JP2876879B2 - Ship maneuvering simulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ship maneuvering simulator capable of carrying out ship maneuvering training while experiencing swaying of a hull corresponding to a wave image projected on the field of view of a simulated bridge.

[0002]

2. Description of the Related Art As a ship maneuvering training device for performing a ship maneuvering training by creating a ship maneuvering environment close to an actual ship on land, a full-scale mock-up bridge on which a maneuvering trainer is to board, and a shaking device for shaking the mock-up bridge are provided. A boat maneuvering simulator provided with a large-screen view reproduction device based on computer graphics or the like is known.

Conventionally, this type of device is provided with a full-size rudder and various indicating instruments (for example, a compass, a main shaft tachometer, a wing angle meter, a rudder angle meter, an anemometer, a speedometer, etc.) in a simulated bridge. While the ship maneuvering trainer confirms the maneuvering situation with these indicating instruments,
The main engine and rudder can be operated.
At the time of ship maneuvering training, the swaying device causes the simulated bridge to sway in response to the main engine operation and rudder operation, so that the marine vessel trainer can feel the sway of the hull close to the actual ship, and the view reproduction device is actually in the sight of the simulated bridge. A view image is obtained by combining a wave image with an image of a harbor scenery or another ship and a wave image, so that a ship maneuvering trainer has a sense of being on the sea.

[0004]

By the way, in high-speed boats and small boats, the hull greatly shakes when hitting the waves properly.
Dangerous situations can occur and require training in maneuvers in the waves to avoid large waves and to quickly adjust the hull's orientation to the waves.

[0005] However, in the conventional ship maneuvering simulator, although the image of the waves is projected on the view of the simulated bridge along with the scenery of the harbor, etc., this is merely to enhance the visual presence, and is linked with the projected waves. As a result, the mock bridge could not be shaken. That is,
Even if the wave projected on the field of view of the simulated bridge reaches the own ship position (virtual position), it is not possible to cause the simulated bridge to be shaken by the wave. For this reason, even if a ship maneuvering training was conducted using a conventional ship maneuvering simulator, assuming that the ship was in the waves, the ship maneuvering trainer would only be given the feeling that the waves would pass by. Was not able to make the ship operation trainee feel the sensation of swaying.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a ship maneuvering simulator capable of shaking a simulated bridge in conjunction with a wave image projected on the field of view of the simulated bridge.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a simulated bridge for performing marine vessel maneuvering training and a simulated bridge.
Waves input in advance according to the maneuvering conditions
A wave image is projected on the simulated bridge
Simulated field of view device and shaking for shaking the simulated bridge
The hull based on the equipment and the wave information
Calculate the sway caused by the waves received and model accordingly.
A sway control hand that drives the sway device to sway the fake bridge.
And a step.

[0008]

According to the ship maneuvering simulator of the present invention configured as described above, the wave input to the simulated viewing device in advance is used.
Wave information is projected on the field of view of the mock Funabashi based on the information
And the sway control means
Is calculated and the rocking device is driven accordingly
Therefore, the simulated bridge can be shaken in conjunction with the waves in the image. Therefore, it is possible to perform ship maneuvering training such as avoiding the wave or immediately adjusting the direction of the own ship with respect to the wave while causing the ship maneuvering trainee to experience the sway of the hull caused by the wave.

[0009]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

The ship maneuvering simulator shown in FIG. 1 includes an instructor's desk 1, a central processing unit 2, a navigation instrument interface unit 3, a radar pseudo signal generator 4, a simulated sound generator 5, a simulated sound generator 5. It comprises a bridge 6, a shaking device 7, a simulated visibility device 8, and instruments 9 in the simulated bridge.

First, each of the above components of the ship maneuvering simulator will be described.

