JPH08198185A - Method and device for controlling course retention of ship - Google Patents
Method and device for controlling course retention of shipInfo
- Publication number
- JPH08198185A JPH08198185A JP7010852A JP1085295A JPH08198185A JP H08198185 A JPH08198185 A JP H08198185A JP 7010852 A JP7010852 A JP 7010852A JP 1085295 A JP1085295 A JP 1085295A JP H08198185 A JPH08198185 A JP H08198185A
- Authority
- JP
- Japan
- Prior art keywords
- ship
- route
- turning
- speed
- veering
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000014759 maintenance of location Effects 0.000 title abstract 3
- 238000004364 calculation method Methods 0.000 claims description 18
- 238000013500 data storage Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 8
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、海洋観測や海洋測量等
を行う際に、航路を保持するために要求される大角度
で、なおかつ、小旋回半径の変針が可能な船舶の航路保
持制御方法及び装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route keeping control of a vessel capable of changing the turning angle of a small turning radius at a large angle required to keep the route when performing ocean observation or surveying. A method and apparatus.
【０００２】[0002]
【従来の技術】従来は、図７に示すように、航路Ａ上の
変針点Ｏr において変針する際、船舶１ａの航跡Ｂが弧
を描くように、舵のみを駆動制御するか、或いは、舵を
駆動制御して変針する通称オートパイロットと呼ばれる
航行装置に目標船首方向を指令して変針を行っている。BACKGROUND ART Conventionally, as shown in FIG. 7, when veering in veering point O r on route A, as wake B of the ship 1a is an arc, or drives and controls the rudder only, or, It changes the needle by commanding the target bow direction to a navigation device, which is commonly called an autopilot that drives and controls the rudder to change the needle.
【０００３】[0003]
【発明が解決しようとする課題】このような従来の変針
方法でも、外洋航路等の広範囲における航路保持では、
小角度の変針がほとんどであるため、十分、機能してい
る。ところが、海洋観測や海洋測量のように、比較的狭
い範囲において航路保持を行う場合は、図８に示すよう
に、海洋観測や海洋測量を行う海域ＤをメッシュＥで区
切り、各メッシュＥ毎に対応する航路Ａ上を一定の船速
で航行しながら海洋観測や海洋測量等を行うのが通常で
あるから従来のように、舵のみを駆動制御する場合は、
変針する際の旋回半径が舵の旋回性能により制限される
ばかりでなく、船速についても舵が有効に機能する範囲
の船速に制限される。Even with such a conventional needle changing method, in the case of keeping a route in a wide range such as an ocean route,
Most of the small angle needles are functioning well. However, as in the case of ocean observation and ocean surveying, when the route is maintained in a relatively narrow range, as shown in FIG. 8, the sea area D for ocean observation and ocean surveying is divided by a mesh E, and each mesh E is divided. Since it is usual to carry out ocean observations and surveys while navigating on the corresponding route A at a constant ship speed, when only the rudder is driven and controlled as in the conventional case,
The turning radius at the time of changing the needle is not only limited by the turning performance of the rudder, but also the ship speed is limited to a ship speed within a range in which the rudder effectively functions.
【０００４】従って、従来の航路保持制御装置を用い
て、上記のような、メッシュＥ上の航路に沿って航路保
持を実現するためには、図９のような非現実的な航路
Ａ′を設定して航路保持させる必要があり、折角の航路
保持制御装置を海洋観測や海洋測量等の最も自動化を必
要とされる分野において有効に活用できず、海洋観測や
海洋測量等における操船の自動化、省力化ができていな
いのが実情である。Therefore, in order to realize route holding along the route on the mesh E as described above by using the conventional route holding control device, an unrealistic route A'as shown in FIG. 9 is used. It is necessary to set and hold the route, and it is not possible to effectively use the route keeping control device at an angle in the field that requires the most automation such as ocean observation and ocean surveying. The reality is that labor saving has not been achieved.
【０００５】本発明は、このような課題を解決するため
になされたものであり、その目的とするところは、海洋
観測や海洋測量等の比較的狭い範囲における航路保持で
要求される大角度で、なおかつ、小旋回半径の変針が可
能な船舶の航路保持制御方法及び装置を提供することに
ある。The present invention has been made in order to solve such a problem, and its purpose is to provide a large angle required for maintaining a route in a relatively narrow range such as ocean observation and ocean surveying. Further, it is an object of the present invention to provide a route holding control method and device for a ship, which is capable of changing the turning radius of a small turning radius.
