JPS5873809A - Self-steering device for ship - Google Patents

Abstract

PURPOSE:To perform a reliable self-steering without longitudinal and latitudinal convertion of a hyperbolic receiving information, by conducting a correction corresponding to a deviation between a position of a ship by a hyperbolic receiving information during sailing and a course based on a target position by a time lag and a current position. CONSTITUTION:With a switch 12 closed, a target position by a time lag set in a target position setter 11 and a time lag signal corresponding to a current position from which a ship leaves through the working of a hyperbolic receiver 8 are processed by a computer 13 to store a course in a memory unit 4. Simultaneously, a course direction at a sailing time corresponding to a course is set in a course setter 4. After departing, a deviation distance and deviation direction of a difference between a current position of a ship based on a receiving information from the receiver 8 and the memory content of the memory unit 14 are computed by a computer 15, and a deviation computer 16 decides a deviation correcting distance. Corresponding to said correcting distance, a feedback system consisting of an A/D converter 2, a comparator 3, a D/A converter 6, and a steering equipment 7 is self-controlled via a corrector 5, and an accurate self- steering, being uninfluenced by a tidal current, is performed without longitudinal and latitudinal convertion of a hyperbolic receiving information.

Description

[Detailed Description of the Invention] A conventional automatic steering system for a ship sets the ship's current position and destination destination position on the S map, and determines the ship's current position and destination appropriately by taking into consideration conditions such as storms and waves. The direction of the ship [
This is one input for the steering gear, and the other input as seen from the compass, that is, the actual sailing direction of the ship, automatically controls the rudder so that it always matches the input. Therefore, the ship's sailing direction is only kept constant, but deviations from the planned route due to tidal currents, etc. differing from predictions are not corrected, so this deviation is constantly monitored and input to the steering gear. Also, the ship's current position is automatically observed at all times using a twin-line water droplet receiver, and the ship's sailing direction is calculated using an electronic computer based on the observed values and the target position. By using this as one of the inputs of the automatic steering system, the above-mentioned correction is required and one device per unit 'tlh can be obtained. However, in this case, the ship's position based on the time difference signal observed by the receiver must be further converted into latitude and longitude values to calculate the ship's navigation direction, so that the coordinates match the input obtained from the compass. There are certain drawbacks. Therefore, the present invention provides a device that can perform complete automatic steering by L6% without the need for the above-mentioned conversion. The magnetic compass IFi1MN sends out an analog output for display, and this output is converted into a digital quantity by an analog converter and then added to the comparator 3. 1* Route setting to arbitrarily set the ship's sailing direction using digital values based on latitude and longitude coordinates - 4
By adding the output signal of the corrector 5 to the above-mentioned comparison [8, the compass L (thus obtained. 1) L is compared with the actual navigation direction. It is. The output signal of the comparator 3 is converted into a digital signal and an analog signal using an anada conversion II.
In addition to. Therefore, aO*ao navigation direction is modified 11
1 [Thus, if the sailing direction differs from the calculated sailing direction, the steering gear operates to correct the sailing direction of the ship, which drives the rudder.

On the other hand, the hyperbolic navigation receiver 8 receives, for example, Loran C radio waves with an antenna 9, and sends out a time difference signal indicating the ship's position in hyperbolic coordinates, for example, every 10 seconds, and the display 10 displays this. The current position of the ship can be determined by plotting the displayed values on a hyperbolic coordinate map. Therefore, by plotting this current position along with the destination and destination position of the ship on a Korean coordinate map and longitude coordinates, it is possible to know the sailing direction of the ship based on the latitude and longitude coordinates. For example, as described above, At the time of departure, the navigation direction obtained is set in the route setting device 4 as described above.Furthermore, based on the hyperbolic coordinate map, if the destination and destination position of the ship is set with a time difference in the setting device 11, it is also possible to set a tic departure. By continuing to press the push button 12 for more than 10 seconds, for example, a time difference signal indicating the departure position of the ship is received and added to the route calculator ZSC from 4 to 8.Calculator 15
calculates an appropriate route based on this signal and the added time difference and signal, that is, the signal indicating the destination position, and writes this in the memory 14. Deviation calculator 11
14, calculate the distance by which the ship's position deviated from the above-mentioned course at the specified time, that is, the deviation and its direction. IL, add 1gK to that value. The processor 16 integrates this deviation value every few minutes or tens of minutes, for example, and applies it to the above-mentioned corrector 5 as a control input.

The corrector S corrects the sailing direction of the ship set in the setting device 4 according to this input, and uses it as one input of the comparator 3 as described above.

