Two axis four rudder small unmanned ship

Abstract

To provide a two shaft four rudder small unmanned ship capable of easily performing direction control and speed control, and performing ship position holding ship operation with high fixed point holding performance in a low speed area.SOLUTION: The ship maneuvering control device 201 includes a parallel movement ship maneuvering unit 205 that moves the ship body in parallel in an arbitrary direction by combining the acting direction of the thrust of the starboard side thrust system 101a and the acting direction of the thrust of the port side thrust system 101b in the low speed area ship maneuvering. The ship maneuvering control device 201 controls the directions of the propeller slipstream of the propulsion propeller 100a and the 100b.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a small unmanned vessel with two shafts and four rudders, and relates to technology for controlling direction and speed and maneuvering the vessel to maintain position with high performance in maintaining a fixed position. [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 force 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] The applications of these unmanned surface vessels require highly accurate control of the vessel's motion relative to a set position, heading, and course.

[0007] Conventional technology includes the Dynamic Positioning System (DPS), which uses propellers and side thrusters to provide control force to counteract external forces from disturbances such as wind, waves, and currents.

[0008] However, many unmanned surface vessels have relatively small hulls, making it difficult to equip them with these devices.

[0009] The present invention solves the above-mentioned problems and aims to provide a small unmanned ship with two shafts and four rudders that can easily control direction and speed and can perform position-keeping maneuvers with high fixed-point performance at low speeds. [Means for solving the problem]

[0010] In order to solve the above-mentioned problems, the twin-shaft, four-rudder small unmanned vessel of the present invention comprises an integrated thrust system, a maneuvering system that controls the integrated thrust system, and an observation system that observes the vessel's hull motion state, the observation system comprising a position measuring device that measures the vessel's position and a monitoring device that monitors the vessel's surroundings, the starboard thrust system and port thrust system that make up the integrated thrust system each comprising a propeller shaft, a propeller mounted on the propeller shaft and positioned at the stern, a pair of high-lift rudders on the left and right sides positioned behind the propellers, a plurality 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, both propeller shafts rotate in opposite directions and both propeller propellers have opposite blade angles, and the maneuvering system controls each high-lift rudders independently using each steering gear while the propellers of the starboard thrust system and port thrust system rotate at a constant rate in the forward direction. the steering control device which controls the direction of the propeller wake of each propeller by changing the combination of rudder angles of a pair of high-lift rudders corresponding to each propeller, thereby controlling the direction of thrust around the stern acting on the hull; a steering instruction unit which instructs the steering control device on the direction of hull movement using an autonomous navigation program or remote steering; and a remote control device which instructs the steering instruction unit on the direction of hull movement via wireless communication, the remote control device having a monitor screen which displays position information of the ship and a monitor screen which displays information about the surroundings of the ship, a joystick operation unit for manual steering, and a low-speed range steering switch button which switches the steering control device to low-speed range steering, and the steering control device has a parallel movement steering unit which combines the direction of thrust of the starboard thrust system and the port thrust system to translate the hull in any direction during low-speed range steering.

[0011] In the small unmanned ship with two shafts and four rudders of the present invention, the parallel movement steering unit controls the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system for each high-lift rudders, and is characterized in that it combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction by integrating the thrust of the starboard thrust system and the thrust of the port thrust system while the turning moment to port and the turning moment to starboard acting on the hull are balanced.

[0012] In the small unmanned vessel with two shafts and four rudders of the present invention, the parallel movement steering unit has a port rearward movement function unit, which is characterized in that the port rearward movement function unit sets the pair of high-lift rudders of the port thrust system to an astern steering angle, sets the port-side high-lift rudders of the starboard thrust system to an astern steering angle, and sets the starboard-side high-lift rudders to a hover steering angle, and combines the thrust of both port thrust systems to obtain propulsive force for parallel movement to the port rearward.

[0013] In the small unmanned vessel with two shafts and four rudders of the present invention, the port rearward movement function unit transitions the pair of high-lift rudders of the port thrust system to the hover rudder angle side within the astern rudder angle range, maintains the port-side high-lift rudders of the starboard thrust system at the astern rudder angle, and transitions the starboard-side high-lift rudder from the hover rudder angle side to the forward rudder angle side, thereby having a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

[0014] In the small unmanned vessel with two shafts and four rudders of the present invention, the parallel movement steering unit has a starboard rearward movement function unit, which sets the pair of high-lift rudders of the starboard thrust system to an astern steering angle, sets the starboard-side high-lift rudders of the port thrust system to an astern steering angle, and sets the port-side high-lift rudders to a hover steering angle, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the starboard rearward.

[0015] In the small unmanned vessel with two shafts and four rudders of the present invention, the starboard rearward movement function unit transitions the pair of high-lift rudders of the starboard thrust system to the hover rudder angle side within the astern rudder angle range, maintains the starboard high-lift rudders of the port thrust system at the astern rudder angle, and transitions the port-side high-lift rudder from the hover rudder angle side to the forward rudder angle side, thereby having a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

[0016] In the small unmanned vessel with two shafts and four rudders of the present invention, the parallel movement steering unit has a port side forward movement function unit, which is characterized in that the port side forward movement function unit sets the pair of high-lift rudders of the port side thrust system to a hover rudder angle, sets the port side high-lift rudders of the starboard side thrust system to a forward rudder angle, and sets the starboard side high-lift rudders to a hover rudder angle, and combines the thrust of both port side thrust systems to obtain propulsive force for parallel movement forward on the port side.

[0017] In the small unmanned vessel with two shafts and four rudders of the present invention, the port side forward movement function unit maintains the pair of high-lift rudders of the port side thrust system at a hover rudder angle, transitions the port side high-lift rudders of the starboard side thrust system to the inboard side, and maintains the starboard side high-lift rudders at a hover rudder angle, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

[0018] In the small unmanned vessel with two shafts and four rudders of the present invention, the parallel movement steering unit has a starboard forward movement function unit, which is characterized in that the pair of high-lift rudders of the starboard thrust system are set to a hover rudder angle, the starboard high-lift rudders of the port thrust system are set to a forward rudder angle, and the port high-lift rudders are set to a hover rudder angle, and the thrust of both thrust systems is integrated to obtain propulsive force for parallel movement to the starboard front.

