JP2964304B2 - Ship route control method and apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route keeping control for a ship capable of changing a course at a large angle and a small turning radius required for keeping a route when conducting ocean observation or ocean surveying. Method and apparatus.

[0002]

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, The navigation is performed by instructing a target bow direction to a navigation device, commonly called an autopilot, which controls the rudder to change the course.

[0003]

Even with such a conventional course changing method, in maintaining a wide route such as an open sea route,
Most of the small-angle needles are functioning satisfactorily. However, when the route is maintained in a relatively narrow range as in ocean observation or ocean surveying, the sea area D in which ocean observation or ocean survey is performed is divided into meshes E as shown in FIG. Normally, ocean observation, ocean surveying, etc. are performed while navigating on the corresponding channel A at a constant ship speed.
The turning radius at the time of changing the course is not only limited by the turning performance of the rudder, but also the boat speed is limited to a boat speed within a range where the rudder functions effectively.

Therefore, in order to realize the above-mentioned route maintenance along the route on the mesh E using the conventional route maintenance control device, an unrealistic route A 'as shown in FIG. It is necessary to set and maintain the route, and the route keeping control device of the angle can not be effectively used in the fields that require the most automation such as ocean observation and ocean surveying, and automation of ship maneuvering in ocean observation and ocean surveying, etc. The fact is that labor saving has not been achieved.

The present invention has been made in order to solve such a problem, and an object of the present invention is to provide a large angle required for maintaining a route in a relatively narrow range such as ocean observation and ocean surveying. It is still another object of the present invention to provide a method and apparatus for controlling the route holding of a ship capable of changing the course of a small turning radius.

[0006]

That is, a route keeping control method according to the present invention comprises: a forward / backward traveling device capable of generating a thrust in the forward and backward directions of a ship; In a channel holding control method for a ship in which a ship having left and right and turning propulsion devices capable of generating thrusts in the sideward and turning directions is held along a previously planned route, a predetermined route on the 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 with the turning and small turning radius in place, and after changing the needle, the forward and backward moving device is driven and at the same time the left and right and turning propulsion devices are braked and the next turning Point O
It is characterized by being made to sail toward _{r + 1} .

[0007] Further, the navigation control device for a ship according to the present invention includes a forward / backward traveling device capable of generating thrust in the bow and stern direction of the vessel, and a port side and turning direction when the forward / backward traveling speed of the vessel is relatively low. A vessel holding control apparatus for controlling a vessel having left and right and turning propulsion devices capable of generating thrust in a direction so as to keep a route along a previously planned route, comprising: a) The heading by the heading sensor and the 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 A position / vessel / bow direction deviation calculator for calculating the deviation from the ship position, the deviation between the held ship speed and the current ship speed, and the deviation between the direction for maintaining the route and the current direction, respectively; Calculates the required thrust in the forward, backward, left and right and turning directions of the ship based on the deviations of the ship speed, heading, and position calculated by the part, which eliminates those deviations. Thrust calculation unit, (d) Before, after, left, right, and turning calculated by the necessary thrust calculation unit Thrust thruster and CPP
And (e) thrusters and CPs for generating the thrusts distributed by the thrust distribution units.
P, a thruster that drives and controls the rudder, a CPP, and a rudder drive control unit.

[0008]

[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 The boat speed is such that the turning propulsion device functions effectively, 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. By braking the left and right and turning propulsion devices and navigating to the next turning point Or _{+ 1} , at a large angle required for maintaining the route such as ocean observation and ocean surveying, and
A needle with a small turning radius becomes possible.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a hull 1 includes a single-axis CPP device 2.
, A rudder device 3, a bow thruster device 4, and a stance thruster device 5. And the one-axis CPP device 2
And the bow thruster device 4 and the stance thruster device 5
The rudder device 3 is operated by the marine vessel maneuvering console 6 controlled by the route holding control device 11.
1 is operated by a steering stand 7 controlled by the steering stand 1.

