JP3396380B2 - Operation vector display device with joystick control - Google Patents

Description

Description: BACKGROUND OF THE INVENTION [0001] The present invention relates to a propulsion propeller,
In a ship or an airship having a plurality of actuators including a rudder and a thruster (hereinafter, referred to as a ship including an airship), an operation vector display device of a joystick control in which a single joystick lever is operated to simultaneously control and operate the plurality of actuators. It is an invention concerning. 2. Description of the Related Art A joystick control system is used in an oceanographic research ship, a cable laying ship, and the like, in order to simultaneously control a plurality of actuators with a single lever and move the ship in an arbitrary direction. are doing. And such a joystick control system
The wing angle (variable pitch propeller) of the bow thruster, the wing angle of the main propulsion device, the rudder steering angle, and the like are controlled by a single joystick lever or the like, so that ship steering such as hull movement or turning can be easily realized. FIG. 5 shows a conventional joystick control system. As shown in FIG. 5, the ship has a bow thruster 72S that generates thrust in the left-right direction.
And a plurality of actuators including a main propulsion device 72P (propulsion propeller) that generates thrust in the front-rear direction and a rudder 72R that generates thrust in the front-rear and left-right directions. In order to further control these actuators, a bow thruster control panel 71S, a main propulsion control panel 71S,
P, an autopilot 71R is provided, and a gyrocompass 81 that detects the heading of the ship is provided as a sensor. The combination of the plurality of actuators is not limited to this.
The one provided with two sets of P and rudder 72R and the like, and the one provided with thrusters on bow and stern are also used. In order to control a plurality of actuators by operating one joystick lever or the like, each control panel 71 is provided based on an operation panel 1 having a joystick lever or the like and an operation amount of the joystick lever or the like.
A main controller 3 for calculating respective command values for S, 71P, and 71R is provided. [0005] The operation panel 1 is installed in a wheelhouse of a ship, and a joystick lever 11, a turning dial 12, and an operation thrust calculator 13 are incorporated in the operation panel 1. The operation thrust calculator 13 does not necessarily need to be arranged in the operation panel 1 and may be arranged in the main control device 3. Two rotation angle detectors (not shown) whose rotation axes are orthogonal to each other are connected to the joystick lever 11, and the joystick lever 11 is caused to fall in an arbitrary angle direction to reduce the x and y components of the inclination angle by two. Detected by the rotation angle detectors and output to the operation thrust calculator 13. The operation panel 1 is provided with a turning dial 12 together with the joystick lever 11, and by turning the turning dial 12, the turning angle is sent to the operation thrust calculator 13. After the signals from the joystick lever 11 and the turning dial 12 are A / D converted, the operation thrust calculator 13 coordinates the Χ axis (the longitudinal direction of the ship) of the operation thrust required to move and turn the ship. Component FX
o, a Y-axis (left-right direction) coordinate component Fyo and a turning moment component FNo are calculated. A plurality of operation panels 1 may be provided as required (for example, three at the center of the ship's wheelhouse, at the starboard side, and at the port side).
The operation panel 1 to be used is selected by a selection switch (not shown) or the like. And the above-mentioned operation thrust (FXo
, FYo, FNo) are sent to the main controller 3. [0007] The main control device 3 serves as a thrust distribution unit 4, which calculates a distribution thrust of each actuator by a thrust distribution circuit 41.
And a plurality of command value calculation circuits 4 for calculating command values of the respective actuators based on the respective command thrusts from the thrust distribution circuit 41.
