US20240228007A9 - Ship - Google Patents

Ship Download PDF

Info

Publication number
US20240228007A9
US20240228007A9 US18/397,493 US202318397493A US2024228007A9 US 20240228007 A9 US20240228007 A9 US 20240228007A9 US 202318397493 A US202318397493 A US 202318397493A US 2024228007 A9 US2024228007 A9 US 2024228007A9
Authority
US
United States
Prior art keywords
ship
bucket
engine
side intermediate
reverse
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US18/397,493
Other languages
English (en)
Other versions
US20240132196A1 (en
Inventor
Masato Shirao
Takafumi KAMIYA
Jun TOKUSHIGE
Marino SATO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NHK Spring Co Ltd
Original Assignee
NHK Spring Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NHK Spring Co Ltd filed Critical NHK Spring Co Ltd
Assigned to NHK SPRING CO., LTD. reassignment NHK SPRING CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KAMIYA, TAKAFUMI, SATO, MARINO, SHIRAO, Masato, TOKUSHIGE, Jun
Publication of US20240132196A1 publication Critical patent/US20240132196A1/en
Publication of US20240228007A9 publication Critical patent/US20240228007A9/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
    • B63H11/10—Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof
    • B63H11/107—Direction control of propulsive fluid
    • B63H11/11—Direction control of propulsive fluid with bucket or clamshell-type reversing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
    • B63H2025/465—Jets or thrusters substantially used for steering or dynamic anchoring only, with means for retracting, or otherwise moving to a rest position outside the water flow around the hull

