JP2018002040A - Maneuvering system, ship, and maneuvering method of ship - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a maneuvering system of a ship capable of showing high-degree maneuverability by inputting a comparatively simple maneuvering operation, in a ship including two thrusters of a port side thruster and a starboard side thruster on a stern, and two rudders of a port side rudder and a starboard side rudder; and to provide the ship, and a maneuvering method of the ship.SOLUTION: A port side thruster 2a and a starboard side thruster 2b are constituted of a variable-pitch propeller, and the port side thruster 2a generates driving power Ta and the starboard side thruster 2b generates rear thrust having strength smaller than strength of the driving power Ta of the port side thruster 2a, respectively, and a port side rudder 3a is set at starboard, and a starboard side rudder 3b is set at port, and stop right turn-round control for turning round a stern to the port side without moving in a cross direction is performed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a marine vessel maneuvering system, a marine vessel, and a marine vessel maneuvering system provided with two propulsors on the stern, a port side propulsion unit and a starboard side propulsion unit, and a port side rudder and a starboard side rudder. Regarding the method.

For marine observation ships that stay in place and conduct deep seafloor surveys and special ships that excavate the seabed, it is necessary to maintain the heading and position of the ship without being swept away by waves, winds, or tides. In order to reduce the burden on the operator, an automatic fixed point holding system has been developed.
As a ship used in this automatic fixed point holding system, for example, a ship in which a bow thruster of a bow is combined with a biaxial variable pitch propeller and two rudders (ladders), a stern stance raster and a single axis variable. Automatic heading setting that uses a pitch propeller and a rudder combined with a bow bow thruster on the bow to distribute the thrust based on the front / rear control force command, lateral control force command and turning force command to control the ship. A method has been proposed (see, for example, Patent Document 1).

  In addition, it is a ship equipped with a tunnel type bow thruster, variable pitch propeller, rudder with flaps and special rudder that can steer large angles, using a joystick, turning head, etc., fixed point holding mode, standby mode, joy mode, holding direction A fixed point holding system for a 1-axis 1-steer bow thruster ship that performs control in each mode such as a mode has also been proposed (see, for example, Patent Document 2). Furthermore, a fixed point holding control device for a ship with two side thrusters and two-axis two-rudder provided at the bow and stern has been proposed (see, for example, Patent Document 3).

  However, these ships have a bow thruster provided at the bow and cannot be used on a ship without the bow thruster, and even with the bow thruster, such as an acoustic device disposed near the bow. Since the observation apparatus is affected by the use of the bow raster, there is a problem that even if the position needs to be maintained, the observation apparatus cannot be used in situations where the use of the bow raster is not preferable.

  On the other hand, in order to be able to change the target value of the ship maneuvering by a simple operation, it is also possible to change the target value such as the hull heading and ship position using a joystick (joystick lever), turning head (turning dial), etc. (For example, refer to Patent Documents 2 and 4).

JP 2000-302098 A JP 2009-241738 A JP 2010-105551 A JP 1997-104397 A

  The present invention has been made in view of the above situation, and its purpose is to provide two propellers, a port side propulsion device and a starboard side propulsion device, and a port rudder and a starboard side rudder at the stern. An object of the present invention is to provide a marine vessel maneuvering system, a marine vessel, and a marine vessel maneuvering method capable of exhibiting high maneuverability by inputting relatively simple maneuvering operations.

  A marine vessel maneuvering system for achieving the above-described object includes a marine vessel equipped with two propulsion devices, a port side propulsion device and a starboard side propulsion device, and two rudders including a port side rudder and a starboard side rudder. In the steering system, both the port side propulsion device and the starboard side propulsion device are configured with variable pitch propellers, the port side propulsion device has a forward force, and the starboard side propulsion device has a forward movement of the port side propulsion device. A rear thrust of a magnitude smaller than the magnitude of the force is generated, and the port side rudder is used as a surface rudder and the starboard side rudder is used as a rudder to rotate the stern to the port side without moving in the front-rear direction. The starboard-side propulsion device generates a reverse drive force, and the starboard-side propulsion device generates a forward thrust larger than the reverse drive force of the port-side propulsion device. And the port side rudder It has a steering control device that is configured to perform starboard side rudder control by turning starboard side rudder and turning stern to starboard side without turning in the front-rear direction and turning to port side It is characterized by being.

  According to this configuration, it is possible to perform turn-in-turn control such as stop right turn control and stop left turn control even without a bow thruster by a relatively simple operation, so that maneuverability is remarkably improved. Therefore, it is extremely easy to maintain a fixed point position and to automatically maintain the position within a certain area.

  In the marine vessel maneuvering system, the maneuvering control device is configured such that both the port side propulsion device and the starboard side propulsion device generate a forward force having the same magnitude, and the port side rudder and the starboard side rudder Both the steering angle and the starboard side propulsion device, both the starboard side propulsion device and the starboard side propulsion device, with both rudder angles set to the input surface rudder angle and turning forward to the starboard side while turning forward and turning to the starboard side A forward turn control that turns forward to the port side while moving forward with the steering angle of both the starboard side rudder and the starboard side rudder set to the input steering angle. When configured to perform, forward right turn control and forward left turn control can be performed by inputting a relatively simple steering operation.