2S, 42P, and 42R. That is, in the thrust distribution circuit 41, the operation panel 1
Operating thrust (FXo, FYo, FNo) from the following 1)
The command thrusts (XS, YS, NS) to the bow thruster 72S, the command thrusts (XP, YP, NP) to the main propulsion unit 72P, and the command thrusts (XR, YR) to the rudder 72R as shown in FIG. , NR). (FXo, Fyo, FNo) = (XS, YS, NS) +
(XP, YP, NP) + (XR, YR, NR)... 1) Next, the command value calculation circuit 42S converts the command value φS to the bow thruster 72S based on the command thrust (XS, YS, NS). The calculated value is sent to the bow thruster control panel 71S. Similarly, the command value calculation circuit 42P calculates a command value φP to the main propulsion unit 72P based on the command thrust (XP, YP, NP) and sends it to the main propulsion unit control panel 71P. Further, in the command value calculation circuit 42R, the command thrust (XR, YR,
NR), a command value δR (steering angle) for the rudder 72R is calculated and sent to the autopilot 71R. The bow thruster control panel 71S controls the pitch angle of the bow thruster 72S based on the command value φS. The main propulsion unit control panel 71P also controls the pitch angle of the main propulsion unit 72P based on the command value φP. In the case of the autopilot 71R, the heading signal from the gyro compass is necessary for automatically performing "heading holding". The azimuth of the ship is automatically adjusted to the set azimuth (set from the operation panel or the like), and the steering angle of the rudder 72R is controlled based on the command value φR. [0011] However, in the method of maneuvering a ship using such a device, the command thrust can be grasped only roughly based on the amount of tilt of the joystick lever, the rotation angle of the turning dial, and the like. Because of the influence of such disturbances, it was not clear how much thrust works in which direction on the ship by operating the lever, and it was not possible to grasp how much thrust surplus as a whole ship . For this reason, it also results in anxiety and burden on the ship operator. For this reason, in the ship maneuvering method using such a device, it is necessary to learn and learn the relationship between the operation and the movement of the ship and the responsiveness from training, experience, and the like, and the skill of the ship operator is required. An object of the present invention is to solve the above-mentioned problems and realize easy and safe ship maneuvering. That is, the present invention provides an operation vector display device of a joystick control which can be easily and accurately moved to a predetermined position or direction without giving anxiety and burden to a ship operator and without requiring skill in ship operation. The purpose is to provide. According to the present invention, a thrust is calculated based on a boat maneuvering signal from a boat maneuvering means such as a joystick lever and the calculated thrust is distributed to respective actuators such as a propeller, a rudder and a thruster. While maneuvering the ship,
The present invention is applied as an operation vector display device of a joystick navigation control device. That is, the gist of the present invention is that the operation thrusts (FXo, Fyo, FNo) from the operation thrust calculator 13 are provided.
) Are distributed by the distribution circuit 41, and the respective command value calculation circuits 4
2S, 42P, and 42R (φS, φ
P, δR) (hereinafter, referred to as calculation thrust data including both of them) by vector addition ,
The thrust acting on the entire vessel is obtained by all actuators including the rudder and the thruster, and the vector direction and the ratio of the thrust to the maximum thrust are displayed on the vector display device 2. As an apparatus configuration for achieving such an invention, the present invention provides an operation thrust calculator 13 for calculating an operation thrust based on a boat maneuvering signal from a joystick lever 11.
And the calculated operation thrust, the thruster 72S,
A thrust distribution circuit 41 for distributing to a plurality of actuators including a propeller 72P, a rudder 72R, and a thruster 72S; and a plurality of command value calculation circuits 42S, 42P, 42R for calculating a command value based on a signal from the thrust distribution circuit 41. , Control panels 71S, 71P,
71R, the command value calculation circuits 42S, 42P, 4
Thrust calculation circuits 51S, 51P, 51R for converting a command value from 2R into a thrust acting on the entire ship and the total thrust thereof
A thrust adder circuit 52 for obtaining the, based on the total thrust,
Vector direction angle θ and vector amount (absolute value) are calculated
A vector computing circuit 61 for obtaining the thrust vector wherein all actuators act on the entire ship Te consists vector ratio calculation circuit 62 for calculating the ratio of the maximum vector thrust of該推force vector quantity, vector of the total thrust
Vector display device 2 for torque direction and ratio to maximum thrust
The present invention proposes a joystick control operation vector display device characterized in that the joystick control operation vector is displayed. According to the present invention, as shown in FIG. 3 (A), the vector direction of the total thrust acting on the ship in response to the operation of the joystick lever and the like and the ratio of the total thrust to the maximum thrust are displayed. This is useful information for performing. In other words, it is possible to clearly determine whether the current operation amount matches the amount and direction intended by the operator, and whether the operation amount and the effectiveness of the actual ship match the image of the operator, and at the time of manoeuvring, That is, the thrust that can counteract the external force can also be grasped at a glance. By arranging the display device at a position adjacent to the operation panel 1, the operator can easily and reliably control the vector display device 2 while looking at the vector display device 2 adjacent to the operation means. Maneuver accurately and safely. Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention, but are merely illustrative examples. It's just FIG. 1 is a schematic diagram according to the present invention, and FIG. 2 is a diagram illustrating an operation vector display device for joystick control according to an embodiment of the present invention. Note that components having the same reference numerals as those of the conventional technology shown in FIG. 5 are equivalent components, and the description will be focused on differences from the conventional technology. In this embodiment, as shown in FIGS. 1 and 2, a bow thruster 72S, a main propulsion unit 72P, and a rudder 72R are provided as actuators (in FIG. 1, a stance thruster 72S is also provided). Correspondingly), corresponding to each control panel 71S, 71 of each actuator.
