Single-shaft twin-rudder multi-purpose small unmanned ship

Abstract

To provide a single-shaft two rudder multi-purpose small unmanned ship which can be diverted to another mission when one mission is completed.SOLUTION: The ship propulsion system includes a thrust system 100, a ship maneuvering system 200 for controlling the thrust system 100, an observation system 300 for observing the hull motion state of the own ship 1, a power supply part 400 for supplying power to the ship maneuvering system 200 and the thrust system 100, a mission part 500 configured for each of various applications, and a mission storage part for replaceably storing the mission part 500.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention relates to a multipurpose small unmanned vessel with a single propeller and two rudders, and to technology for an unmanned surface vessel that can easily change missions in various fields such as observing ocean weather and sea conditions, fish farming, monitoring marine ecosystems, and maritime safety. [Background technology]

[0002] For example, Patent Document 1 describes a floating body on water that has improved safety when it is navigated autonomously or remotely. This floating body is equipped with an operation unit for steering the floating body on water, a navigation unit that generates propulsion and navigates the floating body in a desired direction, a communication unit that communicates with an operation terminal, and a control unit that controls the navigation unit so that the floating body navigates autonomously. When an operation signal from either the operation unit or the operation terminal is detected during autonomous navigation, the control unit stops the autonomous navigation and controls the navigation unit based on the operation signal with the highest priority from the operation signals from the operation unit and the operation terminal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2023-117311 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional unmanned watercraft include those that navigate autonomously using a program, those that are manually controlled based on camera footage via radio, and those that are remotely controlled via satellite.

[0005] Some of the areas in which these unmanned surface vessels are expected to be used include the following: 1. Long-term observation of offshore meteorological and oceanographic conditions associated with the construction of offshore wind power plants, collection of data such as seabed conditions, biological and ecological measurements, etc. will be carried out continuously over long periods of time using remote control or unmanned autonomous driving functions. 2. In the fisheries industry, patrol monitoring of live fish farms, aquaculture management such as feeding, etc. will be carried out using remote control or autonomous navigation functions for unmanned automatic navigation. 3. In maritime logistics operations, regular operations can be carried out safely even in bad weather through remote control or unmanned automatic navigation functions. 4. Using remote control and unmanned automated navigation functions, we will continue to collect oil and garbage, which are the causes of marine pollution, and monitor the marine ecosystem for long periods of time. 5. In maritime surveillance operations aimed at maintaining public order, fleeing vessels will be stopped, and convoys of ships will be prevented from illegally entering territorial waters, and the pursuit of such vessels will be carried out safely using remote control and unmanned autonomous navigation functions.

[0006] However, when unmanned surface vessels are specialized for specific purposes, their usefulness may be limited. For example, if unmanned surface vessels are specialized for observing meteorological and hydrographic conditions at sea, or for biological and ecological measurements, it is difficult to repurpose them.

[0007] The present invention is intended to solve the above-mentioned problems, and aims to provide a multipurpose small unmanned vessel with a single shaft and two rudders that can be diverted to another mission once one mission is completed. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the present invention provides a single-propeller, twin-rudder multipurpose small unmanned vessel comprising: a thrust system; a steering system that controls the thrust system; an observation system that observes the hull motion state of the vessel; a power supply unit that supplies power to the steering system and the thrust system; a mission unit that is configured for various uses; and a mission storage unit that stores the mission units interchangeably; the observation system comprises a position measurement device that measures the vessel's position; the thrust system comprises a single propeller located at the stern, an electric motor that drives the propeller, a pair of high-lift rudders located on the left and right sides of the propellers aft of the propellers, a pair of electric steering gears that drive each high-lift rudders, and a rudder angle control device that controls the rudder angle of each high-lift rudders; the steering system comprises a steering control device that controls the electric steering gear of each high-lift rudders via the rudder angle control device and controls the direction of hull motion by combining the rudder angles of the two high-lift rudders; and a steering instruction unit that instructs the steering control device on the direction of hull motion using an autonomous navigation program or remote steering.

