KR20210015694A - Control apparatus and operating apparatus for ship - Google Patents

Abstract

Implemented is an operating device for notifying an operator of whether an operation unit reaches a predetermined position without depending on a mechanical device. The operating device (1) comprises: the operation unit (10); a sensor (11) detecting an operation position of the operating unit (10); and a notification unit (12). The notification unit (12) stimulates at least one among senses of tactile force, hearing, and smell of the operator to notify the operator when the sensor (11) detects that the operation unit (10) reaches the predetermined position.

Description

Operating device and ship control device {CONTROL APPARATUS AND OPERATING APPARATUS FOR SHIP}

The present invention relates to an operation device and a ship control device.

A control handle (hereinafter, abbreviated as "handle") for controlling the propulsion device is provided in the remote control device of the ship propulsion device. By moving this handle, the operator controls the thruster's output or direction of rotation.

Japanese Patent Publication No. 2018-203216

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

On the other hand, the handle is provided with a mechanical mechanism for stimulating the force of the operator to generate a sense when the operating position reaches a predetermined position (hereinafter referred to as "notch position"). Hereinafter, the sense that the operator feels when the handle reaches the notch position is referred to as "notch feeling".

The notch position corresponds, for example, when the pointer of the handle is at the center position of each scale. Such a mechanical mechanism can be configured using, for example, a steel ball pressed by a spring force and a V-shaped or U-shaped groove. This allows the operator to 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 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 the notch feeling generated by the mechanical mechanism.

Next, a description will be given of a remote control device having a current electric shaft function. The steering wheel used in such a remote control device is disposed at a plurality of locations on the ship, for example, at three locations: a bridge center, a port wing, and a starboard wing. The operator can control the ship from any of these locations.

At the time of maneuvering, any one of these plurality of handles is selected as a handle for accepting an operator's operation. Hereinafter, a handle operated by an operator is referred to as a "master handle". The remaining handles move in synchronization 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 the plurality of handles has a built-in motor for moving in synchronization with the master handle when it is a slave handle.

As described above, a synchronous motor is incorporated in the handle. Therefore, if it remains like this, 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 incorporated in the transmission system for transmitting the power of the motor to the handle. That is, this slip clutch does not slip when the force applied to the handle is less than a predetermined amount. Therefore, at this time, a force is transmitted between the handle and the motor (hereinafter, this predetermined amount of force 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, the transmission of force between the handle and the motor is blocked. In this way, the operator can move the handle without turning the motor shaft for synchronization by applying a force equal to or greater than the slip limit force to the handle.

However, the mechanical mechanism that creates the above-described 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 intended to synchronize the handle to the master handle.

The technique of notifying an operator of an operation position by using the feeling of the notch generated by the above-described mechanical mechanism has the following problems. For example, when the movement of the mechanical mechanism is not smooth due to exhaustion of grease or the like, the notch force becomes larger than the normal time. 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 synchronizing motor in order to drive the handle and synchronize to the master handle by exceeding the increased notch force. At this time, if the notch force is more than the slip limit force, the power of the synchronous motor must also be higher than the slip limit force. However, in this way, the slip clutch slips and the motor runs idle. In other words, a mechanical mechanism causes it to be impossible to synchronize the slave handle with the master handle.

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

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

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

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

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

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

Hereinafter, the present invention will be described with reference to the drawings based on preferred embodiments. The same or equivalent components, members, and treatments shown in each drawing are denoted by the same numbers, and redundant descriptions are omitted appropriately.

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

[First embodiment]

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

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

The notification unit 12, upon receiving notification from the sensor 11 that the operation position has reached a predetermined position, stimulates at least one of the operator's force, hearing, and smell. Thereby, the notification unit 12 notifies the operator that the operation position has reached the predetermined position.

