CONTROL AND MANOEUVRING STICK FOR A VESSEL

Abstract: The use of a single manoeuvring means with accompanying control system for controlling and manoeuvring a vessel is described. The single manoeuvring means is of the stick type and comprises a handle portion (1) which, by means of shaft portions (4, 5, 6), is connected to a base portion (3). The stick can be moved in the lateral plane and at the same time can be turned, the handle portion (1) being mounted by means of three shaft elements (4, 5, 6) coupled by ball joints (7, 8, 9, 10) in the handle portion and in the base portion. The handle (1) may be designed to be stylised like the vessel itself. The new stick allows the initiation of movement and motion with all degrees of freedom.

Description: CONTROL AND MANOEUVRING STICK FOR A VESSEL The invention relates to a control and manoeuvring stick (joystick) for a vessel. It has become more and more common, for example, to equip marine vessels of all kinds with manoeuvring and control means ofthe stick type, so-called joysticks. First, the actual rudder function was assigned to a single stick capable of lateral motion. Several sticks are used for manoeuvring, e.g., for actuating and fore or aft steering of propellers, preferably one set for each propulsion power plant. In addition, there are sticks to steer thrusters, again often one for each of them. A system of this kind is large and over-complex, it requires the operators to be trained, and thus the danger of operational error increases. A safe manoeuvring around docks or a harbour is dependent upon the personal skills ofthe operators. As a consequence thereof, developments have gone in the direction of combining several functions in fewer control means (sticks). ulitfunctionality is obtained by means of mechanical couplings, to an increasing extent via electronics and actuators, and also software with different forms of feedback. Software also exists for deferring control pulses in order to obtain desired power vectors from selected or all propulsion means on the basis of a given command. Despite many efforts to simplify the systems with a view to the number of manoeuvring means, it is common practice for at least two means to be used in order to initiate movement and motion with all degrees of freedom. The objective of the invention is to make possible the use of a single manoeuvring means with which any desired movement ofthe vessel can be initiated, e.g., motion to the sides, turning about any point whatsoever, ahead and astern operations, and not least forward sailing according to a desired course and speed. All these motions should be present simultaneously in any natural combination whatsoever. The manoeuvring means is connected to a control system which comprises algorithms and programmed data, also relating to the parameters ofthe vessel itself, such as mass, moments of inertia, resistance, wind resistance and so forth, plus information from sensors such as speed log, position and motion sensors, wind gauges and sensors which give feedback ofthe position ofthe control-actuator means at any time. The control system should be such that with increasing stick deflection the desired movement is initiated faster, i.e., with greater power. According to the invention, a control and manoeuvring stick for a vessel is therefore proposed, comprising a shaft portion and a handle portion, and mounted in a base portion by means ofthe shaft portion, the new stick being characterised in that its shaft portion is designed and mounted for movement in a spherical segment plane and also for turning about itself. It is particularly advantageous if the handle portion ofthe stick is designed to be stylised like the vessel itself. With a stick or manoeuvring means of this kind and accompanying control system, desired movement can be commanded by moving the handle, at the same time as it is optionally turned in the way it is desired that the vessel as a whole is to move. A practical embodiment ofthe new control and manoeuvring stick is rendered distinct in that the shaft portion comprises three shaft elements which are mounted on respective ball joints in the handle portion and in the base portion. In all stick controls it is essential that the stick has a well-defined and distinct neutral position, and that the movements in other respects can be made readily and precisely, but nevertheless in such manner that the stick can be released and stop in any position whatsoever where it remains without moving, for example, as a result of vibrations in the underlying surface. According to the invention, it is proposed that at least two ofthe shaft elements at the base portion be made in the form of sleeves having disposed therein respectively a plunger and a spring, which loads the plunger downwards against an underlying spherical segment rest. It is particularly advantageous if the respective lower plunger end is made as a part of a spherical surface designed for engagement with recesses in the spherical segment rest. In order to obtain an expedient limitation ofthe lateral motions ofthe stick, there can to advantage be provided a stopper means for such movement. A stopper means of this kind can expediently comprise a plate attached to the plungers and a limiter for the motion of this plate along the rest. To limit the torsional movements, one or more of the respective balls joints may to advantage have inbuilt torsion limiters. The position ofthe stick can be registered by sensors connected to the shaft elements. The sensors are provided in accordance