WO2015114781A1 - アウトドライブ装置用操船システム - Google Patents
アウトドライブ装置用操船システム Download PDFInfo
- Publication number
- WO2015114781A1 WO2015114781A1 PCT/JP2014/052127 JP2014052127W WO2015114781A1 WO 2015114781 A1 WO2015114781 A1 WO 2015114781A1 JP 2014052127 W JP2014052127 W JP 2014052127W WO 2015114781 A1 WO2015114781 A1 WO 2015114781A1
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- WIPO (PCT)
- Prior art keywords
- control device
- calibration
- outdrive
- joystick
- outdrive device
- Prior art date
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Classifications
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- 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
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H21/213—Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
Definitions
- the present invention relates to a technology for a ship maneuvering system for an outdrive device.
- an inboard / outboard motor (an inboard engine / outboard drive) in which an engine is arranged inside a hull and power is transmitted to an outdrive device arranged outside the hull (see, for example, Patent Document 1).
- the outdrive device is a propulsion device that propels the hull by rotating a screw propeller.
- the outdrive device is also a rudder device that turns the hull by turning with respect to the traveling direction of the hull.
- the ship maneuvering system for the outdrive device is provided with a control device for instructing the rotation direction of the outdrive device and a maneuvering lever for instructing the traveling direction of the hull to the control device in addition to the above-described outdrive device.
- the ship drive system for the outdrive device has a calibration function for adjusting the actual traveling direction to the traveling direction of the hull indicated by the ship operating lever.
- indicated with the ship operating lever is called a calibration operation
- An object of the present invention is to provide a technique capable of easily performing a calibration operation.
- the present invention relates to a boat maneuvering system for an outdrive device, comprising: an outdrive device; a control device that instructs a rotation direction of the outdrive device; and a boat maneuvering lever that instructs the control device to travel in a hull.
- a monitor capable of displaying an image (hereinafter referred to as a “calibration image”) for aligning the actual traveling direction with the traveling direction of the hull designated by the boat maneuvering lever is provided.
- a calibrbration image an image for aligning the actual traveling direction with the traveling direction of the hull designated by the boat maneuvering lever.
- the monitor indicates the direction in which the boat maneuvering lever should be tilted, and indicates that if the maneuvering lever is tilted according to the indicated direction, the operation is appropriate.
- the monitor indicates the direction in which the boat maneuver lever should be tilted in a range of a predetermined angle centered on the fulcrum of the boat maneuver lever, and if the maneuver lever is tilted according to the indicated range, This indicates that the operation is appropriate.
- the monitor indicates a direction in which the boat maneuvering lever to be tilted is corrected so as to cancel the deviation when the actual traveling direction is deviated from the direction of the hull instructed by the boat maneuvering lever. Shown.
- the monitor corrects the rotation direction of the outdrive device so as to eliminate the deviation when the actual advancing direction is deviated from the advancing direction of the hull indicated by the marine vessel operating lever. It indicates that the correction has been completed.
- the monitor displays a calibration image based on parallel sliding motion and then displays a calibration image based on horizontal sliding motion.
- the monitor indicates the direction in which the boat maneuvering lever is tilted, and indicates that the operation is appropriate if the direction in which the maneuvering lever is tilted matches a preset direction.
- the operator can operate while confirming the direction in which the boat maneuvering lever is tilted, and can recognize that the operation is appropriate. Therefore, the calibration work can be easily performed.
- the monitor indicates the direction in which the boat maneuvering lever should be tilted, and if the maneuvering lever is tilted according to the indicated direction, it indicates that the operation is appropriate.
- the operator can operate the ship steering lever without hesitation and can recognize that the operation is appropriate. Therefore, the calibration work can be easily performed.
- the monitor indicates the direction in which the boat maneuver lever should be tilted in a range of a predetermined angle around the fulcrum of the boat maneuver lever, and if the maneuver lever is tilted according to the indicated range, Indicates that is appropriate.
- the operator can operate the boat maneuvering lever without being too cautious and can recognize that the operation is appropriate. Therefore, the calibration work can be easily performed.
- the monitor indicates the direction in which the boat maneuvering lever should be tilted so as to cancel the deviation when the actual traveling direction is deviated from the direction of the hull instructed by the boat maneuvering lever.
- the operator can match
- the monitor corrects the rotation direction of the outdrive device so as to eliminate the deviation when the actual traveling direction is deviated from the advancing direction of the hull instructed by the boat maneuvering lever, This indicates that the correction has been completed.
- the operator can match
- the monitor displays the calibration image based on the parallel sliding motion, and then displays the calibration image based on the horizontal sliding motion.
- the operator can correctly perform the calibration work without making a mistake in the order. Therefore, the calibration work can be easily performed.
- the figure which shows the change of the image for a calibration The figure which shows the process of the calibration operation
- the figure which shows the attachment structure of an outdrive apparatus. 1 is a diagram illustrating a configuration of a steering hydraulic actuator.
- FIG. The other figure which shows the structure of the hydraulic actuator for steering.
- the figure which shows the control flow of actuator calibration control B of the ship which has an automatic calibration function The figure which shows the control flow of the short circuit failure confirmation control C of the ship which has an automatic calibration function.
- FIG. 1 is a diagram showing an outline of a ship maneuvering system 100 for an outdrive device.
- FIG. 2 is a diagram illustrating a configuration of the ship maneuvering system 100 for the outdrive device.
- FIG. 3 is a diagram showing the configuration of the outdrive device 10.
- the ship drive system 100 for the outdrive device is employed in a so-called biaxial propulsion type ship having two outdrive devices 10.
- the outdrive device boat maneuvering system 100 can adjust the operating state of the engine 5 according to the operation of the throttle lever 2, and can change the rotational speed of the screw propeller 15. Further, the outdrive device boat maneuvering system 100 can change the rotation angle of the outdrive device 10 in accordance with the operation of the steering handle 3 or the maneuvering lever 4.
- a ship maneuvering system 100 for an outdrive device includes an outdrive device 10, a steering hydraulic actuator 20, an electromagnetic proportional valve 30, and a control device 40 in addition to the aforementioned ship maneuvering lever (hereinafter referred to as “joystick”) 4. Composed.
- the outdrive device 10 propels the hull 1 as the screw propeller 15 rotates. In addition, the outdrive device 10 turns the hull 1 by turning with respect to the traveling direction of the hull 1.
- the outdrive device 10 includes an input shaft 11, a switching clutch 12, a drive shaft 13, an output shaft 14, and a screw propeller 15.
- the input shaft 11 transmits the rotational power of the engine 5 transmitted through the universal joint 6 to the switching clutch 12.
- One end of the input shaft 11 is connected to the universal joint 6 attached to the output shaft of the engine 5, and the other end is connected to the switching clutch 12 disposed inside the upper housing 10U.
- the switching clutch 12 enables the rotational power of the engine 5 transmitted via the input shaft 11 or the like to be switched between the forward rotation direction and the reverse rotation direction.
- the switching clutch 12 has a forward rotating bevel gear connected to an inner drum having a disk plate and a reverse rotating bevel gear, and which disk plate is pressed against the pressure plate of the outer drum connected to the input shaft 11. To change the direction of rotation.
- the drive shaft 13 transmits the rotational power of the engine 5 transmitted through the switching clutch 12 and the like to the output shaft 14.
- the bevel gear provided at one end of the drive shaft 13 meshes with the forward rotation bevel gear and the reverse rotation bevel gear provided in the switching clutch 12, and the bevel gear provided at the other end of the lower housing 10R. It meshes with the bevel gear of the output shaft 14 arranged inside.
- the output shaft 14 transmits the rotational power of the engine 5 transmitted through the drive shaft 13 or the like to the screw propeller 15.
- the bevel gear provided at one end of the output shaft 14 meshes with the bevel gear of the drive shaft 13 as described above, and a screw propeller 15 is attached to the other end.
- the screw propeller 15 generates a propulsive force by rotating.
- the screw propeller 15 is driven by the rotational power of the engine 5 transmitted through the output shaft 14 and the like, and a plurality of blades 15a arranged around the rotational shaft generate propulsive force by removing surrounding water.
- the outdrive device 10 is supported by a gimbal housing 7 attached to the stern board (transom board) of the hull 1. Specifically, the outdrive device 10 is supported by the gimbal housing 7 so that the gimbal ring 16 of the outdrive device 10 is in a substantially vertical direction from the water line wl.
- the gimbal ring 16 is a substantially cylindrical rotation shaft attached to the outdrive device 10, and the outdrive device 10 rotates about the gimbal ring 16.
- a steering arm 17 extending to the inside of the hull 1 is attached to the upper end of the gimbal ring 16. Then, the steering arm 17 rotates the outdrive device 10 around the gimbal ring 16.
- the steering arm 17 is driven by a steering hydraulic actuator 20.
- the steering hydraulic actuator 20 is driven by an electromagnetic proportional valve 30 that is interlocked according to the operation of the steering handle 3 or the joystick 4.
- FIGS. 4 and 5 are diagrams showing the behavior of the hull 1 when the joystick 4 is operated.
