JPH06230714A - Rolling mechanism for yacht navigating simulator - Google Patents

Abstract

PURPOSE:To improve presence of vessel rocking in a yacht navigating simulator. CONSTITUTION:When a boom angle. etc., is controlled fitting in receiving wind as a result of heeling of a yacht 1 for training, a heel angle is changed accordingly, and the state of sails 4, 5 receiving the wind is changed. A force affected on the vessel body 2 of the yacht for training is changed by such sail operation. and a sailing state can be changed variously. A computer detects the sailing state of the yacht for training according to the detected value of a sensor, and drives a motor so as to affect a restoring force assuming the case where the yacht is floating on the water actually, on the vessel body of the yacht for training. Thereby, the yacht for training can be rolled similarly as rolling when the yacht is floating on the water.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a yacht maneuvering simulator for carrying out yacht maneuvering training on land, and in particular,
The present invention relates to a rolling mechanism for rolling a training yacht like a real ship.

[0002]

2. Description of the Related Art A yacht sails by getting thrust from the wind force acting on the sail. Since this thrust changes depending on wind speed, wind direction, sail angle (boom angle), etc., learn yacht maneuvering technology. For this reason, it is important to actually go out and practice in the sea. Therefore, in the conventional practice of yachts, it is usual that the yacht is practiced by riding with an expert at sea.

However, practice at sea depends on the weather,
In addition, it is difficult for beginners to easily learn the yacht maneuvering skills because it is difficult to make a training plan because it is necessary to practice according to the convenience of both the trainee and the trainee.

For this reason, various ship-handling training simulators have been proposed which allow the ship to practice ship-handling at any time on land. All of these ship training training simulators are equipped with a mechanism for rocking the hull of the training yacht in the rolling direction as an essential component so that you can feel the hull floating above the water. ing. The mainstream of this rolling mechanism is a computer-controlled one that calculates the hull attitude based on the wind force, boom angle, etc., and forcibly causes the hull sway based on the calculation result.

[0005]

However, since the conventional computer-controlled rolling mechanism forcibly causes the hull sway from roll to restoration based on the calculation result, the change in wind force and Responsiveness to the operator's weight shift was poor, and the hull sway of the training yacht caused by this was similar to the actual hull sway on the water.

The present invention was made in view of the above circumstances, and an object thereof is to provide a rolling mechanism of a yacht maneuvering simulator capable of rocking a training yacht as if it were rocking on the water. To do.

[0007]

In order to achieve the above object, the rolling mechanism of the first invention changes the hull attitude of a training yacht like a real ship while sending wind to the sail of the training yacht. In a yacht maneuvering simulator that conducts ship maneuvering training, an arcuate rolling frame fixed to the lower part of the hull of the training yacht with its center of curvature aligned with the center of rolling of the hull, and the training yacht acting on the sail. A plurality of guide rollers that freely rotate by supporting several points of the rolling frame so that they can be freely rolled by wind force, a rack provided along the curvature direction of the rolling frame, and mesh with the rack. A rotating pinion, a servomotor connected to the rotating shaft of the pinion, and an external force acting on the hull of the training yacht. A plurality of sensors arranged on the rolling frame to be measured and the sailing state of the servo yacht are detected based on the detection values of these sensors, and the restoring force is assumed assuming that the yacht is actually floating on the water. And a control device for driving the motor to act on the hull of the training yacht.

The rolling mechanism of the second invention is the yacht maneuvering simulator for carrying out the marine vessel maneuvering training while sending the wind to the sail of the training yacht and changing the hull posture of the training yacht like a real ship. An arcuate rolling frame fixed to the lower part of the hull of the training yacht with its center of curvature matched to the center of curvature of the hull, and the rolling frame of the above-mentioned rolling frame so that the training yacht can be freely rolled by wind force acting on the sail. The training yacht itself is provided with a plurality of guide rollers that support several points and freely rotate, and the mass and the center of gravity of the rolling portion composed of the training yacht and the rolling frame are set on the training yacht itself when it floats on the water. It is set to have the same restoring force.

