JP3493345B2 - Automatic ship maneuvering equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a work boat,
The present invention relates to an automatic marine vessel maneuvering device that steers vessels such as research vessels and firefighting vessels.

[0002]

2. Description of the Related Art Ships such as work boats, research boats and fire boats are equipped with an automatic fixed point holding system for holding the ship position.
The system is provided with additional features such as course tracking and thus has a large console and large display display. Therefore, it is difficult to arrange in a relatively narrow steering room. The work boat performs a work of laying a cable on the seabed, for example. Fire boat, work boat,
In vessels such as research vessels, it is required to operate the hull accurately, and it is difficult to operate the vessel accurately in a narrow work space. Further, in this prior art, the setting of the ship position and the like cannot be performed except at the place of the wheelhouse where the console is installed.

The prior art of using a joystick for maneuvering a ship is disclosed in Japanese Patent Application Laid-Open No. 8-20391. Such a joystick-type marine vessel maneuvering device is conventionally configured as another device independent of the above-described automatic fixed point holding system. Therefore, it is necessary to switch the control right between the joystick type marine vessel maneuvering device and the automatic fixed point holding system, and the procedure is conventionally complicated. In this prior art, although there is a configuration in which the thrust, direction, and heading of the actuator are set using a joystick, a configuration related to the interlocking operation with the automatic fixed point holding system and the suspension of the operation of the automatic fixed point holding system, etc. Is not disclosed. Therefore, it is not possible to improve the marine vessel maneuvering work by directly mounting such a prior art on a ship such as a fire boat, a work boat, and a research boat.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic marine vessel maneuvering device having a compact structure and capable of easily performing marine vessel maneuvering work.

[0005]

SUMMARY OF THE INVENTION The present invention is directed to an automatic marine vessel manipulator in which a forward / backward propeller for generating thrust in the front-rear direction and a thruster for generating thrust in the lateral direction are provided on a hull, and And a first joystick that changes a tilt direction that indicates a direction of a combined thrust force of forward and backward movement and a tilt angle that indicates a magnitude of the combined thrust force,
A second joystick for inclining in a tilting direction instructing forward and backward movement and lateral movement, which is in a neutral position which is preset in a natural state where it is not operated, and a turning which is angularly displaced to give a turning moment to the hull. An operation panel having a dial and an operation switch for holding a fixed point; (b) a ship position detecting means for detecting a ship position; and (c) a control means, which are first and second joysticks and an operation for holding a fixed point. In response to each output from the switch, the forward / backward propeller and the thruster are operated by the operation of the first joystick to perform forward / backward movement and lateral movement in a direction corresponding to the inclination direction of the first joystick, and to incline. A composite thrust force corresponding to the angle is output, and a holding function for holding the ship position detected by the ship position detecting means is achieved by operating a fixed point holding operation switch. An automatic marine vessel manipulating apparatus comprising: a control unit that operates a forward-reverse propeller and a thruster so that the ship position moves by a predetermined distance in a direction corresponding to a tilt direction each time the joystick is operated. .

Further, according to the present invention, the operation panel further has an operation switch for maintaining the direction, and is provided with direction detecting means for detecting the direction of the hull. In response to each of the outputs of 1 and 2, the forward and backward propellers and the thruster are operated to achieve a holding function of holding the azimuth detected by the azimuth detecting means.

Further, the present invention relates to an automatic marine vessel manipulating device in which a forward and backward propeller for generating thrust in the front-rear direction and a thruster for generating thrust in the lateral direction are provided on a hull, wherein A first joystick that changes a tilt direction that indicates the direction of the combined thrust force of forward and lateral movement, and a tilt angle that indicates the magnitude of the combined thrust force;
An operation panel having a second joystick for tilting and correcting a ship position, which is inclined in a tilt direction instructing forward and backward movement and lateral movement, and which is in a neutral position which is preset in a natural state in which it is not operated; (B) azimuth detecting means for detecting the azimuth of the hull, and (c) controlling means, which responds to the respective outputs of the first and second joysticks and the operation switch for holding the azimuth, By the operation, the forward / backward propeller and the thruster are operated to perform forward / backward movement and lateral movement in a direction corresponding to the tilt direction of the first joystick, and a synthetic thrust corresponding to the tilt angle is output to maintain the azimuth. A person who achieves a holding function of maintaining the azimuth detected by the azimuth detecting means by operating the operation switch and corresponds to the tilt direction each time the second joystick is operated. As only ship positioning moves the distance specified in advance in a autopilot control apparatus characterized by comprising a control means for operating the forward-reverse propeller and thruster.

According to the present invention, the operation panel is provided with the first and second joysticks and the operation switch, and the configuration is simplified. Therefore, for example, generally small fire boats, work boats, research boats, etc. The operation panel can be provided in the narrow work space of the steering room of the ship without degrading workability. The operation panel may include only the first and second joysticks and the operation switch, but may further include other components.