[0019] In the small unmanned vessel with two shafts and four rudders of the present invention, the starboard forward movement function unit maintains the pair of high-lift rudders of the starboard thrust system at a hover rudder angle, transitions the starboard-side high-lift rudders of the port thrust system to the inboard side, and maintains the port-side high-lift rudders at a hover rudder angle, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

[0020] In the small unmanned vessel with two shafts and four rudders of the present invention, the parallel movement steering unit has a port lateral movement function unit, which sets the high-lift rudder on the port side of the port thrust system to an astern rudder angle, sets the high-lift rudder on the starboard side to a hover rudder angle, sets the high-lift rudder on the port side of the starboard thrust system to a forward rudder angle, and sets the high-lift rudder on the starboard side to a hover rudder angle, and combines the thrust of both port thrust systems to obtain propulsive force for parallel movement to the port side.

[0021] In the small unmanned vessel with two shafts and four rudders of the present invention, the port lateral movement function unit maintains the port side high-lift rudder of the port thrust system at an astern rudder angle, maintains the starboard side high-lift rudder at a hover rudder angle, transitions the port side high-lift rudder of the starboard thrust system to the inboard side, maintains the starboard side high-lift rudder at a hover rudder angle, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

[0022] In the small unmanned vessel with two shafts and four rudders of the present invention, the parallel movement steering unit has a starboard lateral movement function unit, which sets the high-lift rudder on the starboard side of the starboard thrust system to an astern rudder angle, sets the high-lift rudder on the port side to a hover rudder angle, sets the high-lift rudder on the starboard side of the port thrust system to a forward rudder angle, and sets the high-lift rudder on the port side to a hover rudder angle, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the starboard side.

[0023] In the small unmanned vessel with two shafts and four rudders of the present invention, the port lateral movement function unit maintains the starboard side high-lift rudder of the starboard thrust system at an astern rudder angle, maintains the port side high-lift rudder at a hover rudder angle, transitions the starboard side high-lift rudder of the port thrust system to the inboard side, maintains the port side high-lift rudder at a hover rudder angle, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed. [Effects of the Invention]

[0024] With the above configuration, in the small unmanned twin-screw, four-rudder vessel of the present invention, by changing the combination of rudder angles of a pair of high-lift rudders corresponding to each propeller, the propeller wakes generated from each propeller can be reliably controlled independently by the pair of high-lift rudders, and the direction of thrust acting on the hull around the stern can be controlled, thereby achieving easy and stable maneuverability in a twin-screw vessel.

[0025] Conventional dynamic positioning systems use side thrusters or pod propellers, but these are not necessary for the small unmanned ship with two shafts and four rudders of the present invention.

[0026] In other words, the small unmanned ship with two shafts and four rudders of the present invention has a parallel movement steering unit that, when maneuvering at low speeds, combines the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system to translate the hull in any direction, and the parallel movement steering unit controls the direction of action of the thrust of the starboard thrust system and the direction of action of the thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction when the turning moment to port and the turning moment to starboard acting on the hull are balanced.

[0027] Therefore, it is possible to easily perform avoidance maneuvers in ports or congested sea areas, berthing maneuvers to leave or approach a berth, or positioning maneuvers to keep the ship in a specific position. [Brief explanation of the drawings]

[0028] [Figure 1] Schematic diagram showing a two-propeller, four-rudder small unmanned vessel according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing a small unmanned vessel with two shafts and four rudders according to the embodiment. [Figure 3] FIG. 2 is a block diagram showing the configuration of an integrated thrust system according to the embodiment. [Figure 4] FIG. 2 is a block diagram showing the configuration of the ship steering control device according to the embodiment; [Figure 5] FIG. 2 is a block diagram showing the configuration of a parallel movement steering unit in the embodiment. [Figure 6] FIG. 2 is a block diagram showing the configuration of a remote control device according to the embodiment; [Figure 7] FIG. 4 is a schematic diagram showing the operating range of the high-lift rudder in the embodiment. [Figure 8] 5A and 5B are schematic diagrams showing the combined rudder angle and propulsion direction of the high-lift rudder in (a) forward, (b) hover, and (c) reverse maneuvers in the embodiment; [Figure 9] Schematic diagrams showing the combined rudder angles and propulsion directions of the high-lift rudder in each of the following maneuvers: (d) forward left turn, (e) forward left turn, on-the-spot left turn (+ thruster thrust), (f) on-the-spot right turn (+ thruster thrust), and (g) astern left turn in the same embodiment. [Figure 10] Schematic diagrams showing the combined rudder angles and propulsion directions of the high-lift rudder in each of the following maneuvers: (h) forward right turn, (i) forward right turn, spot right turn (+ thruster thrust), (j) spot left turn (+ thruster thrust), and (k) astern right turn in the same embodiment. [Figure 11] 5 is a schematic diagram showing the combined rudder angle and propulsion direction of the high-lift rudder in each of (n) spot starboard turning and (m) spot port turning in low-speed maneuvers in the embodiment; [Figure 12] FIG. 10 is a schematic diagram showing (o) a parallel movement to the port rear during low-speed maneuvering in the embodiment, and (p) a combined rudder angle and propulsion direction of a high-lift rudder that obtains a propulsive force for deceleration control during the same movement. [Figure 13] 10 is a schematic diagram showing (q) a parallel movement to the starboard rear during low-speed maneuvering in the embodiment, and (r) a combined rudder angle and propulsion direction of the high-lift rudder that obtains the propulsive force for deceleration control during the same movement. [Figure 14] Schematic diagram showing (s) forward parallel movement to the port side during low-speed maneuvering in the embodiment, and (t) the combined rudder angle and propulsion direction of the high-lift rudder that obtains the propulsive force for deceleration control during the same movement. [Figure 15] 10 is a schematic diagram showing (u) forward starboard translation during low-speed ship maneuvering in the embodiment, and (v) the combined rudder angle and propulsion direction of the high-lift rudder that obtains the propulsive force for deceleration control during the translation. [Figure 16] FIG. 10 is a schematic diagram showing (w) a parallel movement to the port side during low-speed maneuvering in the embodiment, and (v) a combined rudder angle and propulsion direction of a high-lift rudder that obtains a propulsive force for deceleration control during the same movement. [Figure 17] FIG. 10 is a schematic diagram showing (y) a parallel movement to the starboard side during low-speed maneuvering in the embodiment, and (z) a combined rudder angle and propulsion direction of the high-lift rudder that obtains a propulsive force for deceleration control during the same movement. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. (Configuration of the Example) As shown in Figures 1 to 6, the small two-prong, four-rudder unmanned vessel in this embodiment is equipped with an integrated thrust system 100, a maneuvering system 200 that controls the integrated 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 integrated thrust system 100 and the maneuvering system 200, a mission unit 500 that is configured for various uses, and a mission storage unit 600 that stores the mission unit 500 in an interchangeable manner.

