Fin stabilizer device, ship, and control method of fin stabilizer device

Abstract

To efficiently carry out navigation of a vessel including a fin stabilizer as well as reducing work load for crew members.SOLUTION: A fin stabilizer device includes: a fin stabilizer body provided to be capable of projection / retraction to / from outside a hull; a stabilizer driving unit for projecting / retracting the fin stabilizer body to / from the hull; a speed acquisition unit for acquiring navigation speed of the hull; an oscillation acquirement unit for acquiring oscillation of at least one of rolling or vertical motion of the hull; and a controller for driving the stabilizer driving unit based on at least one of navigation speed acquired by the speed acquisition unit or oscillation of the hull acquired by the oscillation acquirement unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a fin stabilizer device, a ship, and a method for controlling the fin stabilizer device.

Background Art

[0002] Patent Document 1 discloses a ship equipped with a fin stabilizer device. The fin stabilizer device is configured to suppress the rolling of the hull by generating lift on the fin blades during navigation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the fin stabilizer main body (fin blade) of the fin stabilizer device protrudes obliquely downward from the hull. Therefore, when landing at a port facility or passing through a shoal, the fin stabilizer main body may be housed in the hull to avoid damage to the fin stabilizer main body. In addition, the lift generated by the fin stabilizer main body becomes a resistance to the navigation of the ship. Therefore, when the navigation speed of the ship is low, the demerits such as an increase in fuel consumption rate due to the resistance to the navigation of the ship may be greater than the effect of suppressing rolling by the lift generated by the fin stabilizer main body. Therefore, the crew has to perform operations such as housing the fin stabilizer main body in the hull and protruding the fin stabilizer main body from the hull according to various situations, and there is a problem that the work burden on the crew increases.

[0005] The present disclosure has been made to solve the above problems, and an object thereof is to provide a fin stabilizer device, a ship, and a control method for the fin stabilizer device that can efficiently perform the navigation of the ship and reduce the work load of crew members.

Means for Solving the Problems

[0006] In order to solve the above problems, the fin stabilizer device according to the present disclosure includes a fin stabilizer main body, a stabilizer drive unit, a speed acquisition unit, a sway acquisition unit, and a control device. The fin stabilizer main body is configured to be retractable between a state of protruding outward from the hull and a state of being housed in the hull, and is provided so as to be able to protrude and retract outward from the hull. The stabilizer drive unit drives the fin stabilizer main body to move forward and backward and protrude and retract with respect to the hull. The speed acquisition unit acquires the navigation speed of the hull. The sway acquisition unit acquires at least one of the rolling and the heaving of the hull. The control Device drives the stabilizer drive unit based on at least one of the navigation speed acquired by the speed acquisition unit and the sway of the hull acquired by the sway acquisition unit. When the fin stabilizer main body is accommodated in the hull and the navigation speed acquired by the speed acquisition unit exceeds a predetermined speed reference, the control device drives the stabilizer drive unit to project the fin stabilizer main body from the hull.

[0007] The ship according to the present disclosure includes the above fin stabilizer device.

[0008] The control method for the fin stabilizer device according to the present disclosure is the control method for the fin stabilizer device described above. This control method for the fin stabilizer device includes a step of acquiring the navigation speed of the hull and at least one of the rolling and the heaving of the hull, and a step of housing the fin stabilizer main body in the hull when at least one of the navigation speed and the sway of the hull satisfies a predetermined condition when the fin stabilizer main body is in a state of protruding from the hull.

Effects of the Invention

[0009] According to the fin stabilizer device, ship, and control method of the fin stabilizer device of the present disclosure, the navigation of the ship can be efficiently performed and the work burden on the crew can be reduced.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0011] Hereinafter, a fin stabilizer device, a ship, and a control method of the fin stabilizer device according to an embodiment of the present disclosure will be described with reference to FIGS. 1 to 4. (Configuration of the Ship) As shown in FIG. 1, the fin stabilizer device 100 of this embodiment is equipped on the ship 1. Note that the ship type of the ship 1 is not limited to a specific one.

[0012] (Configuration of the Hull) As shown in FIG. 1, the hull 2 has a pair of side plates 3A, 3B forming its outer shell and a bottom 4. The side plates 3A, 3B are provided with a pair of side outer plates forming the left and right sides respectively. The bottom 4 is provided with a bottom outer plate connecting these side plates 3A, 3B. Due to these pair of side plates 3A, 3B and the bottom 4, the outer shell of the hull 2 forms a U shape in a cross section orthogonal to the bow-stern direction.

[0013] (Fin Stabilizer Device) The fin stabilizer device 100 includes at least a fin stabilizer main body 5, a stabilizer drive unit 7, and a control device 6. The fin stabilizer main bodies 5 are respectively provided on both sides in the ship width direction W of the bottom 4 of the ship 1. Each fin stabilizer main body 5 is provided so as to protrude obliquely downward from the bottom 4 toward the outside in the ship width direction W. The fin stabilizer main body 5 generates a lift force corresponding to the water flow generated by the navigation of the ship 1 and suppresses the rolling of the hull 2. The fin stabilizer main body 5 has a fin shaft 5s. The fin stabilizer main body 5 is rotatable around the fin shaft 5s. The fin stabilizer main body 5 is rotated around the fin shaft 5s under the control of a fin stabilizer control unit (not shown), and the angle (fin blade angle) of the fin stabilizer main body 5 can be adjusted. The fin stabilizer main body 5 can adjust the magnitude of the generated lift force by adjusting the angle (fin blade angle) around the fin shaft 5s.

