Safety system for a ship

Abstract

The present disclosure relates to a safety system for a vessel, the safety system (100) comprising: a plurality of proximity sensors (201, 202, 203, 204), each proximity sensor (201, 202, 203, 204) having a detection zone and configured to detect an object within the detection zone; and a computer system comprising processing circuitry configured to trigger an action to stop rotation of the propeller (130, 330) in response to information from at least one of the plurality of proximity sensors (201, 202, 203, 204) indicating that an object is detected within a detection zone of at least one of the plurality of proximity sensors (201, 202, 203, 204); wherein the plurality of proximity sensors (201, 202, 203, 204) are arranged such that the detection zones of the plurality of proximity sensors (201, 202, 203, 204) surround, preferably completely, the propeller (130, 330) in a plane parallel to the longitudinal direction and the transverse direction.

Description

Technical Field

[0001] The present disclosure generally relates to ships. In particular aspects, the present disclosure relates to a safety system for a ship and a computer-implemented method of controlling the safety system. The present disclosure also relates to a propeller assembly and a ship. The present disclosure can be applied to ships such as boats, small boats, barges, etc. Although the present disclosure may be described with respect to a particular ship, the present disclosure is not limited to any particular ship. Background Art

[0002] Participating in leisure activities such as swimming or bathing typically brings an individual close to a ship, thus presenting a potential risk of a small boat accident involving contact with a rotating propeller. In addition, during rescue operations in turbulent waters, the potential entanglement of ropes in the propeller can pose a significant danger, potentially causing an interruption in the operation of the ship. This risk may be exacerbated when the ship is equipped with an electric power transmission system. The quieter operation of these ships may make it difficult for individuals to detect their presence, especially sunken propellers, which increases the danger.

[0003] Therefore, efforts have been made to develop technologies for improving the safety of ships. Summary of the Invention

[0004] According to a first aspect of the present disclosure, there is provided a safety system for a ship according to claim 1. The ship has a longitudinal extension in a longitudinal direction parallel to the intended travel direction of the ship, the ship also has a vertical extension that extends vertically upward perpendicular to the still water surface in a vertical direction when the ship is located in a water body, and the ship also has a lateral extension in a lateral direction perpendicular to each of the longitudinal direction and the vertical direction. The ship includes at least one propeller that is arranged to rotate in water to provide propulsion for the ship during operation. The safety system includes:

[0005] - A plurality of proximity sensors, each proximity sensor having a detection zone and being configured to detect an object within the detection zone; and

[0006] - A computer system that includes processing circuitry configured to trigger an action to stop the rotation of the propeller in response to information from at least one of the plurality of proximity sensors indicating that an object has been detected within the detection zone of at least one of the plurality of proximity sensors;

[0007] - Wherein the plurality of proximity sensors are arranged such that the detection zones of the plurality of proximity sensors surround, preferably completely surround, the propeller in a plane parallel to the longitudinal direction and the lateral direction.

[0008] The first aspect of the present disclosure may seek to reduce the risk of small boat accidents. In addition to enhancing the safety of individuals (such as water recreation participants), technical advantages may include reducing the potential risk of damage to ship components. The technical advantages are achieved through the arrangement of proximity sensors such that the detection zones are capable of surrounding, preferably completely surrounding, the propeller, as shown in a horizontal extension plane including at least a portion of the propeller. In this way, the system can detect obstacles from any direction relative to the propeller in the horizontal plane, thereby establishing a protective boundary around the propeller. Additionally, by concentrating the detection zones around the propeller, the protection can be focused only on the propeller, which can help minimize false alarms and thus reduce the risk of unnecessary stoppage of the propeller. As a result, it can not only enhance the safety level but also improve the operational efficiency of the ship by preventing false alarms that may cause unnecessary interruptions.

[0009] Optionally, in some examples, including in at least one preferred example, each of the detection zones has a conical shape extending between a proximal end of the sensor and a distal end of the sensor, wherein the plurality of proximity sensors are arranged such that the detection zones of the plurality of proximity sensors surround, preferably completely surround, the propeller in each plane parallel to the longitudinal direction and the transverse direction and are positioned along the vertical direction at least from the lowest point to the highest point of the propeller. In this way, the detection zones can include at least each horizontal plane along the vertical extension of the propeller, thus providing a three-dimensional protective boundary. In some other examples, the detection zones may additionally surround the horizontal plane above the highest point or below the lowest point of the propeller. Technical advantages may include increasing the sensor coverage, thereby resulting in enhanced safety.

[0010] Optionally, in some examples, including in at least one preferred example, the ship further includes a connecting member and a drive leg. The drive leg includes a central axis extending along the vertical direction between the connecting member and the propeller. The plurality of proximity sensors are arranged around the central axis of the drive leg. By arranging the proximity sensors in this way, the detection zones can be concentrated around the propeller. Technical advantages may include enhancing the safety of the ship and improving the operational efficiency of the ship.