with the need for unambiguous information regarding vessel motion. In a practical embodiment, two ofthe shaft elements may be connected to three sensors, one connected to one ofthe shaft elements and the other two connected to the other shaft element at right angles to one another. Three such sensors, in their individual positions, will via a calculation algorithm be capable of providing unambiguous information regarding desired vessel motion. The sensors are advantageously connected by means of ball joints. The invention will now be explained in more detail with reference to the drawings, wherein: Fig. 1 is a horizontal projection of a handle portion for the new stick according to the invention; Fig. 2 is a schematic vertical section ofthe stick; Fig. 3 is a horizontal projection ofthe special rest in the embodiment in Fig. 2; Fig. 4 illustrates purely schematically the positioning of appropriate sensors for the stick; Fig. 5 shows a section of a computer screen image; and Fig. 6 shows a section of a second computer screen image. The new control and manoeuvring stick illustrated in Figs. 1 and 2 has a handle portion 1 , a shaft portion 2 and a base portion 3. The handle portion or grip head portion ofthe stick in the plan view has a stylised form, approximately resembling the vessel in question. The shaft portion ofthe stick comprises three shaft elements, 4, 5 and 6. In the section in Fig. 2 only two ofthe shaft elements 4 and 6 are shown. Each shaft element is mounted in respectively the handle portion 1 and the base portion 3 by means of a respective ball joint 7, 8, 9 and 10, as shown in Fig. 2. The shaft element 5 is mounted in a similar way. As mentioned, in the case of stick control it is essential that the stick has a well-defined and distinct neutral position, and that the movements otherwise run easily and precisely, but nevertheless in such manner that the stick can be released and stop in any position whatsoever where it remains without moving because of, e.g., vibrations in the underlying surface. This is brought about in the exemplary embodiment in that the lower end ofthe shaft elements 4 and 6 are extended downwards from the respective lower ball joints 9, 2 in the form of a respective sleeve 11, 12. In each of said sleeves 11, 12 a plunger 13,14 is slideably arranged. Each plunger is actuated in a downward direction by a compression spring 15, 16, inserted in the sleeve 11, 12. These springs 15, 16 press the plungers 13, 14 towards a spherical segment rest 17. The plungers or, to be more precise their sleeves, are connected to a plate 18 curved in accordance with the spherical segment, which in interaction with a limiting edge 19 serves to limit in an appropriate manner the lateral movements ofthe stick. Limitation of torsion is provided in that one or more shaft elements have torsion limiters incorporated into the ball joints. Such torsion limiters are well-known and are not shown in detail. The system is set up so that when the speed forward exceeds a set value, e.g. 5 knots, depending upon the type of vessel, the function as general manoeuvring means with all degrees of freedom ceases. The stick then becomes an actuating means from full speed ahead to full speed astern, optionally also a rudder in that it is turned, or in that it is moved sideways, according to choice. It is however advantageous to switch the rudder function over to an ordinary wheel, or to a conventional rudder stick once a speed has been reached that is above a determined value. Even if the stick should then be moved beyond one ofthe functions (actuator) or both (rudder and actuator), nothing is initiated. When the speed falls once more to below, e.g., 5 knots, the stick automatically again becomes a panfunctional manoeuvring and control means. It is of advantage to provide a distinct stop for full speed ahead and full speed astern. This is indicated in Fig. 3 in that recesses 20 are shown in the rest surface 17 as distinct stop for full speed ahead, and similar recesses 21 for full speed astern. Shallower grooves 22 are provided between the recesses so that the to and fro movement ofthe stick as pure actuating means has a mild degree of control. Of course, a number of stops can be provided (not shown) between the outer points, if so desired. The lower ends ofthe plungers 13, 14 are designed as parts of spherical surfaces for interaction with the recesses 20, 21 22. The position ofthe stick is registered by appropriate sensors provided as shown in Fig. 4, see also Fig. 2. Three sensors 23, 24 and 25 are used. The sensor 23 is connected to the shaft element 4 below the connection of ball joints 26, 27. The sensors 24 and 25 are connected to the shaft element 5 by means of ball joints 28, 29, 30 and 31 and are at right angles to one another. Three such sensors, in their individual positions, will via a calculation algorithm be capable of giving necessary information regarding the movement ofthe vessel. The system can be programmed such that locking thereof and of engines etc. does not take place via keys, but by punching in a suitable code, e.g., four or five digits. It can also be programmed that the engine or engines start automatically the first time the stick is moved after the system has been "unlocked". A function can be installed which allows a manoeuvre to be "pre-programmed" before it is initiated. By means of a button 32 on the stick (Fig. 1), the normal direct function ofthe stick can be cancelled. For example, with reference to Fig. 5, it is conceivable that a vessel 33 is in a position