[0014] The fin stabilizer main body 5 is provided so as to be able to protrude and retract inside and outside the hull 2. The stabilizer drive unit 7 moves the fin stabilizer main body 5 in and out with respect to the hull 2 according to a control command of the control device 6 described later. The stabilizer drive unit 7 is provided one by one for each of the plurality of fin stabilizer main bodies 5. The stabilizer drive unit 7 drives the fin stabilizer main body 5 to move forward and backward between a protruding state in which the fin stabilizer main body 5 protrudes outward from the hull 2 and a housed state in which the fin stabilizer main body 5 is housed in the hull 2. The stabilizer drive unit 7 can use, for example, a hydraulic cylinder, a motor, etc. as a drive source.

[0015] The fin stabilizer device 100 illustrated in this embodiment includes a speed acquisition unit 11, a motion acquisition unit 12, a position acquisition unit 13, and a water depth acquisition unit 14. The speed acquisition unit 11 acquires information on the navigation speed of the hull 2. The navigation speed information acquired by the speed acquisition unit 11 can be obtained from a Doppler sonar that detects the speed through water equipped on the ship 1, a GPS (Global Positioning System) that detects the speed over the ground, etc. Although the case where the navigation speed information detected by GPS is used as an example of the navigation speed information acquired by the speed acquisition unit 11 is shown, it can be similarly adopted if it is a GNSS (Global Navigation Satellite System) (the same applies to GPS below).

[0016] The motion acquisition unit 12 acquires at least one of the roll (in other words, roll) and heave (in other words, heave) motions of the hull 2. The motion information acquired by the motion acquisition unit 12 can be obtained from, for example, at least one of an inclinometer and an accelerometer (not shown) equipped on the ship 1. One side can be obtained from it.

[0017] The position acquisition unit 13 acquires information on the current position of the hull 2. The current position of the hull 2 acquired by the position acquisition unit 13 can be obtained, for example, by combining the position information detected by GPS and an electronic nautical chart.

[0018] The water depth acquisition unit 14 acquires the water depth at the position below the hull 2. The water depth information acquired by the water depth acquisition unit 14 can be obtained from, for example, an echo sounder (acoustic depth finder) equipped on the bottom of the ship 1. Each piece of information acquired by the speed acquisition unit 11, the motion acquisition unit 12, the position acquisition unit 13, and the water depth acquisition unit 14 is input to the control device 6. Note that the speed acquisition unit 11, the motion acquisition unit 12, the position acquisition unit 13, and the water depth acquisition unit 14 may be provided in the control device 6.

[0019] (Manual operation device) The fin stabilizer device 100 is provided with a manual operation device 20. The manual operation device 20 is a device for driving the stabilizer drive unit 7 by manual operation by the occupant. When the occupant makes a predetermined operation input, the manual operation device 20 transmits an operation signal corresponding to the operation input to the control device 6.

[0020] (Hardware Configuration Diagram) As shown in FIG. 2, the control device 6 is a computer including a CPU 61 (Central Processing Unit), a ROM 62 (Read Only Memory), a RAM 63 (Random Access Memory), an HDD 64 (Hard Disk Drive), a signal reception module 65, and the like.

[0021] (Functional Block Diagram) As shown in FIG. 3, the CPU 61 of the control device 6 realizes each functional configuration of the input unit 70, the stabilizer retraction control unit 71, the storage unit 72, the speed determination unit 73, the sway determination unit 74, the position determination unit 75, the water depth determination unit 76, and the output unit 77 by executing programs stored in the ROM 62, the HDD 64, etc. in advance. The input unit 70 receives signals from the speed acquisition unit 11, the sway acquisition unit 12, the position acquisition unit 13, and the water depth acquisition unit 14 via the signal reception module 65. Further, when the occupant makes a predetermined operation input to the manual operation device 20, the input unit 70 receives an operation signal corresponding to the operation input from the manual operation device 20.

[0022] The stabilizer retraction control unit 71 controls the driving of the stabilizer drive unit 7 based on various information such as the navigation speed of the hull 2, the sway of the hull 2, the position of the hull 2, and the water depth at the lower position of the hull 2. Further, when the stabilizer retraction control unit 71 receives an operation signal from the manual operation device 20 at the input unit 70, it controls the driving of the stabilizer drive unit 7 based on the received operation signal.

[0023] The storage unit 72 is the above-described ROM 62, HDD 64, etc., and stores various threshold values (speed criteria, lower limit speed criteria, fluctuation criteria, lower limit fluctuation criteria, water depth criteria, lower limit water depth criteria, etc.) used to control the drive of the stabilizer drive unit 7 by the control device 6, data of the electronic nautical chart used by the position acquisition unit 13, and the like. Note that the storage unit 72 is not limited to the ROM 62 and HDD 64.