Instructor's desk 1: Initial data required for training, such as the sea area, training test boat, wind direction, wind speed, wave direction, average wave period, significant wave height, tide direction, tide speed, initial ship speed, initial ship position, etc. -During training, monitor training status, control the appearance of crossing or onboard vessels, set or change environmental conditions such as wind, waves, tides, fog, etc. Perform and monitor comprehensive training such as setting

Central processing unit 2: Steering device 1 to be described later
The ship's maneuvering motion corresponding to the main engine / rudder operation signals (main engine speed, rudder angle, etc.) from the main engine control device 11 is calculated in real time using a mathematical model of the hull motion, and the current position, heading, etc. of the ship Is output to the instruments 9 in the simulated bridge.
Further, based on information on the current position and the speed of the own ship, the relative position between the wave in the view image created by the simulated view device 8 and the own ship is calculated, and the hull sway due to the wave (sway in the waves).
Ask for. Then, the calculated maneuvering motion and the sway in the waves are superimposed and transmitted to the simulated viewing device 8 and the sway device 7. In addition, in accordance with a command from the instructor's desk 1, the motion of a moving target (crossing ship, oncoming ship, etc.) is calculated, and signals of various environmental conditions such as wind speed and wave direction are transmitted.

Navigation instrument interface device 3: Receiving signals (wind speed, wind direction, course, main engine speed, steering angle, yaw rate, lateral inclination angle, etc.) from the central processing unit 2, An interface device for driving the instruments 9 in the simulated bridge,
It has functions such as digital / analog conversion and digital / synchro conversion.

Radar pseudo signal generator 4: Receives own ship position and moving target position signals from central processing unit 2 and receives terrain database and fixed target data built in the apparatus. -Transmit a radar signal based on the information of the database.

Simulated sound generator 5: central processing unit 2
From the own ship's speed, main engine speed, relative position with the moving target,
It receives signals such as the relative position between the ship and the waves, synthesizes the sounds of the main engine, wind noise, waves, steam whistle, fog whistle, etc., and outputs them from the speaker. In addition, it also oscillates various notification sounds during training.

Simulated bridge 6: A cockpit simulating an actual bridge provided on the swaying device 7, in which a full-scale steering machine 10, a main engine control device 11, instruments 9 in the simulated bridge, an operation console are provided. , Speakers, etc. are installed.

Shaking device 7: Mainly composed of a motion base on which the simulated bridge 6 is mounted, and a six-degree-of-freedom link mechanism for swingably supporting this on a fixed base fixed to the floor surface. In response to the sway signal from the central processing unit 2, the roll, pitch, yaw, surge, sway and heave movements are separately performed or A motion combining these motions is given to the simulated bridge.

Simulated view device 8: A large screen having a plurality of display units arranged in a semicircle, and an image processing device including a video signal generator, a view calculator, a wind direction calculator, and a wave calculator, Position of own ship in space (sea area etc.) set by central processing unit 2
After receiving signals of movement and visibility from the bridge,
A visual field image is projected on a large screen provided in front of the simulated bridge 6. Wave information corresponding to the sea area is input to the image processing device in advance, and a visual field image obtained by synthesizing an image of a fixed target or a moving target with an image of the wave is projected.

Instrument in simulated bridge 9: Instruments similar to the actual machine, such as navigation instruments, compass (gyro-repeater), main shaft tachometer, steering angle meter, speedometer (log display), wind direction and anemometer, etc. It is driven by signals from the navigation instrument interface device 3 and the radar pseudo signal generating device 4 to display or guide various information necessary for maneuvering.
An operation signal from the steering device 10 or the main engine control device 11 is sent to the central processing unit 2.

Next, the flow of control of the visual field image and the movement of the bridge by the central processing unit 2 will be described with reference to FIG.