[0011] Optionally, in some examples, including in at least one preferred example, in a plane parallel to the longitudinal direction and the transverse direction, the detection zones of the proximity sensors form a continuous region that completely surrounds the propeller. The continuous detection zone can ensure a reduced risk of unmonitored areas around the propeller. In some examples, there may be an overlap between two adjacent detection zones. This overlap can ensure that even if one sensor fails, the adjacent sensors can still maintain the coverage of the expected detection zone. Technical advantages may include reducing the risk of damage to ship components due to undetected objects.

[0012] Optionally, in some examples, including at least one preferred example, the plurality of proximity sensors includes at least four sensors positioned relative to the propeller such that lines connecting adjacent sensors enclose the propeller in a plane parallel to the longitudinal direction and the transverse direction. Thus, it can create an efficient and reliable detection arrangement that reduces hardware complexity while ensuring full detection coverage.

[0013] Optionally, in some examples, including at least one preferred example, the safety system further includes a safety mechanism configured to stop the rotation of the propeller, wherein the processing circuit is configured to cause the safety mechanism to stop the rotation of the propeller in response to information from at least one of the plurality of proximity sensors indicating the detection of an object in the detection zone of at least one of the plurality of proximity sensors. By way of example only, the safety mechanism can be a locking member that can lock the drive shaft on which the propeller is mounted. The safety mechanism can also be a mechanical brake configured to mechanically brake the propeller. The safety mechanism can serve as an emergency mechanism to stop the propeller in dangerous situations. Technical advantages can include increased reliability.

[0014] Optionally, in some examples, including at least one preferred example, the vessel includes a power source for providing propulsion force to the propeller. The safety system includes a power control device configured to control the power supply from the power source or alternatively to control the power transmission from the power source to the propeller via a transmission. By way of example only, the power source can include one or more electric motors, which can be understood as electric engines. Additionally or alternatively, the power source can be an internal combustion engine. In some examples, the power source can include a gas turbine. Regardless of the type of power source, the power control device can be configured to control the power supply and / or power transmission to the propeller, thereby enabling and / or disabling the operation of the propeller. By operating the power control device correctly, the propeller can be stopped at the appropriate moment. Technical advantages can include increased reliability.

[0015] Optionally, in some examples, including at least one preferred example, the plurality of proximity sensors includes at least one of a sonar-based sensor, a radar-based sensor, a lidar-based sensor, or a laser-based sensor. Generally, sonar-based sensors can have strong underwater detection capabilities, which can allow for reliable detection of objects above and below the water surface. Radar-based sensors can have a relatively low cost and can operate effectively in various weather conditions, thus ensuring reliable performance regardless of environmental variables. In some examples, a combination of these sensors can form a sensor array, which can mitigate the limitations of individual sensors and enhance overall performance.

[0016] Optionally, in some examples, including at least one preferred example, the safety system further comprises: - A visual warning system configured to generate a visible indication at a warning zone at a predetermined distance from the propeller, wherein the warning zone surrounds, preferably completely surrounds, the detection zone of the proximity sensor and the propeller in a plane parallel to the longitudinal direction and the lateral direction. - Wherein the processing circuit is further configured to cause the visual warning system to generate the visible indication during operation of the propeller.

[0017] The visual warning system can further enhance the safety level as any nearby water recreation participants may become aware of the presence of a vessel with a rotating propeller. Additionally, by arranging the visible indication at the warning zone at a predetermined distance from the propeller, the chance of an individual approaching the detection zone can be reduced. As a result, the chance of triggering a propeller stop action can be decreased. Technical advantages can include improving the operating efficiency of the vessel.

[0018] Optionally, in some examples, including at least one preferred example, the visual warning system includes a bubble generator, wherein the bubble generator comprises: - An air pressurizing device, - A plurality of air nozzles arranged at the warning zone, and - A guiding device for guiding the pressurized air to the plurality of air nozzles.

[0019] Optionally, in some examples, including at least one preferred example, the processing circuit is further configured to identify the detected object and determine whether the detected object is a prohibited object by inputting the sensed data from the plurality of proximity sensors into a machine learning model. Herein, a prohibited object can be understood as any object or obstacle that may cause a boating accident or may cause damage to the propeller (e.g., getting stuck in the propeller). In contrast, a non-prohibited object can be anything that does not pose a risk of causing a boating accident or damaging the propeller, such as small floating debris. Using sonar-based sensors as an example, the sensed data can include reflected echoes from an object detected inside the sensor detection zone. Merely as an example, the reflected echoes can include information such as the shape of the echo, the amplitude of the echo, or the frequency of the echo, which can be input into the machine learning model. Then, the model can preferably make a prediction by classifying the detected object based on the input sensed data. By using a machine learning model to determine whether the detected object is a stationary object, technical advantages can include not needing to trigger a propeller stop due to detecting a non-prohibited object.

[0020] Optionally, in some examples, including in at least one preferred example, the data collected by the plurality of proximity sensors is used to train the machine learning model. For example, this sensor data may be associated with a mixture of prohibited and non-prohibited objects, where each data including the parameters of the reflected echo is labeled with a prohibited or non-prohibited object. In this way, the machine learning model can be trained to classify the detected objects into the correct categories.

