JPH08216989A - Automatic steering device for ship - Google Patents

Abstract

PURPOSE: To simply control movement and turning round of a ship and the azimuth of a bow by a method wherein a control force necessary to steering of a ship according to the inclination direction and the inclination angle of a joy stick lever and the rotation direction and the rotation angle of a turning- round dial is computed and a thrust distribution amount of a radar, a thruster, and a propulsion propeller is determined. CONSTITUTION: A control computing device 12 inputs signals from a wind speed detector 7, a wind direction detector 8, a ship sheet detector 9, an azimuth angular velocity detector 10, and an azimuth angle detector 11. It is checked whether or not the data therefrom is abnormal. After filtering, a control force necessary to movement and turning round of a ship, and variation in a bow azimuth is computed according to the inclination direction and the inclination angle of a joy stick lever 14 and the rotation direction and the rotation angle of a turning round dial 15. Based on a calculated control force, a thrust distribution amount of a radar 6, a bow thruster 4, a stern thruster 5, and a thrust propeller 3 is calculated. Based on the obtained thrust distribution result, distribution of thrust to the radar 6, the thrusters 4 and 5, and the thrust propeller 3 is controlled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic vessel maneuvering apparatus for a ship which is capable of moving, turning and changing the heading of a ship by using a joystick lever and a turning dial.

[0002]

2. Description of the Related Art A conventional automatic marine vessel maneuvering device using a joystick lever or a turning dial requires, for example, operation of a set switch or the like for setting a heading direction holding mode when changing the heading direction during parallel movement of a ship. Met.

[0003]

However, during the operation of the joystick lever or the turning dial, the operation of the other devices, that is, the operation of the set switch for setting the heading holding mode is very troublesome. .
The present invention has been made in view of such conventional problems, and an object thereof is to operate a joystick lever and a turning dial to move, turn, heading, or the like of a ship according to their operating conditions. An object of the present invention is to provide an automatic marine vessel maneuvering device that can easily control a ship.

[0004]

That is, an automatic vessel maneuvering apparatus for a ship according to the present invention includes a CPP, a thruster, a rudder, a ship speed detector, an azimuth angular velocity detector, an azimuth angular detector, and a control unit. In a ship equipped with a computing device, a remote control box connected to the control computing device has a joystick lever, a turning dial, and a system navigation button, and the control computing device is a wind speed detector or wind direction detector. Data check unit for checking whether the data input from the sensor is abnormal, a filtering unit for filtering the data checked by the data check unit, the tilt direction and tilt angle of the joystick lever, and the turning dial rotation. Depending on the direction of movement and the angle of rotation, movement of the ship, turning,
Calculating control force required to change heading P. I. D control force calculation unit and the P.D. I. D Thrust force calculation unit that calculates thrust distribution amount of rudder, thruster and CPP based on the control force calculated by D control force calculation unit, and thrust fluctuation reduction processing to prevent overload on rudder, thruster and CPP It is characterized by comprising a thrust fluctuation reducing unit for performing.

[0005]

With the above-mentioned structure, the operator can easily control the movement, turning and heading of the vessel by operating the joystick lever and the turning dial.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a control system diagram of an automatic marine vessel maneuvering apparatus according to the present invention. A hull (not shown) has a propulsion propeller (one-axis CPP) 3 driven by a main engine 2 equipped with a speed reducer 1, a bow thruster 4, and a stern. Thruster 5, normal rudder 6, wind speed detector 7, wind direction detector 8, ship speed detector 9 for detecting ship speed (front and rear, left and right), azimuth angular velocity detector 10, and azimuth angle detector 11 And a control arithmetic unit 12.

The portable remote control box 13 connected to the control arithmetic unit 12 includes a joystick lever 14, a turning dial 15, a system maneuvering button 16, a water speed holding button 17, and a wind attitude holding button 18. have. The moving direction of the hull is given by the tilting direction of the joystick lever 14, and the moving speed of the hull is given in proportion to the tilt angle of the joystick lever 14.

Further, while the joystick lever 14 is kept in the neutral position, the turning dial 15 is rotated to maintain the turning angular velocity set and the turning is performed on the spot. The turning direction of the turning dial 15 corresponds to the turning direction of the ship, and the turning amount of the turning dial 15 is proportional to the turning angular velocity.

