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WO1997027103A1 - Levier de commande et de manoeuvre pour bateau - Google Patents

Levier de commande et de manoeuvre pour bateau Download PDF

Info

Publication number
WO1997027103A1
WO1997027103A1 PCT/NO1997/000017 NO9700017W WO9727103A1 WO 1997027103 A1 WO1997027103 A1 WO 1997027103A1 NO 9700017 W NO9700017 W NO 9700017W WO 9727103 A1 WO9727103 A1 WO 9727103A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
ofthe
manoeuvring
stick
shaft
Prior art date
Application number
PCT/NO1997/000017
Other languages
English (en)
Inventor
Rolf Kvamsdal
Original Assignee
Kvaerner Asa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kvaerner Asa filed Critical Kvaerner Asa
Priority to EP97902760A priority Critical patent/EP0934193A1/fr
Priority to JP9526754A priority patent/JP2000504285A/ja
Priority to AU16774/97A priority patent/AU1677497A/en
Publication of WO1997027103A1 publication Critical patent/WO1997027103A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals

Definitions

  • the invention relates to a control and manoeuvring stick (joystick) for a vessel.
  • the objective of the invention is to make possible the use of a single manoeuvring means with which any desired movement ofthe vessel can be initiated, e.g., motion to the sides, turning about any point whatsoever, ahead and astern operations, and not least forward sailing according to a desired course and speed. All these motions should be present simultaneously in any natural combination whatsoever.
  • the manoeuvring means is connected to a control system which comprises algorithms and programmed data, also relating to the parameters ofthe vessel itself, such as mass, moments of inertia, resistance, wind resistance and so forth, plus information from sensors such as speed log, position and motion sensors, wind gauges and sensors which give feedback ofthe position ofthe control-actuator means at any time.
  • the control system should be such that with increasing stick deflection the desired movement is initiated faster, i.e., with greater power.
  • a control and manoeuvring stick for a vessel comprising a shaft portion and a handle portion, and mounted in a base portion by means ofthe shaft portion, the new stick being characterised in that its shaft portion is designed and mounted for movement in a spherical segment plane and also for turning about itself.
  • the handle portion ofthe stick is designed to be stylised like the vessel itself.
  • desired movement can be commanded by moving the handle, at the same time as it is optionally turned in the way it is desired that the vessel as a whole is to move.
  • a practical embodiment ofthe new control and manoeuvring stick is rendered distinct in that the shaft portion comprises three shaft elements which are mounted on respective ball joints in the handle portion and in the base portion.
  • At least two ofthe shaft elements at the base portion be made in the form of sleeves having disposed therein respectively a plunger and a spring, which loads the plunger downwards against an underlying spherical segment rest.
  • the respective lower plunger end is made as a part of a spherical surface designed for engagement with recesses in the spherical segment rest.
  • a stopper means for such movement can expediently comprise a plate attached to the plungers and a limiter for the motion of this plate along the rest.
  • a stopper means of this kind can expediently comprise a plate attached to the plungers and a limiter for the motion of this plate along the rest.
  • one or more of the respective balls joints may to advantage have inbuilt torsion limiters.
  • the position ofthe stick can be registered by sensors connected to the shaft elements. The sensors are provided in accordance with the need for unambiguous information regarding vessel motion.
  • two ofthe shaft elements may be connected to three sensors, one connected to one ofthe shaft elements and the other two connected to the other shaft element at right angles to one another.
  • Three such sensors, in their individual positions, will via a calculation algorithm be capable of providing unambiguous information regarding desired vessel motion.
  • the sensors are advantageously connected by means of ball joints.
  • Fig. 1 is a horizontal projection of a handle portion for the new stick according to the invention
  • Fig. 2 is a schematic vertical section ofthe stick
  • Fig. 3 is a horizontal projection ofthe special rest in the embodiment in Fig. 2;
  • Fig. 4 illustrates purely schematically the positioning of appropriate sensors for the stick
  • Fig. 5 shows a section of a computer screen image
  • Fig. 6 shows a section of a second computer screen image.
  • the new control and manoeuvring stick illustrated in Figs. 1 and 2 has a handle portion 1 , a shaft portion 2 and a base portion 3.