- the direction of the arrow P shown in the drawing indicates the traveling direction of the hull 1
- the direction of the arrow F indicates the direction of the propulsive force generated by the outdrive device 10.
- the starboard-side outdrive device 10 is referred to as a starboard-side outdrive device 10R
- the port-side outdrive device 10 is referred to as a port-side outdrive device 10L.
- the propulsive force of the starboard-side outdrive device 10R is set to the port-side oblique direction with respect to the bow direction of the hull 1, and the propulsive force of the port-side outdrive device 10L is set to the bow of the hull 1.
- the hull 1 travels in the diagonally left direction that is the resultant force direction of each propulsive force.
- the propulsive force of the port-side outdrive device 10L is set to the starboard side oblique direction with respect to the bow direction of the hull 1, and the propulsive force of the starboard-side outdrive device 10R is set to the bow of the hull 1.
- the hull 1 When parallel to the direction, the hull 1 travels in the diagonally right direction, which is the resultant direction of each propulsive force. Such ship maneuvering suppresses the turning ability of the hull 1, and thus it is possible to realize a side-slider motion with a constant bow direction.
- the propulsive force of the starboard-side outdrive device 10R is set to the portside oblique direction with respect to the bow direction of the hull 1, and the propulsive force of the portside-side outdrive device 10L is set to the stern of the hull 1.
- the port side is inclined to the direction, the hull 1 travels in the left direction, which is the resultant direction of each propulsive force.
- FIG. 5 (A) the propulsive force of the starboard-side outdrive device 10R is set to the portside oblique direction with respect to the bow direction of the hull 1
- the propulsive force of the portside-side outdrive device 10L is set to the stern of the hull 1.
- the propulsive force of the port-side outdrive device 10L is set to the starboard side oblique direction with respect to the bow direction of the hull 1
- the propulsive force of the starboard-side outdrive device 10R is set to the stern of the hull 1.
- the starboard side is inclined with respect to the direction, the hull 1 travels in the right direction, which is the resultant direction of each propulsive force.
- parallel maneuvering with a constant bow direction can be realized.
- the propulsive force of the starboard-side outdrive device 10R is made parallel to the bow direction of the hull 1, and the propulsive force of the port-side outdrive device 10L is set to the stern direction of the hull 1.
- the hull 1 turns to the left, which is the direction in which the turning moment is generated.
- the propulsive force of the port-side outdrive device 10L is made parallel to the bow direction of the hull 1, and the propulsive force of the starboard-side outdrive device 10R is set to the stern direction of the hull 1.
- the hull 1 turns to the right, which is the direction in which the turning moment is generated.
- “Calibration work” refers to the work of aligning the actual traveling direction with the traveling direction of the hull 1 indicated by the joystick 4.
- the operator can perform a calibration operation according to the calibration image displayed on the monitor 8.
- the control device 40 can display information on the calibration work on the monitor 8 (see FIGS. 1 and 2).
- FIG. 6 is a diagram showing a calibration image.
- FIG. 6A shows a calibration image according to the present embodiment.
- FIG. 6B shows a calibration image according to another embodiment.
- An operation guide unit 81 is provided in the calibration image.
- the operation guide 81 displays an operation method for each calibration work step.
- an operation instruction section 82 of the joystick 4 is provided in the calibration image.
- the operation instruction unit 82 displays an icon 82b indicating the direction in which the joystick 4 is tilted. Details of the icons 82a and 82b will be described later.
- the display unit 83 displays the operating state (rotational speed) of the engine 5 and the like. In this ship drive system 100 for an outdrive device, since two engines 5 are provided, the operating state (rotational speed) of each engine 5 is displayed.
- FIG. 7 is a diagram showing a calibration work process by parallel maneuvers.
- FIG. 8 is a diagram showing changes in the calibration image.
- step S101 the control device 40 displays on the monitor 8 the direction in which the joystick 4 should be tilted. That is, the monitor 8 indicates the direction in which the joystick 4 should be tilted.
- the icon 82a is displayed so that the joystick 4 is tilted sideways (see FIGS. 8A and 8B). Thereby, the operator can operate the joystick 4 without hesitation.
- step S102 the control device 40 displays the direction in which the joystick 4 is tilted on the monitor 8. That is, the monitor 8 indicates the direction in which the joystick 4 is tilted.
- the controller 40 recognizing the direction in which the joystick 4 is tilted and displaying the icon 82b (see FIGS. 8A and 8B). Thereby, the operator can operate while confirming the direction in which the joystick 4 is tilted.
- step S103 the control device 40 determines whether or not the operation of the joystick 4 is appropriate. More specifically, the control device 40 determines whether or not the direction in which the joystick 4 is tilted matches the direction to be tilted indicated in step S101. Then, the control device 40 proceeds to step S104 when determining that the operation of the joystick 4 is appropriate, and returns to step S102 when determining that the operation of the joystick 4 is not appropriate.
- step S104 the control device 40 displays on the monitor 8 that the operation of the joystick 4 is appropriate. That is, the monitor 8 indicates that the operation of the joystick 4 is appropriate. In the present embodiment, this is realized by changing the color of the icon 82b shown in step S102 from red to green. However, it may be displayed in, for example, characters, and the present invention is not limited to this. Thereby, the operator can recognize that the operation of the joystick 4 is appropriate.
- step S105 the control device 40 determines whether or not the RUN button is pressed while the joystick 4 is properly operated.
- the control device 40 fixes the rotation angle of the outdrive device 10 when it is determined that the RUN button is pressed while the joystick 4 is properly operated. That is, the control device 40 temporarily releases the interlocking state between the joystick 4 and the outdrive device 10. If the RUN button is not pressed while the joystick 4 is properly operated, the process returns to step S104.
- step S106 the control device 40 calculates a correction amount of the rotation angle of the outdrive device 10. More specifically, the control device 40 determines the deviation between the traveling direction (lateral direction) of the hull 1 indicated by the joystick 4 and the actual traveling direction based on information from the global positioning system (GPS). Recognize and calculate a correction amount to eliminate the deviation.
- GPS global positioning system
- step S107 the control device 40 displays on the monitor 8 the direction in which the joystick 4 should be tilted. That is, the monitor 8 indicates the direction in which the joystick 4 should be tilted.
- the correction amount of the rotation angle of the outdrive device 10 is calculated in step S106, the icon 82a in consideration of this correction amount is displayed (see FIGS. 8C and 8D). Thereby, the operator can operate the joystick 4 without hesitation.
- step S108 the control device 40 displays on the monitor 8 the direction in which the joystick 4 is tilted. That is, the monitor 8 indicates the direction in which the joystick 4 is tilted. This is realized by the control device 40 recognizing the direction in which the joystick 4 is tilted and displaying the icon 82b (see FIGS. 8C and 8D). Thereby, the operator can operate while confirming the direction in which the joystick 4 is tilted.
- step S109 the control device 40 determines whether or not the operation of the joystick 4 is appropriate. More specifically, the control device 40 determines whether or not the direction in which the joystick 4 is tilted matches the direction to be tilted shown in step S107. Then, the control device 40 proceeds to step S110 when determining that the operation of the joystick 4 is appropriate, and returns to step S108 when determining that the operation of the joystick 4 is not appropriate.
- step S110 the control device 40 displays on the monitor 8 that the operation of the joystick 4 is appropriate. That is, the monitor 8 indicates that the operation of the joystick 4 is appropriate. In the present embodiment, this is realized by changing the color of the icon 82b shown in step S108 from red to green. However, it may be displayed in, for example, characters, and the present invention is not limited to this. Thereby, the operator can recognize that the operation of the joystick 4 is appropriate.
- step S111 the control device 40 determines whether or not the RUN button is pressed while the joystick 4 is properly operated.
- the control device 40 executes calibration. That is, the control device 40 sets the rotation angle of the outdrive device 10 in step S110 when the joystick 4 is tilted in the horizontal direction.
- the monitor 8 indicates the direction in which the joystick 4 should be tilted (see step S101 and step S107), and if the joystick 4 is tilted according to the direction indicated, indicates that the operation is appropriate. (Refer to step S104 and step S110). Accordingly, the operator can operate the joystick 4 without hesitation and can recognize that the operation is appropriate. Therefore, the calibration work can be easily performed.
- the monitor 8 is the direction in which the joystick 4 is corrected so as to eliminate the deviation. (See step S107).
- the operator can accurately match the traveling direction of the hull 1 indicated by the joystick 4 with the actual traveling direction. Therefore, the calibration work can be easily performed.
- the above is the calibration work by parallel maneuvering.
- the ship maneuvering system 100 for the outdrive device performs the calibration work by the side-slider movement after the calibration work by the parallel movement.
- FIG. 9 is a diagram showing a calibration work process by the movement of the side slide.
- FIG. 10 is a diagram showing changes in the calibration image.
- step S201 the control device 40 displays on the monitor 8 the direction in which the joystick 4 should be tilted. That is, the monitor 8 indicates the direction in which the joystick 4 should be tilted.
- the icon 82a is displayed so as to tilt the joystick 4 diagonally (see FIGS. 10A and 10B). Thereby, the operator can operate the joystick 4 without hesitation.