On the other hand, the control arithmetic unit 12, as shown in FIG. 2, has a wind speed detector 7, a wind direction detector 8, and a ship speed detector 9.
An azimuth angular velocity detector 10, a data check unit 121 for checking whether the data input from the azimuth angle detector 11 is abnormal, and a filtering unit 12 for filtering the data checked by the data check unit 121.
2. Calculate the control force necessary for moving, turning, and changing the heading of the vessel according to the tilting direction and tilting angle of the joystick lever 14 and the turning direction and turning angle of the turning dial 15. I. D control force calculator 123, P.D. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 that calculates the amount of thrust distribution among the rudder 6, the bow thruster 4, the stern thruster 5, and the CPP 3, the rudder 6 described above,
It is composed of a bow thruster 4, a stern thruster 5, and a thrust variation reducing unit 125 that performs a thrust variation reducing process in order to prevent an overload from being applied to the CPP 3.

Next, the operation of the above-mentioned automatic marine vessel maneuvering device will be described. When the azimuth holding control arithmetic unit 12 is started, as shown in FIGS. 3 and 4, the azimuth angular velocity detector 10 and the azimuth angle detector 11 are shown.
From sensors such as azimuth, azimuth angular velocity, wind direction, wind speed,
The ship speed is input (n1).

The operator operates the system operation button 16
When is pressed (n2), the system marine vessel maneuvering mode is set (n3, n4). Therefore, in order to maintain the heading of the hull 20, the operator sets the joystick lever 14 to the neutral position and the turning dial 15 to the neutral position as shown in FIG. 5A (n5). , N
6), the operation amount of the joystick lever 14 is “0” both in the tilt direction and the tilt angle, and the operation amount of the turning dial 15 is also “0” in both the rotation direction and the rotation angle.
P. I. The D control force calculation unit 123 uses the azimuth angular velocity detector 1
Necessary to hold the heading in the heading setting direction (the heading direction when the joystick lever 14 and the turning dial 15 are set to the neutral position) based on the azimuth angle velocity data of 0 and the azimuth angle data of the azimuth detector 11. The control force is calculated (n7, n12).

Further, P. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 calculates the thrust distribution amount of the rudder 6, the bow thruster 4, the stern thruster 5, and the CPP 3 (n13). In this case, since the control amounts of the joystick lever 14 and the turning dial 15 are both "0", only the thrusts of the bow thruster 4 and the stern thruster 5 are calculated. Furthermore, the bow thruster 4 and the stern thruster 5 calculated by the thrust fluctuation reducing unit 125 are calculated.
The thruster blade angles of the bow thruster 4 and the stern thruster 5 are controlled based on the thruster blade angle of (n14, n15), and as shown in FIG. 5 (b), the heading of the hull 20 is maintained (n16).

In-Situ Turning As shown in FIG. 6A, the joystick lever 14
Is set to the neutral position and the turning dial 15 is rotated clockwise by a predetermined angle (+ α) (n5, n6), the operation amount of the joystick lever 14 is that the tilt direction and tilt angle are "0". The operation amount of the turning dial 15 is
Since "+ a (° / sec) rotation in the clockwise direction (to the right)" is performed, P. I. The D control force calculation unit 123 calculates the control force required to turn the hull 20 on the spot based on the operation amounts of the joystick lever 14 and the turning dial 15 (n
8, n12).

Furthermore, P. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 calculates the thrust distribution amount of the rudder 6, the bow thruster 4, the stern thruster 5, and the CPP 3 (n13). In this case, since the control amount of the joystick lever 14 is "0" and the control amount of the turning dial 15 is "+ α (° / sec) rotation in the clockwise direction", only the thrust of the bow thruster 4 and the stern thruster 5 is applied. Is calculated.

Further, the thruster blade angles of the bow thruster 4 and the stern thruster 5 are controlled based on the thruster blade angles of the bow thruster 4 and the stern thruster 5 calculated by the thrust variation reducing unit 125 (n13, n14), FIG. 6 (b). As shown in, the hull 20 turns in-situ in the clockwise direction (right direction) at a predetermined turning angular velocity (n16). Turning As shown in FIG. 7A, the joystick lever 14
When tilted to the right diagonally (n5, n9), the operation amount of the joystick lever 14 becomes "+ β ° clockwise, + γ ° forward tilt", and the operation amount of the turning dial 15 becomes "clockwise ( + Α (° / sec) rotation ”to the right). I. The D control force calculation unit 123 calculates the control force necessary for turning the hull 20 based on the operation amounts of the joystick lever 14 and the turning dial 15 (n10,
n12).

Further, P. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 calculates the thrust distribution amount of the rudder 6, the bow thruster 4, the stern thruster 5, and the CPP 3 (n13). Further, the turning angle of the rudder 6, the thruster blade angle of the bow thruster 4 and the stern thruster 5, and the propeller blade angle of the CPP 3 are controlled based on the blade angles of the rudder 6, bow thruster 4, and CPP 3 calculated by the thrust variation reducing unit 124. (N14, n15), as shown in FIG. 7B, the hull 20 turns to the right around the turning center O.

