KR102510904B1 - Control apparatus and operating apparatus for ship - Google Patents

Abstract

An operating device that notifies an operator that an operating unit has reached a predetermined position without relying on a mechanical mechanism is realized.
The operating device 1 includes an operating unit 10 , a sensor 11 that detects an operating position of the operating unit 10 , and a notification unit 12 . When the sensor 11 detects that the manipulation unit 10 has reached a predetermined position, the notification unit 12 notifies the operator by stimulating at least one of the operator's sense of force, hearing, and smell.

Description

Control device and control device for ships {CONTROL APPARATUS AND OPERATING APPARATUS FOR SHIP}

The present invention relates to a steering device and a steering device for a ship.

A control handle (hereinafter, abbreviated as "handle") for controlling the thruster is provided in a remote control device of a ship propulsion machine. The operator controls the output or rotational direction of the thruster by moving the handle.

Japanese Patent Laid-Open No. 2018-203216

Hereinafter, a current position within a range in which the handle can be operated is referred to as an "operation position". In the above-described remote control device, the operator can grasp the operation position by looking at the pointer on the handle and the scale on the panel.

On the other hand, the handle is provided with a mechanical mechanism for stimulating the force of the operator to create a sense when the manipulation position reaches a predetermined position (hereinafter referred to as "notch position"). Hereinafter, the sensation felt by the operator when the handle reaches the notch position is referred to as "notch feeling".

The notch position corresponds to, for example, when the pointer of the handle is at the center position of each scale. Such a mechanical mechanism can be constructed using, for example, a steel ball pressed by a spring force and a V-shaped or U-shaped groove. In this way, the operator can grasp the operation position only by the sense of the hand. Therefore, the operator can operate the steering wheel while visually checking the situation around the ship and the like without looking at the steering wheel. That is, the handle notifies the operator that the operation unit has reached a predetermined operation position by using a notch feeling generated by a mechanical mechanism.

Next, a remote control device having a current electric shaft function will be described. Handles used in such a remote control device are respectively arranged in a plurality of places in the ship, such as three places of a bridge center, a port wing and a starboard wing, for example. The operator can steer the boat from any of these places.

At the time of manipulation, any one of these handles is selected as a handle that accepts the operator's operation. Hereinafter, a handle operated by an operator is referred to as a "master handle". The remaining handles move synchronously with the movement of the master handle. Hereinafter, a handle that moves in synchronization with the master handle is referred to as a "slave handle". Each of these plurality of handles has a built-in motor for moving in synchronization with the master handle when the handle itself is a slave handle.

As described above, the handle has a built-in motor for synchronization. Therefore, as it is, when the operator manually operates the master handle, the motor shaft must also be turned. Since the load for turning this motor shaft is large, the operator cannot move the handle smoothly.

In order to solve this problem, the following slip clutch is built into the transmission system that transmits the power of the motor to the steering wheel. That is, this slip clutch does not slip when the force applied to the handle is smaller than a predetermined magnitude. Therefore, at this time, force is transmitted between the handle and the motor (hereinafter, this force of a predetermined magnitude is referred to as "slip limit force"). When the force applied to the handle increases and exceeds the slip limit force, the slip clutch slips. Therefore, at this time, transmission of force between the handle and the motor is blocked. In this way, the operator can move the handle without turning the synchronous motor shaft by applying a force equal to or greater than the slip limit force to the handle.

However, the above-mentioned mechanical mechanism for generating the notch feeling applies a force in the opposite direction to the force applied to the handle when the handle reaches the notch point (hereinafter, the force in the opposite direction is referred to as "notch force") . Here, the force applied to the handle is the force applied by the operator when the handle is the master handle. The operator can grasp that the handle has reached the notch point by feeling the notch feeling generated by this notch force. On the other hand, when the handle is a slave handle, the force applied to the handle is the force applied by the synchronous motor. In this case, the notch force is a force in the opposite direction to the force for synchronizing the handle with the master handle.

