 24 outputs the calculated deviation to the digital display 17.

8. The display meter 19 has a polygonal scale and displays the deviation based on the output power of the D/A converter. Display meter 1
An example of a scale of 9 is shown in FIG. 1c.

FIG. 1d is a flowchart of the main program. The operation is as described below.

101 Start 102 Controls the conversion of serial digital signals to parallel digital signals.

103 Read the positioning data from the serial-parallel converter.

104 Store coordinate components x and y from positioning data in memory.

105 Route setting circuit 16 via input circuit 23
Read the configuration data x ₀ or y ₀ .

106 Determine whether the input setting coordinate component is x ₀ or y ₀ . This is determined by the status of a separately provided switch.

107 Calculate the deviation with respect to the x-axis.

108 Calculate the deviation with respect to the y-axis.

109 Performs polygonal line calculation and outputs the deviation.

110 Output to analog display meter via digital display and D/A converter.

FIG. 1e is a flowchart of a subroutine for polygonal line calculation. The operation is as described below.

111 Start 112 The input deviation x ₁ or y ₁ is once converted into a variable in another subroutine called Z.

113 Determine whether variable Z is larger or smaller than value B at the bending point of the polygonal line.

114 When the variable Z is smaller than B, the output A ₁ of the arithmetic circuit is A ₁ = α・Z (here α is the coefficient) 115 When the variable Z is larger than B, the output A ₂ of the arithmetic circuit is A ₂ = An operation is performed such that {(Z-B)/n+B}α (where n is a compression coefficient).

116 Return, return to the main program and execute 101.

(Effects of the invention) As explained in detail above, according to the invention, when a ship navigating along a preset route approaches the set route, the deviation displayed on the display meter can be read, making it easier to maneuver the ship. It's easy to do. Furthermore, even if the system deviates significantly from the set route, it is possible to know the approximate deviation, which can be expected to be very effective when guiding survey vessels and construction vessels.

[Brief explanation of the drawing]

Fig. 1a is a comprehensive system diagram of an embodiment of the invention, Fig. 1b is a configuration diagram of an embodiment of the display section of the invention, and Fig. 1c is a diagram showing an example of the display scale of the invention. , Figure 1d is a flowchart of the main program in Figure 1b, Figure 1e is a flowchart of the subroutine in Figure 1b, Figure 2a is a comprehensive system diagram of an example of a conventional course deviation meter, FIG. 2b is a diagram showing an example of the scale of a conventional deviation display meter, and FIG. 2c is a diagram illustrating the principle of deviation measurement of the route deviation meter. A...Location master station, B, C...Slave station, 1A...
Main body, 1B...Display section, 2...Arithmetic circuit, 3...
...Route setting circuit, 4...Digital display, 5...
D/A converter, 6...Display meter, 11A...Main unit, 11B...Display section, 12...Arithmetic circuit, 13
... Parallel-serial converter, 14 ... Series-parallel converter, 15 ... Arithmetic circuit, 16 ... Route setting circuit,
17...Digital display, 18...D/A converter, 19...Display meter.

Claims (1)

[Claims for Utility Model Registration] The position of a ship navigating along a preset route is measured using a positioning instrument, the positional coordinate components are calculated from the position data, and the coordinate components are compared with the coordinate components of the set route. A route deviation meter that calculates and displays the deviation from the set route by using a serial-to-parallel converter that receives the position coordinate component of the ship as a serial digital signal and converts it into a parallel digital signal, and sets the coordinates of the route. A route setting circuit,
The position coordinate component of the vessel and the coordinate component of the set route are compared, different calculations are performed depending on the magnitude of the difference between the two components, and when the difference is larger than a specific value, the deviation is compressed. A deviation display of a route deviation meter, comprising: an arithmetic circuit that outputs the deviation; an indicator that digitally displays the deviation; and a display meter having a polygonal scale that displays the deviation in analog form via a D/A converter. circuit.