By operating the operation switch, it is instructed whether to hold a fixed point on the sea surface of the hull of the ship or in a horizontal two-dimensional plane or hold the heading of the bow.
When the command for the holding function is not issued by the operation switch, the forward and backward propellers and thrusters provided on the hull can be controlled by the direction and angle of the inclination of the first joystick to carry out marine vessel maneuvering. The operation of the first joystick facilitates the marine vessel maneuvering work.

The operation of holding the fixed point or holding the azimuth can be automatically performed by the control means by operating the operation switch. Since the operation panel is equipped with such a first joystick and operation switch, the operability of marine vessel operation is good.

The thruster is configured to generate lateral thrust on the hull. The thruster may be only the bow thruster provided at the bow or only the stance thruster provided at the stern, and may be configured to have both the bow thruster and the stance thruster. Further, in addition to the above-mentioned first joystick for controlling the operation of the forward / backward propeller and the thruster, a second joystick for fixing the ship position for correcting fixed point holding and / or holding direction is further provided on the operation panel. Be prepared. Each time the ship position maintaining joystick is tilted and operated, the control means causes the forward and backward propellers and thrusters to move the ship position by a predetermined distance corresponding to the number of times the ship position maintaining joystick is operated. And are operated by the control means. In this way, it is possible to easily correct the set ship position or heading in the state where the fixed point holding or heading holding operation of the ship is being performed. The control means corrects and sets the heading of the bow in accordance with the operation direction of the second joystick for correcting the position of the ship, and sets the heading by changing the bearing angle corresponding to the number of times of the operation. It may be configured such that both the ship position and the heading are corrected by the operation of the second joystick.

[0012]

Further, at the neutral position in a natural state where the operation rod of the second joystick is in an upright state such as an upright state, the fixed point holding function and / or the azimuth holding function is automatically achieved. By tilting the operating rod of the joystick from the neutral position for angular displacement, the operation by the forward / backward propeller and the thruster by the control means corresponding to the tilt direction and tilt angle of the second joystick is preferentially performed. . In this way, such a holding function is achieved in the neutral position of the second joystick while operating the operation switch of the operation panel to perform the fixed point holding operation and / or the azimuth holding operation, and the second joystick is held. By operating from the neutral position, the operation of the second joystick can be performed with priority over the operation of the holding function. In this way, the operability can be further improved. A new fixed point / azimuth is set by operating the second joystick.

Further, the present invention is characterized in that the operation panel is portable and is connected to the control means by detachable connectors and flexible cables provided at a plurality of positions of the hull.

According to the present invention, the operation panel is portable, that is, it can be carried by an operator and moved in a ship. Such an operation panel is provided with an operation panel side connector via a flexible cable, and the operation panel side connector is detachably connected to hull side connectors provided at a plurality of fixed positions of the hull. . Thus the operator
Install the operation panel by carrying it in a place where the hull can be easily operated.
Not only in the wheelhouse, but also on the deck bridge, for example, it is possible to perform the marine vessel maneuvering work using the first and second joysticks while observing the actual position and orientation of the hull.
This is particularly preferable when the present invention is carried out in a relatively small ship such as a fire boat, a work ship, and a research ship when it is necessary to set the accurate position and orientation of the hull.

At least a single operation panel is provided, and the operation panel can be carried to the hull side connector at a desired position.
Since it is only necessary to connect the operation panel side connector, the configuration can be simplified and the present invention can be realized at low cost. In another embodiment of the present invention, a plurality of operation panels may be provided. In other embodiments of the invention, one or all of the control panels may be permanent.

[0017]

[0018]

[0019]

Further, the present invention provides an automatic marine vessel manipulating device in which a forward and backward propeller for generating thrust in the front-rear direction and a thruster for generating thrust in the lateral direction are provided on a hull, wherein A first joystick that changes a tilt direction that indicates the direction of the combined thrust force of forward and lateral movement, and a tilt angle that indicates the magnitude of the combined thrust force;
A second joystick for inclining in a tilting direction instructing forward and backward movement and lateral movement, which is in a neutral position which is preset in a natural state where it is not operated, and a turning which is angularly displaced to give a turning moment to the hull. An operation panel having a dial and an operation switch for holding a fixed point; (b) a ship position detecting means for detecting a ship position; and (c) a control means, which are first and second joysticks and an operation for holding a fixed point. In response to each output from the switch, the forward / backward propeller and the thruster are operated by the operation of the first joystick to perform forward / backward movement and lateral movement in a direction corresponding to the inclination direction of the first joystick, and to incline. A composite thrust force corresponding to the angle is output, and a holding function for holding the ship position detected by the ship position detecting means is achieved by operating a fixed point holding operation switch. An automatic marine vessel manipulating apparatus comprising: a control unit that operates a forward-reverse propeller and a thruster so that the ship position moves by a predetermined distance in a direction corresponding to a tilt direction each time the joystick is operated. .

