Marine steering gear monitoring device and monitoring method

Abstract

To provide a technology for suitably switching a plurality of pump units in a marine steering device including a hydraulic actuator and a plurality of pump unit respectively including a hydraulic pump connected to the hydraulic actuator in a closed circuit.SOLUTION: A monitoring device for a marine steering device includes at least one processing device with a plurality of pump units as monitoring subjects, acquiring at least one type of measurement value expressing the utilization state of the monitoring subject, acquiring a state level which is an index of the utilization state regarding each monitoring subject based on the measured value, and determining utilization and stopping of each monitoring subject based on the state level of the monitoring subject.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a monitoring device and a monitoring method for monitoring the state of a marine steering gear.

Background Art

[0002] Conventionally, a marine steering gear including a hydraulic actuator that rotates a rudder shaft connected to a rudder blade via a tiller is known. The hydraulic actuator has a pair of hydraulic cylinders for one tiller, and a hydraulic circuit for controlling the operation of these hydraulic cylinders is provided in the marine steering gear. The hydraulic circuit has a plurality of closed circuits for supplying and discharging hydraulic oil from a hydraulic pump to the hydraulic actuator, and one or two of the plurality of circuits are used simultaneously. Patent Document 1 discloses this type of marine steering gear.

[0003] In the steering gear of Patent Document 1, a hydraulic actuator for operating the tiller is driven by two hydraulic circuits of a first hydraulic system and a second hydraulic system. Each hydraulic system has a hydraulic switching valve for switching the flow path of the hydraulic oil. Based on the comparison between the operation of the hydraulic switching valve and the command signal to the solenoid valve for operating the hydraulic switching valve, the presence or absence of the occurrence of the hydro-lock phenomenon in the hydraulic system is detected, and if the hydro-lock phenomenon occurs, it is notified. When an abnormality is notified by an alarm lamp, the operator immediately stops the hydraulic system in which the abnormality has been notified.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the steering gear of Patent Document 1, it is possible to identify which of the two hydraulic systems has hydrolocked, but the operation to stop that hydraulic system is performed by the helmsman. Furthermore, Patent Document 1 does not disclose how to start up the other hydraulic system when one of the two hydraulic systems has stopped. [Means for solving the problem]

[0006] Some marine steering gears are equipped with two or more pump units for one hydraulic actuator. In such marine steering gears, at least one pump unit is usually stopped. If an abnormality occurs in an operating pump unit, the abnormal pump unit is stopped and the stopped pump unit is started as a substitute. Conventionally, the start and stop of such pump units has been performed by the helmsman. The inventors of the present application have been studying automatic switching of the operating pump unit to realize automatic operation of marine steering gears. Here, rather than simply performing switching in which the abnormal pump unit is stopped and the stopped pump unit is started as a substitute, it is required that the multiple pump units be operated appropriately.

[0007] Therefore, the monitoring device for a marine steering gear according to the present disclosure is a monitoring device for a marine steering gear that includes at least one hydraulic actuator that rotates a rudder stock connected to a rudder blade, and a plurality of pump units each having a hydraulic pump connected to the hydraulic actuator, and one or more of the plurality of pump units are operated simultaneously to supply and discharge hydraulic oil to the hydraulic actuator, thereby operating the hydraulic actuator, The plurality of pump units are monitored; at least one processing device that acquires at least one type of measurement value that indicates an operating state of the monitored objects, determines a status level that is an indicator of an operating state of each of the monitored objects based on the measurement value, and determines whether each of the monitored objects is operating or stopped based on the status level of the monitored object; and, at least one storage device connected to the processing device so as to be able to read and write information, and storing the status levels of the monitored objects; Equipped with 、 The processing device is configured to determine an abnormal state of the monitoring targets based on the measurement values, determine an abnormality point that is an index of the abnormal state, determine the state level after a transition by adding the abnormality point to the state level stored in the storage device, and determine whether each of the monitoring targets is in operation or stopped based on the state level of the monitoring targets after the transition. It is characterized by the following.

[0008] Moreover, the monitoring method of the marine rudder actuator according to the present disclosure includes at least one hydraulic actuator that rotates a rudder shaft connected to a rudder blade, and a plurality of pump units each having a hydraulic pump connected to the hydraulic actuator. When one or more of the plurality of pump units operate simultaneously to supply and discharge hydraulic oil to the hydraulic actuator, the hydraulic actuator operates. The monitoring method of the marine rudder actuator is as follows: Regarding the plurality of pump units as monitoring targets, At least one processing device acquires at least one type of measurement value representing the operating state of the monitoring target, determines a state level that is an indicator of the operating state for each of the monitoring targets based on the measurement value, and determines operation and stop for each of the monitoring targets based on the state level of the monitoring target. fruit, determining the state level of the monitored object includes determining an abnormal state of the monitored object based on the measurement value, determining an abnormality point that is an index of the abnormal state, and determining the state level after the transition by adding the abnormality point to the state level stored in advance; Determining whether the monitoring targets are operating or stopped includes determining whether each of the monitoring targets is operating or stopped based on the state level after the transition of the monitoring targets. It is characterized by the following.

Effect of the Invention

[0009] According to the present disclosure, in a marine rudder actuator including a hydraulic actuator and a plurality of pump units each having a hydraulic pump connected to the hydraulic actuator, a technique for appropriately switching the plurality of pump units is provided.

Brief Description of the Drawings

[0010] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a marine rudder actuator and its monitoring device according to the first embodiment of the present disclosure. [Figure 2] FIG. 2 is a hydraulic circuit diagram of the marine rudder actuator according to the first embodiment. [Figure 3] FIG. 3 is a diagram showing a schematic configuration of the monitoring device according to the first embodiment. [Figure 4]FIG. 4 is a diagram showing a schematic configuration of a marine steering gear and its monitoring device according to Modification 1 of the first embodiment. [Figure 5] FIG. 5 is a diagram showing a schematic configuration of the monitoring device according to Modification 1 of the first embodiment. [Figure 6] FIG. 6 is a diagram showing a schematic configuration of a marine steering gear according to the second embodiment of the present disclosure. [Figure 7] FIG. 7 is a hydraulic circuit diagram of the marine steering gear according to the second embodiment.