  In the marine vessel maneuvering system, the maneuvering control device is configured such that the port side propulsion device has a forward thrust, and the starboard side propulsion device has a rear thrust larger than the magnitude of the port side propulsion device. Each of the above-mentioned starboard-side rudder and the starboard-side rudder is used as a rudder, while the reverse side is turned to the starboard side while moving backward and the starboard side rudder is turned to the starboard side. Generates a forward thrust, and the starboard side propulsion device generates a front thrust smaller than the reverse side thrust force of the port side propulsion device, and the starboard side rudder serves as a surface rudder and the starboard side rudder serves as a rudder. When the vehicle is configured to perform reverse left turn control that turns the stern to starboard while turning backward and turns to the port side, it is possible to perform reverse right turn control and reverse drive by inputting relatively simple maneuvering operations. Can do left turn control and .

  In the marine vessel maneuvering system, the maneuvering control device is configured such that the port side propulsion device has a forward thrust, and the starboard side propulsion device has a rear thrust smaller than the magnitude of the port side propulsion device. Slow forward forward turning control that turns to the starboard side by turning the stern to the starboard side while moving forward with the starboard rudder as the rudder and the starboard side rudder as the rudder, and the port side propulsion And the starboard side propulsion unit generates a forward thrust larger than the reverse side propulsion force, and the starboard side rudder is used as a surface rudder and the starboard side rudder is steered. If the stern is configured to perform forward-speed left-turning control that turns the stern to starboard side while turning forward and turns to port-side, Control and slow forward left turn control It can be carried out.

  In the marine vessel maneuvering system, the maneuvering control device is a portside berthing control that uses the forward port turning control to berth or leave the port side, or a starboard side that uses the forward starboard control. If it is equipped with a port departure automatic control mode that automatically performs either or both of the starboard side berthing control for berthing or leaving the ship, berthing and leaving the ship can be easily performed.

  In the marine vessel maneuvering system, the maneuvering control device is connected to the port side berthing using the stop starboard turn control or berthing to the port side, or berthing to the starboard side using the stop port turn control. Alternatively, when a port entry automatic control mode for automatically performing either one or both of the starboard side berthing control for berthing is provided, it is possible to easily enter and leave the berth.

  In the marine vessel maneuvering system, the maneuvering control device uses the forward right turn control, the forward left turn control, the continuous port side berthing control for berthing or berthing on the port side using the stop right turn control, or A continuous berthing automatic control mode for automatically performing either one or both of the forward port side turn control, the forward right turn control, the continuous port side berthing control that berths or ships to the port side using the stop left turn control; When equipped, it is possible to easily depart or leave the ship from a distance away from the berthing or ship berthing object.

  In the above-mentioned ship maneuvering system, when a joystick type stern part control force input part and a dial type rudder angle input part are provided as a ship maneuvering input device, a stern part control force that can be configured with a very simple joystick or the like. Various ship maneuvers can be performed by inputting relatively simple maneuvering operations in the input unit and a rudder angle input unit that can be configured with a dial or the like.

  In the above-described ship steering system, when the input of the stern part control force input unit is in the port direction and the input of the rudder angle input unit is zero rudder angle, the stop right turn control is controlled by the stern part control. When the input of the force input unit is starboard direction and the input of the rudder angle input unit is the rudder angle zero, the stop left turn control, the input of the stern part control force input unit is the forward direction, and When the input of the rudder angle input unit is the angle of the front rudder, the forward right turn control is performed, the input of the stern control force input unit is the forward direction, and the input of the rudder angle input unit is the steering angle. The forward left turn control, and the slow forward right turn control when the input of the stern part control force input unit is in the left front direction and the input of the rudder angle input unit is zero rudder angle. , The input of the stern control force input unit is forward right oblique and the input of the rudder angle input unit is the rudder angle In the case of (b), the slow forward left turn control is performed when the input to the stern control force input unit is in the backward leftward direction and the input to the rudder angle input unit is zero rudder angle. When the reverse left turn control is performed when the input of the stern control force input unit is in the right rearward tilt direction and the input of the rudder angle input unit is the rudder angle zero, the stern part control force input By manipulating relatively simple maneuvering operations at the steering section and the rudder angle input section, various types of boat maneuvering can be performed easily.

  And the ship for achieving the above objectives is provided with the above-mentioned ship steering system, and can exhibit the effect of the above-mentioned ship steering system.

  In addition, a ship maneuvering method for achieving the above-described object is a propulsion device composed of two variable pitch propellers, a port side propulsion device and a starboard side propulsion device, a port side rudder and a starboard side rudder. In the method of maneuvering a ship provided with two rudders, the port side propulsion device has a forward force, and the starboard side propulsion device has a rear thrust that is smaller than the magnitude of the port side propulsion device. And the starboard rudder is used as a rudder, the starboard rudder is used as a rudder, the stern is turned to the starboard side without moving in the front-rear direction, and the starboard side is turned to the starboard side. The side propulsor generates a backward driving force, the starboard side propulsion unit generates a forward thrust larger than the backward driving force of the port side propulsion unit, and the starboard side rudder serves as a surface rudder. Without moving in the front-rear direction A method characterized by performing the stop left once the head to stem turning on the port side is rotated to the side.

