WO2014148168A1

WO2014148168A1 - Ship handling system, and ship equipped with same

Info

Publication number: WO2014148168A1
Application number: PCT/JP2014/053508
Authority: WO
Inventors: 利光廣瀬; 貴生中西; 効一神田; 直裕原; 林　晃良; 純一常陸; 須藤　淳
Original assignee: ヤンマー株式会社
Priority date: 2013-03-22
Filing date: 2014-02-14
Publication date: 2014-09-25

Abstract

The auto-pilot technology that implements cruise control such that a section between designated veering points is linearly passed is troublesome and time-consuming if one desires to freely design a route that includes a continuously curving route. Also, when the ship cruises along a prescribed route repeatedly, such as in the case of fishing vessels or sightseeing boats, or when a desired ship handling operation is repeated in the case of fishing boats or towing vessels and the like, it is not easy to implement sufficient automatic control using the auto-pilot technology for passing veering points. Thus, the present invention provides a technology that facilitates a desired ship handling operation. A ship handling system according to a first embodiment of the present invention records a ship handling operation regarding engine rotational speed changes and rudder direction in a predetermined recording period, and enables automatic ship cruise by reproducing the recorded ship handling operation. When the recorded ship handling operation is reproduced, GPS position information and information about ship orientation are utilized.

Description

Ship handling system and ship equipped with the same

The present invention relates to a ship maneuvering system that performs automatic control of ship navigation.

Japanese Patent Application Laid-Open No. 2002-90171 discloses an automatic route holding device that automatically controls a vessel so that the vessel navigates along a planned route. The automatic route holding device here receives the data of the ship's position, ship speed and moving direction from the GPS device, and uses these data to steer between the turning points set in advance on the electronic chart. The steering angle of the take-off mechanism is controlled.

In the autopilot technology that performs navigation control so as to linearly pass between designated turning points, it is complicated and troublesome to freely design a route that includes a curved route.
Use autopilot technology that passes the turning point when you want to travel at ultra-low speeds near sightseeing spots by pleasure boats, ultra-low-speed navigation when berthing, or when you want to repeat a desired maneuvering operation such as fishing boats and towed boats. It is not easy to achieve sufficient automatic control. Therefore, the present invention provides a technique that can easily realize a desired boat maneuvering operation.

The marine vessel maneuvering system according to the first aspect of the present invention records the marine vessel maneuvering operation relating to the change in the engine speed and the direction of the rudder during a predetermined recording period, and reproduces the recorded maneuvering maneuver to automatically navigate the vessel.

When reproducing the recorded ship maneuvering operation, position information on GPS and information on the direction of the ship are further used.

If another ship maneuvering operation is performed during the automatic navigation, the other ship maneuvering operation has priority.

The ship according to the present invention includes the above-described ship maneuvering system.

The marine vessel maneuvering system according to the second aspect of the present invention records a marine vessel maneuvering operation related to a route based on predetermined position information, a change in engine speed and a rudder direction on the marine route in advance, and the recorded route In addition, the ship automatically navigates based on the maneuvering operation.

The route includes navigation time, stop position, and direction at the time of stop.

The navigation route and the ship maneuvering operation are recorded on a recording medium, and a control device that automatically navigates by reading the navigation route and the maneuvering operation recorded on the recording medium is provided.

According to the present invention, a desired boat maneuvering operation can be easily realized.

It is the schematic of a ship. It is a block diagram which shows the automatic control structure of the ship in 1st embodiment. It is a figure which shows an example of the automatic control of ship navigation. It is a block diagram which shows embodiment which can correct the recorded ship maneuvering operation. It is a block diagram which shows another form of the automatic control structure of a ship. It is a block diagram which shows another form of the automatic control structure of a ship. It is a block diagram which shows the automatic control structure of the ship in 2nd embodiment. It is a figure which shows an example of a route. It is a figure which shows an example of the destination on a channel including navigation time, a stop position, and the direction at the time of a stop. It is a block diagram which shows another form of the automatic control structure of a ship. It is a block diagram which shows another form of the automatic control structure of a ship.

[First embodiment]
As shown in FIGS. 1 and 2, the ship 1 includes a steering wheel 2 that performs a steering operation and a throttle 3 that adjusts a propulsive force as a marine vessel maneuvering tool. A controller 4 that controls navigation of the ship 1 is provided.

FIG. 2 shows a control block of the controller 4 that controls the ship 1 to realize automatic navigation, that is, a ship maneuvering system for the ship 1.
As shown in FIG. 2, a steering angle sensor 11 that detects the steering angle of the handle 2 and a throttle sensor 12 that detects the position of the throttle 3 are connected to the controller 4. Electric signals from these

sensors

11 and 12 are input to the controller 4.