MODE FOR CARRYING OUT THE INVENTION

[0011] 〔First Embodiment〕 FIG. 1 is a diagram showing a schematic configuration of a marine steering gear 1 and its monitoring device 8 according to the first embodiment of the present disclosure. As shown in FIG. 1, a ship 10 is equipped with a marine steering gear 1, a monitoring device 8 for monitoring the state of the marine steering gear 1, and a ship control device 6 for steering the marine steering gear 1. The marine steering gear 1 includes a rudder plate 21, a rudder shaft 22 connected to the rudder plate 21, and a hydraulic actuator 3 for rotating the rudder shaft 22.

[0012] FIG. 2 is a hydraulic circuit diagram of the marine steering gear 1 according to the first embodiment. As shown in FIGS. 1 and 2, the hydraulic actuator 3 according to the present embodiment is of a one-ram two-cylinder type that rotates the rudder shaft 22 via a tiller 23 fixed to the rudder shaft 22. The hydraulic actuator 3 includes a rod-shaped ram 31 extending in a direction orthogonal to the axial direction of the rudder shaft 22, and a pair of cylinders 32 into which both ends of the ram 31 are inserted. A pin 33 is provided at the center of the ram 31, and this pin 33 is engaged with the tiller 23. The hydraulic actuator 3 rotates the rudder shaft 22 by supplying and discharging hydraulic oil to the pair of cylinders 32 according to a steering command from the ship control device 6 to move the ram 31.

[0013] The marine rudder actuator 1 according to this embodiment includes four pump units 2A, 2B, 2C, and 2D as pressure sources for operating the hydraulic actuator 3. Hereinafter, when the first to fourth pump units 2A, 2B, 2C, and 2D are not particularly distinguished, the alphabetic subscripts are omitted and simply represented as "pump unit 2". The number of pump units 2 for one hydraulic actuator 3 may be two or more, and is not limited to this embodiment. Each of the pump units 2 is connected to the hydraulic actuator 3 by a hydraulic circuit so that a closed circuit is formed between the pump unit 2 and the hydraulic actuator 3.

[0014] In this embodiment, each pump unit 2 has substantially the same configuration. In FIG. 2, the first to third pump units 2A, 2B, and 2C, each connected to the hydraulic actuator 3 by a closed circuit, are shown, and the fourth pump unit 2D is omitted. Also, in FIG. 2, only an example of a hydraulic circuit in which a plurality of pump units 2 are connected to one hydraulic actuator 3 is shown, and the configuration of the hydraulic circuit is not limited to this figure. For example, in the hydraulic circuit of the present disclosure, each of the pump units 2 is connected to the hydraulic actuator 3 by a closed circuit, but each of the pump units 2 may be connected to the hydraulic actuator 3 by an open circuit.

[0015] Each pump unit 2 includes a hydraulic pump 4, an electric motor 5 for driving the hydraulic pump 4, and an oil block valve 52 for switching between blocking and allowing the flow of hydraulic oil between the hydraulic pump 4 and the hydraulic actuator 3.

[0016] The hydraulic pump 4 is an axial piston type hydraulic pump in which a plurality of pistons are reciprocally held in a rotating cylinder block. The hydraulic pump 4 supplies hydraulic oil to one of the pair of cylinders 32 and recovers hydraulic oil from the other. The hydraulic pump 4 according to this embodiment is a variable displacement type swash plate pump in which the swash plate can be tilted in both directions from the center. The tilt direction and angle of the swash plate are changed by a regulator 55 according to the output from a unit controller 54 that operates in response to a command from the ship steering control device 6.

[0017] The electric motor 5 drives the hydraulic pump 4. The start and stop of the electric motor 5 are controlled by the ship control device 6. In this embodiment, the rotational speed of the electric motor 5 is constant. However, the hydraulic pump 4 may be a variable displacement swash plate pump. Alternatively, the hydraulic pump 4 may be a fixed displacement pump, and the electric motor 5 may be a servo motor, and the rotation direction and rotational speed of the hydraulic pump 4 may be changed according to the output from the unit controller 54.

[0018] The hydraulic pump 4 has a pair of supply / discharge ports, and supply / discharge lines 41 are connected to each of the supply / discharge ports. Each of the pair of supply / discharge lines 41 is connected to a different cylinder 32. Thereby, a closed circuit is formed between the hydraulic actuator 3 and the hydraulic pump 4. For replenishing the hydraulic oil to the closed circuit, a tank line 51 provided with a check valve is connected to the supply / discharge line 41. Note that the supply / discharge lines 41 of each pump unit 2 may be independent from the supply / discharge lines 41 of other pump units 2, or a plurality of pump units 2 may share a part of the supply / discharge lines 41.

[0019] An oil block valve 52 is provided in the pair of supply / discharge lines 41. The oil block valve 52 is switched from the unloading state at the neutral position to the operating position by an unloading valve 56 that operates under the control of the unit controller 54. Further, the oil block valve 52 is switched from the neutral position to the operating position by receiving a pilot pressure. When the oil block valve 52 is in the neutral position, the pair of supply / discharge lines 41 are bypass-connected so that the hydraulic oil discharged from the hydraulic pump 4 does not flow to the hydraulic actuator 3 but flows to the hydraulic pump 4 or the tank line 51, and the flow of the hydraulic oil from the hydraulic actuator 3 to the hydraulic pump 4 is blocked by a check valve. When the oil block valve 52 is in the operating position, a closed circuit connecting the hydraulic pump 4 and the hydraulic actuator 3 is established by the pair of supply / discharge lines 41. In order to keep the pressure of the closed circuit below a certain value, a relief valve may be provided in each of the pair of supply / discharge lines 41.