[0009] In the single-shaft, twin-rudder multipurpose small unmanned vessel of the present invention, the propulsion propellers are controllable pitch propellers, the thrust system has a blade angle control device that variably controls the blade angle of the propulsion propellers, and the maneuvering system has a positioning control unit, and the positioning control unit defines the blade angle of the propulsion propellers when the propulsion propellers rotate at a constant speed in the forward direction at low speeds and the rudder angles of the two high-lift rudders are at a hover rudder angle that does not produce a forward speed component as a neutral angle, calculates adjustment rudder angles to be applied to the two high-lift rudders in accordance with the position deviation of the current ship position from the target ship position, calculates a rudder angle deviation of the adjustment rudder angle from the hover rudder angle, and calculates an adjustment blade angle having a blade angle deviation from the neutral angle that is necessary to obtain propeller thrust proportional to the magnitude of the rudder angle deviation, the rudder angle control device controls the two high-lift rudders to the adjustment rudder angle input from the positioning control unit, and the blade angle control device controls the blade angle of the propulsion propellers to the adjustment blade angle input from the positioning control unit.

[0010] In the single-propeller, twin-rudder multipurpose small unmanned vessel of the present invention, the ship steering system comprises a navigation safety system, and the navigation safety system comprises a current position information acquisition unit, a satellite image identification unit, an other ship identification unit, and a safe operation judgment unit, the current position information acquisition unit receives navigation signals transmitted by navigation satellites of the satellite navigation system and also receives correction signals transmitted by geostationary satellites of the satellite navigation augmentation system, measures the global position on the global coordinate system, and acquires the measured global position as the ship's current position information, the satellite image identification unit has a radar image receiving unit that receives real-time video data of synthetic aperture radar images of the navigation area including the ship at its current position, and has a target separation distance calculation unit that analyzes this real-time video data to calculate and recognize the distance between an object that affects the navigation of the ship and the current position, and the machine vision system that constitutes the other ship identification unit uses far-infrared cameras The artificial intelligence unit has an image pattern recognition unit that recognizes the image pattern of the target from the far-infrared image of the target taken by the far-infrared camera, and a library that stores the image patterns of the far-infrared camera images of various targets in association with the temperature information of the far-infrared camera images, and identifies whether the target is a ship or not by comparing the image pattern of the far-infrared camera image of the target and the temperature information of the far-infrared camera image with the image patterns of the far-infrared camera images of various targets stored in the library and the temperature information of the far-infrared camera images.The safe operation judgment unit has a risk assessment unit that recognizes the target separation distance calculated by the satellite image identification unit as the degree of impact that the ship identified by the other ship identification unit has on the safe operation of the ship, and an alarm issuing unit that issues alarm information when the risk assessment unit determines that the target separation distance is a danger zone that will endanger the safe operation of the ship. [Effects of the Invention]

[0011] With the above-described configuration, the single-propeller, dual-rudder multipurpose small unmanned vessel can be easily converted to another mission after completing one by simply replacing the mission unit stored in the mission storage compartment. For example, the mission can be easily changed from observing ocean weather and oceanographic conditions to observing the state of the seabed, or to collecting data such as biological and ecological measurements. It can also be easily changed from patrolling and monitoring live aquaculture to spreading bait. Furthermore, it can be easily changed from collecting oil or garbage, which are causes of marine pollution, to monitoring the marine ecosystem.

[0012] Therefore, the single-propeller, dual-rudder multipurpose small unmanned vessel can be used for a variety of purposes without being specialized for a specific purpose.

[0013] Furthermore, when carrying out these missions, during maneuvering to maintain ship position at low speeds, that is, when the propellers are rotated at a constant forward speed at low speeds and the two high-lift rudders are steered near a hover rudder angle that does not produce a forward speed component, if the ship deviates from the target position, the rudder angles of the two high-lift rudders necessary to cause the ship to move toward the target position are calculated as adjustment rudder angles. This adjustment rudder angle increases according to the positional deviation of the current ship's position from the target position.

[0014] The greater the propeller thrust at this adjusted rudder angle, the faster the ship can return to the target position. Therefore, the blade angle of the propeller is adjusted to increase the propeller thrust as the position deviation increases. In other words, the rudder angle deviation of the adjusted rudder angle from the hover rudder angle is calculated, and the propeller blade angle required to obtain propeller thrust proportional to the magnitude of the rudder angle deviation is calculated as an adjusted blade angle with a blade angle deviation from the neutral angle.

[0015] Therefore, in a small, multipurpose unmanned vessel with a single shaft and twin rudder and equipped with a controllable pitch propeller, propeller thrust can be adjusted to an appropriate value to perform maneuvering to maintain position with high performance in maintaining a fixed position. This makes it possible to safely control the movement of the vessel to a specified position and heading with high precision in deep waters or in ports with many surrounding obstacles such as quays and other vessels, while taking into account the external forces that affect the vessel, such as the tidal forces of rip currents and onshore currents, tides, and wind forces.