When the steering device 10 and the main engine control device 11 are operated, a steering signal indicating that these are operated and a main engine operation signal are transmitted to the central processing unit 2.
The central processing unit 2 calculates the steering angle response and the main engine rotation speed response corresponding to the case of the actual engine based on these signals, obtains the actual steering angle and the propeller rotation speed, and executes the calculation by the steering motion mathematical model. I do. This mathematical model for maneuvering motion is a mathematical model for obtaining a fluid force acting on a rudder, a propeller and a hull using a group of mathematical formulas for obtaining a hull motion generated by operating a rudder and a propeller. The central processing unit 2 further substitutes the fluid force resulting from the maneuvering motion obtained by using the maneuvering motion mathematical model into the six-degree-of-freedom motion equation of the hull motion, and calculates the position, attitude, speed, angular velocity, acceleration, The angular acceleration, and the position / posture of the own ship and the sway (vector amount) determined by these various amounts are calculated, and the result is first transmitted to the simulated view device 8. The simulated view device 8 receives a signal from the central processing unit 2 as a signal indicating the position and attitude of the own ship in the set space and the state of the view seen from the bridge, and receives information of the signal and the wave input in advance. (Wave height data, average wave period data, etc. corresponding to the sea area)
A view image obtained by synthesizing an image of a fixed target or a moving target with a wave image is projected on a screen. The waveform data of the wave image portion of the view image created by the simulated view device 8 is converted to an image signal and projected on the screen at the same time (or before), and the central processing unit Feedback is made to 2. The central processing unit 2
From this waveform data, the relative position between the hull and the waves is detected to detect the waveform of the waves around the hull, and based on the waveform information, the forced force (fluid force) that the hull receives from the waves is calculated and obtained. A 6-DOF motion equation of the hull motion is solved based on the obtained fluid force, and the hull sway (vector amount) caused by the wave is obtained. Then, the central processing unit 2 adds the sway of the hull due to the influence of the wave and the sway of the hull due to the maneuvering motion by vector calculation, and transmits the value to the sway device 7. Shaking device 7
Swings the simulated bridge 6 according to the swing signal from the central processing unit 2. In this way, by controlling the driving of the rocking device 7 based on the video signal of the wave image created by the simulated viewing device 8, the movement of the simulated bridge 6 can be completely linked with the wave in the image.

Next, the overall operation of the ship maneuvering simulator according to the present embodiment will be described more specifically with reference to the flow chart of FIG.

[Preparation for Training] At the time of carrying out the ship maneuvering training, each device constituting the ship maneuvering simulator is initialized (reset) in order to erase the previous training contents. The initialization operation is executed instantly by pressing a reset button provided on the instructor's desk 1.

When the reset button is pressed, the mode of the main controller of the instructor's desk 1 becomes a training condition setting mode, and various training conditions are displayed in a menu on the monitor screen of the instructor's desk 1. The training conditions are set by appropriately selecting the conditions to be set from various training menus displayed on the monitor screen. The training menu includes
Categories such as ship type, training area, initial conditions, environmental conditions, etc.
A large number of condition items are prepared separately. Move the cursor on the monitor screen using a track ball or joystick, select all the necessary items for each category, and complete the setting from the menu. The condition setting can be completed by selecting and executing the item. Simultaneously with the completion of the setting of the conditions, the information of the set training conditions is transmitted to each device of the ship maneuvering simulator, such as the central processing unit 2, the simulated visibility device 8, and the instruments 9 in the simulated bridge. The mode is switched to the training execution standby mode.

In the training execution standby mode, the simulation bridge 6
The display is provided on a display provided on the console, and a notification sound is emitted from the speaker to notify the navigation operator that training is about to begin. The ship operation trainee performs a final check of various instruments according to a predetermined procedure, and waits for a simulated voyage.

[Execution of Training] Ship training is started by pressing a training start button on the instructor's desk 1. When the training start button is pressed, the instruction from the central processing unit 2
The simulated view device 8 is operated to display a visual field image on the screen, and then the shaking device 7 is operated to start shaking the simulated bridge 6. While confirming the outboard environment with the visual field image and the simulated bridge in-vehicle instruments 9, the pilot
Operate the main engine control unit and go on a simulated voyage.

While the training is being performed, the central processing unit 2 constantly calculates external forces acting on the hull such as a fluid force and a wave forcing force due to the maneuvering based on the information of the set training conditions. Based on the result, the above-described equation of motion of six degrees of freedom is solved, and the position and attitude of the ship in the set space are obtained. Here, the information which is obtained moment by moment is transmitted in real time to the radar pseudo signal generator 4, the simulated sound generator 5, the swaying device 7, the simulated visibility device 8, and the instruments 9 in the simulated bridge. Then, a radar signal is transmitted from the radar pseudo signal generator 4, and the radar device of the simulated bridge in-vehicle instruments 9 displays the position of the own ship and the shadow of another ship, and generates a simulated sound. The device 5 emits a main engine sound, a wave wind sound, and other environmental sounds. The swaying device 7 causes the simulated bridge 6 to generate hull sway such as horizontal sway, vertical sway, bow sway, forward / backward sway, left / right sway, and vertical sway. Based on the signal from the central processing unit 2 and information on waves input in advance, the simulated viewing device 8 is an image of a fixed target such as a harbor scene, a lighthouse, an island shadow, or a moving target such as another ship or a floating object. A view image obtained by synthesizing the image with the wave image is projected on a screen. The image signal of the wave image portion of the view image is fed to the central processing unit 2.
Will be played back. As described with reference to FIG. 2, the central processing unit 2 sequentially obtains the relative position between the hull and the wave and the fluid force received by the hull from the wave, and based on the fluid force and the fluid force resulting from the maneuver, the rocking device. 7 is controlled. When the central processing unit 2 detects the relative position between the hull and the waves, the central processing unit 2 checks whether or not the wave peak has contacted the bow, and the contact (YES).
In this case, the signal is sent to the simulated sound generator 5.
The simulated sound generating device 5 outputs a sound of a bow cutting off a wave or a sound of a wave hitting a hull from a speaker based on data such as a ship speed, a wave height, and a hull attitude with respect to the wave.

