KR20010069812A - A ship's automatic steering and control system - Google Patents

Abstract

PURPOSE: An automatic steering and controlling apparatus is provided to enable manual control and automatic control, especially remote control, compass steering control, plotter steering control, thereby being used for large-sized and medium and small-sized vessels and improving the safety and the convenience of steering. CONSTITUTION: An automatic steering and controlling apparatus includes an electronic clutch formed with a spool for handle connection(25), a spool for handle and motor connection(27), a gear(30), and an electronic clutch coil(31), a control apparatus remotely controlling the electronic clutch and formed with a front surface apparatus part, a processing apparatus part, a direction sensor part, a terminal box, peripheral apparatuses, and a control element by one directional automatic steering and a plotter signal using an electronic compass sensor, wherein the automatic steering and controlling apparatus includes a connection apparatus structure of a steering handle(24) and the spool for handle and motor connection, and a connection apparatus structure of the spool for handle and motor connection spool, the gear, an electromotive gear(39), a reduction gear(41), and an electromotive motor(42).

Description

A ship's automatic steering and control system

The present invention relates to an automatic steering and automatic control device for a ship to be used to adjust the left and right direction in the ship.

Conventionally, starting hydraulic steering gears, manual hydraulic steering gears, parallel helium pump steering gears and manual switching steering gears have been known. Among these, mechanical steering gears are used for large ships and still small hydraulic ships in small ships. In most cases, the manual steering system uses a wooden stick to connect the central axis of the rudder to change the direction of the ship and adjust the direction of the ship, or the rudder and the steering wheel are connected by chains or iron pipes. Since this manual steering device requires a lot of power, there are many safety accidents such as the ship's overturning due to the difficulty of smooth steering due to the force of the wave on the pier berthing or when the big wave hits. Install a hydraulic cylinder on the rudder and After the steering wheel is mounted on the hydraulic pump for other devices, a manual hydraulic steering device used by connecting the hydraulic cylinder and the oprol with a hydraulic hose, and a starting steering device for driving the hydraulic pump as an engine consists of a cylinder, a helium pump, and a hydraulic pump. Among the steering methods, which can be controlled by the electronic device, the hydraulic steering method is connected to the hydraulic solenoid valve or electric motor, so it is not easy to install in a small ship and it is expensive. There was a difficulty.

The present invention has been invented to solve the above problems, the present invention is to control the hydraulic steering device for adjusting the left and right direction of the ship by an electric control device, in the manual control and automatic control, especially in automatic control, remote control, compass Steering control and plotter steering control are made possible, and its operation is to provide an automatic steering device composed of an automatic switching device, an electronic control device for a cylinder and a peripheral hydraulic unit, and various sensors.

1 is a device overview of the present invention

2 is a perspective view of the automatic switching device of the present invention

Figure 3 is a schematic diagram of the configuration of the electronic control apparatus of the present invention

4 is a front perspective view of a remote control device;

5 is a front view of the steering and engine control remote controller

6 is a side view of FIG. 5

※ Explanation of symbols for main parts of drawing

1-steering 2-handle spool 3-handle / motor spool 4-wheel gear

5- Electric Clutch Coil 6-Motor Gear 7-Reduction Gear 8-Electric Motor 9-Helium Pump

10-high pressure oil hose 11-cylinder 12-tiler 13-rudder 14-ladder sensor connecting rod

15-Radar Sensor 16-Remote Controller 17-Electronic Control 18-Connector Box

19-Electronic compass 20-Angle indicator 21-Alarm buzzer 22-External device connection terminal

23-Power supply terminal 24- steering handle 25-handle spool 26-handle coupling

27-Handle / motor spool (disc) 28-Spring 29-Motor drive coupling

30-gear 31-electronic clutch coil 32-bearing 33-electronic clutch coil

34-Helium pump coupling 34a-Center shaft 35-Helium pump oil inlet

36-Helium pump 37-Cylinder oil hose connector 38-Gear coupling 39-Electric motor gear

40-Switching Unit Enclosure Body 41-Reduction Gear 42-Electric Motor 43-Electric Motor Power Supply

44-ruding angle indicator of existing ship 45-ruding angle adjuster

46-Remote Controller Cable 47-Remote Controller Case

48-way rudder angle indicator 49-screw clutch adjuster

50-rpm regulator 51- steering angle regulator

52-Remote Controller Case 53-Remote Controller Connection Cable

The present invention is composed of an automatic switching device, a cylinder and a peripheral hydraulic unit, an electronic control device, various sensors, and the configuration and operation thereof are as follows.