【０００６】[0006]
【課題を解決するための手段】即ち、本発明の航路保持
制御方法は、船舶の船首尾方向に推力を発生することが
できる前後進装置と、船舶の前後進速度が比較的低速な
時に左右舷方向及び回頭方向に推力を発生することがで
きる左右及び回頭推進装置とを有する船舶を、予め計画
した航路に沿って航路保持するようにした船舶の航路保
持制御方法において、航路上の所定の変針点Ｏr で変針
を行う際、該変針点Ｏr の手前で前後進装置を制動して
前記変針点Ｏr の近傍で停船又は前記左右及び回頭推進
装置が有効に機能する程度の船速にし、その後、左右及
び回頭推進装置を駆動してその場回頭及び小旋回半径で
所定の方向に変針させ、変針後、前後進装置を駆動する
と同時に左右及び回頭推進装置を制動して次の変針点Ｏ
r+1 に向けて航行させるようにしたことを特徴とするも
のである。That is, the route holding control method of the present invention comprises a forward / rearward traveling device capable of generating thrust in the bow-stern direction of a ship, and a left / right device when the forward / backward traveling speed of the ship is relatively low. In a route keeping control method for a vessel, which holds a vessel having left and right and turning propulsion devices capable of generating thrust in the port direction and the turning direction along a pre-planned route, when performing veering in veering point O r, boat speed enough to quarantine or the right and stem turning propulsion devices function effectively in the vicinity of brake the forward-reverse device the veering point O r in front of the modified needle point O r After that, the left and right and turning propulsion devices are driven to change the needle in a predetermined direction at the spot turning and small turning radius, and after the needle change, the forward and backward movement device is driven and at the same time, the left and right and turning propulsion devices are braked to change the next needle. Point O
It is characterized in that it was made to sail toward r + 1 .
【０００７】また、本発明の船舶の航路保持制御装置
は、船舶の船首尾方向に推力を発生することができる前
後進装置と、船舶の前後進速度が比較的低速な時に左右
舷方向及び回頭方向に推力を発生することができる左右
及び回頭推進装置とを有する船舶を、予め計画した航路
に沿って航路保持するように制御する船舶の航路保持制
御装置において、該航路保持制御装置を、（ａ）船首方
位センサによる船首方位と、位置センサによる船位と、
船速センサによる船速と、保持航路データ保存部の航路
データとを基に目標変針点Ｏr の手前の所定位置Ｒから
変針点Ｏｒの近傍で停船又は前記左右及び回頭推進装置
が有効に機能する程度に船速が減ずるように目標船速を
設定すると共に、目標位置と、目標船首とを設定する目
標船位・目標船速・目標船首方位設定部、（ｂ）目標変
針点Ｏr と現船位との偏差、保持船速と現船速との偏
差、航路保持を行うための方位と現方位との偏差を夫々
計算する船位・船速・船首方向偏差演算部、（ｃ）該偏
差演算部が計算した船速と、船首方位と、船位との各偏
差を基にそれらの偏差を無くすような船の前後、左右及
び回頭方向の必要推力を計算する船首尾・左右舷・回頭
方向必要推力演算部、（ｄ）該必要推力演算部が計算し
た前後、左右、回頭方向の推力をスラスタと、ＣＰＰ
と、舵に夫々配分する推力配分部、（ｅ）該推力配分部
により配分された推力を発生するようにスラスタ、ＣＰ
Ｐ、舵を駆動制御するスラスタ・ＣＰＰ・舵駆動制御
部、から構成して成ることを特徴とするものである。Further, the ship route control device of the present invention includes a forward / rearward traveling device capable of generating thrust in the bow-stern direction of the marine vessel, and a left / right port direction and a turning direction when the forward / backward traveling speed of the marine vessel is relatively low. In a ship route holding control device for controlling a vessel having left and right and turning propulsion devices capable of generating thrust in a direction so as to hold a route along a previously planned route, the route holding control device is a) The heading by the heading sensor and the ship position by the position sensor,
And boat speed by the boat speed sensor, quarantine or the right and stem turning propulsion apparatus effectively functions in the vicinity of veering point Or from the front at a predetermined position R of the holding route data storage unit target veering point O r and route data based on the sets a target ship speed so Funesoku is reduced to the extent that, and the target position, the target ship position-target ship speed, target heading setting unit which sets a target bow, (b) a target veering point O r and the current Ship position / ship speed / heading direction deviation calculation unit for calculating deviation from ship position, deviation between holding ship speed and current ship speed, deviation between bearing and current bearing to maintain route, (c) deviation calculation Based on the ship speed calculated by the department, the heading, and each deviation from the ship's position, the required thrust in the longitudinal, lateral, and turning directions of the ship that eliminates those deviations is required. Thrust calculation unit, (d) Front / rear, left / right, turning method calculated by the required thrust calculation unit Thrust thruster and CPP
And (e) a thruster that distributes thrust to the rudder, and a CP to generate the thrust distributed by the thrust distribution unit.