[0024] During navigation, the speed determination unit 73 monitors the navigation speed of the hull 2 based on the detection value from the speed acquisition unit 11 received by the input unit 70. When the fin stabilizer main body 5 is in the housed state inside the hull 2, the speed determination unit 73 monitors whether the navigation speed acquired by the speed acquisition unit 11 exceeds a predetermined speed criterion. When the fin stabilizer main body 5 is in the protruding state protruding from the hull 2, the speed determination unit 73 monitors whether the navigation speed acquired by the speed acquisition unit 11 is below a predetermined lower limit speed criterion.

[0025] During navigation, the fluctuation determination unit 74 monitors the fluctuation of the hull 2 based on the information from the fluctuation acquisition unit 12 received by the input unit 70. When the fin stabilizer main body 5 is in the housed state inside the hull 2, the fluctuation determination unit 74 monitors whether the fluctuation of the hull 2 acquired by the fluctuation acquisition unit 12 exceeds a predetermined fluctuation criterion. When the fin stabilizer main body 5 is in the protruding state protruding from the hull 2, the fluctuation determination unit 74 monitors whether the fluctuation of the hull 2 acquired by the fluctuation acquisition unit 12 is below a predetermined lower limit fluctuation criterion. Here, the lower limit fluctuation criterion is set to a value smaller than the fluctuation criterion.

[0026] The motion criterion can be set, for example, so that the hull 2 does not put a person boarding the hull 2 in a state where they are likely to get seasick. When the rolling period of the hull 2, the vertical acceleration, the rolling angle, and the lateral acceleration increase, it is known that people are more likely to get seasick. Therefore, the conditions under which the rolling period of the hull 2, the vertical acceleration, the rolling angle, and the lateral acceleration are equal to or greater than a certain value can be appropriately set as the motion criterion. For setting the motion criterion for the rolling period of the hull 2 and the vertical acceleration, for example, the correlation between the vomiting rate, the rolling period, and the vertical acceleration based on the experimental results of O’Hanlon et al. (O’Hanlon, J.F & McCauley, M.E: Motion Sickness Incidence as a Function of the Vertical Sinusoidal Motion, Aerospace Medicine, 1974) can be used.

[0027] During navigation, the position determination unit 75 monitors the position of the hull 2 based on the signal from the position acquisition unit 13 received by the input unit 70. The position determination unit 75 determines whether the position of the hull 2 acquired by the position acquisition unit 13 is within a preset setting area on the electronic nautical chart. Here, the setting area is set, for example, in shoals, harbors, etc.

[0028] During navigation, the water depth determination unit 76 monitors the water depth at the lower position of the hull 2 based on the signal from the water depth acquisition unit 14 received by the input unit 70. The water depth determination unit 76 monitors whether the water depth at the lower position of the hull 2 acquired by the water depth acquisition unit 14 is below a preset water depth lower limit criterion.

[0029] (Procedure of the control method of the fin stabilizer device) As shown in FIG. 4, the control method S10 of the fin stabilizer main body 5 in the ship 1 according to the embodiment of the present disclosure includes at least a step S11 of acquiring information on the navigation speed of the hull 2 and information on at least one of the rolling and pitching motions of the hull 2, a step S12 of determining whether the fin stabilizer main body 5 is housed, a step S13 of determining whether the condition for protruding the fin stabilizer main body 5 is satisfied, a step S14 of protruding the fin stabilizer main body 5, a step S15 of determining whether the condition for housing the fin stabilizer main body 5 in the hull 2 is satisfied, and a step S16 of housing the fin stabilizer main body 5 in the hull. The above steps S11 to S16 are repeatedly executed from when the ship 1 departs until it enters the port. When the ship 1 sets sail, the fin stabilizer main body 5 is housed in the hull 2.

[0030] In step S11, the speed acquisition unit 11 acquires the navigation speed of the hull 2. Also, in step S11, the motion acquisition unit 12 acquires the motion of the hull 2. Also, in step S11, the position acquisition unit 13 acquires the position of the hull 2. Also, in step S11, the water depth acquisition unit 14 acquires the water depth below the hull 2.

[0031] In step S12 of determining whether the fin stabilizer main body 5 is housed, it is determined whether the fin stabilizer main body 5 is housed in the hull 2. If the fin stabilizer main body 5 is in the housed state of being housed in the hull 2, the process proceeds to step S13. If the fin stabilizer main body 5 is not housed in the hull 2 and is in the protruding state of protruding from the hull 2, the process proceeds to step S15. In this embodiment, when the ship 1 sets sail, the fin stabilizer main body 5 is housed in the hull 2. Therefore, in the first-time processing immediately after departure, in the determination of step S12, the process proceeds to step S13. After departure, in the processing from the second time onwards, depending on the state of the fin stabilizer main body 5 at that time, the process proceeds to step S13 or S15.