[0020] Returning to FIG. 1, the marine steering gear 1 is provided with instruments 44 for detecting or measuring various information representing the state of the marine steering gear 1. For example, each pump unit 2 of the marine steering gear 1 is provided with at least one of a voltage sensor for measuring the power supply voltage, a rotation speed sensor for detecting the rotation speed of the electric motor 5, a hydraulic pressure sensor for measuring the pressure of the hydraulic circuit, a connection sensor for control communication, a connection sensor for monitoring communication, a hydro-lock detector for detecting hydro-lock, an oil temperature sensor for detecting the oil temperature of the hydraulic oil, a level sensor for detecting the oil level of the tank, a drip amount sensor for detecting the amount of oil dripping from the cylinder 32, a temperature sensor for detecting the temperature of the control equipment, and a valve sensor for detecting the operating state of each valve. Further, the marine steering gear 1 is provided with a rudder angle sensor for detecting the rotation angle of the rudder shaft 22 or the rudder blade 21, and a vibration sensor for detecting the vibration of the rudder shaft 22 or the rudder blade 21.

[0021] The state of the marine steering gear 1 having the above configuration is monitored by the monitoring device 8. The monitoring device 8 monitors a plurality of pump units 2A, 2B, 2C, 2D. The monitoring device 8 may monitor the hydraulic actuator 3 in addition to the plurality of pump units 2A, 2B, 2C, 2D. However, the monitoring target of the monitoring device 8 is not limited to the above.

[0022] FIG. 3 is a diagram showing a schematic configuration of the monitoring device 8. The monitoring device 8 includes a processing device 81 and a storage device 82 that is connected to the processing device 81 so as to be able to write and read information. The processing device 81 is connected to the storage device 82, the instruments 44, the ship steering control device 6, the unit controller 54 of each pump unit 2, etc. The monitoring device 8 acquires a detection signal (including measurement values and analysis results) from the aforementioned instruments 44.

[0023] The processing device 81 includes, for example, a processor, and functions as an abnormality detection unit 811, a point calculation unit 812, and a state transition determination unit 813 when the processor reads and executes a predetermined application program.

[0024] The abnormality detection unit 811 detects an abnormality in the marine steering gear 1 based on the detection signal (measurement value) acquired from the instruments 44. The items of abnormality that can be detected by the abnormality detection unit 811 are as exemplified in Table 1 below. The abnormality detection unit 811 may detect an abnormality by a known method. For example, the abnormality detection unit 811 can detect a decrease or increase in the power supply voltage, or an abnormality of differential limit exceeding, based on the detection signal of a voltage sensor that measures the power supply voltage. For example, the abnormality detection unit 811 compares the measurement value with a predetermined threshold value, and detects an abnormality when the measurement value exceeds or falls below the predetermined threshold value.

[0025]

Table 1

[0026] When the abnormality detection unit 811 detects an abnormality, it outputs abnormality detection information including the item of the detected abnormality, the location where the abnormality occurred, the time when the abnormality occurred, etc. to the point calculation unit 812. The location where the abnormality occurred is classified into, for example, the hydraulic actuator 3, the steering gear body including the steering shaft 22 and the tiller 23, the first to fourth pump units 2A, 2B, 2C, 2D, etc. Note that the abnormality detection unit 811 may be configured independently of the monitoring device 8. For example, the ship control device 6 may have an abnormality detection function, and the abnormality detected by the ship control device 6 may be transmitted to the monitoring device 8.

[0027] The point calculation unit 812 that has acquired the abnormality detection information derives an abnormality point corresponding to the detected item of abnormality by using the abnormality item - abnormality point information that defines the relationship between the item of abnormality and the abnormality point. The abnormality item - abnormality point information is stored in advance in a memory or a storage device 82 provided in the point calculation unit 812. The abnormality point represents the abnormality levels of various abnormalities related to the marine steering gear 1 in a common scale, and is an index representing the abnormality level. The abnormality point may be a value that becomes larger or smaller corresponding to the abnormality level. In the present embodiment, the abnormality point is represented by an integer. The point calculation unit 812 outputs the abnormality detection information further including the abnormality point to the state transition determination unit 813.

[0028] The state transition determination unit 813 that has acquired the abnormality detection information obtains the state level of each monitoring target. The state level of each monitoring target immediately before is stored in the storage device 82. The state transition determination unit 813 reads out the state level of each monitoring target immediately before from the storage device 82. The state transition determination unit 813 adds an abnormality point to the read state level of each monitoring target immediately before to obtain the state level after transition. The state transition determination unit 813 stores the state level after transition in the storage device 82. As a result, the state level stored in the storage device 82 is updated.

[0029] Based on the state level after transition, the state transition determination unit 813 determines the operation and stop of the monitoring target in operation according to a predetermined rule. When the monitoring target is the pump unit 2, instead of stop, hot standby and cold standby may be determined. Note that both hot standby and cold standby are classified as stop, but in hot standby, the hydraulic pump 4 is operating but the hydraulic actuator 3 is maintained so that the hydraulic oil does not flow, and in cold standby, the hydraulic pump 4 is stopped and the hydraulic oil does not flow to the hydraulic actuator 3. Further, when the state transition determination unit 813 determines stop, it may select a monitoring target to be started instead according to a predetermined rule based on the state level after transition. The rule for determining the operation and stop of the monitoring target and the rule for selecting the monitoring target to be started instead can be arbitrarily set.

[0030] The state transition determination unit 813 stores the determination result of the operation and stop of the monitoring target in operation in the storage device 82. When there is a selection result of the monitoring target to be started instead, the information identifying the selected monitoring target is also stored in the storage device 82.

[0031] Further, when the state transition determination unit 813 determines to stop, it outputs a switching signal to the ship control device 6. The switching signal may include identification information of the monitoring target to be stopped and the monitoring target to be started. When the state transition determination unit 813 determines to stop operation, it may output a switching signal to the monitoring target that switches between start / stop. Based on this switching signal, the monitoring target to be stopped is stopped, and the monitoring target to be started is started. Further, when the monitoring target is the pump unit 2 and there is a pump unit 2 that switches to hot standby, the target pump unit 2 is switched from cold standby to hot standby. However, the state transition determination unit 813 may notify the identification information of the monitoring target to be stopped and the monitoring target to be started through a display output device such as a monitor display provided on the bridge. In this case, the operator who has received the notification may manually perform the switching operation of the monitoring target. Hereinafter, the processing of the monitoring device 8 will be described by applying it to a specific example.

