Control device for ship, control method for ship, ship

Abstract

To provide a control device for hull capable of maneuvering by intuition with operation of a joy stick.SOLUTION: A control device for hull includes an engine, a first thruster arranged either in front or rear of a hull, a second thruster on the other side, a joy stick for maneuvering the hull, an operation signal output unit connected to the joy stick and outputting an operation signal, a first control unit connected to the operation signal output unit for controlling the engine, a second control unit connected to the operation signal output unit for controlling the first thruster, and a third control unit connected to the operation signal output unit for controlling the second thruster. The joy stick has a lever and is configured to be capable of being inclined in an arbitrary direction in 360 degrees in horizontal direction, and the engine, the first thruster, and the second thruster are capable of being controlled by the direction that the joy stick is inclined.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a hull control device capable of operating an engine and a plurality of thrusters using a joystick, a hull control method, and a hull. [Background technology]

[0002] Maneuvering a vessel to turn, move forward and backward, left and right, and change direction usually requires operating multiple devices such as thrusters and engines. These operations are complicated and require skill to master.

[0003] To address this issue, a ship steering device has been proposed that allows a ship to easily and centrally steer multiple thrust generating devices, such as propellers and side thrusters, by turning a knob that resembles the ship's hull (see, for example, Patent Document 1).However, the problem with this ship steering device is that it is not possible to control the fine movements of the hull.

[0004] Therefore, the applicant of the present invention has proposed a hull control device that allows the hull to be intuitively and precisely controlled using a joystick (see, for example, Patent Document 2). The hull control device described in Patent Document 2 is equipped with a first control device that controls a first thruster arranged at either the front or rear, a second control device that controls the other second thruster, and a joystick with a lever, and the joystick can be used to easily and precisely steer the hull left and right movement and turning. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2019-018701 [Patent Document 2] Patent Publication No. 07-125693 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the prior art of Prior Art Document 2 had the problem that although it was possible to control the movements of the hull, such as turning and moving sideways, by controlling the thrusters through the operation of a joystick, it was necessary to operate the engine separately for forward and reverse movement, which made it difficult for a beginner to operate a large boat, when approaching or leaving a berth, or for a beginner to operate it alone.

[0007] The present invention aims to solve the problems of the prior art described above, specifically to provide a hull control device, a hull, and a hull control method that enable unified and intuitive maneuvering of the ship, including fine movements, simply by operating a joystick. [Means for solving the problem]

[0008] A hull control device according to one aspect of the present invention includes an engine and a control device disposed at either the front or rear of the hull, Creates a current to the left or right The first thruster and either Creates a current to the left or right a second thruster; a joystick for operating the hull; an operation signal output unit connected to the joystick and outputting an operation signal; Department a first control unit connected to the operation signal output Department a second control unit connected to the operation signal output Department and a third control unit connected to the joystick and controlling the second thruster, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees horizontally, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted.

[0009] With this configuration, the movement of the joystick 1 can operate the engine and thrusters through the operation signal output device, allowing intuitive control of the hull's turning and movement forward, backward, left and right. Therefore, even beginners can easily operate the vessel.

[0010] In addition, this hull control device has a predetermined first angle range in which the engine operates and a predetermined second angle range in which the first thruster and / or the second thruster operate in the tilt direction of the joystick, and further has a third angle range in which the first angle range and the second angle range partially overlap, and when the joystick is tilted in the third angle range, the engine and the first thruster and / or the second thruster operate together.

[0011] This configuration allows for precise operation of the hull's engine alone, thrusters alone, or both the engine and thrusters simultaneously, which is particularly effective when docking or taking off, which require precise changes of direction.

[0012] Furthermore, this hull control device is characterized in that the first angle range is a range of +-60 degrees to 75 degrees forward and 180 degrees +-60 degrees to 75 degrees rearward when the direction of hull travel clockwise is 0 degrees, and the second angle range is a range of 90 degrees +-60 degrees to 75 degrees to the right and 270 degrees +-60 degrees to 75 degrees left when the direction of hull travel clockwise is 0 degrees.

[0013] With this configuration, the direction in which the joystick is tilted is the same as the direction in which the hull is moving, allowing for intuitive control.

[0014] Furthermore, this hull control device is characterized in that the second angle range has angle range A in which only the first thruster operates, angle range B in which the first thruster and the second thruster operate, and angle range C in which only the second thruster operates, and a dead zone of a predetermined angle is provided between angle range A, angle range B, and angle range C.

[0015] With this configuration, there is a dead zone between each angle band, so the hull will not move when the lever is tilted to an ambiguous position, which has the effect of preventing the hull from moving or rotating accidentally.

[0016] In addition, in this hull control device, the joystick is characterized in that a predetermined threshold is set for the tilt amount of the lever, and if the tilt amount does not exceed the threshold, the engine, the first thruster, and the second thruster will not operate.

[0017] This configuration prevents the thrusters and engines from malfunctioning if the lever is accidentally touched and slightly tilted.

[0018] In addition, in this hull control device, the joystick is characterized in that the outputs of the engine, the first thruster, and the second thruster change according to the tilt amount of the lever. With this configuration, the hull can be accelerated more as the joystick is tilted further, allowing for intuitive control.

[0019] In addition, in this hull control device, the joystick has the lever and a rotatable knob, and rotation of the knob operates the first thruster and / or the second thruster, causing the hull to rotate. With this configuration, the rotation of the hull is completed by operating the knob of the joystick, making it easy for even beginners to operate.