[0030] 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.

[0031] The observation system 300 has position measurement devices for measuring the position of the ship 1, here consisting of a ship radar device 301, a GPS compass (a gyrocompass is also possible) 302, and a transmitting / receiving antenna device 303, and has, as monitoring devices for monitoring the area around the ship 1, a ship surroundings monitoring camera 304 consisting of a normal camera, and an infrared monitoring camera 305 which is effective for monitoring at night.

[0032] 3, the port thrust system 100a and starboard thrust system 100b that make up the integrated thrust system 100 each include propeller shafts 110a and 110b disposed at the stern, pusher propellers 101a and 101b mounted on the respective propeller shafts 110a and 110b, and high-lift rudders 105a and 105b disposed aft of the port pusher propeller 101a and high-lift rudders 104a and 104b disposed aft of the starboard pusher propeller 101b. The two propeller shafts 110a and 110b rotate in opposite directions, and the two pusher propellers 101a and 101b have opposite blade angles.

[0033] Each high-lift rudders 104a, 104b, 105a, 105b is configured to be able to steer 105° outboard (outboard side) and 35° inboard (inboard side). By operating each of the high-lift rudders 104a, 104b, 105a, 105b independently at various angles while keeping both propellers 101a, 101b rotating in the forward direction and changing the combination of the rudder angles of the pairs of high-lift rudders 104a, 104b, 105a, 105b on both sides, it is possible to distribute the propeller wake in a desired direction and freely change the thrust in each direction.

[0034] Therefore, by controlling the propeller wakes of the propellers 101a and 101b on both sides and controlling the thrust around the stern in all directions (360°), the ship can be steered forward and backward, stopped, turned forward, turned backward, etc., and the ship's movement can be freely controlled.

[0035] Furthermore, the integrated thrust system 100 includes electric steering gears 106a, 106b, 107a, and 107b that drive the high-lift rudders 104a, 104b, 105a, and 105b, rudder angle control devices 108a, 108b, 109a, and 109b that control the electric steering gears 106a, 106b, 107a, and 107b, electric motors 102a and 102b that drive the respective propulsion propellers 101a and 101b, and thrust control devices 103a and 103b that control the rotation speed of the propulsion propellers 101a and 101b.

[0036] As shown in Figure 7, the high-lift rudders 104a, 104b, 105a, 105b are rudders having rudder blades whose cross-sectional shape along the axial direction of the propulsion propellers 101a, 101b has a high-lift cross-sectional profile. There are various shapes of high-lift rudder blades, but the rudder blades of the high-lift rudders 104a, 104b, 105a, 105b of this embodiment have the following shape: That is, in the horizontal cross-sectional profile, they have a shape consisting of a leading edge portion that protrudes forward in a semicircular shape, a middle portion that increases in width in a streamlined manner from the leading edge portion and then gradually decreases in width toward the minimum width portion, and a fishtail trailing edge portion that continues from the middle portion and gradually increases in width toward the aft end of a predetermined width.

[0037] The ship steering system 200 includes a ship steering control device 201 that controls the electric steering gears 106a, 106b, 107a, and 107b of each high-lift rudders 104a, 104b, 105a, and 105b via rudder angle control devices 108a, 108b, 109a, and 109b, and controls the direction of ship motion by combining the rudder angles of the two high-lift rudders 104a, 104b, 105a, and 105b, a ship steering instruction unit 202 that instructs the ship steering control device 201 on the direction of ship motion using an autonomous navigation program or remote ship steering, and a remote control device 203 that instructs the ship steering instruction unit 202 on the direction of ship motion via wireless communication.

[0038] The ship steering control device 201 has a normal ship steering unit 204 and a parallel movement ship steering unit 205 .

[0039] The ship steering unit 204 normally steers the ship by autopilot using a GPS compass 302, receiving information necessary for navigation such as destination, route, ship speed, etc. from an autonomous navigation program installed in the ship steering instruction unit 202, and automatically steers the ship autonomously while detecting surrounding ships and obstacles with the ship radar device 301. Alternatively, the ship is manually steered by instructing the direction of ship motion from the remote control device 203 to the ship steering instruction unit 202 by wireless communication via the transmitting / receiving antenna device 303.

[0040] The parallel movement steering unit 205 has a low-speed forward movement function unit 287a, a low-speed reverse movement function unit 287b, a port rearward movement function unit 287c, a starboard rearward movement function unit 287d, a port forward movement function unit 287e, a starboard forward movement function unit 287f, a port lateral movement function unit 287g, and a starboard lateral movement function unit 287h.

[0041] Although the remote control device 203 is shown in FIG. 2 for the sake of convenience, it actually exists separately from the ship 1 and has the configuration shown in FIG.

[0042] The remote control device 203 has a communication device 251, a first monitor screen 252 that displays a GPS compass direction display image, a second monitor screen 253 that displays a radar image, a third monitor screen 254 that displays images from the ship's surroundings monitoring camera 304, a fourth monitor screen 255 that displays images from the infrared monitoring camera 305, a joystick operation unit 256, and a parallel movement maneuvering switch button 257 that switches to maneuvering at low speeds.

