Ship control system based on lateral propellers and ship

Abstract

The utility model discloses a ship control system based on lateral propellers and a ship. The ship control system comprises a front propeller, a rear propeller and a U-turn controller. The U-turn controller is connected to the front thruster and the rear thruster and used for driving and controlling work of the front thruster and the rear thruster. The front thruster and the rear thruster are arranged on the side faces of the front portion and the rear portion of the ship respectively and used for providing lateral force needed by turning around. The ship in-situ turning-around device has the advantages that in-situ turning-around is achieved through the lateral propellers, meanwhile, a safe reminding and monitoring system is designed to achieve safe and reliable ship in-situ turning-around in a matched mode, and feasibility, reliability and safety of ship in-situ turning-around are improved.

Description

Technical Field

[0001] The utility model relates to the field of electric ship steering control, and particularly relates to a ship control system and a ship based on a lateral thruster. Background Art

[0002] The direction of ship navigation is generally achieved by controlling the ship's rudder with a steering wheel. The rudder is a device for ship steering. The rudder is located below the stern of the ship and is a plane perpendicular to the water surface. The direction is changed by turning the tiller. When the rudder deflects to one side, the water flow will generate a reaction force on the rudder, causing the hull to turn in the opposite direction. The design of the size and shape of the rudder has an important impact on the steering efficiency, and the ship's steering can be achieved through the design and control of the rudder.

[0003] Generally, ships are large in size and have a large turning radius. They cannot achieve small-radius turns like vehicles such as cars, and even cannot achieve in-place turning like cars. In-place turning of a car, such as a vehicle lateral driving and in-place turning device with patent application number 202010568065.1, discloses that the vehicle chassis suspension structure and the motor cooperate to achieve in-place turning of the car. Although both cars and ships are transportation devices, one is on land and the other is on water, and the environments they are in are significantly different, so the in-place turning structure of cars cannot be directly applied to the in-place turning of ships.

[0004] However, during the navigation of a ship, in some scenarios, there will also be scenarios where in-place turning is required. The prior art uses the rudder to turn for turning around, with a large turning radius, and may not be able to complete the turning around in a narrow waterway. Moreover, the turning around may affect the course safety and also needs to be considered. There is no relevant literature disclosure in the prior art. Summary of the Utility Model

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a ship control system and a ship based on a lateral thruster, which achieve in-place turning through the lateral thruster, and at the same time design a safe reminder and monitoring system to cooperate to achieve safe and reliable in-place turning of the ship.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is: a ship control system based on a lateral thruster, including a front thruster, a rear thruster, and a turning controller; the turning controller is respectively connected to the front thruster and the rear thruster, and is used to drive and control the operation of the front thruster and the rear thruster; the front thruster and the rear thruster are respectively arranged on the side of the front and rear hulls of the ship, and are used to provide the lateral force required for turning around.

[0007] The front thruster includes a left front thruster and a right front thruster, which are respectively arranged on the side of the front hull of the ship and are arranged below the ship's draft line.

[0008] The rear thrusters include a left rear thruster and a right rear thruster, which are respectively arranged on the side of the rear hull of the ship and are set at a position lower than the ship's draft line.

[0009] The front thruster and the rear thruster are connected to the side hull of the ship through a telescopic mechanism, and the turning controller is connected to the telescopic mechanism for controlling the telescoping of the front thruster and the rear thruster through the telescopic mechanism.

[0010] There are slots for installing the front thruster and the rear thruster on the side of the ship hull. The front thruster and the rear thruster are installed in the corresponding slots through a telescopic mechanism, and the front thruster and the rear thruster are extended or retracted through the telescopic mechanism.

[0011] The turning controller is connected to a ship attitude sensor, a position sensor, and a heading sensor for obtaining ship state data during the ship turning process. The output end of the turning controller is connected to a ship monitoring large screen.

[0012] The output end of the turning controller is connected to a turning reminder module for sending a reminder signal to the surrounding through the turning reminder module.

[0013] The output end of the turning controller is connected to a radar sensor. The radar sensor is used for real-time monitoring of approaching obstacles, and the output end of the turning controller is connected to an alarm.

[0014] A ship having the ship control system based on lateral thrusters as described above.

