DE202024100480U1 - Facility for maritime vehicles - Google Patents

Abstract

Device for maritime vehicles, comprising an equipment system at least comprising:
a) a data collector module,
b) a data processor & filter module
c) a vehicle database module,
d) a cavitation calculation module,
e) one (or more) output feedback interface module(s)

Description

The invention relates to a device for maritime vehicles for preventing harmful cavitation on propulsion organs such as conventional and azimuthal drive and control systems, especially for providing information about conditions that promote cavitation during travel and especially during maneuvers for the purpose of detecting and enabling the targeted initiation of suitable countermeasures with corresponding feedback on the success.

The aim of the device is to avoid the dangers associated with cavitation, which can lead to damage to propulsors and a reduction in the efficiency of thrust generation, thereby improving the efficiency of maneuvering and, in the long term, increasing the service life of the propellers.

The invention can be used to assist people in the manual control of real vehicles such as ships on board and to train drivers, e.g. in a simulation environment. The results of the detection can be transmitted to systems for automated control or for remote control from land.

State of the art

Cavitation on ship propellers is a well-known problem that can lead to reduced efficiency of ship propulsion and increased wear on the surface of propellers, even to their destruction.

According to Wikipedia, cavitation is defined as: Cavitation (Latin cavitare “to hollow out”) is the formation and dissolution of vapor-filled cavities (vapor bubbles) in liquids. The cavitation bubbles lead to a change in the flow around and thus a change in the thrust efficiency. Due to the local pressure differences on the profile, local pressure increases can result in the destruction of the propeller blade surface due to the collapse of the cavitation bubbles. The cavitation bubbles in the hub and tip vortices of a propulsion organ located in front of it in the direction of flow can also have a damaging effect on the rudder in the propeller jet.

The main countermeasures used are methods that focus on the structural, geometric design of the propeller shape or the wing profiles to avoid cavitation at the service speed of ships with the corresponding propeller speed, i.e. the temporally dominant part of the propeller operation with constant speed and speed. When maneuvering to change the speed and speed, temporary cavitation conditions can occur which are accepted as unavoidable.

Fixed pitch propellers are characterized by the fact that the blades are firmly attached to the hub and are at the same angle to it - here cavitation can occur under high propeller loads, especially when a counter-rotating speed is commanded for stopping.

Variable pitch propellers are characterized in that the blades are movably attached to the hub and the thrust effect of the propeller is changed by adjusting the angle. This can cause harmful cavitation.

Azimuthal drives are characterized by the fact that the propeller is attached to a device (gondola) under the hull of the ship. These gondolas can normally be rotated 360° and can therefore exert their force in all directions, as required. The maximum rotation allows azimuthal drives to be positioned so that the propeller counteracts the direction of the ship's movement and can therefore be used to reduce the ship's speed - braking. There is a particularly high risk of cavitation when braking due to the high propeller load when the propeller works against the direction of travel.

A number of studies are known in the literature that deal with empirical methods of detecting cavitation and a possible loss of thrust on the propeller (see Proceedings of 25th ITTC - Volume II, pp. 482 - 483). The occurrence of cavitation is synonymous with increased wear and even destruction of the propeller as well as loss of efficiency in generating thrust.

Various methods for the structural design of propellers to avoid cavitation in stationary operating conditions are also known from the literature.

Also known are methods for direct pressure measurement on pumps, valves and other system parts around which liquids flow.

To date, there is a lack of methods and devices for displaying and recognizing conditions with a risk of cavitation and for the targeted derivation of suitable measures to avoid the dangers of unsteady propeller operating conditions during maneuvering - this is made possible by the device presented here.

Presentation of the invention

1. a) in welchem Parameterbereich des Propulsionsorgans diese auftreten kann,
2. b) welcher Parameter-Spielraum bis zum Erreichen der ermittelten Grenz-Parameter für jeden Propulsor noch zur Verfügung steht,
3. c) welcher Parameter gewählt werden muss, um schädliche Kavitation zu vermeiden.

The object of the invention is to support those responsible in operating a maritime vehicle efficiently and safely - in particular by warning of harmful cavitation on the propulsors located on the vehicle. It enables those responsible to recognize when there is a risk of possible cavitation with a negative impact on ship operations, when it has occurred and which alternative maneuvering states are suitable for maneuvering with a lower and/or no risk of cavitation. It should be possible to assess and identify the danger based on the reaching of limit parameters on each propulsor at any time:

1. a) in which parameter range of the propulsion organ this can occur,
2. b) what parameter margin is still available for each propulsor until the determined limit parameters are reached,
3. c) which parameter must be chosen to avoid harmful cavitation.