Definitions

  • the present invention relates to a ship.
  • Patent Literature 1 a small ship having jet propulsion devices has become known (see, for example, Patent Literature 1).
  • the small ship disclosed in Patent Literature 1 is conured such that a bucket is switchable between a raised position (forward position) and a lowered position (reverse position).
  • a bucket is switchable between a raised position (forward position) and a lowered position (reverse position).
  • the small ship heads forward because a water jet ejected from a nozzle heads toward the rear of the ship without hitting the bucket.
  • the small ship When the bucket is disposed at the lowered position, the small ship heads backward because a water jet ejected from the nozzle hits the bucket and heads toward the front of the ship.
  • Patent Literature 1 does not disclose control of ship fixed point holding. For this reason, it is not possible to appropriately control ship fixed point holding by the technique disclosed in Patent Literature 1.
  • the inventors of the present invention have conducted intensive research and found that it is possible to perform control of ship fixed point holding with high accuracy even in an environment where disturbances occur by performing control of disposing a bucket at an intermediate position between a forward position and a neutral position, or at an intermediate position between a reverse position and the neutral position, and control of a rotational speed of an engine that outputs a driving force generating a jet stream.
  • an object of the present invention is to provide a ship which are capable of improving controllability of ship fixed point holding.
  • An aspect of the present invention is a ship including an engine that outputs a driving force, a jet propulsion device that generates a propulsion force of the ship using the driving force output from the engine, a ship controller that controls the engine and the jet propulsion device, and a ship position detection unit that detects an actual ship position which is an actual position of the ship,
  • the jet propulsion device includes a nozzle that ejects a jet stream generated by the driving force output from the engine, and a bucket that changes a direction of the jet stream ejected from the nozzle
  • the position of the bucket includes at least a forward position where the jet propulsion device generates a propulsive force for moving the ship forward, a neutral position where the jet propulsion device does not generate a propulsive force for moving the ship, a reverse position where the jet propulsion device generates a propulsive force for moving the ship backward, and a reverse-side intermediate position between the reverse position and the neutral position
  • the ship controller has a ship fixed point holding mode in which
  • An aspect of the present invention is a ship including an engine that outputs a driving force, a jet propulsion device that generates a propulsion force of the ship using the driving force output from the engine, a ship controller that controls the engine and the jet propulsion device, and a ship position detection unit that detects an actual ship position which is an actual position of the ship, in which the jet propulsion device includes a nozzle that ejects a jet stream generated by the driving force output from the engine, and a bucket that changes a direction of the jet stream ejected from the nozzle, the position of the bucket includes at least a forward position where the jet propulsion device generates a propulsive force for moving the ship forward, a neutral position where the jet propulsion device does not generate a propulsive force for moving the ship, a reverse position where the jet propulsion device generates a propulsive force for moving the ship backward, a forward-side intermediate position between the forward position and the neutral position, and a reverse-side intermediate position between the reverse position and the neutral position
  • a ship it is possible to provide a ship, a ship controller, a ship control method and a non-transitory computer readable medium which are capable of improving controllability of holding a ship at a fixed point.
  • FIG. 1 is a diagram showing an example of a ship according to a first embodiment.
  • FIG. 2 A is a diagram showing an example of configurations of a nozzle and a bucket.
  • FIG. 2 B is a diagram showing an example of configurations of a nozzle and a bucket.
  • FIG. 2 C is a diagram showing an example of configurations of a nozzle and a bucket.
  • FIG. 3 is a diagram showing an example of the position of the bucket controlled by a bucket position control unit of a ship controller when a ship controller is in a ship fixed point holding mode.
  • FIG. 4 is a flowchart showing an example of processing performed by the ship controller of the ship according to the first embodiment.
  • FIG. 5 is a diagram showing the position of a bucket controlled by a bucket position control unit of a ship controller when the ship controller of a ship according to a second embodiment is in a ship fixed point holding mode.
  • FIG. 7 is a flowchart showing an example of processing performed by the ship controller of the ship according to the third embodiment.
  • FIG. 10 B is a diagram showing an example of control that can be performed in the ships according to the first to seventh embodiments.
  • FIG. 11 A is a diagram showing an example of control that can be performed in the ships according to the first to seventh embodiments.
  • FIG. 11 B is a diagram showing an example of control that can be performed in the ships according to the first to seventh embodiments.
  • FIG. 14 B is a diagram showing another example of control that can be executed in the ships according to the first to seventh embodiments.
  • FIG. 15 is a diagram showing another example of control that can be executed in the ships according to the first to seventh embodiments.
  • FIG. 2 A to FIG. 2 C are diagrams showing examples of configurations of the nozzle 12 A and the bucket 12 B.
  • FIGS. 2 A to 2 C are diagrams showing examples of a basic position of the bucket 12 B.
  • FIG. 2 A shows a positional relationship between the nozzle 12 A and the bucket 12 B and a jet stream when the bucket 12 B is disposed at a forward position F.