[0020] In addition, this hull control device is characterized in that when the knob is rotated to the right, the hull rotates clockwise, and when the knob is rotated to the left, the hull rotates counterclockwise. With this configuration, the direction in which the knob of the joystick is rotated is the same as the direction in which the hull rotates, allowing for intuitive control.

[0021] Furthermore, this hull control device is characterized in that a predetermined threshold is set for the amount of rotation of the knob, and the first thruster and the second thruster do not operate unless the amount of rotation exceeds the threshold. With this configuration, it is possible to prevent the thrusters from malfunctioning if the lever is accidentally touched by a hand and slightly tilted.

[0022] This hull control device is also characterized in that the outputs of the first thruster and the second thruster change according to the amount of rotation of the knob. With this configuration, the depth of rotation of the joystick knob is proportional to the magnitude of rotation of the hull, enabling fine control.

[0023] Furthermore, this hull control device is characterized in that, when the lever is tilted and the knob is rotated, the outputs of the first thruster and the second thruster are set to an output C obtained by adding an output A corresponding to the amount of tilt of the lever to an output B obtained by multiplying the output corresponding to the amount of rotation of the knob by a predetermined coefficient not greater than 1. With this configuration, it is possible to set the extent to which the amount of rotation of the knob is reflected in the amount of tilt of the lever, allowing for finer operation.

[0024] Furthermore, this hull control device is characterized in that, when the lever is tilted and the knob is rotated, the outputs of the first thruster and the second thruster are set to output C, which is obtained by adding output A, which is obtained by multiplying the output corresponding to the tilt amount of the lever by a predetermined coefficient, to output B, which is obtained by multiplying the output corresponding to the rotation amount of the knob by a predetermined coefficient.With this configuration, it is possible to set the extent to which the knob rotation amount and the lever tilt amount are reflected, allowing for fine operation.

[0025] Furthermore, this hull control device is characterized in that the output B calculated according to the amount of rotation of the knob has a predetermined upper limit value as the maximum output. With this configuration, the operation of the knob does not cancel out the operation of the lever, allowing for intuitive maneuvering of the ship.

[0026] The hull control device is also characterized in that the output C calculated from the tilt amount of the lever and the rotation amount of the knob portion has a predetermined upper limit value as a maximum output.

[0027] Moreover, this hull control device is characterized in that the first control unit, the second control unit, and the third control unit are configured by a single control device.

[0028] Also, this hull control device is characterized in that the first control unit, the second control unit, the third control unit and the operation signal output unit are configured by a single control device.

[0029] The hull control device also includes a first joystick having the lever and the knob, a second joystick having the lever, and a changeover switch for switching between the first joystick and the second joystick, and the changeover switch allows switching between maneuvering with the first joystick and maneuvering with the second joystick, making it possible to operate the hull using either joystick.

[0030] With this configuration, switching between multiple joysticks makes it possible to steer the ship, including making fine movements.

[0031] A hull according to one aspect of the present invention is characterized by being equipped with the above-described hull control device. With this configuration, the hull can be controlled in all directions, forward and backward, left and right, simply by operating the joystick, making it easy for even beginners to operate intuitively.

[0032] A method for controlling a hull according to one aspect of the present invention includes: an engine; a watercraft mounted on either the front or rear of the hull; Creates a current to the left or right The first thruster and either Creates a current to the left or right A method for controlling a hull equipped with a second thruster and a joystick for operating the hull, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees horizontally, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted.

[0033] Furthermore, in this hull control method, when the joystick is tilted within a predetermined first angle range in a tilt direction of the joystick, the engine operates, and when the joystick is tilted within a predetermined second angle range, the first thruster and / or the second thruster operates; predeterminedWhen the joystick is tilted within a third angle range, the engine and the first thruster and / or the second thruster operate together.

[0034] Furthermore, this hull control method is characterized in that the first angle range is a range of +-60 degrees to 75 degrees forward and a range of 180 degrees +-60 degrees to 75 degrees aft, when the direction of hull travel clockwise is 0 degrees, and the second angle range is a range of 90 degrees +-60 degrees to 75 degrees to the right and a range of 270 degrees +-60 degrees to 75 degrees to the left, when the direction of hull travel clockwise is 0 degrees.

[0035] Furthermore, this hull control method is characterized in that the second angle range has angle range A in which only the first thruster operates, angle range B in which the first thruster and the second thruster operate, and angle range C in which only the second thruster operates, and a dead zone of a predetermined angle is provided between angle range A, angle range B, and angle range C.

[0036] In addition, this hull control method is characterized in that the joystick changes the outputs of the engine, the first thruster, and the second thruster according to the tilt amount of the lever.

[0037] In addition, this hull control method is characterized in that the joystick has the lever and a rotatable knob portion, and rotation of the knob portion operates the first thruster and / or the second thruster, causing the hull to rotate.

[0038] Furthermore, this hull control method is characterized in that when the knob portion is rotated to the right, the hull rotates clockwise, and when the knob portion is rotated to the left, the hull rotates counterclockwise.

[0039] The method for controlling the hull is also characterized in that the outputs of the first thruster and the second thruster are changed according to the amount of rotation of the knob portion.

[0040] Furthermore, this hull control method is characterized in that, when the lever is tilted and the knob is rotated, the outputs of the first thruster and the second thruster are set to output C, which is the sum of output A corresponding to the amount of tilt of the lever and output B, which is the output corresponding to the amount of rotation of the knob multiplied by a predetermined coefficient not greater than 1.