[0016] In the operation of a single-propeller, twin-rudder multipurpose small unmanned vessel, the navigation safety system has a current position information acquisition unit that acquires the global position on a global coordinate system as the vessel's current position information, a satellite image identification unit that analyzes real-time video data from synthetic aperture radar images of the navigation area including the vessel at its current position, and calculates the distance between the vessel's current position and an object that may affect the vessel's navigation as the target separation distance, a different ship identification unit that compares the image pattern of the far-infrared camera image of the object and the temperature information of the far-infrared camera image with the image patterns and temperature information of the far-infrared camera image of various objects stored in a library to identify whether the object is a ship, and a safe operation judgment unit that recognizes the target separation distance calculated by the satellite image identification unit as the degree of impact that the ship identified by the other ship identification unit has on the safe operation of the vessel, and issues an alarm when it determines that the target separation distance is in a dangerous zone that may impair the safe operation of the vessel.

[0017] Therefore, the navigation safety system can monitor the safety of the navigation independently of the ship steering control device. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram showing a single-propeller, twin-rudder multipurpose small unmanned vessel according to an embodiment of the present invention; [Figure 2] FIG. 2 is a block diagram showing a single-propeller, dual-rudder multipurpose small unmanned vessel according to the embodiment. [Figure 3] FIG. 2 is a schematic diagram showing the configuration of a navigation safety system according to the embodiment; [Figure 4] FIG. 2 is a plan view showing a propeller and a pair of high-lift rudders in the embodiment. [Figure 5]FIG. 4 is a schematic diagram showing the combined rudder angle and turning direction of a pair of high-lift rudders in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] 1 to 3, a single-propeller, twin-rudder multipurpose small unmanned vessel according to the present invention includes a thrust system 100, a maneuvering system 200 that controls the thrust system 100, an observation system 300 that observes the hull motion state of the vessel 1, a power supply unit 400 that supplies power to the thrust system 100 and the maneuvering system 200, a mission unit 500 configured for various uses, and a mission storage unit 600 that stores the mission unit 500 interchangeably.

[0020] The power supply unit 400 consists of a storage battery 401 and a solar panel 402, and the solar panel 402 is installed on a deck-like structure at the bow and stern of the ship. The mission unit 500 is made up of modules configured for various purposes, and is equipped with inspection equipment, sensors, manipulators, and other operating devices required for each mission, such as observing offshore weather and sea conditions, observing the state of the seabed, collecting data such as biological and ecological measurements, patrolling and monitoring live aquaculture, spreading feed, recovering oil or garbage that causes marine pollution, and monitoring the marine ecosystem. The mission storage unit 600 is an area separated from the other parts by a bulkhead and holds the mission units in a replaceable manner.

[0021] The observation system 300 includes a ship radar device 301, a gyrocompass 302, and a transmitting / receiving antenna device 303 as position measurement devices for measuring the position of the ship 1.

[0022] The thrust system 100 has one propulsion propeller 101 arranged at the stern, an electric motor 102 that drives the propulsion propeller 101, a thrust control device 103 that controls the rotation speed of the propulsion propeller 101, and further has a pair of left and right high-lift rudders 104, 105 arranged behind the propulsion propeller 101, a pair of electric steering gears 106, 107 that drive each of the high-lift rudders 104, 105, respectively, and a rudder angle control device 108 that controls the rudder angle of each of the high-lift rudders 104, 105. In this case, the propulsion propeller 101 is a controllable pitch propeller, and the thrust system 100 has a blade angle control device 109 that variably controls the blade angle of the propulsion propeller 101.

[0023] As shown in Figure 4, the high-lift rudders 104, 105 are rudder blades with a cross-sectional profile along the axial direction of the propeller that provides high lift. There are various shapes of high-lift rudder blades, but the rudder blades of the high-lift rudders 104, 105 of this embodiment have the following shape: In other words, in the horizontal cross-sectional profile, they have a shape consisting of leading edge portions 104a, 105a that protrude forward in a semicircular shape, middle portions 104c, 105c that increase in width in a streamlined manner continuing from the leading edge portions 104a, 105a and then gradually decrease in width toward minimum width portions 104b, 105b, and fishtail trailing edge portions 104e, 105e that increase in width from the middle portions 104c, 105c toward rear ends 104d, 105d of a predetermined width.