[0021] According to a second aspect of the present disclosure, there is provided a propeller assembly for a ship. The propeller assembly includes a connecting member, a drive leg, and a safety system according to the first aspect of the present disclosure. The drive leg includes a central axis extending between the connecting member and the propeller along the vertical direction. The connecting member is configured to be hingedly connected to the hull of the ship. Accordingly, the plurality of proximity sensors are included in the propeller assembly. These sensors can be integrated during the propeller assembly process, precisely positioned and tuned to the desired angles to ensure that the detection zone completely surrounds the propeller horizontally and vertically. As a result, the propeller assembly with a plurality of proximity sensors is ready to be immediately installed on various ships. Technical advantages may include enhanced flexibility.

[0022] Optionally, in some examples, including in at least one preferred example, the connecting member has a horizontal extension in a connecting member plane parallel to the longitudinal direction and the transverse direction, and wherein the propeller has a horizontal extension in a propeller plane parallel to the longitudinal direction and the transverse direction, wherein the horizontal extension of the connecting member is between 80% and 150% of the horizontal extension of the propeller. By arranging the connecting member to have a horizontal extension that can substantially match or be larger than the horizontal span of the propeller, these sensors can be positioned at any suitable location on the connecting member to create a detection zone that can surround the propeller.

[0023] According to a third aspect of the present disclosure, there is provided a ship. The ship includes a safety system according to the first aspect of the present disclosure, or a propeller assembly according to the second aspect of the present disclosure. The technical advantages of the third aspect of the present disclosure are largely similar to the technical advantages of the first aspect and / or the second aspect of the present disclosure.

[0024] According to a fourth aspect of the present disclosure, there is provided a computer-implemented method for controlling a safety system according to the first aspect of the present disclosure. The method includes: - Obtaining, by the processing circuit, information from at least one of the plurality of proximity sensors, the information indicating that an object has been detected in the detection zone of at least one of the plurality of proximity sensors; and - In response thereto, triggering, by the processing circuit, an action to stop the rotation of the propeller.

[0025] The ship safety system can be illustrated by any of the above examples of the first aspect of the present disclosure. Thus, the advantages and beneficial features of the method can be seen from the above description of the safety system.

[0026] Optionally, in some examples, including in at least one preferred example, the feature of triggering an action to stop the rotation of the propeller includes: − The processing circuit uses the machine learning model to determine whether the detected object is a prohibited object, and − In response to determining that the detected object is a prohibited object, the processing circuit initiates an action to stop the rotation of the propeller.

[0027] Optionally, in some examples, including in at least one preferred example, the method further includes: − In response to determining that the propeller starts to rotate, the processing circuit controls the visual warning system to generate a visible indication in the warning area.

[0028] According to a fifth aspect of the present disclosure, there is provided a computer program product, which includes program code for performing the method according to the fourth aspect of the present disclosure when executed by the processing circuit.

[0029] According to a sixth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium includes instructions that cause the processing circuit to perform the method according to the fourth aspect of the present disclosure when executed by the processing circuit.

[0030] Those of ordinary skill in the art will understand that the disclosed aspects, examples (including any preferred examples) and / or the accompanying claims can be appropriately combined with each other. Additional features and advantages are disclosed in the following description, claims and drawings, and will be partly obvious to those skilled in the art or recognized by practicing the present disclosure as described herein. Description of the Drawings

[0031] Examples will be described in more detail below with reference to the drawings.

[0032] Figure 1 is an exemplary perspective view of a ship according to an example.

[0033] Figure 2 is a schematic diagram showing a safety system for a ship.

[0034] Figure 3a and Figure 3b is an example of a propeller assembly including a plurality of proximity sensors.

[0035] Figure 3c andFigure 3d It is a top view showing the detection area of the proximity sensor relative to the propeller.

[0036] Figure 4 A ship including a visual warning system is shown.

[0037] Figure 5 It is a schematic diagram showing the visual warning system.

[0038] Figure 6 It is a flowchart showing a method for controlling a safety system. Detailed Description

[0039] The detailed description set forth below provides information and examples of the disclosed technology in sufficient detail to enable those skilled in the art to practice the disclosure.

[0040] Participating in leisure activities such as swimming or bathing typically brings an individual close to a ship, thereby posing a potential risk of a boat accident involving contact with a rotating propeller. This risk may be exacerbated when the ship is equipped with an electric powertrain. The quieter operation of these ships may make it difficult for an individual to detect their presence, especially a submerged propeller, which increases the danger. The present disclosure may seek to reduce the risk of boat accidents. In addition to enhancing the safety of individuals (such as water recreation participants), technical advantages may include reducing the potential risk of damage to ship components.