A technique for notifying an operator of an operation position using a notched feeling generated by the mechanical mechanism described above has the following problems. For example, when the motion of the above mechanical mechanism is not smooth due to depletion of grease or the like, the notch force becomes larger than normal. At this time, when the handle is the master handle, the operator feels that the notch feeling has become stronger. On the other hand, when this handle is a slave handle, it is necessary to increase the output of the motor for synchronization in order to exceed the increased notch force and drive the handle to synchronize with the master handle. At this time, if the notch force is greater than the slip limit force, the power of the synchronous motor must also be greater than the slip limit force. However, in this way, the slip clutch slips and the motor runs idle. That is, the slave handle cannot be synchronized with the master handle due to a mechanical mechanism.

The present invention has been made in view of these problems, and its object is to realize an operating device that notifies an operator that an operating unit has reached a predetermined position without relying on a mechanical mechanism.

In order to solve the above problems, an operating device of one aspect of the present invention includes an operating unit, a sensor for detecting an operating position of the operating unit, and when the sensor detects that the operating unit has reached a predetermined position, at least one of force, hearing, and smell A notification unit is provided that notifies the operator by stimulating the user.

Another aspect of the present invention is a steering device for a ship. This device includes an operating unit to which an output instruction for a propulsion engine is input by being operated by an operator, a sensor that detects an operating position of the operating unit, and a force when the sensor detects that the operating unit has reached a predetermined position by the operator's operation. and a notification unit that notifies the operator by stimulating at least one of hearing and smell.

In addition, any combination of the above constituent elements or the mutual substitution of the constituent elements or expressions of the present invention among methods, apparatuses, programs, temporary or non-temporary storage media, systems, etc. in which the programs are recorded are also covered by the present invention. It is effective as an aspect.

According to the present invention, it is possible to realize an operating device that notifies the operator that the operating unit has reached a predetermined position without relying on a mechanical mechanism.

1 is a functional block diagram showing the configuration of an operating device according to first to third embodiments.
Fig. 2 is a functional block diagram showing the configuration of an operating device according to a fourth embodiment.
Fig. 3 is a functional block diagram showing the configuration of an operating device according to a fifth embodiment.
Fig. 4 is a functional block diagram showing the configuration of an operating device according to a sixth embodiment.
Fig. 5 is a functional block diagram showing the configuration of a steering system for a ship according to a seventh embodiment.
Fig. 6 is a functional block diagram showing the configuration of an operating device according to an eighth embodiment.
Fig. 7 is a functional block diagram showing the configuration of an operating device according to a ninth embodiment.
Fig. 8 is a functional block diagram showing the configuration of an operating device according to a tenth embodiment.
Fig. 9 is a functional block diagram showing the configuration of an operating device according to an eleventh embodiment.
Fig. 10 is a functional block diagram showing the configuration of an operating device according to a twelfth embodiment.

EMBODIMENT OF THE INVENTION Hereinafter, this invention is demonstrated, referring drawings based on preferred embodiment. The same number is given to the same or equivalent components, members, and processes shown in each drawing, and redundant descriptions are omitted as appropriate.

Fig. 1 is a functional block diagram showing the configuration of an operating device 1 according to the first to third embodiments of the present invention. The operating device 1 includes an operating unit 10, a sensor 11, and a notification unit 12.

[First Embodiment]

Hereinafter, the operation of the operating device 1 according to the first embodiment will be described with reference to FIG. 1 .

The operation unit 10 is a portion that receives an operator's operation, and is, for example, a handle or a lever. The operating unit 10 is set at a predetermined operating position. For example, when the operation unit 10 is a steering wheel for a ship, the output of the thruster or the rotational direction of the screw is determined corresponding to the operation position at which the operation unit 10 is set.

The sensor 11 detects the operation position of the operation unit 10 . The sensor 11 notifies the notification unit 12 of the detected operation position.

When the notification unit 12 receives notification from the sensor 11 that the manipulation position has reached a predetermined position, it stimulates at least one of force, hearing, and smell of the operator. In this way, the notification unit 12 notifies the operator that the operation position has reached a predetermined position.

