JPH0314679B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a steering system for a ship, and more particularly to a steering system for a ship that simplifies setting of a target value when changing course.

<Prior art> In general, in a ship's steering system, when a ship is navigating with a target value set, when changing the course (hereinafter referred to as "course change"), the helmsman operates the manual steering system to steer the ship. The vehicle is guided to the target course, and then the helmsman manually changes the initial target setting while holding the operating end of the manual steering device, and switches to automatic steering after completing the new target value setting. He was operating a ship. Hereinafter, such a conventional technique will be explained using drawings.

FIG. 4 is a block diagram of a conventional ship steering system.

In Fig. 4, 1 is a ship, 2 is a direction measuring device that measures the heading of the ship 1 and outputs a heading signal ψ, 3 is a target course setting device that outputs a target course signal θ, and 31 is a push button for setting up and down. button switch 311
and an electric target setter consisting of an up/down counter 312 that goes up and down in response to a signal from a push button switch 31; 32 is a dial target setter that mechanically sets a target by operating a dial;
Either an electric target setter 31 or a dial target setter may be used), 4 compares the target course signal θ and the heading signal ψ, and outputs a steering signal δ that minimizes this comparison value. automatic steering control unit,
5 is a manual steering device that outputs a manual steering signal ω that can manually change the heading direction of the ship 1; 6 is an automatic/manual changeover switch; and 7 is a rudder.

In other words, during normal operation, ship 1 automatically
The manual changeover switch 6 is set to the automatic side, and the vessel is navigating based on the output δ of the automatic steering control section.

Here, when it becomes necessary to change the course of the vessel 1 (if a course change command is given), the helmsman first switches the automatic/manual changeover switch 6 to the manual side, and then switches the manual steering device 5 to the manual side.
to guide the vessel 1 to the target setting course.
Next, the helmsman holds the manual steering device 5 in this state with one hand and uses the other hand to change the initial target course value of the target course setting device 3 to the target course value after the course change, and switches between automatic and manual. Switch the switch 6 to the automatic side to maintain the course.

<Problems with the Prior Art> In such a ship steering system, the helmsman must perform subtle changes in the target course value while operating the manual steering system. That is, since it is necessary to operate the automatic steering target setting while manually steering the vehicle on the one hand, there is a problem that it takes time to set the course and places a heavy burden on the driver.

<Object of the Invention> The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a steering device for a ship that can easily set a target with a simple operation immediately after manual steering is completed. do.

<Structure of the Invention> In order to achieve the above-mentioned object, the present invention is characterized in that, in a ship steering system, a heading signal at the time when the ship changes course by manual steering is used as a new target course setting value. It is something to do.

<Operation> The target course setting device sets the target course of the ship and outputs the target course signal, and the heading measuring device measures the ship's heading at this time and takes in the heading signal, and then outputs the target course signal and the ship's heading. These automatic steering signals compare the heading signals to obtain an automatic steering signal that minimizes this comparison value, while a manual steering signal can be obtained that allows the ship's heading to be changed manually using a manual steering device. When steering a ship by switching between a steering signal and a manual steering signal using an automatic/manual changeover switch and sending the switched signal to the rudder, when changing the course of the ship using the manual steering device, the target course is In the setting device, when a heading signal at the time of a course change is inputted via a newly installed target value updating device, this transmitted heading signal at the time of a course change can be subsequently set as a new target value. The target value updating device outputs a heading signal at the time of course change to the target course setting device, and also outputs this heading signal at the time of course change to the automatic steering control section first, and then outputs the heading signal at the time of course change to the target course setting device. The changed target course signal can be output to the automatic steering control unit as a new target course setting value.

<Embodiments of the Invention> Hereinafter, the present invention will be described in detail using drawings which are specific embodiments. In addition, in the drawings below,
Descriptions of parts that overlap with those in FIG. 4 will be omitted, and even in the drawings described, the same numbers will be given to the parts that overlap, and the explanation thereof will be omitted.

FIG. 1 is a block diagram showing a specific configuration of the present invention.

In Fig. 1, 8 is a manual steering device 5 when changing course.
This is a target value updating device that changes the course of the ship 1 so that it follows the manually set course value, and uses the heading signal ψ at that time as the new target value of the target course setting device. Note that 81 in FIG. 1 is a setting push button switch with a timer function. This setting push button switch 81 with a timer function is set so that the contact 8 is turned on so that the heading signal ψ is input to the automatic steering control unit 4.
1a operates for a certain period of time (minimum, the time until the target course setting device 3' completes setting the new target value)
After , the target course setting device 3' is turned off (the contact 81b returns to its original state) and the automatic steering control section 4 is connected. 82 is an update switch with a timer function that is turned on and off in conjunction with the contact 81a of the setting push button switch 81. Note that the target course setting device 3' is, for example, an electric target setting device 31.
If so, the configuration may be such that the values of the initial target course signal θ and the heading signal ψ are compared and the up-down counter is operated by the comparison value (deviation) (in short, if the heading signal ψ is Any configuration that can be used as a new target value will suffice (the same can be said for mechanical systems).

FIG. 2 is a flowchart showing the operation of the present invention.

The operation of the steering device configured in this way will be described below.

