JPH06301329A - Simulator for training ship steering - Google Patents

Abstract

(57) [Summary] [Purpose] It is possible to sway the simulated bridge in synchronization with the wave image projected in the field of view of the simulated bridge. [Structure] A simulated bridge 6, a shaking device 7 that gives the simulated bridge 6 a hull that occurs on an actual ship, a central processing unit 2 that controls the movement of the shaking device 7, and the visibility of the simulated bridge 6 Accumulation of various wave data and various moving target data which are basic data when the CG image is generated by the simulated visual field generation device 8 and the simulated visual field generation device 8 which displays the CG image of the sea surface or the moving target that changes according to The storage device 12 and the data stored in the storage device 12 are transferred to the simulated field-of-view generation device 8 according to the set conditions, and the same wave data as that data is included in the basic data of the hull motion. As a result, the central processing unit 2 oscillates the simulated bridge 6 in synchronism with the swell and waves of the sea surface on the CG image based on the transmitted wave data. Control the shaking device accordingly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a simulation apparatus for simulating the motion of a ship during maneuvering and reproducing the shaking of the bridge and the view from the bridge, and particularly to the sea surface swell and waves reflected in the view of the simulated bridge. The present invention relates to a ship-handling training simulator capable of performing ship-handling training while experiencing the motion of a ship corresponding to an image.

[0002]

2. Description of the Related Art As a ship maneuvering training device for creating a ship maneuvering environment that is close to that of an actual ship on land and carrying out ship maneuvering training, a life-size simulated bridge on which a maneuvering trainer is aboard, and a rocking device that shakes the simulated bridge. , A simulator for ship-handling training, which is provided with a large-screen field-of-view reproduction device using computer graphics (CG) or the like is known.

Conventionally, this type of device is provided with a full-scale rudder and various indicator instruments (for example, compass, main spindle tachometer, blade angle meter, rudder angle meter, anemometer, speedometer, etc.) in a simulated bridge. While maneuvering trainees are checking the maneuvering situation with these indicating instruments,
It is possible to operate the main engine and rudder.
During the training of ship maneuvering, the shaking device causes the simulated bridge to sway in response to the operation of the main engine and the rudder operation, allowing the trainee to experience the shaking of the ship that is close to that of the actual ship. By projecting a visual field image that is a composite of the image of a landscape or another ship and the wave image, it gives the trainee training sensation of being on the water.

[0004]

By the way, in a high-speed boat or a small boat, the hull is greatly shaken when it collides with a wave,
As this can lead to dangerous situations, it is necessary to have training in maneuvering in waves so that large waves can be skillfully avoided and the direction of the hull can be adjusted quickly in response to waves and swells.

However, in the conventional simulator for ship-handling training, although the image of the swells and waves of the sea surface is projected in the field of view of the simulated bridge along with the scenery of the harbor, this is merely to enhance the visual presence. It was not possible to move the simulated bridge in synchronization with the swells and waves on the surface of the sea. In other words, even if the wave reflected in the field of view of the simulated bridge reaches the ship's own position (virtual position), the shaking caused by the wave cannot be generated in the simulated bridge. Therefore, even if the conventional ship-handling simulator is used to perform ship-handling training assuming waves, the ship-handling trainees will be given the sensation that the waves will simply pass by, and the hull will be affected by the waves. It was not possible for the trainees to experience the swaying feeling.

The present invention has been made in view of the above circumstances, and provides a ship maneuvering training simulator capable of swaying the simulated bridge in synchronization with the undulations and waves of the sea surface on the image projected in the field of view of the simulated bridge. To do.

[0007]

In order to achieve the above-mentioned object, a simulator for training in marine vessel maneuvering of the present invention comprises a simulated bridge that is outfitted in the same manner as an actual ship, and a shaking that gives the simulated bridge to a hull that occurs on an actual ship. Device, a shaking control device for controlling the movement of the shaking device, a simulated field-of-view generating device for projecting a CG image of the sea surface, a moving target, or the like, which changes according to the marine vessel manipulating condition in the field of view of the simulated bridge, and the simulated visual field generation CG in the device
A storage device that stores various kinds of wave data and various moving target data that are basic data for generating an image, and the data stored in this storage device is transferred to the simulated visual field generation device according to set conditions. In addition, the shaking control device is provided with a shaking data transfer device that transfers the same wave data as that included in the data to the shaking control device as basic data of the ship shaking. Based on the above, the rocking device is controlled to rock the simulated bridge in synchronization with the undulations and waves of the sea surface on the CG image.