[0041] Furthermore, this hull control method is characterized in that, when the lever is tilted and the knob portion is rotated, the outputs of the first thruster and the second thruster are set to output C, which is the sum of output A, which is the output corresponding to the tilt amount of the lever multiplied by a predetermined coefficient, and output B, which is the output corresponding to the rotation amount of the knob portion multiplied by a predetermined coefficient.

[0042] The method for controlling the hull is also characterized in that the output B calculated in accordance with the amount of rotation of the knob portion has a predetermined upper limit value as the maximum output.

[0043] Furthermore, this hull control method is characterized in that the output C calculated from the tilt amount of the lever and the rotation amount of the knob portion has a predetermined upper limit value as a maximum output.

[0044] Furthermore, this hull control method includes a first joystick having the lever and the knob portion, a second joystick having the lever, and a changeover switch for switching between the first joystick and the second joystick, and the changeover switch switches between maneuvering with the first joystick and maneuvering with the second joystick, allowing the hull to be operated with either joystick. [Effects of the Invention]

[0045] The hull control device, hull, and hull control method of the present invention include the above-mentioned invention-specific features, so that by operating the joystick, fine movements such as turning the hull and moving it forward, backward, left, and right can be intuitively controlled. [Brief explanation of the drawings]

[0046] [Figure 1] 1 is a schematic diagram of a hull according to one embodiment of the present invention. [Figure 2] 1 is a block diagram showing a schematic configuration of a hull control device in a first embodiment. FIG. [Figure 3] FIG. 1 is a diagram illustrating a schematic configuration of a joystick. [Figure 4] This is a diagram showing the relationship between joystick operation and the output of each device. (a) shows the relationship between joystick operation and engine output. (b) shows the relationship between joystick operation and thruster output. (c) shows the relationship between joystick operation and engine and thruster output. [Figure 5] FIG. 10 is an explanatory diagram of the operation of the joystick knob and the movement of the hull. [Figure 6] FIG. 1 is an explanatory diagram of joystick operation and hull movement. [Figure 7] This is an explanatory diagram of joystick operation and hull movement, showing the hull movement when the lever and knob are operated together. (a) shows the case where the lever is operated while the knob is turned to the right (clockwise). (b) shows the case where the lever is operated while the knob is turned to the left (counterclockwise). [Figure 8] FIG. 4 is a block diagram showing a schematic configuration of a hull control device according to a second embodiment. [Figure 9] 10A and 10B are explanatory diagrams of the operation of the second joystick and the movement of the hull in the second embodiment. [Figure 10] FIG. 10 is a block diagram showing a schematic configuration of a hull control device according to a third embodiment. [Figure 11] FIG. 10 is a block diagram showing a schematic configuration of a hull control device according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0047] Hereinafter, a hull and a method of operating the hull according to the present invention will be described with reference to the drawings, but the present invention is not limited to this embodiment.

[0048] First Embodiment 1. Hull configuration Fig. 1 is a schematic diagram of a hull according to one embodiment of the present invention. As shown in Fig. 1, the hull mainly comprises a first thruster 1 at the front, a second thruster 2 at the rear, an engine 3, and a rudder 4.

[0049] The first thruster 1 is located on the bottom of the bow, and a propeller is installed in a tunnel that penetrates the left and right sides of the hull. Rotating this propeller forward or backward creates a water current to the left or right, causing the bow to turn.

[0050] The second thruster 2 is located on the bottom of the stern, and a propeller is installed in a tunnel that penetrates the left and right sides of the hull. Rotating this propeller forward or backward creates a water flow to the left or right, causing the stern to turn. Unlike a rudders, these thrusters can generate thrust themselves, allowing the hull to rotate even when stopped.

[0051] The engine 3 is located at the stern and generates thrust in the fore-and-aft direction by rotating the propeller. The rudder 4 is a fin located on the bottom of the stern, and by changing its angle left and right, it is possible to move the hull diagonally forward or diagonally backward when the hull moves forward or backward.

[0052] Fig. 2 is a block diagram showing the schematic configuration of the hull control device. Fig. 3 is a diagram showing the schematic configuration of the joystick. As shown in Fig. 2, the hull is equipped with a hull control device 10. The hull control device 10 is equipped with a joystick 5, an operation signal output device 6, a first control unit 7, a second control unit 8, a third control unit 9, and a thruster state indicator 11.

[0053] As shown in Fig. 3, the joystick 5 includes a lever 51 and a knob 52. The joystick 5 is connected to an operation signal output device 6 via a wire, and an operation signal of the joystick 5 is transmitted to the operation signal output device 6. This signal is an analog signal. Alternatively, this signal may be a digital signal, and the joystick 5 and the operation signal output device 6 may be connected wirelessly without a wire.

[0054] Furthermore, the operation signal output device 6 is connected to the first control unit 7 and the second control unit 8, and transmits signals to the first control unit 7 and the second control unit 8 via CAN communication. These connections may be either wired connections using wires or wireless connections without using wires, and the signals may be either analog signals or digital signals.

[0055] The first control unit 7 is connected to the engine 3, and the engine 3 receives a signal transmitted from the first control unit 7, causing the engine 3 to operate at a predetermined output.

