WO2014148168A1 - Système de manœuvre de bateau, et bateau équipé de celui-ci - Google Patents

Système de manœuvre de bateau, et bateau équipé de celui-ci Download PDF

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Publication number
WO2014148168A1
WO2014148168A1 PCT/JP2014/053508 JP2014053508W WO2014148168A1 WO 2014148168 A1 WO2014148168 A1 WO 2014148168A1 JP 2014053508 W JP2014053508 W JP 2014053508W WO 2014148168 A1 WO2014148168 A1 WO 2014148168A1
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WO
WIPO (PCT)
Prior art keywords
ship
route
maneuvering
recorded
navigation
Prior art date
Application number
PCT/JP2014/053508
Other languages
English (en)
Japanese (ja)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2013060790A external-priority patent/JP5972201B2/ja
Priority claimed from JP2013060791A external-priority patent/JP5964268B2/ja
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Publication of WO2014148168A1 publication Critical patent/WO2014148168A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass

Definitions

  • 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.
  • the present invention provides a technique that can easily realize a desired boat maneuvering operation.
  • the marine vessel maneuvering system 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.
  • position information on GPS and information on the direction of the ship are further used.
  • the ship according to the present invention includes the above-described ship maneuvering system.
  • the marine vessel maneuvering system 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.
  • the ship according to the present invention includes the above-described ship maneuvering system.
  • a desired boat maneuvering operation can be easily realized.
  • 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.
  • a steering angle sensor 11 that detects the steering angle of the handle 2
  • 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.
  • the detection values by the steering angle sensor 11 and the throttle sensor 12 are recorded as data in time series.
  • 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).
  • 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.
  • the recording unit 20 includes data relating to position information and moving speed by the GPS device 5 and heading.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the recording period by the recording unit 20 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.
  • a display device capable of displaying data relating to the ship maneuvering operation recorded in the recording unit 20
  • an input device capable of correcting the recorded data.
  • 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.
  • the ship maneuvering operation recorded in the recording unit 20 can be improved and reproduced as desired. It becomes.
  • 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.
  • a recording medium may take a form that can be directly connected to the controller 4.
  • 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.
  • 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.
  • 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.
  • a handle motor 13 that rotates the handle 2 by electrical control
  • a throttle motor 14 that rotates the throttle 3 by electrical control.
  • 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.
  • 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.
  • 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.
  • the external device 8 data relating to the route R and data relating to the ship maneuvering operation are recorded in advance.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

L'invention porte sur une technologie de pilote automatique, qui applique une commande de route de telle sorte qu'une section entre des points de changement de direction désignés est parcourue de façon linéaire, et qui est pénible et longue si l'on désire définir librement une route qui comprend une route à courbure continue. En outre, lorsque le bateau suit à plusieurs reprises une route prescrite comme dans le cas des bateaux de pêche ou des bateaux de tourisme, ou lorsqu'une opération de manœuvre de bateau souhaitée est répétée dans le cas de bateaux de pêche ou de remorqueurs et analogue, il n'est pas facile de mettre en œuvre une commande automatique suffisante à l'aide de la technologie de pilote automatique pour passer les points de changement de direction. Pour cette raison, la présente invention concerne une technologie qui facilite une opération de manœuvre de bateau souhaitée. Un système de manœuvre de bateau selon un premier mode de réalisation de la présente invention enregistre une opération de manœuvre de bateau concernant des changements de vitesse de rotation de moteur et la direction de gouvernail dans une période d'enregistrement prédéterminée, et permet d'obtenir une navigation de bateau automatique par reproduction de l'opération de manœuvre de bateau enregistrée. Lors de la reproduction de l'opération de manœuvre de bateau enregistrée, on utilise des informations de position GPS et des informations relatives à une orientation de bateau.
PCT/JP2014/053508 2013-03-22 2014-02-14 Système de manœuvre de bateau, et bateau équipé de celui-ci WO2014148168A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2013-060791 2013-03-22
JP2013-060790 2013-03-22
JP2013060790A JP5972201B2 (ja) 2013-03-22 2013-03-22 操船システム
JP2013060791A JP5964268B2 (ja) 2013-03-22 2013-03-22 操船システム

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WO2014148168A1 true WO2014148168A1 (fr) 2014-09-25

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016104030A1 (fr) * 2014-12-22 2016-06-30 古野電気株式会社 Dispositif de commande d'objet mobile, procédé de commande d'objet mobile et programme de commande d'objet mobile

Citations (6)

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Publication number Priority date Publication date Assignee Title
JPS62261595A (ja) * 1986-05-07 1987-11-13 Furuno Electric Co Ltd 航法装置
JPS62295793A (ja) * 1986-06-13 1987-12-23 Hitachi Zosen Corp 予定航路追従装置
JP2006290196A (ja) * 2005-04-12 2006-10-26 Honda Motor Co Ltd 船外機の制御装置
JP2007045338A (ja) * 2005-08-10 2007-02-22 National Maritime Research Institute 環境負荷低減型航海計画提供システム
JP2009286230A (ja) * 2008-05-28 2009-12-10 Mitsui Eng & Shipbuild Co Ltd 船舶の運航支援システムと船舶の運航支援方法
WO2011055512A1 (fr) * 2009-11-04 2011-05-12 川崎重工業株式会社 Procédé de commande de manoeuvre et système de commande de manoeuvre

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62261595A (ja) * 1986-05-07 1987-11-13 Furuno Electric Co Ltd 航法装置
JPS62295793A (ja) * 1986-06-13 1987-12-23 Hitachi Zosen Corp 予定航路追従装置
JP2006290196A (ja) * 2005-04-12 2006-10-26 Honda Motor Co Ltd 船外機の制御装置
JP2007045338A (ja) * 2005-08-10 2007-02-22 National Maritime Research Institute 環境負荷低減型航海計画提供システム
JP2009286230A (ja) * 2008-05-28 2009-12-10 Mitsui Eng & Shipbuild Co Ltd 船舶の運航支援システムと船舶の運航支援方法
WO2011055512A1 (fr) * 2009-11-04 2011-05-12 川崎重工業株式会社 Procédé de commande de manoeuvre et système de commande de manoeuvre

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016104030A1 (fr) * 2014-12-22 2016-06-30 古野電気株式会社 Dispositif de commande d'objet mobile, procédé de commande d'objet mobile et programme de commande d'objet mobile
JPWO2016104030A1 (ja) * 2014-12-22 2017-09-28 古野電気株式会社 移動体制御装置、移動体制御方法、および移動体制御プログラム
US10183733B2 (en) 2014-12-22 2019-01-22 Furuno Electric Co., Ltd. Program, method and device for controlling movable body

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