In the ship-handling training simulator of the present invention, the simulated field-of-view generator calculates the motion of a moving target such as another ship or a drifting object within the field of view of the simulated bridge based on the transmitted wave data. C that is a composite of an image of the sea surface and an image of a moving target that is shaken by the swells and waves of the sea surface
It is preferably configured to generate G video.

[0009]

According to the ship maneuvering training simulator of the present invention having the above-described structure, the same wave data retrieved from the storage device is sent to the simulated visual field generating device as the basic data of the CG image, and the shaking control is performed. It is simultaneously transferred to both devices as basic data of ship motion. The simulated field-of-view generator generates a CG image of sea surface undulations and waves that change according to the marine vessel maneuvering condition based on the transmitted wave data. On the other hand, the shaking control device controls the shaking device to synchronize the shaking of the simulated bridge with the undulations and waves of the sea surface on the CG image projected in the visual field of the simulated bridge based on the transmitted wave data. In this way, by controlling the drive of the swaying device by using the wave data, which is the basic data of the CG image, as the basic data of the hull motion, the swells and waves of the sea surface on the CG image and the sway of the simulated bridge are completely synchronized. be able to. Therefore, it is possible to carry out ship-handling training such as avoiding waves or immediately adjusting the direction of the ship against large swells and waves, while allowing ship-training trainers to experience ship sway due to the effects of waves and swells. Become.

Further, using the above-mentioned wave data, it is possible to calculate the sway of the moving target other than the own ship as well as other ships and display the image of the moving target swaying due to the swell of the sea surface as a CG image. So, you can more easily perceive the sea elephant.

[0011]

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

The simulator for ship-handling training shown in FIG. 1 includes an instructor desk 1, a central processing unit 2, a navigation instrument interface device 3, a radar pseudo signal generator 4, a simulated sound generator 5, a simulated bridge 6, and a shaking device 7. , A simulated visual field generator 8 and a simulated bridge instrument 9 are included.

Therefore, first, each of the above-mentioned constituent elements of the ship-handling training simulator will be described.

Instructor desk 1: Training area, training test ship, moving target (other ship, drifting object, etc.), wave parameters (average wave period, wave shape, significant wave height, etc.), initial phase of wave, wave direction,
Input individual data required for training such as tidal direction, tide speed, initial ship speed, initial ship position, wind direction, wind speed, etc., and select a training scenario in which a set of data necessary for training is preset. Perform initial settings. Also, during training, such as monitoring the training status, controlling the appearance of crossing ships and oncoming ships, setting / changing environmental conditions such as wind, waves, tidal current, fog, and setting the failure status of the main engine and steering gear, etc. And conduct regular training. The system control unit 1a in the instructor's desk, which performs the initial setting, execution, and monitoring of these trainings, stores the above-mentioned various data in the storage device 12, and calls various data necessary for the training from this storage device 12 to generate the simulated visual field generating device. 8 and a data transfer device 13 for transferring data to the central processing unit 2
And calling of data by this data transfer device 13
The data transfer control device 14 for controlling the transfer is generally configured. By these functions of the data transfer device 13 and the data transfer control device 14, the simulated field-of-view generator 8 receives the data of the selected training scenario, the setting data of the other ship and other environmental conditions, and the parameter of the set wave. Data is transferred. Further, to the central processing unit 2, various initial data such as initial positions of the own ship and other ships, course, speed, etc., as well as wave parameters and wave initial phase data are transferred. The parameters of the wave transferred to the simulated visual field generator 8 and the parameters of the wave transferred to the central processing unit 2 are completely the same, and the parameters of the simulated visual field generator 8 and the central processing unit 2 which will be described later are the same. The data processing and calculation for the generation of simulated field of view and the occurrence of sway of the bridge are performed with perfect synchronization based on the same wave parameters.

Central processing unit 2: Steering device 1 described later
0 and various initial data transferred from the storage device 12 for the maneuvering motion (six degrees of freedom motion) of the own ship corresponding to the maneuvering signals (main engine speed, rudder angle, etc.) from the main machine control device 11, that is, the own ship position. , Course, speed, wave parameters (average wave period, significant wave height), initial phase of waves, etc. are used to calculate in real time using a mathematical model of ship motion to determine the attitude, velocity, acceleration and angular velocity of the ship. Based on the information, a shaking control signal for controlling the movement of the simulated bridge 6 in six degrees of freedom is sent to the shaking device 7. Further, the data (digital data) of the current position and attitude (ship direction, inclination angle, etc.) of the own ship obtained by the above calculation are sent to the simulated visual field generator 8. Further, necessary data is also sent to the navigation instrument interface device 3, the radar pseudo signal generator 4 and the simulated sound generator 5. In addition, in response to a command from the instructor's desk 1, data of moving targets (crossing ships, oncoming ships, etc.) and data of various environmental conditions such as wind speed and wave direction are transmitted.