P and the autopilot 71R are also provided in a corresponding number.
A gyrocompass 81 is also provided. In order to control a plurality of actuators by operating one joystick lever or the like, each of the control panels 71 having a joystick lever or the like and each control panel 71 based on the operation amount of the joystick lever or the like.
In order to calculate each command value to S, 71P, and 71R, the main control device 3 is provided with a thrust distribution unit 4. The joystick lever 11, the turning dial 12, and the operation thrust calculator 13 are incorporated in the operation panel 1 installed in the wheelhouse of the ship in the same manner as the conventional one, and the configuration and operation are as described above. is there. A vector display device 2 is disposed adjacent to the operation panel 1, and displays a vector of a thrust acting on the ship. Note that a plurality of sets of the operation panel 1 and the display device 2 are installed as necessary, similarly to the conventional example. The main control device 3 includes, as in the prior art,
As the thrust distribution unit 4, a thrust distribution circuit 41 and a command value calculation circuit 42S: 42 corresponding to a plurality of actuators
P: 42R is provided, and the configuration and operation are as described above. The main control unit 3 calculates the command values (φS, φP, δR) calculated by the thrust distribution unit 4 and sends the data to the display calculation unit 6 by thrust calculation circuits 51S, 51P, The thrust adding section 5 is provided, which is constituted by a 51R and a thrust adding circuit 52. Further, a display operation unit 6 is also provided.
The display calculation unit 6 is provided with a vector calculation circuit 61, a vector ratio calculation circuit 62, and a maximum thrust storage circuit 63 for calculating a vector of a thrust acting on the ship. The details will be described below. In the thrust adding section 5, the thrust calculating circuits 51S, 51P, 51R perform the reverse operation of the command value calculating circuits 42S, 42P, 42R, and the command values (φS, φP, δR) calculated by the thrust distribution section 4.
With each thrust (dXS, dYS, dNS) (dXP, dY
P, dNP) (dXR, dYR, dNR). Next, in the thrust adding circuit 52, the following 2) to
From equation (4), the total thrust (dFXo, dFYo, dFNo)
And sends it to the display calculation unit 6. dFXo = dXS + dXP + dXR (2) dFyo = dYS + dYP + dYR (3) Next, the vector operation circuit 6 of the display operation unit 6
1, based on the input total thrust (dFXo, dFyo), the vector direction angle θ is calculated by the following equations 4) and 5).
And the vector amount (absolute value) Fθ are calculated and output to the vector ratio calculation circuit 62. Fθ · Fθ = (dFXo · dFXo + dFyo · dFyo) 4) θ = tan−1 (dFyo / dFXo) 5) On the other hand, the maximum thrust storage circuit 63 has a maximum vector that can be generated by all actuators. Quantity Fθma
x is stored, for example, every 1 ° over a 360 ° angle. Then, the vector ratio calculation circuit 62 reads the maximum vector amount Fθmax corresponding to the vector direction angle θ from the maximum thrust storage circuit 63 based on the vector direction angle θ, and then reads the vector amount Fθ and the maximum vector amount Fθma.