- step S202 the control device 40 displays on the monitor 8 the direction in which the joystick 4 is tilted. That is, the monitor 8 indicates the direction in which the joystick 4 is tilted. This is realized by the controller 40 recognizing the direction in which the joystick 4 is tilted and displaying the icon 82b (see FIGS. 10A and 10B). Thereby, the operator can operate while confirming the direction in which the joystick 4 is tilted.
- step S203 the control device 40 determines whether or not the operation of the joystick 4 is appropriate. More specifically, the control device 40 determines whether or not the direction in which the joystick 4 is tilted matches the direction to be tilted indicated in step S201. Then, the control device 40 proceeds to step S204 when determining that the operation of the joystick 4 is appropriate, and returns to step S202 when determining that the operation of the joystick 4 is not appropriate.
- step S204 the control device 40 displays on the monitor 8 that the operation of the joystick 4 is appropriate. That is, the monitor 8 indicates that the operation of the joystick 4 is appropriate. In the present embodiment, this is realized by changing the color of the icon 82b shown in step S202 from red to green. However, it may be displayed in, for example, characters, and the present invention is not limited to this. Thereby, the operator can recognize that the operation of the joystick 4 is appropriate.
- step S205 the control device 40 determines whether or not the RUN button has been pressed with the joystick 4 being properly operated.
- the control device 40 fixes the rotation angle of the outdrive device 10 when it is determined that the RUN button is pressed while the joystick 4 is properly operated. That is, the control device 40 temporarily releases the interlocking state between the joystick 4 and the outdrive device 10. If the RUN button is not pressed while the joystick 4 is properly operated, the process returns to step S204.
- step S206 the control device 40 calculates a correction amount of the rotation angle of the outdrive device 10. More specifically, the control device 40 detects the deviation between the traveling direction (oblique direction) of the hull 1 indicated by the joystick 4 and the actual traveling direction based on information from the global positioning system (GPS). And a correction amount for eliminating the deviation is calculated.
- GPS global positioning system
- step S207 the control device 40 displays on the monitor 8 the direction in which the joystick 4 should be tilted. That is, the monitor 8 indicates the direction in which the joystick 4 should be tilted.
- the correction amount of the rotation angle of the outdrive device 10 is calculated in step S206, the icon 82a in consideration of this correction amount is displayed (see FIGS. 10C and 10D). Thereby, the operator can operate the joystick 4 without hesitation.
- step S208 the control device 40 displays the direction in which the joystick 4 is tilted on the monitor 8. That is, the monitor 8 indicates the direction in which the joystick 4 is tilted.
- the control device 40 recognizing the direction in which the joystick 4 is tilted and displaying the icon 82b (see FIGS. 10C and 10D). Thereby, the operator can operate while confirming the direction in which the joystick 4 is tilted.
- step S209 the control device 40 determines whether or not the operation of the joystick 4 is appropriate. More specifically, the control device 40 determines whether or not the direction in which the joystick 4 is tilted matches the direction to be tilted indicated in step S207. Then, the control device 40 proceeds to step S210 when determining that the operation of the joystick 4 is appropriate, and returns to step S208 when determining that the operation of the joystick 4 is not appropriate.
- step S210 the control device 40 displays on the monitor 8 that the operation of the joystick 4 is appropriate. That is, the monitor 8 indicates that the operation of the joystick 4 is appropriate. In the present embodiment, this is realized by changing the color of the icon 82b shown in step S208 from red to green. However, it may be displayed in, for example, characters, and the present invention is not limited to this. Thereby, the operator can recognize that the operation of the joystick 4 is appropriate.
- step S211 the control device 40 determines whether or not the RUN button has been pressed while the joystick 4 is properly operated.
- the control device 40 executes calibration. That is, when the joystick 4 is tilted in the oblique direction, the control device 40 sets the rotation angle of the outdrive device 10 in step S210.
- the monitor 8 indicates the direction in which the joystick 4 should be tilted (see step S201 and step S207), and if the joystick 4 is tilted according to the direction indicated, indicates that the operation is appropriate. (Refer to step S204 and step S210). Accordingly, the operator can operate the joystick 4 without hesitation and can recognize that the operation is appropriate. Therefore, the calibration work can be easily performed.
- the monitor 8 is the direction in which the joystick 4 is corrected so as to eliminate the deviation. (See step S207).
- the operator can accurately match the traveling direction of the hull 1 indicated by the joystick 4 with the actual traveling direction. Therefore, the calibration work can be easily performed.
- the operator may operate the joystick 4 to correct the rotation angle of the outdrive device 10.
- the correction amount as described in step S106 or step S206 cannot be calculated. Therefore, the icon 82a considering the correction amount as described in step S107 or step S207 cannot be displayed. Therefore, the control device 40 performs calibration when the operator operates the joystick 4 to correct the rotation angle of the outdrive device 10 and presses the RUN button.
- the monitor 8 indicates the direction in which the joystick 4 is tilted, and indicates that the operation is appropriate if the tilted direction of the joystick 4 matches a preset direction.
- the operator can operate while confirming the direction in which the joystick 4 is tilted, and can recognize that the operation is appropriate. Therefore, the calibration work can be easily performed.
- FIG. 11 is a diagram showing a calibration work process by parallel maneuvers.
- FIG. 12 is a diagram illustrating changes in the calibration image.
- Steps S301 to S306 are the same as the calibration work described above. Therefore, description of such steps is omitted.
- step S307 the control device 40 corrects the rotation angle of the outdrive device 10. More specifically, the control device 40 corrects the rotation direction of the outdrive device 10 so as to eliminate the deviation between the traveling direction (lateral direction) of the hull 1 indicated by the joystick 4 and the actual traveling direction.
- the correction amount of the rotation angle of the outdrive device 10 is calculated in step S306, the rotation direction of the outdrive device 10 is corrected based on this correction amount. At this time, the fact that correction is in progress is displayed on the calibration image (see FIG. 12C).
- step S308 the control device 40 displays on the monitor 8 that the correction has been completed. That is, the monitor 8 indicates that the correction has been completed (see FIG. 12D). Thus, the operator can recognize that the correction of the rotation direction of the outdrive device 10 has been completed.
- step S309 the control device 40 determines whether or not the RUN button has been pressed.
- the control device 40 performs calibration. That is, the control device 40 sets the rotation angle of the outdrive device 10 in step S308 when the joystick 4 is tilted in the horizontal direction.
- the monitor 8 corrects the rotation direction of the outdrive device 10 so as to eliminate the deviation when the actual advancing direction is deviated from the advancing direction of the hull 1 indicated by the joystick 4. (See step S307), this indicates that the correction has been completed (see step S308).
- the operator can accurately match the traveling direction of the hull 1 indicated by the joystick 4 with the actual traveling direction. Therefore, the calibration work can be easily performed.
- the marine vessel maneuvering system 100 for the outdrive device performs the calibration work by the side-slider movement after the calibration work by the parallel movement.
- FIG. 13 is a diagram showing a calibration work process by the movement of a side-sliding machine.
- FIG. 14 is a diagram showing changes in the calibration image.
- Steps S401 to S406 are the same as the calibration work described above. Therefore, description of such steps is omitted.
- step S407 the control device 40 corrects the rotation angle of the outdrive device 10. More specifically, the control device 40 corrects the rotation direction of the outdrive device 10 so as to eliminate the deviation between the traveling direction (oblique direction) of the hull 1 indicated by the joystick 4 and the actual traveling direction.
- the correction amount of the rotation angle of the outdrive device 10 is calculated in step S406, the rotation direction of the outdrive device 10 is corrected based on this correction amount. At this time, the fact that correction is in progress is displayed on the calibration image (see FIG. 14C).
- step S408 the control device 40 displays on the monitor 8 that the correction has been completed. That is, the monitor 8 indicates that the correction has been completed (see FIG. 14D). Thus, the operator can recognize that the correction of the rotation direction of the outdrive device 10 has been completed.
- step S409 the control device 40 determines whether or not the RUN button has been pressed.
- the control device 40 performs calibration. That is, when the joystick 4 is tilted in an oblique direction, the control device 40 sets the rotation angle of the outdrive device 10 in step S408.
- the monitor 8 corrects the rotation direction of the outdrive device 10 so as to eliminate the deviation when the actual advancing direction is deviated from the advancing direction of the hull designated by the joystick 4. (See step S407), indicating that the correction has been completed (see step S408).
- the operator can accurately match the traveling direction of the hull 1 indicated by the joystick 4 with the actual traveling direction. Therefore, the calibration work can be easily performed.
- step S306 or step S406 cannot be calculated. Therefore, as described in step S307 and step S407, the rotation angle of the outdrive device 10 cannot be corrected.
- the icon 82a is represented by an arrow, and indicates the direction in which the joystick 4 should be tilted.
- Such an icon 82a can clearly express the direction in which the joystick 4 should be tilted, but if the direction in which the joystick 4 is tilted does not completely match the direction indicated by the icon 82a, the operation is appropriate. Not judged. Therefore, the operator has to carefully operate the joystick 4.