Navigation instrument interface device 3: receives data (wind speed, wind direction, course, main engine speed, rudder angle, yaw rate, lateral inclination angle, etc.) from the central processing unit 2 and drives the instruments 9 on the simulated bridge. It is an interface device that has functions such as digital / analog conversion and digital / synchro conversion.

Radar pseudo signal generator 4: Receives the position signal of the own ship and the position of the moving target from the central processing unit 2, and the radar based on the information of the terrain database and the fixed target database built in this device. Send a signal.

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

Simulated bridge 6: A cockpit on the shaking device 7 imitating an actual bridge, inside of which a full-scale steering gear 10, a main engine control device 11, a simulated bridge instrument 9, an operating console , Speakers, etc. are installed.

Swing device 7: Mainly composed of a motion base to which the simulated bridge 6 is attached, and a 6-degree-of-freedom link mechanism for swingably supporting the motion base on a fixed base fixed to the floor. In response to the motion control signal from the arithmetic processing unit 2, the roll motion, the pitch motion, the yaw motion, the surge motion, the sway motion and the heave motion are separately moved or a combination of these motions is simulated on the bridge. Give to.

Simulated visual field generator 8: visual field image controller 1
5 and the video display device 16. Visual image control device 1
Reference numeral 5 is a space (sea area, etc.) set based on the current position and attitude data of the ship and the moving target sent from the central processing unit 2 and various data transferred from the storage device 12. The state of the 180 ° field of view of the bridge in the interior is calculated, and a video signal (analog signal) of the field of view of the bridge, which changes momentarily, is sent to the video display device 16. The view image control device 15 calculates the motion of the moving target within the view of the bridge based on the wave parameters transferred from the storage device 12, and the motion of the sea surface image and the swell or wave of the sea surface causes the motion. It has a function to generate a video signal of a video that is combined with the video of the moving target. The image display device 16 is composed of a plurality of display units arranged in a semicircular shape in front of the simulated bridge 6, and receives an image signal from the view image control device 15,
By displaying the CG image obtained by dividing the 180 ° field of view on each display unit, the CG image with the 180 ° field of view is displayed as a whole.

Instruments on the simulated bridge 9: The same instruments as the actual one, such as a navigation instrument, a compass (gyro repeater), a spindle tachometer, a rudder angle meter, a wind direction / speed meter, and a speedometer (log display). Composed, navigation instrument interface device 3
Driven by signals from the radar pseudo signal generator 4 and display or guide various information necessary for maneuvering, and centrally calculate operation signals (steering angle signal, main engine operation signal) of the steering device 10 or the main engine control device 11. Send to the processing device 2.

Next, the control flow of the visual field image and the bridge sway in the marine vessel maneuvering simulator of this embodiment will be described with reference to FIG.

When the steering device 10 and the main engine control device 11 are operated, a steering signal and a main engine operation signal (both are analog signals) indicating that these are operated are transmitted to the central processing unit 2. The input processing unit 18 of the central processing unit 2 converts the transmitted steering signal and main engine operation signal into digital data, and the steering motion calculation unit 19 thereof.
To enter. Based on this input data, the steering motion calculation unit 19 calculates the steering angle response and the main engine rotation speed response corresponding to the case of the actual machine to obtain the actual steering angle and the propeller rotation speed, and executes the calculation by the steering motion mathematical model. . This maneuvering motion mathematical model uses a group of mathematical formulas for calculating the ship motion that occurs by operating a rudder or a propeller,
This is a mathematical model for calculating the fluid force acting on the propeller and the hull. The maneuvering motion calculation unit 19 further stores the fluid force resulting from the maneuvering motion obtained by using the maneuvering motion mathematical model and the transfer data (various initial data, wave parameters and wave initial phase data) from the storage device 12. Based on the ship's current position, attitude, velocity, angular velocity, acceleration, angular acceleration, and ship motion (vector amount) determined by these quantities, the current result of the ship is calculated from the calculated results. The position and attitude data are sent to the simulated field-of-view generator 8, and the current attitude, velocity, angular velocity, acceleration, and angular acceleration data of the own ship are sent to the 6-degree-of-freedom shaking control unit 17, the current position data of the own ship, and the engine. The acoustic data such as the number of rotations is transferred to the instrument / acoustic control unit 20.