  • FIG. 2 B shows a positional relationship between the nozzle 12 A and the bucket 12 B and a jet stream when the bucket 12 B is disposed at a neutral position N.
  • FIG. 2 C shows a positional relationship between the nozzle 12 A and the bucket 12 B and a jet stream when the bucket 12 B is disposed at a reverse position R.
  • the bucket 12 B is configured to be rotatable around a rotation center axis extending in a horizontal direction (a direction from the front side to the back side in FIG. 2 A , FIG. 2 B or FIG. 2 C ).
  • the bucket 12 B may be configured to be rotatable around a rotation center axis extending in a vertical direction (the up-down direction in FIG. 2 A , FIG. 2 B or FIG. 2 C ).
  • the bucket 12 B may be constituted by two members, and the two members may be configured to open right and left.
  • the bucket position control unit 13 A controls the position of the bucket 12 B (for example, control of disposing the bucket 12 B at the forward position F, control of disposing the bucket 12 B at the neutral position N, control of disposing the bucket 12 B at the reverse position R, and the like).
  • the ship position detection unit 14 detects an actual ship position, which is the actual position of the ship 1 .
  • the ship position detection unit 14 includes, for example, a global positioning system (GPS) device.
  • GPS global positioning system
  • the GPS device calculates the position coordinates of the ship 1 by receiving signals from a plurality of GPS satellites.
  • the operation unit 15 receives input operations from a ship operator.
  • the operation unit 15 includes a throttle operation unit 15 A and a shift operation unit 15 B.
  • the throttle operation unit 15 A is configured in the same manner as, for example, a throttle operation unit disclosed in Patent Document 2, and receives input operations from the ship operator to adjust the rotational speed of the engine 11 .
  • the shift operation unit 15 B is configured in the same manner as, for example, a shift operation unit disclosed in Patent Document 2, and receives input operations from the ship operator to switch the position of the bucket 12 B between the forward position F, the neutral position N, and the reverse position R.
  • the target ship position is set in advance in accordance with, for example, an input operation of the ship operator (for example, an input operation in which the ship operator turns on a switch (not shown) when the ship 1 is located at a desired position).
  • an input operation of the ship operator for example, an input operation in which the ship operator turns on a switch (not shown) when the ship 1 is located at a desired position.
  • the target ship position may be set in advance, for example, by the ship operator inputting numerical values of the coordinates of a desired position of the ship 1 .
  • a neutral position N when the ship controller 13 is in the ship fixed point holding mode, a neutral position N, a forward position F, and three forward-side intermediate positions N+1, N+2, and N+3 located therebetween are set as the position of the bucket 12 B that can be disposed by the bucket position control unit 13 A of the ship controller 13 .
  • a rotation angle ⁇ of the bucket 12 B required to move the bucket 12 B from the neutral position N to the forward position F is divided into four.
  • a position where the bucket 12 B is rotated by ( ⁇ /4) from the neutral position N is set as the forward-side intermediate position N+1
  • a position where the bucket 12 B is rotated by (2 ⁇ /4) from the neutral position N is set as the forward-side intermediate position N+2
  • a position where the bucket 12 B is rotated by (3 ⁇ /4) from the neutral position N is set as the forward-side intermediate position N+3.
  • a control amount (feedback control amount) calculated by the ship controller 13 is zero.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the neutral position N.
  • the bucket position control unit 13 A controls the position of the bucket 12 B to the neutral position N even when the shift operation unit 15 B does not receive an input operation from the ship operator.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE” (the rotational speed of the engine 11 in an idling state).
  • the engine rotational speed control unit 13 B controls the rotational speed of the engine 11 to “IDLE” even when the throttle operation unit 15 A does not receive an input operation from the ship operator. For this reason, the jet propulsion device 12 does not generate a propulsive force for moving the ship 1 , and the ship 1 is held at the target ship position.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the forward-side intermediate position N+1.
  • the bucket position control unit 13 A controls the position of the bucket 12 B to the forward-side intermediate position N+1 even when the shift operation unit 15 B does not receive an input operation from the ship operator.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the forward position F.
  • the bucket position control unit 13 A controls the position of the bucket 12 B to the forward position F even when the shift operation unit 15 B does not receive an input operation from the ship operator.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE”.
  • the engine rotational speed control unit 13 B controls the rotational speed of the engine 11 to “IDLE” even when the throttle operation unit 15 A does not receive an input operation from the ship operator.
  • the jet propulsion device 12 generates a propulsive force for moving the ship 1 forward to reduce the deviation from “+4” to zero, and the ship 1 is held at the target ship position.
  • a ship 1 according to the second embodiment is configured in the same manner as the ship 1 according to the first embodiment described above, except for points to be described below.
  • the ship 1 of the second embodiment it is possible to achieve the same effects as those of the ship 1 according to the first embodiment described above, except for points to be described below.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the linear forward-side intermediate position NF.