[0015] The advantages of the present utility model are as follows: The in-situ turning is achieved through lateral thrusters, and at the same time, a safe reminder and monitoring system is designed to cooperate with the realization of safe and reliable in-situ turning of the ship, improving the feasibility, reliability, and safety of the ship's in-situ turning; during the in-situ turning process, the state of the ship itself is monitored in real time and corresponding feedback is given, as well as the state of nearby obstacles is monitored, and an alarm reminder is sent in a timely manner, improving the safety during the turning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following briefly describes the content expressed in each drawing of the present invention specification and the marks in the drawings:

[0017] Figure 1 It is the structural principle diagram of the control system of the present utility model;

[0018] Figure 2 It is a schematic diagram of the position of the thruster arranged on the front hull of the present utility model.

[0019] The marks in the above figures are all: 1. Installation position of the left front thruster; 2. Installation position of the right front thruster. DETAILED DESCRIPTION OF THE INVENTION

[0020] The following is a further detailed description of the specific implementation of the present invention by describing the optimal embodiments with reference to the accompanying drawings.

[0021] This solution mainly aims to implement a control system for automatic ship turning, which mainly realizes the in-situ turning control of the ship based on lateral thrusters. The specific solution is as follows:

[0022] As Figure 1 shown, a ship control system based on lateral thrusters in this solution includes a front thruster, a rear thruster, and a turning controller;

[0023] The turning controller is respectively connected to the front thruster and the rear thruster, and is used to drive and control the operation of the front thruster and the rear thruster;

[0024] The front thruster and the rear thruster are respectively arranged on the side of the front and rear hulls of the ship, and are used to provide the lateral force required for turning when working.

[0025] In fact, both the front thruster and the rear thruster belong to thrusters, which are used to generate the lateral force of the ship. The core components of the thruster usually consist of one or more propellers. The rotation of the propeller generates lateral thrust, enabling the ship to move left and right. According to the design, the propeller can be a traditional blade type or a modern electric propulsion type. The drive system of the thruster can be an electric motor, a hydraulic motor, or a diesel engine. Electric thrusters are more common because they offer more precise control, less noise, and easier maintenance. Hydraulic systems are often used for thrusters with higher power. The turning controller can achieve the control of the operation of the thruster by driving the drive system of the thruster, thereby realizing the operation of the front thruster and the rear thruster, and further providing the lateral force.

[0026] In this application, if only one-way turning is required, only the left front thruster and the right rear thruster or the right front thruster and the left rear thruster are needed; or to achieve turning control in both clockwise and counterclockwise directions instantaneously, four thrusters can be included respectively, including two front thrusters and two rear thrusters.

[0027] The front thruster includes a left front thruster and a right front thruster, which are respectively arranged on the side of the front hull of the ship and below the ship's draft line. The rear thruster includes a left rear thruster and a right rear thruster, which are respectively arranged on the side of the rear hull of the ship and below the ship's draft line. Being below the draft line is to meet the operation of the thruster, being arranged on the side is to provide lateral thrust, and being arranged at the front and rear of the ship is to better receive force for turning. The front part refers to the range from the middle of the ship to the bow, and the rear part of the ship refers to the range from the middle of the ship to the stern.

[0028] As Figure 2As shown, there are two installation positions at the front of the ship, which are the installation position of the left front propeller and the installation position of the right front propeller. The positions can be arranged symmetrically along the center line of the hull. Installation slots are respectively provided at the installation positions, and the installation slots are formed by the hull surface being recessed into the hull. The front propeller and the rear propeller are connected to the corresponding installation slots on the side hull of the ship through a telescopic mechanism. The U-turn controller is connected to the telescopic mechanism and is used to control the telescopic extension of the front propeller and the rear propeller through the telescopic mechanism. The purpose of this is that when not working, the front and rear propellers are in the installation slots, and when they need to work, they extend out of the slots through the telescopic mechanism to realize the provision of lateral thrust, so that the resistance can be reduced when not turning around. A slot for installing the front propeller and the rear propeller is provided on the side of the ship hull. The front propeller and the rear propeller are installed in the corresponding slots through the telescopic mechanism, and the front propeller and the rear propeller are extended or returned through the telescopic mechanism, that is, the front and rear propellers are respectively installed on a telescopic mechanism, and the telescopic mechanism is installed in the slot. The telescopic mechanism can be realized by a pneumatic cylinder telescopic mechanism, an oil cylinder telescopic mechanism or an electric telescopic mechanism, and can be realized by driving the controller to telescope by the U-turn controller.