Overall operation of the present invention

In Figure 1, but divided into manual steering and automatic steering (including remote steering), the automatic steering has a compass steering method, a plotter steering method and a round table steering system. The operation of the manual steering is that when the power is turned off to the electronic control unit 17 or when the operation selection switch is manual, the power is turned off to the electric motor 8 or the electromagnetic clutch coil 5 so that the handle / motor of the automatic switching unit part is turned off. Since the connection spool (3) is separated from the motor connecting gear (4) and combined with the handle connecting spool (2), turning the steering wheel (1) to the left or right turns the handle connecting spool (2). The handle / motor connection spool (3) is coupled to the handle connection spool (2), and the handle / motor connection spool (3) and helium pump (9) are connected, and the helium pump (9) According to the connection direction, the oil inside the helium pump 9 operates the cylinder 11 through the high pressure oil hose 10, and the linear motion of the cylinder 11 is changed into the rotary motion by the tiller 12. The rear rudder 13 is adjusted up to 35 degrees left or right, respectively.

The operation of the automatic steering is performed by the magnetic body because 24v electricity is supplied from the connection terminal box 18 to the electromagnetic clutch coil 5 when the operation selection switch on the panel of the electronic controller 17 is selected as the compass, plotter or remote position. The handle / motor connecting spool 3 is engaged with the motor connecting gear 4 by an electromagnet of the electromagnetic clutch coil 5 and is separated from the handle connecting spool 2.

At this time, the direction of the electric motor 8 is changed by the electric motor supplied by the connection terminal box 18. This rotational motion is decelerated by the reduction gear 7 so that the motor gear 6 rotates and the motor gear ( 6) and the motor connecting gear (4) are connected and decelerated again at a reduction ratio of about 2: 1 to rotate the handle / motor connecting spool (3), and the spool (3) and helium pump (9) are connected. The next operation is the same as with manual.

In this way, when the power is supplied to the electronic clutch coil (5), it is automatic steering, and when the power is not supplied, it is a manual steering. Stability is secured. In particular, the compass selection method, the plotter steering method and the remote steering method are separated from the operation selection switch of the electronic controller 17 in the automatic steering or the remote steering, and the electric motor 8 is controlled according to each operation state.

Compass steering is connected to the left (or right) side of the current ship's bearing by the electronic compass 19 and the direction of the ship set by the electronic control device 17 and the electronic compass 19 according to the difference angle. The electric motor 8 is driven by the terminal box 18 and the rudder angle input by the rudder sense 15 is compared with the angular ratio set by the electronic angle control unit 17 with the error angle of the set angle and the present angle. The vessel is automatically steered and sailed in the direction set in the electronic controller 17.

The plotter steering is operated with the GPS plotter device connected to the outside by the terminal 22 for connecting the external device of the connector box 18, and when one or more destinations are selected in the function of the plotter device, the plotter Since the direction from the current position to the destination is represented by data to the electronic controller 17 through the connection terminal box 18, the electronic controller 17 in the electronic control unit 17 and the bearing of the current vessel supplied from the electronic compass (19) In comparison with the above, an appropriate signal is supplied to the electric motor 8 by the connection terminal box 18 according to the steering angle ratio and the crest ratio adjusted and set by the electronic controller 17, so that the error is not affected by birds or wind. It is possible to arrive at the destination without

The remote steering method is controlled by the remote controller 16 connected to the connection terminal box 18 and the electric wiring. When the steering controller installed on the remote controller 16 is set to the left or right angle, the rudder (13) is set in the same way as the set steering angle, so the variable resistor is used as an adjuster, so the correct steering angle can be adjusted, and the rudder 13 is operated by driving the electric motor 8 according to the adjusted steering angle. The angle of the rudder 13 is detected by the rudder sensor 15 and displayed as the steering angle indicator 20 through the connection terminal box 18 and supplied to the electronic controller 17 so that the remote controller can be controlled by the electronic controller 17. Comparing the steering angle adjusted in (16) and the steering angle read from the ladder sensor 15, when there is an error to drive the electric motor 8 through the connection terminal box (18).