[0032] Step S13 for determining whether the conditions for protruding the fin stabilizer body 5 are satisfied is executed when the fin stabilizer body 5 is housed in the hull 2. In step S13 for determining whether the conditions for protruding the fin stabilizer body 5 are satisfied, the speed determination unit 73 determines whether the navigation speed acquired by the speed acquisition unit 11 exceeds a predetermined speed reference (condition S13a). Also, in step S13, the sway determination unit 74 determines whether the sway of the hull 2 acquired by the sway acquisition unit 12 exceeds a predetermined sway reference (condition S13b). Also, in step S13, the position determination unit 75 determines whether the position of the hull 2 acquired by the position acquisition unit 13 is outside a set area preset in the electronic chart (condition S13c). In step S13, the water depth determination unit 76 determines whether the water depth at the lower position of the hull 2 acquired by the water depth acquisition unit 14 exceeds a preset water depth lower limit reference (condition S13d). In step S13, when all of the above conditions S13a to S13d are satisfied, the process proceeds to step S14. If any one of the conditions S13a to S13d is not satisfied, the process returns to step S11 and the above-described processing is repeated.

[0033] In step S14 for protruding the fin stabilizer body 5, a predetermined notification signal is output to the stabilizer retracting / extending control unit 71. When receiving the notification signal, the stabilizer retracting / extending control unit 71 outputs a command to protrude the fin stabilizer body 5 outward of the hull 2 from the output unit 77 to the stabilizer drive unit 7. The stabilizer drive unit 7 protrudes the fin stabilizer body 5 outward of the hull 2 based on the command from the stabilizer retracting / extending control unit 71. Then, after protruding the fin stabilizer body 5, the process returns to step S11 and the above-described processing is repeated.

[0034] Step S15 for determining whether the conditions for housing the fin stabilizer main body 5 within the hull 2 are satisfied is executed when the fin stabilizer main body 5 is in a protruding state protruding from the hull 2. In step S15 for determining whether the conditions for housing the fin stabilizer main body 5 within the hull 2 are satisfied, the speed determination unit 73 determines whether the navigation speed acquired by the speed acquisition unit 11 is below a predetermined speed lower limit criterion (condition S15a). In step S15, the sway determination unit 74 determines whether the sway of the hull 2 acquired by the sway acquisition unit 12 is below a predetermined sway lower limit criterion (condition S15b). In step S15, the position determination unit 75 determines whether the position of the hull 2 acquired by the position acquisition unit 13 is within a preset area in the electronic nautical chart (condition S15c). In step S15, the water depth determination unit 76 determines whether the water depth at the lower position of the hull 2 acquired by the water depth acquisition unit 14 is below a preset water depth lower limit criterion (S15d). As a result, if at least one of conditions S15a to S15d is satisfied, the process proceeds to step S16. If all of conditions S15a to S15d are not satisfied, the process returns to step S11 and the above-described processing is repeated.

[0035] In step S16 for housing the fin stabilizer main body 5 within the hull, the stabilizer retraction / extension control unit 71 outputs a command to house the fin stabilizer main body 5 within the hull 2 from the output unit 77 to the stabilizer drive unit 7. The stabilizer drive unit 7 houses the fin stabilizer main body 5 within the hull 2 based on the command from the stabilizer retraction / extension control unit 71. Then, after housing the fin stabilizer main body 5 within the hull 2, the process returns to step S11 and the above-described processing is repeated.

[0036] By repeating the above series of processes from the departure to the arrival of the ship 1, the fin stabilizer main body 5 is automatically retracted and extended according to the navigation speed of the hull 2, the sway of the hull 2, the position of the hull 2, and the water depth at the lower position of the hull 2.

[0037] Even when the control device 6 is in the middle of executing the series of processes as described above, if the occupant makes a predetermined operation input to the manual operation device 20, the control device 6 interrupts the series of automatic processes and controls the driving of the stabilizer drive unit 7 based on the operation signal received from the manual operation device 20, and may cause the fin stabilizer main body 5 to protrude and retract.

[0038] (Function and effect) In the fin stabilizer device 100 of the above embodiment, based on the navigation speed of the hull 2 acquired by the speed acquisition unit 11 and the sway of the hull 2 acquired by the sway acquisition unit 12, the stabilizer drive unit 7 is driven under the control of the control device 6. Thereby, the fin stabilizer main body 5 can be automatically protruded and retracted according to the navigation speed and sway of the hull 2. Therefore, the navigation of the ship 1 equipped with the fin stabilizer main body 5 can be performed efficiently and easily.

[0039] Further, in the above embodiment, when the navigation speed exceeds the speed reference in a state where the fin stabilizer main body 5 is accommodated in the hull 2, the fin stabilizer main body 5 is protruded from the hull 2. Thereby, after leaving the port or the like, in the speed range where the navigation speed exceeds the speed reference and the effect of suppressing the rolling of the hull 2 by the lift force of the fin stabilizer main body 5 can be obtained, by protruding the fin stabilizer main body 5 and performing navigation, the rolling of the hull 2 can be suppressed and stable navigation can be performed.