  • the bucket position control unit 13 A adjusts the position of the bucket 12 B to a position between the neutral position N at the linear forward-side intermediate positions NF and the forward position F.
  • the rotational speed of the engine 11 may change in the order of, for example, “IDLE” ⁇ “IDLE+1” ⁇ “IDLE+2”.
  • step S 31 B the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 .
  • the ship 1 according to the fourth embodiment includes, for example, an engine 11 , a jet propulsion device 12 , a ship controller 13 , a ship position detection unit 14 , and an operation unit 15 .
  • a bucket 12 B of the jet propulsion device 12 of the ship 1 according to the fourth embodiment is configured to be able to be disposed at a forward position F, a neutral position N, and a reverse position R.
  • the ship controller 13 of the ship 1 according to the fourth embodiment not only has the above-mentioned normal mode but also has a ship fixed point holding mode.
  • the ship controller 13 of the ship 1 according to the fourth embodiment performs feedback control (for example, PID control and the like) of the engine 11 and the jet propulsion device 12 based on a deviation between a target ship position, which is a preset target position of the ship 1 , and the actual ship position.
  • a neutral position N when the ship controller 13 is in the ship fixed point holding mode, a neutral position N, a reverse position R, and a linear reverse-side intermediate position NR that can be linearly adjusted between the neutral position N and the reverse position R are set as the position of the bucket 12 B that can be disposed by the bucket position control unit 13 A of the ship controller 13 .
  • Table 4 shows an example of a correspondence between the rotational speed of the engine 11 , the position of the bucket 12 B, and the like when the ship controller 13 of the ship 1 according to the fourth embodiment is in the ship fixed point holding mode.
  • a control amount (feedback control amount) calculated by the ship controller 13 is zero when a deviation between the target ship position and the actual ship position in the ship fixed point holding mode of the ship controller 13 is zero.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the neutral position N.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE” (the rotational speed of the engine 11 in an idling state). For this reason, the jet propulsion device 12 does not generate a propulsive force for moving the ship 1 , and the ship 1 is held at the target ship position.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the linear reverse-side intermediate position NR.
  • the bucket position control unit 13 A adjusts the position of the bucket 12 B to a position between the neutral position N at the linear reverse-side intermediate position NR and the reverse position R.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE”. Thereby, the jet propulsion device 12 generates a propulsive force for moving the ship 1 backward to reduce the deviation from “ ⁇ 2” to zero, and the ship 1 is held at the target ship position.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the linear reverse-side intermediate position NR.
  • the bucket position control unit 13 A adjusts the position of the bucket 12 B to a position close to the reverse position R at the linear reverse-side intermediate position NR.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE”.
  • the jet propulsion device 12 generates a propulsive force for moving the ship 1 backward to reduce the deviation from “ ⁇ 3” to zero, and the ship 1 is held at the target ship position.
  • the linear reverse-side intermediate position NR is set as the position of the bucket 12 B, and both the control of the position of the bucket 12 B and control of the rotational speed of the engine 11 are performed when the ship controller 13 is in the ship fixed point holding mode.
  • a deviation between the target ship position and the actual ship position is “ ⁇ 1”, “ ⁇ 2”, or “ ⁇ 3”, it is possible to prevent the ship 1 from excessively moving to the rear side of the target ship position due to the bucket 12 B being disposed at the reverse position R.
  • the rotational speed of the engine 11 may change in the order of, for example, “IDLE” ⁇ “IDLE+1” ⁇ “IDLE+2”.
  • a ship 1 according to the fifth embodiment is configured in the same manner as the ship 1 according to the first embodiment described above, except for points to be described below.
  • the ship 1 of the fifth embodiment it is possible to achieve the same effects as those of the ship 1 according to the first embodiment described above, except for points to be described below.
  • the ship 1 according to the fifth embodiment includes, for example, an engine 11 , a jet propulsion device 12 , a ship controller 13 , a ship position detection unit 14 , and an operation unit 15 .
  • a bucket 12 B of the jet propulsion device 12 of the ship 1 according to the fifth embodiment is configured to be able to be disposed at a forward position F, a neutral position N, and a reverse position R.
  • a bucket position control unit 13 A of the ship controller 13 of the ship 1 controls the position of the bucket 12 B (for example, control of disposing the bucket 12 B at the forward position F, control of disposing the bucket 12 B at the neutral position N, control of disposing the bucket 12 B at the reverse position R, and the like).
  • the ship controller 13 of the ship 1 according to the fifth embodiment not only has the above-mentioned normal mode but also has a ship fixed point holding mode.
  • the ship controller 13 of the ship 1 according to the fifth embodiment performs feedback control (for example, PID control and the like) of the engine 11 and the jet propulsion device 12 based on a deviation between a target ship position, which is a preset target position of the ship 1 , and the actual ship position.
  • a forward position F (see FIG. 3 ), a neutral position N (see FIGS. 3 and 6 ), three forward-side intermediate positions N+1, N+2, and N+3 (see FIG. 3 ) located between the forward position F and the neutral position N, a reverse position R (see FIG. 6 ), and three reverse-side intermediate positions N ⁇ 1, N ⁇ 2, and N ⁇ 3 (see FIG. 6 ) located between the neutral position N and the reverse position R are set as the position of the bucket 12 B that can be disposed by the bucket position control unit 13 A of the ship controller 13 .