  According to this method, even if no bow thruster is provided, it is possible to perform turn-in-turn such as stop right turn control and stop left turn control, so that the maneuverability can be remarkably improved, and the fixed point position can be maintained. Automatic control of position maintenance within a certain area is remarkably facilitated.

  When maneuvering by various controls as described above becomes possible, even in sea areas where waves, winds and tides exist, fixed-point maneuvering and observation equipment that automatically stays within the designated location and area offshore are installed. A constant area maneuvering that keeps the ship position within a certain distance from a specified point, a constant distance maneuvering ship that keeps a certain distance to the underwater observation equipment, etc. Parallel navigating ship that conducts observations and fishing while maintaining, fishing boats entering and leaving the port without needing support of dredgers, etc. when entering or leaving the port, or maneuvering boats taking off and landing to a mother ship etc. offshore Etc. can be easily performed by operating the stern control force input unit and the dial, and the burden on the operator in a situation where these maneuvers are required can be remarkably reduced.

  According to the marine vessel maneuvering system, the marine vessel, and the marine vessel maneuvering method of the present invention, the stern is provided with two propellers, a port side propulsion device and a starboard side propulsion device, and a port side rudder and a starboard side rudder. A ship with a high degree of maneuverability can be achieved by inputting relatively simple maneuvering operations.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram schematically showing a marine vessel maneuvering system according to an embodiment of the present invention and a configuration in the marine vessel. It is a figure which shows the structure of the mode in the ship control system of embodiment of this invention. It is a figure which shows the structure of the ship maneuvering mode of the ship maneuvering system. It is a figure which shows each structure of the port departure automatic control mode, the port entry automatic control mode, and the continuous berthing automatic control mode of a ship's steering system. It is a figure for demonstrating forward straight-ahead control. It is a figure for demonstrating forward right turn control. It is a figure for demonstrating forward left turn control. It is a figure for demonstrating slow speed forward right turn control. It is a figure for demonstrating slow-speed advance left turn control. It is a figure for demonstrating stop right turn control. It is a figure for demonstrating stop left turn control. It is a figure for demonstrating reverse right turn control. It is a figure for demonstrating reverse left turn control. It is a figure for demonstrating port side rip-off control. It is a figure for demonstrating starboard side rip-off control. It is a figure for demonstrating port side berthing control. It is a figure for demonstrating starboard side berthing control. It is a figure for demonstrating continuous port side berthing control. It is a figure for demonstrating continuous starboard side berthing control.

  Hereinafter, a ship maneuvering system, a ship, and a ship maneuvering method according to embodiments of the present invention will be described with reference to the drawings. Here, a description will be given using a ship that does not have a bow thruster at the bow as an example, but even if a bow thruster is provided at the bow, it can also be used for ship maneuvering operations when bow thrusters are prohibited when using underwater acoustic equipment, etc. The present invention is not necessarily limited to ships that do not have a bow raster, and may have a bow raster. Here, a ship maneuver that does not use a bow thruster is handled, but the steering performance can be further improved by using the bow thruster in combination.

  As shown in FIG. 1, this ship 1 is provided with two rudders, a port side propulsion device 2a and a starboard side propulsion device 2b, and a port side rudder 3a and a starboard side rudder 3b at the stern. Both the port side propulsion device 2a and the starboard side propulsion device 2b are constituted by variable pitch propellers. Further, the input device 20 and the steering control device 30 are provided. The input device 20 includes a stern control force input unit 21 configured with a joystick or the like, and a rudder angle input unit 22 configured with a dial or the like.

  In addition, the steering control device 30 includes a tilt direction data (steering direction: ship moving direction) from the stern part control force input unit 21, tilt angle data on the magnitude of the tilt angle of the joystick in that direction, and a steering angle input unit. In addition to the steering angle data from 22, position information and speed information of the ship 1 from GPS devices, logs, etc., heading information from the gyro device, information from the anemometer, information from the underwater positioning device, Input information from radar, information from distance measuring device, ranging communication device, etc., select forward or reverse in port side propulsion device 2a and starboard side propulsion device 2b, and the magnitude of thrust generated Are output to the control devices 2ac and 2bc of the respective variable pitch propellers, and the selection of the surface rudder and steering of the port side rudder 3a and starboard side rudder 3b and the command of the magnitude of the rudder angle are performed. That Outputs of the steering apparatus 3ac, the 3 bc.

  That is, in this ship maneuvering system 10, when the ship operator operates the stern part control force input unit 21 and the rudder angle input part 22 with the input device 20 for maneuvering, the maneuvering control unit 30 controls the stern part control force. In response to the tilt direction and tilt angle data from the input unit 21 and the rudder angle data from the rudder angle input unit 22, the propulsion units 2a and 2b and the rudder 3a and 3b are integrated and controlled to advance, reverse, Maneuvering such as forward turn, slow forward turn, stop turn, reverse turn.