Force is a sense related to touch among the five senses, and is a sense of inverse that a person feels when contacting an object. For example, when the operation unit 10 reaches a predetermined position, the notification unit 12 may feel a notch feeling or resistance feeling in the hand that operates the operation unit 10 . Hereinafter, a feeling of resistance or reaction received from the operation unit when the operator moves the operation unit is referred to as "operation resistance".

Hearing is a sensation that occurs in humans by stimulation of sound waves. In the notification unit 12, when the operation unit 10 reaches a predetermined position, the operator may hear a click sound, an electronic sound, or the like.

Smell is the sense of smell. The notification unit 12 may have the operator smell a predetermined smell when the operation unit 10 reaches a predetermined position.

According to this embodiment, it is possible to notify the operator that the operation unit 10 has reached a predetermined position without using a mechanical mechanism.

[Second Embodiment]

Next, the operation of the operating device 1 according to the second embodiment will be described with reference also to FIG. 1 . Descriptions of portions common to the operating device 1 according to the first embodiment are omitted, and description is made focusing on different portions (similarly below).

When the notification unit 12 receives notification from the sensor 11 that the operation position has reached the predetermined position, the operation resistance of the operation unit 10 is increased compared to before reaching the predetermined position. In this way, the notification unit 12 notifies the operator that the operation position has reached a predetermined position.

The operating resistance may be generated by a motor or the like, and control of the intensity of the operating resistance may be performed by controlling the output of the motor or the like.

The operator can grasp that the operation unit 10 has reached a predetermined position because the operation resistance felt by the hand operating the operation unit 10 has become stronger. That is, according to the present embodiment, it is possible to create an operating feeling felt by the operator in the hand without using a mechanical mechanism.

[Third Embodiment]

Next, the operation of the operating device 1 according to the third embodiment will be described with reference also to FIG. 1 .

When the notification unit 12 receives notification from the sensor 11 that the operation position has reached the predetermined position, the operation resistance of the operation unit 10 is compared by a different magnitude for each of a plurality of predetermined positions before reaching each predetermined position. increase In this way, the notification unit 12 notifies the operator that the operation unit 10 has reached one of a plurality of predetermined positions with an operation resistance corresponding to each predetermined position.

Hereinafter, a case in which the operation unit 10 is a handle for a ship will be described in detail as an example. In the steering wheel for a ship, the operating position has a plurality of predetermined operating positions (notch positions), and the handle is set at any one of them. For example, the notch position includes a central STOP position, a plurality of AHEAD positions disposed forward of the STOP position, and a plurality of ASTERN positions disposed backward from the STOP position. When the handle is in the STOP position, the thruster's output stops. When the steering wheel is in the AHEAD position, the thrusters propel the boat forward. When the steering wheel is in the ASTERN position, the thrusters propel the boat backwards.

The AHEAD position includes, for example, a DEAD SLOW position, a SLOW position, a HALF position, a FULL position, and a NAV.FULL position in order from a position close to the STOP position toward the front. Similarly, the ASTERN position also includes, for example, a DEAD SLOW position, a SLOW position, a HALF position, and a FULL position in order from a position close to the STOP position toward the rear. In both the AHEAD position and the ASTERN position, the thruster output becomes stronger as the notch position is further away from the STOP position.

For example, when the handle reaches the STOP position, the notification unit 12 may apply the weakest operation resistance to notify the operator. In addition, each time the handle moves in one direction from the STOP position toward the front or rear and reaches the DEAD SLOW position, SLOW position, HALF position, FULL position, or NAV.FULL position, the operator may be notified by gradually strengthening the operation resistance. That is, the stronger the output of the thruster, the stronger the operating resistance felt by the operator in the hand.

According to the present embodiment, when an operating position includes a plurality of notch positions, the operator feels an operating resistance corresponding to each notch position, and therefore can grasp which notch position the operating unit has reached.

[Fourth Embodiment]

Fig. 2 is a functional block diagram showing the configuration of an operating device 2 according to a fourth embodiment of the present invention. The operating device 2 of FIG. 2 includes a motor 13 in addition to the components of the operating device 1 of FIG. 1 .

The motor 13 is connected to the operation unit 10 and drives the operation unit 10 .

