JPH10181692A - Joy stick ship manufacturing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To optionally move the direction of a marine vessel by controlling thrust of a propeller for hull propulsion, the rudder angle of a rudder, thrust of a thrust generator for a bow thruster and the rotating angle of guide vanes by control input operation of a joy stick operating part. SOLUTION: Thrust control based on blade angle control of a variable pitch propeller 2 for hull propulsion, rudder angle control of a rudder 3, thrust control based on blade angle control of a variable pitch propeller for bow thruster 12, and thrust direction control of lateral opening parts of a bow thruster 4 based on rotating angle control of a lateral guide vane 6 that can take rotating angles independently of each other are performed by control input operation of a joy stick operating part. When an operator operates the joy stick operating part to tilt an operating lever by a tilt angle ϕtoward the target azimuth θof hull movement, a target azimuth input signal corresponding to θ, and a tilt angle input signal corresponding to ϕ are sent to an arithmetic processing part of a control device, where necessary longitudinal thrust and the like of a hull 1 are computed on the basis of an operational program, and its output signal is sent to a thrust allocating part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a joystick maneuvering device for use as a ship maneuvering device.

[0002]

2. Description of the Related Art FIG. 5 is a side view of a hull for explaining a conventional joystick maneuvering device. In the figure, a hull 1 is a propeller 2 as a hull propulsion device.
A rudder 3 behind the propeller 2, a bow thruster 4,
The thrust of the propeller 2, the rudder angle of the rudder 3, and the bow thruster 4
And a control device for controlling each of the thrusts in the left-right direction.

In the conventional joystick maneuvering device as shown in FIG. 5, when the hull 1 is desired to be translated in a direction in which the joystick lever is tilted while holding the hull 1 in a substantially constant azimuth. It is necessary to control actuators of operating parts such as the propeller 2, the rudder 3, and the thruster 4 so that a thrust in a desired direction is always generated while maintaining the moment balance.

[0004] By the way, for example, in a ship equipped with thrusters on the bow and stern, thrusts of approximately the same magnitude are generated on the thrusters on the bow and stern sides, so that the orientation of the hull is adjusted to a desired direction. It is possible to cause the hull to move laterally while maintaining it, and it is also easy to cause the hull to move diagonally forward by combining this with a forward thrust by a propeller.

[0005]

However, as shown in FIG. 5, a propeller 2 as a hull propulsion device and a rudder 3
In a ship equipped with a bow thruster 4, the lateral force on the stern side must be shared by the rudder 3, and the propeller 2 must be operated to obtain the lateral force of the rudder. The forward thrust generated by the propeller 2 makes it difficult for the hull 1 to move in the sideways direction. Also,
When trying to move the hull 1 backward, reverse thrust can be obtained by reversing the propeller 2, but in this case, the rudder 3 hardly works, and as a result, a lateral force is generated on the stern side. Can not do.

Accordingly, the present invention is directed to a joystick maneuvering of a ship having a propeller such as a propeller for hull propulsion, a rudder, a bow thruster, and a control device for controlling the operation of the hull propulsion propulsion unit, rudder and bow thruster, respectively. In the apparatus, the bow thruster can generate not only the lateral thrust but also the thrust component in the front-rear direction, and the propeller such as the propeller for hull propulsion, the rudder, and the bow thruster cooperate with each other to form the hull. It is an object of the present invention to provide a joystick maneuvering device capable of moving the hull in any desired direction while maintaining the azimuth in the desired direction.

[0007]

In order to solve the above-mentioned problems, a joystick maneuvering device according to the present invention comprises a hull propulsion unit, a rudder, a bow thruster, and a hull hull in accordance with control input operations at a joystick operation unit. A joystick maneuvering device for a ship, comprising: a propulsion propulsion device; a rudder; and a control device for controlling operation of the bow thruster, wherein the bow thruster is disposed in a bow thruster tunnel penetrating a hull in a lateral direction. Thrust generator and a guide pivotally supported at an opening of the bow thruster tunnel so as to be able to rotate from a closed position for closing the opening to a fully open position for fully opening the opening. The control unit controls the hull propulsion based on a control input operation in the joystick operation unit. By controlling the thrust of the thruster, the rudder angle of the rudder, the thrust of the bow thruster thrust generator and the rotation angle of the guide vane, the boat can be moved in any direction. I have.