P, a thruster, a CPP, and a rudder drive control section for driving and controlling the rudder.
【０００８】[0008]
【作用】上記のように、航路上の所定の変針点Ｏr で変
針を行うに際し、変針点Ｏr の手前で前後進装置を制動
して前記変針点Ｏr の近傍で停船又は前記左右及び回頭
推進装置が有効に機能する程度の船速にし、その後、左
右及び回頭推進装置を駆動してその場回頭又は小旋回半
径で所定の方向に変針させ、変針後、前後進装置を駆動
すると同時に左右及び回頭推進装置を制動して次の変針
点Ｏr+1 に向けて航行させることにより、海洋観測や海
洋測量等の航路保持で要求される大角度で、なおかつ、
小旋回半径の変針が可能になる。[Action] As described above, in performing the veering at a predetermined veering point O r on route, then brake the forward-reverse device before the veering point O r in the vicinity of the veering point O r quarantine or the right and left and Make the boat speed so that the turning propulsion device can effectively function, and then drive the left and right and turning propulsion devices to change the needle in a predetermined direction at the spot turning or small turning radius, and after changing the needle, simultaneously drive the forward / backward movement device. By braking the left and right and turning propulsion devices to make them travel toward the next turning point Or + 1 , at a large angle required for maintaining a route such as ocean observation and survey,
It is possible to change the needle with a small turning radius.
【０００９】[0009]
【実施例】以下、図面により本発明の実施例を説明す
る。図１に示すように、船体１は、１軸ＣＰＰ装置２
と、舵装置３と、バウスラスタ装置４と、スタンスラス
タ装置５とを備えている。そして、１軸ＣＰＰ装置２
と、バウスラスタ装置４と、スタンスラスタ装置５は、
航路保持制御装置１１によって制御される操船コンソー
ル６により操作され、舵装置３は、航路保持制御装置１
１によって制御される操舵スタンド７により操作される
ようになっている。Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the hull 1 includes a uniaxial CPP device 2
A rudder device 3, a bow thruster device 4, and a stance thruster device 5. And the uniaxial CPP device 2
The bow thruster device 4 and the stance thruster device 5 are
It is operated by the marine vessel manipulating console 6 controlled by the route keeping control device 11, and the rudder device 3 is operated by the route keeping control device 1.
It is operated by a steering stand 7 controlled by 1.