The sensor 11 detects the operation position of the operation unit 10 and the direction in which the operation unit 10 was operated. The sensor 11 notifies the notification unit 12 of the detected operation position and the direction of operation.

When the notification unit 12 receives notification from the sensor 11 that the operation position has reached a predetermined position, it drives and controls the motor 13 so that force is generated in the direction opposite to the direction in which the operation unit 10 is operated. In this way, the notification unit 12 notifies the operator that the operation position has reached a predetermined position.

The operator can grasp that the control unit 10 has reached the notch position with a feeling similar to that of the notch by feeling the operation resistance generated by the force in the direction opposite to the direction in which the control unit 10 is operated. That is, according to the present embodiment, by using a motor instead of a mechanical mechanism, it is possible to create a feeling of operation corresponding to a feeling of notch of a conventional operating device.

[Fifth Embodiment]

Fig. 3 is a functional block diagram showing the configuration of an operating device 3 according to a fifth embodiment of the present invention. The control unit 10 of FIG. 3 includes a first handle 14a, a second handle 14b, a third handle 14c, a first motor 13a, a second motor 13b, and a third motor 13c. provide

The first motor 13a is connected to the first handle 14a and drives the first handle 14a. The second motor 13b is connected to the second handle 14b and drives the second handle 14b. The third motor 13c is connected to the third handle 14c and drives the third handle 14c.

The first handle 14a, the second handle 14b, and the third handle 14c are respectively disposed at a plurality of places in the ship. For example, the first handle 14a is positioned at the bridge center, the second handle 14b is positioned on the port wing, the third handle 14c is positioned on the starboard wing, and so forth.

The first handle 14a, the second handle 14b, and the third handle 14c can be switched such that one of them becomes a master handle and the other two become slave handles. The master handle is manipulated by the operator. The slave handle is driven by a motor connected to the handle and synchronized with the master handle.

Hereinafter, a case in which the first handle 14a is a master handle and the second handle 14b and the third handle 14c are slave handles will be described in detail as an example. The first handle 14a is operated by an operator. The second handle 14b and the third handle 14c are driven by the second motor 13b and the third motor 13c, respectively, and synchronized with the first handle 14a.

The sensor 11 detects the operating position of the 1st handle 14a which is a master handle. The sensor 11 notifies the notification unit 12 of the detected operation position.

When the notification unit 12 receives notification from the sensor 11 that the first handle 14a has reached a predetermined position, it stimulates at least one of force, hearing, and smell of the operator. In this way, the notification unit 12 notifies the operator that the operation position has reached a predetermined position.

In this embodiment, the first handle 14a is the master handle and the second handle 14b and the third handle 14c are the slave handles. However, it is not limited thereto, and the second handle 14b may be a master handle, and the third handle 14c and the first handle 14a may be slave handles. Alternatively, the third handle 14c may be a master handle, and the first handle 14a and the second handle 14b may be slave handles.

The control unit 10 of FIG. 3 includes three sets of handles and motors, but these are not limited to three sets, and any number of sets may be used.

According to the present embodiment, with respect to an operating device composed of a plurality of handles switchable between a master handle and a slave handle, the operator can be notified that the master handle has reached a predetermined position without using a mechanical mechanism.

[Sixth Embodiment]

Fig. 4 is a functional block diagram showing the configuration of an operating device 4 according to a sixth embodiment of the present invention. The notification unit 12 of FIG. 4 drives and controls the first motor 13a, the second motor 13b, and the third motor 13c. Other configurations of the operating device 4 of FIG. 4 are the same as those of the operating device 3 of FIG. 3 .

Similar to the fifth embodiment, a case where the first handle 14a is a master handle and the second handle 14b and the third handle 14c are slave handles will be described in detail as an example.

The sensor 11 detects the operating position of the first handle 14a, which is a master handle, and the direction in which the first handle 14a is operated. The sensor 11 notifies the notification unit 12 of the detected operation position and the direction of operation.