[0024] Each high-lift rudders 104, 105 is configured to be able to steer 105° outboard (outside, toward the ship's side) and 35° inboard (inner side). The pair of high-lift rudders 104, 105 can be independently operated at various angles while the single propeller 101 remains in forward rotation. By changing the combination of the rudder angles of the high-lift rudders 104, 105 on both sides, the propeller wake can be distributed in the desired direction, and the thrust in each direction can be freely changed. Therefore, the combined thrust of the thrust in each direction can be freely changed, and by controlling the propeller wake and controlling the thrust around the stern in all 360° directions, the ship can be maneuvered forward or backward, stopped, turned forward, turned astern, and other movements can be freely controlled.

[0025] The basic combinations of rudder angles and movement directions of the high-lift rudders 104, 105 will be explained with reference to FIG.

[0026] In Figure 5, the rudder is shown in horizontal cross section, with the rudder angle of each rudder shown to the side or below. Rudder angles are shown as positive (+) to the right and negative (-) to the left, and the names for these rudder angle combinations are listed below. The propeller wake is shown with a thin arrow, and the resulting direction of propulsion of the ship is shown with a thick hollow arrow.

[0027] By the way, "TURN TO PORT" (forward left turn) is port rudder -35° and starboard rudder -35°, "ROTATE TO PORT" (bow turn left) is port rudder -70° and starboard rudder -35°, "STERN TO PORT" (stern left turn) is port rudder -105° and starboard rudder +45° to +75°, "ASTERN TO PORT" (reverse left turn) is port rudder -105° and starboard rudder +75° to +105°, "AHEAD" (forward) is port rudder 0° and starboard rudder 0°, "HOVERING" (stop in place) is port rudder -75° and starboard rudder +75°, "ASTERN" (reverse) is port rudder -105° and starboard rudder +105°, and "TURN TO "START" (forward right turn) is port rudder +35°, starboard rudder +35°, "ROTATE TO STARD" (bow turn right) is port rudder +35°, starboard rudder +70°, "STERN TO STARD" (stern right turn) is port rudder -45° to -75°, starboard rudder +105°, and "STERN TO STARD" (reverse right turn) is port rudder -75° to -105°, starboard rudder +105°.

[0028] The ship maneuvering system 200 has a ship maneuvering control device 201 that controls the electric steering gears 106, 107 of each high-lift rudders 104, 105 via a rudder angle control device 108 and controls the direction of ship motion by combining the rudder angles of the two high-lift rudders 104, 105, a ship maneuvering instruction unit 202 equipped with an autonomous navigation program, and a remote control device 203 that performs remote ship manipulation from a land base via a communication satellite or the like, and the remote control device 203 instructs the ship maneuvering control device 201 on the direction of ship motion via the ship maneuvering instruction unit 202. The ship maneuvering system 200 also has a ship positioning control unit 204.

[0029] The ship steering control device 201 is operated by autopilot using a gyrocompass 702 and a GPS compass (not shown), and receives information necessary for navigation such as destination, route, ship speed, etc. from an autonomous navigation program provided in the ship steering instruction unit 202, or receives information necessary for navigation such as destination, route, ship speed, etc. from a remote location via wireless communication communicated through the transmitting / receiving antenna unit 703 as commands via the ship steering instruction unit 202, and autonomously steers the ship while detecting surrounding ships and obstacles using the ship radar unit 701.

[0030] The positioning control unit 204 determines the blade angle of the propulsion propeller 101 as a neutral angle when the propulsion propeller 101 rotates at a constant speed in the forward direction at low speeds and the rudder angles of the two high-lift rudders 104, 105 are hover rudder angles that do not produce a forward speed component, calculates the adjustment rudder angles to be given to the two high-lift rudders 104, 105 in accordance with the position deviation of the current ship position from the target ship position, and calculates the rudder angle deviation of the adjustment rudder angle from the hover rudder angle.

[0031] Also, an adjustment blade angle having a blade angle deviation from the neutral angle of the propulsion propeller 101 required to obtain a propeller thrust proportional to the magnitude of the steering angle deviation is calculated.

[0032] The rudder angle control device 108 controls the two high-lift rudders 104, 105 to the adjusted rudder angle input from the positioning control unit 204. The blade angle control device 109 controls the blade angle of the propulsion propeller 101 to the adjusted blade angle input from the positioning control unit 204.