The solution is achieved by the features listed in the claims.

1. a) ein Daten-Kollektor-Modul existiert, welcher die aktuellen Daten der Schiffs-Sensorik zusammen mit weiteren Daten wie Fahrzeug-, Navigations-, Steuer-, Propulsions- und Umweltdaten aus einem oder mehreren Datenschnittstellen des Fahrzeugs empfängt, bündelt und später die Ergebnisse der Berechnungen über eine geeignete Schnittstelle wieder ausgibt,
2. b) ein Daten Prozessor- & Filter-Modul angeschlossen ist, welches die Eingangs-Daten für die Berechnungen vorverarbeitet und filtert, und
3. c) ein Fahrzeug-Daten-Bank-Modul existiert, welches die für die Berechnung erforderlichen Daten des maritimen Fahrzeugs enthält, und
4. d) diese beiden vorstehenden Module mit einem Kavitations-Berechnungs-Modul verbunden sind, welches die Propulsions-Parameter und anderen Fahrzeug-Parameter z.B. verarbeiten kann, und die Ergebnisse übergibt an
5. e) mindestens ein Ausgabe-Rückmeldungs-Interface-Modul zur Informations-Übermittlung, z.B. für Informationen an einen Fahrzeugführer auf einer Schiffsbrücke, verfügt. Die Rückmeldung kann dort sowohl visuell, akustisch, haptisch als auch auf eine andere geeignete Art und Weise erfolgen. Ebenfalls ist eine Kombination dieser Rückmeldungen denkbar, beispielsweise eine gleichzeitige visuelle und akustische Rückmeldung. Auch eine serielle Rückmeldung ist denkbar, beispielsweise kontinuierlich visuell, und zusätzlich akustisch, wenn ein vorgegebener Grenzwert erreicht wird.

The facility for maritime vehicles is characterized in that:

1. a) a data collector module exists which receives the current data from the ship's sensors together with other data such as vehicle, navigation, control, propulsion and environmental data from one or more data interfaces of the vehicle, bundles them and later the results which outputs calculations via a suitable interface,
2. b) a data processor & filter module is connected, which preprocesses and filters the input data for the calculations, and
3. c) a vehicle database module exists which contains the maritime vehicle data required for the calculation, and
4. d) these two above modules are connected to a cavitation calculation module, which can process the propulsion parameters and other vehicle parameters, for example, and transfers the results to
5. e) has at least one output feedback interface module for transmitting information, for example for information to a vehicle driver on a ship's bridge. The feedback can be visual, acoustic, tactile or in another suitable manner. A combination of this feedback is also conceivable, for example simultaneous visual and acoustic feedback. Serial feedback is also conceivable, for example continuously visually and additionally acoustically when a predetermined limit value is reached.

With these modules, the following process can be implemented, in which all the basics are provided for an analysis of the data in the cavitation mode by collecting the data in the data collector module and processing it in the data processor & filter module together with the data from the database module. Calculation module. At each measurement time, this module determines limit values for detecting conditions that promote cavitation on each propulsor.

Based on the measured values transmitted by the ship's sensors, such as speeds and speed commands, angular positions of the azimuthal drives, water depths, drafts, speed of the vehicle and rate of rotation, a parameter limit is determined, for example as a cavitation limit speed for each propulsor, which should not be exceeded if possible in order to avoid conditions on the propulsion organ that promote harmful cavitation for the propulsor and a reduction in performance.

The output feedback interface module is used to prepare information and provide feedback, for example to a vehicle driver on a ship's bridge.

When transmitted visually, the respective parameter limits as well as the commanded and current parameters of each propulsor are graphically displayed. These parameter limits are mapped with the commanded and current parameters on each propulsor for comparison.

If the permissible parameter limits are exceeded, a visual and/or acoustic and/or haptic warning is issued.

This information transmission is designed in such a way that by changing the commanded parameters, it can be immediately recognized and a visual, acoustic and/or haptic feedback can be provided as to when the risk of cavitation is reduced and thus a safe state can be found to avoid harmful cavitation.