Further, the present invention provides an automatic marine vessel manipulating device in which a forward and backward propeller for generating thrust in the front and rear direction and a thruster for generating thrust in the lateral direction are provided on a hull, wherein A first joystick that changes a tilt direction that indicates the direction of the combined thrust force of forward and lateral movement, and a tilt angle that indicates the magnitude of the combined thrust force;
An operation panel having a second joystick for tilting and correcting a ship position, which is inclined in a tilt direction instructing forward and backward movement and lateral movement, and which is in a neutral position which is preset in a natural state in which it is not operated; (B) azimuth detecting means for detecting the azimuth of the hull, and (c) controlling means, which responds to the respective outputs of the first and second joysticks and the operation switch for holding the azimuth, By the operation, the forward / backward propeller and the thruster are operated to perform forward / backward movement and lateral movement in a direction corresponding to the tilt direction of the first joystick, and a synthetic thrust corresponding to the tilt angle is output to maintain the azimuth. A person who achieves a holding function of maintaining the azimuth detected by the azimuth detecting means by operating the operation switch and corresponds to the tilt direction each time the second joystick is operated. As only ship positioning moves the distance specified in advance in a autopilot control apparatus characterized by comprising a control means for operating the forward-reverse propeller and thruster.

According to the present invention, when the second joystick is tilted while deviating from the neutral position, the forward / backward propeller and the thruster are operated by the function of the control means in correspondence with the tilt direction and the tilt angle. . When the second joystick is in the neutral position, it is possible to achieve an automatic holding function of the ship position and / or heading set by operating the second joystick. This configuration makes the marine vessel maneuvering work even easier.

In the present invention, the control means further includes a deviation calculating means for achieving a function of holding the set value when the operation switch is operated, and calculating a deviation from the set value, and the operation panel includes the deviation calculating means. In response to the output of the display means for displaying the deviation.

According to the present invention, the current position / position of the ship at the time when the operation switch is operated, for example, by pressing.
The present heading can be used as a set value to achieve the ship position holding function / heading holding function by the control means. The deviation when the subsequent ship position / azimuth deviates from this set value is calculated by the deviation calculation means, and the deviation is displayed by the display means provided on the operation panel. This makes the first
Further, the marine vessel maneuvering work by operating the second joystick or the like becomes easier. The deviation from the set value is caused by a flow of water such as seawater or a disturbance such as wind.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing a simplified overall structure of an embodiment of the present invention. Hull 1
The stern 2 is provided with a pair of forward-reverse propellers 3 which can be matched with each other in the right and left directions, and which is provided with a rudder 4 corresponding to each of these propellers 3. A bow thruster 6 is provided near the bow 5 of the hull 1, and a stance thruster 7 is provided near the stern 2. In the portable and portable operation panel 8, the operation panel side connector 39 of the connector 12 which is detachable via the flexible cable 11 is connected to the processing circuit 13 realized by a microcomputer or the like via the hull side connector 38. Connected.

FIG. 2 is a simplified plan view of the hull 1 showing the forward / backward propeller 3 and thrusters 6, 7, and FIG. 3 is a simplified side view of the hull 1 showing the forward / backward propeller 3 and thrusters 6, 7. Is. Corresponding to each propeller 3, the power from the main engine 15, which is an internal combustion engine, is transmitted from the speed reducer 16 capable of forward and reverse rotation output to the propeller 3 via the drive shaft 17, thus configuring each main propulsion unit 18. It A stance thruster 7 is arranged on the stern 2 of the hull 1 downstream of the propeller 3 in the forward direction 19 (on the right side of FIGS. 2 and 3).

FIG. 4 is a simplified sectional view taken along the section line IV-IV in FIG. A steering room 21 is provided in the hull 1. A marine vessel manipulating console 22 is installed in front of the steering room 21 in the forward direction 19. This ship handling console 2
The operation panel 8 shown in FIG. The operation panel 8 is relatively small, and the operation panel 8 can be easily operated in a narrow steering room 21, and the operability is good. On the port, starboard and rear of the hull 1 outside the bridge, the hull side connectors 23, 24, at positions operable on the deck.
25 are provided.

The operation panel 35 is connected to an operation panel side connector 37 via a flexible cable 36. The operation panel side connector 37 can be selectively attached to and detached from the hull side connectors 23, 24, 25. The operation panel 35 may have a configuration similar to that of the operation panel 8 provided in the marine vessel manipulating console 22 of the steering room 21. The operation panel 35 is omitted and the operation panel 8 is replaced by the hull side connectors 23, 24, 25. The ship may be detachably attached to the ship to carry out the ship maneuvering. By doing so, the ship can be maneuvered with a single operation panel 8 and the configuration is simplified. The connector 12 includes the aforementioned hull side connector 38 fixedly attached to the marine vessel manipulating console 22, and the operation panel side connector 39 attached to the flexible cable 11. The hull side connector 38 includes the hull side connectors 23, 2
The operation panel connector 39 has the same configuration as the operation panel side connector 37.