[0040] Further, in the above embodiment, when the navigation speed is lower than the speed lower limit reference in a state where the fin stabilizer main body 5 protrudes from the hull 2, the fin stabilizer main body 5 is accommodated in the hull 2. Thereby, in the low-speed range where it is difficult to obtain the effect of suppressing the rolling of the hull 2 by the lift force of the fin stabilizer main body 5, by accommodating the fin stabilizer main body 5 in the hull 2, the resistance caused by the fin stabilizer main body 5 can be suppressed and efficient navigation can be performed.

[0041] In the above-described embodiment, when the sailing speed exceeds the speed reference and the sway of the hull 2 exceeds the sway reference, the fin stabilizer main body 5 is projected from the hull 2. By doing so, after leaving the port or the like, in a speed range where the sailing speed exceeds the speed reference and the effect of suppressing the rolling of the hull 2 by the lift force of the fin stabilizer main body 5 can be obtained, and when the rolling is large, the fin stabilizer main body 5 can be projected from the hull 2. Therefore, the effect of suppressing the rolling by the fin stabilizer main body 5 can be effectively exerted.

[0042] In the above-described embodiment, when the sway of the hull 2 falls below the sway lower limit reference with the fin stabilizer main body 5 projected with respect to the hull 2, the fin stabilizer main body 5 is housed in the hull 2. In this way, when the sway of the hull 2 is small, by housing the fin stabilizer main body 5 in the hull 2, the resistance caused by the fin stabilizer main body 5 can be suppressed, and efficient sailing can be performed.

[0043] In the above-described embodiment, the sway lower limit reference is set to a value smaller than the sway reference. Thereby, the retraction and protrusion of the fin stabilizer main body 5 can be prevented from occurring frequently.

[0044] In the above-described embodiment, when the position of the ship 1 is within the set area with the fin stabilizer main body 5 projected with respect to the hull 2, the fin stabilizer main body 5 is housed in the hull 2. Thereby, for example, by setting a place with a harbor or a shallow area as a set area in advance, the fin stabilizer main body 5 can be housed in the hull 2 in the harbor or the shallow area. Thereby, damage to the fin stabilizer main body 5 can be suppressed.

[0045] In the above-described embodiment, when the water depth falls below the water depth lower limit reference with the fin stabilizer main body 5 projected with respect to the hull 2, the fin stabilizer main body 5 is housed in the hull 2. This can prevent the fin stabilizer main body 5 from being damaged in shallow water depths.

[0046] In addition, in the control method of the fin stabilizer main body 5 in the ship 1 of the above embodiment, when the fin stabilizer main body 5 is in a protruding state protruding from the hull 2, at least one of the navigation speed, the sway of the hull 2, the position of the hull 2, the water depth at the lower position of the hull 2 satisfies a predetermined condition, the fin stabilizer main body 5 is housed in the hull 2. This allows the ship 1 equipped with the fin stabilizer main body 5 to sail efficiently and easily by housing the fin stabilizer main body 5 in the hull 2 when there are disadvantages in protruding the fin stabilizer main body 5.

[0047] (Other embodiments) As described above, the embodiments of the present disclosure have been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present disclosure are also included. In the above embodiment, the procedure of the control method of the fin stabilizer device 100 in the ship 1 is shown, but the above procedure can be appropriately changed in order. In addition, the conditions for protruding the fin stabilizer main body 5 from the hull 2 and the conditions for housing the fin stabilizer main body 5 in the hull 2 can be appropriately changed. For example, in the above-described embodiment, the determination of the protrusion of the fin stabilizer body 5 from the hull 2 and the accommodation of the fin stabilizer body 5 into the hull 2 is performed using the four conditions of the navigation speed, sway, position, and water depth of the hull 2. However, the present invention is not limited to this. Within the scope of the gist of the present disclosure, these four conditions may be appropriately selected, or conditions other than those shown in the above-described embodiment may be added to perform the determination of the protrusion of the fin stabilizer body 5 from the hull 2 and the accommodation of the fin stabilizer body 5 into the hull 2. Further, the number and content of the conditions serving as the determination criteria may be different between the case where the fin stabilizer body 5 is protruded from the hull 2 and the case where the fin stabilizer body 5 is accommodated in the hull 2.

[0048] <Appendix> The fin stabilizer device 100 and the control method of the fin stabilizer device 100 described in the embodiment are understood as follows, for example.

[0049] (1) The fin stabilizer device 100 according to the first aspect includes a fin stabilizer body 5 provided so as to be able to protrude and retract outward from the hull 2, a stabilizer drive unit 7 that protrudes and retracts the fin stabilizer body 5 with respect to the hull 2, a speed acquisition unit 11 that acquires information on the navigation speed of the hull 2, a sway acquisition unit 12 that acquires information on at least one of the sway of the hull 2, such as roll and heave, and a control device 6 that drives the stabilizer drive unit 7 based on at least one of the navigation speed acquired by the speed acquisition unit 11 and the sway of the hull 2 acquired by the sway acquisition unit 12.