The simulated field-of-view generator 8 stores the data sent from the central processing unit 2 as the data of the position / posture of the own ship in the set space and the state of the field of view seen from the bridge. Based on the wave parameters (waveform data corresponding to the sea area, average wave period data, wave height data, etc.) transferred directly from the device 12, images of fixed targets, moving targets, etc. and images of the sea surface are imaged. The combined CG image is displayed on the CRT screen.

The 6-degree-of-freedom shaking control unit 17 uses the data from the maneuvering motion calculation unit 19 (current attitude, velocity, angular velocity, acceleration, and angular acceleration of the ship) to determine the undulation of the sea surface on the CG image. A shaking control signal for synchronizing the wave and the shaking of the simulated bridge 6 is generated and transmitted to the shaking device 7. From the maneuvering motion computing unit 19 to the 6-degree-of-freedom shaking control unit 1
The data transferred to 7 is obtained by using the initial phase data of the wave and the parameters of the same wave as the parameters of the wave transferred to the simulated field-of-view generator 8. By controlling the swaying device 7 by using the wave parameters to be the data as the basic data of the ship sway, C
The swells and waves of the sea surface on the G image and the shaking of the simulated bridge 6 can be perfectly synchronized.

Next, the overall operation of the marine vessel maneuvering simulator of this embodiment will be described more specifically according to the flow of FIG.

[Preparation for Training] When carrying out the marine vessel maneuvering training, in order to erase the contents of the previous training, each device constituting the marine vessel maneuvering training simulator is initialized (reset). The initialization work is instantly executed by pressing the reset button provided on the instructor desk 1.

When the reset button is pressed, the mode of the main controller of the instructor's desk 1 becomes the training condition setting mode, and various training conditions are displayed as a menu on the monitor screen of the instructor's desk 1. The training conditions are set by appropriately selecting the conditions to be set from various training menus displayed on the monitor screen. The training menu includes
Many condition items are prepared for each category such as ship type, training area, initial condition, environmental condition, etc.By moving the cursor on the monitor screen with a trackball or joystick, select all necessary items for each category. Then, the condition setting can be ended by selecting and executing the setting end item from the menu. Simultaneously with the completion of the condition setting, the information of the set training conditions is transmitted to each device of the ship maneuvering simulator such as the central processing unit 2, the simulated field-of-view generator 8, the simulated instrument in the bridge 9, and the mode of the main controller. Switch to training execution standby mode.

When the training execution standby mode is entered, the simulated bridge 6
That is displayed on the display provided on the console, and a notification sound is emitted from the speaker to notify the marine vessel training person that the training will be started soon. The maneuvering trainer makes a final check of various instruments according to the prescribed procedure and waits for a simulated voyage.

[Execution of Training] The marine vessel training is started by pressing the training start button on the instructor desk 1. When the training start button is pressed, the simulated visual field generator 8 is activated by the command from the central processing unit 2 to display the visual field image on the screen, and subsequently, the shaking device 7 is activated to activate the simulated bridge 6
Start to upset. The maneuvering trainer operates the steering gear and the main engine control device while embarking on a simulated voyage while confirming the outboard environment with the visual field image and the instruments 9 on the simulated bridge.

During the training, the central processing unit 2 constantly calculates the external force acting on the hull such as the fluid force and the wave forced force due to the maneuver based on the information of the set training conditions, Based on the results, solve the above 6-DOF equation of motion to find the position and orientation of the ship in the set space. Here, the information that is obtained moment by moment is transmitted in real time to the radar pseudo signal generator 4, the simulated sound generator 5, the shaking device 7, the simulated visual field generator 8, and the simulated in-bridge instruments 9. Then, a radar signal is transmitted from the radar pseudo signal generator 4, the position of the own ship and the shadow of the other ship are displayed on the radar device of the simulated bridge instrumentation 9, and the simulated sound generator 5 outputs the main engine sound. And wave wind noise and other environmental sounds are oscillated. The rocking | fluctuation apparatus 7 makes the simulated bridge 6 generate | occur | produce the hull motions, such as a horizontal sway, a vertical sway, a bow sway, a front-back sway, a left-right sway, and a vertical sway. The simulated field-of-view generator 8 is based on the signal from the central processing unit 2 and the wave information input in advance, and determines the fixed targets such as port scenery, lighthouse, and island shadows, and moving targets such as other ships and drifting objects. A field-of-view image, which is a composite of the image and the wave image, is displayed on the screen. The central processing unit 2 sequentially obtains the relative position between the hull and the wave and the fluid force that the hull receives from the wave, and controls the swaying device 7 based on the fluid force and the fluid force resulting from the operation. Further, when the central processing unit 2 detects the relative position between the hull and the wave, the central processing unit 2 checks whether or not the peak of the wave has come into contact with the bow, and the contact (YE
In the case of S), the signal is sent to the simulated sound generator 5. The simulated sound generating device 5 outputs the sound of the bow breaking or the sound of the ship hitting the wave from the speaker based on the data such as the ship speed, the wave height, and the attitude of the ship with respect to the wave.