The ship maneuvering trainer operates the ship while always paying attention to the wave image projected on the field of view of the simulated bridge 6, and avoids a large wave when it encounters it, or takes an appropriate hull posture with respect to the wave. The rudder operation is performed. Then, when the waves can be successfully avoided by the rudder operation of the boat maneuvering train, a small sway is given to the simulated bridge 6 and a small wave sound is output. Conversely, when the avoidance of the waves fails, the simulated bridge 6 is controlled. A large sway due to the waves is given, and a loud sound is output. In this way, the boat maneuvering trainer performs a boat maneuvering like an actual boat, while experiencing the sway and the sound of the hull caused by the waves. Therefore, according to the ship maneuvering simulator, advanced ship maneuvering techniques including techniques for dealing with waves can be acquired at an early stage.

On the other hand, on the monitor screen of the instructor's desk 1, the execution status of the steering operation, the main engine operation, and the like by the boat maneuvering trainer is displayed in real time. The training instructor monitors the ship maneuvering state by the monitor display during the training, and checks the ship maneuvering skill of the ship maneuvering trainer. According to the instruction from the instructor's desk 1, new reefs and other ships can appear in the view image, the weather can be changed suddenly, or the main engine and the steering gear can be broken down. You can also check your coping skills. Then, after performing a predetermined ship training, the training stop button of the instructor's desk 1 is pressed to terminate the training.

The training results and the training setting conditions are recorded in the magnetic recording device as data for each of the trainees. Then, at any time after the end of the training, the data can be called up, and the situation during the training can be reproduced on the monitor screen or printed out. Therefore, the ship maneuvering trainer can use the monitor images and printed records to
You can objectively recognize your own maneuvering ability.

[0032]

As described above, according to the ship maneuvering simulator of the present invention, the simulated bridge can be shaken in conjunction with the wave image projected on the field of view of the simulated bridge.
The ship-training trainee can experience the feeling of the ship swaying under the influence of the waves, and a high training effect can be obtained.

[Brief description of the drawings]

FIG. 1 is a view showing one embodiment of a device configuration of a boat maneuvering simulator according to the present invention.

FIG. 2 is a view showing a view image and a control flow of bridge sway in a ship maneuvering simulator shown in FIG. 1;

FIG. 3 is a diagram showing an overall operation flow of the boat maneuvering simulator shown in FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Instructor's desk 2 Central processing unit (motion control means) 3 Navigation instrument interface device 4 Radar pseudo signal generator 5 Simulated sound generator 6 Simulated bridge 7 Shaking device 8 Simulated visibility device 9 Instrument in simulated bridge Class 10 Steering device 11 Main engine control device

Continuation of the front page (56) References JP-A-60-227286 (JP, A) JP-A-61-52042 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) G09B 9 / 06

Claims (1)

(57) [Claims] 1. A simulated bridge for training a ship, and the simulated ship
Pre-input according to the maneuvering situation at the bridge
Based on the information of the waves, project a wave image in the field of view of the simulated bridge
Simulated view device and motion for shaking the simulated bridge
The hull based on the rocking device and the wave information according to the maneuvering situation described above
Calculate the sway caused by the waves received and respond accordingly
Shaking control to drive the shaking device to shake the simulated bridge
And a means for maneuvering a ship.