Force is a sense related to touch among the five senses, and it is an inverse sense felt when a person touches an object. For example, when the operation unit 10 reaches a predetermined position, the notification unit 12 may make the hand operating the operation unit 10 feel a feeling of notch or resistance. Hereinafter, when the operator moves the operation unit, the sense of resistance or reaction received from the operation unit is referred to as “operation resistance”.

Hearing is a sensation that occurs in humans by the 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 or an electronic sound.

The sense of smell is the sense of smell. The notification unit 12 may make 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 operation device 1 according to the second embodiment will be described with reference to Fig. 1 as well. Descriptions of parts common to the operation device 1 according to the first embodiment will be omitted, focusing on different parts (the same applies hereinafter).

When notifying from the sensor 11 that the operation position has reached the predetermined position, the notification unit 12 increases the operation resistance of the operation unit 10 compared to before reaching the predetermined position. Thereby, the notification unit 12 notifies the operator that the operation position has reached the predetermined position.

The operation resistance may be generated by a motor or the like, and the strength and weakness of the operation resistance may be controlled by controlling the output of the motor or the like.

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

[Third embodiment]

Next, the operation of the operation device 1 according to the third embodiment will be described with reference to Fig. 1 as well.

When notified from the sensor 11 that the operation position has reached a predetermined position, the notification unit 12 compares the operation resistance of the operation unit 10 at different sizes for each of a plurality of predetermined positions before reaching each predetermined position. Increase. As a result, 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 of a size corresponding to each predetermined position.

Hereinafter, a case where the operation unit 10 is a steering wheel for a ship will be described in detail. In the steering wheel for a ship, the operating position has a plurality of predetermined operating positions (notch positions), and the steering wheel is set in any of these. For example, the notch position includes a central STOP position, a plurality of AHEAD positions disposed ahead of the STOP position, and a plurality of ASTERN positions disposed behind the STOP position. When the handle is in the STOP position, the thruster output stops. When the steering wheel is in the AHEAD position, the thruster advances the ship. When the steering wheel is in the ASTERN position, the thruster reverses the ship.

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 has 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 and ASTERN positions, the more the notch position is away from the STOP position, the stronger the thruster output.

For example, when the handle reaches the STOP position, the notification unit 12 may provide the weakest operating resistance and notify the operator. In addition, whenever the handle is moved in one direction from the STOP position to the front or rear and reaches the DEAD SLOW position, SLOW position, HALF position, FULL position, or NAV.FULL position, the operating resistance may be gradually increased to notify the operator. That is, the stronger the output of the thruster is, the stronger the operating resistance that the operator feels in the hand may be.

According to the present embodiment, when the operation position includes a plurality of notch positions, the operator feels an operation resistance of a magnitude corresponding to each notch position, so that the operation unit can grasp which notch position has reached.

[Fourth embodiment]

2 is a functional block diagram showing a 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 constituent elements of the operating device 1 of FIG. 1.

The motor 13 is connected to the operation unit 10 to drive the operation unit 10.

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

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

The operator can grasp that the operation unit 10 has reached the notch position with a feeling similar to the notch feeling by feeling the operation resistance generated by the force in the direction opposite to the direction in which the operation 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 equivalent to that of a conventional operating device.

[Fifth Embodiment]

3 is a functional block diagram showing a configuration of an operating device 3 according to a fifth embodiment of the present invention. The operation part 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. Equipped.

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

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

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

Hereinafter, a case where the first handle 14a is the master handle and the second handle 14b and the third handle 14c are slave handles will be described in detail. 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 are synchronized with the first handle 14a.

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

The notification unit 12, when notified from the sensor 11 that the first handle 14a has reached a predetermined position, stimulates at least one of the force, hearing, and smell of the operator. Thereby, the notification unit 12 notifies the operator that the operation position has reached the predetermined position.

In the above embodiment, the first handle 14a is the master handle and the second handle 14b and the third handle 14c are slave handles. However, the present invention 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 operation unit 10 of Fig. 3 includes three sets of handles and a motor, but these are not limited to three sets, and any number of tightenings may be used.