FIG. 5 is a simplified plan view for explaining the movement operation by the forward / backward propeller 3, the rudder 4, the thrusters 6 and 7. As shown in FIG. 5 (1), when the hull 1 moves in the forward direction 19, the thrusters 6 and 7 are stopped and the forward / backward propeller 3 by the main propulsion unit 18 is operated. When moving forward, the propeller 3 generates a reaction force due to the thrust of the arrow 27.

As shown in FIG. 5 (2), when the hull 1 moves in the left lateral direction 28, both the bow thruster 6 and the stance thruster 7 generate a reaction force by thrust in the directions of arrows 29 and 30. To do. When the hull 1 laterally moves to the right in FIG. 5 (2), the thrusters 6 and 7 generate a reaction force due to the thrust in the direction opposite to the arrows 29 and 30. When moving in the lateral direction, if the required thrust can be produced by the thrusters 6 and 7, the forward-reverse propeller 3 remains stationary.

In order for the hull 1 to turn in the turning direction 31, as shown in FIG. 5C, the direction 32 of the reaction force by the thrust of the bow thruster 6 and the direction 33 of the reaction force by the thrust of the stance thruster 7 are shown. The reverse direction is applied to generate a turning moment on the hull 1. At this time, if the required turning moment can be achieved by the turning moments of the thrusters 6 and 7, the forward / backward propeller 3 remains stopped.

FIG. 6 is a plan view of the operation panel 8. On the main body 41 of the operation panel 8, a joystick operation unit 42 is arranged on the right side and a holding operation unit 43 is arranged on the left side.
The holding operation unit 43 includes a fixed point holding unit 44 and an orientation holding unit 45. Joystick operation unit 42 and holding operation unit 43
An operation switch 46 is arranged between the and.

The joystick operation unit 42 has a first
A joystick 47 is provided. The joystick 47 is a control panel body 41 in a natural state where no operation is performed.
The operating rod 48 is provided in a neutral position perpendicular to the upper surface of the. The second joystick 49 for correcting the ship's position is arranged on the opposite side of the joystick 47 of the joystick operation unit 42. The joystick 49 for holding and correcting the boat position has an operation rod 51 that maintains a neutral position in which it is upright in a natural state where it is not operated. A turning dial 52 is arranged to the left of the joystick 47.

FIG. 7 is a simplified view of the joystick 47 and the turning dial 52. The operating rod 48 of the joystick 47 can be tilted from the neutral position indicated by reference numeral 53. The angle α of the clockwise and counterclockwise tilt directions around the axis of the neutral position 53
Depending on the position of 1, the forward and backward propeller 3 forward and backward,
It is possible to instruct horizontal movement by the two thrusters 6 and 7. Further, the magnitude of the combined thrust force of forward and backward movement and lateral movement can be designated by the inclination angle β1 of the operation rod 48. Thus, by operating the operating rod 48, the direction of the thrust acting on the hull 1 at the angle α1 can be designated, and the magnitude of the thrust acting on the hull 1 at the angle β1 can be designated. The turning dial 52 can be angularly displaced about its axis to indicate the heading and its turning angle.

The fixed point holding section 44 in the holding operation section 43 of FIG. 6 is provided with a two-dimensional display means 56 (left and right position deviation display means 57 and front and rear position deviation display means 58).
The two-dimensional display unit 56 displays the position of the hull 1 in the two-dimensional plane in the front, rear, left, and right from the center setting with the set position of the hull 1 as the center. The left / right position deviation display means 57 represents the deviation distance in the left / right direction from the set position of the hull 1 with a number of a plurality of digits (for example, three digits). The front-rear position deviation display means 58 displays the deviation distance of the position in the front-rear direction from the set position of the hull 1 in a plurality of digits (for example, three digits).

The azimuth holding section 45 is provided with the azimuth deviation display means 6 as it goes away from the front side of the operation panel body 41 of the operation panel 8.
1. The bow setting direction display means 62 and the bow direction display means 63 are arranged in this order. Azimuth deviation display means 61
Represents the left and right angles deviated from the set bearing of the bow. The bow setting direction display means 62 and the bow direction display means 63 are
The set heading and the current actual heading of the bow are displayed in multiple digits (for example, three digits).

Referring again to FIG. 1, the ship position which is the position of the hull 1 is detected by the ship position detecting means 65. The ship position detecting means 65 is, for example, a GPS (Global Positioning Sy).
stem) device etc., this GPS device is
Radio signals from three or more geostationary satellites provided above the earth are received to detect the current position of the hull 1, such as latitude and longitude.

The output representing the position set in the fixed point holding unit 44 and the output representing the current ship position from the ship position detecting means 65 are given to the ship position deviation calculating means 66. The ship position deviation calculating means 66 calculates a left-right position deviation and a front-rear position deviation, and these deviations are displayed by the respective display means 56 to 56 as described above.
58 is displayed.