  The marine vessel maneuvering system 10 includes the following control means. That is, as shown in FIG. 2, the ship maneuvering mode M11, the port departure automatic control mode M12, the port entry automatic control mode M13, the continuous berthing automatic control mode M14, etc. are provided.

  As shown in FIG. 3, in the marine vessel maneuvering mode M11, the forward turn control means 11, the forward turn control means 12 comprising the forward right turn control means 12a and the forward left turn control means 12b, the slow forward right turn control means 13a. And a slow forward turning control means 13 comprising a slow forward turn control means 13b, a stop turning control means 14 comprising a stop right turn control means 14a and a stop left turn control means 14b, a reverse right turn control means 15a and a reverse left turn. A reverse turning control means 15 comprising a control means 15b is provided.

  As shown in FIG. 5, the forward straight control means 11 in the ship maneuvering mode M11 is on the port side when the tilting direction of the stern control force input unit 21 is the forward direction and the rudder angle of the rudder angle input unit 22 is zero. Both the propulsion device 2a and the starboard side propulsion device 2b are controlled to generate the same advancing force Ta and Tb, and are controlled to make the rudder angles of both the port side rudder 3a and the starboard side rudder 3b zero. This is a means for performing forward straight control. In this case, the water flow W generated by the port side propulsion device 2a and the starboard side propulsion device 2b flows along the control surfaces of the port side rudder 3a and the starboard side rudder 3b, and no lateral steering force is generated.

  In forward turn control means 12, forward right turn control means 12a, as shown in FIG. 6, the tilting direction of stern control force input part 21 is the forward direction and the rudder angle of rudder angle input part 22 is the angle of the surface rudder. In this case, both the port side propulsion device 2a and the starboard side propulsion device 2b generate the forward force Ta and Tb of the same magnitude, and the rudder angles of both the port side rudder 3a and the starboard side rudder 3b are input. The forward right turn control is performed in which the stern is turned to the starboard side while turning forward at the angle of the surface rudder to turn to the starboard side. In this case, the water flow W generated by the port side propulsion device 2a and the starboard side propulsion device 2b hits the control surfaces of the port side rudder 3a and the starboard side rudder 3b, each of which is a surface rudder, and exerts a rudder force in the clockwise direction. Occur.

  Further, in the forward left turn control means 12b, as shown in FIG. 7, the port side propulsion is performed when the direction of the stern control force input unit 21 is the forward direction and the rudder angle of the rudder angle input unit 22 is the steering angle. Both the device 2a and the starboard side propulsion device 2b generate the forward force Ta and Tb having the same magnitude, and the steering angle of both the port side rudder 3a and the starboard side rudder 3b is set to the input steering angle. While turning the stern to starboard side, forward left turn control is performed to turn to the starboard side. In this case, the water flow W generated by the port side propulsion device 2a and the starboard side propulsion device 2b hits the control surfaces of the port side rudder 3a and the starboard side rudder 3b, respectively, and the steering force in the left-turning direction is exerted. Occur.

  In the forward rectilinear control means 11 and forward turn control means 12, the stern part control force input part 21 generates forward thrusts Ta and Tb of the port side propulsion device 2a and starboard side propulsion device 2b by a forward direction input operation. It is generated in a size corresponding to the tilt angle in the tilt direction. Further, in the rudder angle input unit 22, by the dial operation of the clockwise rotation (clockwise: surface rudder) and the counterclockwise rotation (counterclockwise: steering), the surface rudder and the rudder in both the port side rudder 3 a and the starboard side rudder 3 b and its dial Take the rudder angle of the size according to the rotation angle. Thereby, the respective operations of the port side propulsion device 2a and the starboard side propulsion device 2b and the port side rudder 3a and the starboard side rudder 3b are integrated and controlled to perform forward straight travel, forward right turn, and forward left turn.

  Further, in the slow speed forward turning control means 13, in the slow speed forward right turning control means 13 a, as shown in FIG. 8, the tilting direction of the stern part control force input part 21 is the forward left oblique direction and the steering angle input part 22. When the rudder angle is zero, the port side propulsion device 2a generates a forward force Ta, and the starboard side propulsion device 2b generates a rear thrust Tb having a magnitude smaller than the magnitude of the forward force Ta of the port side propulsion device 2a. Then, the port side rudder 3a is used as a surface rudder, the starboard side rudder 3b is used as a rudder, and the stern is turned to the starboard side while the vehicle is moving forward at a slow speed, and the vehicle is turned forward to the port side.

  In this case, the ship 1 is caused by the rotational moment generated by the forward force Ta of the port side propulsion device 2a and the reverse force Tb of the starboard side propulsion device 2b, and the rudder force in the right turning direction by the port side rudder 3a serving as a surface rudder. Generates a force to turn right. Further, since the forward force Ta wins in the difference between the forward force Ta of the port side propulsion device 2a and the reverse force Tb of the starboard side propulsion device 2b, the stern is turned to the starboard side while moving forward at a slow speed, and turns to the starboard side. It will be.