[0009]

The rolling mechanism according to the first aspect of the present invention configured as described above does not have a mechanism for positively rolling the training yacht, and the hull of the training yacht is free to roll with respect to the wind. I am able to do it. For this reason,
The training yacht will roll (heel) sensitively to the winds it receives. As a result of the heel of the training yacht, if you control the boom angle etc. according to the wind received, the heel angle changes accordingly,
The sail changes wind conditions. This sail operation changes the force acting on the hull of the training yacht, and the sailing state changes variously. The computer detects the sailing state of the training yacht based on the detection value of the sensor, and drives the motor to apply a restoring force assuming that it is actually floating on the water to the hull of the training yacht. To do. This will cause the training yacht to roll just as if it were floating above the water.

Further, according to the rolling mechanism of the second invention, the driving mechanism for giving the restoring force to the training yacht can be omitted, and since it is not necessary to control the rolling servomotor, the calculation load is increased. The system can be reduced and the system can be made cheaper.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below.

FIG. 1 shows an outline of a yacht maneuvering simulator equipped with the rolling mechanism of the present invention. The training yacht 1 is a yacht that is substantially the same as the dinghy and is outfitted in the same manner as a normal yacht. In the figure, 2 is a hull, 3 is a mast, 4 is a main sail, 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 tiller for operating the rudder 9, 11 is a cockpit on which a trainee rides, and a foot belt for hiking out in the cockpit 11 ( (Not shown) and the like. Blowers 33 and 34 are provided on the ceiling 32 at the front and the rear of the training yacht 1, respectively. The hull 2 is supported on a floor FL, which is the surface of the sea, so as to swing in the rolling direction and the pitching direction and to be horizontally swiveled (yawed). That is, a machine room MR is formed below the floor FL, a turning mechanism 12 provided with a horizontally rotatable turntable 14 is provided on a foundation 13 thereof, and a parallel link type pitching mechanism 15 is provided on the turntable 14. The rolling mechanism 16 is provided on the pitching mechanism 15, and the hull 2 is supported via the rolling mechanism 16 so as to be swingable in the rolling direction and the pitching direction and to be horizontally rotatable.

The turning mechanism 12 and the pitching mechanism 15 are drive devices 17, 18 for positively rocking the hull 2.
The horizontal turning drive device 17 rotates the turntable 14 for horizontal turning of the hull 2, and the pitching driving device 19 drives the parallel link 19 on the turntable 14 for pitching.
The posture in each direction is controlled.
On the other hand, the rolling mechanism 16 of the present invention does not include a drive means for actively swinging the hull 2, and the hull 2 can freely roll with respect to the wind. The yacht maneuvering simulator controls the turning mechanism 12, the pitching mechanism 15 and the rolling mechanism 16 by a computer 31 installed beside the training yacht 1 to combine rolling, pitching and yawing movements to combine the hull 2 It is designed to give the sway to the actual ship.

The rolling mechanism of the present invention will be described below with reference to FIGS. 2 and 3.

As shown in FIG. 2, the rolling mechanism 16
Is a rolling frame 24 having four guide rollers 22 arranged on the motion base 21 of the pitching mechanism 15, a pair of front and rear arcuate members 23 supported by these guide rollers 22 and freely rolling, and the rolling frame 24. The three load cells (sensors) 25 provided on the frame 24 and the load cells 25
The main part is constituted by the holding frame 26 which is supported by points. The holding frame 26 is fixed to the lower central portion of the hull 2. As shown in FIG. 3, the load cells 25 are provided at three points on the rolling frame 24 to support the entire load of the training yacht 1 and the holding frame 26. The load cells 25 allow the hull 2 of the training yacht 1 to be supported. It is possible to detect the forces acting on the three axial directions.
The detection values of these load cells 25 are constantly input to the computer 31 as data for detecting the sailing state. A pair of front and rear arc-shaped members 23 of the processing rolling frame 24
Is provided with its center of curvature coincident with the rolling center S of the hull 2, and when an external force acts on the training yacht 1 in the rolling direction due to the operator's weight shift, wind, etc., both arc-shaped members 23 Is guided by the guide rollers 22 to move to freely roll the yacht hull 2. Training yacht 1 and rolling frame 2
The center of gravity G of the rolling portion consisting of 4 and 4 is below the rolling center S. Racks 27 are formed outside the arcuate members 23 along the direction of curvature, and mesh with the pair of front and rear pinions 28 provided on the motion base 21. Both pinions 28
Are fixed to a common rotary shaft 29.
The drive shaft of the servomotor 30 installed beside it is connected via a coupling mechanism (not shown).