[0033] The ship maneuvering system 200 also includes a navigation safety system 700 that is independent from the ship maneuvering control device 201 .

[0034] As shown in FIG. 3, the navigation safety system 700 includes a current position information acquisition unit 701 , a satellite image identification unit 702 , a other ship identification unit 703 , and a safe navigation determination unit 704 .

[0035] The current position information acquisition unit 701 receives navigation signals transmitted by navigation satellites of the satellite navigation system and correction signals transmitted by geostationary satellites of the satellite navigation augmentation system, measures the global position on the global coordinate system, and acquires the measured global position as the current position information of the ship.

[0036] The satellite image identification unit 702 has a radar image receiving unit 705 that receives real-time video data of synthetic aperture radar images of the navigation area including the ship at its current position, and a target separation distance calculation unit 706 that analyzes this real-time video data to calculate and recognize the distance between the current position and target objects that affect the navigation of the ship.

[0037] The machine vision system that constitutes the other ship identification unit 703 has a far-infrared camera 708 and an artificial intelligence unit 707.

[0038] The artificial intelligence unit 707 has an image pattern recognition unit 709 that recognizes the image pattern of the target from the far-infrared image of the target captured by the far-infrared camera 708, and a library 710 that stores the image patterns of the far-infrared camera images of various targets in association with the temperature information of the far-infrared camera images, and identifies whether the target is a ship or not by comparing the image patterns of the far-infrared camera images of the target and the temperature information of the far-infrared camera images with the image patterns of the far-infrared camera images of various targets and the temperature information of the far-infrared camera images stored in the library 710.

[0039] The safe operation judgment unit 704 has a risk judgment unit 711 that recognizes the target separation distance calculated by the satellite image identification unit 702 as the degree of impact that the ship identified by the other ship identification unit has on the safe operation of the ship itself, and an alarm transmission unit 712 that issues alarm information when the risk judgment unit 711 judges that the target separation distance is a dangerous area that could harm the safe operation of the ship itself.

[0040] When transmitting warning information, the warning transmission unit 712 of the safe operation judgment unit 704 issues a warning to a land base and transmits information that the ship is in an abnormal maneuvering state via the Automatic Identification System. Furthermore, it emits a warning signal, such as a light signal or an acoustic signal, as stipulated in Article 36 of the Act on Preventing Collisions at Sea, and transmits information on the ship's current position.

[0041] Furthermore, the ship steering control device 201 performs emergency stop maneuvering upon receiving the warning information, and then performs hovering maneuvering to keep the hull in place. That is, with the propulsion propeller 101 rotating at a constant speed in the forward direction, the ship steering control device 201 controls the rudder angles of the high-lift rudders 104, 105 by the rudder angle control device 108 to -105° for port rudder and +105° for starboard rudder to generate astern thrust and perform emergency stop maneuvering, and then controls the rudder angles of the high-lift rudders 104, 105 to -75° for port rudder and +75° for starboard rudder to perform hovering maneuvering and maintain this state.

[0042] The operation of the above configuration will now be described. (Normal operation) The ship steering control device 201 steers the ship 1 by autopilot using a gyrocompass 302 and a GPS compass (not shown). At this time, it receives information necessary for navigation, such as destination, route, and ship speed, as ship steering commands from an autonomous navigation program provided in the ship steering instruction unit 202. Alternatively, it receives information necessary for navigation, such as destination, route, and ship speed, as ship steering commands from a remote location via wireless communication communicated through the transmitting / receiving antenna unit 303 via the ship steering instruction unit 202.

[0043] The ship then autonomously maneuvers while detecting surrounding ships and obstacles using the ship radar device 301, and controls the ship to follow the set course received as a maneuvering command based on the ship's current position information and guidance route information received from the GPS compass and electronic chart system.

[0044] In this maneuvering, while the propeller propeller 101 continues to rotate forward, the high-lift rudders 104 and 105 are independently operated at various angles to control the propeller wake and control the thrust around the stern in all directions (360°). This control allows the ship to move forward or backward, stop, turn forward, turn backward, etc., thereby improving maneuverability in maneuvering.

[0045] During normal navigation of the above-mentioned single-propeller, twin-rudder multipurpose small unmanned vessel, the mission unit 500 performs various missions, such as observing meteorological and oceanographic conditions at sea, observing the state of the seabed, collecting data such as biological and ecological measurements, patrolling and monitoring live aquaculture, scattering feed, recovering oil or garbage that causes marine pollution, and monitoring the marine ecosystem.