In the joystick maneuvering device of the present invention, the hull propulsion propulsion device and the bow thruster thrust generator are each a variable pitch propeller, and the control device is a variable hull propulsion propulsion device. By controlling each propeller blade angle of a pitch propeller and a variable pitch propeller as the bow thruster thrust generator, the thrust of the hull propulsion propulsion unit and the bow thruster thrust generator are controlled, respectively. .

Further, in the joystick maneuvering device according to the present invention, the guide vane may include the bow thruster.
The left and right guide vanes are pivotally supported at left and right openings of the tunnel, respectively, and are configured such that the control device can take mutually independent rotation angles.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a conceptual plan view of a marine vessel for explaining the operation of a joystick maneuvering device according to one embodiment of the present invention. FIG. 2 is a perspective view of a bow thruster of the joystick maneuvering device according to the embodiment of FIG. FIG. 3 is a vertical cross-sectional view, FIG. 3 is a main part horizontal cross-sectional view for explaining the operation of the bow thruster unit of the joystick maneuvering device according to the embodiment of FIG. 1, and FIG. 4 is a joystick according to the embodiment of FIG. It is a control signal flow figure for explaining operation of a control device in a boat maneuvering device.

1 to 3, a joystick maneuvering device for a hull 1 includes a hull propulsion variable pitch propeller 2 as an example of a hull propulsion propulsion device, and a variable pitch propeller 2 behind the hull propulsion variable pitch propeller 2. The operation of the rudder 3, the bow thruster 4, and the operation of the hull propulsion variable pitch propeller 2, the rudder 3 and the bow thruster 4, for example, are controlled in accordance with control input operations in a joystick operating unit 5 as shown in FIG. Control devices 20 to 29 having the arithmetic processing unit 20 of FIG. 4 are provided.

The bow thruster 4 has a hull 1 at its bow.
And a variable pitch propeller 12 for a bow thruster disposed as an example of a bow thruster disposed in a bow thruster tunnel passing laterally, and closing the opening at the left and right ends of the bow thruster tunnel. And a guide vane 6 pivotally supported by a guide vane rotation actuator 13 from a closed position to a fully opened position for bringing the opening into a fully open state.

The control devices 20 to 29 control the thrust by controlling the blade angle of the variable pitch propeller 2 for propulsion of the hull, and control the rudder 3 based on the control input operation on the joystick operating section 5.
Control of steering angle, variable pitch propeller 12 for bow thruster
Of the bow thruster 4 by controlling the rotation angle of the guide vanes 6 configured such that the left and right guide vanes 6 can take rotation angles independent of each other. By controlling the thrust direction in the section, the hull 1 can be moved in any direction as described in detail below.

As shown in FIG. 1, when the variable pitch propeller 2 for hull propulsion rotates to generate a forward thrust as indicated by an arrow 7, for example, a rudder 3 for receiving the wake of the variable pitch propeller 2 for hull propulsion. , A lateral force as indicated by an arrow 8 and a rear thrust as indicated by an arrow 9 are generated. When the variable pitch propeller 2 for hull propulsion is controlled by the wing angle and generates rearward thrust, the rudder 3 is provided with a lateral force as indicated by the arrow 8 and a forward and backward thrust as indicated by the arrow 9 respectively. Reverse thrust occurs.

As shown in FIG. 3, when the variable pitch propeller 12 for bow thruster generates a thrust in the port direction as shown by a dotted arrow by controlling the blade angle of the variable pitch propeller 12 for bow thruster, the guide on the port side is used. When the vane 6 is fully opened and the guide vane 6 on the starboard side is turned to direct the water flow to the right rear, a thrust to the left front is generated in the bow thruster 4, and conversely, the guide vane 6 on the starboard side rotates. When the water flow is directed to the right front by the motion, a thrust to the left rear is generated in the bow thruster 4.

Similarly, when the variable pitch propeller 12 for bow thruster generates thrust in the starboard direction in the direction opposite to the dotted arrow by controlling the blade angle of the variable pitch propeller 12 for bow thruster, the guide vane 6 on the starboard side. When the port is fully opened and the port-side guide vane 6 is turned to direct water flow to the left rearward, a thrust to the right front is generated in the bow thruster 4, and conversely, the port-side guide vane 6 is turned. When the water flow is directed to the left front, a thrust to the right rear is generated in the bow thruster 4.

In this manner, fine-grained thrust control can be performed by controlling the blade angle of the variable pitch propeller 12 for bow thrusters, and fine-grained thrust direction control can be performed by controlling the rotation angle of the left and right guide vanes 6. Is possible.
When the hull 1 cruises, the rotation of the bow thruster variable pitch propeller 12 is stopped, and the guide vanes 6 on both sides are fully closed to reduce the resistance of the hull 1.