[0050] This fin stabilizer device 100 drives the stabilizer drive unit 7 under the control of the control device 6 based on the navigation speed of the hull 2 acquired by the speed acquisition unit 11 and the information on the sway of the hull 2 acquired by the sway acquisition unit 12. Thereby, the fin stabilizer body 5 can be automatically protruded and retracted according to the navigation speed and sway of the hull 2. Therefore, the navigation of the ship 1 equipped with the fin stabilizer body 5 can be efficiently performed, and the work load of the crew can be reduced.

[0051] (2) The fin stabilizer device 100 according to the second aspect is the fin stabilizer device 100 of (1), wherein the control device 6 drives the stabilizer drive unit 7 to project the fin stabilizer main body 5 from the hull 2 when the fin stabilizer main body 5 is housed in the hull 2 and the navigation speed acquired by the speed acquisition unit 11 exceeds a predetermined speed reference.

[0052] Thereby, after leaving the port or the like, when the navigation speed exceeds the speed reference and the fin stabilizer main body 5 is projected to navigate in a speed range where the effect of suppressing the rolling of the hull 2 by the lift force of the fin stabilizer main body 5 can be obtained, the rolling of the hull 2 can be suppressed and stable navigation can be performed.

[0053] (3) The fin stabilizer device 100 according to the third aspect is the fin stabilizer device 100 of (2), wherein the control device 6 drives the stabilizer drive unit 7 to house the fin stabilizer main body 5 in the hull 2 when the fin stabilizer main body 5 projects from the hull 2 and the navigation speed acquired by the speed acquisition unit 11 is below a predetermined lower speed reference.

[0054] In this way, in a low-speed range where it is difficult to obtain the effect of suppressing the rolling of the hull 2 by the lift force of the fin stabilizer main body 5, by housing the fin stabilizer main body 5 in the hull 2, the resistance caused by the fin stabilizer main body 5 can be suppressed and efficient navigation can be performed.

[0055] (4) The fin stabilizer device 100 according to the fourth aspect is the fin stabilizer device 100 of (2), wherein the control device 6 drives the stabilizer drive unit 7 to house the fin stabilizer main body 5 in the hull 2 when the fin stabilizer main body 5 projects from the hull 2 and the fluctuation of the hull 2 acquired by the fluctuation acquisition unit 12 is below a predetermined lower fluctuation reference.

[0056] When the fluctuation of the hull 2 is small in this way, by accommodating the fin stabilizer body 5 inside the hull 2, the resistance caused by the fin stabilizer body 5 can be suppressed, and efficient navigation can be performed.

[0057] (5) The fin stabilizer device 100 according to the fifth aspect is the fin stabilizer device 100 of (2), wherein when the navigation speed acquired by the speed acquisition unit exceeds a predetermined speed reference and the fluctuation of the hull 2 acquired by the fluctuation acquisition unit 12 exceeds a predetermined fluctuation reference in a state where the fin stabilizer is accommodated in the hull, the stabilizer drive unit 7 is driven to project the fin stabilizer body 5 from the hull 2.

[0058] By doing so, after leaving the port, etc., in a speed range where the navigation speed exceeds the speed reference and the roll suppression effect of the hull 2 due to the lift force of the fin stabilizer body 5 can be obtained, and when the roll is large, the fin stabilizer body 5 is projected from the hull 2, so that the roll suppression effect of the fin stabilizer body 5 can be effectively exerted.

[0059] (6) The fin stabilizer device 100 according to the sixth aspect is any one of the fin stabilizer devices 100 of (1) to (5), further comprising a position acquisition unit 13 for acquiring the position of the hull 2, and when the position of the hull 2 acquired by the position acquisition unit 13 is within a preset area, the stabilizer drive unit 7 is driven to accommodate the fin stabilizer body 5 inside the hull 2.

[0060] For example, by setting a place with a harbor or a shallow shoal as a preset area in advance, the fin stabilizer body 5 can be accommodated in the hull 2 in the harbor or the shallow shoal. Thereby, damage to the fin stabilizer body 5 can be suppressed.

[0061] (7) The fin stabilizer device 100 according to the seventh aspect is any one of the fin stabilizer devices 100 from (1) to (6), and further includes a water depth acquisition unit 14 that acquires the water depth at a position below the hull 2. When the water depth acquired by the water depth acquisition unit 14 is lower than a preset water depth lower limit reference, the control device 6 drives the stabilizer drive unit 7 to accommodate the fin stabilizer main body 5 in the hull 2.

[0062] Thereby, in a place where the water depth is shallow, the fin stabilizer main body 5 can be accommodated in the hull 2. Thereby, damage to the fin stabilizer main body 5 can be suppressed.

[0063] (8) The control method of the fin stabilizer device 100 according to the eighth aspect is the control method S10 of any one of the fin stabilizer devices from (1) to (7), and includes a step S11 of acquiring information on at least one of the sway and vertical movement of the hull 2 and the navigation speed of the hull 2. When at least one of the navigation speed and the sway of the hull 2 satisfies a preset condition when the fin stabilizer main body 5 protrudes from the hull 2, the fin stabilizer main body 5 is accommodated in the hull 2 (step S16).