[0032] <Example 1> In Example 1, the monitoring targets of the monitoring device 8 are the first to fourth pump units 2A, 2B, 2C, and 2D. Table 2 shows the previous state level, abnormal point, state level after transition, and operating status of the first to fourth pump units 2A, 2B, 2C, and 2D in Example 1.

[0033]

Table 2

[0034] In the previous operating status of Example 1, only the first pump unit 2A was operating, and the second pump unit 2B, the third pump unit 2C, and the fourth pump unit 2D were stopped. In the operating pump unit 2, the oil block valve 52 is in the operating position, and the electric motor 5 is operating. In the cold standby pump unit 2, the oil block valve 52 is in the neutral position, and the electric motor 5 is stopped. In the hot standby pump unit 2, the oil block valve 52 is in the neutral position, and the electric motor 5 is operating.

[0035] In Case 1, the previous state levels are: First pump unit; 0.1, Second pump unit; 1.2, Third pump unit; 0.3, Fourth pump unit; 0.4. The lower the value of the state level, the better. The integer part value of the state level represents the accumulated abnormal points. The decimal part value of the state level is an arbitrary value representing the startup priority. The higher the startup priority, the smaller the decimal part value of the state level. For example, the decimal part value of the state level of pump unit 2, which is under maintenance and unavailable, is 9, which is the lowest startup priority. When the decimal part values of the state levels are equal, there is no startup priority order or they are tied.

[0036] In Case 1, since an abnormality with an abnormal point of 1.0 was detected in the first pump unit 2A, the state level after the transition is: First pump unit; 1.1, Second pump unit; 1.2, Third pump unit; 0.3, Fourth pump unit; 0.4.

[0037] In Case 1, the first rule is that the state level after the transition of the operating pump unit 2 is compared with the state level after the transition of all the stopped pump units 2. If the former is higher than the latter, it is determined as "operation stop"; otherwise, it is determined as "operation continuation". The first rule is used to determine the operation and stop of the monitoring target when the monitoring target is pump unit 2. Since the state level after the transition of the operating first pump unit 2A is higher than the state levels after the transition of the stopped third pump unit 2C and fourth pump unit 2D, the state transition determination unit 813 determines it as operation stop.

[0038] In Case 1, the second rule is to select, as the pump unit 2 to be alternatively started, the pump unit 2 with the lowest post-transition state level among the stopped pump units 2. The second rule is a rule used to select the pump unit 2 to be alternatively started when the monitoring target is the pump unit 2. Since the state level of the third pump unit 2C among the stopped pump units 2 is the lowest, the state transition determination unit 813 selects the third pump unit 2C.

[0039] Note that in the second rule of Case 1, one of the stopped pump units 2 is selected as the pump unit 2 to be started, but the number of pump units 2 to be stopped and the number of pump units 2 to be started do not necessarily have to be the same. For example, the second rule of Case 1 and Case 2 may be to select two pump units 2 in order from those with lower state levels among the stopped pump units 2 when one pump unit 2 stops. For example, the second rule of Case 1 may select, as the pump unit 2 to be started, the pump unit 2 with the lowest state level among the stopped pump units 2 when one pump unit 2 is to be stopped, and may select, as the pump unit 2 to be stopped (hot standby), the pump unit 2 with the second lowest state level.

[0040] <Case 2> In Case 2, the monitoring targets of the monitoring device 8 are the first to fourth pump units 2A, 2B, 2C, and 2D. Table 3 shows the immediately preceding state levels, abnormal points, post-transition state levels, and operating statuses of the first to fourth pump units 2A, 2B, 2C, and 2D in Case 2.

[0041]

Table 3

[0042] In the operating status immediately before Case 2, only the first pump unit 2A is operating, and the second pump unit 2B, the third pump unit 2C, and the fourth pump unit 2D are stopped. The previous state levels are the first pump unit; 0.1, the second pump unit; 2.2, the third pump unit; 2.3, and the fourth pump unit; 2.4. Here, when an abnormality at the abnormality point 1.0 is detected in the first pump unit 2A, the state levels after the transition are the first pump unit; 1.1, the second pump unit; 2.2, the third pump unit; 2.3, and the fourth pump unit; 2.4.

[0043] In Case 2, the state transition determination unit 813 uses the same first rule as in Case 1. Since the state level after the transition of the first pump unit 2A is lower than the state levels after the transition of all the stopped pump units 2B, 2C, and 2D, the state transition determination unit 813 determines to continue operation.

[0044] <Case 3> In Case 3, the monitoring targets of the monitoring device 8 are the first to fourth pump units 2A, 2B, 2C, and 2D. Table 4 shows the previous state levels, abnormality points, state levels after the transition, and operating status of the first to fourth pump units 2A, 2B, 2C, and 2D in Case 3.

[0045]

Table 4

[0046] In the operating status immediately before Case 3, only the first pump unit 2A is operating, and the second pump unit 2B, the third pump unit 2C, and the fourth pump unit 2D are stopped. The state transition determination unit 813 may obtain the state level after transition considering the operation time point regularly (for example, every few months) regardless of whether an abnormality is detected, and monitor the state of the marine steering gear 1 based on this state level after transition. The operation time point is a value based on the cumulative operation time of the monitoring target, and the value of the operation time point increases as the cumulative operation time becomes longer. The cumulative operation time of the monitoring target may be measured by the instruments 44 or counted by a timer provided in the ship control device 6. The operation time point may be a value that increases linearly with respect to the cumulative operation time or a value that increases quadratically. In the storage device 82, the cumulative operation time of each pump unit 2 and information representing the relationship between the cumulative operation time and the operation time point are stored, and the state transition determination unit 813 can obtain the cumulative operation point of each pump unit 2 using this information.

[0047] In Case 3, the previous state level is the first pump unit; 1.1, the second pump unit; 2.2, the third pump unit; 1.4, and the fourth pump unit; 2.3. The state transition determination unit 813 adds the operation time point to the previous state level. The state level after transition becomes the first pump unit; 1.7, the second pump unit; 2.3, the third pump unit; 1.5, and the fourth pump unit; 2.4.