[0056] The second control unit 8 is connected to the first thruster 1 and the third control unit 9. An analog signal is sent from the second control unit 8 to the first thruster 1, and the first thruster 1, upon receiving this, operates at a predetermined output. A serial communication is sent from the second control unit 8 to the third control unit 9. An analog signal is sent from the third control unit 9 to the second thruster 2, and the second thruster 2, upon receiving this, operates at a predetermined output.

[0057] Furthermore, the thruster status indicator 11 receives a serial signal from the second control unit 8 and displays the operating states of the first thruster 1 and the second thruster 2. The thruster status indicator 11 may be configured to receive a serial signal from the third control unit 9, or may be configured to be connected to both and receive signals from both.

[0058] 2. Hull operation Next, a method for operating (controlling) the hull having the above-described configuration will be described.

[0059] Figure 4(a) is an explanatory diagram showing a first angle range in which the engine 3 is activated by operating the joystick 5, (b) is a second angle range in which the first thruster 1 and the second thruster 2 are activated by operating the joystick 5, and (c) is a third angle range in which the first angle range and the second angle range overlap by operating the joystick 5.

[0060] 4(a) represents a range in which the engine 3 operates when the lever 51 of the joystick 5 is tilted to a depth equal to or greater than a threshold value (predetermined angle), and this range is defined as a first angle range. In this embodiment, as an example, the engine 3 operates when the lever 51 is tilted 10 degrees or more.

[0061] When the lever 51 of the joystick 5 is tilted clockwise in the direction of travel of the hull, i.e., directly above in Figure 4(a) (12 o'clock position), with 0 degrees, and tilted forward within a first angle range of 0 degrees +-60 degrees to 75 degrees, the hull moves forward. When the lever 51 is tilted rearward 180 degrees +-60 degrees to 75 degrees, the hull moves backward. In this embodiment, the first angle range is set to 0 degrees +-67 degrees, as an example.

[0062] The shaded area in Figure 4(b) represents the range in which the first thruster 1 and the second thruster 2 are activated when the lever 51 is tilted to a depth equal to or greater than the threshold value; this range is referred to as the second angle range. If the clockwise direction of the hull is set to 0 degrees, tilting the lever 51 to the right within the second angle range of 90 degrees +-60 to 75 degrees will move the hull to the right, and tilting the lever 51 to the left within the second angle range of 270 degrees +-60 to 75 degrees will move the hull to the left. In this embodiment, as an example, the second angle range is set to 90 degrees +-23 degrees to the right and 270 degrees +-23 degrees to the left.

[0063] When lever 51 is tilted by an amount equal to or greater than the threshold, in range A in Figure 4(c), engine 3 operates, and first thruster 1 and second thruster 2 do not operate. In the forward range A, the hull moves straight forward. In the rearward range A, the hull moves straight backward. In range B, engine 3 and first thruster 1 and second thruster 2 operate. In range B on the upper right, the hull moves diagonally forward to the right, in range B on the lower right, the hull moves diagonally backward to the right, in range B on the lower left, the hull moves diagonally backward to the left, and in range B on the upper left, the hull moves diagonally forward to the left. In range C, engine 3 does not operate, and first thruster 1 and second thruster 2 operate. In range C on the right, the hull moves to the right, and in range C on the left, the hull moves to the left.

[0064] 4(a) and 4(b) at the boundary between the hatched area and the white area, and at the boundary (thick line area) between the ranges A, B, and C in FIG. 4(c), a dead zone is provided, and when the lever 51 is tilted to this zone, the engine 3, the first thruster 1, and the second thruster 2 will not operate. Also, in this embodiment, as an example, the output of the engine 3, the first thruster 1, and the second thruster 2 is configured to increase depending on the amount of tilt of the lever, but it is also possible to configure the output of the engine 3, the first thruster 1, and the second thruster 2 to be constant regardless of the amount of tilt of the lever.

[0065] FIG. 5 is an explanatory diagram of the operation of the joystick knob and the movement of the hull. As shown in FIGS. 3 and 5, the joystick 5 is configured so that the upper knob 52 can be twisted left and right. The circular diagram in FIG. 5 shows the joystick 5 as viewed from above, with the top surface of the knob 52 visible. The shaded area indicates the movable range of the knob 52. As shown in FIG. 5, the joystick 5 has a dead band and movable range for the knob 52 defined within a predetermined range indicated by arrows symmetrically on the left and right. In this embodiment, the dead band is set to 10% of the movable range, and no signal is sent to the hull control device 10 when the knob 52 is turned within the dead band.

[0066] 5, when the knob 52 is turned clockwise without tilting the lever 51 of the joystick 5, the first thruster 1 and the second thruster 2 output power in opposite directions, causing the hull to rotate clockwise. When the knob 52 is turned counterclockwise, the first thruster 1 and the second thruster 2 output power in opposite directions, causing the hull to rotate counterclockwise. In this embodiment, as an example, the rotation speed of the hull is changed depending on the amount of rotation of the knob 52, but it is also possible to configure the outputs of the first thruster 1 and the second thruster 2 to be constant regardless of the amount of rotation of the knob 52.

[0067] Figure 6 is an explanatory diagram of the operation of the joystick 5 and the movement of the hull, showing the movement of the hull when the lever 51 of the joystick 5 is operated alone. The solid arrow indicates the direction of travel of the hull, and the dashed arrow indicates the output of the engine, first thruster, and second thruster. The direction of the dashed arrow indicates the direction in which the hull moves due to the output of each device. A dead zone is provided at each division where the direction of hull movement changes (thick radial line D in Figure 6).