【００１０】また、航路保持制御装置１１には、船首方
位センサ８による船首方位と、位置センサ９による船位
と、船速センサ１０による船速とが入力されるようにな
っている。この航路保持装置１１は、図２に示すよう
に、（ａ）船首方位センサ８による船首方位と、位置セ
ンサ９による船位と、船速センサ１０による船速と、保
持航路データ保存部１２の航路データとを基に目標変針
点Ｏr の手前の所定位置Ｒから変針点Ｏｒの近傍で停船
又は左右及び回頭推進装置が有効に機能する程度に船速
が減ずるように目標船速を設定すると共に、目標位置
と、目標船首とを設定する目標船位・目標船速・目標船
首方位設定部１３、（ｂ）目標変針点Ｏr と現船位との
偏差、保持船速と現船速との偏差、航路保持を行うため
の方位と現方位との偏差を夫々計算する船位・船速・船
首方向偏差演算部１４、（ｃ）該偏差演算部１４が計算
した船速と、船首方位と、船位との各偏差を基にそれら
の偏差を無くすような船の前後、左右及び回頭方向の必
要推力を計算する船首尾・左右舷・回頭方向必要推力演
算部１５、（ｄ）該必要推力演算部１５が計算した前
後、左右、回頭方向の推力をスラスタ４，５と、ＣＰＰ
２と、舵３に夫々配分する推力配分部１６、（ｅ）該推
力配分部１６により配分された推力を発生するようにス
ラスタ４，５、ＣＰＰ２、舵３を駆動制御するスラスタ
・ＣＰＰ・舵駆動制御部１７、から構成されている。Further, the heading of the ship by the heading sensor 8, the position of the ship by the position sensor 9, and the speed of the ship by the speed sensor 10 are input to the route holding control device 11. As shown in FIG. 2, the route holding device 11 includes (a) a heading of the heading sensor 8, a heading of the position sensor 9, a speed of the boat of the speed sensor 10, and a route of the holding route data storage unit 12. sets a target ship speed as Funesoku to the extent that quarantine based on the data from the previous position R of the target veering point O r in the vicinity of veering point or or right and stem turning propulsion device functions effectively is reduced , the deviation of the target position, the target ship position-target ship speed, target heading setting unit 13 which sets a target bow, and (b) the difference between the target veering point O r and the current ship position, holding vessel speed and current boat speed , A ship position / ship speed / heading direction deviation calculation unit 14 for calculating deviations between a bearing and a current bearing for maintaining a route, respectively, (c) Ship speed calculated by the deviation calculation unit 14, a heading, and a ship position Based on each deviation of Thrust / left / right / turning direction required thrust calculation unit 15 for calculating the required thrust in the right and turning directions, (d) The thrusts in the front, back, left, right, and turning directions calculated by the required thrust calculation unit 15 are designated as thrusters 4, 5. , CPP
2, and a thrust distribution unit 16 that distributes to the rudder 3, respectively. (E) A thruster, a CPP, and a rudder that drive-control the thrusters 4, 5, CPP 2, and the rudder 3 so as to generate the thrust distributed by the thrust distribution unit 16. The drive controller 17 is included.
【００１１】次に、制御フロー図を参照しながら本発明
の航路保持制御装置による船舶の航路保持制御方法につ
いて説明する。航路保持制御装置１１を、図３及び図４
に示すように、開始（１０１）させた後、航路保持制御
装置１１の保持航路データ保存部１２に、予め計画した
航路データ（変針点座標、変針方法等）を入力する（１
０２）。Next, referring to a control flow chart, a ship route holding control method by the route holding control device of the present invention will be described. The route holding control device 11 is shown in FIGS.
As shown in (1), after starting (101), preliminarily planned route data (coordinates of changing points, changing method, etc.) are input to the holding route data storage unit 12 of the route holding control device 11 (1
02).
【００１２】そして、図５に示すように、海洋観測域Ｄ
に船舶（海洋観測船）１ａが進入したら船舶１ａを所定
の航路Ａに沿って航行させながら船首方位センサ８によ
る船首方位と、位置センサ９による船位と、船速センサ
１０による船速と（自船位置、船速、方位の入力（１０
３））、保持航路データ保存部１２の航路データとを基
に目標船位・目標船速・目標船首方位設定部１３によっ
て自船１ａが目標変針点Ｏ１の手前の所定距離Ｒ内に入
っているか否か判定させる（１０４）。Then, as shown in FIG. 5, the ocean observation area D
When the vessel (marine observation vessel) 1a enters the ship 1a, the vessel 1a travels along a predetermined route A, and the heading of the vessel by the heading sensor 8, the position of the vessel by the position sensor 9, and the speed of the vessel by the vessel speed sensor 10 Input of ship position, speed, and bearing (10
3)), whether the own ship 1a is within the predetermined distance R before the target turning point O1 by the target ship position / target ship speed / target heading setting unit 13 based on the route data in the retained route data storage unit 12 It is determined whether or not (104).