[0046] By replacing the mission unit 500 stored in the mission storage unit 600, the vehicle can be easily converted to another mission once one mission is completed. For example, the mission can be easily changed from observing meteorological and oceanographic conditions on the ocean floor to observing the state of the seabed, or from collecting data such as biological and ecological measurements. Also, the mission can be easily changed from patrolling and monitoring live aquaculture ponds to distributing feed. Furthermore, the mission can be easily changed from collecting oil or garbage, which are causes of marine pollution, to monitoring the marine ecosystem.

[0047] Therefore, the single-propeller, dual-rudder multipurpose small unmanned vessel can be used for a variety of purposes without being specialized for a specific purpose.

[0048] Furthermore, when performing these missions, during maneuvering to maintain ship position at low speeds, that is, when the propulsion propeller 101 is rotated at a constant speed in the forward direction at low speeds and the two high-lift rudders 104, 105 are steered near a hover rudder angle that does not produce a forward speed component, if the hull deviates from the target ship position, the rudder angles of the two high-lift rudders 104, 105 required to cause the hull to move toward the target ship position are calculated as adjustment rudder angles. This adjustment rudder angle increases according to the positional deviation of the current ship position from the target ship position.

[0049] The greater the propeller thrust at this adjusted rudder angle, the faster the ship can return to the target position. Therefore, the blade angle of the propeller is adjusted to increase the propeller thrust as the position deviation increases. In other words, the rudder angle deviation of the adjusted rudder angle from the hover rudder angle is calculated, and the propeller blade angle required to obtain propeller thrust proportional to the magnitude of the rudder angle deviation is calculated as an adjusted blade angle with a blade angle deviation from the neutral angle.

[0050] Therefore, in a small, multipurpose unmanned vessel with a single shaft and twin rudder and equipped with a controllable pitch propeller, propeller thrust can be adjusted to an appropriate value to perform maneuvering to maintain position with high performance in maintaining a fixed position. This makes it possible to safely control the movement of the vessel to a specified position and heading with high precision in deep waters or in ports with many surrounding obstacles such as quays and other vessels, while taking into account the external forces that affect the vessel, such as the tidal forces of rip currents and onshore currents, tides, and wind forces.

[0051] In the navigation of a single-propeller, twin-rudder multipurpose small unmanned vessel, a navigation safety system 700 has a current position information acquisition unit 701 that acquires the global position on a global coordinate system as the vessel's current position information. A satellite image identification unit 702 receives real-time video data of a synthetic aperture radar image of the navigation area including the vessel 1 at its current position using a radar image receiving unit 705, analyzes the video data, and a target separation distance calculation unit 706 calculates the distance between the vessel 1's current position and an object that affects the vessel's navigation as the target separation distance.

[0052] The other ship identification unit 703 identifies whether the target object is a ship by comparing the image pattern of the far-infrared camera image of the target object captured by the far-infrared camera 708 and the temperature information of the far-infrared camera image with the image patterns of the far-infrared camera images of various targets stored in a library and the temperature information of the far-infrared camera images.

[0053] The safe navigation judgment unit 704, in the risk determination unit 711, recognizes the target separation distance calculated by the satellite image identification unit 702 as the degree of impact that the ship identified by the other ship identification unit 703 has on the safe navigation of the own ship 1, and issues warning information from the warning transmission unit 712 when it determines that the target separation distance is in a dangerous area that will endanger the safe navigation of the own ship 1. Therefore, the navigation safety system can monitor the safety of the navigation independently of the ship steering control device. [Explanation of symbols]

[0054] 1 Own ship 100 Thrust System 101 Propulsion propeller 102 electric motor 103 Thrust control device 104, 105 High-lift rudders 104a, 105a leading edge 104b, 105b Minimum width part 104c, 105c middle part 104d, 105d rear end 104e, 105e Trailing edge of fishtail 106, 107 Electric steering gear 108 Steering angle control device 109 Wing angle control device 200 Ship steering system 201 Ship steering control device 202 Ship steering control unit 203 Remote Control Device 204 Positioning Control Unit 300 Observation System 301 Marine radar equipment 302 Gyrocompass 303 Transmitting and receiving antenna equipment 400 Power supply section 401 Storage battery 402 solar panels 500 Mission Department 600 Mission Storage 700 Maritime Safety System 701 Current location information acquisition unit 702 Satellite Image Identification Unit 703 Other Ship Identification Department 704 Flight Safety Judgment Department 705 Radar image receiving unit 706 Target separation distance calculation unit 708 Far-infrared camera 707 Artificial Intelligence Department 709 Image Pattern Recognition Unit 710 Library 711 Risk Assessment Department 712 Alarm Transmission Unit