List of drawings

• 1 Principle sketch for the exemplary integration of the device for maritime vehicles (dashed line) for calculating and displaying the risk of cavitation on a ship
• 2 Explanation of display interface as an example for four cavitation states with indication of cavitation limit speeds (dashed lines) and bar display of speeds (outside: commanded, dark dotted if there is a risk of cavitation; inside: current, black if harmful cavitation is present
• 3 Example landscape format display interface with limit parameters and commanded and current parameters for a vehicle with 4 azimuthal drives

Implementation of the invention

An embodiment of the invention with the connections to a ship system and the devices to be set up is in the 1 and is described in more detail below. The device according to the invention with the associated elements is outlined in dashed lines. It contains:

1. a) Sensoren (1): Auf dem maritimen Fahrzeug befindliche Sensoren zur Erfassung von Position, Geschwindigkeit, Wassertiefe, Tiefgängen und anderen Zuständen des Schiffes
2. b) Propeller/Propulsor (2): Auf dem maritimen Fahrzeug befindliche Propeller deren Signale (z.B. kommandierte und aktuelle Drehzahlen, Propeller Steigungswinkel sowie Azimuth-Winkelstellung des/der Propeller) für die Berechnung erfasst werden müssen.
3. c) VDR (3): Daten-Rekorder, z.B. Voyage-Data-Recorder, zur Erfassung und Weitergabe von weiteren Fahrzeug-, Navigations- und Umweltdaten,

Ship system data collection and transmission elements:

1. a) Sensors (1): Sensors located on the maritime vehicle to record the position, speed, water depth, drafts and other conditions of the ship
2. b) Propeller/Propulsor (2): Propellers located on the maritime vehicle whose signals (e.g. commanded and current speeds, propeller pitch angle and azimuth angle position of the propeller(s)) must be recorded for the calculation.
3. c) VDR (3): Data recorder, e.g. Voyage Data Recorder, for recording and passing on other vehicle, navigation and environmental data,

1. a) einem Daten-Kollektor-Modul (4), das über ein Interface zur Erfassung von Navigations- und Fahrzeug-, Steuer- & Propulsionsdaten alle erforderlichen Daten sammelt für die Berechnung der Kavitations-Grenz-Parameter und weitergibt an
2. b) das Datenprozessor- & Filter-Modul (5) für Eingangsdaten, hier erfolgen Prüfung und Anpassung aller Daten aus dem Daten-Kollektor.
3. c) ein Fahrzeug-Datenbank-Modul (6), in dem die wichtigsten Fahrzeug-Parameter gesammelt werden, z.B. die Parameter des Modells für die geplanten Berechnungsbedingungen und die anschließend für alle Module zur Verfügung stehen.
4. d) Mit den Daten aus dem Datenprozessor- & Filter-Modul (5) und dem Fahrzeug-Daten-Bank-Modul (6) sind damit alle nötigen Daten und Parameter für die nachfolgenden Berechnungen verfügbar. Zu diesen Daten gehören:
   1. 1. Fahrzeug-Zustands-Daten: Parameter der Manövrier-Einrichtungen (Positions-Sensoren, Positionen der Propulsoren sowie deren Charakteristik)
   2. 2. Manöver-Parameter: aktuelle und kommandierte Werte für Propulsions-Parameter sowie für die Drehrichtung, wenn es sich um einen azimutalen Propeller handelt
   3. 3. Initial-Daten / Schiffs-Bewegungs- und Umwelt-Parameter, Fahrtrichtung des Fahrzeuges, Fahrtgeschwindigkeit des Fahrzeugs, Position des Fahrzeugs, Drehgeschwindigkeit (Kursänderungsgeschwindigkeit) des Fahrzeugs, Windstärke, Windrichtung, Wassertiefe am Ort des Fahrzeugs sowie aktuelle Tiefgangs-Informationen des Fahrzeugs
5. e) In einem Kavitations-Berechnungs-Modul (7) erfolgt mit diesen Daten die Berechnung der Grenz-Parameter an jedem Propulsor basierend auf den Daten des Daten-Kollektors und der Fahrzeug-Datenbank
6. f) Ausgabe-Rückmeldungs-Interface-Modul (8) für die Übermittlung der Informationen,

Elements of the device according to the invention for maritime vehicles (outlined in dashed lines):

1. a) a data collector module (4), which collects and passes on all the data required for calculating the cavitation limit parameters via an interface for recording navigation and vehicle, control and propulsion data
2. b) the data processor & filter module (5) for input data, where all data from the data collector is checked and adjusted.
3. c) a vehicle database module (6) in which the most important vehicle parameters are collected, for example the parameters of the model for the planned calculation conditions and which are then available for all modules.
4. d) With the data from the data processor & filter module (5) and the vehicle database module (6), all necessary data and parameters are available for the subsequent calculations. This data includes:
   1. 1. Vehicle status data: Parameters of the maneuvering devices (position sensors, positions of the propulsors and their characteristics)
   2. 2. Maneuver parameters: current and commanded values for propulsion parameters as well as for the direction of rotation if it is an azimuthal propeller
   3. 3. Initial data / ship movement and environmental parameters, direction of travel of the vehicle, travel speed of the vehicle, position of the vehicle, rotation speed (speed of course change) of the vehicle, wind strength, wind direction, water depth at the location of the vehicle and current draft information of the vehicle
5. e) In a cavitation calculation module (7), this data is used to calculate the limit parameters on each propulsor based on the data from the data collector and the vehicle database
6. f) output feedback interface module (8) for transmitting the information,