[0048] In Case 3, the state transition determination unit 813 uses the same first rule and second rule as in Case 1. Since the state level after transition of the stopped third pump unit 2C is lower than the state level after transition of the first pump unit 2A, the state transition determination unit 813 determines that the operation has stopped. Also, since the state level after transition of the third pump unit 2C is the lowest, the monitoring device 8 selects the third pump unit 2C.

[0049] In the above Examples 1 to 3, the first rule compares the state levels after the transition between the operating pump unit 2 and the stopped pump unit 2. However, the first rule may compare the operating pump unit 2 with a predetermined threshold value. For example, in Examples 1 to 3, if the state level after the transition of the operating pump unit 2 exceeds a predetermined threshold value (for example, 3), it may be determined as "stopped", and otherwise it may be determined as "continue operation" as the first rule. In this way, the first rule and the second rule can be set independently, and it is desirable that each of the first rule and the second rule is appropriately set according to each marine rudder actuator 1.

[0050] 〔Modification Example 1〕 Next, a modification example of the first embodiment will be described. FIG. 4 is a diagram showing a schematic configuration of a marine rudder actuator 1 and its monitoring device 80 according to Modification Example 1 of the first embodiment of the present disclosure, and FIG. 5 is a diagram showing a schematic configuration of the monitoring device 80 according to Modification Example 1 of the first embodiment. In the description of this modification example, the same or similar members as those in the above-described first embodiment are denoted by the same reference numerals in the drawings, and detailed descriptions thereof are omitted.

[0051] As shown in FIGS. 4 and 5, the monitoring device 80 of the marine rudder actuator 1 according to Modification Example 1 is different from that of the above-described first embodiment. Since the configuration of the marine rudder actuator 1 is substantially the same as that of the above-described first embodiment, a detailed description of the marine rudder actuator 1 is omitted.

[0052] The monitoring device 80 includes a unit monitoring unit 8A provided in each of the pump units 2, and a central monitoring unit 8B capable of communicating with the unit monitoring unit 8A. The various instruments 44 may be provided independently of the unit monitoring unit 8A, or may be provided within the unit monitoring unit 8A.

[0053] The unit monitoring unit 8A has the functions of an abnormality detection unit 811 and a point calculation unit 812. The functions of the abnormality detection unit 811 and the point calculation unit 812 are substantially the same as those in the first embodiment described above. The unit monitoring unit 8A provided in each pump unit 2 detects an abnormality in that pump unit 2, calculates an abnormality point for the detected abnormality, and transmits abnormality detection information including the abnormality point to the central monitoring unit 8B. For example, the unit monitoring unit 8A provided in the first pump unit 2A detects an abnormality in the first pump unit 2A, calculates an abnormality point for the detected abnormality, and transmits abnormality detection information including the abnormality point to the central monitoring unit 8B.

[0054] The central monitoring unit 8B has the function of a state transition determination unit 813. The function of the state transition determination unit 813 is substantially the same as that of the first embodiment described above. The central monitoring unit 8B acquires abnormality detection information from each of the unit monitoring units 8A, calculates a post-transition state level, and determines whether to stop or start the pump unit 2 in operation based on the post-transition state level in accordance with a first rule. Furthermore, if the central monitoring unit 8B determines that the pump unit 2 in operation should be stopped, it selects a pump unit 2 to start instead based on the post-transition state level in accordance with a second rule.

[0055] When the central monitoring unit 8B determines that the pump unit 2 in operation is to be stopped, it outputs a switching signal to the ship maneuvering control device 6 and / or the pump unit 2 to be switched between start and stop. Based on this switching signal, the pump unit 2 to be stopped is stopped, and the pump unit 2 to be started is started.

[0056] Second Embodiment Next, a second embodiment will be described. Fig. 6 is a diagram showing a schematic configuration of a marine steering gear 1A and a monitoring device 8 therefor according to a second embodiment of the present disclosure, and Fig. 7 is a hydraulic circuit diagram of the marine steering gear 1A according to the second embodiment. In the description of this embodiment, members that are the same as or similar to those in the first embodiment described above will be given the same reference numerals in the drawings, and detailed description thereof will be omitted.

[0057] As shown in FIGS. 6 and 7, the marine rudder actuator 1A according to the present embodiment is of a two-ram four-cylinder type, and includes two hydraulic actuators, i.e., a first hydraulic actuator 3A and a second hydraulic actuator 3B, for one rudder shaft 22.

[0058] Each of the first hydraulic actuator 3A and the second hydraulic actuator 3B has a rod-shaped ram 31 extending in a direction orthogonal to the axial direction of the rudder shaft 22, and a pair of cylinders 32 into which both ends of the ram 31 are inserted respectively. A pin 33 is provided at the center of the ram 31, and this pin 33 engages with a rudder stock 23 fixed to the rudder shaft 22.

[0059] The marine rudder actuator 1A includes four pump units 2A, 2B, 2C, and 2D as pressure sources for operating the first hydraulic actuator 3A and the second hydraulic actuator 3B. However, the number of pump units 2 for the two hydraulic actuators 3A and 3B may be two or more, and is not limited to the present embodiment. Each of the pump units 2 is connected to the first hydraulic actuator 3A and the second hydraulic actuator 3B by a hydraulic circuit so that a closed circuit is formed between the first hydraulic actuator 3A and the second hydraulic actuator 3B. Since the configuration of each pump unit 2 is substantially the same as that of the first embodiment described above, the description thereof is omitted.

[0060] In FIG. 7, the first to third pump units 2A, 2B, and 2C, which are each connected to the hydraulic actuators 3A and 3B by a closed circuit, are shown, and the fourth pump unit 2D is omitted. Also, in FIG. 7, only an example of a hydraulic circuit in which a plurality of pump units 2 are connected to each of the two hydraulic actuators 3A and 3B is shown, and the configuration of the hydraulic circuit is not limited to this figure.

[0061] To switch the operation and stop of the first hydraulic actuator 3A and the second hydraulic actuator 3B, a switching device 46 for the actuators is provided in the hydraulic circuit. The actuator switching device 46 can switch the connection configuration of the hydraulic circuit to a state in which the first hydraulic actuator 3A and the second hydraulic actuator 3B are used, a state in which only the first hydraulic actuator 3A is used, and a state in which only the second hydraulic actuator 3B is used.