  Further, as shown in FIG. 9, the slow-speed forward left turn control means 13 b has a port when the tilting direction of the stern control force input unit 21 is the forward right oblique direction and the rudder angle of the rudder angle input unit 22 is zero. The side thruster 2a generates a backward thrust Ta, the starboard side thruster 2b generates a forward thrust Tb larger than the magnitude of the backward thrust Ta of the port side thruster 2a, and the port side rudder 3a as a surface rudder. The starboard rudder 3b is used as a rudder, and the stern is turned to the starboard side while moving forward at a slow speed to perform a slow-speed forward left-turning control that turns to the port side.

  In this case, the ship 1 is caused by the rotational moment generated by the backward force Ta of the port side propulsion device 2a and the forward force Tb of the starboard side propulsion device 2b and the rudder turning force of the starboard side rudder 3b serving as the steering. Generates a force to turn left. Further, since the forward force Tb wins in the difference between the reverse thrust Ta of the port side propulsion device 2a and the forward force Tb of the starboard side propulsion device 2b, the stern is turned to the starboard side while moving forward at a slow speed, and turns to the port side. It will be.

  Further, in the stop turning control means 14, in the stop right turning control means 14a, as shown in FIG. 10, the tilting direction of the stern control force input unit 21 is the port direction and the rudder angle of the rudder angle input unit 22 is zero. At this time, the port side propulsion device 2a generates a forward force Ta, and the starboard side propulsion device 2b generates a rear thrust Tb having a magnitude smaller than the magnitude of the forward force Ta of the port side propulsion device 2a. 3a is used as a surface rudder, starboard-side rudder 3b is used as a rudder, and stop right-turning control is performed in which the stern is turned to the port side without turning in the front-rear direction and turned to the starboard side.

  In this case, the ship 1 is caused by the rotational moment generated by the forward force Ta of the port side propulsion device 2a and the reverse force Tb of the starboard side propulsion device 2b, and the rudder force in the right turning direction by the port side rudder 3a serving as a surface rudder. Generates a force to turn right. Further, by adjusting the difference between the forward force Ta of the port side propulsion device 2a and the reverse force Tb of the starboard side propulsion device 2b to be zero, it can be turned to the starboard side in a substantially stopped state.

  In the stop left turn control means 14b, as shown in FIG. 11, when the tilting direction of the stern control force input unit 21 is the starboard direction and the rudder angle of the rudder angle input unit 22 is zero, the port side propulsion unit 2a generates a reverse thrust Ta, and the starboard side propulsion device 2b generates a front thrust Tb having a magnitude larger than that of the port side propulsion device 2a, and the starboard side rudder 3a serves as a surface rudder. 3b is used as a rudder, and stop left-turning control is performed in which the stern is turned to the starboard side without moving in the front-rear direction, and turned to the port side.

  In this case, the ship 1 is caused by the rotational moment generated by the backward force Ta of the port side propulsion device 2a and the forward force Tb of the starboard side propulsion device 2b and the rudder turning force of the starboard side rudder 3b serving as the steering. Generates a force to turn left. Further, by adjusting so that the difference between the reverse thrust Ta of the port side propulsion device 2a and the forward force Tb of the starboard side propulsion device 2b becomes zero, it can be turned to the port side in a substantially stopped state.

  In the reverse turning control means 15, the reverse right turning control means 15a has a port when the tilting direction of the stern control force input unit 21 is the left oblique backward direction and the rudder angle of the rudder angle input unit 22 is zero. The side thruster 2a generates a forward force Ta, the starboard side thruster 2b generates a rear thrust Tb larger than the magnitude of the forward force Ta of the port side thruster 2a, and the port side rudder 3a as a surface rudder. Using the starboard rudder 3b as a rudder, reverse right-turning control is performed in which the stern is turned to the port side while turning backward and the starboard side is turned.

  In this case, the ship 1 is caused by the rotational moment generated by the forward force Ta of the port side propulsion device 2a and the reverse force Tb of the starboard side propulsion device 2b, and the rudder force in the right turning direction by the port side rudder 3a serving as a surface rudder. Generates a force to turn right. Further, since the reverse force Tb prevails in the difference between the forward force Ta of the port side propulsion device 2a and the reverse force Tb of the starboard side propulsion device 2b, it can be turned to the starboard side in the reverse state.

  Further, in the reverse left turn control means 15b, when the tilting direction of the stern control force input unit 21 is the right oblique rear direction and the rudder angle of the rudder angle input unit 22 is zero, the port side propulsion device 2a moves the reverse force Ta. The starboard side propulsion device 2b generates a forward thrust Tb having a magnitude smaller than the reverse driving force Ta of the starboard side propulsion device 2a, and the starboard side rudder 3a is used as a surface rudder and the starboard side rudder 3b is used as a rudder. Rotating the stern to the starboard side while moving backward and turning to the port side to perform reverse left-turning control.

  In this case, the ship 1 is caused by the rotational moment generated by the backward force Ta of the port side propulsion device 2a and the forward force Tb of the starboard side propulsion device 2b and the rudder force of the left turning direction by the starboard side rudder 3b serving as the steering. Generates a force to turn left. Further, since the reverse force Ta wins in the difference between the reverse force Ta of the port side propulsion device 2a and the forward force Tb of the starboard side propulsion device 2b, it can be turned to the port side in the reverse state.