According to the present embodiment, with respect to an operation device comprising a plurality of handles that can be switched between the master handle and the slave handle, it is possible to notify the operator that the master handle has reached a predetermined position without using a mechanical mechanism.

[Sixth Embodiment]

4 is a functional block diagram showing a 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 in FIG. 4 are common to the configuration of the operating device 3 in FIG. 3.

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

The sensor 11 detects the operation position of the first handle 14a as the 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 operated direction.

The notification unit 12, when notified from the sensor 11 that the first handle 14a has reached a predetermined position, generates a force in a direction opposite to the direction in which the first handle 14a was operated ( 13a) is driven and controlled. Thereby, the notification unit 12 notifies the operator that the operation position has reached the predetermined position.

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

According to this embodiment, with respect to an operating device comprising a plurality of handles that can be switched between a master handle and a slave handle, by using a motor instead of a mechanical mechanism, it is possible to create an operating feeling equivalent to that of a conventional operating device. have.

[Seventh embodiment]

Fig. 5 is a functional block diagram showing a configuration of a ship control device 5 according to a seventh embodiment of the present invention. The ship's maneuvering device 5 is provided with an operation 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 operation unit 15 is set at any one of a plurality of predetermined operation positions (notch positions). For example, the notch position includes a central STOP position, a plurality of AHEAD positions disposed ahead of the STOP position, and a plurality of ASTERN positions disposed behind the STOP position. When the operation part 15 is set to the STOP position, the output of the thruster stops. When the steering wheel is in the AHEAD position, the thruster advances the ship. When the operation part 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.

The notification unit 12, upon receiving notification from the sensor 11 that the operation position has reached a predetermined position, stimulates at least one of the operator's force, hearing, and smell. Thereby, the notification unit 12 notifies the operator that the operation position has reached the predetermined position.

The 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 apparatus capable of notifying an operator that the steering wheel 15 has reached a predetermined position without using a mechanical mechanism.

[Eighth embodiment]

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

The setting unit 16 is a position in which the notification unit 12 notified from the sensor 11 that the above-described predetermined position, that is, the operation position has reached this position, will stimulate at least one of the operator's force, hearing, and smell. Is set. As an example, when the operation unit 10 reaches a predetermined position set by the setting unit 16, the notification unit 12 makes the operator's hand feel a notch feeling. Thereby, the operator can grasp the operation position by feeling the notch feeling even at the predetermined position newly set by the setting unit 16 in addition to the notch position by the mechanical mechanism set in advance. 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 operation resistance, and a push button for setting the notch position. The operator manipulates the handle and presses a push button for setting when the handle reaches the desired position. This sets the notch position at the desired position. According to this embodiment, the operator can freely set a predetermined position (for example, a notch position) for reporting by the notification unit 12 according to his or her preference or the route of the ship.

[9th embodiment]

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

The release unit 17 releases a predetermined position set by the setting unit 16. The operating device 7 is used by various operators, and is used to navigate various routes. At this time, a predetermined position (for example, a notch position) to be notified by the notification unit 12 may be changed according to an operator or a 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 release a predetermined position (for example, a notch position) once set.

In one embodiment, the releasing unit 17 may release the set predetermined position by the releasing operation of the operator. In this case, the release unit 17 may include a handle, a motor that imparts a notch feeling to the operator by the operation resistance, and a push button for releasing the notch position. When the handle is in a predetermined position to be released, the operator presses a push button for release. Thereby, 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 notification by the notification unit 12 according to his or her preference or the route of the ship.