Parallel Movement As shown in FIG. 8A, the joystick lever 14
When tilted to the right (n5, n9), the operation amount of the joystick lever 14 becomes “+ β ° clockwise, + γ ° forward tilt”, and the operation amount of the turning dial 15 becomes Since both rotation angles are "0",
P. I. The D control force calculation unit 123 determines the hull 20 based on the operation amounts of the joystick lever 14 and the turning dial 15.
The control force required for the parallel movement of (n11, n1
2).

Further, P. I. Based on the control force calculated by the D control force calculation unit 123, the thrust distribution calculation unit 124 calculates the thrust distribution amount of the rudder 6, the bow thruster 4, the stern thruster 5, and the CPP 3 (n13). In this case, since the operation amount of the turning dial 15 is “0”, the bow thruster 4
And the thrust of Stern Thruster 5 and CPP 3 are calculated.
Furthermore, the bow thruster 4 calculated by the thrust variation reducing unit 125 is calculated.
, The stern thruster 5, and the thruster blade angles of the bow thruster 3 and the stern thruster 5 and the propeller blade angle of the CPP 3 are controlled based on the blade angles of the CPP 3 (n14, n1).
5) As shown in FIG. 8B, the hull 20 translates diagonally forward and to the right.

For easy understanding, the table below shows the relationship between the operating states of the joystick lever 14 and the turning dial 15 and the control modes. The relationship between the operating states of the joystick lever 14 and the turning dial 15 and the movement, turning, and turning directions of the ship 20 is plotted as shown in FIG.

[0020] In the above description, the case where the normal rudder 6 is used has been described. However, for example, when the special rudder 6a such as the schilling rudder is used, the stance thruster 5 is not necessarily required.

[0021]

As described above, according to the present invention, the operator does not have to operate the changeover switch or the changeover button for changing the operation mode other than the operation of the joystick lever and the turning dial during the operation of the ship. . as a result,
The ship operator can reduce the mental and physical burdens involved in the ship operation and pay attention to the monitoring of other ships, so that the safety during navigation can be improved.

[Brief description of drawings]

FIG. 1 is a control system diagram of an automatic marine vessel manipulating apparatus according to the present invention.

FIG. 2 is a control block diagram of the control arithmetic unit of the present invention.

FIG. 3 is a control flow diagram showing the first half of the control flow of the present invention.

FIG. 4 is a control flow chart showing the latter half of the control flow of the present invention.

FIG. 5A is an explanatory diagram showing a state of a joystick lever and a turning dial when holding a direction. (B) It is explanatory drawing of the ship in a bearing holding state.

FIG. 6 (a) is an explanatory view showing a state of a joystick lever and a turning dial when turning on the spot. (B) It is explanatory drawing of the ship under the in-situ turning state.

FIG. 7A is an explanatory view showing a state of a joystick lever and a turning dial when turning. (B) It is explanatory drawing of the ship in the turning state.

FIG. 8A is an explanatory view showing a state of a joystick lever and a turning dial when moving in parallel. (B) It is explanatory drawing of the ship in a parallel movement state.

FIG. 9 is an explanatory diagram showing a relationship between operating states of a joystick lever and a turning dial and a moving direction of a ship.

[Explanation of symbols]

3 CPP 4 Bow thruster 5 Stern thruster 6 Rudder 9 Vessel speed detector 10 Azimuth velocity detector 11 Azimuth angle detector 12 Control calculation device 13 Remote control box 14 Joystick lever 15 Turning dial 16 System navigation button 20 Vessel 121 Data check part 122 Filtering Part 123 P.P.
I. D control force calculation unit 124 Thrust distribution calculation unit 125 Thrust fluctuation reduction unit

Claims (1)

[Claims] 1. In a ship equipped with a CPP, a thruster, a rudder, a ship speed detector, an azimuth angular velocity detector, an azimuth angle detector, and a control arithmetic unit, remote operation connected to the control arithmetic unit. Data that the box has a joystick lever, a turning dial, and a system navigation button, and that the control arithmetic unit checks whether the data input from the sensors such as the wind speed detector and the wind direction detector is abnormal. A check unit, a filtering unit for filtering the data checked by the data check unit, and movement, turning, and heading of the ship according to the tilt direction and tilt angle of the joystick lever and the turning direction and turning angle of the turning dial. To calculate the control force required to change P. I. D control force calculation unit and the P.D. I. D Thrust force calculation unit that calculates thrust distribution amount of rudder, thruster and CPP based on the control force calculated by D control force calculation unit, and thrust fluctuation reduction processing to prevent overload on rudder, thruster and CPP An automatic marine vessel maneuvering device, which comprises a thrust fluctuation reducing unit.