  In the slow forward turn control means 13, the stop turn control means 14, and the reverse turn control means 15, the stern control force input part 21 performs a port side propulsion unit by a forward oblique direction operation, a lateral direction operation, and a backward oblique direction operation, respectively. 2a and starboard propulsion device 2b thrust Ta, Tb are used separately in the front-rear direction, the front thrust side is larger in the forward tilt direction operation, the front-rear thrust force is balanced in the lateral direction operation, and the rear thrust side is larger in the rear tilt direction operation As described above, the size is generated according to the inclination angle of the stick.

  Moreover, in the rudder angle input part 22, although the dial operation is stopped and the angle is zero, the port side rudder 3a is a surface rudder and the starboard side rudder 3b is a steering. The rudder angle is set to a size set in advance by experiment or the like according to the tilt angle of the joystick tilt direction. Thereby, each operation of the port side propulsion device 2a and the starboard side propulsion device 2b, and the port side rudder 3a and the starboard side rudder 3b is integrated and controlled, and a lateral force is generated on the stern side, so that a slight forward turn is made. , Stop turning, reverse turning. In addition, since the bow raster is not used, it is not possible to move in the lateral direction, but the stern can be swung to the side at the stop turning.

  In addition, as shown in FIG. 4, in the port departure automatic control mode M12, the berthing control means 16 comprising port side berthing control means 16a and starboard side berthing control means 16b is further provided. , A berthing control means 17 comprising port side berthing control means 17a and starboard side berthing control means 17b is provided, and in continuous berthing automatic control mode M14, it comprises continuous port side berthing control means 18a and continuous starboard side berthing control means 18b. Continuous berthing control means 18 is provided.

  In the port departure automatic control mode M12, the port side berthing control means 16a of the berthing control means 16 performs forward left turning control by the forward left turning control means 12b as shown in FIG. Port side berthing control for berthing (or leaving) from the berth 50 (or mother ship) on the port side is automatically performed using the slow forward left turning control by the left turning control means 13b. Further, in the starboard side rip-off control means 16b of the rip-off control means 16, forward right turn control by the forward left turn control means 12b as shown in FIG. 15, or slow speed advance by the slow speed forward right turn control means 13a (not shown). Starboard berthing control for automatically berthing (or leaving the ship) from the quay 50 (or mother ship) on the starboard side using starboard turning control is automatically performed.

  When this port departure automatic control mode M12 is used, the port departure automatic control mode M12 is selected by a switch or the like provided in the input device 20. Then, the port side berthing control means 16a (or starboard side berthing control means 16b) of the berthing control means 16 departs from the quay 50 while moving forward, and the distance in the forward direction, the berth side of the ship 1 and the quay 50 14 while calculating the speed of the ship 1 corresponding to these distances, increasing the speed to that speed, and turning left and right as shown in FIG. Depart from quay 50. Alternatively, as shown in FIG. 15, a right turn and a left turn are performed, and the port is separated from the port side quay 50. Although not particularly illustrated, the same applies when leaving the mother ship instead of the quay 50.

  To perform these operations automatically, a skilled ship operator performs a berthing operation (or a detachment operation) of the ship 1 with the stern control force input unit 21 and the rudder angle input unit 22 in advance. The time data is stored and reproduced in the port departure automatic control mode M12 when actually maneuvering the port, and further, it can be easily automated by updating the data while learning the situation at that time.

  In the port entry automatic control mode M13, the port side berthing control means 17a of the berthing control means 17 stops right turn control by the stop right turn control means 14a as shown in FIG. 16, or slow speed forward right turn control (not shown). Port side berthing control for berthing (or berthing) on the port side is automatically performed using the slow forward right turn control by means 13a. Further, in the starboard side berthing control means 17b of the berthing control means 17, as shown in FIG. 17, the stop left turn control by the stop left turn control means 14b or the slow speed forward left turn control means 13b by the slow speed forward left turn control means 13b (not shown). Is used to automatically perform starboard side berthing control to berth (or berth) the starboard side.

  When using this port entry automatic control mode M13, in the vicinity of the quay 50, the port entry automatic control mode M13 is selected by the input device 20, and the distance in the advancing direction of the berthing point of the quay 50 and the berthing direction (in the width direction). Is input to the input device 20. The distance in the advancing direction and the berthing distance in the berthing direction of these berthing points can be obtained by taking in or inputting position data of the position of the ship and the berthing points by GPS.

  Then, while calculating the distance in the forward direction and the berthing distance from the shore side, or while measuring with a distance measuring device etc., calculate the speed that is set in advance from the experiment etc. according to the distance to the berthing point Then, while decelerating to this speed, as shown in FIG. 16, the left turn and the right turn are performed to arrive at the port side quay 50. Alternatively, as shown in FIG. 17, the vehicle turns right and left, and arrives at the quay 50 on the starboard side. The same applies when berthing at the mother ship instead of the quay 50.

  Performing these operations automatically means that a skilled ship operator performs a berthing operation (or berthing operation) of the ship 1 with the stern control force input unit 21 and the rudder angle input unit 22 in advance. This data is stored, reproduced in the port entry automatic control mode M13 when actually maneuvering the port, and can be easily automated by updating the data while learning the situation at that time.