The navigation control device 11 receives a heading by the heading sensor 8, a boat position by the position sensor 9, and a boat speed by the boat speed sensor 10. As shown in FIG. 2, the navigation device 11 includes (a) a heading obtained by the heading sensor 8, a ship position obtained by the position sensor 9, a ship speed obtained by the ship speed sensor 10, and a route of the held 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 / bow direction deviation calculating unit 14 for calculating a deviation between the heading for maintaining the route and the current heading, respectively, (c) a boat speed calculated by the deviation calculating unit 14, a heading, and a ship position Before and after the ship to eliminate those deviations based on each deviation The required thrust calculating unit 15 for calculating the required thrusts in the right and turning directions is calculated by the thrusters 4 and 5 before, after, left and right, and in the turning direction. , CPP
2 and a thrust distributing unit 16 respectively distributing to the rudder 3; (e) thrusters, CPP and rudder for driving and controlling the thrusters 4, 5, CPP2 and rudder 3 so as to generate the thrust distributed by the thrust distributing unit 16; And a drive control unit 17.

Next, a description will be given, with reference to a control flow chart, of a method for controlling the route holding of a ship by the route holding control device of the present invention. The route keeping control device 11 is shown in FIGS.
As shown in (1), after the start (101), the pre-planned route data (turning point coordinates, turning method, etc.) is input to the holding route data storage unit 12 of the route holding control device 11 (1).
02).

Then, as shown in FIG.
When a ship (ocean observing ship) 1a enters the ship, the ship 1a sails along a predetermined route A while the heading by the heading sensor 8, the ship position by the position sensor 9, and the ship speed by the ship speed sensor 10 Input ship position, ship speed, and bearing (10
3)) Whether the own ship 1a is within a predetermined distance R before the target turning point O1 by the target ship position / target ship speed / target bow direction setting unit 13 based on the route data in the held route data storage unit 12. A decision is made (104).

If the speed is out of the range, the target speed is set by the setting unit 13 (105). If the speed is within the range, the target speed is reduced to a speed at which the thruster can function effectively. Is set (106). Further, the setting unit 13
In, the target position and the target heading are set (1).
07). After that, the ship position / ship speed / heading deviation calculating 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 held ship speed and the current ship speed (109)
Then, a deviation (110) between the azimuth for maintaining the route and the current azimuth is calculated.

Based on the deviations of the boat speed, heading and position, the necessary thrust calculations in the front-rear, left-right, and turning directions of the ship to eliminate those deviations are calculated as required thrust forces in the bow-stern direction, the right-left chord direction, and the turning direction. It is calculated by the unit 15 (111). Then, the required thrust in the front-back, left-right, and turning directions is
5, the calculation to distribute to the CPP 2 and the rudder 3 is performed by the thrust distribution unit 16 (112).

Thereafter, the thrusters 4, 5, CPP2 and rudder 3 are driven and 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, when the thrusters 4 and 5 decelerate to a speed at which the thrusters 4 and 5 function effectively, the ship 1a turns 90 ° to the right. Then, it is determined whether or not the course change has been completed based on the bow direction detected by the bow direction sensor 8 (114). If the course change has not been completed, as shown in FIG. When the change of the course is completed, it is determined whether or not the next change point O1 exists (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
3 and the ship 1a is made to sail toward the next turning point O2.

The above control is repeated to obtain the next turning point Or _{+ 1.}
When there is no more, the route keeping control in the ocean observation area D ends (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 When the boat speed is such that the turning propulsion device functions effectively, 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 left and right and turning propulsion devices are braked and navigated to the next turning point Or _{+ 1} , so that the turning angle at a large angle and small turning radius required for maintaining the navigation route such as ocean observation and ocean surveying. Is possible.