The hull 1 is also provided with a heading sensor 67 for detecting the heading of the ship. Each output of the set bearing from the bearing holding unit 45 and the current bow bearing detected by the bow bearing sensor 67 is given to the bearing deviation computing means 68.

The output from the joystick operating section 42 is given to the computing means 72, whereby the joystick 47 and the ship position holding correction joystick 49 are provided.
And the output of the turning dial 52 to the thrust distribution calculating means 69.
The processing circuit 13 includes these arithmetic means 66, 68, 72.
Is provided. The thrust distribution calculating means 69 is the calculating means 6
In response to the outputs of 6, 68, 72, the interface 71
In order to achieve the fixed point holding function and the azimuth holding function, the forward / reverse propeller 3 and the thrusters 6 and 7 are drive-controlled to calculate and distribute the thrust to be carried by them. In addition, the calculation means 72 includes a joystick 49 for maintaining the ship position.
Each time the angular displacement operation is performed, the number of times is counted by a counter, and a signal for moving the distance corresponding to the number of times and a distance corresponding to the front, rear, left, and right tilt directions of the ship position holding correction joystick 49 is derived. To do.

When the operation panel side connector 37 of the operation panel 35 is selectively connected to the hull side connectors 23, 24, 25, their outputs are also calculated in the same manner as the operation panel 8 by the calculating means 66, 68, 72. Given to.

The operation panel 8 is taken out from the steering room 21 and is provided outside the bridge, and the hull side connectors 23 and 2 are provided at fixed positions.
Removably connect to either 4 or 25. This allows the operator to operate the operation panel 8 while actually seeing the hull 1 and the quay. Therefore, the operability is improved, and it is possible to easily bring the hull position accurately to a desired position and direction.

FIG. 8 is a flow chart for explaining the operation of the processing circuit 13. It is determined whether or not the operation switch 46 of the operation panel 8 provided in the steering room 21 has been operated in step a2. When it is determined that the operation switch 46 has been operated to give an instruction to achieve the fixed point and azimuth holding function, the flag R is set to logic "1" in step a3, and this flag R is set to "1". In this state, the operation of the fixed point and azimuth holding function by the operation of the forward / backward propeller 3 and the thrusters 6 and 7 by the thrust distribution calculating means 69 is executed.

When the operation of the holding function is executed in step a4, the left and right position deviations and the front and rear position deviations of the hull 1 are calculated, the display operations by the display means 56, 57 and 58 are performed, and the azimuth deviation is determined. It is calculated and displayed by the display means 61, and the set bearing at this time and the current heading are displayed by the display means 62, 63. The set position of the hull 1 and the set bearing of the bow are values at the time of operating the operation switch 46, and such a setting operation is performed in step a4.

When the operation switch 46 is not operated and an instruction to achieve the fixed point and azimuth holding function is not made, the flag R is set to logic "0" in step a5.

At step a6, the joystick 47
It is determined whether or not the operation rod 48 has been operated. If the joystick 47 has been operated, in the next step a7, the joystick 47 is operated.
To indicate the direction of the combined thrust force of forward and backward and lateral movement corresponding to the inclination direction α1 of the operating rod 48 and the magnitude of the combined thrust force corresponding to the inclination angle β1.
And the thrusters 6 and 7 are driven.

In step a8, whether the flag R is logical “1”, that is, the fixed point / azimuth holding function is being executed, and the holding correction operating rod 51 of the ship position holding correction joystick 49 is operated. It will be judged. When the boat position maintaining correction operating rod 51 is not angularly displaced to the right or left and is inclined from the neutral position in the natural state where it is not operated, in step a9, the inclination direction of the boat position maintaining correction operating rod 51 is stored in the memory. At the same time as storing, the number of operations of the operating rod 51 is counted. At step a10, a predetermined distance Δ corresponding to the count value N of the right or left tilt direction of the ship position holding correction operating rod 51 is determined.
A distance L (= N · ΔL), which is the product of L, is calculated, and the forward / reverse propeller 3 and thrusters 6 and 7 are operated so that the ship position moves by the calculated distance L. Further, the azimuth θ (= N · Δ, which is the product of the count value N and the predetermined azimuth angle Δθ)
θ) is calculated, and the azimuth of the hull 1 is changed by this azimuth θ. In another embodiment of the present invention, only the distance L may be changed and the azimuth θ may not be changed,
Alternatively, in another embodiment of the present invention, the ship position may not be moved by the distance L, and only the heading θ may be moved.

At step a11, it is judged whether the operation switch 46 is operated again to give an instruction to cancel the fixed point / azimuth holding function. When the release of the holding function is instructed, the flag R is set to logic "0" in step a12.