  Further, in the continuous berthing automatic control mode M14, as shown in FIG. 18, the continuous port side berthing control means 18a of the continuous berthing control means 18 performs forward left turning control and forward right turning control means by the forward left turning control means 12b. Continuous port side berthing control for entering (or berthing) the port side quay 50 (or mother ship) is automatically performed using forward right turn control by 12a and stop right turn control by stop right turn control means 14a.

  Further, in the continuous starboard side berthing control means 18b of the continuous berthing control means 18, as shown in FIG. 19, the forward right turn control by the forward right turn control means 12a, the forward left turn control by the forward left turn control means 12b, and the forward right turn. Continuous port side berthing control for berthing (or berthing) on the port side quay 50 (or mother ship) is automatically performed using forward right turn control by the turn control means 12a and stop left turn control by the stop left turn control means 14b. .

  When this continuous berthing automatic control mode M14 is used, in the vicinity of the quay 50, the continuous berthing automatic control mode M14 is selected by the input device 20, and the distance in the advancing direction and the berthing direction (the ship width direction) ) Is input to the input device 20. The distance in the advancing direction and the berthing distance in the berthing direction of these berthing points can be obtained by entering and inputting the position data of the ship's own ship position and the berthing point by GPS.

  Then, while calculating the distance in the forward direction and the berthing distance from the shore side, or while measuring with a distance measuring device etc., calculate the speed that is set in advance from the experiment etc. according to the distance to the berthing point Then, while decelerating to this speed, as shown in FIG. 18, forward, left-turning, right-turning, and left-turning are repeated as necessary, and finally the landing is made on the port side quay 50 with stop-right turning. Alternatively, as shown in FIG. 19, forward, right turn, left turn, and right turn are repeated as necessary, and finally, the stop turns to the quay 50 on the starboard side. The same applies when berthing at the mother ship instead of the quay 50.

  To perform these operations automatically, a skilled ship operator performs a berthing control force input unit 21 and a rudder angle input unit 22 in advance to perform a berthing operation (or continuous berthing operation) of the ship 1 in advance. The data at that time can be stored, reproduced in the continuous berthing automatic control mode M14 when actually maneuvering the port, and further automated by updating the data while learning the situation at that time.

  And the ship 1 for achieving the above objectives is provided with the above-described ship steering system 10. Therefore, since this ship 1 can be maneuvered using the above-described ship maneuvering system 10, the maneuvering possible with this ship maneuvering system 10 can be carried out.

  Therefore, according to the above-described ship maneuvering system 10, ship 1, and ship maneuvering method, the two propulsion devices, the port side propulsion device 2a and the starboard side propulsion device 2b, the port side rudder 3a, and the starboard side rudder are provided at the stern. In the ship 1 having two rudders 3b, a high degree of maneuverability can be demonstrated by inputting relatively simple maneuvering operations.

DESCRIPTION OF SYMBOLS 1 Ship 2a Port side propulsion device 2b Starboard side propulsion device 3a Port side rudder 3b Starboard side rudder 10 Ship maneuvering system 11 Forward rectilinear control means 12 Forward turn control means 12a Forward right turn control means 12b Forward left turn control means 13 Slow forward Turn-turn control means 13a Slow forward right turn control means 13b Slow forward left turn control means 14 Stop turn control means 14a Stop right turn control means 14b Stop left turn control means 15 Reverse turn control means 15a Reverse right turn control means 15b Reverse left turn control Means 16 Berthing control means 16a Port side berthing control means 16b Starboard side berthing control means 17 Berthing control means 17a Port side berthing control means 17b Starboard side berthing control means 18 Continuous berthing control means 18a Continuous port side berthing control means 18b Continuous Starboard side berthing control means 20 Input device 21 Stern part control force input part (joystick)
22 Rudder angle input section (dial)
30 Maneuvering control device M11 Ship maneuvering mode M12 Departure automatic control mode M13 Departure automatic control mode M14 Continuous berthing automatic control mode Ta Advance of the starboard side thruster Tb Advance of starboard side propeller

Claims (11)