[0041] Figure 1 It is an exemplary schematic diagram of ship 1. Figure 1 Ship 1 in [the figure] is illustrated as a small boat. However, ship 10 may also be a ship, a barge, or any other type of watercraft. Ship 1 has a longitudinal extension in a longitudinal direction L parallel to the intended travel direction of ship 1, a vertical extension that extends upward perpendicular to the still water surface in a vertical direction V when ship 1 is located in a water body, and a lateral extension in a lateral direction T perpendicular to each of the longitudinal direction L and the vertical direction V. In the example shown, ship 1 includes a hull 180 that includes a front end 181 and a rear end 182, where two propeller assemblies 110 are arranged at the rear end 182 of the hull 180. In the example shown, each propeller assembly 110 includes a propeller 130 that is arranged to rotate in the water to provide propulsion force to ship 1 during operation. Ship 1 also includes a power source 140 for providing propulsion force to the propeller 130 via a transmission 120. By way of example only, the power source 140 may include one or more electric motors, which may also be referred to as electric engines. Additionally or alternatively, the power source 140 may be an internal combustion engine. In some examples, the power source 140 includes a gas turbine. Further, the propeller assembly 110 includes a connecting member 101 and a drive leg 305 (see Figures 3a to 3b), wherein the drive leg 305 includes a central axis extending between the connecting member 101 and the propeller 130 along the vertical direction V. Details regarding the propeller assembly 110 will be provided in the Figures 3a to 3b discussion. In the example of Figure 1 , the connecting member 101 is connected to the transmission 120 from below, while in some other examples, the connecting member 101 may be arranged to be hingedly connected to the hull of the ship. Additionally, the ship 1 includes a safety system 100 for enhancing the safety level of the marine environment.

[0042] Figure 2 is a schematic diagram showing the safety system 100. The safety system 100 includes a plurality of proximity sensors 201, 202, 203, 204, such as the proximity sensors 201, 202, 203, 204 shown in Figure 3a and Figure 3b . By way of example only, the sensors may include at least one of a sonar-based sensor, a radar-based sensor, a lidar-based sensor, or a laser-based sensor. Each proximity sensor 201, 202, 203, 204 has a detection zone and is configured to detect an object within the detection zone. The proximity sensors 201, 202, 203, 204 are arranged such that the detection zones of the plurality of proximity sensors 201, 202, 203, 204 surround, preferably completely surround, the propeller 130 in a plane parallel to the longitudinal direction and the transverse direction. The safety system 100 further includes a computer system 400, which in turn may include a processing circuit 402 configured to trigger an action to stop the rotation of the propeller 130 in response to receiving information indicating the detection of an object within the detection zone of at least one of the plurality of proximity sensors 201, 202, 203, 204 from at least one of the plurality of proximity sensors 201, 202, 203, 204.

[0043] Figure 3a and Figure 3b show two examples of the arrangement of the plurality of proximity sensors 201, 202, 203, 204. Figure 3a and Figure 3bExamples are shown where proximity sensors 201, 202, 203, 204 are included in the propeller assembly 110. As shown and discussed above, the propeller assembly 110 includes a connecting member 301 and a drive leg 305, where the drive leg 305 includes a central axis C extending between the connecting member 301 and the propeller 330 along a vertical direction V. Additionally, each of the proximity sensors 201, 202, 203, 204 has a detection zone that has a conical shape extending between a sensor proximal end 202a and a sensor distal end 202b. The proximity sensors 201, 202, 203, 204 are arranged around the central axis of the drive leg 305. Thus, the detection zones of the proximity sensors 201, 202, 203, 204 surround, preferably completely surround, the propeller 330 in a plane parallel to the longitudinal and transverse directions. Additionally, the detection zones surround each plane parallel to the longitudinal and transverse directions along the vertical direction from the lowest point to the highest point of the propeller 330. In this way, the detection zones can include at least each horizontal plane along the vertical extension of the propeller 330, thereby providing a three-dimensional protection boundary around the propeller 330. Additionally, Figure 3a Examples show that the detection zones additionally surround horizontal planes above the highest point extending from the connecting member 301 and below the lowest point of the propeller 330. This can ensure a wider coverage range, thereby enhancing the safety and operational reliability of the propeller 330.

[0044] Figure 3c is according to Figure 3a A top view of the detection zone of a proximity sensor according to an example with respect to the propeller. In Figure 3a the example, the connecting member 301 has a horizontal extension in a connecting member plane parallel to the longitudinal and transverse directions, and the propeller 330 has a horizontal extension in a propeller plane parallel to the longitudinal and transverse directions. Preferably, the horizontal extension of the connecting member 301 is between 80% and 150% of the horizontal extension of the propeller 330. This allows when the proximity sensors are arranged along the outer peripheral edge 302 of the connecting member 301 (as presented in Figure 3a ), the detection zones of the proximity sensors 201, 202, 203, 204 can form a continuous region Z1 that completely surrounds the propellers 130, 330, as presented in Figure 3c . The continuous detection region Z1 can ensure a reduced risk of unmonitored areas. Additionally, as shown, there is an overlap between two adjacent detection zones, which can ensure that even if one sensor fails, the other sensors can still maintain the expected detection coverage.

[0045] Figure 3d is according to Figure 3b A top view of the detection zone of a proximity sensor according to an example with respect to the propeller. In Figure 3bIn the example, the multiple proximity sensors 201, 202, 203, 204 include at least four sensors positioned relative to the propeller 330. Although Figure 3b the fourth sensor is not explicitly shown in Figure 3d a top view is provided showing that the at least four proximity sensors 201, 202, 203, 204 are arranged such that the lines L1, L2, L3, L4 connecting adjacent sensors enclose the propeller 330 in a plane parallel to the longitudinal and lateral directions.