- the icon 82a as shown in FIG. 6B makes the operation of the joystick 4 easy. That is, the icon 82a indicates the direction in which the joystick 4 should be tilted in a predetermined angle range centered on the fulcrum of the joystick 4, so that the operator only has to tilt the joystick 4 within the range indicated by the icon 82a. It is. Then, if the joystick 4 is tilted according to the indicated range, it may be indicated that the operation is appropriate.
- the monitor 8 indicates the direction in which the joystick 4 should be tilted in a range of a predetermined angle around the fulcrum of the joystick 4, and if the joystick 4 is tilted according to the indicated range, Indicates that is appropriate.
- the operator can operate the joystick 4 without being too cautious and can recognize that the operation is appropriate. Therefore, the calibration work can be easily performed.
- the calibration work by the horizontal sliding motion is performed after the calibration work by the parallel mobile motion. This is a matter known naturally when performing the calibration work. However, if the operator is unfamiliar with the calibration work, the order may be mistaken. Therefore, the monitor 8 displays the calibration image by the parallel sliding motion and then displays the calibration image by the lateral sliding motion.
- the monitor 8 displays the calibration image based on the parallel sliding motion, and then displays the calibration image based on the horizontal sliding motion.
- the operator can correctly perform the calibration work without making a mistake in the order. Therefore, the calibration work can be easily performed.
- the hydraulic cylinder In order to assemble the conventional outdrive device in an appropriate state with respect to the hull, the hydraulic cylinder, the proportional solenoid valve for switching the flow direction of the hydraulic oil, the suitability of the piping and wiring of the piston position detection device, the hydraulic cylinder It is necessary to calibrate the outdrive device such as setting the stroke end of the motor.
- the calibration of the outdrive device in addition to the complicated work process, visual confirmation may be difficult due to a structure such as an engine arranged around the outdrive device. Therefore, the calibration of the outdrive device has been a problem because the calibration results may vary unless the skilled operator uses it.
- an automatic calibration function that can reliably calibrate the outdrive device while suppressing variations, and can prevent operation before the calibration of the outdrive device is completed, thereby suppressing malfunction of the outdrive device. It discloses about the ship which has.
- FIGS. 1 and 2 shows a so-called biaxial propulsion type ship including two outdrive devices 10.
- the present invention is not limited to this.
- the ship 50 is propelled by adjusting the operating state of the engine 5 according to the operation of the throttle lever 2 and changing the rotational speed of the screw propeller 15 as a result.
- the ship 50 includes an outdrive device 10, a steering hydraulic actuator 20, an electromagnetic proportional valve 30, and a control device 40 in the hull 1.
- the ship 50 includes a steering handle 3 and a joystick 4 for controlling the outdrive device 10 on the hull 1.
- the hull 1 is provided with a monitor 8 for displaying the operation status and the like in the vicinity of the steering handle 3 or the joystick 4.
- the ship 50 is configured to be able to turn the outdrive device 10 in accordance with the operation of the steering handle 3 or the joystick 4.
- the outdrive device 10 propels the hull 1 by rotating a screw propeller 15.
- the outdrive device 10 turns the hull 1 by turning with respect to the traveling direction of the hull 1.
- the outdrive device 10 mainly includes an input shaft 11, a switching clutch 12, a drive shaft 13, an output shaft 14, and a screw propeller 15.
- the input shaft 11 transmits the rotational power of the engine 5 to the switching clutch 12.
- One end of the input shaft 11 is connected to a universal joint attached to the output shaft of the engine 5, and the other end is connected to a switching clutch 12 disposed inside the upper housing 10U.
- the switching clutch 12 enables the rotational power of the engine 5 transmitted via the input shaft 11 or the like to be switched between the forward rotation direction and the reverse rotation direction.
- the switching clutch 12 has a forward rotating bevel gear connected to an inner drum having a disk plate and a reverse rotating bevel gear, and which disk plate is pressed against the pressure plate of the outer drum connected to the input shaft 11. To change the direction of rotation.
- the drive shaft 13 transmits the rotational power of the engine 5 transmitted through the switching clutch 12 and the like to the output shaft 14.
- the bevel gear provided at one end of the drive shaft 13 meshes with the forward rotation bevel gear and the reverse rotation bevel gear provided in the switching clutch 12, and the bevel gear provided at the other end of the lower housing 10R. It meshes with the bevel gear of the output shaft 14 arranged inside.
- the output shaft 14 transmits the rotational power of the engine 5 transmitted through the drive shaft 13 or the like to the screw propeller 15.
- the bevel gear provided at one end of the output shaft 14 meshes with the bevel gear of the drive shaft 13 as described above, and a screw propeller 15 is attached to the other end.
- the screw propeller 15 generates a propulsive force by rotating.
- the screw propeller 15 is driven by the rotational power of the engine 5 transmitted through the output shaft 14 and the like, and a plurality of blades 15a arranged around the rotational shaft generate propulsive force by removing surrounding water.
- the outdrive device 10 is supported by a gimbal housing 7 attached to the stern board (transom board) of the hull 1. Specifically, the outdrive device 10 is supported by the gimbal housing 7 so that the gimbal ring 16 of the outdrive device 10 is substantially perpendicular to the water line wl.
- the gimbal ring 16 is a substantially cylindrical rotation shaft attached to the outdrive device 10, and the outdrive device 10 rotates about the gimbal ring 16.
- a steering arm 17 extending inside the hull 1 is attached to the upper end portion of the gimbal ring 16. Then, the steering arm 17 rotates the outdrive device 10 around the gimbal ring 16. The steering arm 17 is driven by a steering hydraulic actuator 20 that is interlocked according to the operation of the steering handle 3 or the joystick 4.
- a bracket 42 is attached to the front side of the stern board (transom board).
- a gimbal housing 7 is attached to the rear side of the stern board (transom board).
- the gimbal housing 7 is provided with pivot shafts 41 and 41 in a substantially vertical direction, and the gimbal ring 16 is rotatably supported by the pivot shafts 41 and 41.
- rotational shafts 18 and 18 are provided in the horizontal direction, and the front upper portion of the upper housing 10U is rotatably supported by the rotational shafts 18 and 18.
- the steering arm 17 is attached to the upper end of the rotating shaft 41.
- the steering arm 17 extends inside the hull 1 through through holes 1H and 42H provided in the hull 1 and the bracket 42.
- a steering hydraulic actuator 20 is connected to the end of the steering arm 17 (see FIG. 3). Therefore, the outdrive device 10 rotates to the left and right around the gimbal ring 16 when the steering hydraulic actuator 20 is operated.
- a lifting hydraulic actuator 9 is interposed between the lower portion of the gimbal ring 16 and the upper housing 10U (see FIG. 3). Therefore, the outdrive device 10 rotates up and down around the rotation shafts 18 and 18 by the operation of the lifting hydraulic actuator 9.
- the steering hydraulic actuator 20 drives the steering arm 17 of the outdrive device 10 to rotate the outdrive device 10.
- the steering hydraulic actuator 20 mainly includes a cylinder sleeve 21, a piston 22, a rod 23, a first cylinder cap 24, a second cylinder cap 25, and a position sensor 26. Is done.
- the steering hydraulic actuator 20 according to the present embodiment is a so-called single rod type hydraulic actuator, but may be a double rod type as shown in FIG.
- the cylinder sleeve 21 has a piston 22 slidably provided therein. Both ends of the cylinder sleeve 21 are provided with flanges protruding in the circumferential direction, and the first cylinder cap 24 or the second cylinder cap 25 is fixed to the flanges.
- the piston 22 slides inside the cylinder sleeve 21 by receiving hydraulic pressure.
- the piston 22 is provided with a through hole 22h coaxially with the central axis of the piston 22, and a rod 23 is inserted into the through hole 22h.
- a ring groove is provided on the outer peripheral surface of the piston 22 in the circumferential direction, and a seal ring is provided around the ring groove.
- a permanent magnet 222 is attached to the outer peripheral surface of the piston 22 between the seal rings.
- the rod 23 transmits the sliding movement of the piston 22 to the steering arm 17.
- One end portion of the rod 23 is provided with a reduced diameter portion 23ta in which the outer diameter of the rod 23 is reduced.
- the rod 23 is fixed to the piston 22 by being screwed with a nut 231 in a state where the reduced diameter portion 23 ta is inserted into the through hole 22 h of the piston 22. Further, the other end portion of the rod 23 is provided with a reduced diameter portion 23tb obtained by reducing the outer diameter of the rod 23.
- the rod 23 is fixed to the clevis 27 by being screwed with a nut 232 in a state where the reduced diameter portion 23 tb is inserted into the through hole 27 h of the clevis 27.
- the clevis 27 is a connecting member that connects the rod 23 and the steering arm 17.
- the first cylinder cap 24 seals one end of the cylinder sleeve 21.
- the first cylinder cap 24 is provided with a first oil passage 24p that communicates with a first oil chamber Oc1 constituted by a cylinder sleeve 21 and a piston 22. Further, a ring groove is provided in the circumferential direction on the peripheral wall surface inserted into the cylinder sleeve 21, and a seal ring is provided around the peripheral wall surface.
- the first oil chamber Oc1 constitutes a pressure chamber that can withstand a predetermined oil pressure.