[0068] Specifically, when the lever 51 of the joystick 5 is tilted to range A on the upper side in Fig. 6, the engine 3 outputs power and the hull moves forward. When the lever 51 is tilted to range A on the lower side in Fig. 6, the engine 3 outputs power and the hull moves backward.

[0069] Furthermore, when the lever 51 of the joystick 5 is tilted to range C on the right side of Fig. 6, the first thruster 1 and the second thruster 2 both output toward the left, causing the hull to translate to the right. When the lever 51 is tilted to range C on the left side of Fig. 6, the first thruster 1 and the second thruster 2 both output toward the right, causing the hull to translate to the left.

[0070] Furthermore, when the lever 51 of the joystick 5 is tilted into range B on the diagonally forward right side in FIG. 6, the first thruster 1 and engine 3 output power, and the hull moves diagonally forward to the right. When the lever 51 is tilted into range B on the diagonally forward left side in FIG. 6, the first thruster 1 and engine 3 output power, and the hull moves diagonally forward to the left. When the lever 51 of the joystick 5 is tilted into range B on the diagonally rear right side in FIG. 6, the second thruster 2 and engine 3 output power, and the hull moves diagonally rear to the right. When the lever 51 is tilted into range B on the diagonally rear left side in FIG. 6, the second thruster 2 and engine 3 output power, and the hull moves diagonally rear to the left.

[0071] When the lever 51 of the joystick 5 is tilted to the dead zone D between the ranges A, B, and C in FIG. 6, the first thruster 1, the second thruster 2, and the engine 3 do not output any power.

[0072] FIG. 7 is an explanatory diagram of the operation of the joystick 5 and the movement of the hull, showing the movement of the hull when the lever 51 and knob 52 of the joystick 5 are operated together. (a) shows the case where the lever 51 is operated while the knob 52 is rotated to the right (clockwise). (b) shows the case where the lever 51 is operated while the knob 52 is rotated to the left (counterclockwise). The solid arrow indicates the direction of travel of the hull, and the dashed arrows indicate the output of the engine, first thruster, and second thruster. The direction of the dashed arrows indicates the direction in which the hull moves due to the output of each device.

[0073] The operation when the lever 51 and knob 52 of the joystick 5 are operated together is a combination of the operation of only the lever 51 in Figure 6 described above, the output of the first thruster 1, the second thruster 2, and the engine 3, and the output of the first thruster 1 and / or the second thruster 2 by the knob 52.

[0074] It should be noted that the outputs generated by operating the knob portion 52 are not simply added together, but rather the outputs of the first thruster 1 and / or the second thruster 2 are added together according to the following formula.

[0075] Here, the output of the first thruster by the lever is X(), the output of the second thruster by the lever is Y(), the output of the first thruster by the knob is Zx(), the output of the second thruster by the knob is Zy(), the superimposed output of the first thruster is XR, XL, and the output of the second thruster is YR, YL. The numbers in parentheses are R or L, and the output when the hull moves to the right is (R), and the output when moving to the left is (L).

[0076] (formula) First thruster (right movement): X(R)×1+Zx(R)×1 / 2=XR(≦100%) First thruster (left movement): X(L)×1+Zx(L)×1 / 2=XL(≦100%) Second thruster (right movement): Y(R) x 1 + Zy(R) x 1 / 2 = YR (≦100%) Second thruster (left movement): Y(L) x 1 + Zy(L) x 1 / 2 = YL (≦100%)

[0077] In the above formula, for example, in the case of the first thruster (right movement), the first thruster output X(R) by lever 51 is multiplied by 1 (the output by lever 51 remains unchanged), and then the first thruster output Zx(R) by knob 52 is multiplied by ×1 / 2 and added to this to obtain the combined output XR of the first thruster 1. Note that (≦100%) means that even if the combined output exceeds the maximum output of the first thruster 1, the output of the first thruster 1 will be limited to the set maximum output. The same applies to the first thruster (left movement), second thruster (right movement), and second thruster (left movement).

[0078] A specific example is as follows. (Example 1) When tilting the lever diagonally to the right all the way and turning the knob all the way to the right (see Figure 7a) First thruster → Lever right movement output X(R) 100% x 1 + Knob right movement output Zx(R) 100% x 1 / 2 = Combined right movement output XR 100% (≦100%) Second thruster → Lever neutral Y(L) 0% × 1 + Knob left movement output Zy(L) 100% × 1 / 2 = Total left movement output YL 50% (≦100%)

[0079] (Example 2) When the lever 51 is tilted halfway to the left and the knob is turned all the way to the left (see Figure 7b) First thruster → Lever left movement output X(L) 50% × 1 + Knob left movement output Zx(L) 100% × 1 / 2 = Total left movement output XL 100% (≦100%) Second thruster → Lever left movement output Y (L) 50% × 1 + Knob right movement output Zy (R) 100% × 1 / 2 = Total force neutral 0% (≦100%)

[0080] (Example 3) Tilt the lever 51 forward and turn the knob all the way to the left (see Figure 7b). First thruster → Lever neutral 0% × 1 + Knob left movement output Zx (L) 100% × 1 / 2 = Total left movement output XL 50% (≦100%) Second thruster → Lever neutral 0% × 1 + Knob right movement output Zy (R) 100% × 1 / 2 = Combined right movement output YR 50% (≦100%)

[0081] Note that the above-mentioned formula 1 is an example of this embodiment, and the coefficient A of the output by the lever is 1 and the coefficient B of the output by the knob is 1 / 2, but this is not limited to this, and different coefficients may be used, for example, the coefficient A of the output by the lever is 4 / 5 and the coefficient B of the output by the knob is 2 / 3, or the coefficient A is 1 / 2 and the coefficient B is 1 / 2.