[0046] In some examples, the safety system 100 is integrated in the propeller assembly 110. In other words, the propeller assembly 110 may additionally include a computer system 400 and / or a processing circuit 402. Thus, the safety system 100 including the multiple proximity sensors 201, 202, 203, 204 can be integrated during the assembly of the propeller. These sensors can be precisely positioned and tuned to the desired angles to ensure that the detection zones of the multiple proximity sensors horizontally and vertically enclose, preferably completely enclose, the propeller. As a result, the propeller assembly 110 can be well-prepared in advance to ensure readiness before installation on various vessels.

[0047] Return steering Figure 2 Furthermore, the safety system 100 may also include a safety mechanism 150 configured to stop the rotation of the propellers 130, 330. For example, the processing circuit 402 may be configured to cause the safety mechanism 150 to stop the rotation of the propellers 130, 330 in response to information from at least one of the multiple proximity sensors 201, 202, 203, 204 indicating that an object has been detected in the detection zone of at least one of the multiple proximity sensors 201, 202, 203, 204. The safety mechanism 150 may mechanically stop the rotation of the propeller 130. By way of example only, the safety mechanism 150 may be a locking member that can lock the drive shaft on which the propeller is located. As another non-limiting example, the safety mechanism 150 may be a mechanical brake configured to mechanically brake the propellers 130, 330. Additionally or alternatively, the safety system 100 may also include a power control device 160 configured to control the power supply to the power source 140 or control the power transmission from the power source 140 to the propeller 330 via the transmission 120. The power control device 160 may selectively enable or disable the power supply from the power source 140 to the propeller 130, or selectively enable or disable the power transmission from the power source 140 to the propeller 130 via the transmission 120.

[0048] In addition, the safety system 100 may include a visual warning system 170 configured to generate a visible indication at a warning zone Z2 at a predetermined distance from the propellers 130, 330. The warning zone Z2 may surround, preferably completely surround, the detection zones Z1 of the proximity sensors 201, 202, 203, 204 and the propellers 130, 330 in a plane parallel to the longitudinal and lateral directions, as Figure 3a presented. The processing circuit 402 may also be configured to cause the visual warning system 170 to generate a visible indication during operation of the propellers 130, 330. Thus, any nearby water recreation participants may become aware of the presence of the vessel with the rotating propellers, and thus the chance of an individual approaching the detection zone Z1 can be reduced. Accordingly, the chance of triggering a propeller stop action can be reduced. Figure 4 An example of a vessel generating a visual warning around the propellers is shown. In this example, the visual warning system 170 includes a bubble generator 171, which in turn includes an air pressurizing device, a plurality of air nozzles arranged at the warning zone Z2, and a guiding device for guiding the pressurized air to the plurality of air nozzles. In addition, in some examples as Figure 5 shown, the visual warning system 170 may additionally include a lighting device 172 for emitting visible light as a visual warning signal and / or include a coloring device 173 for discharging a colored substance as a visual warning signal. The lighting device 172 and / or the coloring device 173 may also be connected to the bubble generator 171 to add color and / or light to the generated bubbles.

[0049] In some examples, the processing circuit 402 is further configured to identify a detected object and determine whether the detected object is a prohibited object by inputting sensed data from multiple proximity sensors 201, 202, 203, 204 into a machine learning model. Herein, a prohibited object can be understood as any object or obstacle that may cause a boating accident or may cause damage to the propeller (e.g., get stuck in the propeller). In contrast, a non-prohibited object can be anything that does not pose a risk of causing a boating accident or damaging the propeller, such as small floating debris. Using sonar-based sensors as an example, the sensed data can include reflected echoes from an object detected inside the sensor detection area. By way of example only, the echoes can include information such as the shape, amplitude, or frequency of the echoes, which can be input into the machine learning model. Then, the model can preferably make a prediction by classifying the detected object based on the input data and distinguishing various types of objects. In these examples, data collected by multiple proximity sensors 201, 202, 203, 204 can be used to train the machine learning model. For example, the sensor data may be associated with a mixture of prohibited and non-prohibited objects, and each data including the parameters of the reflected echoes is labeled as a prohibited object or a non-prohibited object. In this way, the machine learning model can be trained to classify the detected objects into the correct categories.

[0050] Figure 6 is a flowchart showing a method for controlling the security system 100. The method is performed by the processing circuit of the computer system 400 and includes the actions listed below, which can be performed in any suitable order unless otherwise indicated.

[0051] S1: Obtain information from at least one of the multiple proximity sensors 201, 202, 203, 204, the information indicating that an object is detected in the detection area of at least one of the multiple proximity sensors 201, 202, 203, 204, and S2: In response thereto, trigger an action to stop the rotation of the propellers 130, 330.

[0052] In some examples, the method may further include: S3: Use a machine learning model to determine whether the detected object is a prohibited object, and S4: Determine that the detected object is a prohibited object and initiate an action to stop the rotation of the propellers 130, 330.

[0053] In an example where the security system includes a visual warning system 170, the method may further include: S5: In response to determining that the propellers 130, 330 start to rotate, control the visual warning system 170 to generate a visible indication at the warning area Z2.