- the second cylinder cap 25 seals the other end portion of the cylinder sleeve 21 and supports the rod 23 so as to be slidable.
- the second cylinder cap 25 is provided with a second oil passage 25p that communicates with a second oil chamber Oc2 constituted by the cylinder sleeve 21 and the piston 22. Further, a ring groove is provided in the circumferential direction on the peripheral wall surface inserted into the cylinder sleeve 21, and a seal ring is provided around the peripheral wall surface.
- the second cylinder cap 25 is provided with a through hole 25h coaxially with the central axis of the cylinder sleeve 21, and the rod 23 is slidably inserted into the through hole 25h.
- the second oil chamber Oc2 constitutes a pressure-resistant chamber that can withstand a predetermined oil pressure.
- the position sensor 26 detects the magnetic force of the permanent magnet 222 attached to the piston 22.
- the position sensor 26 is attached to the outer peripheral surface of the cylinder sleeve 21 so as to be parallel to the sliding direction of the piston 22 at least within a range in which the piston 22 can slide.
- the control apparatus 40 can grasp
- the position sensor 26 is mainly composed of a so-called Hall element that converts an output voltage in accordance with a change in magnetic flux density.
- the Hall element detects the strength of the magnetic field from the potential difference (Hall voltage) caused by the Lorentz force by utilizing the Lorentz force acting on the electrons due to the interaction between the magnetic field and the current.
- the Hall element is used as the main component of the position sensor 26.
- a magnetoresistive element whose electric resistance value changes according to the strength of the magnetic field may be used, and the present invention is not limited thereto. Not what you want.
- the electromagnetic proportional valve 30 changes the flow direction of the hydraulic oil of the steering hydraulic actuator 20.
- the electromagnetic proportional valve 30 mainly includes a valve body 31, a spool shaft 32, a first solenoid 33, and a second solenoid 34.
- the valve body 31 has a spool shaft 32 slidably provided therein.
- the spool shaft 32 switches the oil passage of the hydraulic oil by sliding inside the valve body 31.
- the first solenoid 33 slides the spool shaft 32 in one direction.
- the second solenoid 34 slides the spool shaft 32 to the other side.
- the electromagnetic proportional valve 30 is supplied with a current I from the driver 35 to the first solenoid 33 or the second solenoid 34.
- the electromagnetic proportional valve 30 in this embodiment is what is called a direct-acting proportional electromagnetic valve, it may be a pilot-type proportional electromagnetic valve and does not limit the operation type.
- the driver 35 supplies a current I to the electromagnetic proportional valve 30 based on a signal from the control device 40.
- the driver 35 includes a PWM circuit (pulse width modulation circuit) 36, a proportional solenoid valve drive circuit 37, and a current detection circuit 38.
- the PWM circuit 36 is configured to be able to receive a control signal from the control device 40.
- the PWM circuit 36 is configured to be able to transmit a control pulse to the proportional solenoid valve drive circuit 37 based on the received control signal.
- the proportional solenoid valve drive circuit 37 is configured to be able to supply the current I to the solenoid proportional valve 30 based on the control pulse received from the PWM circuit 36.
- the current detection circuit 38 is configured such that the current I supplied to the electromagnetic proportional valve 30 can be energized.
- the current detection circuit 38 detects a current value from a voltage drop at a shunt resistor (not shown) where the current I flows. Further, the current detection circuit 38 is configured to be able to input the current value detected via the subtractor 39 to the PWM circuit 36. That is, the driver 35 performs current feedback control based on the deviation between the control signal and the current detection value.
- the control device 40 creates a control signal based on detection signals from the throttle lever 2, the steering handle 3, the joystick 4, and the like. Then, the control device 40 transmits a control signal to the driver 35 of the electromagnetic proportional valve 30 or the like. Further, the control device 40 creates a control signal based on information from a global positioning system (GPS), and can also send the created control signal to the electromagnetic proportional valve 30 or the like. That is, the control device 40 enables so-called automatic navigation in which the navigation is automatically performed by calculating the route from its own position and the set destination, in addition to the navigation manually performed by the operator.
- GPS global positioning system
- the control device 40 has an automatic calibration function of the outdrive device 10 that is performed when the outdrive device 10 is assembled to the hull 1. Specifically, the control device 40 confirms the connection of the hydraulic pipe of the steering hydraulic actuator 20 and sets the movable range, determines the appropriateness of the wiring of the electric wire of the position sensor 26, and determines the appropriateness of the piping of the hydraulic pipe of the electromagnetic proportional valve 30. Then, automatic calibration for determining the presence or absence of a short circuit failure of the driver 35 of the electromagnetic proportional valve 30 can be performed. The control device 40 stores various programs and data for performing automatic calibration.
- the control device 40 moves the piston 22 of the steering hydraulic actuator 20 in the direction of the arrow L shown in FIGS. 16 and 17. It is necessary to slide it. Therefore, the control device 40 operates the second solenoid 34 by transmitting a control signal to the electromagnetic proportional valve 30. As a result, the second solenoid 34 slides the spool shaft 32 to a predetermined position. As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow L shown in FIGS.
- the control device 40 When the hull 1 is turned to the right, the control device 40 needs to slide the piston 22 of the steering hydraulic actuator 20 in the direction of the arrow R shown in FIGS. Therefore, the control device 40 operates the first solenoid 33 by transmitting a control signal to the electromagnetic proportional valve 30. Thereby, the first solenoid 33 slides the spool shaft 32 to a predetermined position. As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow R shown in FIGS.
- the control device 40 operates the piston 22 of the steering hydraulic actuator 20 constituting the outdrive device 10.
- the connection of the electric wires and hydraulic pipes of the steering hydraulic actuator 20, the position sensor 26, the electromagnetic proportional valve 30, and the driver 35 is confirmed.
- the control device 40 moves the piston 22 to set the values of the position sensor 26 at one end and the other end, and at the same time, the steering hydraulic actuator 20, the position sensor 26, the electromagnetic proportional valve 30, and the driver 35. Judgment of wrong wiring and wrong piping of electric wires and hydraulic pipes.
- the control device 40 determines a short circuit failure in the drive circuit of the electromagnetic proportional valve 30.
- the control device 40 sets a minimum current value Imin necessary for operating the steering hydraulic actuator 20.
- step S500 the control device 40 determines whether or not a calibration signal due to selection of “Calibration” displayed on the monitor 8 (see FIG. 1) has been received. As a result, when it is determined that the calibration signal has been received, the control device 40 shifts the step to step S600. On the other hand, if it is determined that the calibration signal has not been received, the control device 40 ends the automatic calibration control.
- step S600 the control device 40 starts connection confirmation control A, and shifts the step to step S601 (see FIG. 21).
- the control device 40 shifts the step to step S700 (see FIG. 20).
- step S ⁇ b> 700 the control device 40 determines whether there is no connection failure in the electric wire or the hydraulic pipe based on the determination result in the connection confirmation control A. As a result, when it is determined that there is no connection failure in the electric wire and the hydraulic pipe, the control device 40 shifts the step to step S800. On the other hand, if it is determined that there is a connection failure in the electric wire or hydraulic pipe, the control device 40 ends the automatic calibration control. In this case, the monitor 8 indicates that there is a connection failure in the electric wire or hydraulic pipe.
- step S800 the control device 40 starts actuator calibration control B and shifts the step to step S801 (see FIG. 22).
- the control device 40 shifts the step to step S900 (see FIG. 20).
- step S ⁇ b> 900 the control device 40 determines based on the determination result in the actuator calibration control B whether or not there is an incorrect wiring, an incorrect piping of the hydraulic pipe, or an operation failure of the steering hydraulic actuator 20.
- the control device 40 shifts the step to step S1000.
- the control device 40 ends the control of the automatic calibration. In this case, the monitor 8 indicates that there is an incorrect wiring of the electric wire, an incorrect piping of the hydraulic pipe, or a malfunction of the steering hydraulic actuator 20.
- step S1000 the control device 40 starts the short circuit failure confirmation control C, and shifts the step to step S1001 (see FIG. 23).
- step S1100 the control device 40 shifts the step to step S1100 (see FIG. 20).
- step S1100 the control device 40 determines whether or not there is a short circuit failure in the drive circuit of the electromagnetic proportional valve 30 based on the determination result in the short circuit failure confirmation control C. As a result, when it is determined that there is no short circuit failure in the drive circuit of the electromagnetic proportional valve 30, the control device 40 shifts the step to step S1200. On the other hand, when it is determined that there is a short circuit failure in the drive circuit of the electromagnetic proportional valve 30, the control device 40 ends the automatic calibration control. In this case, the monitor 8 displays that there is a short circuit fault in the driver 35.
- step S1200 the control device 40 starts driver calibration control D and shifts the step to step S1201 (see FIG. 24).
- step S601 of the connection confirmation control A the control device 40 operates the steering hydraulic actuator 20 in a predetermined direction, and shifts the step to step S602. Specifically, the control device 40 switches the direction of hydraulic oil by the electromagnetic proportional valve 30 and moves the piston 22 of the steering hydraulic actuator 20 by a predetermined amount Sv in the order of one side, the other side, and one side, and the steps are performed. The process proceeds to step S602.