  • three reverse-side intermediate positions N ⁇ 1, N ⁇ 2, and N ⁇ 3 are set as a reverse-side intermediate position between the neutral position N and the reverse position R.
  • any number of reverse-side intermediate positions other than three may be set as a reverse-side intermediate position between the neutral position N and the reverse position R.
  • a rotation angle ⁇ of the bucket 12 B required to move the bucket 12 B from the neutral position N to the forward position F is divided into four.
  • a position where the bucket 12 B is rotated by ( ⁇ /4) from the neutral position N is set as the forward-side intermediate position N+1
  • a position where the bucket 12 B is rotated by (2 ⁇ /4) from the neutral position N is set as the forward-side intermediate position N+2
  • a position where the bucket 12 B is rotated by (3 ⁇ /4) from the neutral position N is set as the forward-side intermediate position N+3.
  • the forward-side intermediate positions N+1, N+2, and N+3 are set at the positions obtained by dividing the rotation angle ⁇ of the bucket 12 B required to move the bucket 12 B from the neutral position N to the forward position F at equal angular intervals.
  • a rotation angle of the bucket 12 B required to move the bucket 12 B from the neutral position N to the forward-side intermediate position N+1, a rotation angle of the bucket 12 B required to move the bucket 12 B from the forward-side intermediate position N+1 to the forward-side intermediate position N+2, a rotation angle of the bucket 12 B required to move the bucket 12 B from the forward-side intermediate position N+2 to the forward-side intermediate position N+3, and a rotation angle of the bucket 12 B required to move the bucket 12 B from the forward-side intermediate position N+3 to the forward position F may be different from each other.
  • a rotation angle ⁇ of the bucket 12 B required to move the bucket 12 B from the neutral position N to the reverse position R is divided into four.
  • a position where the bucket 12 B is rotated by ( ⁇ /4) from the neutral position N is set as the reverse-side intermediate position N ⁇ 1
  • a position where the bucket 12 B is rotated by (2 ⁇ /4) from the neutral position N is set as the reverse-side intermediate position N ⁇ 2
  • a position where the bucket 12 B is rotated by (3 ⁇ /4) from the neutral position N is set as the reverse-side intermediate position N ⁇ 3.
  • the reverse-side intermediate positions N ⁇ 1, N ⁇ 2, N ⁇ 3 are set at the positions obtained by dividing the rotation angle ⁇ of the bucket 12 B required to move the bucket 12 B from the neutral position N to the reverse position R at equal angular intervals.
  • a rotation angle of the bucket 12 B required to move the bucket 12 B from the neutral position N to the reverse-side intermediate position N ⁇ 1, a rotation angle of the bucket 12 B required to move the bucket 12 B from the reverse-side intermediate position N ⁇ 1 to the reverse-side intermediate position N ⁇ 2, a rotation angle of the bucket 12 B required to move the bucket 12 B from the reverse-side intermediate position N ⁇ 2 to the reverse-side intermediate position N ⁇ 3, and a rotation angle of the bucket 12 B required to move the bucket 12 B from the reverse-side intermediate position N ⁇ 3 to the reverse position R may be different from each other.
  • the ship controller 13 when the ship controller 13 is in the ship fixed point holding mode, the ship controller 13 performs both control of the position of the bucket 12 B (control of disposing the bucket 12 B at any of the forward position F, the forward-side intermediate positions N+1, N+2, and N+3, the neutral position N, the reverse-side intermediate positions N ⁇ 1, N ⁇ 2, and N ⁇ 3, and the reverse position R) and control of the rotational speed of the engine 11 .
  • the ship controller 13 when the ship controller 13 is in the ship fixed point holding mode, the ship controller 13 performs control of setting the rotational speed of the engine 11 to a predetermined value so that the ship 1 is held at a fixed point of the target ship position, and setting the position of the bucket 12 B to any of the forward position F, the three forward-side intermediate positions N+1, N+2, and N+3, the neutral position N, the three reverse-side intermediate positions N ⁇ 1, N ⁇ 2, and N ⁇ 3, and the reverse position R.
  • Table 5 shows an example of a correspondence between the rotational speed of the engine 11 , the position of the bucket 12 B, and the like when the ship controller 13 is in the ship fixed point holding mode.
  • the forward side intermediate positions N+1, N+2, and N+3 and the reverse-side intermediate positions N ⁇ 1, N ⁇ 2, and N ⁇ 3 are set as the position of the bucket 12 B, and both the control of the position of the bucket 12 B and control of the rotational speed of the engine 11 are performed when the ship controller 13 is in the ship fixed point holding mode.
  • the rotational speed of the engine 11 is controlled to “IDLE” when the position of the bucket 12 B is set to be the reverse-side intermediate positions N ⁇ 1, N ⁇ 2, and N ⁇ 3.
  • the rotational speed of the engine 11 may be controlled to a rotational speed (for example, “IDLE+1”, “IDLE+2”, or the like) other than “IDLE”.
  • the rotational speed of the engine 11 may change in the order of, for example, “IDLE” ⁇ “IDLE+1” ⁇ “IDLE+2”.
  • a ship 1 according to the sixth embodiment is configured in the same manner as the ship 1 according to the first embodiment described above, except for points to be described below.
  • the ship 1 of the sixth embodiment it is possible to achieve the same effects as those of the ship 1 according to the first embodiment described above, except for points to be described below.
  • the ship 1 according to the sixth embodiment includes, for example, an engine 11 , a jet propulsion device 12 , a ship controller 13 , a ship position detection unit 14 , and an operation unit 15 .