No. 21) is a hyperbolic coordinate diagram explaining the operation of the above-mentioned device, in which one wave 0j is emitted from the Loran C main station and the first slave station.
The hyperbola where the arrival time difference is a constant value is 1@j
@#++*ee, and the difference in arrival time of the emitted radio waves from the above main station and the second slave station is a constant hyperbola, respectively.
It is expressed as B, O,,,,. On such a map 1a, if the destination and destination position of the ship is a point t, the time difference and the value of Q passing through this point are set in the destination position setting device 11 shown in FIG. 111. Also, if the position of the ship at the start of navigation is expressed as a point 1, then when push button 1g in Figure 1 is pressed,
Since the values of the time difference curves P and P passing through this point are added to the arithmetic unit 13, the calculation Ft1sFi calculates *pm'P and Q, for example, calculates the shortest route X, and stores this into the memory 14Kmf.

When the ship starts sailing, the position of the ship obtained by the Ifi receiver 8 at one point 'ft coincides with the starting point of the route X, so the calculator 1! iII'i output, it does not send out a force signal.Therefore, as mentioned above, the setting device 4
The digital signal indicating the ship's direction of travel, for example the direction shown by arrow ν in Figure 12, has been corrected @! It is added to comparator 3 without being modified by I6. Furthermore, since the ship is already in the same direction as the arbitrary direction (for example, an arrow) at the start of navigation, the compass 1 also sends out a signal indicating this direction. Therefore, the comparator 3 sends out a signal corresponding to the difference between the direction of the arrow y and the direction of the arrow y, and the steering gear 1 uses this signal to drive the rudder, so that the ship starts sailing approximately in the direction of the arrow y. . If the navigation direction yFi is exactly the same as the route gradually becomes 1a from route X. Arithmetic unit II & is the difference rlaFl between the planned route X and the actual route t.
0. The 0 processor 16, which sequentially sends out the noise at regular time intervals, integrates this every several rc minutes or tens of minutes as described above, thereby suppressing one harmonic of the sound component and correcting the integral value. Add to bowl 5. Therefore, the correction value 5 is set in the setting device 4 according to this integral value, and correction is made to the kF row direction. Apply the corresponding signal to the comparator. Therefore, for the next few minutes to several tens of minutes, the WIiu ship Kaho will proceed in the direction of arrow y' and will be on the pre-energized course! The deviation between the two becomes confusing. Zunawachi,
Every few minutes to several tens of minutes, the setting value specifying the sailing direction is corrected so that the deviation between the ship's current position and the planned route X is reduced, and the warping correction value is added to the comparator S. Moreover, as mentioned above, this individual value is a signal indicating the ship's sailing direction based on the latitude and M degree coordinates, so it is the compass output based on the latitude and 1 degree coordinates as well as comparator 3#-i. The signal is compared with the above-mentioned correction value, and the driver automatically steers the vehicle so that they match.

As described above with respect to the embodiments, the device of the present invention sets the sailing direction so that the ship sails approximately in the direction of the destination position, and also sets the ship's position at the time of sailing and the destination and destination obtained by the hyperbolic navigation receiver. The route is calculated based on the position, and the set sailing direction is corrected according to t+i, the difference in distance between the ship's position at each point in the journey and the route, and the direction. Therefore, by setting the above-mentioned navigation direction based on latitude and longitude, it is not necessary to convert the position signal based on the time difference obtained by the hyperbolic navigation receiver into a position signal based on latitude and longitude coordinates. , it is possible to control a conventional autopilot. Moreover, it is possible to perform complete automatic steering and accurately reach the target position without being affected by waves, wind, currents, etc.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of an embodiment of the present invention, and FIG. 1 is a nautical chart explaining the operation of the apparatus 0 shown in FIG. In addition, at 1:1 angle in the figure, l is the core hub, 2 is the analog/digital converter, S is the comparator, number is the route setter, 5 is the corrector, 6 companies digital, analog converter, 9 is the steering gear. , 8 is a hyperbolic navigation receiver, 9 is an antenna, 1O is a display, 1IF is a target position setter, 11 is a push button, ls#i calculator, 14 is a memory 11.1fiFi deviation calculator, and 1llVi processing candy.

Claims (1)

[Claims] A course setter that sets the general direction of sailing of the ship when it departs, a course corrector that corrects the above-mentioned set value to 0, and a compass that indicates the ship's direction of sailing at each point in time. The output signals of the above correctors are added to the output signals of the tB signals 1 and 1 of the above! ! Comparison - which transmits a signal corresponding to the above comparison -, a steering machine which operates the ship's rudder according to the output signal of the above comparison -, and a hyperbolic navigation receiver that also transmits the departure position and destination IM position of the ship marked *S+. First, a route calculator that calculates the route, a memory that stores the route calculated by the route calculator, and the outputs of the navigation receiver and the memory are added at each point in time. An automatic steering system for a ship, comprising: a deviation calculator that calculates the distance by which the position of the ship deviates from the stored route, and controls the correction amount of the course corrector according to the calculated distance m.