1. a) Darstellung der aktuellen Propulsionsparameter, der kommandierten Propulsionsparameter und der Grenz-Parameter für jeweils einen Propulsor
   • ◯ Die Darstellung der Grenz-Parameter erfolgt durch eine gestrichelte Linie an jedem Propulsor separat
   • ◯ Die kommandierten Parameter sind für jeden Propulsor der breite Balken
   • ◯ Die aktuellen Parameter sind für jeden Propulsor als schmaler Balken dargestellt.
2. b) unterschiedlicher Gestaltung von Farbe bzw. Muster der Balkenanzeigen entsprechend der Höhe der Kavitationsgefahr in verschiedenen Abstufungen bzw. Warnstufen

An example of the visual representation of the information on the vehicle bridge is in 2 and 3 to see with:

1. a) Representation of the current propulsion parameters, the commanded propulsion parameters and the limit parameters for each propulsor
   • ◯ The limit parameters are represented separately by a dashed line on each propulsor
   • ◯ The commanded parameters are the wide bar for each propulsor
   • ◯ The current parameters are shown as a narrow bar for each propulsor.
2. b) different design of color or pattern of the bar displays according to the level of cavitation risk in different gradations or warning levels

1. a) Keine Gefahr schädlicher Kavitation vorhanden
2. b) Gefahr schädlicher Kavitation ist möglich / entwickelt sich: Kommandierte Drehzahl liegt über Grenz-Drehzahl
3. c) Gefahr schädlicher Kavitation wahrscheinlich eingetreten: Aktuelle Drehzahl liegt über Grenz-Drehzahl
4. d) Gefahr schädlicher Kavitation wird zurückgehen: Kommandierte Drehzahl liegt unter Grenz-Drehzahl Im Beispiel aus 2 sind nur positive Drehzahlen dargestellt, wie beispielsweise bei Azimuth-Propellern verbreitet anzutreffen, die ihre Drehrichtung beibehalten und sich zum Bremsen des Fahrzeugs auch gegen seine Fahrtrichtung drehen lassen. Für konventionelle Festpropeller-Antriebe, die auch rückwärtsdrehend zum Bremsen eingesetzt werden, sind ein negativer Drehzahlbereich und entsprechende negative Kavitations-Grenz-Drehzahlen auszuführen.

In 2 An example is given for the representation of different cavitation states in the output feedback interface module with speed of the propulsors (RPM) as a characteristic parameter given as a value in revolutions per minute and as a percentage of the maximum speed, which is also with the percentage of Commanded speed stage or Engine Order Telegraph - EOT could stand. For a propulsor, 4 different cavitation states a) to d) are shown with indication of cavitation limit speeds (dashed lines) and bar representation of speeds (outside bar: commanded speed, dark dotted for possible development of cavitation danger; inside bar : current speed, black if harmful cavitation is present/occurring) for the following cases or gradations:

1. a) There is no risk of harmful cavitation
2. b) Danger of harmful cavitation is possible / developing: Commanded speed is above the limit speed
3. c) Danger of harmful cavitation has probably occurred: Current speed is above the limit speed
4. d) The risk of harmful cavitation will decrease: the commanded speed is below the limit speed in the example 2 Only positive speeds are shown, such as those commonly found in azimuth propellers, which maintain their direction of rotation and can also be rotated against the direction of travel to brake the vehicle. For conventional fixed propeller drives, which are also used for braking in reverse rotation, a negative speed range and corresponding negative cavitation limit speeds must be implemented.

1. a) An Propulsor T 3 und T 4 sind die Grenz-Parameter überschritten und es erfolgt eine visuelle Warnung: der Balken des aktuellen Parameters überschreitet den Grenz-Parameter und ist deshalb hier schwarz dargestellt und auch der Balken des kommandierten Parameters überschreitet den Grenzparameter und wird deshalb hier dunkel und gepunktet markiert.
2. b) An Propulsor T 1 und T 2 sind die Grenz-Parameter nicht überschritten. Die Anzeige der Parameter-Balken ist hier grau dargestellt. Die senkrechten Linien für die Grenz-ParameterWerte liegen außerhalb der Balken.