In the above description, the case of changing the course of the boat by 90 ° has been described. However, the present invention is not limited to this, and the same can be applied to changing the course of the boat at another angle. Further, the route keeping control method of the present invention can be realized by using a large-angle rudder or a turning type propeller capable of generating thrust in the left and right directions even at a low speed instead of the stance thruster device.

[0018]

As described above, according to the present invention, it is possible to change the course at a large angle and a small turning radius required for maintaining a navigation route such as ocean observation and ocean surveying. This makes it possible to automate the operation of ships in maintaining the navigation routes, such as ocean observation and ocean surveying, which were not possible, thus making it possible to significantly save labor and improve efficiency.

[Brief description of the drawings]

FIG. 1 is a control system diagram for carrying out a ship route keeping control method according to the present invention.

FIG. 2 is a functional block diagram of a ship route keeping control device according to the present invention.

FIG. 3 is a diagram showing a first half of a control flow diagram.

FIG. 4 is a diagram showing a latter half of a control flow diagram.

FIG. 5 is an explanatory view showing a moving state of a ship when a route is maintained by the method of the present invention.

FIG. 6 is an enlarged view of a main part of FIG. 5;

FIG. 7 is an explanatory diagram showing a moving state of a ship when a route is maintained by a conventional control method.

FIG. 8 is an explanatory diagram showing an example of a holding route in ocean observation.

FIG. 9 is an explanatory diagram showing an example of a planned route when a route held in ocean observation is held by a conventional route holding device.

[Explanation of symbols]

A route O _r target veering point distance 1a ship 2 CPP apparatus 4 bow thruster 5 stance raster 8 heading sensor 9 position sensor 10 the boat speed sensor 11 Passage holding the controller 12 holds route data storage unit 13 the target from R target veering point O _r Ship position / target ship speed / target bow direction setting unit 14 Ship position / ship speed / bow direction deviation calculation unit 15 Stern calculation unit required for stern / side / side / turning direction 16 Thrust distribution unit 17 Thruster / CPP / rudder drive control unit

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-61-232993 (JP, A) JP-A-55-55095 (JP, A) JP-A-63-203497 (JP, A) JP-A 50-50 27292 (JP, A) JP-A-1-254487 (JP, A) JP-A-6-344986 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B63H 25/04

Claims (2)

(57) [Claims] 1. A forward / reverse device capable of generating a thrust in the forward and backward directions of a ship, and a left and right and a forward / backward drive capable of generating a thrust in a starboard direction and a turning direction when the forward / backward speed of the ship is relatively low. vessels and a turning round propulsion device, in route holding control method for a ship which is adapted to route held along the preplanned route, when performing veering at a predetermined veering point O _r on course, the modified needle 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 It is assumed that the needle is changed in a predetermined direction at a turning or small turning radius, and after changing the course, the forward / reverse driving device is driven, and at the same time, the left and right and turning propulsion devices are braked to sail toward the next turning point Or _{+ 1.} Characteristic route keeping control method. 2. A forward / reverse device capable of generating a thrust in the forward and backward directions of a ship, and a left and right and a forward / backward drive capable of generating a thrust in a starboard direction and a turning direction 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 the vessel to be held along a route planned in advance, 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 Set the target boat speed so that the boat stops near the point Or or the boat speed decreases to the extent that the left and right and turning propulsion devices function effectively, and the target position and target boat speed for setting the target position and the target bow・ Target heading setting section,
(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,
And (c) calculating the required thrusts in the front, rear, left, right, and turning directions of the ship to eliminate the deviations based on the deviations of the ship speed, heading, and ship position calculated by the deviation calculation unit. (D) thrust distributing section for distributing thrust in the forward, backward, left, right, and turning directions calculated by the necessary thrust calculating section to the thruster, the CPP, and the rudder, respectively, (d) the thrust A ship route keeping control device comprising a thruster, a CPP, and a thruster / CPP / rudder drive control unit for driving and controlling a rudder so as to generate a thrust distributed by a distribution unit.