[0064] For example, when there is a demerit in a state where the fin stabilizer main body 5 is protruding, by accommodating the fin stabilizer main body 5 in the hull 2, the navigation of the ship 1 equipped with the fin stabilizer main body 5 can be performed efficiently and easily.

[0065] (9) The control method of the fin stabilizer device 100 according to the ninth aspect is the control method S10 of the fin stabilizer device 100 in the ship 1 of (8), and includes a step S11 of acquiring the position of the hull 2. When the position of the hull 2 satisfies a preset condition when the fin stabilizer main body 5 protrudes from the hull 2, the fin stabilizer main body 5 is accommodated in the hull 2 (step S16).

[0066] For example, in a harbor or a shallows, by housing the fin stabilizer main body 5 in the hull 2, damage to the fin stabilizer main body 5 can be suppressed.

[0067] (10) The control method S10 of the fin stabilizer device 100 according to the tenth aspect is the control method S10 of the fin stabilizer device 100 in (8) or (9), and includes a step S11 of acquiring the water depth at a position below the hull 2, and when the water depth at the position below the hull 2 satisfies a predetermined condition when the fin stabilizer main body 5 protrudes from the hull 2, a step S16 of housing the fin stabilizer main body 5 in the hull 2.

[0068] Thereby, for example, in a place where the water depth is shallow, by housing the fin stabilizer main body 5 in the hull 2, damage to the fin stabilizer main body 5 can be suppressed.

[0069] (11) The control method S10 of the fin stabilizer device 100 according to the eleventh aspect is the control method S10 of the fin stabilizer device 100 in any one of (8) to (10), and includes a step of protruding the fin stabilizer main body from the hull when the fin stabilizer main body is housed in the hull and the navigation speed of the hull exceeds a predetermined speed reference.

[0070] Thereby, after leaving the port or the like, in a speed range where the navigation speed exceeds the speed reference and the effect of suppressing the rolling of the hull 2 by the lift force of the fin stabilizer main body 5 can be obtained, the fin stabilizer main body 5 can be protruded to perform navigation, so that stable navigation can be performed while suppressing the rolling of the hull 2.

[0071] (12) The control method S10 of the fin stabilizer device 100 according to the 12th aspect is the control method S10 of any one of the fin stabilizer devices 100 from (8) to (10), and in a state where the fin stabilizer body is accommodated in the hull, when the navigation speed of the hull exceeds a predetermined speed standard and the sway of the hull exceeds a predetermined sway standard, the step of protruding the fin stabilizer body from the hull is included.

[0072] By doing so, after leaving the port, etc., in a speed range where the navigation speed exceeds the speed standard, the roll suppression effect of the hull 2 by the lift of the fin stabilizer body 5 can be obtained, and when the roll is large, by protruding the fin stabilizer body 5 from the hull 2, the roll suppression effect by the fin stabilizer body 5 can be effectively exerted.

[0073] 1…Ship 2…Hull 3A, 3B…Side 4…Bottom of the ship 5…Fin stabilizer body 5s…Fin axis 6…Control device 7…Stabilizer drive unit 11…Speed acquisition unit 12…Sway acquisition unit 13…Position acquisition unit 14…Water depth acquisition unit 15…Doppler sonar 20…Manual operation device 61…CPU 62…ROM 63…RAM 64…HDD 65…Signal reception module 70…Input unit 71…Stabilizer retraction control unit 72…Storage unit 73…Speed determination unit 74…Sway determination unit 75…Position determination unit 76…Water depth determination unit 77…Output unit 100… Fin stabilizer device

Claims

1. A fin stabilizer apparatus comprising: a fin stabilizer body that is capable of advancing and retreating between a state of protruding outward from a hull and a state of being housed in the hull, and is capable of rising and falling with respect to the hull; a stabilizer drive unit that drives the fin stabilizer body to advance and retreat to cause the fin stabilizer body to rise and fall with respect to the hull; a speed acquisition unit that acquires information on the navigation speed of the hull; a motion acquisition unit that acquires information on at least one of the rolling and vertical motion of the hull; a control device that drives the stabilizer drive unit based on at least one of the navigation speed acquired by the speed acquisition unit and the motion of the hull acquired by the motion acquisition unit; wherein the control device: drives the stabilizer drive unit to protrude the fin stabilizer body from the hull when the fin stabilizer body is housed in the hull and the navigation speed acquired by the speed acquisition unit exceeds a predetermined speed reference; A fin stabilizer apparatus.

2. The fin stabilizer apparatus according to claim 1, wherein the control device: drives the stabilizer drive unit to house the fin stabilizer body in the hull when the fin stabilizer body protrudes from the hull and the navigation speed acquired by the speed acquisition unit is below a predetermined lower speed reference. The fin stabilizer apparatus according to claim 1.

3. The fin stabilizer apparatus according to claim 1, wherein the control device: drives the stabilizer drive unit to house the fin stabilizer body in the hull when the fin stabilizer body protrudes from the hull and the motion of the hull acquired by the motion acquisition unit is below a predetermined lower motion reference. The fin stabilizer apparatus according to claim 1.