[0043] The joystick operation unit 256 is configured so that a joystick lever 258 can be operated in either the X or Y direction, and the commanded direction of the hull's movement is controlled by the tilting direction of the joystick lever 258. That is, the rudder angles of the pair of high-lift rudders 104a, 104b, 105a, 105b on both sides are controlled to rudder angles set according to the tilting direction of the joystick lever 258, and by combining the rudder angles of the high-lift rudders 104a, 104b, 105a, 105b on both sides, the thrust of the propeller wake is turned toward the desired direction, and the rudder angles of the pair of high-lift rudders 104a, 104b, 105a, 105b on both sides are controlled by the electric steering gears 106a, 106b, 107a, 107b within a range of 105° outboard and 35° inboard (see FIG. 7). The basic rudder angle combinations of the high-lift rudders 104a, 104b, 105a, and 105b, the state of the joystick lever 258, their names, and the propeller wake and movement direction are explained using Figures 8 to 10. In Figures 8 to 10, the rudders are shown in horizontal cross section, with the rudder angles of each rudder shown to the side or below. Rudder angles are displayed as positive (+) to the right and negative (-) to the left, and the names of these rudder angle combinations are listed. The propeller wake is shown with a thin arrow, and the resulting propulsion direction of the ship is shown with a thick hollow arrow.

[0044] The rudder angles shown below are examples in this embodiment and do not limit the invention. In the following, the pair of high-lift rudders 104a, 104b on both sides and the pair of high-lift rudders 105a, 105b have the same pattern, and the port rudders and starboard rudders described below mean the port rudders and starboard rudders of the pair of high-lift rudders 104a, 104b, 105a, 105b on both sides, respectively.

[0045] 8, (a) "Forward" is when the port rudder is 0° and the starboard rudder is 0° for the pair of high-lift rudders 104a, 104b, 105a, 105b on both sides. Similarly, (b) "Hover" (the ship stops in place) is when the port rudder is -75° and the starboard rudder is +75°, and (c) "Astern" is when the port rudder is -105° and the starboard rudder is +105°.

[0046] As shown in Figure 9, (d) "forward left turn" is port rudder -35° and starboard rudder -35°, (e) "forward left turn" is port rudder -70° and starboard rudder -35°, (f) "astern left shift" is port rudder -105° and starboard rudder +45° to +75°, and (g) "astern left turn" is port rudder -105° and starboard rudder +75° to +105°.

[0047] As shown in Figure 10, (h) "forward right turn" is port rudder +35° and starboard rudder +35°, (i) "forward right turn" is port rudder +35° and starboard rudder +70°, (j) "reverse right shift" is port rudder -45° to -75° and starboard rudder +105°, and (k) "reverse right turn" is port rudder -75° to -105° and starboard rudder +105°.

[0048] In this way, a small unmanned twin-screw, four-rudder ship equipped with a pair of high-lift rudders 104a, 104b and 105a, 105b on both sides can reliably control the propeller wakes generated from each propeller 101a, 101b independently with the pair of high-lift rudders 104a, 104b and 105a, 105b by changing the rudder angle combinations of the pair of high-lift rudders 104a, 104b and 105a, 105b on both sides corresponding to each propeller propeller 101a, 101b, and thereby control the direction of thrust acting on the hull around the stern, thereby achieving easy and stable maneuverability for a twin-screw ship.

[0049] In addition, when performing parallel movement steering at low speeds, pressing the parallel movement steering switch button 257 on the remote control device 203 activates the parallel movement steering unit 205, which performs steering at low speeds, and the steering angle control by the joystick lever 258 becomes the low speed parallel movement steering mode.

[0050] During low-speed parallel movement maneuvering, the parallel movement maneuvering unit 205 controls the direction of thrust of the starboard thrust system 100b and the direction of thrust of the port thrust system 100a using the high-lift rudders 104a, 104b, 105a, and 105b, respectively, and combines the direction of thrust of the starboard thrust system 100b with the direction of thrust of the port thrust system 100a. Then, with the port and starboard turning moments acting on the hull balanced, the thrust of the starboard thrust system and the port thrust system are combined to obtain a propulsive force that translates the hull in any direction.

[0051] The operation of the above configuration will now be described. Normal steering mode The ship maneuvering system 200 instructs the direction of ship motion to the ship maneuvering control device 201 via the ship maneuvering instruction unit 202. The instruction of the direction of ship motion by the ship maneuvering instruction unit 202 may be performed by an autonomous navigation program or by manual maneuvering using a remote control device 203.

[0052] The ship steering control device 201, which has received instructions on the direction of hull movement from the ship steering instruction unit 202, controls the electric steering gears 106a, 106b, 107a, 107b of each high-lift rudders 104a, 104b, 105a, 105b via rudder angle control devices 108a, 108b, 109a, 109b, and controls the direction of hull movement by combining the rudder angles of each high-lift rudders 104a, 104b, 105a, 105b.

[0053] When manually steering the ship using the remote control device 203, the state of the ship 1 is checked on the first monitor screen 252 that displays a GPS compass direction display image, the second monitor screen 253 that displays a radar image, the third monitor screen 254 that displays images from the ship's surroundings monitoring camera 304, and the fourth monitor screen 255 that displays images from the infrared monitoring camera 305, while the direction of hull movement is instructed to the steering instruction unit 202 using the joystick operation unit 256 to perform manual steering.

[0054] In this manual maneuvering, the joystick lever 258 of the remote control device 203 is used to command the direction of the hull's movement, the command thrust in the bow and stern directions, and the command thrust in the width direction.

[0055] In this maneuvering, a small unmanned twin-screw, four-rudder ship equipped with a pair of high-lift rudders 104a, 104b and 105a, 105b on both sides can reliably control the propeller wakes generated from each propeller 101a, 101b independently with the pair of high-lift rudders 105a, 105b and the pair of high-lift rudders 104a, 104b by variously changing the combinations of rudder angles of the pair of high-lift rudders 105a, 105b on both sides corresponding to each propeller propeller 101a, 101b and the pair of high-lift rudders 104a, 104b, and the direction of thrust acting around the stern on the hull can be controlled in all directions of 360°, thereby achieving easy and stable maneuverability for a twin-screw ship.

[0056] In this type of maneuvering, there is no need to reverse the thrust of the propeller (reverse propeller rotation), and all maneuvering control can be performed with the main engine always rotating forward.By adjusting the rudder angle of both rudders, the ship's speed can be controlled precisely and steplessly from the maximum forward speed corresponding to the propeller rotation speed at that time, to the maximum astern speed, without adjusting the main engine rotation speed.