[0062] The actuator switching device 46 includes a first switching valve 46A and a second switching valve 46B. The first switching valve 46A and the second switching valve 46B may be electromagnetic valves that operate in response to a command from the ship control device 6, for example. The first switching valve 46A and the second switching valve 46B allow the passage of hydraulic oil when in the operating position and block the passage of hydraulic oil when in the neutral position. When the first switching valve 46A and the second switching valve 46B are in the operating position, hydraulic oil is supplied from the operating pump unit 2 to the first hydraulic actuator 3A and the second hydraulic actuator 3B, and the first hydraulic actuator 3A and the second hydraulic actuator 3B operate. When the first switching valve 46A is in the operating position and the second switching valve 46B is in the neutral position, one of the first hydraulic actuator 3A and the second hydraulic actuator 3B operates. Similarly, when the first switching valve 46A is in the neutral position and the second switching valve 46B is in the operating position, one of the first hydraulic actuator 3A and the second hydraulic actuator 3B operates. In the present embodiment, the combination of the operating / neutral states of the first switching valve 46A and the second switching valve 46B is different according to the operating pump unit 2.

[0063] Thus, the actuator switching device 46 can switch the operating hydraulic actuators 3A and 3B. For example, when the states of the first hydraulic actuator 3A and the second hydraulic actuator 3B are good and a high torque is required for the rudder shaft 22, both the first hydraulic actuator 3A and the second hydraulic actuator 3B may be operated. For example, if the state of one of the first hydraulic actuator 3A and the second hydraulic actuator 3B is good and the state of the other is bad, only the one with the good state among the first hydraulic actuator 3A and the second hydraulic actuator 3B may be operated.

[0064] The state of the marine steering gear 1A is monitored by the monitoring device 8. Since the configuration of the monitoring device 8 is substantially the same as that of the first embodiment described above, a detailed description thereof is omitted. The monitoring device 8 may monitor a plurality of pump units 2A, 2B, 2C, and 2D of the marine steering gear 1A. In addition to the plurality of pump units 2A, 2B, 2C, and 2D, the monitoring device 8 may also monitor the first hydraulic actuator 3A and the second hydraulic actuator 3B.

[0065] The abnormality detection unit 811 of the monitoring device 8 detects an abnormality, the point calculation unit 812 obtains the abnormality level of the detected abnormality, and the state transition determination unit 813 obtains the state level after the transition. Based on the state level after the transition, the state transition determination unit 813 determines the operation and stop of the monitoring target according to a predetermined rule. Further, when the state transition determination unit 813 determines to stop and an alternative start of the monitoring target is necessary, based on the state level after the transition, the state transition determination unit 813 selects a monitoring target to be alternatively started according to a predetermined rule.

[0066] When there are a determination result of the operation and stop of the monitoring target and a selection result of the monitoring target to be alternatively started, the state transition determination unit 813 stores information for identifying the selected monitoring target in the storage device 82. When the state transition determination unit 813 determines to stop the monitoring target in operation, it outputs a switching signal for the operation and stop of the monitoring target to the ship control device 6. Hereinafter, the process of the state transition determination unit 813 of the monitoring device 8 will be described by applying it to a specific example.

[0067] <Case 4> In Case 4, the monitoring targets of the monitoring device 8 are the first to fourth pump units 2A, 2B, 2C, 2D, and the first hydraulic actuator 3A and the second hydraulic actuator 3B.

[0068]

Table 5

[0069] In the operating status immediately before Case 4, the first pump unit 2A and the third pump unit 2C are operating, the second pump unit 2B and the fourth pump unit 2D are stopped, the first hydraulic actuator 3A is stopped, and the second hydraulic actuator 3B is operating. The state transition determination unit 813 reads the immediately previous state level from the storage device 82. The immediately previous state level is the first pump unit; 0.1, the second pump unit; 1.2, the third pump unit; 0.3, the fourth pump unit; 0.4, the first hydraulic actuator; 1.1, the second hydraulic actuator; 1.2. Here, when an abnormality at the abnormal point 2.0 is detected in the second hydraulic actuator 3B, the state transition determination unit 813 obtains the state level after transition by adding the abnormal point to the immediately previous state level. The state level after transition is the first pump unit; 0.1, the second pump unit; 1.2, the third pump unit; 0.3, the fourth pump unit; 0.4, the first hydraulic actuator; 1.1, the second hydraulic actuator; 3.2.

[0070] The state transition determination unit 813 determines the operation and stop of the pump unit 2 in accordance with the first rule. Further, when the state transition determination unit 813 determines the stop of the pump unit 2, it selects the pump unit 2 to be alternately started in accordance with the second rule based on the state level after the transition. In Case 4, the state transition determination unit 813 uses the same first rule and second rule as in Case 1. Since the state level after the transition of the first pump unit 2A is lower than the state levels after the transition of the pump units 2B and 2D that are stopped, the state transition determination unit 813 determines to continue the operation. Also, since the state level after the transition of the third pump unit 2C is lower than the state levels after the transition of the pump units 2B and 2D that are stopped, the state transition determination unit 813 determines to continue the operation.

[0071] The state transition determination unit 813 determines the operation and stop of the hydraulic actuators 3A and 3B according to the third rule. The third rule is a rule used to determine the operation and stop of the monitoring target when the monitoring target is the hydraulic actuator 3. In Case 4, the third rule is that if the state level after the transition of the hydraulic actuators 3A and 3B exceeds a predetermined threshold value (for example, 3), it is determined as "stop", and otherwise it is determined as "operation". Since the state level after the transition of the operating second hydraulic actuator 3B exceeds the threshold value, the state transition determination unit 813 determines it as stop. Since the state transition determination unit 813 has determined the stop of the second hydraulic actuator 3B, it selects a hydraulic actuator 3 for alternative start-up. Since the state level after the transition of the stopped first hydraulic actuator 3A is below the threshold value, the state transition determination unit 813 selects the first hydraulic actuator 3A as the hydraulic actuator 3 for alternative start-up. The monitoring device 8 outputs the determination result and the selection result to the ship control device 6. As a result, the first hydraulic actuator 3A is switched from stop to operation, and the second hydraulic actuator 3B is switched from operation to stop. In Case 4, since one of the two hydraulic actuators 3 is operating and the other is stopped, the operating hydraulic actuator 3 is stopped based on the determination result, and the stopped hydraulic actuator 3 is operated. However, when both of the two hydraulic actuators 3 are operating, even if one hydraulic actuator 3 is determined to be stopped, it may not be necessary to select a hydraulic actuator 3 for alternative start-up.