  • a bucket 12 B of the jet propulsion device 12 of the ship 1 according to the sixth embodiment is configured to be able to be disposed at a forward position F, a neutral position N, and a reverse position R.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the linear reverse-side intermediate position NR.
  • the bucket position control unit 13 A adjusts the position of the bucket 12 B to a position close to the reverse position R at the linear reverse-side intermediate position NR.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE”.
  • the jet propulsion device 12 generates a propulsive force for moving the ship 1 backward to reduce the deviation from “ ⁇ 3” to zero, and the ship 1 is held at the target ship position.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the linear reverse-side intermediate position NR.
  • the bucket position control unit 13 A adjusts the position of the bucket 12 B to a position between the neutral position N at the linear reverse-side intermediate position NR and the reverse position R.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE”. Thereby, the jet propulsion device 12 generates a propulsive force for moving the ship 1 backward to reduce the deviation from “ ⁇ 2” to zero, and the ship 1 is held at the target ship position.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the linear reverse-side intermediate position NR.
  • the bucket position control unit 13 A adjusts the position of the bucket 12 B to a position close to the neutral position N at the linear reverse-side intermediate position NR.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE”.
  • the jet propulsion device 12 generates a propulsive force for moving the ship 1 backward to reduce the deviation from “ ⁇ 1” to zero, and the ship 1 is held at the target ship position.
  • the bucket position control unit 13 A of the ship controller 13 disposes the bucket 12 B at the linear forward-side intermediate position NF.
  • the bucket position control unit 13 A adjusts the position of the bucket 12 B to a position close to the neutral position N at the linear forward-side intermediate position NF.
  • the engine rotational speed control unit 13 B of the ship controller 13 controls the rotational speed of the engine 11 to “IDLE”.
  • the jet propulsion device 12 generates a propulsive force for moving the ship 1 forward to reduce the deviation from “+1” to zero, and the ship 1 is held at the target ship position.
  • FIGS. 10 A to 12 are diagrams showing examples of control that can be performed in the ships 1 according to the first to seventh embodiments.
  • FIG. 10 A shows a relationship between a ship, a holding OK area, and the like when control of holding the ship in the holding OK area is started.
  • FIG. 10 B shows a relationship between a ship, a holding OK area, and the like when a ship position changes due to a disturbance.
  • FIG. 11 A shows turning-round of a ship whose ship position has changed due to a disturbance, with the stem of the ship being directed toward target coordinates.
  • FIG. 11 B shows a state where the ship position of the ship whose stem is directed toward the target coordinates changes again due to a disturbance.
  • FIG. 12 shows a state where throttle control (recurrence control) is performed until the ship enters the holding OK area.
  • An aspect of the present invention is a ship controller included in a ship that includes an engine that outputs a driving force, a jet propulsion device that generates a propulsion force of the ship using the driving force output from the engine, and a ship position detection unit that detects an actual ship position which is an actual position of the ship, in which the jet propulsion device includes a nozzle that ejects a jet stream generated by the driving force output from the engine, and a bucket that changes a direction of the jet stream ejected from the nozzle, the position of the bucket includes at least a forward position where the jet propulsion device generates a propulsive force for moving the ship forward, a neutral position where the jet propulsion device does not generate a propulsive force for moving the ship, a reverse position where the jet propulsion device generates a propulsive force for moving the ship backward, a forward-side intermediate position between the forward position and the neutral position, and a reverse-side intermediate position between the reverse position and the neutral position, and the ship controller has a
  • An aspect of the present invention is a ship control method of controlling a ship that includes an engine that outputs a driving force, a jet propulsion device that generates a propulsion force of the ship using the driving force output from the engine, and a ship position detection unit that detects an actual ship position which is an actual position of the ship, in which the jet propulsion device includes a nozzle that ejects a jet stream generated by the driving force output from the engine, and a bucket that changes a direction of the jet stream ejected from the nozzle, the position of the bucket includes at least a forward position where the jet propulsion device generates a propulsive force for moving the ship forward, a neutral position where the jet propulsion device does not generate a propulsive force for moving the ship, a reverse position where the jet propulsion device generates a propulsive force for moving the ship backward, and a reverse-side intermediate position between the reverse position and the neutral position, the ship control method includes performing feedback control of the engine and the jet propulsion device based on a
  • All or some of the functions of the units provided in the ships 1 in the embodiments described above can be implemented by recording a program for implementing these functions on a computer-readable recording medium and causing a computer system to read and execute the program recorded on the recording medium.
  • the “computer system” as mentioned herein includes hardware such as an OS and peripheral devices.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
US18/397,493 2021-06-28 2023-12-27 Ship Pending US20240228007A9 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-106920 2021-06-27
JP2021106920 2021-06-28
PCT/JP2022/025713 WO2023277003A1 (ja) 2021-06-28 2022-06-28 船舶、船舶制御装置、船舶制御方法およびプログラム