When the notification unit 12 receives notification from the sensor 11 that the first handle 14a has reached a predetermined position, a first motor ( 13a) is driven and controlled. In this way, the notification unit 12 notifies the operator that the operation position has reached a predetermined position.

A motor connected to each handle is used to create an operating feeling equivalent to the notch feeling of a conventional operating device when the handle is a master handle. On the other hand, when the handle is a slave handle, the motor is used to drive the handle to synchronize with the master handle. That is, according to the present embodiment, one motor can have two roles depending on whether each handle is a master handle or a slave handle. For example, by applying the present embodiment to an existing remote controller equipped with a synchronous motor, it is possible to create a feeling of operation corresponding to a notch feeling by using a motor instead of a mechanical mechanism without adding a new motor.

According to the present embodiment, with respect to an operating device composed of a plurality of handles switchable between a master handle and a slave handle, by using a motor instead of a mechanical mechanism, it is possible to create a feeling of operation equivalent to the notch of a conventional operating device. there is.

[Seventh Embodiment]

Fig. 5 is a functional block diagram showing the configuration of a ship steering system 5 according to a seventh embodiment of the present invention. The ship steering device 5 includes a control unit 15, a sensor 11, and a notification unit 12.

The operation unit 15 is operated by an operator to input an output instruction to the propulsion engine. The operating portion 15 is set at any one of a plurality of predetermined operating positions (notch positions). For example, the notch position includes a central STOP position, a plurality of AHEAD positions disposed forward of the STOP position, and a plurality of ASTERN positions disposed backward from the STOP position. When the operation unit 15 is set to the STOP position, the output of the thruster stops. When the steering wheel is in the AHEAD position, the thrusters propel the boat forward. When the control unit 15 is set to the ASTERN position, the thruster moves the ship backward.

The sensor 11 detects the operating position of the handle 15 . The sensor 11 notifies the notification unit 12 of the detected operation position.

When the notification unit 12 receives notification from the sensor 11 that the manipulation position has reached a predetermined position, it stimulates at least one of force, hearing, and smell of the operator. In this way, the notification unit 12 notifies the operator that the operation position has reached a predetermined position.

A propulsion engine to be controlled is generally a propulsion engine for ships. Such ships include, for example, water jet ships, electric propulsion ships, hybrid propulsion ships, gas engine ships, diesel engine ships and the like.

According to this embodiment, it is possible to realize a ship steering device capable of notifying an operator that the steering wheel 15 has reached a predetermined position without using a mechanical mechanism.

[Eighth Embodiment]

Fig. 6 is a functional block diagram showing the configuration of an operating device 6 according to an eighth embodiment of the present invention. The operating device 6 includes an operating unit 10, a sensor 11, a notification unit 12, and a setting unit 16.

The setting unit 16 is a predetermined position, that is, a position where the notification unit 12, notified by the sensor 11 that the manipulation position has reached this position, will stimulate at least one of the operator's sense of force, hearing, and smell. set As an example, the notification unit 12 causes the operator's hand to feel a notch when the operation unit 10 reaches a predetermined position set by the setting unit 16. In this way, in addition to the notch position by the previously set mechanical mechanism, the operator can grasp the operation position by feeling the notch feeling at the predetermined position newly set by the setting unit 16. That is, according to this embodiment, it is possible to flexibly set a predetermined position (for example, a notch position) for the notification unit 12 to notify.

In one embodiment, the setting unit 16 may set a predetermined position by an operator's setting operation. In this case, the setting unit 16 may be configured to include a handle, a motor that imparts a notch feeling to the operator by operating resistance, and a push button for setting the notch position. The operator operates the handle, and when the handle reaches a desired position, presses a push button for setting. In this way, the notch position is set at the desired position. According to this embodiment, the operator can freely set a predetermined position (for example, a notch position) for the notification unit 12 to notify according to his/her own preference or the route of the ship.

[Ninth Embodiment]

Fig. 7 is a functional block diagram showing the configuration of an operating device 7 according to a ninth embodiment of the present invention. The operating device 7 includes an operating unit 10, a sensor 11, a notification unit 12, a setting unit 16, and a release unit 17.