The controller 4 includes a recording unit 20 that records the operation of the handle 2 and the throttle 3. In the recording unit 20, the detection values by the steering angle sensor 11 and the throttle sensor 12 are recorded as data in time series.
As described above, in the recording unit 20, the data regarding the rudder direction obtained by the rudder angle sensor 11 and the data regarding the change in the engine speed obtained by the throttle sensor 12 are recorded as the maneuvering operation of the ship 1.

The controller 4 is connected to a GPS device 5 that detects position information and moving speed of the ship 1 and a heading sensor 6 that detects the bow direction of the ship 1 (the direction of the ship 1). In the controller 4, the recording unit 20 records position information and movement speed data from the GPS device 5, and data related to the bow direction from the heading sensor 6.
Thus, in addition to the data relating to the rudder direction obtained by the rudder angle sensor 11 and the data relating to the engine speed obtained by the throttle sensor 12, the recording unit 20 includes data relating to position information and moving speed by the GPS device 5 and heading. By recording the data related to the bow direction by the sensor 6, the navigation information of the ship 1 can be recorded more accurately.

The controller 4 is connected with a handle motor 13 for rotating the handle 2 and a throttle motor 14 for rotating the throttle 3. By transmitting control signals from the controller 4 to these

motors

13 and 14, it is possible to perform automatic navigation in which the propulsive force of the ship 1 is changed while performing the steering operation of the ship 1.

The controller 4 includes a reproduction unit 30 that reproduces the boat maneuvering operation recorded in the recording unit 20. The reproduction unit 30 generates a control signal based on various data (change in engine speed, steering angle, position, speed, bow direction, etc.) recorded in the recording unit 20, and sends the control signal to the handle motor 13 and the throttle motor 14. Send a control signal. Thereby, the handle motor 13 and the throttle motor 14 are driven, and the ship 1 is automatically navigated at a predetermined engine speed and a predetermined rudder direction.

As shown in FIG. 2, the controller 4 is connected to an operation device 7 for manually operating the operation of the recording unit 20 and the reproduction unit 30. The operation device 7 is provided with a switch for starting / ending recording of the recording unit 20, a switch for starting a reproduction operation by the reproduction unit 30, a switch for selecting a recording mode, and the like. When the pilot operates these switches, the operation of the recording unit 20 and the reproduction unit 30 is operated. In this way, by manipulating the switches of the operating device 7, the boat maneuvering operation during the recording period that can be selected from among a plurality of modes is recorded and reproduced.
The record of the ship maneuvering operation by the recording unit 20 can be set in advance as one recording period from when the engine is started to when it is stopped, that is, from when the port leaves the port until when it returns to the port. For example, it is suitable when a prescribed route is repeatedly navigated, such as a pleasure boat or a cruise ship.

It should be noted that the record of the ship maneuvering operation by the recording unit 20 may be performed at all times when the ship 1 is sailing without depending on the manual operation by the operation device 7. In this case, the recording unit 20 can be used as a black box not only for the purpose of reproducing the maneuvering operation but also by leaving a record for several minutes before the occurrence of an error or before the occurrence of an accident.

As described above, the recording unit 20 of the controller 4 records information on the change in the engine speed and the direction of the rudder as a ship maneuvering operation performed within a predetermined recording period. Based on the recorded information, the same boat maneuvering operation is reproduced and the ship 1 is automatically navigated. Thereby, it becomes easy to repeat desired ship maneuvering operation with respect to the ship 1. In addition, it is possible to concentrate on work other than maneuvering while the maneuvering operation is being reproduced. Furthermore, even when the pilots are different, the ship maneuvering operation recorded by others can be reproduced, and the operation of other pilots with high maneuvering skills can be learned.

Further, the controller 4 records information on the position information and moving speed of the ship 1 and information on the direction of the ship 1 as a ship maneuvering operation performed within a predetermined recording period, and uses these information. The maneuvering operation is reproduced. According to this, based on the detailed navigation information of the ship 1, it becomes possible to repeat a desired ship maneuvering operation with high accuracy.
Furthermore, it is possible to finely correct the route using the positional information from the GPS device 5 and the information about the direction of the ship from the heading sensor 6 even for disturbances that occur during automatic navigation by the controller 4, and the reproduction accuracy can be improved. It can be improved.

The controller 4 is set so that when the steering wheel 2 or the throttle 3 is operated during the reproduction of the boat maneuvering operation by the reproduction unit 30 (during automatic navigation), the operation is given priority. Thereby, it becomes possible to flexibly cope with an environmental change during the reproduction of the boat maneuvering operation.