[0082] In this way, the hull is controlled by operating the lever 51 and the knob 52, and the hull moves as shown in Figures 7(a) and 7(b). This allows the operator to intuitively control the hull by operating the lever 51 and the knob 52.

[0083] Second Embodiment Next, a second embodiment will be described. The main difference between the second embodiment and the first embodiment is the configuration including multiple joysticks and a switch for changing over those joysticks. Therefore, for the second embodiment, only the parts that differ from the first embodiment will be described, and the description of the similar parts will be omitted as appropriate.

[0084] The main configuration related to the output of the hull of the second embodiment is the same as that of the first embodiment shown in Fig. 1. Fig. 8 is a block diagram showing the schematic configuration of the hull control device. As shown in Fig. 8, what differs from the first embodiment is the configuration in which a joystick selector switch is used to switch between the operation of multiple joysticks, the first joystick 110 and the second joystick 120, and send a signal to the operation signal output device 6.

[0085] The first joystick 110 is the same as that in the first embodiment, and has a lever 111 and a knob portion 112. The first joystick 110 is the same as that in the first embodiment, and therefore a description thereof will be omitted.

[0086] The second joystick 120 has a lever 121 and does not have a knob. The changeover switch 100 switches between the first joystick 110 and the second joystick 120. The changeover switch 100 switches between maneuvering with the first joystick 110 and maneuvering with the second joystick 120, and the hull can be operated with either joystick.

[0087] The first joystick 110 and the second joystick 120 may be provided in a single operating device, in which case, when the second joystick 120 is selected, operation by the knob is disabled. The second joystick 120 may also be provided separately in a remote controller or the like that allows remote operation. The second joystick 120 may also be miniaturized to a portable size.

[0088] 9 is an explanatory diagram of the operation of the second joystick 120 and the movement of the hull. The solid arrow indicates the direction of travel of the hull, and the dashed arrows indicate the output directions of the engine, first thruster, and second thruster.

[0089] As shown in Figure 9, the second joystick 120 operates the engine and thrusters by operating a lever 121, and can control forward and backward movement of the hull and movement in left and right directions and diagonal directions. The direction of movement corresponds to the direction in which the lever is tilted. However, since there is no knob, rotation and rotation are not possible.

[0090] When the changeover switch 100 is used to switch from operation of the second joystick 120 to operation of the first joystick 110, the maneuvering and hull movements are the same as those shown in FIGS. 6 and 7 of the first embodiment.

[0091] Third Embodiment Next, a third embodiment will be described. The main difference between the third embodiment and the first embodiment is that the first control unit 7, the second control unit 8, and the third control unit 9 are integrated into a single control device 180. Therefore, for the third embodiment, only the parts that differ from the first embodiment will be described, and the description of the same components will be omitted as appropriate.

[0092] The main output configuration of the hull of the third embodiment is the same as that of the first embodiment shown in Fig. 1. Fig. 10 is a block diagram showing a schematic configuration of a hull control device of the third embodiment. As shown in Fig. 10, the hull control device is configured such that an operation signal from a joystick 5 is transmitted to an operation signal output device 6, which then sends a signal to a control device 180, which then sends operation signals to the engine 3, the first thruster 1, the second thruster 2, and the thruster state indicator 11 to operate them.

[0093] <Fourth embodiment> Next, a fourth embodiment will be described. The main difference between the fourth embodiment and the first embodiment is that the first control unit 7, the second control unit 8, the third control unit 9, and the operation signal output device 6 are integrated into a single control device 190. Therefore, for the fourth embodiment, only the parts that differ from the first embodiment will be described, and the description of the similar components will be omitted as appropriate.

[0094] The main output configuration of the hull of the fourth embodiment is the same as that of the first embodiment shown in Fig. 1. Fig. 11 is a block diagram showing the schematic configuration of a hull control device in the fourth embodiment. As shown in Fig. 11, the hull control device is configured such that an operation signal from a joystick 5 is transmitted to a control device 190, and the control device 190 sends operation signals to the engine 3, the first thruster 1, the second thruster 2, and the thruster state indicator 11, respectively, to operate them.

[0095] <Other embodiments> As described above, preferred embodiments of the present invention have been described with reference to the drawings, but various additions, modifications, and deletions are possible without departing from the spirit of the present invention. For example, in the second embodiment, the first joystick 110 and the second joystick 120 are configured to be switchable, but the hull may be equipped with only the second joystick 120. [Explanation of symbols]

[0096] 1. First thruster 2 Second Thruster 3 Engine 4 Rudder 5 Joystick 51 Lever 52 Knob 6 Operation signal output device 7 First Control Section 8 Second control section 9 Third Control Section 10 Hull control device 11 Thruster Status Indicator 110 First Joystick 111 Lever 112 Knob 120 Second Joystick 121 Lever 180 Control Device 190 Control Device