The release unit 17 releases the predetermined position set by the setting unit 16 . The operating device 7 is used by various operators and is also used for navigating various sea routes. At this time, a predetermined position (for example, a notch position) for notification by the notification unit 12 may change depending on the operator or route. Therefore, it is preferable that the predetermined position set by the setting unit 16 can be freely released. That is, according to this embodiment, it is possible to flexibly cancel a predetermined position (for example, a notch position) once set.

In one embodiment, the release unit 17 may release the set predetermined position by an operator's release operation. In this case, the release unit 17 may include a handle, a motor that gives the operator a notch feeling by operating resistance, and a push button for releasing the notch position. The operator presses the release push button when the handle is at a predetermined position to be released. In this way, the notch position set at the desired position is released. According to this embodiment, the operator can freely release a predetermined position (for example, a notch position) for the notification unit 12 to notify according to his/her own preference or the route of the ship.

[Tenth Embodiment]

Fig. 8 is a functional block diagram showing the configuration of an operating device 8 according to a tenth embodiment of the present invention. The operating device 8 includes an operating unit 10, a sensor 11, a reporting unit 12, a setting unit 16, and a history information storage unit 18.

The history information storage unit 18 stores history information of an operation position set by an operator. The setting unit 16 sets a predetermined position based on this history information.

In this specification, "history information of an operation position" refers to information about temporal changes in the operation position of the operation unit 10 due to the operation of an operator on a voyage. For example, the history information may include an operation position when the operation unit 10 is stopped, a time period during which the operation unit 10 is stopped, the number of stops for each operation position, a switching speed of the operation position, and the like. The history information may also be classified and stored according to the time period of the voyage, such as a certain time period after the ship leaves the port of departure, a time period during which it is navigating the open sea, and a certain time period until it arrives at the port of arrival. Further, the history information may be about one voyage or may be an accumulation of plural number of voyages such as days or months.

The setting unit 16 automatically sets a predetermined position based on this history information. For example, the history information storage unit 18 may store the number of times the operation unit 10 has been stopped for each operation position, and the setting unit 16 may set a position where the number of stops is greater than a certain value as a predetermined position. In this case, the manipulation position set more frequently by the operator is automatically set as the predetermined position. Alternatively, the history information storage unit 18 may store the switching speed of the operating position, and the setting unit 16 may set a position where the switching speed to the position was faster than a predetermined value as a predetermined position. In this case, the manipulation position set more quickly by the operator is automatically set as the predetermined position.

The history information storage unit 18 may classify and store the history information for each time period of navigation. At this time, the setting unit 16 may set the predetermined position based on different standards for each time period of the navigation. For example, the ship travels at a slower speed when waning or berthing. Conversely, while sailing in the open sea, the ship travels at a higher speed. In this regard, it is advantageous for the setting unit 16 to set the predetermined position more precisely on the low-speed side during unloading and berthing, and to set the predetermined position more precisely on the high-speed side during sea navigation. This makes it possible to set a more practical predetermined position.

In one embodiment, the history information includes an operation position when the operation unit 10 is stopped, and a time period during which this stop is continued. And the setting part 16 sets the said operation position to a predetermined position when the time for which the stop continues is longer than predetermined time.

As for the operation position of the operation unit 10, it is thought that the time at which the operation unit 10 is stopped at the position becomes longer as the position is desired to be used by the operator or a position that needs to be used. Therefore, by setting the operating position for which the time during which the stop is continued is longer than the predetermined time to the predetermined position, it becomes easy to use and useful for the user. That is, according to this embodiment, a more practical and usable operating device can be realized.

[Eleventh Embodiment]

Fig. 9 is a functional block diagram showing the configuration of an operating device 9 according to an eleventh embodiment of the present invention. The operating device 9 includes an operating unit 10, a sensor 11, a notification unit 12, a setting unit 16, a release unit 17, and a history information storage unit 18.

The history information storage unit 18 stores history information of an operation position set by an operator. The releasing unit 17 automatically cancels the predetermined position set by the setting unit 16 based on the history information.