  • the handle portion or grip head portion ofthe stick in the plan view has a stylised form, approximately resembling the vessel in question.
  • the shaft portion ofthe stick comprises three shaft elements, 4, 5 and 6. In the section in Fig. 2 only two ofthe shaft elements 4 and 6 are shown.
  • Each shaft element is mounted in respectively the handle portion 1 and the base portion 3 by means of a respective ball joint 7, 8, 9 and 10, as shown in Fig. 2.
  • the shaft element 5 is mounted in a similar way.
  • the system is set up so that when the speed forward exceeds a set value, e.g. 5 knots, depending upon the type of vessel, the function as general manoeuvring means with all degrees of freedom ceases.
  • the stick then becomes an actuating means from full speed ahead to full speed astern, optionally also a rudder in that it is turned, or in that it is moved sideways, according to choice. It is however advantageous to switch the rudder function over to an ordinary wheel, or to a conventional rudder stick once a speed has been reached that is above a determined value. Even if the stick should then be moved beyond one ofthe functions (actuator) or both (rudder and actuator), nothing is initiated.
  • actuator e.g. 5 knots
  • the stick When the speed falls once more to below, e.g., 5 knots, the stick automatically again becomes a panfunctional manoeuvring and control means. It is of advantage to provide a distinct stop for full speed ahead and full speed astern. This is indicated in Fig. 3 in that recesses 20 are shown in the rest surface 17 as distinct stop for full speed ahead, and similar recesses 21 for full speed astern. Shallower grooves 22 are provided between the recesses so that the to and fro movement ofthe stick as pure actuating means has a mild degree of control. Of course, a number of stops can be provided (not shown) between the outer points, if so desired.
  • the lower ends ofthe plungers 13, 14 are designed as parts of spherical surfaces for interaction with the recesses 20, 21 22.
  • the position ofthe stick is registered by appropriate sensors provided as shown in Fig. 4, see also Fig. 2.
  • Three sensors 23, 24 and 25 are used.
  • the sensor 23 is connected to the shaft element 4 below the connection of ball joints 26, 27.
  • the sensors 24 and 25 are connected to the shaft element 5 by means of ball joints 28, 29, 30 and 31 and are at right angles to one another.
  • the system can be programmed such that locking thereof and of engines etc. does not take place via keys, but by punching in a suitable code, e.g., four or five digits. It can also be programmed that the engine or engines start automatically the first time the stick is moved after the system has been "unlocked". A function can be installed which allows a manoeuvre to be "pre-programmed” before it is initiated. By means of a button 32 on the stick (Fig. 1), the normal direct function ofthe stick can be cancelled. For example, with reference to Fig. 5, it is conceivable that a vessel 33 is in a position as shown relative to a jetty 34, and that it is desirable to move into position 35. The image in Fig.
  • the system is such that the size ofthe power vectors is determined so that they do not exceed external influence in the form of current and wind, unless this is information the operator must consider. Finally, expected time of the manoeuvre is given and this is the only information the operator must act on. If the time is judged to be too long or too short, the manoeuvre is repeated with corrected stick deflection.
  • Fig. 6 shows a vessel 36 at a pier 37.
  • the vessel is to come into position 39 as quickly as possible and onto desired course 40 with an increase in speed to, e.g., 35 knots.
  • An acceptable intermediate position is shown at 38.
  • the system will check that the engine power used is sufficient with respect to current and wind, but not so great as to cause passengers to feel discomfort.
  • Modern management information and control systems can be set up so that the system is self-instructing. This means to say that constants for wind resistance, current, mass etc. are computed gradually during the first period of time the system is in use, stored and updated.
  • the system can be used without any additional features for simulator training when the vessel is lying at anchor. In fact, this is also true when the ship is under way and the stick's functions are switched over to other means. In most cases, maritime authorities require there to be independent, mechanically connected manoeuvring means as back ⁇ up.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Mechanical Pencils And Projecting And Retracting Systems Therefor, And Multi-System Writing Instruments (AREA)
  • Chair Legs, Seat Parts, And Backrests (AREA)