FIG. 9 is a plan view of operation panel 35 according to another embodiment of the present invention. FIG. 10 is a plan view showing the remaining portion of operation panel 35 in the embodiment shown in FIG. The embodiment shown in FIGS. 9 and 10 is similar to the embodiment shown in FIGS. 1 to 8 described above, and corresponding parts are designated by the same reference numerals. In the embodiment of the present invention, operation panel 35 has many parts similar to operation panel 8 but has a different configuration. The fixed point holding section 44 of the holding operation section 43 is provided on the operation panel body 74 of the operation panel 35. The fixed point holding unit 44 is provided with the two-dimensional display means 56, the left / right position deviation display means 57, and the front / rear position deviation means 58, as in the above-described embodiment. Further, the fixed point holding operation switch 75 is arranged on the front side of the display means 56 (downward in FIG. 9) and between the ship position holding correction joystick 49. By operating the fixed point holding operation switch 75, the thrust distribution calculating means 69 performs a control operation for achieving the fixed point holding function.

The holding operation unit 43 in the operation panel body 74
The azimuth holding unit 45 is provided with the azimuth deviation display means 61, the set azimuth display means 62, and the bow azimuth display means 63, as in the above-described embodiment. Further, on the front side (downward in FIG. 10) of the set azimuth display means 62, an azimuth holding operation switch 76 operated to achieve the azimuth holding function is provided between the set azimuth display means 62 and the azimuth deviation display means 61. The turning dial 52 can manually set the direction and magnitude of thrust by the bow thruster 6 and the stance thruster 7 and / or the forward / backward propeller 3. The bow thruster dial 78 can manually set the direction and magnitude of thrust by the bow thruster 6.

A joystick operation unit 42 is also provided on the operation panel 35. Joystick operation unit 42
Is provided with a joystick 47. On the operation panel 35, a graphic 81 showing a schematic plan view of the hull 1 is described between the joystick operation part 42 and the orientation holding part 45. In the graphic 81, the bow thruster is positioned at the bow 82 of the graphic 81. Display means 83 showing the magnitude of thrust by
Is provided. The stern 84 of the figure 81 is provided with display means 85 and 86 that indicate the direction of the pair of left and right rudders 4. At a middle portion 87 between the bow 82 and the stern 84 of the figure 81, a display means for displaying the rotational speed (unit RPM) corresponding to the thrust by the pair of left and right forward propellers 3 is provided. Display means 83, 85, 86, 8 in such a graphic 81
When the operator sees 8, 89, the joystick 4 for operating the joystick 47 and correcting the position of the ship 4
The operation of 9 becomes easier.

FIG. 11 is a flow chart for explaining the operation of processing circuit 13 in the embodiment shown in FIGS. 9 and 10. 9 to 11 are similar to the embodiment of FIGS. 1 to 8 as described above. In the embodiment of FIGS. 9 to 11, the fixed point holding and azimuth holding operation switches 75 and 76 are individually provided, and the fixed point holding function and the azimuth holding function are operated by operating these operation switches 75 and 76. Can be achieved individually or separately, or it is also possible to simultaneously achieve a total of two holding functions of the fixed point holding function and the azimuth holding function as in the above-described embodiment. is there.

In FIG. 11, steps b1 to b5 are
The operation by operating the fixed point holding operation switch 75 is shown.
These steps b2 to b5 respectively correspond to steps a2 to a5 in FIG. 8 described above and are similar.

Steps b6 to b9 in FIG. 11 show the operation when the azimuth holding operation switch 76 is operated, and these steps b6 to b9 correspond to steps a2 to a5 in FIG. 8 described above and are similar. .

Steps b10 to b14 of FIG. 11 correspond to steps a6 to a10 of FIG. 8 in the above-described embodiment, respectively, and are similar, and the direction and magnitude of the thrust can be operated by operating the joystick 47. Steps b15, b16; b17, b18 are executed as to whether or not an instruction for canceling the fixed point holding function or the direction holding function is given by operating the operation switches 75, 76. These steps b15, b16; b1
7, b18 correspond to steps a11, a12 in FIG. A flag P related to the fixed point holding function and a flag Q corresponding to the azimuth holding function are used in FIG.

In still another embodiment of the present invention, the operation switches 46; 75, 76 are omitted, and the operation rod 48 of the joystick 47 is configured to return to the neutral position by the elastic force of the spring. It may be configured such that a fixed point holding function and / or an azimuth holding function is achieved at the position. In this embodiment, when the operating rod 48 of the joystick 47 is in the neutral position, the flag R,
When P and Q are set to logic "1" and operated in an inclined manner,
The flags R, P and Q are set to logic "0". By operating the operating rod 48 of the joystick 47, it is possible to change the set values for fixed point holding and azimuth holding. Operating rod 48
It is also possible to change the predetermined distance ΔL or the predetermined azimuth angle Δθ in a stepwise manner corresponding to the count value N by operating the operating rod 51 of the ship position holding correction joystick 49 when in the neutral position. Is possible. The propeller for generating the thrust in the lateral direction of the thrusters 6 and 7 can rotate and stop, has a constant rotation speed, and its rotation axis may be fixed. In other embodiments, the propellers of the thrusters 6 and 7 may be configured to vary in rotational speed, or alternatively, the propeller blade angles of the thrusters 6 and 7 may be controlled.