[0029] The principle of realizing U-turn in the above scheme is as follows: when it is necessary to make a U-turn on the spot, the driver triggers a U-turn signal to the U-turn controller through a virtual U-turn button or a U-turn button installed in the driver. After receiving the switch button signal, the U-turn controller drives the telescopic mechanism of the left front and right rear thrusters to work, so that the left front and rear right thrusters are pushed out of the installation slot, and then the U-turn controller drives the left front and right rear thrusters to start working to provide lateral thrust for the U-turn; or after receiving the switch button signal, the U-turn controller drives the telescopic mechanism of the right front and left rear thrusters to work, so that the right front and left rear thrusters are pushed out of the installation slot, and then the U-turn controller drives the right front and left rear thrusters to start working to provide lateral thrust for the U-turn, thereby completing the U-turn control. After the U-turn is completed, the driver can manually stop the U-turn progress or automatically detect that the U-turn is completed, and then the U-turn controller drives the front and rear thrusters to stop working, and drives the corresponding telescopic mechanism to shrink, and shrinks the front and rear thrusters into the installation slot to complete the U-turn process.

[0030] The U-turn controller is implemented by a processor with data processing and control functions, which can generally be developed and implemented using a 51 series single-chip microcomputer or a PLC controller. In order to save costs, it can be implemented by reusing the ship's onboard controller.

[0031] The turning controller is connected to the ship attitude sensor, position sensor, and heading sensor, and is used to obtain the ship state data during the ship turning process. The output end of the turning controller is connected to the ship monitoring large screen. The ship attitude sensor, position sensor, and heading sensor generally belong to on-board sensors, and their data can be directly obtained and then displayed through the on-board large screen during the turning process to show the turning process data, facilitating the driver to understand in a timely manner. The ship attitude sensor is generally implemented by an on-board inertial navigation system, and the positioning sensor can be implemented by an on-board chip such as GPS or Beidou to collect data during the turning process, facilitating the driver to monitor and manually intervene for processing.

[0032] To improve the safety of turning, the output end of the turning controller is connected to the turning reminder module, which is used to send reminder signals to the surrounding through the turning reminder module. The turning reminder module includes alarm flashlights, sound alarms, etc. installed on the ship, which are used to remind nearby ships of the turning behavior of this ship, and the ship's siren can also be used to achieve the reminder function.

[0033] In a preferred embodiment, during the turning process, it is necessary to monitor the position of obstacles relative to the ship in real time. Multiple radar data are set on the ship to detect the obstacles around the ship. The output end of the turning controller is connected to the radar sensor, and the radar sensor is used to monitor the approaching obstacles in real time. The output end of the turning controller is connected to the alarm. When the radar detects that the distance of the obstacle is too short, the driver is timely reminded to stop turning through the alarm and make timely handling. Here, the alarm is integrated in the monitoring room or in the monitoring large screen to achieve the function of reminding the ship's turning.

[0034] This embodiment also provides a ship, which includes the ship control system based on the lateral thruster in the above embodiment, and thus has all the characteristics and advantages of the above ship turning control system.

[0035] The turning controller of this solution is used to operate the thruster and is usually installed on the bridge or in the control room. It is electronically controlled and can precisely control the rotation speed and direction of the thruster through buttons or joysticks. The thruster needs to be firmly installed on the hull, so there are usually special support structures and anti-vibration devices to ensure the stability and safety of the thruster. The main working principle of the ship lateral thruster is to generate lateral thrust through the rotating propeller or impeller, so that the ship can move left or right. The thrust direction of the thruster can be controlled by changing the rotation direction of the propeller. When the propeller rotates clockwise, it will push the ship to move to one side; when the propeller rotates counterclockwise, the ship will move to the other side.

[0036] The basic principle of realizing a zero-radius turn: By installing two lateral thrusters on each of the left and right sides of the front and rear lower parts of the hull (a total of four thrusters), the following functions can be achieved:

[0037] Front left and right thrusters (front left thruster and front right thruster): used to generate lateral thrust at the bow of the ship.