【００１３】若し、範囲外であれば、前記設定部１３で
目標船速が設定され（１０５）、範囲内であれば、スラ
スタが有効に機能する程度の船速に減速するよう目標船
速の設定が行われる（１０６）。更に、前記設定部１３
において、目標位置と目標船首方位とが設定される（１
０７）。その後、船位・船速・船首方位偏差演算部１４
により目標変針点Ｏr と現位置との偏差の計算（１０
８）と、保持船速と現船速との偏差の計算（１０９）
と、航路保持を行うための方位と現方位との偏差の計算
（１１０）とが行われる。If it is out of the range, the target ship speed is set by the setting unit 13 (105), and if it is in the range, the target ship speed is reduced so that the thruster can effectively function. Is set (106). Further, the setting unit 13
At, the target position and the target heading are set (1
07). After that, the ship position / ship speed / heading deviation calculation unit 14
Calculation of the deviation between the target veering point O r and the current position (10
8) and calculation of deviation between the holding speed and the current speed (109)
Then, the deviation (110) between the heading and the current heading for maintaining the route is calculated.
【００１４】そして、この船速、方位及び位置の偏差を
基にそれらの偏差をなくすような船の前後、左右、回頭
方向の必要推力計算が船首尾方向・左右弦方向・回頭方
向必要推力演算部１５により計算される（１１１）。そ
の後、前後、左右、回頭方向の必要推力をスラスタ４，
５、ＣＰＰ２、舵３にそれぞれ分配する計算が推力配分
部１６により行われる（１１２）。Based on these deviations in ship speed, bearing, and position, necessary thrust calculations for the front-back, left-right, and turning directions of the ship that eliminate these deviations are carried out to calculate the required thrust in the bow-stern direction, left-right chord direction, and turning direction. It is calculated by the unit 15 (111). After that, the required thrust in the front-back, left-right, and turning directions is applied to the thruster 4,
5, the thrust distribution unit 16 performs a calculation for distributing to the CPP 2, the rudder 3 (112).
【００１５】しかる後に、配分された推力を発生するよ
うにスラスタ・ＣＰＰ・舵駆動制御部１７によりスラス
タ４，５、ＣＰＰ２、舵３が駆動制御される（１１
３）。そして、図５及び図６に示すように、スラスタ
４，５が有効に機能する程度の船速に減速した時に船舶
１ａが右方向に９０°回頭する。そして、船首方位セン
サ８による船首方位を基に変針が終了したか否か判別し
（１１４）、若し、変針未終了の時は、図３に示すよう
に、上記の１０３に戻って再変針を行い、変針終了した
時は、次変針点Ｏ１が有るか否かを判別する（１１
５）。そして、次変針点Ｏ２が有る場合は、目標変針点
Ｏr を次変針点Ｏ２に設定した後（１１６）、上記１０
３に戻り、次変針点Ｏ２に向かって船舶１ａを航行させ
る。Thereafter, the thrusters 4, 5, CPP 2, and rudder 3 are drive-controlled by the thruster / CPP / rudder drive control unit 17 so as to generate the distributed thrust (11).
3). Then, as shown in FIGS. 5 and 6, the ship 1a turns 90 ° to the right when the ship speed is reduced to a speed at which the thrusters 4 and 5 effectively function. Then, it is judged whether or not the needle change is completed based on the heading detected by the heading sensor 8 (114), and if the needle change is not completed yet, as shown in FIG. When the needle change is completed, it is determined whether or not there is the next needle change point O1 (11
5). Then, if the next veering point O2 is present, after setting the target veering point O r the next veering point O2 (116), the 10
Returning to 3, the vessel 1a is made to sail toward the next turning point O2.
【００１６】係る制御を繰り返し行い、次変針点Ｏr+1
が無くなれば、海洋観測域Ｄにおける航路保持制御を終
了する（１１７）。上記のように、本発明は、航路上の
所定の変針点Ｏr で変針を行うに際し、変針点Ｏr の手
前で前後進装置を制動して前記変針点Ｏr の近傍で停船
又は前記左右及び回頭推進装置が有効に機能する程度の
船速にし、その後、左右及び回頭推進装置を駆動してそ
の場回頭又は小旋回半径で所定の方向に変針させ、変針
後、前後進装置を駆動すると同時に左右及び回頭推進装
置を制動して次の変針点Ｏr+1 に向けて航行させること
により、海洋観測や海洋測量等の航路保持で要求される
大角度で、なおかつ、小旋回半径の変針が可能である。By repeating such control, the next change point O r + 1
If there is no more, the route holding control in the ocean observation area D is ended (117). As described above, the present invention is, when performing a veering at a predetermined veering point O r on route, quarantine or the right and left in the vicinity of the veering point O r to brake the forward-reverse device before the veering point O r And the ship propulsion device to such an extent that the turning propulsion device can effectively function, and then the left and right and turning propulsion devices are driven to change the needle in a predetermined direction at the spot turning or small turning radius. At the same time, the right and left and turning propulsion devices are braked to move toward the next turning point Or + 1 , so that the turning angle can be changed at a large angle and a small turning radius required for maintaining a route such as ocean observation and surveying. Is possible.