- step S602 the control device 40 determines whether or not the detection value P of the position sensor 26 has fluctuated by a predetermined value Pv or more with the operation of the steering hydraulic actuator 20. As a result, when it is determined that the detection value P of the position sensor 26 has fluctuated by the predetermined value Pv or more, the control device 40 shifts the step to step S603. On the other hand, when it is determined that the detection value P of the position sensor 26 has not fluctuated more than the predetermined value Pv, the control device 40 shifts the step to step S613.
- step S603 the control device 40 determines that there is no connection failure of the electric wire or the hydraulic pipe, and ends the connection confirmation control A. Specifically, the control device 40 determines that there is no connection failure of the electric wires related to the position sensor 26, the electromagnetic proportional valve 30, and the driver 35 and a connection failure of the hydraulic pipe related to the steering hydraulic actuator 20, and performs the connection confirmation control A. finish.
- step S613 the control device 40 determines that there is a connection failure of the electric wire or the hydraulic pipe, and ends the connection confirmation control A. Specifically, the control device 40 determines that there is a connection failure of the position sensor 26, the electromagnetic proportional valve 30, and the driver 35 or a connection failure of the hydraulic pipe related to the steering hydraulic actuator 20, and performs the connection confirmation control A. finish.
- step S801 of actuator calibration control B the control device 40 moves the piston 22 of the steering hydraulic actuator 20 toward one side and the other side, and shifts the step to step S802.
- step S802 the control device 40 determines that the detected value P of the position sensor 26 when the piston 22 of the steering hydraulic actuator 20 moves toward one side or the other side is within the first calibration range R1 or the second calibration range R2. It is determined whether it is within. As a result, when it is determined that the detected value P is within the first calibration range R1 or the second calibration range R2, the control device 40 shifts the step to step S803. On the other hand, when it is determined that the detected value P is not within the first calibration range R1 and the second calibration range R2, the control device 40 shifts the step to step S801.
- step S803 the control device 40 determines whether or not the detection value P of the position sensor 26 when the piston 22 of the steering hydraulic actuator 20 is moved toward one side or the other side is continuously detected for a predetermined time t1. judge. As a result, when it is determined that the detection value P is detected continuously for the predetermined time t1, the control device 40 shifts the step to step S804. On the other hand, when it is determined that the detection value P is not detected continuously for the predetermined time t1, the control device 40 shifts the step to step S801.
- step S804 the control device 40 sets the detection value P1 of the position sensor 26 when the piston 22 of the steering hydraulic actuator 20 is moved toward the one side and the other side to the position at one side end (hereinafter, simply “one”).
- the detected value P2 is set as the position of the other end (hereinafter simply referred to as “other end position P2”), and the process proceeds to step S805.
- the detection value P of the position sensor 26 is set to increase as the piston 22 moves to one side of the steering hydraulic actuator 20.
- step S805 the control device 40 determines whether or not the one side end position P1 is larger than the other side end position P2. As a result, when it is determined that the one side end position P1 is larger than the other side end position P2, the control device 40 shifts the step to step S806. On the other hand, if it is determined that the one side end position P1 is equal to or less than the other side end position P2, the control device 40 shifts the step to step S827.
- step S806 the control device 40 determines whether or not the difference between the one side end position P1 and the other side end position P2 is equal to or greater than a predetermined value Lv.
- the control device 40 shifts the step to step S807.
- the control device 40 shifts the step to step S817.
- the predetermined value Lv is a reference stroke of the steering hydraulic actuator 20.
- step S807 the control device 40 determines that there is no erroneous wiring, erroneous piping, or malfunction, and ends the actuator calibration control B. Specifically, the control device 40 has no error in the wiring of the position sensor 26, the electromagnetic proportional valve 30, and the driver 35, the incorrect piping of the hydraulic pipe related to the steering hydraulic actuator 20, and the malfunction of the steering hydraulic actuator 20. Determination is made, and the actuator calibration control B is terminated.
- step S817 the control device 40 determines that the operation is defective and ends the actuator calibration control B. Specifically, the control device 40 determines that the steering hydraulic actuator 20 is malfunctioning and ends the actuator calibration control B.
- step S827 the control device 40 determines that there is an incorrect wiring or incorrect piping, and ends the actuator calibration control B. Specifically, the control device 40 determines that there is an incorrect wiring of the electric wires related to the position sensor 26, the electromagnetic proportional valve 30, and the driver 35 or an incorrect piping of the hydraulic pipe related to the steering hydraulic actuator 20, and performs the actuator calibration control B. finish.
- step S1001 of the short-circuit failure confirmation control C the control device 40 sends a current I0 from the driver 35 to the electromagnetic proportional valve 30 so as not to normally operate the electromagnetic proportional valve 30. , The process proceeds to step S1002.
- step S1002 the control device 40 determines whether or not the detection value P of the position sensor 26 has changed. That is, the control device 40 determines whether or not the electromagnetic proportional valve 30 is operated with the current I from the driver 35. As a result, when it is determined that the detection value P of the position sensor 26 has not fluctuated, that is, it is determined that the current I flowing from the driver 35 to the electromagnetic proportional valve 30 is the current I0 and the electromagnetic proportional valve 30 is not operating. In the case, the control device 40 shifts the step to step S1003.
- control device 40 shifts the step to step S1013.
- step S1003 the control device 40 determines that there is no short circuit failure in the drive circuit of the electromagnetic proportional valve 30, and ends the short circuit failure confirmation control C. Specifically, the control device 40 determines that the current value detected by the current detection circuit 38 of the driver 35 is the same as the current value of the current I0, and that a short circuit failure has not occurred in the drive circuit of the electromagnetic proportional valve 30. Then, the short circuit failure confirmation control C is completed.
- step S1013 the control device 40 determines that there is a short circuit failure in the drive circuit of the electromagnetic proportional valve 30, and ends the short circuit failure confirmation control C.
- the current I flowing from the electromagnetic proportional valve 30 to the current detection circuit 38 (see the solid line arrow in FIG. 19). ) Partly flows to GND (see broken line arrow in FIG. 19).
- the current value detected by the current detection circuit 38 becomes smaller than the current value of the current I0.
- the driver 35 determines that the current I flowing through the electromagnetic proportional valve 30 is smaller than the current I0, and increases the current value of the current I supplied to the electromagnetic proportional valve 30 by current feedback control.
- the steering hydraulic actuator 20 is operated by operating the electromagnetic proportional valve 30 by the increasing current I. That is, the control device 40 determines that a short circuit failure has occurred in the drive circuit of the electromagnetic proportional valve 30 due to the fluctuation of the detection value P of the position sensor 26, and ends the short circuit failure confirmation control C.
- step S1201 of driver calibration control D the control device 40 causes a current I (n) to flow from the driver 35 to the electromagnetic proportional valve 30 for a predetermined time, and shifts the step to step S1202.
- step S1202 the control device 40 determines whether or not the detection value P of the position sensor 26 has changed. That is, the control device 40 determines whether or not the current value of the current I (n) from the driver 35 is equal to or greater than the minimum current value Imin that drives the electromagnetic proportional valve 30. As a result, when it is determined that the detection value P of the position sensor 26 has fluctuated, that is, it is determined that the current value of the current I (n) from the driver 35 is equal to or greater than the minimum current value Imin that drives the electromagnetic proportional valve 30. In the case, the control device 40 shifts the step to step S1203. On the other hand, when determining that the detection value P of the position sensor 26 has not changed, the control device 40 shifts the step to step S ⁇ b> 1223.
- step S1203 the control device 40 causes a current I (n + 1) obtained by reducing the current value of the current I (n) flowing from the driver 35 to the electromagnetic proportional valve 30 by a predetermined value Iv to flow for a predetermined time, and the process proceeds to step S1204.
- step S1204 the control device 40 determines whether or not the detection value P of the position sensor 26 has changed. As a result, when it is determined that the detection value P of the position sensor 26 has not changed, the control device 40 shifts the step to step S1205. On the other hand, when it is determined that the detection value P of the position sensor 26 is changing, the control device 40 shifts the step to step S1214.
- step S1205 the control device 40 sets the minimum current value Imin to the current value of the current I (n), and ends the driver calibration control D.
- the process proceeds to step S1203.
- step S1223 the control device 40 causes a current I (n + 1) obtained by increasing the current value of the current I (n) flowing from the driver 35 to the electromagnetic proportional valve 30 by the predetermined value Iv to flow for a predetermined time, and the process proceeds to step S1204.
- step S1224 the control device 40 determines whether or not the detection value P of the position sensor 26 is fluctuating. As a result, when it is determined that the detection value P of the position sensor 26 is changing, the control device 40 shifts the step to step S1225. On the other hand, when determining that the detection value P of the position sensor 26 has not changed, the control device 40 shifts the step to step S1234.
- step S1225 the control device 40 sets the current value of the current I (n + 1) to the minimum current value Imin, and ends the driver calibration control D.
- the step is shifted to step S1223.
- control device 40 determines whether a calibration start signal has been received so far.