as shown relative to a jetty 34, and that it is desirable to move into position 35. The image in Fig. 5 appears on a computer screen and is established in a known way per se by means of sensors (short-range radar, television circuits, electronic maps in conjunction with GPS, distance meters etc.) in combination with necessary algorithms. The outline ofthe ship has been entered and is shown in correct scale and position. The vessel can then be manoeuvred to the desired position 35 by means of a simulator (also present as software in the process arithmetic unit) and the stick. The button 32 is then pressed and the manoeuvre can be initiated. This pre-programming can take a short time. A method of this kind for docking large passenger vessels, ferries etc. represents a considerable improvement in safety compared with today's situation. It will be appreciated that the system is such that the size ofthe power vectors is determined so that they do not exceed external influence in the form of current and wind, unless this is information the operator must consider. Finally, expected time of the manoeuvre is given and this is the only information the operator must act on. If the time is judged to be too long or too short, the manoeuvre is repeated with corrected stick deflection. Similarly, departing from a jetty and coming onto a first steered course at desired speed, for example, can be pre-programmed. During the whole of this pre-programming it is possible to check that the vessel at any given time has the correct position relative to the environment, depth etc. Fig. 6 shows a vessel 36 at a pier 37. The vessel is to come into position 39 as quickly as possible and onto desired course 40 with an increase in speed to, e.g., 35 knots. An acceptable intermediate position is shown at 38. The system will check that the engine power used is sufficient with respect to current and wind, but not so great as to cause passengers to feel discomfort. When such pre-programmed manoeuvres are executed, the operator can follow constantly and oversteer the automatic process at any point in time, if necessary. Modern management information and control systems can be set up so that the system is self-instructing. This means to say that constants for wind resistance, current, mass etc. are computed gradually during the first period of time the system is in use, stored and updated. The system can be used without any additional features for simulator training when the vessel is lying at anchor. In fact, this is also true when the ship is under way and the stick's functions are switched over to other means. In most cases, maritime authorities require there to be independent, mechanically connected manoeuvring means as back¬ up.

Claims: P a t e n t c l a i m s 1. A control and manoeuvring stick, comprising a shaft portion (2) and a handle portion (1), and mounted in a base portion (3) by means ofthe shaft portion, the shaft portion (2) being designed and mounted for movement in a spherical segment plane, characterised in that the shaft portion (2) is designed to have three shaft elements (4, 5, 6) which are mounted in respective ball joints (7, 8, 9, 10) in the handle portion (1) and in the base portion (3). 2. A control and manoeuvring stick according to Claim 1 , characterised in that the shaft portion (2) comprises three shaft elements (4, 5, 6) which are mounted in respective ball joints (7, 8, 9, 10) in the handle portion (1) and in the base portion (3). 3. A control and manoeuvring stick as disclosed in Claim 2, characterised in that two of the shaft elements (4, 6) at the base portion (3) are designed to have sleeves (1 1, 12) having provided therein respective plungers (13, 14) and a spring (15, 16) which loads the plunger (13,14) downwards in the direction of an underlying spherical segment rest (17). 4. A control and manoeuvring stick according to Claim 3, characterised in that the respective lower plunger end is made as a part of a spherical surface designed for engagement with recesses (20, 21, 22) in the spherical segment rest (17). 5. A control and manoeuvring stick according to one ofthe preceding claims, characterised by a stopper device (18, 19) for the lateral motion ofthe stick. 6. A control and manoeuvring stick according to Claim 5, characterised in that the stopper device comprises a plate (18) connected to the sleeves (1 1, 12) and a limiter (19) for the movement of said plate (18) along the rest (17). 7. A control and manoeuvring stick according to one ofthe preceding Claims 2 to 6, characterised by torsion limiters in the respective ball joints (7, 8, 9, 10). 8. A control and manoeuvring stick according to one of Claims 2 to 7, characterised in that the shaft elements (4, 5) are connected to sensors (23, 24, 25). 9. A control and manoeuvring stick according to Claim 8, characterised in that two ofthe shaft elements (4, 5) are connected to three sensors, one (23) connected to one ofthe shaft elements and the two others (24, 25) connected to the other shaft element at right angles to one another. 10. A control and manoeuvring stick according to Claim 9, characterised in that the sensors (23, 24, 25) are connected by means of ball joints (26, 27, 28, 29, 30, 31). 1 1. A control and manoeuvring stick according to Claim 1, characterised in that the handle portion (1) is designed to be stylised like the vessel itself.

Inventors: KVAMSDAL ROLF, KVAMSDAL, ROLF
Applicants: KVAERNER ASA, KVAMSDAL ROLF, KVAMSDAL, ROLF
Application year: 1997
Main classification: B63H25
IPC codes: B63H21, B63H25, G05G9