[0057] Generally, rudder effectiveness is poor at low speeds, so the output of the main engine is temporarily increased to strengthen the propeller wake, but this is not necessary with the small unmanned ship with two shafts and four rudders in this embodiment. Low speed maneuvering mode When performing low-speed maneuvering in the small unmanned ship with two shafts and four rudder according to this embodiment for avoidance maneuvering in a harbor or congested waters, for berthing or leaving the berth, or for positioning maneuvering to hold the hull at a specific position, the parallel movement maneuvering unit 205, which performs maneuvering in the low-speed range, is activated by pressing the parallel movement maneuvering switch button 257. Activating the parallel movement maneuvering unit 205 switches the rudder angle control by the joystick lever 258 to the low-speed maneuvering mode.

[0058] In the low-speed range maneuvering mode, the direction of parallel movement is instructed to the parallel movement steering unit 205 by tilting the joystick lever 258. The parallel movement steering unit 205 sets the rudder angles of the pair of high-lift rudders 104a, 104b, 105a, 105b on both sides while the left and right propulsion propellers 101a, 101b rotate at a constant speed in the forward direction. The tilt angle of the joystick lever 258 also controls the speed of parallel movement.

[0059] For example, the low-speed forward movement function unit 287a performs "low-speed forward movement" as shown in Fig. 11(n). In "low-speed forward movement," a pair of high-lift rudders 104a, 104b, 105a, 105b on both sides are set to a forward rudder angle, here 0°, 0°, so that forward thrust acts on both sides of the stern.

[0060] The low-speed forward function unit 287a has a parallel movement speed adjustment function unit 288a, which controls deceleration by transitioning the high-lift rudders 104a, 104b, 105a, and 105b toward the hover rudder angle as the tilt angle of the joystick lever 258 becomes smaller.

[0061] The low-speed reverse function unit 287b also performs "low-speed reverse" maneuvering as shown in Fig. 11(m). In "low-speed reverse," a pair of high-lift rudders 104a, 104b, 105a, 105b on both sides are set to reverse rudder angles, in this case -105° and +105°, so that a reverse thrust acts on both sides of the stern.

[0062] The low-speed reverse function unit 287b has a parallel movement speed adjustment function unit 288b, which controls deceleration by transitioning the high-lift rudders 104a, 104b, 105a, and 105b toward the hover rudder angle as the tilt angle of the joystick lever 258 becomes smaller.

[0063] The port rearward movement function unit 287c also performs the "port rearward movement" maneuver shown in FIG. 12(o). For "port rearward movement," the pair of high-lift rudders 105a, 105b of the port thrust system 100a are set to astern rudder angles of -105° and +105°, the port-side high-lift rudders 104a of the starboard thrust system 100b are set to astern rudder angles of -105°, and the starboard-side high-lift rudders 104b are set to hover rudder angles of +75°. The thrust of both thrust systems is combined to generate propulsion for parallel movement toward the port rearward. In other words, parallel movement toward the port rearward can be achieved at low speeds without the need to reverse the rotation or increase the power output of the main engines 102a, 102b. This maneuver does not require conventional thruster thrust.

[0064] Here, the astern thrust generated by the pair of high-lift rudders 105a, 105b of the port thrust system 100a acts as a turning moment to the port side around the stern. The astern thrust generated by the port-side high-lift rudders 104b of the starboard thrust system 100b acts as a turning moment to the starboard side around the stern. The port-side thrust generated by the starboard-side high-lift rudders 104a of the starboard thrust system 100b acts as a turning moment to the starboard side around the stern.

[0065] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull parallel in the port rear direction. (Adjustment) If the astern thrust of the port thrust system 100a is strong and the turning moment to port is too large, the high-lift rudder 105b on the starboard side of the port thrust system 100a is shifted toward the hover rudder angle side, thereby increasing the thrust to port around the stern and increasing the turning moment to starboard, and reducing the astern thrust and reducing the turning moment to port, thereby adjusting the balance of the turning moment.

[0066] The port rearward movement function unit 287c also has a translation speed adjustment function unit 288c. As shown in Fig. 12(p), the translation speed adjustment function unit 288c shifts the pair of high-lift rudders 105a, 105b of the port thrust system 100a to the hover rudder angle side within the astern steering angle range, thereby reducing the turning moment to the port side by reducing the astern steering thrust.

[0067] Furthermore, the port-side high-lift rudder 104a of the starboard thrust system 100b is maintained at an astern rudder angle, and the starboard-side high-lift rudder 104b is shifted from a hover rudder angle of 75° to a forward rudder angle, here +35°. As a result, the portward thrust around the stern is reduced, and a forward thrust component is generated, reducing the turning moment to starboard, and the speed of translation is controlled to decelerate when the turning moments to port and starboard are balanced.

[0068] The starboard rearward movement function unit 205d also performs the "starboard rearward movement" maneuver shown in FIG. 13(q). For "starboard rearward movement," the pair of high-lift rudders 104a, 104b of the starboard thrust system 100b are set to astern rudder angles of -105° and +105°, the starboard high-lift rudders 105b of the port thrust system 100a are set to astern rudder angles of -105°, and the port high-lift rudders 105a are set to hover rudder angles of +75°. The thrust of both thrust systems is combined to generate propulsion for parallel movement toward the starboard rearward. In other words, parallel movement toward the starboard rearward can be achieved at low speeds without the need to reverse the rotation or increase the power output of the main engines 102a, 102b. This maneuver does not require conventional thruster thrust.

[0069] Here, the astern thrust generated by the pair of high-lift rudders 104a, 104b of the starboard thrust system 100b acts as a turning moment to starboard around the stern. The astern thrust generated by the starboard-side high-lift rudders 105b of the port thrust system 100a acts as a turning moment to port around the stern. The starboard thrust generated by the port-side high-lift rudders 105a of the port thrust system 100a acts as a turning moment to port around the stern.

[0070] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull parallel in a direction aft to starboard. (Adjustment) If the astern thrust of the starboard thrust system 100b is strong and the turning moment to the starboard side is too large, the high-lift rudder 104a on the port side of the starboard thrust system 100b is shifted to the hover rudder angle side, thereby increasing the starboard thrust around the stern to increase the turning moment to the port side, and reducing the astern thrust to reduce the turning moment to the starboard side, thereby adjusting the balance of the turning moment.