【００１７】以上の説明では、船舶を９０°変針させる
場合について説明したが、これに限らず他の角度で変針
させる際も同様に実施できる。また、スタンスラスタ装
置の替わりに低速でも左右の舷方向の推力を発生できる
大角度舵や旋回式のプロペラを用いても本発明の航路保
持制御方法を実現することができる。In the above description, the case where the boat is changed by 90 ° has been described, but the present invention is not limited to this, and the same change can be made when changing the boat at another angle. Further, the route holding control method of the present invention can be realized by using a large-angle rudder or a turning propeller that can generate thrust in the left and right port directions even at low speeds instead of the stance thruster device.
【００１８】[0018]
【発明の効果】上記のように、本発明によれば、海洋観
測や海洋測量等の航路保持で要求される大角度で、なお
かつ、小旋回半径の変針が可能になり、従来、実質的に
不可能であった海洋観測や海洋測量等の航路保持におけ
る船舶の操船を自動化し、操船作業の大幅な省力化、高
効率化を図ることが可能になった。As described above, according to the present invention, it is possible to change the needle with a large turning angle and a small turning radius, which are required for maintaining a route such as ocean observation and marine surveying. It has become possible to automate the vessel maneuvering, which was not possible at the time of maintaining ocean routes such as ocean observation and ocean surveying, and to greatly reduce labor and increase efficiency of vessel maneuvering work.
【図１】本発明に係る船舶の航路保持制御方法を実施す
るための制御系統図である。FIG. 1 is a control system diagram for carrying out a route holding control method for a ship according to the present invention.
【図２】本発明に係る船舶の航路保持制御装置の機能ブ
ロック図である。FIG. 2 is a functional block diagram of a vessel route holding control device according to the present invention.
【図３】制御フロー図の前半部分を示す図である。FIG. 3 is a diagram showing a first half portion of a control flow chart.
【図４】制御フロー図の後半部分を示す図である。FIG. 4 is a diagram showing the latter half of the control flow diagram.
【図５】本発明方法により航路保持を行う時の船舶の移
動状態を示す説明図である。FIG. 5 is an explanatory view showing a moving state of the ship when the route is maintained by the method of the present invention.
【図６】図５の要部拡大図である。FIG. 6 is an enlarged view of a main part of FIG.
【図７】従来の制御方法で航路保持を行う時の船舶の移
動状態を示す説明図である。FIG. 7 is an explanatory diagram showing a movement state of a ship when a route is maintained by a conventional control method.
【図８】海洋観測における保持航路の例を示す説明図で
ある。FIG. 8 is an explanatory diagram showing an example of a holding route in ocean observation.
【図９】海洋観測における保持航路を従来の航路保持装
置により航路保持させる場合の計画航路の例を示す説明
図である。FIG. 9 is an explanatory diagram showing an example of a planned route when the route is held by a conventional route holding device in ocean observation.