In FIG. 4, when the operator operates the joystick operating section 21 to tilt the operation lever by the tilt angle φ in the direction of the target azimuth θ of the hull movement, a target azimuth input signal corresponding to the target azimuth θ and A tilt angle input signal corresponding to the tilt angle φ is sent to the required thrust calculation unit 23 of the calculation processing unit 20 of the control device. The necessary thrust calculation unit 23
The target azimuth input signal, the tilt angle input signal, and the gyro compass 22 sent from the joystick operation unit 21
From the current azimuth signal indicating the current azimuth sent from and the arithmetic program read from the data storage unit 24,
The required thrust F _X , the required thrust F _{Y in} the lateral direction, and the required turning moment N of the hull 1 are calculated, and the output signals are sent to the thrust distribution unit 25.

The thrust distribution unit 25 sets the required thrust in the longitudinal direction of the variable pitch propeller 2 for hull propulsion as F _XP , the required thrust in the longitudinal direction of the rudder 3 as F _XR , and the required thrust in the lateral direction of the rudder 3 as F _XR .
_YR, and the required thrust in the front-back direction of the bow thruster 4 is F
And _XS, lateral necessary thrust of the bow thruster 4 and F _YS, further horizontal distance l _R from the center of gravity of the hull 1 to the rudder 3
The required turning moment of the rudder 3 around the center of gravity of the hull 1 is F _YR · l _R , and the required turning of the bow thruster 4 around the center of gravity of the hull 1 when the horizontal distance from the center of gravity of the hull 1 to the bow thruster 4 is l _S. When the moment is F _YS · l _S ,
The required thrust F _{XP in} the front-rear direction of the variable pitch propeller 2 for hull propulsion, the required thrust F _{XR in} the front-rear direction and the required thrust F _{YR in} the lateral direction of the rudder 3, The required thrust F _{XS in the} front-rear direction and the required thrust F _YS in the lateral direction are calculated, and the output signals are sent to the actuator operation amount calculation unit 26.

[Number 1] _{F X = F XP + F XR} + F XS

## EQU2 ## F _Y = F _YR + F _YS

[ _Equation 3] N = F _YR · l _R + F _YS · l _S

The actuator operation amount calculating section 26 calculates the required thrust in the front-rear direction of the hull propulsion variable pitch propeller 2 sent from the thrust distribution section 25 based on the calculation program read from the data storage section 24, The amount of operation of an actuator for adjusting the propeller blade angle of the variable pitch propeller 2 for hull propulsion according to the required thrust in the direction and the required thrust in the lateral direction, the required thrust in the front-rear direction and the required thrust in the lateral direction of the bow thruster 4, respectively. The operation amount of the actuator for adjusting the steering angle of the rudder 3, the operation amount of the actuator for adjusting the propeller blade angle of the variable pitch propeller 12 for the bow thruster, and the rotation angle of the left and right guide vanes 6 of the bow thruster 4 The operation amounts of the left and right actuators 13 for individually adjusting are determined,
The output signal is sent to the corresponding actuator 29 via the control signal output unit 28 as an actuator operation command signal for each actuator. As a result, each of the actuators 29 is operated, and the hull 1 is moved in the azimuth designated by the operator in the joystick operation unit 21 by the designated movement amount.

[0021]