Claims

1. a first thruster disposed at either the front or rear of the hull for generating a water current in a leftward or rightward direction, and a second thruster disposed at the other of the front or rear of the hull for generating a water current in a leftward or rightward direction, a joystick for operating the hull, an operation signal output unit connected to the joystick and for outputting an operation signal, a first control unit connected to the operation signal output unit for controlling the engine, a second control unit connected to the operation signal output unit for controlling the first thruster, and a third control unit connected to the operation signal output unit for controlling the second thruster, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees in the horizontal direction, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted, a predetermined first angular range in which the engine operates and a predetermined second angular range in which the first thruster and / or the second thruster operate in a tilt direction of the joystick, and a third angular range in which the first angular range and the second angular range partially overlap, and when the joystick is tilted in the third angular range, the engine and the first thruster and / or the second thruster operate together; the second angular range includes an angular range A in which only the first thruster operates, an angular range B in which the first thruster and the second thruster operate, and an angular range C in which only the second thruster operates, and a dead zone of a predetermined angle is provided between the angular range A, the angular range B, and the angular range C.

2. the first angle range is a range of +-60 degrees to 75 degrees on the forward side and a range of 180 degrees +-60 degrees to 75 degrees on the rearward side, when the clockwise traveling direction of the hull is 0 degrees, 2. A hull control device according to claim 1, wherein the second angle range is a range of 90 degrees +-60 degrees to 75 degrees to the right and a range of 270 degrees +-60 degrees to 75 degrees to the left, when the clockwise direction of the hull is 0 degrees.

3. 2. The hull control device according to claim 1, wherein the joystick has a predetermined threshold for the tilt amount of the lever, and when the tilt amount does not exceed the threshold, the engine, the first thruster, and the second thruster do not operate.

4. 2. The hull control device according to claim 1, wherein the joystick changes the outputs of the engine, the first thruster, and the second thruster in accordance with the tilt amount of the lever.

5. the joystick has the lever and a rotatable knob portion, By rotating the knob, the first thruster and / or the second thruster are operated; 2. A hull control device according to claim 1, wherein the hull rotates on its axis.

6. When the knob is rotated to the right, the hull rotates clockwise.

2. A hull control device according to claim 1, wherein when the knob portion is rotated leftward, the hull rotates counterclockwise.

7. 2. The hull control device according to claim 1, wherein a predetermined threshold is set for the amount of rotation of the knob portion, and the first thruster and the second thruster do not operate if the amount of rotation does not exceed the threshold.

8. 2. A ship control device according to claim 1, wherein outputs of the first thruster and the second thruster are changed in accordance with the amount of rotation of the knob portion.

9. a first thruster disposed at either the front or rear of the hull for generating a water current in a leftward or rightward direction, and a second thruster disposed at the other of the front or rear of the hull for generating a water current in a leftward or rightward direction, a joystick for operating the hull, an operation signal output unit connected to the joystick and for outputting an operation signal, a first control unit connected to the operation signal output unit for controlling the engine, a second control unit connected to the operation signal output unit for controlling the first thruster, and a third control unit connected to the operation signal output unit for controlling the second thruster, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees in the horizontal direction, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted, the joystick has the lever and a rotatable knob portion, When the rotation of the knob portion causes the first thruster and / or the second thruster to operate, the hull to rotate, the lever to tilt, and the knob portion to rotate, the outputs of the first thruster and the second thruster become an output C obtained by adding an output A corresponding to the tilt amount of the lever to an output B obtained by multiplying an output corresponding to the rotation amount of the knob portion by a predetermined coefficient of 1 or less.

10. a first thruster disposed at either the front or rear of the hull for generating a water current in a leftward or rightward direction, and a second thruster disposed at the other of the front or rear of the hull for generating a water current in a leftward or rightward direction, a joystick for operating the hull, an operation signal output unit connected to the joystick and for outputting an operation signal, a first control unit connected to the operation signal output unit for controlling the engine, a second control unit connected to the operation signal output unit for controlling the first thruster, and a third control unit connected to the operation signal output unit for controlling the second thruster, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees in the horizontal direction, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted, the joystick has the lever and a rotatable knob portion, When the rotation of the knob portion causes the first thruster and / or the second thruster to operate, the hull to rotate, the lever to tilt, and the knob portion to rotate, the outputs of the first thruster and the second thruster become output C obtained by adding output A obtained by multiplying an output corresponding to the tilt amount of the lever by a predetermined coefficient to output B obtained by multiplying an output corresponding to the rotation amount of the knob portion by a predetermined coefficient.

11. 11. A hull control device according to claim 9, wherein the output B calculated in accordance with the amount of rotation of the knob portion has a predetermined upper limit value as a maximum output.

12. 11. A hull control device according to claim 9, wherein the output C calculated from the tilt amount of the lever and the rotation amount of the knob portion has a predetermined upper limit value as a maximum output.

13. 2. The hull control device according to claim 1, wherein the first control unit, the second control unit, and the third control unit are configured by a single control device.

14. 2. The hull control device according to claim 1, wherein the first control unit, the second control unit, the third control unit and the operation signal output unit are configured by a single control device.