[Tenth Embodiment]

Fig. 8 is a functional block diagram showing a configuration of an operating device 8 according to a tenth embodiment of the present invention. The operation device 8 includes an operation unit 10, a sensor 11, a notification 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 the present specification, "the history information of the operation position" refers to information about a temporal change in the operation position of the operation unit 10 due to the operation of an operator who is sailing. For example, the history information may be an operation position when the operation unit 10 is stopped, a time at which the operation unit 10 continues to be 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 for each time period of navigation, such as a certain time period after the ship has moved to the departure point, a time period in which the ocean is being navigated, and a certain time period before the arrival port is noticed. Further, the history information may be related to one voyage, or may be a collection of multiple 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 stopped for each operation position, and the setting unit 16 may set a position where the number of stops exceeding a predetermined value to a predetermined position. In this case, the operation position more frequently set by the operator is automatically set as the predetermined position. Alternatively, the history information storage unit 18 may store the switching speed of the operation position, and the setting unit 16 may set the position at which the switching speed to the position was earlier than a predetermined value to a predetermined position. In this case, the operation position set by the operator more quickly is automatically set as the predetermined position.

The history information storage unit 18 may classify and store the history information for each time of the navigation. At this time, the setting unit 16 may set a predetermined position based on a different reference for each time of the navigation. For example, in Ian or berth, the ship sails at a lower speed. Conversely, while navigating the open sea, the ship navigates at a higher speed. In this respect, it is advantageous if the setting unit 16 sets the predetermined position more finely on the low-speed side during angular and berthing, and more finely sets the predetermined position on the high-speed side while navigating the exterior. 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 during which this stoppage continues. Then, the setting unit 16 sets the operation position to a predetermined position when the time during which the stop continues is longer than a predetermined time.

It is considered that the operating position of the operation unit 10 is the position that the operator intends to use or the position that needs to be used, the longer the period of time to be stopped at the position. Therefore, by setting the operation position for which the stop duration 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 convenient operation device can be realized.

[Eleventh embodiment]

9 is a functional block diagram showing a configuration of an operation device 9 according to an eleventh embodiment of the present invention. The operation device 9 includes an operation 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 canceling 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 has stopped for each operation position, and the release unit 17 may release a predetermined position in which the number of stops is smaller than a predetermined value. In this case, the operation position that the operator has not used so frequently is automatically released from the predetermined position. Alternatively, the history information storage unit 18 may store the switching speed of the operation position, and the release unit 17 may release a predetermined position in which the switching speed to the position is slower than a predetermined value. In this case, the operation position where the operator does not require very quick setting 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 during which this stoppage continues. Then, the release unit 17 releases the predetermined position when the time during which the stop of the operation unit 10 continues at the set predetermined position is shorter than the predetermined time.

It is considered that the operating position of the operating unit 10 is a position that the operator does not intend to use, or a position that does not need to be used, the shorter the time period at which the operator is stopped at the position. Therefore, by releasing the operation position whose stop duration is shorter than the predetermined time from the predetermined position, unnecessary predetermined positions are removed, and the user's trouble is reduced. That is, according to this embodiment, a more practical and convenient operation device can be realized.

[12th embodiment]

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

The display unit 19 displays a predetermined position set by the setting unit 16. The display unit 19 may be realized by any means. For example, the display unit 19 may be constituted by a plurality of LEDs arranged along the operation position of the operation unit 10. Alternatively, the display unit 19 may be configured by a display such as a liquid crystal.

In general, the operator wants to check where several predetermined positions are currently set. In this case, by displaying the set predetermined position on the display unit 19 constituted by an LED, a display, or the like, the currently set predetermined position can be easily visually recognized. That is, according to this embodiment, the user can recognize a predetermined position currently set 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 scope of the claims of the present invention, and that such modifications and changes are also within the scope of the claims of the present invention. Therefore, the description and drawings in the present specification should be treated as illustrative and not restrictive.

(Modification example)

Hereinafter, a modified example will be described. In the description of the modified example, components and members that are the same or equivalent to those of the embodiment are denoted by the same numbers. Descriptions overlapping with the embodiments will be appropriately omitted, and configurations different from the embodiments will be mainly described.