According to the joystick maneuvering device of the present invention, the following effects can be obtained. (1) A joystick for a ship having a hull propulsion unit, a rudder, a bow thruster, and a control device for controlling the operation of the hull propulsion unit, the rudder, and the bow thruster in accordance with a control input operation in a joystick operation unit. A ship maneuvering device, wherein the bow thruster is disposed in a bow thruster tunnel penetrating the hull in a lateral direction, and a thrust generator for the bow thruster, and a closed position for closing the opening at the opening of the bow thruster tunnel. A guide vane pivotally supported so as to be able to rotate to a fully opened position that brings the opening into a fully opened state, wherein the control device is configured to control the joystick operation unit based on a control input operation. The thrust of the hull propulsion unit, the rudder rudder angle, the thrust of the bow thruster thrust generator and the guide base By controlling the rotation angle, which is configured to be able to move the ship to any orientation, a propeller, etc. thruster for hull propulsion,
In a joystick maneuvering device for a ship having a rudder, a bow thruster, and a control device for controlling the operation of the hull propulsion propulsion unit, the rudder and the bow thruster, the bow thruster has a thrust component not only in the lateral direction but also in the longitudinal direction. Can also be generated, the propulsion device such as the propeller for hull propulsion, the rudder, and the bow thruster cooperate with each other,
The hull can be moved in any desired direction while maintaining the hull in the desired direction (claim 1). (2) In the joystick maneuvering device, the hull propulsion thruster and the bow thruster thrust generator are each a variable pitch propeller, and the control device is a variable pitch propeller as the hull propulsion propulsion and the variable pitch propeller. By controlling each propeller blade angle of the variable pitch propeller as a thrust generator for bow thrusters, the thrust of the thruster for hull propulsion and the thrust generator for bow thrusters are respectively controlled, so that hull propulsion is performed. The thrust control of the thrust generator for bow thruster and bow thruster can be performed finely and reliably, and the bow thruster can generate not only lateral thrust but also thrust component in front and rear direction. Propellers such as propellers, rudders, and bow thrusters cooperate with each other to obtain the desired hull The same hull while keeping the orientation can be moved to any desired orientation (claim 2). (3) In the joystick maneuvering device, the guide vanes are pivotally supported at left and right openings of the bow thruster tunnel, respectively, and the left and right guide vanes take independent rotation angles by the control device. The thrust in the lateral direction of the side thrusters and the magnitude of the thrust component in the front-rear direction can be finely controlled through the control of the rotation angles of the left and right guide vanes. Propellers such as variable pitch propellers, rudders, and bow thrusters cooperate with each other,
The hull can be moved in any desired direction while maintaining the hull in the desired direction (claim 3).

[Brief description of the drawings]

FIG. 1 is a conceptual plan view of a marine vessel for explaining an operation of a joystick maneuvering device according to an embodiment of the present invention.

FIG. 2 is a vertical cross-sectional view of a bow thruster section of the joystick maneuvering device according to the embodiment of FIG.

3 is a main part horizontal sectional view for explaining an operation in a bow thruster unit of the joystick maneuvering device according to the embodiment of FIG. 1;

FIG. 4 is a control signal flow chart for explaining an operation of a control device in the joystick maneuvering device according to the embodiment of FIG. 1;

FIG. 5 is a side view of a hull for explaining a conventional joystick maneuvering device.

[Explanation of symbols]

Reference Signs List 1 hull 2 variable pitch propeller as hull propulsion unit 3 rudder 4 bow thruster 5 joystick operating unit 6 guide vane 7 arrow indicating front and rear force by propeller 8 arrow indicating lateral force by rudder 9 arrow indicating front and rear force by rudder 10 Arrow indicating lateral force by bow thruster 11 Arrow indicating forward / backward force by bow thruster 12 Variable pitch propeller as thrust generator for bow thruster 13 Guide vane rotating actuator 20 Arithmetic processing unit 21 Joystick input unit 22 Gyro compass 23 Necessary thrust arithmetic unit 24 Data storage unit 25 Thrust distribution unit 26 Actuator operation amount calculation unit 27 Data storage unit 28 Control signal output unit 29 Actuator

Claims (3)

[Claims] 1. A ship having a hull propulsion unit, a rudder, a bow thruster, and a control device for controlling operation of the hull propulsion unit, rudder, and bow thruster in accordance with a control input operation on a joystick operating unit. A joystick maneuvering device, wherein the bow thruster is:
A thrust generator for a bow thruster disposed in a bow thruster tunnel penetrating the hull in the lateral direction, and a fully open position at the opening of the bow thruster tunnel from a closed position to close the opening to a fully open state A guide vane pivotally supported so as to be able to rotate between the thrust of the hull propulsion propulsion unit based on a control input operation in the joystick operation unit. By controlling the rudder angle of the rudder, the thrust of the bow thruster thrust generator and the rotation angle of the guide vane, the vessel can be moved in any direction, Joystick boat maneuvering device. 2. The joystick maneuvering device according to claim 1, wherein the hull propulsion propulsion device and the bow thruster thrust generator are each a variable pitch propeller, and the control device is the hull propulsion propulsion device. By controlling each propeller blade angle of the variable pitch propeller as the variable pitch propeller and the variable pitch propeller as the bow thruster, the thrust of the hull propulsion propulsion unit and the bow thruster thrust generator are controlled respectively. A joystick maneuvering device. 3. The joystick maneuvering device according to claim 1, wherein the guide vanes are respectively pivotally supported at left and right openings of the bow thruster tunnel, and the left and right guide vanes are mutually controlled by the control device. A joystick maneuvering device, wherein the joystick steering device is configured to be able to take an independent rotation angle.