15. a first thruster disposed at either the front or rear of the hull for generating a water current in a leftward or rightward direction, a second thruster disposed at the other of the front or rear of the hull for generating a water current in a leftward or rightward direction, a joystick for operating the hull, an operation signal output unit connected to the joystick and for outputting an operation signal, a first control unit connected to the operation signal output unit for controlling the engine, a second control unit connected to the operation signal output unit for controlling the first thruster, and a third control unit connected to the operation signal output unit for controlling the second thruster, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees in the horizontal direction, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted, the joystick has the lever and a rotatable knob portion, A hull control device comprising: a first joystick having the lever and the knob; a second joystick having the lever; and a changeover switch for switching between maneuvering with the first joystick and maneuvering with the second joystick, wherein rotation of the knob activates the first thruster and / or the second thruster, causing the hull to rotate on its axis; and wherein the changeover switch switches between maneuvering with the first joystick and maneuvering with the second joystick, allowing the hull to be operated with either joystick.

16. A hull comprising a hull control device according to any one of claims 1 to 10 and 13 to 15.

17. A method for controlling a hull that includes an engine, a first thruster that is disposed at either the front or rear of the hull and generates a water current in the left or right direction, a second thruster that is disposed at the other of the front or rear of the hull and generates a water current in the left or right direction, and a joystick for operating the hull, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees in the horizontal direction, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted, In the tilt direction of the joystick, When the joystick is tilted within a predetermined first angle range, the engine operates, when the joystick is tilted within a predetermined second angle range, the first thruster and / or the second thruster operates, and when the joystick is tilted within a predetermined third angle range, both the engine and the first thruster and / or the second thruster operate, the second angular range has an angular range A in which only the first thruster operates, an angular range B in which the first thruster and the second thruster operate, and an angular range C in which only the second thruster operates, and a dead zone of a predetermined angle is provided between the angular range A, the angular range B, and the angular range C.

18. the first angle range is a range of +-60 degrees to 75 degrees on the forward side and a range of 180 degrees +-60 degrees to 75 degrees on the rearward side, when the clockwise traveling direction of the hull is 0 degrees, The second angle range is a range of 90 degrees +-60 degrees to 75 degrees to the right and a range of 270 degrees +-60 degrees to 75 degrees to the left, when the clockwise direction of the hull is 0 degrees.

18. A method for controlling a vessel according to claim 17.

19. 18. The method for controlling a boat according to claim 17, wherein the joystick changes the outputs of the engine, the first thruster, and the second thruster in accordance with the tilt amount of the lever.

20. the joystick has the lever and a rotatable knob portion, By rotating the knob, the first thruster and / or the second thruster are operated; 18. A method of controlling a vessel according to claim 17, characterized in that the vessel rotates on its axis.

21. When the knob is rotated to the right, the hull rotates clockwise. When the knob is rotated to the left, the hull rotates counterclockwise.

21. A method for controlling a vessel according to claim 20.

22. 21. The method for controlling a ship according to claim 20, wherein outputs of the first thruster and the second thruster are changed in accordance with an amount of rotation of the knob portion.

23. A method for controlling a hull that includes an engine, a first thruster that is disposed at either the front or rear of the hull and generates a water current in the left or right direction, a second thruster that is disposed at the other of the front or rear of the hull and generates a water current in the left or right direction, and a joystick for operating the hull, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees in the horizontal direction, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted, the joystick has the lever and a rotatable knob portion, By rotating the knob portion, the first thruster and / or the second thruster are operated, and the hull rotates, a control method for a hull, characterized in that, when the lever is tilted and the knob portion is rotated, the outputs of the first thruster and the second thruster are set to an output C obtained by adding an output A corresponding to the tilt amount of the lever to an output B obtained by multiplying an output corresponding to the rotation amount of the knob portion by a predetermined coefficient not greater than 1.

24. A method for controlling a hull that includes an engine, a first thruster that is disposed at either the front or rear of the hull and generates a water current in the left or right direction, a second thruster that is disposed at the other of the front or rear of the hull and generates a water current in the left or right direction, and a joystick for operating the hull, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees in the horizontal direction, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted, the joystick has the lever and a rotatable knob portion, By rotating the knob portion, the first thruster and / or the second thruster are operated, and the hull rotates, a control method for a hull, characterized in that, when the lever is tilted and the knob portion is rotated, the outputs of the first thruster and the second thruster are set to an output C obtained by adding an output A obtained by multiplying an output corresponding to the tilt amount of the lever by a predetermined coefficient to an output B obtained by multiplying an output corresponding to the rotation amount of the knob portion by a predetermined coefficient.

25. 24. A method for controlling a boat hull according to claim 23, wherein the output B calculated in accordance with the amount of rotation of the knob portion has a predetermined upper limit value as a maximum output.

26. 24. A method for controlling a boat hull according to claim 23, wherein the output C calculated from the tilt amount of the lever and the rotation amount of the knob portion has a predetermined upper limit value as a maximum output.

27. A method for controlling a hull that includes an engine, a first thruster that is disposed at either the front or rear of the hull and generates a water current in the left or right direction, a second thruster that is disposed at the other of the front or rear of the hull and generates a water current in the left or right direction, and a joystick for operating the hull, wherein the joystick has a lever and is configured to be tiltable in any direction within 360 degrees in the horizontal direction, and the engine, the first thruster, and the second thruster can be controlled depending on the direction in which the joystick is tilted, the joystick has the lever and a rotatable knob portion, By rotating the knob portion, the first thruster and / or the second thruster are operated, and the hull rotates, a first joystick having the lever and the knob, a second joystick having the lever, and a changeover switch for switching between the first joystick and the second joystick, A method for controlling a hull, characterized in that the changeover switch switches between maneuvering with the first joystick and maneuvering with the second joystick, allowing the hull to be operated with either joystick.

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