FIG. 3 shows an example of a boat maneuvering operation recorded by the recording unit 20. In the example shown in FIG. 3, the recording period by the recording unit 20 is set between the berthing and the berthing of the ship 1.
The route of the ship shown in FIG. 3 is as follows. (1) When leaving the port, leave the shore at low speed, change the direction of the rudder, increase speed and sail. (2) The ship travels at a very low speed from the vicinity of the first tourist spot A to the inside of the spot, and turns gently toward the second tourist spot B. (3) In the vicinity of the second tourist spot B, sail at a very low speed along the coast and then stop for a certain period of time. (4) Return to the port after switching to a low speed operation and berth at a very low speed.

In such a case, an advanced marine vessel maneuvering technique may be required during ultra-low speed navigation near the tourist spots A and B or during ultra-low speed navigation when berthing. However, by using the recording unit 20 and the reproduction unit 30 in the present embodiment, the piloting operation of a pilot with high marine maneuvering skills can be recorded and reproduced by other pilots, so that advanced marine maneuvering operations can be easily repeated. it can.
In addition, by changing the recording period by the recording unit 20 as appropriate, it is also possible to partially record and reproduce a ship maneuvering operation at a place where an advanced maneuvering operation is required. In such a case, it is preferable to operate the recording unit 20 and the reproduction unit 30 while confirming the start point and the end point using position information or the like by the GPS device 5.

FIG. 4 shows an embodiment in which an external device 8 is connected to the controller 4.
The external device 8 is a portable personal computer such as a notebook personal computer or a tablet PC, for example, and includes a display device capable of displaying data relating to the ship maneuvering operation recorded in the recording unit 20 and an input device capable of correcting the recorded data. Prepare.
For example, on the display device of the external device 8, information related to the ship maneuvering operation recorded in the recording unit 20 is displayed as a navigation record together with an electronic chart. And, by manipulating the input device on the external device 8 and partially correcting the displayed navigation record, the ship maneuvering operation recorded in the recording unit 20 can be improved and reproduced as desired. It becomes.
In addition, by making it possible to connect a recording medium to the external device 8 via the USB terminal, the ship maneuvering operation recorded in the recording unit 20 of the controller 4 can be taken to another ship and reproduced via the recording medium. Is possible. Note that such a recording medium may take a form that can be directly connected to the controller 4.

As shown in FIG. 5, in addition to the handle 2, even if a joystick 9 for controlling the driving of an outboard motor such as a bow thruster is provided as a boat maneuvering tool, the maneuvering operation is recorded and reproduced by the controller 4 in the same manner. Is possible.

As shown in FIG. 6, when the ship 1 includes an electronically controlled engine 40 and a rudder 50, control signals from the reproduction unit 30 of the controller 4 that is a ship maneuvering system are directly transmitted to the engine controller 41 and the rudder 50 of the engine 40. It is good also as a structure which transmits to the rudder controller 51. FIG.
The rotational speed of the engine 40 is controlled based on the control signal transmitted to the engine controller 41, and the operation of the actuator that operates the rudder 50 is controlled based on the control signal transmitted to the rudder controller 51.
As described above, it is possible to record and reproduce the maneuvering operation by the controller 4 for the electronically controlled ship as well.

[Second Embodiment]
As shown in FIGS. 1 and 7, the ship 1 includes a steering wheel 2 that performs a steering operation and a throttle 3 that adjusts a propulsive force as a marine vessel maneuvering tool. A controller 4 that controls navigation of the ship 1 is provided.

FIG. 7 shows a control block of the controller 4 that controls the ship 1 to realize automatic navigation, that is, a ship maneuvering system for the ship 1.
As shown in FIG. 7, the controller 4 is connected with a handle motor 13 that rotates the handle 2 by electrical control and a throttle motor 14 that rotates the throttle 3 by electrical control. By transmitting control signals from the controller 4 to these

motors

The controller 4 records a route R including position information based on an electronic chart or GPS information, and a maneuvering operation related to a change in engine speed and a rudder direction on the route R before the start of navigation. The controller 4 controls the automatic navigation of the ship 1 based on the route R and the ship maneuvering operation.
That is, the controller 4 controls the handle motor 13 and the throttle motor 14 so as to navigate the pre-recorded route R at a predetermined ship speed and ship direction. The throttle 3 is operated to realize automatic navigation of the ship 1.

As shown in FIG. 8, the “route R” here indicates a route based on position information on the electronic chart, and includes a continuous curved line in addition to a linear one. And the navigation time regarding the time which passes the route R, the stop position on the route R, and the direction of the ship at the time of stop are included. In other words, the route R is all navigation information related to the route from the time of departure to the time of return.
For example, as shown in FIG. 9, in the middle of the route R, by setting the port to stop near the destination so that the port is facing west at the sunset time, stop at the optimal location and time to enjoy the scenery It is possible to achieve an optimum cruise for the destination on the route.