[0057]

According to the present invention, the operation panel is provided with the first and second joysticks and the operation switch, so that the structure can be made compact, and for example, a relatively small-sized device such as a fire boat, a work boat, and a research boat. It is possible to easily carry out a smooth marine vessel maneuvering operation even in a narrow steering room in a marine vessel. The operation switch is operated to hold the fixed point and / or hold the azimuth, and it is possible to achieve the holding function and release the holding function easily, and the marine vessel maneuvering work is further improved.

Furthermore, when the holding function is achieved by operating the operation switch, when the second joystick is in the neutral position, the holding function is automatically achieved and the first joystick is displaced from the neutral position. By operating the operation rod of the second joystick, the forward / backward propeller and the thruster are operated according to the operation of the second joystick, and thus the operation by the operation of the second joystick can be prioritized over the holding function. This also improves the operability.

Further, according to the present invention, the operation panel can be carried as a portable type, and the operation panel can be detachably installed by the connector at a plurality of fixed positions of the hull to perform the marine vessel maneuvering. As a result, the operator can operate the first joystick on the operation panel while looking at the distance between the hull and the quay, for example, and the operability is further improved.
This operation panel is connected by a flexible cable, so not only is the operation panel attached to the hull, but the operation panel can also be operated at a position where it is easy to see the distance between the hull and the quay even if it is removed from the hull. It can be performed.

Further, according to the present invention, each time the tilting operation of the second joystick for correcting the ship position is performed while the holding function is achieved, the ship position is moved by a distance corresponding to the number of times, and With this, it is possible to easily correct the ship position for which the holding function is set. Azimuth correction can be done easily as well.

Furthermore, according to the present invention, the operation switch may be omitted, and the holding function may be achieved in the neutral position of the second joystick.

According to the present invention, the deviation of the ship position / azimuth from the set value can be displayed on the operation panel while the holding function is achieved, so that the operator can see the flow of water such as seawater and wind. It is possible to know the disturbance such as, and to further facilitate the marine vessel maneuvering work.

[Brief description of drawings]

FIG. 1 is a block diagram showing a simplified overall configuration of an embodiment of the present invention.

FIG. 2 is a simplified plan view of a hull 1 showing a forward / backward propeller 3 and thrusters 6 and 7. FIG.

FIG. 3 is a simplified side view of the hull 1 showing the forward and backward propellers 3 and thrusters 6, 7.

4 is a simplified cross-sectional view taken along the section line IV-IV in FIG.

5 is a simplified plan view for explaining the operation of the forward / backward propeller 3, the rudder 4, and the thrusters 6 and 7. FIG.

FIG. 6 is a plan view of an operation panel 8.

FIG. 7: Joystick 47 and turning dial 52
It is a figure which simplifies and shows.

FIG. 8 is a flowchart for explaining the operation of the processing circuit 13.

FIG. 9 is a plan view of an operation panel 35 according to another embodiment of the present invention.

10 is a control panel 3 according to the embodiment shown in FIG.
5 is a plan view showing the remaining part of FIG.

FIG. 11 is a flowchart for explaining the operation of the processing circuit 13 in the embodiment shown in FIGS. 9 and 10.

[Explanation of symbols]

1 hull 2 stern 3 forward and backward propellers 4 rudder 5 bow 6 bow thruster 7 stance thruster 8,35 control panel 11,36 Flexible cable 12 connectors 13 Processing circuit 21 Wheelhouse 23, 24, 25, 38 Hull side connector 37, 39 Operation panel side connector 42 Joystick operation part 43 Holding operation section 43 Fixed point holding unit 45 Direction holding unit 46 Operation switch 47 Joystick 48 control rod 49 Joystick for correcting ship position 51 control rod 56 two-dimensional display means 57 Left-right position deviation display means 58 Front-back position deviation display means 61 Direction deviation display means 62 Setting direction display means 63 Heading display means 75 Fixed point operation switch 76 Direction holding operation switch 88,89 display means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI G01S 5/14 G01S 5/14 (58) Fields investigated (Int.Cl. ⁷ , DB name) B63H 25/00

Claims (7)