[0038] Rear left and right thrusters (rear left thruster and rear right thruster): used to generate lateral thrust at the stern of the ship.

[0039] To achieve a ship's in-place turning, the thrusters need to be controlled according to the following strategy:

[0040] Clockwise in-place turning: The front left thruster generates a leftward thrust, and the rear right thruster generates a rightward thrust.

[0041] Counterclockwise in-place turning: The front right thruster generates a rightward thrust, and the rear left thruster generates a leftward thrust.

[0042] Through this combination of thrusts, the ship can rotate around its vertical axis to achieve an in-place turn. When the ship needs to turn in place, the thrusters extend from the hull. When not needed, the thrusters retract into the hull to reduce the resistance during the ship's operation and extend the service life of the lateral thrusters.

[0043] Select appropriate lateral thrusters according to the ship's deadweight tonnage to ensure that their thrust is large enough to achieve the required turning moment. The thrusters are installed on the left and right sides below the front and rear of the hull to ensure that the thrusters can generate effective lateral thrust in the water, thus meeting the purpose of achieving a turn with lateral thrust.

[0044] By adopting the above scheme for turning control, it has the following characteristics:

[0045] Precise control: The lateral thrusters provide higher control precision, especially in narrow or congested waters. They can be independently controlled, allowing the ship to perform precise lateral movement and in-place turning.

[0046] High maneuverability: The lateral thrusters can provide thrust in any direction, greatly enhancing the ship's maneuverability, especially in situations where quick turning or position adjustment is required.

[0047] Fast response speed: The lateral thrusters can quickly generate thrust and provide instant response, suitable for operations that require quick position or direction adjustment.

[0048] Flexible installation: They can be installed at different positions on the ship (such as the bow and stern), increasing the flexibility of design and application.

[0049] Obviously, the specific implementation of the present invention is not limited by the above methods. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention, they are within the protection scope of the present invention.

Claims

1. A ship control system based on a lateral thruster, characterized in that: It includes a front thruster, a rear thruster, and a U-turn controller; the U-turn controller is respectively connected to the front thruster and the rear thruster, and is used to drive and control the operation of the front thruster and the rear thruster; the front thruster and the rear thruster are respectively arranged on the front and rear sides of the ship, and are used to provide the lateral force required for the U-turn.

2. A ship control system based on a lateral thruster according to claim 1, characterized in that: The front thruster comprises a left front thruster and a right front thruster, which are respectively arranged on the sides of the front hull of the ship and are arranged below the waterline of the ship.

3. A ship control system based on a lateral thruster according to claim 1, characterized in that: The rear thruster comprises a left rear thruster and a right rear thruster, which are respectively arranged on the sides of the rear hull of the ship and are arranged below the waterline of the ship.

4. A ship control system based on a lateral thruster according to claim 1, characterized in that: The front thruster and the rear thruster are connected to the side hull of the ship through a telescopic mechanism, and the U-turn controller is connected to the telescopic mechanism and is used to control the telescopic movement of the front thruster and the rear thruster through the telescopic mechanism.

5. A ship control system based on a lateral thruster as claimed in claim 4, characterized in that: Grooves for installing front thrusters and rear thrusters are arranged on the side of the ship hull. The front thrusters and rear thrusters are installed in the corresponding grooves through telescopic mechanisms, and the front thrusters and rear thrusters are extended or returned through the telescopic mechanisms.

6. A ship control system based on a lateral thruster according to any one of claims 1 to 5, characterized in that: The U-turn controller is connected to the ship attitude sensor, the position sensor, and the heading sensor, and is used to obtain the ship status data during the ship's U-turn process. The output end of the U-turn controller is connected to the ship monitoring screen.

7. A ship control system based on a lateral thruster according to any one of claims 1 to 5, characterized in that: The output end of the U-turn controller is connected to the U-turn reminder module, which is used to send a reminder signal to the surroundings through the U-turn reminder module.

8. A ship control system based on a lateral thruster according to any one of claims 1 to 5, characterized in that: The output end of the U-turn controller is connected to a radar sensor, and the radar sensor is used to monitor approaching obstacles in real time. The output end of the U-turn controller is connected to an alarm.

9. A ship, characterized in that: The ship has a ship control system based on a lateral thruster as described in any one of claims 1-8.

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