The maneuvering trainer operates the ship while always paying attention to the wave image projected in the field of view of the simulated bridge 6, avoiding it when a large wave is encountered, or keeping the proper hull attitude with respect to the wave. Rudder operation. Then, when the wave can be successfully avoided by the rudder manipulator's steering operation, the simulated bridge 6 is slightly shaken and a small wave sound is output. On the contrary, when the wave avoidance fails, the simulated bridge 6 is A large wave sound is output as well as a great agitation caused by the waves. The ship-manipulation trainer operates the ship as if it were an actual ship while experiencing the sway and wave noise of the ship. Therefore, according to this ship handling simulator,
It is possible to acquire advanced marine vessel maneuvering technology including wave coping technology at an early stage.

On the other hand, on the monitor screen of the instructor's desk 1, the execution status of the rudder operation, main engine operation, etc. by the ship-handling training person is displayed in real time. During the training, the training instructor monitors the marine vessel maneuvering state by this monitor display and checks the marine vessel maneuvering trainee's skill level of marine vessel maneuvering. In response to a command from the instructor's desk 1, a reef or another ship can newly appear in the view image, the weather can be suddenly changed, or the main engine or steering gear can be damaged. You can also check your coping ability. Then, after carrying out a predetermined marine vessel training, the training stop button on the instructor desk 1 is pushed to end the training.

The training result and the setting conditions for the training are recorded in the magnetic recording device as the data for each person training the ship. Then, at any time after the training is completed, the data can be called up to reproduce the situation during the training on the monitor screen or print it out. Therefore, the maneuvering trainer can use the monitor images and the printed records to
You can objectively recognize your ability to operate a ship.

[0036]

As described above, according to the marine vessel maneuvering simulator of the present invention, the simulated bridge can be shaken in synchronization with the wave image displayed in the visual field of the simulated bridge.
This makes it possible for a trainee to experience the feeling that the hull is swaying due to the influence of waves, and a high training effect can be obtained.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of a device configuration of a ship-handling simulator of the present invention.

FIG. 2 is a diagram showing a view flow image and a control flow of bridge sway in the boat maneuvering simulator shown in FIG.

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

[Explanation of symbols]

 1 Instructor's desk 2 Central processing unit (sway controller) 3 Navigation instrument interface device 4 Radar simulated signal generator 5 Simulated sound generator 6 Simulated bridge 7 Swing device 8 Simulated view generator 9 Simulated in-bridge instruments 10 Steering device 11 Main machine control device 12 Storage device 13 Data transfer device 14 Data transfer control device 15 Field of view video control device 16 Video display device

Claims (2)

[Claims] 1. A simulated bridge that is outfitted in the same manner as an actual ship, a shaking device that gives the simulated bridge a hull that occurs on an actual ship, a shaking control device that controls the movement of this shaking device, and the simulated bridge A simulated field-of-view generator that projects a CG image of the sea surface or a moving target, etc.
A storage device in which various wave data and various moving target data, which are basic data when the CG image is generated by the simulated visual field generating device, is stored, and the data stored in the storage device is stored according to set conditions. And a data transfer device for transferring the same wave data as that contained in the simulated visual field generation device to the motion control device as basic data of the ship motion, and the motion control device transfers A ship-handling training simulator characterized by controlling the agitation device so as to synchronize the agitation and waves of the sea surface on the CG image with the agitation of the simulated bridge based on the received wave data. 2. The simulated field-of-view generator calculates the sway of a moving target within the field of view of the simulated bridge based on the transmitted wave data, and determines the sea surface image and the swell and wave of the sea surface. The simulator for marine vessel maneuvering training according to claim 1, wherein a CG image is generated by combining an image of a moving target object.