Now, suppose that a course change command signal is generated during automatic steering. The helmsman immediately switches the automatic/manual switch 6 to the manual side and manually changes the course of the vessel 1 to the changing course angle. When the helmsman confirms that the vessel 1 is on the commanded course using the heading signal ψ from the azimuth measuring device 2, he turns on the setting push button switch 81 in the target value updating device 8. Therefore, the heading signal ψ is output to the automatic steering control section 4 for a certain period of time. On the other hand, the heading signal ψ passed through the setting push button switch 81 is simultaneously transmitted to the target course setting device 3' via an updating switch 82 which operates in conjunction with the updating switch 82. A new target value is set and output to the target course setting device 3' based on the transmitted heading signal ψ. That is, even if the contact 81a of the setting push button switch 81 is turned off, the target course setting device 3' has changed the target value so that it outputs a new target course signal θ'. θ' is output via contact 81b. Therefore, when the helmsman switches the automatic/manual changeover switch 6 to automatic mode, the ship 1 can automatically navigate a new course based on the course change command.

In other words, the ship steering system of the present invention simultaneously sets the next automatic steering course (by pressing the setting push button switch) during manual steering, so it is extremely efficient to set the target course. Changes are possible.

Note that the present invention is not limited to the configuration described above. For example, instead of the setting push button switch 81 and the transmission switch 82, a combination of a logic element (for example, a combination circuit of OR elements) and a flip-flop may be used. This will be explained using FIG. 3.

FIG. 3 is a block diagram showing another embodiment of the invention.

That is, in FIG. 3, the electric target setting device 31 explained in FIG. 4 is applied in place of the target course setting device 3' in FIG. The target value updating device is configured such that when the push button switch 311' for setting up and down ' is turned on at the same time, the heading signal after the course change becomes a new target course signal as in the explanation of Fig. 1. This shows the circuit configuration of .

In FIG. 3, 9 is a target value updating device;
This target value updating device 9 is composed of a flip-flop (hereinafter referred to as "FF") 91, an AND circuit 92, switch elements 93 and 94, and an OR function circuit 95.

Now, assume that the automatic/manual changeover switch 6 is switched to manual to change the course of the ship 1 and put it on a predetermined command course. Here, when both the upper and lower setting push button switches 311 are turned on, the output of the AND circuit 92 is input to the set terminal S to set the FF 91, and the output from the output terminal Q turns on the switch circuit 93. Therefore, the heading signal ψ is output from the OR function circuit 95.
The signal is transmitted to the automatic steering control section 4 via the following. on the other hand,
The heading signal ψ, which is the output of the switch circuit 93, is also transmitted to the electric target setter 31', and the initial target value is changed. When the automatic/manual changeover switch 6 is switched to automatic, the switching signal at that time is input to the reset terminal R of the FF91, FF91 is inverted and the switch element 93 is turned off, and the output from the output terminal Q of the FF91 turns off the switch element 94. is turned on and the newly set target course signal θ' is output to the automatic steering control section 4 via the OR function circuit 95, so that the ship 1 is automatically steered on the course after the course change.

As mentioned above, the target value updating device only needs to be able to output the heading value (measured value) when the ship changes course to the automatic steering control unit as a new value of the target course setting device, so this function can be It may also be configured with a processor system.

<Effects of the Invention> As described above in detail with specific examples, the ship steering system of the present invention allows the target value of the target course setting device to be set by simply pressing a push button while manually steering. Since it can be easily changed, the fatigue of the helmsman is reduced.

Since the heading signal output from the target value updating device is the current course obtained by manual steering, there is no danger to the ship even if the signal is operated erroneously.

By operating the target value update device at any time during manual steering, the ship will navigate the value closest to the course it is currently sailing, so it can also be used as a course storage device during manual steering.

There are other effects.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a specific configuration of the present invention, FIG. 2 is a flowchart showing the operation of the present invention, FIG. 3 is a block diagram showing another embodiment of the present invention, and FIG. 4 is a conventional system. FIG. 2 is a block diagram of a steering device for a ship. DESCRIPTION OF SYMBOLS 1... Ship, 2... Direction measuring device, 3, 3'... Target course setting device, 4... Automatic steering control section, 5... Manual steering device, 6... Automatic/manual changeover switch, 8, 9...
Target value update device.

Claims (1)

[Scope of Claims] 1. A target course setting device that sets a target course of a ship and outputs a target course signal, a direction measuring device that measures the heading of the ship and outputs a heading signal, and the target course signal. an automatic steering control unit that compares the heading signal and outputs an automatic steering signal that minimizes the comparison value; and a manual steering device that can manually change the heading of the vessel and outputs a manual steering signal. , an automatic steering wheel that switches between the automatic steering signal and the manual steering signal and outputs the switched signal to the rudder.
In a steering device for a ship equipped with a manual changeover switch, when the ship changes course by the manual steering device and a heading signal at this time of course change is inputted via a target value updating device, this transmission is subsequently performed. a target course setting device capable of setting a heading signal at the time of the course change as a new target value; A target value updating device configured to output the changed target course signal from the target course setting device to the control section and then output the changed target course signal from the target course setting device to the automatic steering control section as a new target course setting value. A ship steering device characterized by: