Stop function for maritime vehicle propulsion systems

Abstract

To disclose a different solution for automatically stopping a vessel provided with at least a first cycloid propeller unit and a second cycloid propeller unit.SOLUTION: A movement control value for at least a first cycloid propeller unit is adjusted to brake the first cycloid propeller unit in a first mode or a second mode while maintaining direction of movement of a vessel to follow an up-to-date steering direction during a stop procedure. In the first mode, a main wheel is rotated and blades of the cycloid propeller unit is rotated to change a propulsion direction toward a reverse propulsion direction. In the second mode, the main wheel is maintained in a first position and the blades are individually aligned toward a prescribed angle corresponding to the movement direction or the blades are maintained in the first position and the main wheel is rotated.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to stopping a ship. [[Background Art]]

[0002] Typically, a ship, for example a commercial vessel, i.e. a merchant ship, is provided with a propulsion system for moving the ship over water. Many types of propulsion systems exist. One example is an azimuth propulsion system comprising one or more azimuth propulsion units, wherein the propeller is horizontally rotatable to any angle. A fairly recent propulsion system is the cycloidal propulsion system. A cycloidal propulsion system comprises one or more cycloidal propeller units. A cycloidal propeller unit comprises a rotating wheel and individually positionable blades extending from the wheel. The combined movement of the wheel and the blades generates propulsive force and steering force simultaneously. In the case of conventional propulsion systems, for example azimuth propulsion systems, there exist automatic stopping procedures that use the steering capability during the stopping process. It would be beneficial to have such a process also for cycloidal propulsion systems. [[Summary of the Invention]]

[0003] The present invention relates to a method, an apparatus, and a ship as defined in the independent claims. Further embodiments are disclosed in the dependent claims.

[0004] According to a first aspect, a method for stopping a vessel, the vessel comprising at least a first cycloidal propeller unit and a second cycloidal propeller unit, each cycloidal propeller unit comprising a rotatable main wheel equipped with two or more individually rotatable blades, the method comprising initiating a stop procedure in response to receiving an input that triggers an automatic stop procedure, the stop procedure comprising at least obtaining information indicating the speed of the vessel and controlling the first cycloidal propeller unit in a first or second mode while maintaining the direction of movement of the vessel in accordance with the latest steering command based at least the indicated speed A method is provided comprising adjusting the motion control values ​​of at least a first cycloidal propeller unit to move, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction when an input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated.

[0005] In the first embodiment and embodiments that can be combined with other embodiments, the stopping procedure further comprises, at least, reducing the indicated speed to a first speed by changing the thrust of at least one of the first and second cycloidal propeller units before adjustment, and initiating adjustment when the indicated speed does not exceed the first speed.

[0006] In the first aspect and in embodiments that can be combined with other embodiments, the stopping procedure further comprises at least a normal stopping operation mode and an emergency stopping operation mode, the method further comprises determining a stopping operation mode based on an input, obtaining a set of predefined operating parameter values ​​for the determined stopping operation mode, wherein the operating parameter values ​​for the normal stopping operation mode are predefined to optimize between maximum stopping effect and maximum component life, and the operating parameter values ​​for the emergency stopping operation mode are predefined for maximum stopping effect, and adjustment is performed by applying the operating parameter values ​​to determine motion control values.

[0007] In the first embodiment and embodiments that can be combined with other embodiments, the stopping procedure further comprises performing adjustments gradually in a stepwise manner, the stepwise manner comprising, at least for each step, obtaining a set of predefined operating parameter values ​​for a step when the speed has decreased to the maximum speed value of the step, and performing adjustments by applying the operating parameter values ​​to determine motion control values.

[0008] In the first embodiment and embodiments that can be combined with other embodiments, the operating parameter values ​​include, in the first mode, values ​​for rotational speed, pitch function parameters, and steering parameters, and in the second mode, values ​​for blade pitch angle.

[0009] In the first embodiment and in embodiments that can be combined with other embodiments, the method further comprises, in the first mode, selecting a pitch function from among pitch functions having at least trochoidal and epicycloidal pitch functions for stopping, based on speed; inputting the resulting set of operating parameter values ​​to the selected pitch function; and rotating the blade according to the motion control values ​​output by the selected pitch function.

[0010] In the first embodiment and embodiments that can be combined with other embodiments, the method further comprises, in the first mode, at least, rotating the blades such that, when adjustment is initiated, the thrust direction of the cycloidal propeller unit is changed to be substantially perpendicular to the thrust direction at the time input is received, and rotating the blades such that, when the indicated speed is less than a second speed which is slower than a first speed, the thrust direction of the cycloidal propeller unit is changed to a reverse thrust direction.

[0011] In the first embodiment and embodiments that can be combined with other embodiments, in the second mode, the predetermined angle value with respect to the direction of movement is up to ±90 degrees, and two or more of the two or more blades may have the same or different values.

[0012] In the first embodiment and embodiments that can be combined with other embodiments, the stopping procedure further comprises: adjusting the first and second cycloidal propeller units substantially symmetrically with respect to the longitudinal axis of the vessel using a first motion control value; receiving a steering command that changes the direction of movement of the vessel after input; determining a second motion control value based on at least the speed and the received steering command; and, after the steering command, adjusting one of the first and second cycloidal propeller units using the first motion control value and adjusting the other of the first and second cycloidal propeller units using the second motion control value.

[0013] In the first embodiment and embodiments that can be combined with other embodiments, when both the first and second cycloidal propeller units are adjusted using a first motion control value, they are both braked in either a first or second mode, and when the first and second motion control values ​​are used in the adjustment, one of the first and second cycloidal propeller units is braked in the first mode and the other of the first and second cycloidal propeller units is braked in the second mode.

[0014] In embodiments that can be combined with the first aspect and other embodiments, the method further comprises receiving an input to cancel the automatic stop procedure, stopping the stop procedure, and entering a normal operating mode.

[0015] According to a second aspect, an apparatus is provided that is configured to carry out the method according to the first aspect, or the method according to any embodiment among embodiments that can be combined with the first aspect.

[0016] According to a third aspect, a vessel is provided comprising at least a first cycloidal propeller unit and a second cycloidal propeller unit, wherein the cycloidal propeller unit comprises a rotatable main wheel equipped with two or more individually rotatable blades, and a movement control mechanism comprising at least one device configured to carry out a method according to the first aspect or any embodiment that can be combined with the first aspect; and at least one first user interface element for changing the state of an automatic stop procedure in response to user input to a first user interface element, wherein the first user interface element is connected to the movement control mechanism and comprises at least one second user interface element for steering the vessel.

[0017] According to a fourth aspect, the apparatus comprises at least one processor and at least one memory containing computer program code, wherein the at least one memory and the computer program code are configured to cause the apparatus to initiate a stop procedure in response to receiving an input that triggers an automatic stop procedure for stopping a vessel, the vessel comprising at least a first cycloidal propeller unit and a second cycloidal propeller unit, the cycloidal propeller unit comprising a rotatable main wheel equipped with two or more individually rotatable blades, and the stop procedure comprising at least obtaining information indicating the speed of the vessel and at least the latest steering command based on the indicated speed The device is provided, which includes adjusting the motion control values ​​of at least a first cycloidal propeller unit to brake the first cycloidal propeller unit in a first or second mode while maintaining the direction of movement of the vessel in accordance with the first mode, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction when an input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated.

[0018] In a fourth aspect and embodiments combinatorially applicable, at least one memory and computer program code are configured to cause the device, using at least one processor, to further reduce an indicated speed to a first speed by changing the thrust of at least one of the first and second cycloidal propeller units, at least during a stop procedure and at least before adjustment; to initiate adjustment when the indicated speed does not exceed the first speed; and to perform the adjustment gradually in a stepwise manner, the stepwise manner comprising, at least for each step, obtaining a set of predefined operating parameter values ​​for a step when the speed has decreased to the maximum speed value of the step; and performing the adjustment by applying the operating parameter values ​​to determine motion control values.

[0019] In a fourth aspect and embodiments that can be combined with other embodiments, at least one memory and computer program code are configured to cause the device, using at least one processor, to determine a stop operation mode from at least a normal stop operation mode and an emergency stop operation mode based on an input; to obtain a set of predefined operating parameter values ​​for the determined stop operation mode, wherein the operating parameter values ​​for the normal stop operation mode are predefined to optimize between maximum stop effect and maximum component life, and the operating parameter values ​​for the emergency stop operation mode are predefined for maximum stop effect, and adjustments are made by applying the operating parameter values ​​to determine motion control values.

[0020] In the fourth aspect and embodiments that can be combined with other embodiments, the operating parameter values ​​include, in the first mode, values ​​for rotational speed, pitch function parameters, and steering parameters, and in the second mode, values ​​for blade pitch angle.

[0021] In a fourth aspect and in embodiments that can be combined with other embodiments, at least one memory and computer program code are configured to cause the device, using at least one processor, to further perform, at least in a first mode, a pitch function based on speed, from among pitch functions having at least trochoidal and epicycloidal pitch functions for stopping; input the resulting set of operating parameter values ​​to the selected pitch function; and rotate the blade according to the motion control values ​​output by the selected pitch function.

[0022] In a fourth aspect and embodiments that can be combined with other embodiments, at least one memory and computer program code are configured to cause the device, using at least one processor, to rotate the blades such that, in at least a first mode, when adjustment is initiated, the thrust direction of the cycloidal propeller unit is changed to be substantially perpendicular to the thrust direction at the time input is received; and in the first mode, when the indicated speed is less than a second speed that is slower than a first speed, the blades are rotated such that the thrust direction of the cycloidal propeller unit is changed to the reverse thrust direction.

[0023] In a fourth aspect and embodiments combinatorially compatible with other embodiments, at least one memory and computer program code are configured to cause the device, using at least one processor, to adjust first and second cycloidal propeller units substantially symmetrically with respect to the longitudinal axis of the vessel using at least a first motion control value; to receive a steering command that changes the direction of movement of the vessel after input; to determine a second motion control value based at least on speed and the received steering command; and, after the steering command, to adjust one of the first and second cycloidal propeller units using the first motion control value and the other of the first and second cycloidal propeller units using the second motion control value.

[0024] In a fourth aspect and embodiments that can be combined with other embodiments, at least one memory and computer program code are configured to cause the device, using at least one processor, to brake both the first and second cycloidal propeller units in either a first or second mode when both of them are adjusted using a first motion control value, and further to brake one of the first and second cycloidal propeller units in the first mode and the other of the first and second cycloidal propeller units in the second mode when the first and second motion control values ​​are used in the adjustment.

[0025] According to a fifth aspect, a vessel comprising at least a first cycloidal propeller unit and a second cycloidal propeller unit, wherein the cycloidal propeller unit comprises a rotatable main wheel equipped with two or more individually rotatable blades, and a movement control mechanism comprising at least one device configured to initiate a stop procedure in response to receiving an input that triggers an automatic stop procedure, wherein the stop procedure comprises at least obtaining information indicating the speed of the vessel and adjusting the motion control values ​​of at least the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first mode or a second mode, while maintaining the direction of movement of the vessel in accordance with the latest steering command, wherein the first mode is the main wheel A vessel is provided, comprising: a cycloidal propeller braking mode in which the wheel is rotating and the blades of a cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction when an input is received; a second mode being a rudder-like braking mode in which the main wheel is kept in a first position and the blades are individually positioned toward a corresponding predetermined angle toward the direction of movement, or the blades are kept in a first position and the main wheel is rotated; and at least one first user interface element for changing the state of an automatic stop procedure in response to user input to a first user interface element, wherein the first user interface element is connected to a movement control mechanism and at least one second user interface element for steering the vessel.

[0026] In a vessel embodiment, at least one first user interface element comprises multiple user interface elements for multiple stop operation modes, which include at least a normal stop operation mode and an emergency stop operation mode.

[0027] According to a sixth aspect, there is provided a computer-readable medium storing computer-executable instructions that, when executed by a computer, cause the computer to at least perform starting a stopping procedure in response to receiving an input that triggers an automatic stopping procedure for stopping a vessel, wherein the vessel comprises at least a first cycloid propeller unit and a second cycloid propeller unit, the cycloid propeller unit comprises a rotatable main wheel equipped with two or more individually rotatable blades, and the stopping procedure comprises at least: obtaining information indicative of at least a speed of the vessel; causing adjustment of at least a movement control value of the first cycloid propeller unit such that the first cycloid propeller unit is braked in a first mode or a second mode while maintaining a moving direction of the vessel in accordance with a latest steering command based on at least the indicated speed; wherein the first mode is a cycloid propeller braking mode in which the main wheel is rotating and the blades of the cycloid propeller unit are rotated to change a thrust direction toward a reverse thrust direction when the input is received, and the second mode is a rudder-like braking mode in which either the main wheel is held in a first position and the blades are individually positioned toward respective predetermined angles with respect to the moving direction, or the blades are held in a first position and the main wheel is rotated.

[0028] An embodiment of the computer-readable medium causes a computer to execute a method according to any one of the embodiments combinable with the first aspect.

[0029] Hereinafter, illustrative embodiments will be described in more detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] [Figure 1] An example of marine equipment is illustrated. [Figure 2] An arrangement example of propulsion units is illustrated. [Figure 3]This is a flowchart illustrating a practical function. [Figure 4] Let's illustrate an example of a braking mode similar to a rudder. [Figure 5] An example of the cycloidal propeller braking mode is provided. [Figure 6] An example of the cycloidal propeller braking mode is provided. [Figure 7] This is a flowchart illustrating a practical function. [Figure 8] This is a flowchart illustrating a practical function. [Figure 9] This is a flowchart illustrating a practical function. [Figure 10] This is an illustrative block diagram of the device. [Modes for carrying out the invention]

[0031] The following embodiments are illustrative. While this specification may refer to “an,” “one,” or “some” embodiments in several places, this does not necessarily mean that each such reference is to the same embodiment or that features apply only to a single embodiment. A single feature from a different embodiment may also be combined to provide other embodiments. Furthermore, the words “comprising” and “including” should be understood not to limit the described embodiments / examples to those consisting only of the mentioned features; such embodiments may also include features / structures not specifically mentioned. Additionally, terms including ordinal numbers such as first, second, etc., may be used to describe various elements, but structural elements are not limited by those terms. Those terms are used solely for the purpose of distinguishing one element from another. For example, without departing from the scope of this disclosure, the first cycloidal propeller unit may be referred to as the second cycloidal propeller unit, and similarly, the second cycloidal propeller unit may be referred to as the first cycloidal propeller unit.

[0032] Embodiments and examples of the methods described herein may be implemented in any cycloidal propulsion system comprising two or more cycloidal propeller units.

[0033] Figure 1 is a schematic block diagram illustrating a very simplified example of a vessel 110 having a propulsion system, the propulsion system comprising two or more cycloidal propeller units 120, abbreviated as propellers or propulsion subsystems. The term vessel generally refers to any boat designed for water transport; for example, a sea vehicle is a vessel. Sea vehicles may include, for example, transport ships and passenger ships. Transport ships may include, for example, cargo ships and container ships. In addition, a vessel may refer to service vessels such as fishing boats, tugboats and supply ships, as well as warships. Furthermore, a vessel may be used as a ferry or a submarine. It will be clear to those skilled in the art that a vessel comprises any number of shown elements, other equipment, other functions, and other structures not illustrated. These are well known to those skilled in the art, as well as signaling and protocols used to carry control information, and are irrelevant to the actual invention. Therefore, they do not need to be discussed in more detail here.

[0034] In the example shown in Figure 1, the cycloidal propeller unit 120 comprises a rotatable main wheel 121 equipped with five blades 122, 123, 124, 125, and 126 extending from the main wheel, each blade being individually rotatable, for example, to change the angle of attack. It should be noted that any number of blades may be present. A detailed description of different examples of such cycloidal propeller units, and the controllability and rotatability of different parts of one or more cycloidal propeller units, as well as a general movement control mechanism 140 for controlling the rotation of a unit or part(s) of a unit(s) individually or together, is provided in WO2021 / 249645, assigned to the same applicant and incorporated herein by reference. Furthermore, to enable an automatic stopping procedure using steering capability, the movement control mechanism 140 comprises a stopping tool 141, for example, a device configured to perform the automatic stopping procedure described in more detail below.

[0035] The automatic stop procedure is initiated when a corresponding input is received. The input may be, for example, a user input received via a user interface (UI) element 130 on the bridge. The input may also be an input generated by a pilot system, such as an automatic pilot system. Depending on the implementation, the automatic stop procedure may comprise one stop operation mode or multiple stop operation modes, such as a normal stop operation mode and an emergency stop operation mode. A non-exclusive list of examples of user interface elements 130 includes a display with one or more software buttons for the automatic stop procedure, or a joystick with one or more physical positions or buttons for the automatic stop procedure, or a lever with one or more predefined positions for the automatic stop procedure, or one or more dedicated levers or physical buttons for the automatic stop procedure. For example, at least one user interface element 130 available for changing the state of the automatic stop procedure is connected to the movement mechanism element 140 to activate at least the stop tool 141. Further user interface elements not shown in Figure 1 are user interface elements for steering the vessel. For example, a joystick or lever may be used to steer the vessel during the automatic stop procedure. In response to this, although not illustrated in Figure 1, the pilot system may be connected to the moving mechanism element 140 or the automatic stopping tool 141, or it may be part of the moving mechanism element 140.

[0036] The automatic stop tool 141 may be configured to perform one or more different braking modes. The configuration may include a set of operating parameters to be used during stopping. In one implementation, the automatic stop procedure uses a cycloidal propeller braking mode. In another embodiment, the automatic stop procedure uses a braking mode such as a rudder mode. In further implementations, the automatic stop procedure may use both the cycloidal propeller braking mode and a braking mode such as a rudder mode, for example, continuously and / or simultaneously, and / or depending on the stopping operation mode.

[0037] Figure 2 is a schematic block diagram illustrating different examples of positioning of at least a first and a second cycloidal propeller unit in a vessel, which can be configured to implement an automatic stop procedure that maintains the direction of movement of the vessel in accordance with the latest steering command. In the illustrated example in Figure 2, the cycloidal propeller units are positioned symmetrically with respect to the longitudinal axis of the vessel's hull, which is illustrated by a dashed line. However, it should be recognized that the cycloidal propeller units may be positioned asymmetrically, or some of them may be positioned symmetrically and some asymmetrically.

[0038] Referring to Figure 2, vessel 210 is a double-ended vessel in which the first cycloidal propeller unit 211 and the second cycloidal propeller unit 212 are positioned along the longitudinal axis of the hull. In vessel 220, the first cycloidal propeller unit 221 and the second cycloidal propeller unit 222 are positioned at the ends of the hull at the same distance from the longitudinal axis of the hull. In vessels 210 and 220, both propeller units can be used to stop the vessel, or one is used to stop the vessel and the other is used to maintain the direction of travel in accordance with the latest steering command. The vessel 230 is equipped with three cycloidal propeller units 231, 232, and 233 at the ends of the hull, with two cycloidal propeller units 231 and 232 positioned at the same distance from the longitudinal axis of the hull, i.e., in the same manner as in the vessel 220, and one cycloidal propeller unit 233 positioned along the longitudinal axis of the hull. In the vessel 230, all propeller units may be used to stop the vessel, or two propeller units may be used to stop the vessel and one propeller unit may be used to maintain the direction of travel in accordance with the latest steering command, or one propeller unit may be used to stop the vessel and one or two propeller units may be used to maintain the direction of travel in accordance with the latest steering command.

[0039] As is evident from the example in Figure 2, the automatic stop procedure does not restrict the positioning of the propeller unit, and the propeller unit can be controlled differently during the automatic stop procedure using steering capabilities.

[0040] Figure 3 is a flowchart illustrating an exemplary function of a movement control mechanism configured to perform an automatic stopping procedure for a vessel having at least a first cycloidal propeller unit and a second cycloidal propeller unit.

[0041] Referring to Figure 3, the propeller unit is controlled to provide thrust and steer the vessel according to the received input (block 302: no), as described, for example, in WO2021 / 249645 (block 301). When an input is received that triggers an automatic stop procedure (block 302: yes), the stop procedure (automatic stop procedure) is initiated. The stop procedure comprises at least obtaining information indicating at least the speed of the vessel (block 303) and adjusting at least the motion control values ​​of the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first or second mode, while maintaining the direction of travel of the vessel in accordance with the latest steering command, based at least the indicated speed (block 304). The direction of travel of the vessel is maintained in accordance with the latest steering command by taking into account any changes in direction of travel that may be caused by braking, e.g., asymmetric braking, and compensating for this in steering.

[0042] The obtaining (block 303) and adjusting (block 304) described above may be performed multiple times during the stop procedure, and they are performed automatically without any further input other than the input that triggers the automatic stop procedure.

[0043] Information indicating speed may be the measured ship speed, information indirectly indicating speed, or an estimate. Information indirectly indicating speed may be torque values, power values, and / or revolutions per minute (RPM) values. Speed ​​may be calculated using the aforementioned values. Estimates may be calculated based on a model, for example, on the ship's total thrust, i.e., the thrust generated by the propeller unit in use, and the ship's resistance curve. The ship's resistance or drag is constant or nearly constant (well constant) with respect to speed.

[0044] A first mode in which the first cycloidal propeller unit can be braked is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction when an input is received, as illustrated, for example, in Figures 5 and 6.

[0045] A second mode in which the first cycloidal propeller unit can be braked may be a rudder-like braking mode in which, for example as illustrated in Figure 4, the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. The first position(s) may be the position(s) that the main wheel / blade(s) had at the time the input triggering the automatic stop procedure is received or at a later point in the automatic stop procedure.

[0046] Depending on the implementation, adjustments may be carried out gradually, or sequentially, in a step-by-step manner. An example of this step-by-step approach is illustrated in Figure 7.

[0047] Furthermore, depending on the implementation, if there are two or more automatic stop operation modes, the adjustment may be performed based on the automatic stop operation mode triggered by the input, and different automatic stop operation modes provide different adjustments.

[0048] Figure 4 is a block diagram illustrating the operating principle in a rudder-like braking mode, which is referred to herein as the second mode. In the rudder-like braking mode, the propeller unit generates only lateral force and braking force, and does not generate thrust or forward thrust.

[0049] Referring to Figure 4, the main wheel 121 and blades of the propeller unit are controlled, including rotation, in the normal operating mode 410 as described above in block 301, in order to move the vessel in the direction of travel 401 until the automatic stop procedure is initiated.

[0050] In one implementation, during an automatic stop procedure in a braking mode such as a rudder, the propeller unit may be configured to maintain the main wheel 121 in a certain position (a first position), for example, the position the main wheel had when an input to trigger the automatic stop procedure was received or when adjustment was initiated, and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement. The value of the predetermined angle with respect to the direction of movement is at most ±90 degrees, preferably between ±10 degrees and ±45 degrees. Two or more of the two or more blades may have the same or different values ​​of the predetermined angle. For example, all blades may be positioned inward or outward at the same angle, for example, to generate steering power and / or braking power and / or to compensate for lateral forces of another propeller unit. The blades may be positioned as symmetrically as possible, for example, to form a braking formation. For example, in Example 420 of the final braking mode position, the blades are positioned inward at angles 421, 422, 423, 424, and 425, each having the same absolute value, e.g., 25 degrees. The blades may have gradually different angles, for example, to enhance the steering effect, with the forward blade(s) having the smallest angle and the next blade having a larger angle. For example, in Example 430 of the final braking mode position of the blades, angle 433 is the smallest angle, angles 432 and 434 are larger than angle 433 and have the same absolute value, and angles 431 and 435 are larger than angles 432 and 434. Any combination of the disclosed methods for positioning the angles may be used depending on, for example, the stopping operation mode, the size of the vessel, the number of propeller units on the vessel, the number of propeller units used in the automatic stopping procedure, etc. Furthermore, as in Examples 420 and 430, the angles are inward, but one or more of the angles may be outward.

[0051] In another implementation, during an automatic stop procedure in a mode such as rudder braking, the propeller unit may be configured to hold the blades in a predetermined position (first position), for example, the position the blades had when an input to trigger the automatic stop procedure is received, or when adjustment is initiated and the main wheel 121 is rotated at a predetermined angle with respect to the direction of travel. The value of the predetermined angle with respect to the direction of travel is up to ±90 degrees. While the main wheel 121 rotates, the blades also move accordingly, as illustrated in Example 440.

[0052] In a vessel with two or more propeller units, it is also possible for one or more propeller units on the vessel to perform a mode such as rudder braking to maintain the wheels in a first position, and for one or more propeller units on the vessel to perform a mode such as rudder braking to maintain the blades in a first position. Furthermore, it should be recognized that the first position can be any predetermined fixed position.

[0053] Figures 5 and 6 are block diagrams illustrating the operating principle in a cycloidal propeller braking mode, referred to herein as the first mode, when two cycloidal propeller units are symmetrically adjusted with respect to the longitudinal axis and direction of movement. In the cycloidal propeller braking mode, the propeller units generate thrust and propulsion, and the thrust direction is changed, for example, using predetermined control values ​​for the blades without changing the rotation direction of the wheel.

[0054] Figure 5 illustrates the operating principle of a cycloidal propeller unit positioned along its longitudinal axis.

[0055] Referring to Figure 5, in the normal operating mode 510 as described above in block 301, the blades generate thrust such that the thrust direction 511 aligns with the direction of movement in order to move the vessel in the direction of movement 501 until the automatic stop procedure is initiated. When the automatic stop procedure, i.e., adjustment, is initiated, the blades are rotated so that the thrust direction of the cycloidal propeller unit is changed to be substantially perpendicular to the thrust direction at the time the input is received. In symmetric adjustment, as shown in Examples 520A and 520B, the thrust direction of one of the propeller units is rotated outward 521 and the thrust direction of the other of the propeller unit is rotated inward 522. The blades are further rotated so that the thrust direction of the cycloidal propeller unit is changed to the reverse thrust direction 531 when the indicated speed falls below a predetermined limit, for example as shown in Example 530. The blades may be rotated by changing the blade trajectory parameters.

[0056] Figure 6 illustrates the operating principle of a cycloidal propeller unit positioned symmetrically with respect to the longitudinal axis of a ship, at the same or substantially the same distance from the longitudinal axis.

[0057] Referring to Figure 6, in the normal operating mode 610 as described above in block 301, the blades generate thrust such that the thrust direction 611 aligns with the direction of travel in order to move the vessel in the direction of travel 601, until an automatic stop procedure or adjustment is initiated. When the automatic stop procedure, i.e., adjustment is initiated, the blades are rotated so that the thrust direction of the cycloidal propeller unit is changed to be substantially perpendicular to the thrust direction at the time the input is received. In a symmetric adjustment, the thrust direction of the propeller unit is rotated outward 621 or inward 622, as shown in Examples 620A and 620B. In the illustrated examples, the blades are further rotated so that the thrust direction of the cycloidal propeller unit is changed to a reverse thrust direction 631, as shown in Example 630, when the indicated speed falls below a predetermined limit, for example, as described in block 303. The blades may be rotated by changing the blade trajectory parameters.

[0058] During the automatic stop procedure, symmetrical adjustments can be changed to asymmetrical adjustments, and in some cases, later reverted to symmetrical adjustments. Furthermore, in vessels with two or more propeller units, it is possible for one or more propeller units on the vessel to perform a mode such as rudder braking, and for one or more propeller units on the vessel to perform a cycloidal propeller braking mode.

[0059] In an asymmetrical procedure, the propellers may be adjusted to change their thrust direction such that one is changed inward and the other outward, or the propellers may change their thrust direction in different phases, for example, such that when one is changed by about 90 degrees compared to its starting position, the other is changed by about 45 degrees.

[0060] Figure 7 is a flowchart illustrating the exemplary functionality of a motion control mechanism configured to perform an automatic stop procedure in a stepwise manner using one of several available stop operation modes. In the illustrated example, it is assumed that the stop operation modes are a normal stop operation mode and an emergency stop operation mode.

[0061] Referring to Figure 7, the propeller unit is controlled to provide thrust and steer the vessel according to the received steering input (block 702: no), according to user input such as described in WO2021 / 249645, and / or according to steering commands generated by the pilot system (block 701). When an input is received that triggers the automatic stop procedure (block 702: yes), the stop procedure (automatic stop procedure) is initiated. In the example shown, the stop operation mode is determined based on the input (block 703). For example, a user input element selected by the user indicates whether the automatic stop function is triggered for a normal stop or for an emergency stop. Correspondingly, the pilot system, e.g., the autopilot system, may generate different stop commands or stop inputs, e.g., a normal stop command and an emergency stop command. Furthermore, information indicating at least the vessel's speed v is obtained (block 704), which is performed multiple times during the stop procedure, for example, as an ongoing background process, although not separately illustrated herein.

[0062] In the example shown in Figure 7, before adjustment, the indicated speed v is reduced to a first speed v1 by modifying the thrust of at least one of the first and second cycloidal propeller units (block 706), as long as the speed v exceeds a first speed v1 (block 705: yes). For example, the speed can be reduced to about 20 RPM. In other words, when the stopping procedure is initiated, the speed of the vessel is reduced by generating a force that has velocity and inertia and is counteracting the direction of movement.

[0063] When the speed is reduced to a first speed (block 705:no), i.e., when the indicated speed does not exceed the first speed, adjustment of at least the first cycloidal propeller unit is initiated in a stepwise manner, meaning that the adjustment steps are performed in a repeatable stepwise manner. The number of steps may vary, but at least two steps are required in implementations using the cycloidal propeller braking mode illustrated in Figure 5 or 6. Furthermore, the number of steps in the normal operating mode may differ from the number of steps in the emergency mode.

[0064] In the example shown in Figure 7, the braking mode is determined for each cycloidal propeller unit in a ship, or for each cycloidal propeller unit used in an automatic stopping procedure (block 707). The braking mode comprises a first mode (cycloidal propeller braking mode) and a second mode (rudder-like braking mode), and in the implementation, the braking mode also comprises a rudder-only mode for one or more propeller units when at least one propeller unit is in braking mode. It should be noted that in the implementation, for example, which has only one braking mode, the determination of the braking mode may be skipped.

[0065] Next, actual adjustments are made for each cycloidal propeller unit whose braking mode has been determined. In the example shown, if the braking mode is the first mode (block 708: yes), a pitch function is selected from two or more pitch functions based on the speed (block 709). For example, the selection may depend on the current step, which depends on the current speed. The pitch function comprises at least a trochoidal and an epicycloidal pitch function, e.g., a trochoidal and an epicycloidal pitch function for stopping (for an automatic stop procedure). Depending on the implementation, the pitch function may also comprise other periodic pitch functions, or a non-periodic pitch functions, e.g., a podway stop. Furthermore, the pitch function, or some of them, may be the same pitch function used in the normal operating mode (block 701) and / or a dedicated pitch function for the stopping operating mode.

[0066] Regardless of the braking mode, i.e., regardless of whether a pitch function is selected (block 708: yes) or not (block 708: no), a set of predefined operating parameter values ​​is obtained for the stopping operation mode and step (block 710). The pitch function may be selected based on the stopping operation mode and / or speed. The operating parameter values ​​for the normal stopping operation mode may be predefined to optimize between the maximum stopping effect, i.e., the shortest stopping distance and the maximum part life, or they may be predefined for a soft stopping effect that takes into account part wear and a reasonable / pre-estimated stopping distance. The operating parameter values ​​for the emergency stopping operation mode may be predefined for the maximum stopping effect. In other words, they may be predefined for the shortest stopping distance, without taking into account what part life means. The set of operating parameter values ​​for the first mode may include values ​​for rotational speed, pitch function parameters, e.g., eccentricity, and steering parameters, e.g., yaw angle. The set of operating parameter values ​​for the second mode may include values ​​for the blade pitch angle, or values ​​for rotating the wheel. The values, or some of them, may be values ​​to be applied as such in order to obtain the values ​​to be applied in the step, or values ​​to be added to or subtracted from previous values, for example, values ​​for operating parameters in the normal operating mode. As a general rule, the values ​​for operating parameters may be predetermined to produce the braking effect required to stop the movement of the vessel, for example, while limiting the blade stress level as much as possible to avoid damage to the propeller unit(s). The use of predetermined values ​​ensures quick adjustments and reduces the computational power required during the automatic stop procedure.

[0067] The operating parameter value is applied to determine the motion control value (block 711). For example, in the first mode, the operating parameter value may be input to the pitch function and the motion control value may be output. In the second mode, the operating parameter value may be determined to be the motion control value, or the motion control value may be calculated using the previous motion control value and the obtained operating parameter value. The motion control value is then applied to rotate one or more blades and / or wheels, and then it is monitored whether the velocity v decreases to the maximum velocity value v-max-next for the next step (block 713), or decreases to zero (block 714), or whether an input to cancel the automatic stop procedure is received (block 715).

[0068] When the velocity v decreases to the maximum velocity value v-max-next for the next step (block 713: no), the process returns to block 707 to determine the braking mode for the step, as illustrated in the example, and continues from there as described above.

[0069] When the velocity v decreases to zero (block 714: yes), in the example shown, the system enters stop mode (block 716).

[0070] If an input is received to cancel the automatic stop procedure (block 715: yes), the stop procedure is stopped (block 717) and, in the illustrated example, enters normal operating mode (block 717). Entering normal operating mode means that the process returns to block 701 and controls the propeller unit to provide thrust and steer the vessel according to the received steering input. The input that triggers the automatic stop procedure and the input that cancels the automatic stop procedure may both be received as user inputs or as inputs generated by the pilot system, or one of them may be a user input and the other may be an input generated by the pilot system.

[0071] In one implementation, when the automatic stop procedure triggered in block 702 is in normal stop operation mode, an emergency stop operation mode input received thereafter cancels the normal stop operation mode, and the process returns to block 703 to re-determine the stop operation mode.

[0072] Figures 8 and 9 are flowcharts illustrating different examples of the functionalities of a motion control mechanism, which provide different examples of how steering commands received during a stop procedure can be taken into account. These different functions can be combined. The examples illustrated in Figures 8 and 9 assume a symmetrical procedure at the start of a stop procedure, including the initiation of adjustments, that maintains the direction of movement to be the direction the vessel had when the input triggering the automatic stop procedure was applied. In other words, it is assumed that during the adjustment phase, a steering command is received that changes the direction of movement of the vessel. Furthermore, for clarity, it is assumed that two cycloidal propeller units are used. Implementing the functionality for more than two propeller units is a straightforward task.

[0073] Referring to Figure 8, once adjustment is initiated (block 800), a first motion control value is determined based on the speed (block 801), and the two propeller units are adjusted using the first motion control value substantially symmetrically with respect to the longitudinal axis of the vessel until a steering command is received that changes the direction of the vessel's movement (block 803: yes) (block 802). After the steering command, in the illustrated example, a first motion control value is determined based on the speed (block 804), and a second motion control value is determined based on the speed and the steering command, for example, based on the change in direction of movement (block 804). Then, one of the propeller units is adjusted using the first motion control value, and the other of the propeller units is adjusted using the second motion control value (block 805). In other words, asymmetric adjustment is applied.

[0074] Referring to Figure 9, once adjustment is initiated (block 900), the two propeller units are adjusted substantially symmetrically with respect to the longitudinal axis of the vessel to brake in either the first or second mode, i.e., in the same mode, until a steering command is received that changes the direction of the vessel's movement (block 902: yes) (block 901). Then, in the illustrated example, one of the propeller units is braked in the first mode, and the other propeller unit is braked in the second mode. In other words, one of the propeller units is adjusted using the first mode, and the other propeller unit is adjusted using the second mode (block 903). In other words, asymmetric adjustment is applied. It can be said that the propeller unit whose braking mode remains the same uses the first motion control value, and the propeller unit whose braking mode is changed uses the first motion control value first, and then the second motion control value after the steering command.

[0075] In Figures 1-9, the blocks and related functions described above are not in an absolute time sequence, and some of the blocks may be executed simultaneously or in an order different from a given sequence. Other functions may also be executed between or within blocks. For example, when a stop procedure is initiated, the ocean mode may be changed to a steering mode, and then adjustment or deceleration may be initiated. Another example is obtaining power from the braking power generated during an automatic stop procedure. Some of the blocks or parts of a block may be excluded or replaced by a corresponding block or part of a block.

[0076] Figure 10 is a simplified block diagram illustrating, for example, some units for a device 1000 configured to perform at least some of the functions described above for an automatic stopping procedure for a ship, as shown in Figures 1-7 and any combination thereof. In the example shown, the device 1000 comprises one or more interface (IF) entities 1001, such as one or more user interfaces, and one or more processing entities 1002 connected to various interface entities 1001 and one or more memories 1003.

[0077] One or more interface entities 1001 are entities for receiving and transmitting information, such as communication interfaces that have hardware and / or software for realizing a communication connection in accordance with one or more communication protocols, or for realizing data storage and fetching, or for providing interaction with a user through one or more user interfaces as described above in the description of the example illustrated in Figure 1.

[0078] The processing entity 1002 is capable of performing calculations and is configured to perform at least some of the functions / operations described above using the corresponding algorithm 1004 stored in memory 1003, for example, by any of the ones in Figures 1-9 and any combination thereof. The functions and corresponding algorithms may include one or more functions having functions and corresponding algorithms for one or more stop procedures, as well as a corresponding algorithm for a pilot system. Entity 1002 may include one or more processors, controllers, control units, microcontrollers, etc., which can be configured to perform the embodiments / examples / implementation forms or operations described above, for example, by any of the ones in Figures 1-9 and any combination thereof. Generally, the processor is a central processing unit, but the processor entity 1002 may be an additional arithmetic processor, or a multicore processor, or a microprocessor.

[0079] Memory 1003 can be used, for example, to store computer program code required for one or more functions / operations described above by any one of Figures 1-9 and any combination thereof, i.e., algorithms 1004 for performing the functions / operations described above by any one of Figures 1-9 and any combination thereof. Memory 1003 can also be used to store two or more sets of operation parameter values, which may be associated with corresponding speed values ​​when a stepped form of adjustment (braking) is applied. Memory 1003 may also be used, for example, to store at least temporarily other possible information required for one or more functions / operations described above by any one of Figures 1-9 and any combination thereof. Memory 1003 may include, for example, a data buffer capable of at least temporarily storing measurement data and / or information received as input.

[0080] In summary, the methods described herein by any one of Figures 1-9 and any combination thereof may be configured as a computer or processor, or a microprocessor such as a single-chip computer element, or a chipset, or one or more logic gates, which include at least memory for providing a storage area used for arithmetic operations and an arithmetic processor for performing arithmetic operations. For example, one or more or one of the algorithms for the functions / operations described above by any one of Figures 1-7 and any combination thereof may be provided in one or more computer processors, application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), graphics processing units (GPUs), and / or other hardware components, which are programmed and / or will be programmed by downloading computer program code (one or more algorithms) to perform one or more functions of one or more embodiments / examples.

[0081] Embodiments provide a computer program embodied on any client-readable distribution / data storage medium or memory unit(s) or product(s), comprising program instructions executable by one or more processors / computers, wherein the instructions, when loaded into a device, constitute an entity that provides a corresponding function or at least a portion of a corresponding function. A program, also called a program product, including software routines, program snippets, applets, and macros that constitute a "program library," can be stored in any medium, including non-temporary computer-readable storage media, and can be downloaded into a device. In other words, for example, each or some or one of the algorithms for one or more functions / operations described above by any of Figures 1-9, one or more arithmetic logic units, some special registers, and control circuits.

[0082] As technology advances, it will be apparent to those skilled in the art that the concepts of the present invention can be implemented in a variety of ways. The present invention and its embodiments are not limited to the examples described above and may be modified within the scope of the claims. The original claims as submitted are included below. [1] A method for stopping a vessel, the vessel comprising at least a first cycloidal propeller unit and a second cycloidal propeller unit, the cycloidal propeller unit comprising a rotatable main wheel equipped with two or more individually rotatable blades, the method The system includes initiating a stop procedure in response to receiving an input that triggers an automatic stop procedure, the stop procedure comprising at least, At least obtain information indicating the speed of the aforementioned vessel, Adjusting the motion control values ​​of at least the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first or second mode, while maintaining the direction of movement of the vessel in accordance with the latest steering command, based at least the indicated speed, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction when the input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. A method that includes [something]. [2] The termination procedure includes at least, Before adjustment, the indicated speed is reduced to a first speed by changing the thrust of at least one of the first and second cycloidal propeller units, and the adjustment is initiated when the indicated speed does not exceed the first speed. The method according to [1], further comprising: [3] The stopping procedure further comprises at least a normal stopping operation mode and an emergency stopping operation mode, and the method is The stop operation mode is determined based on the aforementioned input, Obtain a set of predefined operating parameter values ​​for the determined stop operation mode, wherein the operating parameter values ​​for the normal stop operation mode are predefined to optimize between maximum stop effect and maximum component life, and the operating parameter values ​​for the emergency stop operation mode are predefined for maximum stop effect. The adjustment is performed by applying the operating parameter value to determine the motion control value. The method according to [1], further comprising: [4] The termination procedure includes at least, The process further comprises gradually performing the adjustment in a stepwise manner, wherein the stepwise manner includes at least, step by step, When the speed decreases to the maximum speed value of the step, a set of predefined operating parameter values ​​for the step is obtained. The adjustment is performed by applying the operating parameter value to determine the motion control value. The method according to [1], comprising: [5] The method according to [4], wherein the operating parameter values ​​in the first mode include a value for rotational speed, a pitch function parameter, and a steering parameter, and in the second mode include a value for blade pitch angle. [6] In the first mode, Based on the aforementioned speed, a pitch function is selected from among pitch functions that include at least a trochoidal and epicycloidal pitch function for stopping, The set of operating parameter values ​​obtained is input to the selected pitch function, The blade is rotated according to the motion control value output by the selected pitch function. The method described in [5], further comprising: [7] In the first mode, at least, When the adjustment is initiated, the blades are rotated such that the thrust direction of the cycloidal propeller unit is changed to be substantially perpendicular to the thrust direction at the time the input is received. When the indicated speed is less than a second speed that is slower than the first speed, the blades are rotated so that the thrust direction of the cycloidal propeller unit is changed to the reverse thrust direction. The method described in [2], further comprising: [8] The method according to [1], wherein in the second mode, the predetermined angle value with respect to the direction of movement is at most ±90 degrees, and two or more of the two or more blades may have the same or different values. [9] The termination procedure includes at least, Adjusting the first and second cycloidal propeller units substantially symmetrically with respect to the longitudinal axis of the vessel using a first motion control value, After the input, the ship receives a steering command to change the direction of movement of the vessel, The second motion control value is determined based at least on the speed and the received steering command, After the steering command, one of the first and second cycloidal propeller units is adjusted using the first motion control value, and the other of the first and second cycloidal propeller units is adjusted using the second motion control value. The method according to [1], further comprising:

[10] When both the first and second cycloidal propeller units are adjusted using the first motion control value, they are both braked in either the first mode or the second mode, When the first motion control value and the second motion control value are used in the adjustment, one of the first and second cycloidal propeller units is braked in the first mode, and the other of the first and second cycloidal propeller units is braked in the second mode. The method described in [9].

[11] Receiving input to cancel the automatic stop procedure, To stop the aforementioned stopping procedure, Entering normal operating mode and The method according to [1], further comprising:

[12] A device, At least one processor, At least one memory containing computer program code and The device comprises at least one memory and computer program code, and uses at least one processor to provide at least, The system is configured to initiate an automatic stop procedure in response to receiving an input that triggers an automatic stop procedure for stopping a vessel, the vessel comprising at least a first cycloidal propeller unit and a second cycloidal propeller unit, the cycloidal propeller unit comprising a rotatable main wheel equipped with two or more individually rotatable blades, and the stop procedure comprises at least, At least obtain information indicating the speed of the aforementioned vessel, Adjusting the motion control values ​​of at least the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first or second mode, while maintaining the direction of movement of the vessel in accordance with the latest steering command, based at least the indicated speed, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction when the input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. A device equipped with the following features.

[13] At least one of the memory and computer program code, using at least one of the processors, to the device at least during the shutdown procedure, Before adjustment, the indicated speed is reduced to a first speed by changing the thrust of at least one of the first and second cycloidal propeller units, and the adjustment is initiated when the indicated speed does not exceed the first speed. The above adjustments will be carried out gradually in a step-by-step manner. The process is configured to perform further, and the stepwise form is configured to obtain a set of predefined operating parameter values ​​for each step when the speed decreases to the maximum speed value of the step, The adjustment is performed by applying the operating parameter value to determine the motion control value. The apparatus described in

[12] , comprising:

[14] At least one of the memory and computer program code are provided to the device using at least one of the processors, Based on the aforementioned input, the stop operation mode is determined from at least the normal stop operation mode and the emergency stop operation mode, Obtain a set of predefined operating parameter values ​​for the determined stop operation mode, wherein the operating parameter values ​​for the normal stop operation mode are predefined to optimize between maximum stop effect and maximum component life, and the operating parameter values ​​for the emergency stop operation mode are predefined for maximum stop effect. The adjustment is performed by applying the operating parameter value to determine the motion control value. The apparatus described in

[12] , configured to perform further actions.

[15] The apparatus according to

[13] , wherein the operating parameter values ​​in the first mode include a value for rotational speed, a pitch function parameter, and a steering parameter, and in the second mode include a value for blade pitch angle.

[16] At least one of the memory and computer program code, using at least one of the processors, to the device, at least in the first mode, Based on the aforementioned speed, a pitch function is selected from among pitch functions that include at least a trochoidal and epicycloidal pitch function for stopping, The set of operating parameter values ​​obtained is input to the selected pitch function, The blade is rotated according to the motion control value output by the selected pitch function. The apparatus described in

[15] , configured to further perform the following.

[17] At least one of the memory and computer program code are provided to the device using at least one of the processors, In the first mode, when the adjustment is initiated, the blades are rotated such that the thrust direction of the cycloidal propeller unit is changed to be substantially perpendicular to the thrust direction at the time the input is received, In the first mode, when the indicated speed is less than a second speed that is slower than the first speed, the blades are rotated to change the thrust direction of the cycloidal propeller unit to the reverse thrust direction. The apparatus described in

[13] , configured to perform further actions.

[18] At least one of the memory and computer program code are provided to the device using at least one of the processors, Adjusting the first and second cycloidal propeller units substantially symmetrically with respect to the longitudinal axis of the vessel using a first motion control value, After the input, the ship receives a steering command to change the direction of movement of the vessel, The second motion control value is determined based at least on the speed and the received steering command, After the steering command, one of the first and second cycloidal propeller units is adjusted using the first motion control value, and the other of the first and second cycloidal propeller units is adjusted using the second motion control value. The apparatus described in

[12] , configured to perform further actions.

[19] At least one of the memory and computer program code are provided to the device using at least one of the processors, When both the first and second cycloidal propeller units are adjusted using the first motion control value, both the first and second cycloidal propeller units are braked in either the first mode or the second mode, When the first motion control value and the second motion control value are used in the adjustment, one of the first and second cycloidal propeller units is braked in the first mode, and the other of the first and second cycloidal propeller units is braked in the second mode. The apparatus described in

[18] , configured to perform further actions.

[20] A ship, At least a first cycloidal propeller unit and a second cycloidal propeller unit, wherein each cycloidal propeller unit comprises a rotatable main wheel equipped with two or more individually rotatable blades, A movement control mechanism comprising at least one device configured to initiate a stop procedure in response to receiving an input that triggers an automatic stop procedure, wherein the stop procedure comprises at least obtaining information indicating the speed of the vessel and adjusting at least the motion control values ​​of the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first mode or a second mode, while maintaining the direction of movement of the vessel in accordance with the most recent steering command, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction at the time the input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. A first user interface element for changing the state of the automatic stop procedure in response to user input to the first user interface element, wherein the first user interface element is connected to the movement control mechanism. At least one second user interface element for steering the vessel and A ship equipped with these features.

[21] The vessel according to

[20] , wherein at least one of the first user interface elements comprises a plurality of user interface elements for a plurality of stop operation modes, which include at least a normal stop operation mode and an emergency stop operation mode.

[22] When executed by a computer, the computer will have at least: A computer-readable medium for storing computer-executable instructions that cause a ship to initiate an automatic stop procedure in response to receiving an input that triggers such an automatic stop procedure for stopping a ship, wherein the ship comprises at least a first cycloidal propeller unit and a second cycloidal propeller unit, each cycloidal propeller unit comprising a rotatable main wheel equipped with two or more individually rotatable blades, and the stop procedure comprises at least, At least obtain information indicating the speed of the aforementioned vessel, To cause adjustment of the motion control values ​​of at least the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first or second mode, while maintaining the direction of movement of the vessel in accordance with the latest steering command, based at least the indicated speed, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction when the input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. A computer-readable medium that includes [a certain feature].

Claims

1. A method for stopping a vessel, wherein the vessel comprises at least a first cycloidal propeller unit and a second cycloidal propeller unit, each cycloidal propeller unit comprising a rotatable main wheel equipped with two or more individually rotatable blades, and the method is The system includes initiating a stop procedure in response to receiving an input that triggers an automatic stop procedure, and the stop procedure comprises at least: At least obtain information indicating the speed of the aforementioned vessel, Adjusting the motion control values ​​of at least the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first or second mode, while maintaining the direction of movement of the vessel in accordance with the latest steering command, based at least the indicated speed, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction without changing the direction of rotation of the main wheel at the time the input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. A method that includes [a certain feature].

2. The aforementioned stopping procedure includes at least, Before adjustment, the indicated speed is reduced to a first speed by changing the thrust of at least one of the first and second cycloidal propeller units, and the adjustment is started when the indicated speed does not exceed the first speed. The method according to claim 1, further comprising:

3. The aforementioned stopping procedure further comprises at least a normal stopping operation mode and an emergency stopping operation mode, and the method is The stop operation mode is determined based on the aforementioned input, Obtain a set of predefined operating parameter values ​​for the determined stop operation mode, wherein the operating parameter values ​​for the normal stop operation mode are predefined to optimize between maximum stop effect and maximum component life, and the operating parameter values ​​for the emergency stop operation mode are predefined for maximum stop effect. The adjustment is performed by applying the operating parameter value to determine the motion control value. The method according to claim 1, further comprising:

4. The aforementioned stopping procedure includes at least, The process further comprises gradually performing the adjustment in a stepwise manner, wherein the stepwise manner includes at least, step by step, When the speed decreases to the maximum speed value of the step, a set of predefined operating parameter values ​​for the step is obtained. The adjustment is performed by applying the operating parameter value to determine the motion control value. The method according to claim 1, comprising:

5. The method according to claim 4, wherein the operating parameter values ​​include, in the first mode, a value for rotational speed, a pitch function parameter, and a steering parameter, and in the second mode, a value for blade pitch angle.

6. In the first mode, Based on the aforementioned speed, a pitch function is selected from among pitch functions that include at least trochoidal and epicycloidal pitch functions for stopping, The set of operating parameter values ​​obtained is input to the selected pitch function, The blade is rotated according to the motion control value output by the selected pitch function. The method according to claim 5, further comprising:

7. In the first mode, at least, When the adjustment is initiated, the blades are rotated so that the thrust direction of the cycloidal propeller unit is changed to be substantially perpendicular to the thrust direction at the time the input is received. When the indicated speed is less than the second speed which is slower than the first speed, the blades are rotated so that the thrust direction of the cycloidal propeller unit is changed to the reverse thrust direction. The method according to claim 2, further comprising:

8. The method according to claim 1, wherein in the second mode, the predetermined angle value with respect to the direction of movement is at most ±90 degrees, and two or more of the two or more blades may have the same value or different values.

