JPS6038291A - Autopilot device for sailing ship - Google Patents

Abstract

PURPOSE:To aim at miniaturizing a sailing ship and reducing the cost thereof and as well at enhancing the control accuracy of the sailing ship, by automatically controlling the azimuth of the sailing ship which is selected among arithmetic formulae in accordance with the course data from a ground radio station and the wind direction and as well by compensating the angles of a sail and a rudder in accordance with the output of a compensating unit, and further incroporating a computing device in the autopilot. CONSTITUTION:A transmitter 15 sends the data of sailing which is obtained by a computing unit 6 in an autopilot, to a ground radio station, and the ground radio station sends the data of the latest change in the course to the computing unit 6. The unit 6 selects a predetermined indication value in accordance with the difference between the course indication signal from a course indication device 1 and the change value of the course change data signal, and further, selects an optimum azimuth among arithmetic formulae in accordance with the data including the sailing speed, the present azimuth, the wind direction, etc., so that both drive control devices 8, 11 are controlled in accordance with the result of the computation. Meanwhile, a compensating device 5 recives the data from azimuth and wind direction sensors 3, 4 and feed- back signals from sail and rudder detectors 10, 13 and computes compensation the result of which is delivered to the unit 6. Then the unit 6 delivers an azimuth compensated value to the drive control device 8, 11 in accordance with the present data from the compensating device 5. With this arrangement the sailing is continued with a high degree of accuracy while the azimuth is always compensated.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention selects a direction from among a plurality of predetermined calculation formulas based on a preset course, course information from a ground station, and wind direction. The present invention relates to an autopilot system for sailing ships that automatically controls the angles of sails and rudders to enable unmanned sailing, and particularly relates to an autopilot system for sailing ships that can be made smaller, less expensive, and more accurate.

[Summary of the invention]

The present invention selects a possible sailing direction from among multiple types of calculation formulas based on the azimuth, wind direction, and course information from a ground station, corrects the sailing course based on this f'LK, and adjusts the sail and rudder. To provide an autopilot system for a sailing ship that can constantly correct the heading by correcting the sail and rudder angles based on the output IC from the correction device, and can perform automatic sailing with higher precision. The purpose is

[Embodiments of the invention]

The drawing is a block diagram showing one embodiment of the present invention, in which (1) shows a course indicating device that determines the sailing speed of own ship, and (2) shows a device that controls the angle of the sail until the sailing speed is maximized. (8) is a direction sensor that detects the direction that the ship is currently facing. (4) is a wind direction sensor that detects the wind direction. (5)
) H direction sensor (8) and wind direction sensor (4), information from sail angle detector (1011) and rudder angle detector (1011)
A correction calculation device (TE) performs a correction calculation based on the return information from the ground station and outputs the result to the calculation device (6). 6) is the receiving device that outputs the output, (8) is the arithmetic device (6)
A station motion control device that controls the station motion device (9) based on the result of performance 1# in (11 is a calculation device that controls the rudder drive device (12) based on the calculation result of (6) The rudder drive control device ft, (1-phantom is a power supply device, 05) is a transmitting device that transmits the information obtained by the calculation device (6) to the ground station as sailing data of the own ship.

As configured above, in the autopilot system, the sailing data of the own ship obtained by the computing device (6) is so that the course information from the ground station becomes a more accurate course instruction. The latest course change information is transmitted from the transmitting device 05) to the ground station based on the data from the transmitting device 05), and this information is sent to the receiving device (7).
is inputted to the arithmetic unit (6) via.

The calculation device (6) receives the course instruction signal from the course instruction device (1) and the course change information signal from the ground station, and selects a predetermined n instruction value based on the difference between the historical values.
be the new indicated value, and also the sailing speed, current heading of own ship,
The optimum sailing direction is selected from among several types of calculation formulas based on information such as wind direction and wind direction.

Then, based on the calculation result, the two-part movement control device 1st,
(11) is controlled.

On the other hand, correction calculation device (5) rri, direction sensor (8)
and information from the wind direction sensor (4) and the sail angle detector (1
0) and the feedback information from the rudder angle detector (1B), a correction calculation is performed, and the resulting correction value t' is sent to the calculation device (6). The arithmetic unit (6) calculates the own ship's heading correction value based on the current information sent from the correction arithmetic unit (5), and sends the result to the two-part movement control device (8).
, (Output to 1η and continue sailing while constantly correcting the direction.

〔Effect of the invention〕

As explained above, the present invention selects a direction in which sailing is possible from among multiple types of calculation formulas based on the azimuth, wind direction, and course information from the ground station, completely corrects the sailing course, and automatically controls the sails and rudder. At the same time, the sail and rudder angles are corrected based on the output from the correction device, and the heading is constantly corrected, so automatic sailing is possible using the latest information from the ground station, and sailing accuracy is further improved. Effects that can be improved can be obtained.

Furthermore, by limiting the number of sensors and incorporating a plurality of types of calculation formulas, the device can be made smaller and cheaper.

[Brief explanation of drawings]

゛The drawing is a block diagram showing one embodiment of the present invention. (1): Course indicator (2): Water flow sensor (8): Direction sensor (4): Wind direction sensor (6): Correction calculation device ff
i (6): Arithmetic device (γ): Receiving device (8): Station movement control device 5- Sail angle detector a sword: Rudder drive control device 08): Rudder angle detector (b): Transmitting device Agent Masuo Oiwa 6-

Claims (1)

[Claims] A course indicating device that determines the sailing course of the own ship, a speed sensor that detects the sailing speed, a direction sensor that detects the heading of the own ship, a wind direction sensor that detects the wind direction, and a sail angle detector that detects the angle of the sail. a rudder angle detector that detects the angle of the rudder, an azimuth sensor, a wind direction sensor, a correction device into which each output from the two angle detectors is input, an arithmetic device, and a ground station that is connected to the own ship. It is equipped with a sending device that transmits sailing data and a receiver that receives course information from a ground station. The device selects a possible sailing direction from among multiple types of calculation formulas based on the azimuth, wind direction, and course information, corrects the sailing course, automatically controls the sails and rudder, and outputs the output from the correction device. An autopilot system for sailing ships that constantly corrects the heading by adjusting the sail and rudder angles.