The vector ratio (Fθ / Fθmax) is calculated from x. The vector direction angle θ and the vector ratio (Fθ / Fθmax) calculated in this manner are output to the vector display device 2 composed of a liquid crystal or a CRT, and are graphically displayed. There are at least two types of display modes, a circular vector display and a bar display.
It is not necessary to have all of these display functions, and they are appropriately selected and used. First, as an example of a circular vector display, as shown in FIG. 3 (A), a concentric display portion is tilted by a vector direction angle θ from the bow direction of a ship, and its size is represented by a vector ratio ( Fθ / Fθmax) is displayed as a vector. Next, as an example of the bar display, FIG.
, Only the vector ratio (Fθ / Fθmax) is displayed. In this case, the vector direction angle θ is not displayed, but the vector direction angle θ is
Since it can be estimated to some extent by the inclination of 1, only the ratio to the maximum vector amount Fθmax in the operation direction is displayed. By arranging the vector display device 2 at a position adjacent to the operation panel 1 as described above, the operator of the ship can visually confirm the operated amount, direction, or remaining power on the vector display device 2. And safe navigation. According to this embodiment, the thrust distribution circuit 4 determines how the actuator 72 actually operates.
Since calculation and display are performed based on 1 and the calculation data of the command value calculation circuits 42S, 42P, and 42R, a calculation error
The display can be made in consideration of the error. Further, in the conventional example, it is possible to prevent an accident or the like caused by the fact that the thrust is not actually generated due to a failure of each arithmetic unit even though the joystick 11 is operated. As described above, according to the present invention, simplification of ship maneuvering, reduction of the burden of maneuvering, and improvement of the safety of maneuvering are achieved, whereby the ship operator is not anxious or burdened. In addition, it is possible to obtain a joystick-controlled operation vector display device which can be easily, accurately and easily moved in a predetermined position or a predetermined direction without requiring the skill of ship maneuvering.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an external view according to an embodiment of the present invention. FIG. 2 is a block diagram showing an overall configuration according to an embodiment of the present invention. FIGS. 3A and 3B show a graphic part in which a vector ratio is displayed. FIG. 4 is a graph showing forces acting on a hull used in the embodiment of the present invention. FIG. 5 is a block diagram showing an entire configuration according to a conventional example. [Description of Signs] 1 Operation panel 2 Vector display device 3 Main control device 4 Thrust distribution unit 5 Thrust addition unit 6 Display calculation unit 11 Joystick lever 12 Turning dial 13 Operation thrust calculation unit 41 Thrust distribution circuits 42S, 42P, 42R Command values Operation circuits 51S, 51P, 51R Thrust operation circuit 52 Thrust addition circuit 61 Vector operation circuit 62 Vector ratio operation circuit 63 Maximum thrust storage circuits 71S, 71P, 71R Control boards 72S, 72P, 72R Actuator 81 Gyrocompass

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Hiroyuki Kojima 6-16-1, Hinoshima Enouramachi, Shimonoseki City, Shimonoseki Shipbuilding Co., Ltd. (56) References JP-A-6-219390 (JP, A) JP-A-6-344986 (JP, A) JP-A-8-113196 (JP, A) JP-A-59-96096 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B63H 25 / 00 B63H 21/22 B63H 25/04

Claims (1)

(57) [Claim 1] An operation thrust calculator for calculating an operation thrust based on a boat maneuvering signal from a joystick lever, and the calculated operation thrust includes a propulsion propeller, a rudder, and a thruster.
A thrust distribution circuit for distributing to a plurality of actuators, a plurality of command value calculation circuits for calculating a command value of each actuator based on a signal from the thrust distribution circuit, and the plurality of actuators based on the calculated command values A boat movement control device comprising a control panel of each actuator for performing propulsion control of the thrust, a thrust calculation circuit for converting each command value from the command value calculation circuit into a thrust acting on the entire ship, and a total thrust thereof.
A thrust addition circuit, and a vector method based on the total thrust.
The direction angle θ and the vector quantity (absolute value) are calculated and
And a vector ratio calculation circuit for calculating the ratio of the thrust vector amount to the maximum vector thrust, and the vector direction of the total thrust and the maximum thrust.
A joystick control operation vector display device, characterized in that a ratio of the joystick control is displayed on a vector display device.