[0054] In addition, the present disclosure can be illustrated by any one of the following examples and combinations of examples.

[0055] Example 1: A safety system (100) for a ship (1), the ship (1) having a longitudinal extension in a longitudinal direction parallel to the intended travel direction of the ship (1), the ship (1) further having a vertical extension that extends vertically upward perpendicular to the still water surface in a vertical direction when the ship (1) is located in a water body, the ship (1) further having a lateral extension in a lateral direction perpendicular to each of the longitudinal direction and the vertical direction, the ship (1) including at least one propeller (130, 330), the at least one propeller being arranged to rotate in water to provide propulsion force for the ship (1) during operation, the safety system (100) including: - A plurality of proximity sensors (201, 202, 203, 204), each proximity sensor (201, 202, 203, 204) having a detection area and being configured to detect an object within the detection area, and - A computer system, the computer system including a processing circuit configured to trigger an action to stop the rotation of the propellers (130, 330) in response to information from at least one of the plurality of proximity sensors (201, 202, 203, 204) indicating that an object has been detected within the detection area of at least one of the plurality of proximity sensors (201, 202, 203, 204); - Wherein the plurality of proximity sensors (201, 202, 203, 204) are arranged such that the detection areas of the plurality of proximity sensors (201, 202, 203, 204) surround, preferably completely surround, the propellers (130, 330) in a plane parallel to the longitudinal direction and the lateral direction.

[0056] Example 2: The safety system (100) according to Example 1, wherein each of the detection areas has a conical shape extending between a sensor proximal end and a sensor distal end, and wherein the plurality of proximity sensors (201, 202, 203, 204) are arranged such that the detection areas of the plurality of proximity sensors (201, 202, 203, 204) surround, preferably completely surround, the propellers (130, 330) in each plane parallel to the longitudinal direction and the lateral direction, and are positioned along the vertical direction at least from the lowest point to the highest point of the propellers (130, 330).

[0057] Example 3: The safety system (100) according to any one of Examples 1 to 2, wherein the ship (1) further comprises connecting members (101, 301) and drive legs (305), the drive legs (305) comprising a central axis extending along the vertical direction between the connecting members (101, 301) and the propellers (130, 330), and wherein the plurality of proximity sensors (201, 202, 203, 204) are arranged around the central axis of the drive legs (305).

[0058] Example 4: The safety system (100) according to any one of Examples 1 to 3, wherein in the plane parallel to the longitudinal direction and the transverse direction, the detection zones of the proximity sensors (201, 202, 203, 204) form a continuous area (Z1) that completely surrounds the propellers (130, 330).

[0059] Example 5: The safety system (100) according to any one of Examples 1 to 3, wherein the plurality of proximity sensors (201, 202, 203, 204) comprises at least four sensors positioned relative to the propellers (130, 330) such that the lines (L1, L2, L3, L4) connecting adjacent sensors surround the propellers (130, 330) in the plane parallel to the longitudinal direction and the transverse direction.

[0060] Example 6: The safety system (100) according to any one of the foregoing examples, wherein the safety system (100) further comprises a safety mechanism (150) configured to stop the rotation of the propellers (130, 330), and wherein the processing circuit (402) is configured to cause the safety mechanism (150) to stop the rotation of the propellers (130, 330) in response to information from at least one of the plurality of proximity sensors indicating that an object has been detected in the detection zone of at least one of the plurality of proximity sensors (201, 202, 203, 204).

[0061] Example 7: The safety system (100) according to Example 6, wherein the ship (1) comprises a power source (140) for providing propulsion force to the propellers (130, 330), and wherein the safety system (100) comprises a power control device (160) configured to control the power supply to the power source (140) or alternatively to control the power transmission from the power source (140) to the propellers (130, 330) via a transmission (120).

[0062] Example 8: The safety system (100) according to any one of the preceding examples, wherein the plurality of proximity sensors (201, 202, 203, 204) includes at least one of a sonar-based sensor, a radar-based sensor, a lidar-based sensor, or a laser-based sensor.

[0063] Example 9: The safety system (100) according to any one of the preceding examples, further comprising:

[0064] - A visual warning system (170) configured to generate a visible indication in a warning zone (Z2) at a predetermined distance from the propellers (130, 330), wherein the warning zone (Z2) surrounds, preferably completely surrounds, the detection zone (Z1) of the proximity sensors (201, 202, 203, 204) and the propellers (130, 330) in the plane parallel to the longitudinal direction and the lateral direction, - Wherein the processing circuit (402) is further configured to cause the visual warning system (170) to generate the visible indication during operation of the propellers (130, 330).

[0065] Example 10: The safety system (100) according to Example 11, wherein the visual warning system (170) includes a bubble generator (171), and wherein the bubble generator includes: - An air pressurizing device, - A plurality of air nozzles arranged at the warning zone (Z2), and - A guiding device for guiding the pressurized air to the plurality of air nozzles.

[0066] Example 11: The safety system (100) according to any one of the preceding examples, wherein the processing circuit (402) is further configured to identify the detected object and determine whether the detected object is a prohibited object by inputting the sensed data from the plurality of proximity sensors (201, 202, 203, 204) into a machine learning model.