[0071] The starboard rearward movement function unit 287d also has a translation speed adjustment function unit 288d. As shown in Fig. 13(r), the translation speed adjustment function unit 288d reduces the astern thrust by shifting the pair of high-lift rudders 104a, 104b of the starboard thrust system 100b to the hover rudder angle side within the astern rudder angle range, thereby reducing the turning moment to the starboard direction.

[0072] Furthermore, the starboard-side high-lift rudder 105b of the port thrust system 100a is maintained at an astern rudder angle, and the port-side high-lift rudder 105a is shifted from a hover rudder angle of -75° to a forward rudder angle, here -35°. As a result, the starboard thrust around the stern is reduced, and a forward thrust component is generated, reducing the turning moment to port, and the speed of parallel movement is controlled to decelerate while the turning moments to port and starboard are balanced.

[0073] The port forward movement function unit 287e also performs the "port forward movement" maneuver shown in FIG. 14(s). For "port forward movement," the pair of high-lift rudders 105a, 105b of the port thrust system 100a are set to hover rudder angles of -75° and +75°, the port-side high-lift rudder 104a of the starboard thrust system 100b is set to a forward rudder angle of 0°, and the starboard-side high-lift rudder 104b is set to a hover rudder angle of +75°. The thrust of both thrust systems is combined to generate propulsion for parallel movement toward the port forward. In other words, parallel movement toward the port forward can be achieved at low speeds without the need to reverse the rotation or increase the power output of the main engines 102a, 102b. Conventional thrusters are not required for this maneuver.

[0074] Here, the forward thrust generated by the high-lift rudder 104a on the port side of the starboard thrust system 100b acts as a turning moment to the port side around the stern, and the portward thrust generated by the high-lift rudder 104b on the starboard side of the starboard thrust system 100b acts as a turning moment to the starboard side around the stern.

[0075] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern of the hull balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull parallel in the port forward direction. (Adjustment) If the turning moment to port is too large, the port-side high-lift rudder 104a of the starboard thrust system 100b is shifted to the outboard side, thereby increasing the turning moment to starboard by increasing the thrust to port around the stern, and decreasing the turning moment to port by decreasing the forward thrust, thereby adjusting the balance of the turning moment.

[0076] The port front movement function unit 287e also has a translation speed adjustment function unit 288e. As shown in Fig. 14(t), the translation speed adjustment function unit 288e maintains the pair of high-lift rudders of the port thrust system 100a at a hover rudder angle. Then, it shifts the port-side high-lift rudder 104a of the starboard thrust system 100b to the inboard side, in this case -35°, and maintains the starboard-side high-lift rudder 104b at a hover rudder angle of +75°.

[0077] As a result, in the starboard thrust system 100b, the forward thrust is reduced by the port-side high-lift rudder 104a, reducing the turning moment to port. Furthermore, the port-side high-lift rudder 104a generates a starboard thrust component that counters the port-side thrust by the starboard-side high-lift rudder 104b, reducing the starboard turning moment. Therefore, the speed of translation is controlled to decelerate when the port and starboard turning moments are balanced.

[0078] The starboard forward movement function unit 205f also performs the "starboard forward movement" maneuver shown in FIG. 15(u). For "starboard forward movement," the pair of high-lift rudders 104a, 104b of the starboard thrust system 100b are set to hover rudder angles of -75° and +75°, the starboard high-lift rudder 105b of the port thrust system 100a is set to a forward rudder angle of 0°, and the port high-lift rudder 105a is set to a hover rudder angle of -75°. The thrust of both thrust systems is combined to generate propulsion for translation to the starboard forward direction. In other words, translation to the starboard forward direction can be achieved at low speeds without the need to reverse the rotation or increase the power output of the main engines 102a, 102b. This maneuver does not require conventional thruster thrust.

[0079] Here, the forward thrust generated by the high-lift rudder 105b on the starboard side of the port thrust system 100a acts as a turning moment to the starboard direction around the stern. The starboard thrust generated by the high-lift rudder 105a on the port side of the port thrust system 100a acts as a turning moment to the port direction around the stern.

[0080] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern of the hull balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull parallel in a forward starboard direction.

[0081] (Adjustment) If the turning moment to the starboard side is too large, the high-lift rudder 105b on the starboard side of the port thrust system 100a is shifted to the outboard side, thereby increasing the turning moment to the port side by increasing the thrust to the starboard side around the stern, and decreasing the turning moment to the starboard side by decreasing the forward thrust, thereby adjusting the balance of the turning moment.

[0082] 15(v), the translation speed adjustment function unit 288f maintains the pair of high-lift rudders 104a, 104b of the starboard thrust system 100b at the hover rudder angle, shifts the starboard-side high-lift rudder 105b of the port thrust system 100a to the inboard side, here +35°, and maintains the port-side high-lift rudder 105a at the hover rudder angle +75°.

[0083] As a result, in the port thrust system 100a, the forward thrust is reduced by the starboard high-lift rudder 105b, reducing the turning moment to starboard. Furthermore, a thrust component in the port direction is generated by the starboard high-lift rudder 105b, which counters the starboard thrust by the port high-lift rudder 105a and reduces the turning moment to port. Therefore, the speed of translation is controlled to decelerate when the turning moments to port and starboard are balanced.

[0084] 16(w) 。 In addition, the port side movement function unit 287g performs the "port side movement" maneuver shown in Fig. 16(w). In "port side movement", the port side high-lift rudder 105a of the port thrust system 100a is set to a reverse rudder angle of -105°, the starboard side high-lift rudder 105b is set to a hover rudder angle of +75°, the port side high-lift rudder 104a of the starboard thrust system 100b is set to a forward rudder angle of 0°, and the starboard side high-lift rudder 104b is set to a hover rudder angle of +75°, and the thrust of both thrust systems is combined to obtain a propulsive force for parallel movement to the port side.

[0085] That is, the ship can be moved forward to the starboard side at low speed without the need to reverse the rotation of the main engines 102a and 102b or increase their output. This maneuver does not require conventional thrusters.