4. A fin stabilizer apparatus comprising: a fin stabilizer body that is capable of advancing and retreating between a state of protruding outward from a hull and a state of being housed in the hull, and is capable of rising and falling with respect to the hull; a stabilizer drive unit that drives the fin stabilizer body to advance and retreat to cause the fin stabilizer body to rise and fall with respect to the hull; a speed acquisition unit that acquires information on the navigation speed of the hull; a motion acquisition unit that acquires information on at least one of the rolling and vertical motion of the hull; a control device that drives the stabilizer drive unit based on at least one of the navigation speed acquired by the speed acquisition unit and the motion of the hull acquired by the motion acquisition unit; The control device is configured to: When the navigation speed acquired by the speed acquisition unit exceeds a predetermined speed reference and the hull motion acquired by the motion acquisition unit exceeds a predetermined motion reference, with the fin stabilizer main body accommodated in the hull, drive the stabilizer drive unit to project the fin stabilizer main body from the hull. A fin stabilizer device. **Claim 5** Further comprising a position acquisition unit for acquiring the position of the hull, The control device is configured to: When the fin stabilizer main body is projected with respect to the hull and the position of the hull acquired by the position acquisition unit is within a preset setting area, drive the stabilizer drive unit to accommodate the fin stabilizer main body in the hull. The fin stabilizer device according to any one of claims 1 to 4. **Claim 6** Further comprising a water depth acquisition unit for acquiring the water depth at a position below the hull, The control device is configured to: When the fin stabilizer main body is projected with respect to the hull and the water depth acquired by the water depth acquisition unit is below a preset water depth lower limit reference, drive the stabilizer drive unit to accommodate the fin stabilizer main body in the hull. The fin stabilizer device according to any one of claims 1 to 5. **Claim 7** A ship provided with the fin stabilizer device according to any one of claims 1 to 6. **Claim 8** A fin stabilizer main body that can move forward and backward between a state of protruding outward from the hull and a state of being accommodated in the hull, and can move up and down toward the outside of the hull, A stabilizer drive unit that drives the fin stabilizer main body to move forward and backward to move it in and out of the hull, A speed acquisition unit that acquires information on the navigation speed of the hull, A motion acquisition unit that acquires information on at least one of the rolling and vertical motion of the hull, A control device that drives the stabilizer drive unit based on at least one of the navigation speed acquired by the speed acquisition unit and the hull motion acquired by the motion acquisition unit, And a position acquisition unit for acquiring the position of the hull. The control device is configured to: When the fin stabilizer body protrudes from the hull and the position of the hull acquired by the position acquisition unit is within a preset setting area, the stabilizer drive unit is driven to accommodate the fin stabilizer body in the hull. Fin stabilizer device.

9. A fin stabilizer body that can move forward and backward between a state of protruding outward from the hull and a state of being accommodated in the hull, and can move in and out toward the outside of the hull, A stabilizer drive unit that drives the fin stabilizer body to move forward and backward to move in and out with respect to the hull, A speed acquisition unit that acquires information on the sailing speed of the hull, A sway acquisition unit that acquires information on at least one of the rolling and vertical movement of the hull, A control device that drives the stabilizer drive unit based on at least one of the sailing speed acquired by the speed acquisition unit and the sway of the hull acquired by the sway acquisition unit, A water depth acquisition unit that acquires the water depth at the lower position of the hull, and The control device is When the fin stabilizer body protrudes from the hull and the water depth acquired by the water depth acquisition unit is below a preset water depth lower limit standard, the stabilizer drive unit is driven to accommodate the fin stabilizer body in the hull. Fin stabilizer device.

10. A control method for a fin stabilizer device according to any one of Claims 1 to 9, comprising: acquiring the sailing speed of the hull and at least one of the rolling and vertical movement of the hull; and when at least one of the sailing speed and the sway of the hull satisfies a preset condition when the fin stabilizer body protrudes from the hull, accommodating the fin stabilizer body in the hull. Control method for a fin stabilizer device.

11. acquiring the position of the hull; and when the position of the hull satisfies a preset condition when the fin stabilizer body protrudes from the hull, accommodating the fin stabilizer body in the hull. The control method for a fin stabilizer device according to Claim 10.

12. acquiring the water depth at the lower position of the hull, When the fin stabilizer main body protrudes from the hull and the water depth at the lower position of the hull satisfies a predetermined condition, the step of housing the fin stabilizer main body in the hull is included. The control method of the fin stabilizer device according to claim 10 or 11.

13. Including the step of protruding the fin stabilizer main body from the hull when the fin stabilizer main body is housed in the hull and the navigation speed of the hull exceeds a predetermined speed standard. The control method of the fin stabilizer device according to any one of claims 10 to 12.

14. Including the step of protruding the fin stabilizer main body from the hull when the fin stabilizer main body is housed in the hull, the navigation speed of the hull exceeds a predetermined speed standard, and the sway of the hull exceeds a predetermined sway standard. The control method of the fin stabilizer device according to any one of claims 10 to 12.

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