(57) [Claims] 1. An automatic marine vessel manipulator in which a forward and backward propeller for generating forward and backward thrusts and a thruster for lateral thrust are provided on a hull, comprising: (a) an operation panel, The tilt direction that indicates the direction of the combined thrust of
A first joystick that changes the tilt angle that indicates the magnitude of the resultant thrust, and a ship position holding correction that tilts in the tilt direction that indicates forward and backward and lateral movement and is in a neutral position that is preset in a natural state without operation. A joystick for operation, a turning dial that is angularly displaced to give a turning moment to the hull, and an operation switch for holding a fixed point; (b) a ship position detecting means for detecting the ship position; c) Control means that responds to the outputs of the first and second joysticks and the fixed point holding operation switch, and operates the first joystick to operate the forward / backward propeller and the thruster. Performs forward and backward movement and lateral movement in the direction corresponding to the tilt direction of the joystick, outputs the combined thrust corresponding to the tilt angle, and outputs the operation switch for holding the fixed point. By the operation, a holding function of holding the ship position detected by the ship position detecting means is achieved, and the ship position is moved by a predetermined distance in a direction corresponding to the tilt direction each time the second joystick is operated, An automatic marine vessel maneuvering device comprising: a control means for operating a forward and backward propeller and a thruster. 2. The operation panel further includes an azimuth holding operation switch, and azimuth detecting means for detecting the azimuth of the hull. The control means includes the azimuth holding operation switch and the azimuth detecting means. 2. The automatic marine vessel manipulating apparatus according to claim 1, wherein in response to the output, the forward and backward propellers and the thruster are operated to achieve a holding function of holding the bearing detected by the bearing detecting means. 3. An automatic marine vessel manipulator in which a forward and backward propeller for generating thrust in the forward and backward directions and a thruster for generating thrust in the lateral directions are provided on a hull, comprising: (a) an operation panel, The tilt direction that indicates the direction of the combined thrust of
A first joystick that changes the tilt angle that indicates the magnitude of the resultant thrust, and a ship position holding correction that tilts in the tilt direction that indicates forward and backward and lateral movement and is in a neutral position that is preset in a natural state without operation. An operation panel having a second joystick for operation and an operation switch for maintaining azimuth, (b) azimuth detecting means for detecting the azimuth of the hull, and (c) control means for the first and second joysticks. In response to each output of the joystick and the operation switch for holding the direction, the forward and backward propellers and thrusters are operated by the operation of the first joystick to move forward and backward in the direction corresponding to the tilt direction of the first joystick. Traverse and output the combined thrust corresponding to the tilt angle, and maintain the azimuth detected by the azimuth detection means by operating the azimuth holding operation switch. And a control means for operating the forward-backward propeller and the thruster so that the ship position is moved by a predetermined distance in a direction corresponding to the inclination direction each time the second joystick is operated. An automatic pilot control device characterized by the above. 4. The operation panel is portable and is connected to the control means by detachable connectors and flexible cables provided at a plurality of locations on the hull. The automatic marine vessel maneuvering device according to any one of 1. 5. An automatic marine vessel manipulator in which a forward / backward propeller for generating a forward / backward thrust and a thruster for generating a lateral thrust are provided on a hull, comprising: The tilt direction that indicates the direction of the combined thrust of
A first joystick that changes the tilt angle that indicates the magnitude of the resultant thrust, and a ship position holding correction that tilts in the tilt direction that indicates forward and backward and lateral movement and is in a neutral position that is preset in a natural state without operation. A joystick for operation, a turning dial that is angularly displaced to give a turning moment to the hull, and an operation switch for holding a fixed point; (b) a ship position detecting means for detecting the ship position; c) Control means that responds to the outputs of the first and second joysticks and the fixed point holding operation switch, and operates the first joystick to operate the forward / backward propeller and the thruster. Performs forward and backward movement and lateral movement in the direction corresponding to the tilt direction of the joystick, outputs the combined thrust corresponding to the tilt angle, and outputs the operation switch for holding the fixed point. By the operation, a holding function of holding the ship position detected by the ship position detecting means is achieved, and the ship position is moved by a predetermined distance in a direction corresponding to the tilt direction each time the second joystick is operated, An automatic marine vessel maneuvering device comprising: a control means for operating a forward and backward propeller and a thruster. 6. An automatic marine vessel manipulator in which a forward and backward propeller for generating forward and backward thrusts and a thruster for lateral thrust are provided on a hull, comprising: (a) an operation panel, The tilt direction that indicates the direction of the combined thrust of
A first joystick that changes the tilt angle that indicates the magnitude of the resultant thrust, and a ship position holding correction that tilts in the tilt direction that indicates forward and backward and lateral movement and is in a neutral position that is preset in a natural state without operation. An operation panel having a second joystick for operation and an operation switch for maintaining azimuth, (b) azimuth detecting means for detecting the azimuth of the hull, and (c) control means for the first and second joysticks. In response to each output of the joystick and the operation switch for holding the direction, the forward and backward propellers and thrusters are operated by the operation of the first joystick to move forward and backward in the direction corresponding to the tilt direction of the first joystick. Traverse and output the combined thrust corresponding to the tilt angle, and maintain the azimuth detected by the azimuth detection means by operating the azimuth holding operation switch. And a control means for operating the forward-backward propeller and the thruster so that the ship position is moved by a predetermined distance in a direction corresponding to the inclination direction each time the second joystick is operated. An automatic pilot control device characterized by the above. 7. The control means further includes a deviation calculation means that achieves a function of holding a set value when the operation switch is operated and calculates a deviation from the set value, and the operation panel outputs the deviation calculation means. 7. The automatic marine vessel manipulator according to claim 1, further comprising display means for responding and displaying the deviation.