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/025713 Continuation WO2023277003A1 (ja) 2021-06-28 2022-06-28 船舶、船舶制御装置、船舶制御方法およびプログラム

Publications (2)

Publication Number Publication Date
US20240132196A1 US20240132196A1 (en) 2024-04-25
US20240228007A9 true US20240228007A9 (en) 2024-07-11

Family

ID=84689967

Family Applications (1)

Application Number Title Priority Date Filing Date
US18/397,493 Pending US20240228007A9 (en) 2021-06-28 2023-12-27 Ship

Country Status (4)

Country Link
US (1) US20240228007A9 (https=)
EP (1) EP4365073A4 (https=)
JP (1) JP7738657B2 (https=)
WO (1) WO2023277003A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230257090A1 (en) * 2022-02-17 2023-08-17 Yamaha Hatsudoki Kabushiki Kaisha Marine vessel maneuvering system, and marine vessel

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12326735B2 (en) * 2021-07-23 2025-06-10 Seakeeper, Inc. Dynamic active control system with engine control

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4073258A (en) * 1977-04-07 1978-02-14 The Boeing Company Lateral maneuvering control for water-jet propulsion systems
US20010029134A1 (en) * 2000-04-07 2001-10-11 The Talaria Company, Llc, Delaware Corporation Differential bucket control system for waterjet boats
AU2002323062A1 (en) * 2001-08-06 2003-02-24 Robert Morvillo Integral reversing and trim deflector and control mechanism
CA2588707A1 (en) * 2004-11-24 2006-06-01 Robert A. Morvillo System and method for controlling a waterjet driven vessel
WO2008025169A1 (en) * 2006-09-01 2008-03-06 Teleflex Megatech Inc Trim and reverse systems for a jet propulsion watercraft
US20080189001A1 (en) * 2006-12-19 2008-08-07 Morvillo Robert A Method and apparatus for controlling a water-jet driven marine vessel
US20100022146A1 (en) * 2005-12-05 2010-01-28 Morvillo Robert A Method and apparatus for controlling a marine vessel
WO2016063610A1 (ja) * 2014-10-23 2016-04-28 ヤンマー株式会社 操船装置
US20170351259A1 (en) * 2014-10-23 2017-12-07 Yanmar Co., Ltd. Ship handling device
US20180004209A1 (en) * 2016-06-30 2018-01-04 Yamaha Hatsudoki Kabushiki Kaisha Marine vessel
US20210387710A1 (en) * 2003-07-15 2021-12-16 Robert A. Morvillo Method and apparatus for controlling a waterjet-driven marine vessel

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3971161B2 (ja) 2001-11-09 2007-09-05 ヤマハ発動機株式会社 水ジェット推進艇
JP3976582B2 (ja) 2002-02-14 2007-09-19 日発テレフレックスモース株式会社 小型船舶の操船用駆動装置
KR101409627B1 (ko) 2006-06-02 2014-06-18 씨더블유에프 해밀턴 앤드 컴퍼니 리미티드 해양 선박의 제어와 관련된 개선
JP5652957B2 (ja) 2011-05-20 2015-01-14 日本発條株式会社 ジェット推進艇の前後進切換装置
JP2013086668A (ja) * 2011-10-19 2013-05-13 Yamaha Motor Co Ltd 船舶
JP2014073790A (ja) 2012-10-05 2014-04-24 Yamaha Motor Co Ltd ジェット推進艇
JP2016215984A (ja) 2015-05-26 2016-12-22 ヤマハ発動機株式会社 ジェット推進艇
JP2017094945A (ja) * 2015-11-25 2017-06-01 ヤマハ発動機株式会社 船舶の制御方法、及び、船舶の制御システム
JP2020019321A (ja) 2018-07-31 2020-02-06 ヤマハ発動機株式会社 ジェット推進艇
JP7039078B2 (ja) 2021-04-12 2022-03-22 株式会社サンセイアールアンドディ 遊技機