Ａ 航路 Ｏr 目標変針
点 Ｒ 目標変針点Ｏr からの距離 １ａ 船舶 ２ ＣＰＰ装置 ４ バウスラ
スタ ５ スタンスラスタ ８ 船首方位
センサ ９ 位置センサ １０ 船速セン
サ １１ 航路保持制御装置 １２ 保持航路データ保存部 １３ 目標船位・目標船速・目標船首方位設定部 １４ 船位・船速・船首方向偏差演算部 １５ 船首尾・左右舷・回頭方向必要推力演算部 １６ 推力配分部 １７ スラスタ・ＣＰＰ・舵駆動制御部A route O r target diversion point R distance from target diversion point O r 1 a ship 2 CPP device 4 bow thruster 5 stance thruster 8 bow direction sensor 9 position sensor 10 ship speed sensor 11 route holding control device 12 holding route data storage 13 target Ship position / target ship speed / target heading setting unit 14 Ship position / ship speed / heading direction deviation calculation unit 15 Prow / stern / starboard / turning direction required thrust calculation unit 16 Thrust distribution unit 17 Thruster / CPP / rudder drive control unit
Claims (2)
ができる前後進装置と、船舶の前後進速度が比較的低速
な時に左右舷方向及び回頭方向に推力を発生することが
できる左右及び回頭推進装置とを有する船舶を、予め計
画した航路に沿って航路保持するようにした船舶の航路
保持制御方法において、航路上の所定の変針点Ｏr で変
針を行う際、該変針点Ｏr の手前で前後進装置を制動し
て前記変針点Ｏr の近傍で停船又は前記左右及び回頭推
進装置が有効に機能する程度の船速にし、その後、左右
及び回頭推進装置を駆動してその場回頭又は小旋回半径
で所定の方向に変針させ、変針後、前後進装置を駆動す
ると同時に左右及び回頭推進装置を制動して次の変針点
Ｏr+1 に向けて航行させるようにしたことを特徴とする
航路保持制御方法。1. A forward / backward movement device capable of generating thrust in the bow-stern direction of a ship, and a left-right and right-sided device capable of generating thrust in the port and starboard directions and turning directions when the forward-backward speed of the ship is relatively low. In a route keeping control method for a vessel having a turning propulsion device to hold a route along a pre-designed route, when changing a needle at a predetermined turning point O r on the route, the turning point O r and brake the forward and reverse device in front the boat speed enough to quarantine or the right and stem turning propulsion device in the vicinity can function effectively in the veering point O r, then the spot by driving the left and right and stem turning propulsion device After changing the needle in a predetermined direction with a turning or small turning radius, after changing the needle, the forward / rearward traveling device is driven, and at the same time, the left and right and the turning propulsion device are braked so that the vehicle travels toward the next changing point Or + 1. A characteristic route holding control method.
ができる前後進装置と、船舶の前後進速度が比較的低速
な時に左右舷方向及び回頭方向に推力を発生することが
できる左右及び回頭推進装置とを有する船舶を、予め計
画した航路に沿って航路保持するように制御する船舶の
航路保持制御装置において、該航路保持制御装置を、
（ａ）船首方位センサによる船首方位と、位置センサに
よる船位と、船速センサによる船速と、保持航路データ
保存部の航路データとを基に目標変針点Ｏr の手前の所
定位置Ｒから変針点Ｏｒの近傍で停船又は前記左右及び
回頭推進装置が有効に機能する程度に船速が減ずるよう
に目標船速を設定すると共に、目標位置と、目標船首と
を設定する目標船位・目標船速・目標船首方位設定部、
（ｂ）目標変針点Ｏr と現船位との偏差、保持船速と現
船速との偏差、航路保持を行うための方位と現方位との
偏差を夫々計算する船位・船速・船首方向偏差演算部、
（ｃ）該偏差演算部が計算した船速と、船首方位と、船
位との各偏差を基にそれらの偏差を無くすような船の前
後、左右及び回頭方向の必要推力を計算する船首尾・左
右舷・回頭方向必要推力演算部、（ｄ）該必要推力演算
部が計算した前後、左右、回頭方向の推力をスラスタ
と、ＣＰＰと、舵に夫々配分する推力配分部、（ｅ）該
推力配分部により配分された推力を発生するようにスラ
スタ、ＣＰＰ、舵を駆動制御するスラスタ・ＣＰＰ・舵
駆動制御部、から構成して成ることを特徴とする船舶の
航路保持制御装置。2. A forward / backward moving device capable of generating thrust in the bow-stern direction of a ship, and a left-right and right-hand moving device capable of generating thrust in the left-right and starboard directions when the forward-backward speed of the ship is relatively low. A vessel having a turning propulsion device, in a vessel route holding control device for controlling to hold a route along a route planned in advance, in the route holding control device,
(A) and heading by heading sensor, veering the ship positioning by the position sensor, and the ship speed by the boat speed sensor, based on the route data holding route data storage unit from the front at a predetermined position R of the target veering point O r The target ship speed and target ship speed are set so that the ship speed is reduced to the extent that the ship stops or the left and right and turning propulsion devices function effectively in the vicinity of the point Or, and the target position and target bow are set.・ Target bow direction setting unit,