In a ship maneuvering system equipped with two propellers, a port side propulsion unit and a starboard side propulsion unit, and a port side rudder and a starboard side rudder at the stern,
While both the port side propulsion device and the starboard side propulsion device are configured with variable pitch propellers,
The port side propulsion unit generates forward force, the starboard side propulsion unit generates a rear thrust smaller than the port side propulsion unit, and the port side rudder is used as a surface rudder. With the side rudder as a rudder, stop right-turning control that turns the stern to the starboard side and turns to the starboard side without moving in the front-rear direction,
The port-side propulsion device generates a backward driving force, the starboard-side propulsion device generates a forward thrust having a magnitude larger than that of the port-side propulsion device, and the starboard-side rudder serves as a rudder. A steering control device is provided that is configured to perform a stop-turning control that turns the stern to the starboard side and turns to the starboard side without moving in the front-rear direction using the side rudder as a rudder. A ship maneuvering system characterized by that. The control device for steering is
Both the port side propulsion device and the starboard side propulsion device generate a forward force of the same magnitude, and the rudder angles of both the port side rudder and the starboard side rudder are set to the angle of the input surface rudder to advance While turning the stern to the port side and turning to the starboard side, forward clockwise turning control,
Both the port side propulsion device and the starboard side propulsion device generate a forward force of the same magnitude, and the steering angle of both the port side rudder and the starboard side rudder is set to the input steering angle, and the vehicle advances The marine vessel maneuvering system according to claim 1, wherein the marine vessel maneuvering system is configured to perform forward left-turning control that turns to the port side. The control device for steering is
The port side propulsion device generates a forward force, the starboard side propulsion device generates a rear thrust larger than the port side propulsion device, and the starboard side rudder is used as a surface rudder. Backward turning control that turns the stern to the starboard side and turns to the starboard side while taking the side rudder as a rudder,
The port-side propulsion device generates a reverse drive force, the starboard-side propulsion device generates a forward thrust smaller than the reverse drive force of the port-side propulsion device, and the starboard-side rudder is used as a rudder. 3. The vehicle is configured to perform reverse left turn control in which the side rudder is used as a rudder and the stern is turned to the starboard side while turning backward to turn to the port side. Ship maneuvering system. The control device for steering is
The port side propulsion unit generates forward force, the starboard side propulsion unit generates a rear thrust smaller than the port side propulsion unit, and the port side rudder is used as a surface rudder. Slow-speed forward right turn control that turns the stern to the port side while turning forward and turns to the starboard side while taking a side rudder,
The port-side propulsion device generates a backward driving force, the starboard-side propulsion device generates a forward thrust having a magnitude larger than that of the port-side propulsion device, and the starboard-side rudder serves as a rudder. 4. The structure according to claim 1, wherein the vehicle is configured so as to perform a slow-speed forward left-turning control in which the side rudder is steered and the stern is turned to the starboard side while turning forward to turn to the port side. 2. A ship maneuvering system according to claim 1.   The steering control device uses the forward port turning control to depart or leave the port side to the port side, or the starboard side to depart or leave the port side using the forward star turning control. The ship maneuvering system according to claim 2, further comprising a port departure automatic control mode for automatically performing either one or both of the side berthing control.   Port side berthing control where the steering control device berths or berths on the port side using the stop starboard control, or starboard berthing control that berths or docks on the starboard side using the stop port turning control. 6. The marine vessel maneuvering system according to claim 1, further comprising a port entry automatic control mode for automatically performing either or both of the above.   The control device for steering is the forward port side turn control, the forward left turn control, the continuous port side berthing control that berths or berths on the port side using the stop right turn control, or the forward left turn control, It has a continuous berthing automatic control mode for automatically performing either one or both of forward port turning control and continuous port side berthing control for berthing or berthing on the port side using the stop left turn control. The marine vessel maneuvering system according to claim 2 or 5.   The ship according to any one of claims 1, 2, 4 to 7, comprising a joystick-type stern control force input unit and a dial-type rudder angle input unit as an input device for maneuvering. Piloting system. As an input device for maneuvering, it has a joystick-type stern control force input unit and a dial-type rudder angle input unit,
When the input of the stern part control force input unit is in the port direction and the input of the rudder angle input unit is the rudder angle zero, the stop right turn control is performed, and the input of the stern part control force input unit is the starboard direction. And, when the input of the rudder angle input unit is rudder angle zero, the stop left turn control,
When the input of the stern part control force input part is forward and the input of the rudder angle input part is a face rudder angle, the forward right turn control is performed, and the input of the stern part control force input part is forward. And, when the input of the rudder angle input unit is a steering angle, the forward left turn control is
When the input of the stern part control force input unit is in the left oblique forward direction and the input of the rudder angle input unit is zero rudder angle, the slow forward right turn control is performed by the input of the stern part control force input unit. Is in the forward right oblique direction, and when the input of the rudder angle input unit is the rudder angle zero, the slow forward forward left turning control,
When the input of the stern part control force input unit is in the rearward diagonal direction and the input of the rudder angle input unit is zero rudder angle, the reverse right turn control is performed and the input of the stern part control force input unit is The marine vessel maneuvering system according to claim 3, wherein the reverse left turn control is performed when the steering angle input unit has a steering angle zero when the steering angle input unit is in the right rearward direction.   A marine vessel comprising the marine vessel maneuvering system according to claim 1. In a ship maneuvering method comprising a propeller composed of two variable pitch propellers, a port side propeller and a starboard side propeller at the stern, and a port side rudder and a starboard side rudder.
The port side propulsion unit generates forward force, the starboard side propulsion unit generates a rear thrust smaller than the port side propulsion unit, and the port side rudder is used as a surface rudder. With the side rudder as the rudder, without turning in the front-rear direction, turning the stern to the port side and turning to the starboard side,
The port-side propulsion device generates a backward driving force, the starboard-side propulsion device generates a forward thrust having a magnitude larger than that of the port-side propulsion device, and the starboard-side rudder serves as a rudder. A method for maneuvering a ship, characterized in that a side rudder is used as a rudder and the stern is turned to the starboard side without moving in the front-rear direction, and the stop turns to the port side.

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