For example, the history information storage unit 18 may store the number of times the operation unit 10 is stopped for each operation position, and the release unit 17 may cancel a predetermined position where the number of stops is less than a fixed value. In this case, an operating position that the operator has not used very often is automatically released from a predetermined position. Alternatively, the history information storage unit 18 may store the switching speed of the operating position, and the release unit 17 may release a predetermined position at which the switching speed to the position is slower than a fixed value. In this case, the operating position, which does not require a very quick setting by the operator, is automatically released from the predetermined position.

In one embodiment, the history information includes an operation position when the operation unit 10 is stopped, and a time period during which this stop is continued. And the release part 17 releases the said predetermined position when the time for which the stop of the operation part 10 continues at the set predetermined position is shorter than a predetermined time.

As for the operation position of the operation unit 10, it is thought that the time at which the operation unit 10 is stopped at the position becomes shorter as the operator does not intend to use the position or the position where it is not necessary to be used. Therefore, by releasing the operation position where the time for which the stop is continued is shorter than the predetermined time from the predetermined position, the unnecessary predetermined position is removed and the user's trouble is reduced. That is, according to this embodiment, a more practical and usable operating device can be realized.

[Twelfth Embodiment]

Fig. 10 is a functional block diagram showing the configuration of an operating device 92 according to a twelfth embodiment of the present invention. The operating device 92 includes an operating unit 10, a sensor 11, a reporting unit 12, a setting unit 16, and a display unit 19.

The display unit 19 displays the predetermined position set by the setting unit 16. The display unit 19 may be realized by any means. For example, the display part 19 may be comprised by the some LED arrange|positioned along the operation position of the operation part 10. Alternatively, the display unit 19 may be configured with a display such as a liquid crystal.

In general, the operator wants to ascertain how many predetermined positions are currently set. In this case, the currently set predetermined position can be easily recognized by displaying the set predetermined position on the display unit 19 constituted by LEDs, displays, or the like. That is, according to this embodiment, the user can recognize the currently set predetermined position in real time.

In the above, the present invention has been described based on several embodiments. These embodiments are examples, and it is understood by those skilled in the art that various modifications and changes are possible within the claims of the present invention, and that such modifications and changes are also within the claims of the present invention. Therefore, the description and drawings in this specification should be treated as illustrative rather than restrictive.

(modified example)

Modifications will be described below. In the description of the modified example, the same number is attached to the same or equivalent components and members as those of the embodiment. Description overlapping with the embodiment will be appropriately omitted, and a description will focus on a configuration different from the embodiment.

[Modification 1]

In actual ship operation, when the handle enters the FULL position of the ASTERN position while the ship is advancing, there is a risk of damaging the engine due to an excessive load on the engine. In order to prevent this, the full position of the ASTERN position is used only in case of emergency, and in normal cases, this position may be blocked with a stopper. For the purpose of simulating this, in the third embodiment, the operation resistance when reaching the FULL position of the ASTERN position may be extremely strong. According to this modified example, a safer operating device can be realized.

[Modification 2]

In the fourth embodiment, the notification unit 12 operates the motor 13 so that a force is generated in the same direction as the direction in which the operation unit 10 was operated when the operation unit 10 approaches the notch position by a predetermined distance. drive control. By this, the operator gets a feeling that the operation unit 10 is pulled into the notch position. And the notification unit 12 may drive and control the motor 13 so that a force is generated in the direction opposite to the direction in which the operation unit 10 was operated at the same time that the operation unit 10 reaches the notch position. By this, the operator gets a notch feeling. In addition, the notification unit 12 may turn off the motor after the operation unit 10 passes the notch position. As a result, the operator can move the control unit 10 freely. According to this modified example, a realistic operation feeling close to a mechanical mechanism can be obtained.

Any combination of each of the above-described embodiments and modified examples is also useful as an embodiment of the present invention. The new embodiment produced by the combination has both the effects of each combined embodiment and each modified example.