- the control device 40 invalidates the control signal of the outdrive device 10 when the calibration start signal has already been received and the calibration is being performed or the calibration has not been completed normally.
- the control device 40 invalidates the calibration start signal when the calibration start signal has not been received or when the calibration start signal has been received but the calibration has been normally completed.
- control device 40 when the control device 40 receives a control signal from the outdrive device 10 in step S1301, the control device 40 shifts the step to step S1302.
- step S1302 the control device 40 determines whether or not the calibration start signal of the outdrive device 10 has been received. As a result, when it is determined that the calibration start signal of the outdrive device 10 has been received, the control device 40 shifts the step to step S1303. On the other hand, when it determines with not having received the calibration start signal of the outdrive apparatus 10, the control apparatus 40 makes a step transfer to step S1313.
- step S1303 the control device 40 determines whether or not the outdrive device 10 is being calibrated. As a result, when it is determined that calibration of the outdrive device 10 is being performed, the control device 40 shifts the step to step S1304. On the other hand, if it is determined that calibration of the outdrive device 10 is not being performed, the control device 40 shifts the step to step S1324.
- step S1304 the control device 40 invalidates the control signal of the outdrive device 10 and continues the automatic calibration control. That is, the ship 50 having the automatic calibration function according to the present embodiment is configured so that the control of the outdrive device 10 cannot be performed during the calibration of the outdrive device 10.
- step S1313 the control device 40 invalidates the control signal of the outdrive device 10. That is, the ship 50 having the automatic calibration function of the present embodiment is configured such that the control of the outdrive device 10 cannot be performed when the outdrive device 10 is not calibrated.
- step S1324 the control device 40 determines whether or not the calibration of the outdrive device 10 has been completed. As a result, when it is determined that the calibration of the outdrive device 10 is completed, the control device 40 shifts the step to step S1325. On the other hand, if it is determined that the calibration of the outdrive device 10 has not been completed, the control device 40 shifts the step to step S1335.
- step S1325 the control device 40 invalidates the calibration start signal of the outdrive device 10 and continues control of the outdrive device 10. That is, the ship 50 having the automatic calibration function according to the present embodiment is configured so that the calibration of the outdrive device 10 cannot be performed during the control of the outdrive device 10 when the calibration of the outdrive device 10 is completed. .
- step S1335 the control device 40 invalidates the control signal of the outdrive device 10 and continues control of automatic calibration. That is, the ship 50 having the automatic calibration function of the present embodiment is configured so that the control of the outdrive device 10 cannot be performed when the calibration of the outdrive device 10 is not completed.
- the marine vessel 50 having the automatic calibration function is the marine vessel 50 including the outdrive device 10 that is steered by the steering hydraulic actuator 20 and is a position sensor 26 that is a piston position detection device of the steering hydraulic actuator 20.
- an electromagnetic proportional valve 30 that switches the direction of hydraulic oil, and a control device 40 that controls the electromagnetic proportional valve 30, and the steering hydraulic actuator is automatically used as a calibration of the outdrive device 10 by the control device 40.
- 20 and the operation of the electromagnetic proportional valve 30, the setting of the movable range of the steering hydraulic actuator 20, and the setting of the electromagnetic proportional valve 30 are performed, and if the steering hydraulic actuator 20 and the electromagnetic proportional valve 30 do not operate normally, an out The calibration of the drive device 10 is configured to be stopped.
- the control device 40 moves the piston 22 of the steering hydraulic actuator 20 by a predetermined amount Sv in one direction and the other direction, the detection value P of the position sensor 26 changes to a predetermined value Pv or more. If not, the calibration of the outdrive device 10 is stopped.
- an abnormality of the steering hydraulic actuator 20 an abnormality of the electromagnetic proportional valve 30, and an abnormality of the position sensor 26 are determined at a time. As a result, even if the steering hydraulic actuator 20 or the like cannot be seen, the outdrive device 10 can be reliably calibrated while suppressing variations.
- the piston 22 is moved toward one side of the steering hydraulic actuator 20, and the position sensor 26 is within the first predetermined range R1.
- one detection value P1 is output for a predetermined time t1
- the position sensor 26 outputs one detection value P2 within the second predetermined range R2 for a predetermined time t1
- it is determined that the piston 22 has reached the other end of the steering hydraulic actuator 20 and the steering hydraulic actuator 20 is movable.
- the range is set, and the position sensor 26 detects one detection value P1 within the first predetermined range R1 and / or one detection within the second predetermined range R2.
- P2 is not output for a predetermined time t1
- the difference between the detected value P1 within the first predetermined range R1 and the detected value P2 within the second predetermined range R2 is equal to or smaller than the predetermined value Lv
- the calibration of the drive device 10 is stopped. With this configuration, the stroke end of the steering hydraulic actuator 20 is detected using the position sensor 26, so that an excessive hydraulic load is not applied to the outdrive device 10. As a result, even if the steering hydraulic actuator 20 or the like cannot be seen, the outdrive device 10 can be reliably calibrated while suppressing variations.
- control device 40 causes a current I0 having a magnitude at which the electromagnetic proportional valve 30 does not operate to flow from the driver 35 having a proportional electromagnetic valve drive circuit that performs current feedback control to the electromagnetic proportional valve 30, and the detected value P of the position sensor 26. Is changed, it is determined that there is a short circuit failure in the drive circuit of the electromagnetic proportional valve 30, and the calibration of the outdrive device 10 is stopped. With this configuration, it is possible to detect a short circuit failure in the drive circuit of the electromagnetic proportional valve 30 using the position sensor 26. As a result, even if the steering hydraulic actuator 20 or the like cannot be seen, the outdrive device 10 can be reliably calibrated while suppressing variations.
- the minimum current value among the currents I (n) in which the detection value P of the position sensor 26 fluctuates is set to the minimum current value Imin.
- the ship 50 having the automatic calibration function is a ship 50 including the outdrive device 10 that is steered by the steering hydraulic actuator 20, and is proportional to the electromagnetic proportional valve 30 that is an electromagnetic valve that switches the direction of hydraulic oil. And a control device 40 for controlling the valve 30.
- the control device 40 controls the electromagnetic proportional valve 30 to calibrate the outdrive device 10, and also outputs the outdrive device 10 input during the calibration.
- the control signal for is invalidated.
- control device 40 invalidates the control signal for the outdrive device 10 when the calibration of the outdrive device 10 is not normally completed. With this configuration, when the calibration operation of the outdrive device 10 is abnormally terminated, the outdrive device 10 is not operated. Thereby, the operation before the completion of calibration of the outdrive device 10 can be prevented, and malfunction of the outdrive device 10 can be suppressed.
- control device 40 invalidates the calibration signal of the outdrive device 10 input during the control of the outdrive device 10.
- the calibration of the outdrive device 10 is not performed during the control of the outdrive device 10. Thereby, the operation before the completion of calibration of the outdrive device 10 can be prevented, and malfunction of the outdrive device 10 can be suppressed.
- the control device 40 transmits a control signal to the outdrive device 10 until the calibration of the outdrive device 10 is completed normally. It is invalid. With this configuration, even when calibration is performed again by replacing parts, the outdrive device 10 is not operated until calibration is normally completed. Thereby, the operation before the completion of calibration of the outdrive device 10 can be prevented, and malfunction of the outdrive device 10 can be suppressed.
- the present invention can be used for the technology of a ship maneuvering system for an outdrive device.