[0086] Here, the astern thrust generated by the port-side high-lift rudder 105a of the port thrust system 100a acts as a turning moment to port around the stern, and the portward thrust generated by the starboard-side high-lift rudder 105b acts as a turning moment to starboard around the stern. The forward thrust generated by the port-side high-lift rudder 104a of the starboard thrust system 100b acts as a turning moment to port around the stern, and the portward thrust generated by the starboard-side high-lift rudder 104b acts as a turning moment to starboard around the stern.

[0087] As a result, with the port-side turning moment and starboard-side turning moment acting around the stern of the hull balanced, the thrust of the starboard thrust system 100b and the thrust of the port-side thrust system 100a are combined to obtain a propulsive force that moves the hull parallel in the port lateral direction. (Adjustment) If the turning moment to port is too large, the port-side high-lift rudder 104a of the starboard thrust system 100b is shifted outward to the starboard side, thereby increasing the thrust to port and increasing the turning moment to starboard, and reducing the forward thrust to reduce the turning moment to port, thereby adjusting the balance of the turning moment.

[0088] 16(x), the parallel movement speed adjustment function unit 288g maintains the port-side high-lift rudder 105a of the port thrust system 100 at an astern rudder angle of -105°, maintains the starboard-side high-lift rudder 105b at a hover rudder angle of +75°, shifts the port-side high-lift rudder 104a of the starboard thrust system 100b to the inboard side, and maintains the starboard-side high-lift rudder 104b at a hover rudder angle of +75°.

[0089] As a result, in the starboard thrust system 100b, the forward thrust is reduced by the port-side high-lift rudder 104a, reducing the turning moment to port. Furthermore, the port-side high-lift rudder 104a generates a starboard thrust component that counters the port-side thrust by the port-side high-lift rudder 104b, reducing the starboard turning moment. Therefore, the speed of translation is controlled to decelerate when the port and starboard turning moments are balanced.

[0090] Furthermore, the starboard lateral movement function unit 287h performs maneuvering for "starboard lateral movement" shown in Fig. 17(y). For "starboard lateral movement," the starboard high-lift rudder 104b of the starboard thrust system 100b is set to a reverse rudder angle of +105°, the starboard high-lift rudder 104a is set to a hover rudder angle of -75°, the starboard high-lift rudder 105b of the port thrust system 100a is set to a forward rudder angle of 0°, and the port high-lift rudder 105a is set to a hover rudder angle of -75°, and the thrust of both thrust systems is combined to obtain propulsive force for parallel movement to the starboard side. (Adjustment) If the turning moment to the starboard side is too large, the high-lift rudder 105b on the starboard side of the port thrust system 100a is shifted to the outboard side to increase the starboard thrust and increase the turning moment to the starboard side, and the forward thrust is reduced to reduce the turning moment to the starboard side, thereby adjusting the balance of the turning moment.

[0091] 17(z), the parallel movement speed adjustment function unit 288h maintains the starboard-side high-lift rudder 104b of the starboard thrust system 100b at an astern rudder angle of +105°, maintains the port-side high-lift rudder 104a at a hover rudder angle of -75°, shifts the starboard-side high-lift rudder 105b of the port thrust system 100a to the inboard side, and maintains the port-side high-lift rudder 105a at a hover rudder angle of -75°, thereby decelerating the parallel movement speed.

[0092] As a result, in the port thrust system 100a, the forward thrust is reduced by the starboard high-lift rudder 105b, reducing the turning moment to starboard. Furthermore, a thrust component to port is generated by the starboard high-lift rudder 105b, which counters the starboard thrust by the starboard high-lift rudder 105a and reduces the turning moment to port. Therefore, the speed of translation is controlled to decelerate when the turning moments to port and starboard are balanced. [Explanation of symbols]

[0093] 1 Own ship 100 Integrated Thrust System 100a port thrust system 100b starboard thrust system 101a, 101b propeller 102a, 102b electric motor 103a, 103b Thrust control device 104a, 104b, 105a, 105b High-lift rudders 106a, 106b, 107a, 107b Electric steering gear 108a, 108b, 109a, 109b Steering angle control device 110a, 110b propeller shaft 200 Ship steering system 201 Ship steering control device 202 Ship steering control unit 203 Remote Control Device 204 Normal steering section 205 Parallel movement steering section 251 Communication equipment 252 1st monitor screen 253 Second monitor screen 254 Third monitor screen 255 4th monitor screen 256 Joystick operation unit 257 Parallel movement steering switch button 258 Joystick Lever 287a Low speed forward function section 287b Low speed reverse function section 287c Port side aft mobility function section 287d Starboard aft moving function section 287e Port side forward movement function section 287f starboard forward movement function section 287g Port side movement function part 287h Starboard side movement function unit 288a, 288b, 288c, 288d, 288e, 288f, 288g, 288h Parallel movement speed adjustment function section 300 Observation System 301 Marine radar equipment 302 GPS Compass 303 Transmitting and receiving antenna equipment 304 Surroundings camera of own ship 305 Infrared surveillance camera 400 Power supply section 401 Storage battery 402 Solar Panel 500 Mission Department 600 Mission Storage

Claims

1. It is equipped with an integrated thrust system, a maneuvering system that controls the integrated thrust system, and an observation system that observes the ship's own hull motion status. The observation system is equipped with a position measuring device that measures the ship's position and a monitoring device that monitors the ship's surroundings. The starboard thrust system and the port thrust system that make up the integrated thrust system each include a propeller shaft, a propeller mounted on the propeller shaft and arranged at the stern, a pair of left and right high-lift rudders arranged behind the propellers, a plurality 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, and both propeller shafts rotate in opposite directions, and both propellers have opposite blade angles, The maneuvering system comprises a maneuvering control device that controls the direction of the propeller wake of each propeller and controls the direction of thrust acting around the stern on the hull by controlling the direction of the propeller wake of each propeller by changing the combination of rudder angles of the pair of high-lift rudders corresponding to each propeller while the propellers of the starboard thrust system and the port thrust system are rotating at a constant rate in the forward direction, using each steering gear, and by changing the combination of rudder angles of the pair of high-lift rudders corresponding to each propeller, a maneuvering instruction unit that instructs the maneuvering control device on the direction of hull movement using an autonomous navigation program or remote maneuvering, and a remote control device that instructs the maneuvering instruction unit on the direction of hull movement via wireless communication, The remote control device has a monitor screen that displays the position information of the ship and a monitor screen that displays information about the surroundings of the ship, a joystick operation unit for manual steering, and a low-speed range steering switch button for switching the steering control device to low-speed range steering, The steering control device is a small unmanned ship with two shafts and four rudders, characterized by having a parallel movement steering unit that combines the direction of thrust action of the starboard thrust system and the direction of thrust action of the port thrust system to move the hull parallel in any direction during low-speed steering.