Abstract

Cette invention se rapporte à l'utilisation d'un seul moyen de manoeuvre avec son système de commande associé pour commander et manoeuvrer un bateau. Ce seul moyen de manoeuvre est du type levier et comprend une partie manche (1) qui est reliée à une partie de base (3) par des tiges (4, 5, 6). Ce levier peut être déplacé dans le plan latéral et peut être amené en même temps à tourner, la partie manche (1) étant montée au moyen de trois tiges (4, 5, 6) couplées par des joints à rotules (7, 8, 9, 10) dans la partie manche et dans la partie de base. Le manche (1) peut être stylisé à la forme du bateau lui-même. Ce nouveau levier permet d'initier les mouvements et les déplacements avec tous les degrés de liberté.
PCT/NO1997/000017 1996-01-23 1997-01-22 Levier de commande et de manoeuvre pour bateau WO1997027103A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP97902760A EP0934193A1 (fr) 1996-01-23 1997-01-22 Levier de commande et de manoeuvre pour bateau
JP9526754A JP2000504285A (ja) 1996-01-23 1997-01-22 船舶用の操作及び操縦桿
AU16774/97A AU1677497A (en) 1996-01-23 1997-01-22 Control and manoeuvring stick for a vessel

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO960266 1996-01-23
NO960266A NO303112B1 (no) 1996-01-23 1996-01-23 Styre- og man÷vreringsstikke for et fart÷y

Publications (1)

Publication Number Publication Date
WO1997027103A1 true WO1997027103A1 (fr) 1997-07-31

Family

ID=19898960

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO1997/000017 WO1997027103A1 (fr) 1996-01-23 1997-01-22 Levier de commande et de manoeuvre pour bateau

Country Status (5)

Country Link
EP (1) EP0934193A1 (fr)
JP (1) JP2000504285A (fr)
AU (1) AU1677497A (fr)
NO (1) NO303112B1 (fr)
WO (1) WO1997027103A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1195320A3 (fr) * 2000-10-05 2003-01-15 Sleipner Motor As Unité pour gouverner un bateau
WO2006062416A1 (fr) * 2004-12-07 2006-06-15 Cwf Hamilton & Co Limited Systeme de propulsion et de commande destine a un batiment de mer
WO2009109509A1 (fr) * 2008-03-06 2009-09-11 Stefano Bertazzoni Dispositif de commande manuel pour commander le mouvement d'objets réels ou virtuels

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101722716B1 (ko) * 2016-10-07 2017-04-03 주식회사 오 코스모스 축입력 컨트롤러

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1217481B (de) * 1962-10-27 1966-05-26 Starkstrom Appbau G M B H Kugelschalter
US4271780A (en) * 1978-12-06 1981-06-09 Niigata Engineering Co., Ltd. Apparatus for maneuvering a ship
FR2703165A1 (fr) * 1993-03-26 1994-09-30 Manzo Bodrone Marc Dispositif de commande adaptable.

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1217481B (de) * 1962-10-27 1966-05-26 Starkstrom Appbau G M B H Kugelschalter
US4271780A (en) * 1978-12-06 1981-06-09 Niigata Engineering Co., Ltd. Apparatus for maneuvering a ship
FR2703165A1 (fr) * 1993-03-26 1994-09-30 Manzo Bodrone Marc Dispositif de commande adaptable.

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1195320A3 (fr) * 2000-10-05 2003-01-15 Sleipner Motor As Unité pour gouverner un bateau
WO2006062416A1 (fr) * 2004-12-07 2006-06-15 Cwf Hamilton & Co Limited Systeme de propulsion et de commande destine a un batiment de mer
WO2009109509A1 (fr) * 2008-03-06 2009-09-11 Stefano Bertazzoni Dispositif de commande manuel pour commander le mouvement d'objets réels ou virtuels

Also Published As

Publication number Publication date
NO960266L (no) 1997-07-24
NO303112B1 (no) 1998-06-02
EP0934193A1 (fr) 1999-08-11
NO960266D0 (no) 1996-01-23
JP2000504285A (ja) 2000-04-11
AU1677497A (en) 1997-08-20

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