9. The aforementioned stopping procedure includes at least, Using a first motion control value, the first and second cycloidal propeller units are adjusted symmetrically with respect to the longitudinal axis of the vessel. After the input, the ship receives a steering command to change the direction of movement of the vessel, The second motion control value is determined based at least on the speed and the received steering command, After the steering command, one of the first and second cycloidal propeller units is adjusted using the first motion control value, and the other of the first and second cycloidal propeller units is adjusted using the second motion control value. The method according to claim 1, further comprising:

10. When both the first and second cycloidal propeller units are adjusted using the first motion control value, they are both braked in either the first mode or the second mode. When the first motion control value and the second motion control value are used in the adjustment, one of the first and second cycloidal propeller units is braked in the first mode, and the other of the first and second cycloidal propeller units is braked in the second mode. The method according to claim 9.

11. Receiving input to cancel the aforementioned automatic stop procedure, To stop the aforementioned stopping procedure, Entering normal operating mode and The method according to claim 1, further comprising:

12. It is a device, At least one processor, At least one memory containing computer program code and The device comprises at least one memory and computer program code, and uses at least one processor to provide at least, The system is configured to initiate an automatic stop procedure in response to receiving an input that triggers an automatic stop procedure for stopping a vessel, the vessel comprising at least a first cycloidal propeller unit and a second cycloidal propeller unit, the cycloidal propeller unit comprising a rotatable main wheel equipped with two or more individually rotatable blades, and the stop procedure comprises at least, At least obtain information indicating the speed of the aforementioned vessel, Adjusting the motion control values ​​of at least the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first or second mode, while maintaining the direction of movement of the vessel in accordance with the latest steering command, based at least the indicated speed, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction without changing the direction of rotation of the main wheel at the time the input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. A device equipped with the following features.

13. At least one of the memory and computer program code, using at least one of the processors, to the device at least during the shutdown procedure, Before adjustment, the indicated speed is reduced to a first speed by changing the thrust of at least one of the first and second cycloidal propeller units, and the adjustment is started when the indicated speed does not exceed the first speed. The above adjustments will be carried out gradually in a step-by-step manner. The process is configured to perform further, and the stepwise form is configured to obtain a set of predefined operating parameter values ​​for each step when the speed decreases to the maximum speed value of the step, The adjustment is performed by applying the operating parameter value to determine the motion control value. The apparatus according to claim 12, comprising:

14. At least one of the memory and computer program code are used to provide the device with at least one of the processors, Based on the aforementioned input, the stop operation mode is determined from at least the normal stop operation mode and the emergency stop operation mode, Obtain a set of predefined operating parameter values ​​for the determined stop operation mode, wherein the operating parameter values ​​for the normal stop operation mode are predefined to optimize between maximum stop effect and maximum component life, and the operating parameter values ​​for the emergency stop operation mode are predefined for maximum stop effect. The adjustment is performed by applying the operating parameter value to determine the motion control value. The apparatus according to claim 12, configured to further perform the following.

15. The apparatus according to claim 13, wherein the operating parameter values ​​include, in the first mode, a value for rotational speed, a pitch function parameter, and a steering parameter, and in the second mode, a value for blade pitch angle.

16. At least one of the memory and computer program code are provided to the device using at least one of the processors, at least in the first mode. Based on the aforementioned speed, a pitch function is selected from among pitch functions that include at least trochoidal and epicycloidal pitch functions for stopping, The set of operating parameter values ​​obtained is input to the selected pitch function, The blade is rotated according to the motion control value output by the selected pitch function. The apparatus according to claim 15, configured to further perform the following.

17. At least one of the memory and computer program code are used to provide the device with at least one of the processors, In the first mode, when the adjustment is initiated, the blades are rotated such that the thrust direction of the cycloidal propeller unit is changed to be substantially perpendicular to the thrust direction at the time the input is received. In the first mode, when the indicated speed is less than a second speed that is slower than the first speed, the blades are rotated so that the thrust direction of the cycloidal propeller unit is changed to the reverse thrust direction. The apparatus according to claim 13, configured to further perform the following.

18. At least one of the memory and computer program code are used to provide the device with at least one of the processors, Using a first motion control value, the first and second cycloidal propeller units are adjusted symmetrically with respect to the longitudinal axis of the vessel. After the input, the ship receives a steering command to change the direction of movement of the vessel, The second motion control value is determined based at least on the speed and the received steering command, After the steering command, one of the first and second cycloidal propeller units is adjusted using the first motion control value, and the other of the first and second cycloidal propeller units is adjusted using the second motion control value. The apparatus according to claim 12, configured to further perform the following.

19. At least one of the memory and computer program code are used to provide the device with at least one of the processors, When both the first and second cycloidal propeller units are adjusted using the first motion control value, both the first and second cycloidal propeller units are braked in either the first mode or the second mode, When the first motion control value and the second motion control value are used in the adjustment, one of the first and second cycloidal propeller units is braked in the first mode, and the other of the first and second cycloidal propeller units is braked in the second mode. The apparatus according to claim 18, configured to further perform the following.

20. A ship, At least a first cycloidal propeller unit and a second cycloidal propeller unit, wherein each cycloidal propeller unit comprises a rotatable main wheel equipped with two or more individually rotatable blades, A movement control mechanism comprising at least one device configured to initiate a stop procedure in response to receiving an input that triggers an automatic stop procedure, wherein the stop procedure comprises at least obtaining information indicating the speed of the vessel and adjusting at least the motion control values ​​of the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first mode or a second mode, while maintaining the direction of movement of the vessel in accordance with the most recent steering command, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction without changing the direction of rotation of the main wheel at the time the input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. At least one of the first user interface elements for changing the state of the automatic stop procedure in response to user input to the first user interface element, wherein the first user interface element is connected to the movement control mechanism. At least one second user interface element for steering the vessel and A ship equipped with these features.

21. The vessel according to claim 20, wherein at least one of the first user interface elements comprises a plurality of user interface elements for a plurality of stop operation modes, each comprising at least a normal stop operation mode and an emergency stop operation mode.

22. When executed by a computer, the computer will have at least: A computer-readable medium for storing computer-executable instructions that cause a ship to initiate an automatic stop procedure in response to receiving an input that triggers such an automatic stop procedure for stopping a ship, wherein the ship comprises at least a first cycloidal propeller unit and a second cycloidal propeller unit, each cycloidal propeller unit comprising a rotatable main wheel equipped with two or more individually rotatable blades, and the stop procedure comprises at least, At least obtain information indicating the speed of the aforementioned vessel, To cause adjustment of the motion control values ​​of at least the first cycloidal propeller unit to brake the first cycloidal propeller unit in a first or second mode, while maintaining the direction of movement of the vessel in accordance with the latest steering command, based at least the indicated speed, wherein the first mode is a cycloidal propeller braking mode in which the main wheel is rotating and the blades of the cycloidal propeller unit are rotated to change the thrust direction toward the reverse thrust direction without changing the direction of rotation of the main wheel at the time the input is received, and the second mode is a rudder-like braking mode in which the main wheel is held in a first position and the blades are individually positioned toward a corresponding predetermined angle with respect to the direction of movement, or the blades are held in a first position and the main wheel is rotated. A computer-readable medium that includes [a certain feature].

Images