The computer 31 processes the external force detected by the sensors 25 to detect the sailing state of the yacht, and performs data processing to calculate the rolling external force. Furthermore, when the yacht is actually floating on the water by calculating the rolling angle at which this rolling external force and the restoring force of the yacht are balanced, giving the target position of the servo motor 30 corresponding to that angle as a command value, and performing drive control. Is applied to the hull 2 of the training yacht 1.

If a direct drive motor is used as the servo motor 30, the gain of the position servo system can be set appropriately so that each sensor 25 as described above can be operated.
A force corresponding to the restoring force of the yacht can always be generated without calculating the target position from the external force detected by.

According to the rolling mechanism 16, the training yacht 1 rolls (heels) sensitively to the wind received by the sail 4. Then, the computer 31 detects the sailing state of the yacht based on the detection value of each sensor 25, and the restoring force corresponding to the detected sailing state is provided for the training yacht 1
The hull 2 of the training yacht 1 by acting on the hull 2 of
Will roll exactly as if he were actually floating on the water. The computer 31 further calculates the propulsive force and direction of the yacht from the yacht sailing state and the rudder angle obtained based on the detection values of the sensors 25, and drives and controls the rolling mechanism 16 and the turning mechanism 12 and the pitching mechanism 15 together. Then, various fluctuations similar to those of the actual ship are given to the hull 2. Therefore, according to this yacht maneuvering simulator, the maneuvering training can be performed with an extremely high sense of reality.

[0019]

In summary, according to the rolling mechanism of the yacht maneuvering simulator of the present invention, the training yacht is allowed to freely roll with respect to the wind, and the restoring force is assumed for the case where it is actually floating on the water. Since it is applied to the hull of the yacht, the training yacht can be rolled just as if it were floating above the water.

[Brief description of drawings]

FIG. 1 is an overall view showing an embodiment of a yacht maneuvering simulator equipped with a rolling mechanism according to the present invention.

FIG. 2 is a diagram showing a main part of FIG. 1, in which (a) is a front view,
(B) is a partial enlarged side view.

FIG. 3 is a schematic plan view showing the arrangement of sensors in the rolling mechanism according to the present invention.

[Explanation of symbols]

 1 Training yacht 2 Hull 4 Mainsail 5 Jibsail 9 Ladder 18 Sensor 22 Guide roller 24 Rolling frame 27 Rack 28 Pinion 29 Rotating shaft 30 Servomotor 31 Computer 33 Blower 34 Blower S Rolling center

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomio Mizuno 1-15-1 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toji Technical Center (72) Inventor Hiroaki Tomimatsu 3-chome, Toyosu, Koto-ku, Tokyo No. 1-15 Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center (72) Inventor Takao Ushioku 3-15-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toji Technical Center

Claims (2)

[Claims] 1. While sending wind to a sail for training yachts,
Also, in a yacht maneuvering simulator that conducts ship maneuvering training while changing the hull attitude of the training yacht in the same manner as an actual ship, in an arc shape fixed to the rolling center of the hull of the training yacht with its rolling center aligned with the center of curvature. A rolling frame, a plurality of guide rollers that freely rotate by supporting several points of the rolling frame so that the training yacht can be freely rolled by wind force acting on the sail, and along the curvature direction of the rolling frame. A rack provided, a pinion that rotates while meshing with the rack, a servomotor connected to the rotation shaft of the pinion, and a rolling frame on the rolling frame to measure an external force acting on the hull of the training yacht. The sailing condition of the yacht is detected based on the sensors provided and the values detected by these sensors. A rolling mechanism for a yacht maneuvering simulator, comprising: a computer for driving the servomotor so as to apply a restoring force assuming that it is actually floating on water to the hull of the training yacht. . 2. While sending wind to a sailing yacht for training,
Also, in a yacht maneuvering simulator that conducts ship maneuvering training while changing the hull attitude of the training yacht in the same manner as an actual ship, in an arc shape fixed to the rolling center of the hull of the training yacht with its rolling center aligned with the center of curvature. The training yacht and the rolling frame are provided with a rolling frame and a plurality of guide rollers that freely rotate by supporting several points of the rolling frame to freely roll the training yacht by wind force acting on the sail. A rolling mechanism of a yacht maneuvering simulator, characterized in that the mass and the position of the center of gravity of the rolling part consisting of are set so that the training yacht itself has a restoring force equivalent to that when it is floating on the water.