Figure 2 is an enlarged view of the structure of the automatic switching device

The rotating shaft of the helium pump 36 is composed of an automatic switching device cylinder, a peripheral hydraulic part electronic control device, and various sensors. The helium pump 36 is coupled to the concave-convex shape by the helium pump coupling part 34, and the center of rotation of the helium pump 36 The shaft 34-a is coupled with three bearings 32, coupled by a handle connecting spool 25 and a bearing, and fixed from left and right vertical movements. The central shaft 34-a is separated and the handle / motor connecting spool 27 is coupled with the central shaft 34-a by teeth and is fixed from the rotational movement, and is separated from the left and right vertical movements and is uneven to the left. The surface is coupled to the handle connecting spool 25 and the right side is coupled to the gear 30 in a planar structure. That is, the handle / motor connection spool 27 moves between the handle connection spool 25 and the gear 30, and the handle is not supplied to the electromagnetic clutch coil power supply line 33 when the electromagnetic clutch coil 31 is supplied to the electromagnetic clutch coil power supply line 33. The spool 27 for motor connection is coupled to the spool 25 for handle connection by a spring 28 and the handle coupling 26 of the spool 27 for handle / motor connection and the spool 25 for handle connection is When coupled to the unevenness and the power is supplied to the electromagnetic clutch coil 31 via the electromagnetic clutch coil power supply line 33, the handle / motor connection spool 27 is engaged with the gear 30.

When the motor is driven, the coupling part 29 is coupled to the plane by the electromagnet force of the electromagnetic clutch coil 31, and a plurality of holes are provided in the circular plate of the handle / motor connection spool 27 and the gear 30 to increase the coupling strength. There is this. In addition, the gear 30 and the electric motor gear 39 are coupled by cogs, and the electric motor gear 39 is connected to the electric motor 42 via the reduction gear 41 and the spool 25 for steering wheel connection is a switching device. It is coupled to the enclosure body 40 and the bearing and the shaft is configured to be coupled to the steering wheel 24

The operation is performed when the electromagnetic clutch coil 31 is not supplied with electricity, that is, when the steering wheel 24 is turned left or right in manual steering, the handle connecting spool 25 rotates and the handle / motor is driven by the spring 28. The connecting spool 27 is coupled to the engaging surface of the handle connecting spool 25 and the handle engaging portion 26.

The handle / motor connection spool 27 is coupled to the central shaft 34-a so that the central shaft 34-a is connected to the helium pump 36 via the uneven coupling surface of the helium pump coupling 34. Helium pump 36 is rotated in the same direction as the rotation direction of the steering wheel 24 is connected to the rotary shaft of the oil supply to the cylinder through the cylinder oil hose connector 37 in accordance with the rotation direction is possible manual steering In the state where electricity is supplied to the clutch coil 31, that is, the operation of the automatic steering or the remote steering, the spool 27 for the handle / motor connection is engaged with the gear 30 by the force of the electromagnet by the electromagnetic clutch coil 31 and the gear 30 is coupled to the electric motor gear 39 and the gear coupling portion 38 of the teeth and the electric motor gear 39 is connected to the electric motor 42 via the reduction gear 41 to the power supply line 43 The spool (27) for handle / motor connection rotates to the left or right according to the polarity of The handle / motor spool (27) is connected to the central shaft (34-a) and connected to the rotating shaft of the helium pump (36) through the helium pump coupling portion 34 through the cylinder oil hose connector (37) Oil is supplied to the cylinder to enable automatic or remote steering.

Next, let's talk about electronic control

3 is a block diagram of an electronic control device, which is composed of a front device part, a processing device part, an orientation sensor part, a terminal box, and a peripheral device, and a power off-manual-compass-plota-remote power-off and function changeover switch on the front device part. And u-turn / avoidance / function / alarm switch, contrast controller with variable resistor, angle controller, crest ratio controller, and LCD device displaying Korean / English / Graph.

The processing unit consists of three storage units, a signal input / output unit, a signal conversion unit for converting an analog signal to digital, and an arithmetic unit that is a microprocessor, and all the functions of input, operation, output, and indicator are made by this processing unit.

The azimuth sensor unit compares and amplifies a signal supplied to an electronic azimuth sensor consisting of an electromagnetic coil and an amplifier and a signal input from the electromagnetic azimuth sensor, and supplies each signal of XY to a processing unit signal converter.

The terminal box is composed of a device for connecting external devices such as the main electronic control device and a sensor, a power supply unit, a steering angle adjuster, a motor and a clutch drive unit, and an input / output noise prevention circuit.