1: operating device
2: operating device
3: operating device
4: operating device
5: Marine steering gear
10: control panel
11: sensor
12: notification department
13: motor
13a: first motor
13b: second motor
13c: third motor
14a: first handle
14b: second handle
14c: third handle
15: control panel
16: setting unit
17: release part
18: history information storage unit
19: display part

Claims (16)

A control unit operated by an operator;
A sensor for detecting an operation position of the operation unit;
When the sensor detects that the control unit has reached a predetermined position by the operator's operation, a notification unit that notifies the operator by stimulating at least one of force, hearing, and smell
equipped,
When the sensor detects that the operation unit has reached one of a plurality of predetermined positions by the operator's operation, the notification unit notifies the operator by increasing the operation resistance of the operation unit by a different size for each of the plurality of predetermined positions. do,
The operation device according to claim 1 , wherein the notification unit notifies the operator of an operation resistance felt by the operator in the hand as the output of the thruster is stronger. According to claim 1,
An operating device comprising a setting unit for setting the predetermined position. According to claim 2,
wherein the setting unit sets the predetermined position by a setting operation of the operator. According to claim 2,
a history information storage unit for storing history information of the operation position set by the operator;
The operating device, wherein the setting unit sets the predetermined position based on the history information. According to claim 4,
The history information includes the operation position when the operation unit is stopped, and a time period during which the stop is continued,
The operating device, wherein the setting unit sets the operation position to the predetermined position when a time period during which the stop is continued is longer than a predetermined time period. According to claim 4,
A release unit for releasing the set predetermined position,
and the release unit releases the predetermined position based on the history information. According to claim 6,
wherein the release unit releases the predetermined position when a time for which the operation unit continues to stop at the set predetermined position is shorter than a predetermined time. a control unit that is operated by an operator and inputs an output instruction to the propulsion engine;
A sensor for detecting an operation position of the operation unit;
a notification unit that notifies the operator by stimulating at least one of force, hearing, and smell when the sensor detects that the control unit has reached a predetermined position by the operator's operation;
a setting unit for setting the predetermined position;
a release unit for releasing the set predetermined position;
motor
equipped,
The sensor detects an operating position of the operating unit and a direction in which the operating unit is operated;
When the sensor detects that the operation unit has reached the predetermined position by the operation of the operator, the notification unit notifies the operator by driving and controlling the motor so that torque is generated in a direction opposite to the direction in which the operation unit was operated. do,
The predetermined position is a ship steering device, characterized in that the notch position. According to claim 8,
The release unit releases the predetermined position set by the operator's release operation. According to claim 1,
Equipped with a motor,
The sensor detects an operating position of the operating unit and a direction in which the operating unit is operated;
The notification unit, when the sensor detects that the operation unit has reached the predetermined position by the operation of the operator, drives and controls the motor so that torque is generated in a direction opposite to the direction in which the operation unit was operated, thereby providing information to the operator. Informing, operating device. According to claim 8,
The operating unit includes a plurality of handles switchable between a master handle operated by an operator and a slave handle synchronized with the master handle by a motor,
Wherein the notification unit notifies the operator by stimulating at least one of force, hearing, and smell when the sensor detects that the master handle has reached a predetermined position by manipulation of the operator. According to claim 11,
The sensor detects an operating position of the master handle and a direction in which the master handle is operated;
When the sensor detects that the master handle has reached a predetermined position due to the manipulator's manipulation, the notification unit notifies the manipulator by driving and controlling the motor so that torque is generated in a direction opposite to the direction in which the manipulator was operated. , a steering device for ships. According to claim 2,
An operating device comprising a display unit displaying the set predetermined position. a control unit that is operated by an operator and inputs an output instruction to the propulsion engine;
A sensor for detecting an operation position of the operation unit;
When the sensor detects that the control unit has reached a predetermined position by the operator's operation, a notification unit that notifies the operator by stimulating at least one of force, hearing, and smell
equipped,
When the sensor detects that the operation unit has reached one of a plurality of predetermined positions by the operator's operation, the notification unit notifies the operator by increasing the operation resistance of the operation unit by a different size for each of the plurality of predetermined positions. do,
The notification unit, as the output of the propeller is stronger, the operation resistance felt by the operator in the hand becomes stronger and notifies the operator. delete delete

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