(B) a target veering point O r and the deviation between the current ship position, the deviation of the holding vessel speed and current ship speed, boat position, ship speed, the bow direction of orientation and the deviation between the current orientation for performing route holding respectively calculated Deviation calculator,
(C) Based on the deviations of the ship speed, heading, and ship position calculated by the deviation calculation unit, the required forward / backward, left / right, and turning directions of the ship to eliminate these deviations Left / right side / turning direction required thrust calculation unit, (d) Thruster, CPP, and thrust distribution unit that distributes thrust in the front-rear, left-right, and turning directions calculated by the required thrust calculation unit to the thruster, (e) the thrust A ship route holding control device comprising a thruster, a CPP, and a thruster / CPP / rudder drive control unit for driving and controlling a thruster so as to generate thrust distributed by the distribution unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7010852A JP2964304B2 (en) | 1995-01-26 | 1995-01-26 | Ship route control method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7010852A JP2964304B2 (en) | 1995-01-26 | 1995-01-26 | Ship route control method and apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08198185A true JPH08198185A (en) | 1996-08-06 |
| JP2964304B2 JP2964304B2 (en) | 1999-10-18 |
Family
ID=11761896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7010852A Expired - Lifetime JP2964304B2 (en) | 1995-01-26 | 1995-01-26 | Ship route control method and apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2964304B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001287697A (en) * | 2000-04-07 | 2001-10-16 | Hitachi Zosen Corp | Ship course holding control device and method |
| JP2011126361A (en) * | 2009-12-16 | 2011-06-30 | Yokogawa Denshikiki Co Ltd | Automatic steering device and method used for the same |
| JP2021008174A (en) * | 2019-06-28 | 2021-01-28 | 古野電気株式会社 | Hull control device, hull control method, and hull control program |
| WO2022191191A1 (en) * | 2021-03-12 | 2022-09-15 | ヤンマーホールディングス株式会社 | Ship maneuvering device and ship |
| US11643180B2 (en) | 2019-09-13 | 2023-05-09 | Furuno Electric Company Limited | Ship speed control device, ship speed controlling method, and ship speed control program |
| US11866142B2 (en) | 2019-09-13 | 2024-01-09 | Furuno Electric Company Limited | Hull control device, hull controlling method, and hull control program |
| US11866141B2 (en) | 2019-06-27 | 2024-01-09 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
| US11884371B2 (en) | 2019-07-05 | 2024-01-30 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
-
1995
- 1995-01-26 JP JP7010852A patent/JP2964304B2/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001287697A (en) * | 2000-04-07 | 2001-10-16 | Hitachi Zosen Corp | Ship course holding control device and method |
| JP4736158B2 (en) * | 2000-04-07 | 2011-07-27 | ユニバーサル造船株式会社 | Ship navigation control system |
| JP2011126361A (en) * | 2009-12-16 | 2011-06-30 | Yokogawa Denshikiki Co Ltd | Automatic steering device and method used for the same |
| US11866141B2 (en) | 2019-06-27 | 2024-01-09 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
| JP2021008174A (en) * | 2019-06-28 | 2021-01-28 | 古野電気株式会社 | Hull control device, hull control method, and hull control program |
| US11873067B2 (en) | 2019-06-28 | 2024-01-16 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
| US11884371B2 (en) | 2019-07-05 | 2024-01-30 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
| US11643180B2 (en) | 2019-09-13 | 2023-05-09 | Furuno Electric Company Limited | Ship speed control device, ship speed controlling method, and ship speed control program |
| US11866142B2 (en) | 2019-09-13 | 2024-01-09 | Furuno Electric Company Limited | Hull control device, hull controlling method, and hull control program |
| WO2022191191A1 (en) * | 2021-03-12 | 2022-09-15 | ヤンマーホールディングス株式会社 | Ship maneuvering device and ship |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2964304B2 (en) | 1999-10-18 |
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