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Control Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
その結果、校正信号を受信したと判定した場合、制御装置40はステップをステップS600に移行させる。
一方、校正信号を受信していないと判定した場合、制御装置40は自動校正の制御を終了する。
その結果、電線及び油圧管に接続不良が無いと判定した場合、制御装置40はステップをステップS800に移行させる。
一方、電線又は油圧管に接続不良が有ると判定した場合、制御装置40は自動校正の制御を終了する。この場合、モニター8に電線又は油圧管に接続不良が有る旨が表示される。
その結果、電線の誤配線、油圧管の誤配管及び操舵用油圧アクチュエータ20の動作不良が無いと判定した場合、制御装置40はステップをステップS1000に移行させる。
一方、電線の誤配線、油圧管の誤配管又は操舵用油圧アクチュエータ20の動作不良が有ると判定した場合、制御装置40は自動校正の制御を終了する。この場合、モニター8に電線の誤配線、油圧管の誤配管又は操舵用油圧アクチュエータ20の動作不良が有る旨が表示される。
その結果、電磁比例弁30の駆動回路における短絡故障が無いと判定した場合、制御装置40はステップをステップS1200に移行させる。
一方、電磁比例弁30の駆動回路における短絡故障が有ると判定した場合、制御装置40は自動校正の制御を終了する。この場合、モニター8にドライバ35の短絡故障が有る旨が表示される。
その結果、位置センサ26の検出値Pが所定値Pv以上変動したと判定した場合、制御装置40はステップをステップS603に移行させる。
一方、位置センサ26の検出値Pが所定値Pv以上変動していないと判定した場合、制御装置40はステップをステップS613に移行させる。
その結果、検出値Pが第1校正範囲R1内又は第2校正範囲R2内であると判定した場合、制御装置40はステップをステップS803に移行させる。
一方、検出値Pが第1校正範囲R1内及び第2校正範囲R2内で無いと判定した場合、制御装置40はステップをステップS801に移行させる。
その結果、検出値Pが所定時間t1継続して検出されたと判定した場合、制御装置40はステップをステップS804に移行させる。
一方、検出値Pが所定時間t1継続して検出されていないと判定した場合、制御装置40はステップをステップS801に移行させる。
その結果、一側端位置P1が他側端位置P2よりも大きいと判定した場合、制御装置40はステップをステップS806に移行させる。
一方、一側端位置P1が他側端位置P2以下であると判定した場合、制御装置40はステップをステップS827に移行させる。
その結果、一側端位置P1と他側端位置P2との差が所定値Lv以上であると判定した場合、制御装置40はステップをステップS807に移行させる。
一方、一側端位置P1と他側端位置P2との差が所定値Lv未満であると判定した場合、制御装置40はステップをステップS817に移行させる。なお、本実施形態において、所定値Lvは、操舵用油圧アクチュエータ20の基準ストロークである。
その結果、位置センサ26の検出値Pが変動していないと判定した場合、すなわち、ドライバ35から電磁比例弁30に流れる電流Iが電流I0であり電磁比例弁30が作動していないと判定した場合、制御装置40はステップをステップS1003に移行させる。
一方、位置センサ26の検出値Pが変動していると判定した場合、すなわち、ドライバ35から電磁比例弁30に流れる電流Iが電流I0よりも大きく電磁比例弁30が作動していると判定した場合、制御装置40はステップをステップS1013に移行させる。
その結果、位置センサ26の検出値Pが変動したと判定した場合、すなわち、ドライバ35からの電流I(n)の電流値が電磁比例弁30を駆動させる最小電流値Imin以上であると判定した場合、制御装置40はステップをステップS1203に移行させる。
一方、位置センサ26の検出値Pが変動していないと判定した場合、制御装置40はステップをステップS1223に移行させる。
その結果、位置センサ26の検出値Pが変動していないと判定した場合、制御装置40はステップをステップS1205に移行させる。
一方、位置センサ26の検出値Pが変動していると判定した場合、制御装置40はステップをステップS1214に移行させる。
その結果、位置センサ26の検出値Pが変動していると判定した場合、制御装置40はステップをステップS1225に移行させる。
一方、位置センサ26の検出値Pが変動していないと判定した場合、制御装置40はステップをステップS1234に移行させる。
その結果、アウトドライブ装置10の校正開始信号を受信済みであると判定した場合、制御装置40はステップをステップS1303に移行させる。
一方、アウトドライブ装置10の校正開始信号を受信していないと判定した場合、制御装置40はステップをステップS1313に移行させる。
その結果、アウトドライブ装置10の校正の実施中であると判定した場合、制御装置40はステップをステップS1304に移行させる。
一方、アウトドライブ装置10の校正の実施中でないと判定した場合、制御装置40はステップをステップS1324に移行させる。
その結果、アウトドライブ装置10の校正が完了していると判定した場合、制御装置40はステップをステップS1325に移行させる。
一方、アウトドライブ装置10の校正が完了していないと判定した場合、制御装置40はステップをステップS1335に移行させる。
このように構成することにより、作業者が手動で目視しながらアウトドライブ装置10の校正を実施する必要がない。また、異常があればアウトドライブ装置10の校正が中止される。これにより、操舵用油圧アクチュエータ20等が目視できなくてもばらつきを抑制しつつ確実にアウトドライブ装置10の校正を実施することができる。
このように構成することにより、操舵用油圧アクチュエータ20のピストン位置に関わらず、操舵用油圧アクチュエータ20の異常、電磁比例弁30の異常、位置センサ26の異常が一時に判定される。これにより、操舵用油圧アクチュエータ20等が目視できなくてもばらつきを抑制しつつ確実にアウトドライブ装置10の校正を実施することができる。
このように構成することにより、位置センサ26を利用して操舵用油圧アクチュエータ20のストロークエンドを検出するのでアウトドライブ装置10に過大な油圧負荷をかけることがない。これにより、操舵用油圧アクチュエータ20等が目視できなくてもばらつきを抑制しつつ確実にアウトドライブ装置10の校正を実施することができる。
このように構成することにより、位置センサ26を利用して電磁比例弁30の駆動回路における短絡故障を検出することができる。これにより、操舵用油圧アクチュエータ20等が目視できなくてもばらつきを抑制しつつ確実にアウトドライブ装置10の校正を実施することができる。
このように構成することにより、位置センサ26を利用して電磁比例弁30の最小電流値Iminが設定される。これにより、操舵用油圧アクチュエータ20等が目視できなくてもばらつきを抑制しつつ確実にアウトドライブ装置10の校正を実施することができる。
このように構成することにより、アウトドライブ装置10の校正実施前及び校正実施中にアウトドライブ装置10が操作されることがない。これにより、アウトドライブ装置10の校正完了前における操作を防止してアウトドライブ装置10の誤作動を抑制することができる。
このように構成することにより、アウトドライブ装置10の校正作業が異常終了した場合、アウトドライブ装置10が操作されることがない。これにより、アウトドライブ装置10の校正完了前における操作を防止してアウトドライブ装置10の誤作動を抑制することができる。
このように構成することにより、アウトドライブ装置10の制御中にアウトドライブ装置10の校正が実施されることがない。これにより、アウトドライブ装置10の校正完了前における操作を防止してアウトドライブ装置10の誤作動を抑制することができる。
このように構成することにより、部品の交換等により再び校正を実施した場合でも、校正が正常に完了するまでアウトドライブ装置10が操作されることがない。これにより、アウトドライブ装置10の校正完了前における操作を防止してアウトドライブ装置10の誤作動を抑制することができる。
2 スロットルレバー
3 操舵ハンドル
4 操船レバー(ジョイスティック)
5 エンジン
8 モニター
10 アウトドライブ装置
20 操舵用油圧アクチュエータ
30 電磁比例弁
40 制御装置
82 操作指示部
82a アイコン
82b アイコン
100 アウトドライブ装置用操船システム
Claims (6)
- アウトドライブ装置と、
前記アウトドライブ装置の回動方向を指示する制御装置と、
前記制御装置に船体の進行方向を指示する操船レバーと、を備えるアウトドライブ装置用操船システムにおいて、
前記操船レバーによって指示した船体の進行方向に対して実際の進行方向を合わせるための画像を表示できるモニターを具備し、
前記モニターは、前記操船レバーが倒された方向を示すとともに、該操船レバーの倒された方向が予め設定された方向に合致すれば、その操作が適正である旨を示す、ことを特徴とするアウトドライブ装置用操船システム。 - 前記モニターは、前記操船レバーの倒すべき方向を示すとともに、該操船レバーが示された方向に従って倒されれば、その操作が適正である旨を示す、ことを特徴とする請求項1に記載のアウトドライブ装置用操船システム。
- 前記モニターは、前記操船レバーの倒すべき方向を該操船レバーの支点を中心とした所定の角度の範囲で示すとともに、該操船レバーが示された範囲に従って倒されれば、その操作が適正である旨を示す、ことを特徴とする請求項2に記載のアウトドライブ装置用操船システム。
- 前記モニターは、前記操船レバーによって指示した船体の進行方向に対して実際の進行方向がズレている場合に、ズレを解消するように補正をした前記操船レバーの倒すべき方向を示す、ことを特徴とする請求項2又は請求項3に記載のアウトドライブ装置用操船システム。
- 前記モニターは、前記操船レバーによって指示した船体の進行方向に対して実際の進行方向がズレている場合に、ズレを解消するように前記アウトドライブ装置の回動方向を補正して、その補正が完了した旨を示す、ことを特徴とする請求項1から請求項4のいずれか一項に記載のアウトドライブ装置用操船システム。
- 前記モニターは、平行機動による前記画像を表示した後に、横滑機動による前記画像を表示する、ことを特徴とする請求項1から請求項5のいずれか一項に記載のアウトドライブ装置用操船システム。
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EP14881090.6A EP3100945B1 (en) | 2014-01-30 | 2014-01-30 | Ship steering system for outdrive device |
US15/115,022 US9908605B2 (en) | 2014-01-30 | 2014-01-30 | Ship steering system for outdrive device |
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JP2017171221A (ja) * | 2016-03-25 | 2017-09-28 | ヤンマー株式会社 | 操船装置及びそれを備えた船舶 |
WO2017164393A1 (ja) * | 2016-03-25 | 2017-09-28 | ヤンマー株式会社 | 操船装置及びそれを備えた船舶 |
US10501161B2 (en) | 2016-03-25 | 2019-12-10 | Yanmar Co., Ltd. | Ship steering device and ship including the same |
DE102016205794A1 (de) | 2016-04-07 | 2017-10-12 | Thyssenkrupp Ag | Antriebseinheit für eine Aufzugsanlage |
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EP3100945A4 (en) | 2017-11-01 |
US20160340013A1 (en) | 2016-11-24 |
EP3100945A1 (en) | 2016-12-07 |
US9908605B2 (en) | 2018-03-06 |
EP3100945B1 (en) | 2019-06-12 |
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