It is configured to connect the engine controller and GPS plotter as basic components and optional devices of the electronic direction sensor, steering angle sensor, remote controller, steering angle indicator, auto steering switch and power supply terminal as external connection devices. In case of using other steering method, GPS plotter should be connected and it can be used if it is a GPS plotter that can supply MNEA-0183 signal which is standard signal.

This configuration is operated by the supply voltage DC-24V, and the power supply terminal (+ -polarity) is separated from the ground, so it has no effect from other equipment (in the grounding method-out of the power supply line of other grounded equipment). Or, when the switch is turned off-if the power supply line is turned off first, it can be fatal damage) and minimize the effects of other noises, so the stability is very high.

And the operation of the electronic control device is as follows.

Steering method in manual position is operated manually when the power and function switch is OFF, the indicator and the angle indicator of the front unit display the current rudder angle and the clutch signal power and motor for the auto steering switch as in the OFF state. The control power is not output.

When the function selection switch is a compass, the clutch signal DC 24V is supplied to the automatic steering changer and the "U-turn / avoidance / function" switch inputs the direction of the destination. After calculating the true digital value and comparing the converted value to the current bearing value, the motor of the auto steering switch is controlled through the terminal box. The controlled signal is a signal input from the steering angle sensor. The control is compared with the orientation. The indicator displays the current bearing direction and the destination bearing numerically, displays the current steering angle as a horizontal bar, and displays the direction of the rudder output as an arrow on the left or right side. In addition, it is displayed by analog meta through the angle indicator, and when a problem occurs during steering, an error indication and a buzzer sound, and it stops when the alarm switch is pressed.

When the function selection switch is a plotter, the clutch signal DC-24V is supplied to the automatic steering switch, and information about the destination from the GPS plotter is input to the processing device through the RS-232C signal line and switched from the direction sensor to the direction sensor part. The digital value is calculated by the processing unit and converted to the current bearing value. After comparing the two signals, the motor of the auto steering switch is controlled through the terminal box.The controlled signal is a signal input from the steering angle sensor by the bearing sensor. The control is compared with the current bearing. The indicator displays the current bearing direction and the destination bearing numerically, displays the current steering angle as a horizontal bar, and displays the direction of the rudder output as an arrow on the left or right side. In addition, the current steering angle is displayed by analog meter through externally connected steering wheel indicator, and when there is no signal from externally connected GPS plotter or a problem occurs during steering, an error indication and a buzzer sound and stop when pressing the alarm switch.

When the function selection switch is remote, supply the clutch signal DC-24V to the auto steering switch and turn the steering angle controller of the remote controller to the left or right to compare the steering angle of the remote controller with the current steering angle by the steering angle sensor. The motor of the steering diverter is controlled. The indicator displays the current bearing as a number and displays the current steering angle as a horizontal bar and the direction of the output stroke as an arrow on the left or right. In addition, the current steering angle is displayed by analog meta through the external steering angle indicator connected. If a problem occurs during steering, an error indication and a buzzer sound and the alarm switch is pressed to stop.

In steering, compass steering, float steering, and remote steering, the steering angle adjuster and the wave height adjuster are the main settings for controlling the motor. The autopilot can be adjusted to best suit the characteristics of the device.

The present invention configured as described above is an automatic steering and automatic control device for ships to control the hydraulic steering device for adjusting the left and right direction of the ship with an electric control device, such as remote control, compass steering control, in manual control and automatic control, in particular automatic control, It is possible to control the floater steering and can be used from large ship to small and medium sized ship. It is simple to install, has low failure rate and can use the steering gear in use. There are effects, convenience of steering, and manpower reduction.

Claims (6)

An automatic steering control device by an electromagnetic clutch composed of a handle connection spool (25), a handle / motor connection spool (27), a gear (30), and an electromagnetic clutch coil (31). Connection structure of steering wheel 24 and spool 27 for handle / motor connection, spool 27 and gear 30 for gear / motor connection, electric motor gear 39 and reduction gear 41 electric motor ( Automatic steering control with structure of connecting device leading to 42). The automatic steering and control apparatus of Claim 1 provided with the control apparatus which controls an electromagnetic clutch. The automatic steering control device according to claim 3, which enables remote control of the control. The automatic steering control device according to claim 2, comprising a front device part, a processing device part, an orientation sensor part, a terminal box, and a peripheral device. The automatic steering control apparatus of Claim 2 provided with the control means by the one-way automatic steering and a plotter signal using an electronic compass sensor.