[0072] 〔Summary〕 As described above, the ship 10 according to the present disclosure includes a marine rudder gear 1, 1A configured to include at least one hydraulic actuator 3, 3A, 3B that rotates a rudder shaft 22 connected to a rudder plate 21, and a plurality of pump units 2 each having a hydraulic pump 4 connected to the hydraulic actuators 3, 3A, 3B, and one or more of the plurality of pump units 2 operate simultaneously to supply and discharge hydraulic oil to the hydraulic actuators 3, 3A, 3B so that the hydraulic actuators 3, 3A, 3B operate, and monitoring devices 8, 80.

[0073] And the monitoring devices 8, 80 of the marine steering gear 1, 1A according to the present disclosure are monitoring devices 8, 80 that monitor the states of the above-mentioned marine steering gears 1, 1A, and a plurality of pump units 2 are monitoring targets, at least one type of measurement value representing the operating state of the monitoring target is acquired, a state level that is an index of the operating state is obtained for each of the monitoring targets based on the measurement value, and operation and stop are determined for each of the monitoring targets based on the state level of the monitoring target. It includes at least one processing device 81.

[0074] Also, the monitoring method of the marine steering gear 1 according to the present disclosure is a monitoring method for monitoring the states of the above-mentioned marine steering gears 1, 1A, and a plurality of pump units 2 are monitoring targets, the processing device 81 acquires at least one type of measurement value representing the operating state of the monitoring target, the processing device 81 obtains a state level that is an index of the operating state for each of the monitoring targets based on the measurement value, and the processing device 81 monitors each of the monitoring targets based on the state level of the monitoring target. It includes determining operation and stop.

[0075] According to the above-mentioned monitoring device 8, 80 and monitoring method of the marine steering gear 1, a state level based on the measurement value representing the operating state is calculated for each of the plurality of monitoring targets. Therefore, by comprehensively looking at the state levels of the plurality of monitoring targets, it is possible to determine the operation and stop of each monitoring target. Therefore, it is possible to appropriately switch the operation and stop of the plurality of monitoring targets.

[0076] In the above-mentioned monitoring device 8, 80 of the marine steering gear 1, the processing device 81 may obtain the abnormal state of the monitoring target based on the measurement value and obtain the state level based on the abnormal state.

[0077] Since the state level is calculated based on the abnormal state, the abnormal state is taken into account in the determination of operation and stop. Therefore, the determination of operation and stop of the monitoring target based on the state level means that the operation and stop of the monitoring target are determined based on the abnormal state of the monitoring target.

[0078] The monitoring devices 8 and 80 of the marine rudder actuator 1 described above are connected to a processing device 81 so that information can be read and written, and further include at least one storage device 82 that stores the state levels of the objects to be monitored. The processing device 81 obtains an abnormal point, which is an indicator of an abnormal state, and obtains the state level after transition by adding the abnormal point to the state level stored in the storage device 82, and may determine the operation and stop of each of the objects to be monitored based on the state level after transition of the object to be monitored.

[0079] According to the monitoring devices 8 and 80 of the marine rudder actuator 1 described above, the state of each pump unit 2 taking into account the detected abnormality is represented as the state level after transition. Then, based on the state levels after transition of a plurality of objects to be monitored, the operation and stop of the objects to be monitored during operation are determined, so that the determination result can be automatically obtained.

[0080] Also, in the monitoring devices 8 and 80 of the marine rudder actuator 1 described above, the state level includes a first part representing the accumulated abnormal points and a second part representing the order of the objects to be monitored. When the processing device 81 determines to stop the object to be monitored during operation, it may select an object to be monitored that is to be started in place of the object to be monitored during operation based on the first part and the second part of the state level after transition of the object to be monitored. In the above disclosure, the first part is the integer part and the second part is the decimal part, but the first part and the second part are not limited thereto.

[0081] Based on the state levels after transition of a plurality of objects to be monitored, an object to be monitored that is to be started in place of the object to be monitored during operation is selected, so that an object to be monitored with a high priority regarding operation is objectively and automatically selected. Also, with the state level represented as above, arbitrary priorities can be assigned to a plurality of objects to be monitored regarding the selection of the plurality of objects to be monitored that are to be started. Also, if there is an object to be monitored during maintenance, the order of that object to be monitored can be lowered and intentionally excluded from the selection candidates.

[0082] Without relying on the intuition or experience of the helmsman, it is possible to obtain the determination results of the operation and stop of the monitoring target during operation, and the selection result of the monitoring target to be alternatively started when a stop is determined. Therefore, it becomes possible to automatically switch the operating monitoring target. Thus, in the ship 10 equipped with the above monitoring devices 8 and 80, when an abnormality occurs in the monitoring target during the operation of the marine steering gear 1, it is possible to automatically perform the process of stopping the monitoring target where the abnormality has occurred and starting an appropriate monitoring target, and continue the navigation. As a result, it can contribute to the realization of an automatically operated ship 10, that is, a ship capable of unmanned navigation.

[0083] Further, in the monitoring devices 8 and 80 of the marine steering gears 1 and 1A described above, the state levels of the plurality of pump units 2 may include operation time points corresponding to the cumulative operation time of the corresponding pump units 2. In this case, for example, the processing device 81 obtains the state level after transition in which the operation time point corresponding to the cumulative operation time of the corresponding pump unit 2 is added to the state level of the plurality of pump units 2, and updates the state level stored in the storage device 82 with this state level after transition.