An external device 8 is connected to the controller 4. In the external device 8, data relating to the route R and data relating to the ship maneuvering operation are recorded in advance. For example, the external device 8 includes a recording medium that can be directly connected to the controller 4 via a port such as a USB, or a notebook type that includes a display device and an input device and can be connected to the controller 4 via a wired or wireless communication device. A portable personal computer such as a personal computer or a tablet PC.
In this way, it is possible to bring in the route R and data on the ship maneuvering operation on the route R from the outside of the ship via the external device 8, read by the controller 4, and perform automatic navigation based on the data. As a result, the route R can be set outside the ship, such as at home, and the maneuvering operation on the route R can be designated.

And, when creating the route R and the maneuvering operation on the route R in advance outside the ship, it is possible to incorporate data such as weather information and information on the tide / tide level, etc. A cruising course can be set.
Further, when creating the navigation route R and the navigation operation on the navigation route R, it is possible to design the navigation route R and the navigation operation carefully while performing simulation outside the ship such as at home. In this way, by gaining navigation experience in advance by simulation, it is possible to demonstrate the maneuvering skill during actual navigation.

As shown in FIG. 7, a steering angle sensor 11 that detects the steering angle of the handle 2 and a throttle sensor 12 that detects the position of the throttle 3 are connected to the controller 4. Electrical signals from these

sensors

11 and 12 are input to the controller 4 as data relating to the direction of the rudder and data relating to the engine speed.
Furthermore, a GPS device 5 that detects position information and moving speed of the ship 1 and a heading sensor 6 that detects the bow direction of the ship 1 (the direction of the ship 1) are connected to the controller 4. Then, the position information and movement speed data from the GPS device 5, and the bow direction data from the heading sensor 6 are input to the controller 4 as electrical signals.

The controller 4 generates a control signal based on the recorded navigation route R, and the ship maneuvering operation regarding the change in the engine speed and the direction of the rudder on the navigation route R, and transmits the control signal to the handle motor 13 and the throttle motor 14. To do. During this automatic navigation, the navigation state of the ship 1 is detected by the rudder angle sensor 11, the throttle sensor 12, the GPS device 5, and the heading sensor 6. A more accurate autopilot can be realized by feeding back the navigation status to the automatic navigation control based on the route R and the ship maneuvering operation as needed.

The controller 4 is set so that when the steering wheel 2 or the throttle 3 is operated during automatic navigation, the operation is prioritized. This makes it possible to flexibly cope with environmental changes during automatic navigation.

As shown in FIG. 10, in addition to the handle 2, a device equipped with a joystick 9 for controlling the driving of an outboard motor such as a bow thruster as a marine vessel maneuvering tool can be similarly employed.

As shown in FIG. 11, when the ship 1 includes an electronically controlled engine 40 and a rudder 50, control signals from the controller 4, which is a boat maneuvering device, are directly sent to the engine controller 41 of the engine 40 and the rudder controller 51 of the rudder 50. It is good also as a structure which transmits.
The rotational speed of the engine 40 is controlled based on the control signal transmitted to the engine controller 41, and the operation of the actuator that operates the rudder 50 is controlled based on the control signal transmitted to the rudder controller 51.
As described above, the autopilot by the controller 4 can be similarly implemented for an electronically controlled ship.

The present invention can be used in a ship maneuvering system that automatically controls ship navigation.

1: ship, 2: handle, 3: throttle, 4: controller (control device), 8: external device (recording medium), 11: rudder angle sensor, 12: throttle sensor, 13: handle motor, 14: throttle motor, 20: Recording unit, 30: Reproduction unit, R: Route dredging

Claims

A marine vessel maneuvering system that records a marine vessel maneuvering operation related to a change in engine speed and a rudder direction during a predetermined recording period, and reproduces the recorded marine vessel maneuvering operation to automatically navigate the vessel.
The marine vessel maneuvering system according to claim 1, wherein, when reproducing the recorded marine vessel maneuvering operation, position information on GPS and information on the direction of the vessel are further used.
The boat maneuvering system according to claim 1 or 2, wherein when another boat maneuvering operation is performed during the automatic navigation, the other boat maneuvering operation is given priority.
A ship provided with the boat maneuvering system according to any one of claims 1 to 3.
Record the marine vessel maneuvering operation related to the route based on the predetermined position information and the change in the engine speed and the rudder direction on the route,
A marine vessel maneuvering system for automatically navigating a ship based on the recorded navigation route and marine vessel maneuvering operation.
The marine vessel maneuvering system according to claim 5, wherein the route includes a navigation time, a stop position, and a direction at the time of the stop.
The marine vessel maneuvering system according to claim 6, further comprising a control device that records the seaway and the ship maneuvering operation on a recording medium and reads the seaway and marine vessel maneuvering operation recorded on the recording medium to automatically navigate.
The boat maneuvering system according to any one of claims 5 to 7, wherein when another boat maneuvering operation is performed during the automatic navigation, the other boat maneuvering operation is given priority.
A ship provided with the boat maneuvering system according to any one of claims 5 to 8.