2. The small unmanned twin-propeller, four-rudder vessel described in claim 1, characterized in that the parallel movement steering unit controls the direction of thrust of the starboard thrust system and the direction of thrust of the port thrust system for each high-lift rudders, and combines the thrust of the starboard thrust system and the thrust of the port thrust system to obtain a propulsive force for parallel movement in any direction while the turning moment to port and the turning moment to starboard acting on the hull are balanced.

3. The parallel movement steering unit has a port rear movement function unit, The small unmanned twin-propeller, four-rudder vessel described in claim 2, characterized in that the port rearward movement function unit sets the pair of high-lift rudders of the port thrust system to an astern rudder angle, sets the port-side high-lift rudders of the starboard thrust system to an astern rudder angle, and sets the starboard-side high-lift rudders to a hover rudder angle, and combines the thrust of both port thrust systems to obtain propulsive force for parallel movement to the port rearward.

4. The small unmanned twin-propeller, four-rudder vessel described in claim 3, characterized in that the port rearward movement function unit has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed by transitioning the pair of high-lift rudders of the port thrust system to the hover rudder angle side within the astern rudder angle range, maintaining the port-side high-lift rudders of the starboard thrust system at the astern rudder angle, and transitioning the starboard-side high-lift rudder from the hover rudder angle side to the forward rudder angle side.

5. The parallel movement steering unit has a starboard rear movement function unit, The small unmanned twin-propeller, four-rudder vessel described in claim 2, characterized in that the starboard rearward movement function unit sets the pair of high-lift rudders of the starboard thrust system to an astern rudder angle, sets the starboard-side high-lift rudders of the port thrust system to an astern rudder angle, and sets the port-side high-lift rudders to a hover rudder angle, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the starboard rearward.

6. The small unmanned twin-propeller, four-rudder vessel described in claim 5, characterized in that the starboard rearward movement function unit has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed by transitioning the pair of high-lift rudders of the starboard thrust system to the hover rudder angle side within the astern rudder angle range, maintaining the starboard high-lift rudders of the port thrust system at the astern rudder angle, and transitioning the port-side high-lift rudder from the hover rudder angle side to the forward rudder angle side.

7. The parallel movement steering unit has a port side forward movement function unit, The small unmanned twin-propeller, four-rudder vessel described in claim 2, characterized in that the port forward movement function unit sets the pair of high-lift rudders of the port thrust system to a hover rudder angle, sets the port-side high-lift rudders of the starboard thrust system to a forward rudder angle, and sets the starboard-side high-lift rudders to a hover rudder angle, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the port front.

8. The small unmanned twin-propeller, four-rudder vessel described in claim 7, characterized in that the port side forward movement function unit maintains the pair of high-lift rudders of the port thrust system at a hover rudder angle, transitions the port side high-lift rudders of the starboard thrust system to the inboard side, and maintains the starboard side high-lift rudders at a hover rudder angle, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

9. The parallel movement steering unit has a starboard forward movement function unit, The small unmanned twin-propeller, four-rudder vessel described in claim 2, characterized in that the starboard forward movement function unit sets the pair of high-lift rudders of the starboard thrust system to a hover rudder angle, sets the starboard high-lift rudders of the port thrust system to a forward rudder angle, and sets the port high-lift rudders to a hover rudder angle, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the starboard front.

10. The small unmanned twin-propeller, four-rudder vessel described in claim 9, characterized in that the starboard forward movement function unit maintains the pair of high-lift rudders of the starboard thrust system at a hover rudder angle, transitions the starboard-side high-lift rudders of the port thrust system to the inboard side, and maintains the port-side high-lift rudders at a hover rudder angle, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

11. The parallel movement steering unit has a port side movement function unit, The small unmanned twin-propeller, four-rudder vessel described in claim 2, characterized in that the port lateral movement function unit sets the port-side high-lift rudder of the port thrust system to an astern rudder angle, sets the starboard-side high-lift rudder to a hover rudder angle, sets the port-side high-lift rudder of the starboard thrust system to a forward rudder angle, and sets the starboard-side high-lift rudder to a hover rudder angle, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the port side.

12. The small unmanned twin-propeller, four-rudder vessel described in claim 11, characterized in that the port lateral movement function unit maintains the port-side high-lift rudder of the port thrust system at an astern rudder angle, maintains the starboard-side high-lift rudder at a hover rudder angle, transitions the port-side high-lift rudder of the starboard thrust system to the inboard side, maintains the starboard-side high-lift rudder at a hover rudder angle, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

13. The parallel movement steering unit has a starboard side movement function unit, The small twin-propeller, four-rudder unmanned vessel according to claim 2, characterized in that the starboard lateral movement function unit sets the starboard high-lift rudder of the starboard thrust system to an astern rudder angle, sets the port side high-lift rudder to a hover rudder angle, sets the starboard side high-lift rudder of the port thrust system to a forward rudder angle, and sets the port side high-lift rudder to a hover rudder angle, and combines the thrust of both thrust systems to obtain propulsive force for parallel movement to the starboard side.

14. The small unmanned twin-propeller, four-rudder vessel described in claim 13, characterized in that the port lateral movement function unit maintains the starboard high-lift rudder of the starboard thrust system at an astern rudder angle, maintains the port-side high-lift rudder at a hover rudder angle, transitions the starboard-side high-lift rudder of the port thrust system to the inboard side, maintains the port-side high-lift rudder at a hover rudder angle, and has a parallel movement speed adjustment function unit that decelerates and controls the parallel movement speed.

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