[Modified Example 1]

In actual ship operation, if the steering wheel enters the full position of the ASTERN position while the ship is advancing, there is a risk of damage to the engine due to excessive load on the engine. To prevent this, the full position of the ASTERN position is supposed to be used only in case of an 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 at the time of reaching the full position of the ASTERN position may be made extremely strong. According to this modified example, a safer operating device can be realized.

[Modified Example 2]

In the fourth embodiment, the notification unit 12 causes the motor 13 to generate force 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. You may control the drive. As a result, the operator obtains a feeling as if the operation portion 10 is being pulled into the notch position. Further, the notification unit 12 may drive and control the motor 13 so that a force is generated in a direction opposite to the direction in which the operation unit 10 is operated while the operation unit 10 reaches the notch position. This gives the operator a feeling of notch. Further, the notification unit 12 may turn off the motor after the operation unit 10 passes the notch position. Thereby, the operator can move the operation part 10 freely. According to this modified example, a realistic feeling of operation close to a mechanical mechanism can be obtained.

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

1: operation device
2: operation device
3: operation device
4: operation device
5: ship steering system
10: control panel
11: sensor
12: notification
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 unit
18: history information storage unit
19: display

Claims (16)

An operation unit operated by an operator,
A sensor that detects an operation position of the operation unit,
When the sensor detects that the operation unit has reached a predetermined position by the operation of the operator, a notification unit notifies the operator by stimulating at least one of force, hearing, and smell
Equipped, operating device. The method of claim 1,
The notification unit, when the sensor detects that the operation unit has reached the predetermined position by the operation of the operator, notifies the operator by increasing the operation resistance of the operation unit. The method according to claim 1 or 2,
And a setting unit for setting the predetermined position. The method of claim 3,
The operating device, wherein the setting unit sets the predetermined position according to a setting operation of the operator. The method of claim 3,
And a release unit that releases the set predetermined position. The method of claim 5,
The releasing unit releases the predetermined position set by a releasing operation of the operator. The method of claim 3,
A history information storage unit for storing history information of the operation position set by the operator,
The operation device, wherein the setting unit sets the predetermined position based on the history information. The method of claim 7,
The history information includes the operation position when the operation unit is stopped, and a time at which the stop continues,
The setting unit sets the operation position to the predetermined position when the time during which the stop continues is longer than a predetermined time. The method of claim 7,
And a release unit for releasing the set predetermined position,
The operation device, wherein the release unit releases the predetermined position based on the history information. The method of claim 9,
The releasing unit releases the predetermined position when a time period during which the stop of the operation unit continues at the set predetermined position is shorter than a predetermined time. The method according to any one of claims 2 to 10,
When the sensor detects that the operation unit has reached one of a plurality of predetermined positions by the operation of the operator, the notification unit notifies the operator by increasing the operation resistance of the operation unit to a different size for each of the plurality of predetermined positions. To, manipulating device. The method according to any one of claims 2 to 11,
Equipped with a motor,
The sensor detects an operation position of the operation unit and a direction in which the operation 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 to generate a torque in a direction opposite to the direction in which the operation unit is operated, thereby providing the operator with control. Notifying, operating device. The method according to any one of claims 1 to 12,
The operation unit includes a plurality of handles switchable between a master handle operated by an operator and a slave handle synchronous to the master handle by a motor,
The notification unit, when the sensor detects that the master handle has reached a predetermined position due to the manipulation of the operator, stimulates at least one of force, auditory, and olfactory senses to notify the operator. The method of claim 13,
The sensor detects an operation 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 by the operator's operation, the notification unit notifies the operator by driving and controlling the motor to generate torque in a direction opposite to the direction in which the operation unit was operated. To, manipulating device. The method according to any one of claims 3 to 10,
And a display unit for displaying the set predetermined position. An operation unit that is operated by an operator to input an output instruction to the propulsion engine;
A sensor that detects an operation position of the operation unit,
When the sensor detects that the operation unit has reached a predetermined position by the operation of the operator, a notification unit notifies the operator by stimulating at least one of force, hearing, and smell
Equipped with a ship steering device.

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