A description of the implementation for the output feedback interface module is shown in an example in 3 for a vehicle with 4 propulsors, such as those found on double-ended ferries:

1. a) The limit parameters have been exceeded on Propulsor T 3 and T 4 and a visual warning is issued: the bar of the current parameter exceeds the limit parameter and is therefore shown here in black and the bar of the commanded parameter also exceeds the limit parameter and is therefore marked here dark and dotted.
2. b) The limit parameters are not exceeded at propulsor T 1 and T 2. The display of the parameter bars is shown in gray here. The vertical lines for the limit parameter values lie outside the bars.

The propulsion parameters are displayed in the display interface for each available propulsor of the vehicle for one or more propulsion parameters, for example as a dimensioned quantity, as a dimensionless quantity, as a percentage quantity or in another suitable manner such that the displayed ranges sensibly cover the possible value ranges of the respective parameters and their limit values and are recognizable to the user.

Output feedback interface modules can be positioned at a fixed location or at any location - preferably where the vehicle is controlled, e.g. on the command bridge of a ship. Several elements can be arranged/used at different locations at the same time.

The visual representation of the commanded and current parameters can be shown as a bar as described in the example, or in another type or form, such as a polar diagram, part of a pie chart, or as a pointer instrument.

The representation of the calculated parameter limit can be displayed as a line as described in the example, or as a warning in another way, such as, for example, as a numerical value, as a separate bar or other visual and/or acoustic and/or other information can be transmitted, for example haptically.

Summary

The invention relates to a device for maritime vehicles for use in maneuvering maritime vehicles on board or in corresponding simulation environments.

The risk of harmful cavitation on the propulsion organ is known to pose a risk to both the efficiency of maneuvering and the length of propulsor life.

The object of the invention is to recognize the risk of harmful cavitation with a negative impact on the operation of the maritime vehicle on each propulsor at any time and to show the user or otherwise make it recognizable in which parameter range this can occur and which parameter range. There is still room for each propulsor to reach the determined parameter limit before harmful cavitation occurs or how it can be prevented again after it occurs.

List of reference symbols

1. (1) Sensors: Sensors on the ship for detecting e.g. position, speed speed, water depth, draught and other conditions of the ship
2. (2) Propeller/Propulsor: Propulsors on the ship whose signals (e.g. commanded and current speeds, propeller pitch angle and azimuth angle position of the propeller(s)) must be recorded for the calculation.
3. (3) Data recorder (here Voyage Data Recorder - VDR) for recording and transmitting additional vehicle, navigation and environmental data,
4. (4) Data collector module for navigation and vehicle data, control & propulsion data
5. (5) Data processor & filter module for input data
6. (6) Vehicle database module: parameter storage for the planned calculation conditions
7. (7) Cavitation calculation module for determining the limit parameters on each propulsor
8. (8) Output feedback interface module for transmitting information to vehicle drivers

Claims (5)

Device for maritime vehicles, comprising a device system at least including: a) a data collector module, b) a data processor & filter module c) a vehicle database module, d) a cavitation calculation module, e) one (or more) output feedback interface module(s) Facility for maritime vehicles Claim 1 , characterized in that the modules ae are conductively connected, whereby: • the data collector module is equipped to record current vehicle, navigation, control and environmental data and • it is equipped with a data processor & filter module is connected, which is equipped for preprocessing and filtering of data, • a vehicle database module is available to provide vehicle parameters, • the cavitation calculation module with the data from the data collector module, the data Processor & filter module and the vehicle database module determines the parameter limits for the occurrence of harmful cavitation and passes them on to • one or more output feedback interface modules that provide the user with the values of the relevant parameters in real time in a visual manner and/or acoustically and/or haptically and/or otherwise appropriately outputs in order to assess the currently existing possibility of the formation or the risk of harmful cavitation occurring on the propulsors. Device for maritime vehicles according to the preceding claims, characterized in that in the output feedback interface modules, according to the number of propulsors located on the ship for each propulsion organ and time, the parameter limit for the possible occurrence of harmful cavitation together with the commanded and current parameters simultaneously are displayed. Device for maritime vehicles according to the preceding claims, characterized in that the information transmission is additionally carried out by corresponding different shapes and/or colors, patterns, other optical and/or acoustic and/or other alternative methods in such a way that the information currently on the propulsor Existing danger of approaching or exceeding the limit parameters and thus the danger limit of loss of thrust and / or damage to the propeller due to cavitation is made visible or noticeable through alternative methods and at the same time it becomes recognizable and adaptable which commanded parameter is to be avoided suitable for the risk of harmful cavitation. Device for maritime vehicles according to the preceding claims, characterized in that one or more of the modules described is or are designed to forward results to at least one external device for automated maneuver control of the maritime vehicle or for remote control from land.