[0084] By thus taking into account the cumulative operation time of the pump unit 2 in the state level, the pump unit 2 with less cumulative operation time is prioritized in the selection of the pump unit 2 to be alternatively started. Thereby, the cumulative operation time of the plurality of pump units 2 can be leveled.

[0085] Further, in the monitoring devices 8 and 80 of the marine steering gears 1 and 1A described above, the processing device 81 is connected to be able to transmit and receive information to and from the ship handling control device 6 that controls the marine steering gears 1 and 1A, and may output the determination results of the operation and stop of the monitoring target to the ship handling control device 6.

[0086] Thereby, it is possible to automatically switch the operation and stop of the monitoring target.

[0087] In addition, in the monitoring device 80 of the marine rudder actuator 1A described above, when the marine rudder actuator 1A includes a plurality of hydraulic actuators 3A and 3B, the monitoring target may further include the plurality of hydraulic actuators 3A and 3B.

[0088] According to the monitoring device 80 of the marine rudder actuator 1A described above, not only the plurality of pump units 2 but also the states of the plurality of hydraulic actuators 3A and 3B are monitored. Then, the states of the plurality of hydraulic actuators 3A and 3B are objectively represented numerically as the state levels after the transition. And based on the state levels after the transition of the plurality of hydraulic actuators 3A and 3B, a determination of whether to continue or stop using the hydraulic actuators 3A and 3B in use is made, so that an objective and automatic determination result can be obtained.

[0089] The functions of the monitoring device 8 disclosed in this specification, and the unit monitoring unit 8A and the central monitoring unit 8B of the monitoring device 80 can be executed using a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a conventional circuit, and / or a circuit including a combination thereof, or a processing circuit configured or programmed to execute the disclosed functions. Since the processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, a unit, or a means is hardware that executes the listed functions. The hardware may be the hardware disclosed in this specification, or other known hardware programmed or configured to execute the listed functions. When the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used for the configuration of the hardware and / or the processor.

[0090] Embodiments according to the present disclosure are presented for purposes of illustration and description, and are not intended to limit the present disclosure to the forms disclosed herein. For example, in the foregoing detailed description, various features of the present disclosure are grouped together in one embodiment for the purpose of streamlining the present disclosure. However, the plurality of features included in the present disclosure can be combined in alternative embodiments, configurations, or aspects other than those discussed above.

[0091] In addition, although a hydraulic-driven marine steering gear 1 has been described in the present disclosure, the monitoring device and monitoring method of the present disclosure are also applicable to an electric steering gear having a plurality of drive systems. For example, in an electric steering gear, when a plurality of electric motors are connected to one rudder shaft via a power transmission mechanism, the plurality of electric motors are targets to be monitored by the monitoring device and monitoring method.

Description of Reference Numerals

[0092] 1, 1A: Marine steering gear 2, 2A - 2D: Pump unit 3, 3A, 3B: Hydraulic actuator 4: Hydraulic pump 5: Electric motor 6: Steering control device 8, 80: Monitoring device 8A: Unit monitoring unit 8B: Central monitoring unit 10: Ship 21: Rudder 22: Rudder shaft 81: Processing device

Claims

1. A monitoring device for a marine steering gear, comprising at least one hydraulic actuator for rotating a steering shaft connected to a rudder plate, and a plurality of pump units each having a hydraulic pump connected to the hydraulic actuator, wherein one or more of the plurality of pump units operate simultaneously to supply and discharge hydraulic oil to and from the hydraulic actuator, causing the hydraulic actuator to operate, monitoring the plurality of pump units, acquiring at least one type of measurement value representing the operating state of the monitoring target, obtaining a state level, which is an indicator of the operating state, for each of the monitoring targets based on the measurement value, and determining operation and stop for each of the monitoring targets based on the state level of the monitoring target, with at least one processing device, comprising at least one storage device that is connected to the processing device so as to enable reading and writing of information and stores the state level of the monitoring target, the processing device is configured to determine an abnormal state of the monitoring target based on the measurement value, obtain an abnormal point that is an indicator of the abnormal state, obtain a state level after transition by adding the abnormal point to the state level stored in the storage device, and determine operation and stop for each of the monitoring targets based on the state level after transition of the monitoring target, A monitoring device for a marine steering gear.

2. The state level includes a first part representing the accumulated abnormal points and a second part representing the order of the monitoring targets, when the processing device determines to stop the monitoring target that is operating, the processing device selects, based on the first part and the second part of the state level after transition of the monitoring target, the monitoring target to be started in place of the monitoring target that is operating from among the monitoring targets, The monitoring device for a marine steering gear according to Claim 1.

3. The state level includes an operating time point corresponding to the cumulative operating time, The monitoring device for a marine steering gear according to Claim 1 or 2.

4. The processing device is connected to a ship steering control device that controls the marine steering gear so as to enable transmission and reception of information, and outputs a determination result of operation and stop of the monitoring target to the ship steering control device, The monitoring device for a marine steering gear according to any one of Claims 1 to 3.

5. The marine steering gear includes a plurality of the hydraulic actuators, the monitoring target further includes a plurality of the hydraulic actuators, Monitoring device for marine steering gear according to any one of claims 1 to 4.

6. A marine steering gear monitoring method comprising at least one hydraulic actuator for rotating a rudder shaft connected to a rudder blade, and a plurality of pump units each having a hydraulic pump connected to the hydraulic actuator, wherein one or more of the plurality of pump units operate simultaneously to supply and discharge hydraulic oil to the hydraulic actuator to operate the hydraulic actuator, monitoring the plurality of pump units; at least one processing device obtains at least one type of measurement value representing the operating state of the monitoring target, determines a state level, which is an indicator of the operating state, for each of the monitoring targets based on the measurement value, and determines operation and stop for each of the monitoring targets based on the state level of the monitoring target, determining the state level of the monitoring target includes determining an abnormal state of the monitoring target based on the measurement value, determining an abnormal point that is an indicator of the abnormal state, and obtaining the state level after transition by adding the abnormal point to the state level stored in advance, determining operation and stop of the monitoring target includes determining operation and stop for each of the monitoring targets based on the state level after transition of the monitoring target, Monitoring method for marine steering gear.

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