[0067] Example 12: The safety system (100) according to Example 11, wherein the machine learning model is trained using the data collected by the plurality of proximity sensors (201, 202, 203, 204).

[0068] Example 13: A propeller assembly for a ship (1), comprising a connecting member (101, 301), a drive leg (305), and a safety system according to any one of Examples 1 to 12, wherein the drive leg (305) includes a central axis extending between the connecting member (101, 301) and the propeller (130, 330) along the vertical direction, and wherein the connecting member (101, 301) is arranged to be hingedly connected to the hull of the ship.

[0069] Example 14: The propeller assembly according to Example 13, wherein the connecting member (101, 301) has a horizontal extension in a connecting member plane parallel to the longitudinal direction and the transverse direction, wherein the propeller (130, 330) has a horizontal extension in a propeller plane parallel to the longitudinal direction and the transverse direction, and wherein the horizontal extension of the connecting member (101, 301) is between 80% and 150% of the horizontal extension of the propeller (130, 330).

[0070] Example 15: A ship (1) comprising a safety system (100) according to any one of Examples 1 to 12 or a propeller assembly according to any one of Examples 13 to 14.

[0071] Example 16: A computer-implemented method for controlling a safety system (100) according to any one of Examples 1 to 12, comprising: - obtaining (S1) information by the processing circuit (402) from at least one of the plurality of proximity sensors (201, 202, 203, 204), the information indicating that an object is detected in the detection area of at least one of the plurality of proximity sensors (201, 202, 203, 204), and - in response thereto, triggering (S2) by the processing circuit (402) an action to stop the rotation of the propeller (130, 330).

[0072] Example 17: The method according to Example 16, wherein the processing circuit (402) is further configured to identify the detected object and determine whether the detected object is a prohibited object by inputting the sensed data of the plurality of proximity sensors into a machine learning model, and the features for triggering the action to stop the rotation of the propeller include: - determining (S3) by the processing circuit (402) whether the detected object is a prohibited object using the machine learning model, and - in response to determining that the detected object is a prohibited object, initiating (S4) by the processing circuit (402) the action to stop the rotation of the propeller (130, 330).

[0073] Example 18: The method according to Example 16 or Example 17, wherein the safety system (100) further comprises: - A visual warning system (170) configured to generate a visible indication at a warning zone at a predetermined distance from the propeller (130, 330), wherein the warning zone surrounds, preferably completely surrounds, the detection zone of the proximity sensors (201, 202, 203, 204) and the propeller (130, 330) in a plane parallel to the longitudinal direction and the lateral direction, wherein the method further comprises: - In response to determining that the propeller (130, 330) starts to rotate, controlling (S5) the visual warning system (170) by the processing circuit (402) to generate a visible indication at the warning zone (Z2).

[0074] Example 19: A computer program product comprising program code for performing the method according to Examples 16 to 18 when executed by the processing circuit.

[0075] Example 20: A non-transitory computer-readable storage medium comprising instructions that, when executed by the processing circuit, cause the processing circuit to perform the method according to Examples 16 to 18.

[0076] The terms used herein are for the purpose of describing particular aspects only and are not intended to limit the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms as well. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It should also be understood that the terms "comprises" and / or "comprising", when used herein, specify the presence of stated features, integers, acts, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, acts, steps, operations, elements, components and / or groups thereof.

[0077] It should be understood that although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of the present disclosure, the first element may be referred to as the second element, and similarly, the second element may be referred to as the first element.

[0078] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used in this document to describe the relationship of one element to another element, as shown in the figures. It should be understood that these terms, as well as those discussed above, are intended to cover different device orientations in addition to the orientations depicted in the figures. It should be understood that when an element is referred to as "connected" or "coupled" to another element, the element can be directly connected or coupled to the other element, or there can be intervening elements. In contrast, when an element is referred to as "directly connected" or "directly coupled" to another element, there are no intervening elements.

[0079] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should also be understood that the terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art, and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0080] It should be understood that this disclosure is not limited to the aspects described above and shown in the figures; rather, those skilled in the art will recognize that many changes and modifications can be made within the scope of this disclosure and the appended claims. In the figures and the specification, the aspects have been disclosed for purposes of illustration only and not for purposes of limitation, and the scope of the disclosure is set forth in the appended claims.

Claims

1. A safety system (100) for a vessel (1), the vessel (1) having a longitudinal extension in a longitudinal direction parallel to an intended direction of travel of the vessel (1), the vessel (1) also having a vertical extension extending upwardly perpendicularly to a still water surface in a vertical direction when the vessel (1) is located in a body of water, the vessel (1) also having a transverse extension in a transverse direction perpendicular to each of the longitudinal direction and the vertical direction, the vessel (1) comprising at least one propeller (130, 330) arranged to rotate in water to provide propulsion to the vessel (1) during operation, the safety system (100) comprising: − a plurality of proximity sensors (201, 202, 203, 204), each proximity sensor (201, 202, 203, 204) having a detection zone (201', 202', 203', 204') and configured to detect an object within the detection zone (201', 202', 203', 204'), and − a computer system (400), the computer system comprising a processing circuit (402), the processing circuit being configured to trigger an action of stopping the rotation of the propeller (130, 330) in response to information from at least one of the plurality of proximity sensors (201, 202, 203, 204) indicating that an object is detected within the detection zone (201', 202', 203', 204') of at least one of the plurality of proximity sensors (201, 202, 203, 204); − wherein the plurality of proximity sensors (201, 202, 203, 204) are arranged such that the detection zones (201', 202', 203', 204') of the plurality of proximity sensors (201, 202, 203, 204) surround, preferably completely surround, the propeller (130, 330) in a plane parallel to the longitudinal direction and the transverse direction.