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4073258A (en) * 1977-04-07 1978-02-14 The Boeing Company Lateral maneuvering control for water-jet propulsion systems
US20010029134A1 (en) * 2000-04-07 2001-10-11 The Talaria Company, Llc, Delaware Corporation Differential bucket control system for waterjet boats
AU2002323062A1 (en) * 2001-08-06 2003-02-24 Robert Morvillo Integral reversing and trim deflector and control mechanism
US20210387710A1 (en) * 2003-07-15 2021-12-16 Robert A. Morvillo Method and apparatus for controlling a waterjet-driven marine vessel
CA2588707A1 (en) * 2004-11-24 2006-06-01 Robert A. Morvillo System and method for controlling a waterjet driven vessel
US20100022146A1 (en) * 2005-12-05 2010-01-28 Morvillo Robert A Method and apparatus for controlling a marine vessel
WO2008025169A1 (en) * 2006-09-01 2008-03-06 Teleflex Megatech Inc Trim and reverse systems for a jet propulsion watercraft
US20080189001A1 (en) * 2006-12-19 2008-08-07 Morvillo Robert A Method and apparatus for controlling a water-jet driven marine vessel
WO2016063610A1 (ja) * 2014-10-23 2016-04-28 ヤンマー株式会社 操船装置
US20170351259A1 (en) * 2014-10-23 2017-12-07 Yanmar Co., Ltd. Ship handling device
US20180004209A1 (en) * 2016-06-30 2018-01-04 Yamaha Hatsudoki Kabushiki Kaisha Marine vessel

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
English Translation for WO 2016063610 (Year: 2016) *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230257090A1 (en) * 2022-02-17 2023-08-17 Yamaha Hatsudoki Kabushiki Kaisha Marine vessel maneuvering system, and marine vessel
US12528569B2 (en) * 2022-02-17 2026-01-20 Yamaha Hatsudoki Kabushiki Kaisha Marine vessel maneuvering system, and marine vessel

Also Published As

Publication number Publication date
WO2023277003A1 (ja) 2023-01-05
EP4365073A4 (en) 2025-04-16
JPWO2023277003A1 (https=) 2023-01-05
JP7738657B2 (ja) 2025-09-12
EP4365073A1 (en) 2024-05-08
US20240132196A1 (en) 2024-04-25

Similar Documents

Publication Publication Date Title
US20240228007A9 (en) Ship
US12017746B2 (en) System and method for positioning a marine vessel
US10775808B2 (en) Boat maneuvering control method for boat and boat maneuvering control system for boat
US9434460B1 (en) Marine vessels and systems for laterally maneuvering marine vessels
EP2343236B1 (en) Marine vessel propulsion control apparatus and marine vessel
US9132903B1 (en) Systems and methods for laterally maneuvering marine vessels
JP2017088111A (ja) 船舶の操船制御方法および船舶の操船制御システム
JP7664060B2 (ja) 操船装置、及び船舶
US20250153838A1 (en) Uniaxial twin-rudder ship having automatic docking function
WO2014065147A1 (ja) 船体制御方法および船体制御装置
JP5147273B2 (ja) １軸１舵船の定点位置保持方法とその装置
CN117580759A (zh) 单轴双舵船的具有操舵角修正功能的操舵系统
US11993357B2 (en) Marine propulsion control system and marine vessel capable of performing dynamic positioning control
WO2018179447A1 (ja) 船舶推進装置
US12583572B2 (en) Marine vessel and marine vessel propulsion control system
JP2013144538A (ja) クレーン船及びクレーン船を制御する演算制御装置
US11573087B1 (en) Boat maneuvering control method for boat and boat maneuvering control system for boat
US20220382281A1 (en) Marine vessel propulsion control system and marine vessel
US20220297811A1 (en) Vessel operation system and vessel
JP2025114204A (ja) 自動着岸装置および自動着岸システム
JP2012245979A (ja) １軸１舵船の定点位置保持方法とその装置
JPH06270891A (ja) 船舶の操船方法及び操船制御装置
US20240166324A1 (en) Ship control system, ship control device, ship control method, and a non-transitory computer readable medium
JP2001334995A (ja) 操船装置
US20250187714A1 (en) Ship steering device

Legal Events

Date Code Title Description
AS Assignment

Owner name: NHK SPRING CO., LTD., JAPAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SHIRAO, MASATO;KAMIYA, TAKAFUMI;TOKUSHIGE, JUN;AND OTHERS;REEL/FRAME:065967/0512

Effective date: 20231215

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION

Free format text: NON FINAL ACTION COUNTED, NOT YET MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: NON FINAL ACTION COUNTED, NOT YET MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: NON FINAL ACTION MAILED