Claims

1. The ship comprises a thrust system, a maneuvering system for controlling the thrust system, an observation system for observing the ship's hull motion state, a power supply unit for supplying power to the maneuvering system and the thrust system, a mission unit configured for various uses, and a mission storage unit for storing the mission units interchangeably; The observation system is equipped with a position measuring device that measures the ship's position, The thrust system has one propulsion propeller arranged at the stern, an electric motor that drives the propulsion propeller, a pair of left and right high-lift rudders arranged behind the propulsion propeller, a pair of electric steering gears that respectively drive each high-lift rudders, and a rudder angle control device that controls the rudder angle of each high-lift rudders, The maneuvering system is a small, multipurpose unmanned vessel with a single shaft and two rudders, characterized by having a maneuvering control device that controls the electric steering gear of each high-lift rudders via a rudder angle control device and controls the direction of hull movement by combining the rudder angles of the two high-lift rudders, and a maneuvering instruction unit that instructs the maneuvering control device on the direction of hull movement using an autonomous navigation program or remote maneuvering.

2. The propulsion propeller is a controllable pitch propeller, The thrust system has a blade angle control device that variably controls the blade angle of the propulsion propeller, The maneuvering system has a positioning control unit, The vessel positioning control unit determines the blade angle of the propeller when the propeller rotates at a constant speed in the forward direction at a low speed range and the rudder angle of the two high-lift rudders is a hover rudder angle that does not produce a forward speed component as a neutral angle, calculates adjustment rudder angles to be applied to the two high-lift rudders in accordance with the positional deviation of the current vessel position from the target vessel position, and calculates the rudder angle deviation of the adjustment rudder angle from the hover rudder angle, Calculating an adjustment blade angle having a blade angle deviation from a neutral angle necessary to obtain a propeller thrust proportional to the magnitude of the steering angle deviation; 2. A single-propeller, twin-rudder multipurpose small unmanned vessel as described in claim 1, characterized in that the rudder angle control device controls the two high-lift rudders to an adjusted rudder angle input from the positioning control unit, and the blade angle control device controls the blade angle of the propulsion propeller to an adjusted blade angle input from the positioning control unit.

3. The ship steering system is equipped with a navigation security system, The navigation safety system is equipped with a current position information acquisition unit, a satellite image identification unit, a other ship identification unit, and a safe navigation judgment unit. the current position information acquisition unit receives navigation signals transmitted by navigation satellites of the satellite navigation system and correction signals transmitted by geostationary satellites of the satellite navigation augmentation system, measures a global position on a global coordinate system, and acquires the measured global position as current position information of the ship; The satellite image identification unit has a radar image receiving unit that receives real-time image data of a synthetic aperture radar image of a navigation area including the ship at its current position, and a target separation distance calculation unit that analyzes the real-time image data to calculate and recognize the distance between an object that affects the navigation of the ship and the current position, The machine vision system that constitutes the other ship identification unit has a far-infrared camera and an artificial intelligence unit. The artificial intelligence unit has an image pattern recognition unit that recognizes an image pattern of a target from a far-infrared image of the target captured by the far-infrared camera, and a library that stores image patterns of various targets captured by the far-infrared camera in association with temperature information of the far-infrared camera image, and identifies whether the target is a ship or not by comparing the image patterns of the target captured by the far-infrared camera and the temperature information of the far-infrared camera image with the image patterns of the target captured by the far-infrared camera and the temperature information of the far-infrared camera image stored in the library; The single-propeller, twin-rudder multipurpose small unmanned vessel according to claim 1, characterized in that the safe operation judgment unit has a risk assessment unit that recognizes the target separation distance calculated by the satellite image identification unit as the degree of impact that the ship identified by the other ship identification unit has on the safe operation of the vessel, and an alarm transmission unit that issues alarm information when the risk assessment unit judges that the target separation distance is a danger zone that will endanger the safe operation of the vessel.

Images