2. The safety system (100) according to claim 1, wherein each of the detection zones has a conical shape extending between a sensor proximal end and a sensor distal end, wherein the plurality of proximity sensors (201, 202, 203, 204) are arranged so that the detection zones of the plurality of proximity sensors (201, 202, 203, 204) surround, preferably completely surround, the propeller (130, 330) in each plane parallel to the longitudinal direction and the transverse direction, and are positioned along the vertical direction at least from the lowest point to the highest point of the propeller (130, 330).

3. The safety system (100) according to any one of claims 1 to 2, wherein the vessel (1) further comprises a connecting member (101, 301) and a driving leg (305), the driving leg (305) comprising a central axis extending between the connecting member (101, 301) and the propeller (130, 330) along the vertical direction, wherein the plurality of proximity sensors (201, 202, 203, 204) are arranged around the central axis of the driving leg (305).

4. The safety system (100) according to any one of claims 1 to 3, wherein in the plane parallel to the longitudinal direction and the transverse direction, the detection zone (201', 202', 203', 204') of the proximity sensor (201, 202, 203, 204) forms a continuous area (Z1) that completely surrounds the propeller (130, 330).

5. The safety system (100) according to any one of claims 1 to 3, wherein the plurality of proximity sensors (201, 202, 203, 204) comprises at least four sensors positioned relative to the propeller (130, 330) such that a line (L1, L2, L3, L4) connecting adjacent sensors surrounds the propeller (130, 330) in the plane parallel to the longitudinal direction and the transverse direction.

6. The safety system (100) according to any one of the preceding claims, wherein the safety system (100) further comprises a safety mechanism (150) configured to stop the rotation of the propeller (130, 330), wherein the processing circuit (402) is configured to cause the safety mechanism (150) to stop the rotation of the propeller (130, 330) in response to information from at least one of the plurality of proximity sensors indicating that an object is detected within the detection zone of at least one of the plurality of proximity sensors (201, 202, 203, 204).

7. The safety system (100) according to any of the preceding claims, wherein the plurality of proximity sensors (201, 202, 203, 204) comprises at least one of a sonar-based sensor, a radar-based sensor, a lidar-based sensor or a laser-based sensor.

8. The safety system (100) according to any one of the preceding claims, further comprising: − a visual warning system (170) configured to generate a visible indication at a warning zone (Z2) at a predetermined distance from the propeller (130, 330), wherein the warning zone (Z2) surrounds, preferably completely surrounds, the detection zone (Z1) of the proximity sensor (201, 202, 203, 204) and the propeller (130, 330) in the plane parallel to the longitudinal direction and the transverse direction, − wherein the processing circuit (402) is further configured to cause the visual warning system (170) to generate the visible indication during operation of the propeller (130, 330).

9. A security system (100) according to any of the preceding claims, wherein the processing circuit (402) is further configured to identify the detected object and determine whether the detected object is a prohibited object by inputting the sensed data from the plurality of proximity sensors (201, 202, 203, 204) into a machine learning model.

10. A propeller assembly for a vessel (1), comprising a connecting member (101, 301), a driving leg (305) and a safety system according to any one of claims 1 to 12, wherein the driving leg (305) comprises a central axis extending between the connecting member (101, 301) and the propeller (130, 330) along the vertical direction, wherein the connecting member (101, 301) is arranged to be hingedly connected to the hull of the vessel.

11. The propeller assembly according to claim 10, wherein the connecting member (101, 301) has a horizontal extension in a connecting member plane parallel to the longitudinal direction and the transverse direction, wherein the propeller (130, 330) has a horizontal extension in a propeller plane parallel to the longitudinal direction and the transverse direction, and wherein the horizontal extension of the connecting member (101, 301) is between 80% and 150% of the horizontal extension of the propeller (130, 330).

12. A vessel (1) comprising a safety system (100) according to any one of claims 1 to 9 or a propeller assembly according to any one of claims 10 to 11.

13. A computer-implemented method for controlling a security system (100) according to any one of claims 1 to 9, comprising: − obtaining (S1) information from at least one of the plurality of proximity sensors (201, 202, 203, 204) by the processing circuit (402), the information indicating that an object is detected within the detection zone of at least one of the plurality of proximity sensors (201, 202, 203, 204), and − In response to this, the processing circuit (402) triggers (S2) an action to stop the rotation of the propeller (130, 330).

14. A computer program product comprising program code for performing the method according to claim 14 when the program code is executed by the processing circuit.

15. A non-transitory computer-readable storage medium comprising instructions that, when executed by the processing circuit, cause the processing circuit to perform the method of claim 14.

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