Movable floating body

Abstract

Provided is a movable floating body movable on water. This movable floating body movable on water comprises: a composite body including a storage body having a storage space, and a floating body; and a propulsion machine fixed to the composite body. The storage body is separably fixed to the floating body.

Description

Mobile floating body

[0001] This invention relates to a mobile floating body.

[0002] A floating pier is a facility that moors box-shaped floating bodies to a quay wall or a dike to provide a berthing space for ships (mainly small ships) (see, for example, Patent Document 1). Therefore, the floating pier becomes a fixed structure fixed to the land in the harbor and always occupies the space in the harbor, so it is necessary to prepare a sufficient installation location in advance. Further, since it is designed to have sufficient robustness and durability as a fixed structure, the material cost and the installation cost are high accordingly.

[0003] Japanese Patent Application Laid-Open No. 2014-15828

[0004] The inventor of the present application has been studying a mobile floating body that can move on water without being fixed to the land. By utilizing such a mobile floating body, the above-described problems associated with the installation of a conventional floating pier fixed to the land can be solved. However, there is no prior art that has studied the problems that occur when using a mobile floating body and the means for solving them.

[0005] One embodiment of this invention provides a solution to the problems that occur when using a mobile floating body.

[0006] One embodiment of this invention provides a mobile floating body that can move on water. The mobile floating body includes a floating body, a propulsion device provided on the floating body, a steering device that changes the direction of the propulsion force generated by the propulsion device, and a controller configured or programmed to control the propulsion device and the steering device to move the mobile floating body on water by unmanned operation. The controller executes automatic movement control to move the mobile floating body to a target position, and pressing control to press the floating body against the hull of a target ship in the vicinity of the target position after arriving at the target position.

[0007] With this configuration, a mobile floating body that can move on water can be provided, so that a floating pier can be provided at a lower cost than a floating pier fixed to the land without always occupying the space in the harbor.

[0008] On the other hand, because the mobile floating platform is movable on the water, a challenge arises as to how to move people and cargo between it and a ship. Therefore, in this embodiment, the mobile floating platform is equipped with a propulsion system and a steering device, and moves on the water by unmanned operation controlled by a controller. Thus, for example, a ship can be anchored in a body of water where there are no berthing facilities such as a pier, and the mobile floating platform can be moved unmanned into the anchoring space where the ship is anchored. This makes it possible to bring the ship and the mobile floating platform closer together and enable the movement of people and cargo between them.

[0009] Furthermore, because the mobile float is movable on the water, the contact between the ship and the mobile float is unstable, which may hinder the smooth movement of people and cargo. Therefore, in this embodiment, after moving the mobile float to the target position using automatic movement control, a pressing control is performed to press the float against the hull of the target ship near the target position. This ensures that the contact between the ship and the mobile float is maintained stably, allowing for the smooth movement of people and cargo.

[0010] Unmanned operation means that the propulsion system and / or steering system are not operated by a human. A mobile floating vehicle in an unmanned state may or may not have people on board.

[0011] In one embodiment of this invention, the controller performs a pressing target recognition control to recognize the pressing target position of the target vessel. The pressing control controls the propulsion system and the steering device to press the floating body against the pressing target position recognized by the pressing target recognition control.

[0012] This configuration allows the target vessel to recognize the position to be pressed against, and the floating body is pressed against that recognized position. This ensures that the floating body of the mobile floating body is pressed against the appropriate position on the target vessel, allowing for stable contact between the vessel and the mobile floating body in an appropriate positional relationship, and maintaining that contact state. This, in turn, facilitates the smoother movement of people and cargo between the vessel and the mobile floating body.

[0013] In one embodiment of this invention, the floating body includes a pressing force sensor that detects an external force applied to a pressing portion that presses against the hull. The pressing control maintains a state in which the floating body is pressed against the hull, based on the output of the pressing force sensor.

[0014] In this configuration, the pressing force sensor detects the external force applied to the pressing part of the float, i.e., the pressing force against the hull, and pressing control is performed accordingly. Therefore, the state in which the moving float is pressed against the hull with an appropriate pressing force can be maintained. As a result, the contact state between the moving float and the ship can be stably maintained with just the right amount of pressing force, allowing for the smooth movement of people and cargo between the moving float and the ship.

[0015] In one embodiment of this invention, the moving float further includes a distance sensor for detecting the distance to the target vessel. The controller performs proximity control to bring the float closer to the hull of the target vessel based on the distance detected by the distance sensor in the vicinity of the target position.

[0016] With this configuration, in the vicinity of the target position, the floating platform can be brought closer to the hull of the vessel based on the distance to the target vessel detected by the distance sensor. This allows the floating platform to approach the vessel while appropriately controlling its relative movement state (especially its relative speed) relative to the vessel. As a result, the floating platform can approach and make contact with the vessel at an appropriate relative speed.

[0017] In one embodiment of this invention, the moving float further includes a command receiver that receives a movement command including target position information representing the target position. The controller acquires the target position based on the target position information included in the movement command received by the command receiver.

[0018] With this configuration, the command receiver can receive movement commands, and these movement commands include target position information. Therefore, not only can the vehicle automatically drive to the target position, but the setting of the target position can also be done unmanned. Thus, the mobile floating vehicle can be operated unmanned (without crew), which reduces operating costs.

[0019] In one embodiment of this invention, the target vessel is moored to a fixed floating object and anchored in a berthing space near the floating object. The target position information includes information that can identify the location of the floating object or the berthing space.

[0020] In this configuration, information that can identify the location of a fixed water object or a nearby berthing space where the vessel is moored is used as target position information. Therefore, accurate target position information can be provided to the controller without detecting the vessel's position. Generally, since vessel position detection using position sensors can be inaccurate, position information from a fixed water object or berthing space is more accurate.

[0021] Information that can identify the location of a fixed object or mooring space on the water may be location information of the fixed object or mooring space on the water, or it may be identification information of the fixed object or mooring space on the water. For example, by pre-determining the location information of a fixed object or mooring space in its vicinity, and preparing location management information that associates the identification information with the location information, it is possible to obtain location information of a fixed object or mooring space on the water based on the identification information of the fixed object or mooring space on the water.

[0022] In one embodiment of this invention, the controller further performs automatic return control to move the mobile floating body away from the target vessel to the return position by unmanned operation.

[0023] This configuration allows the mobile floating platform to be automatically operated unmanned from the target vessel to its return point. The return point is, for example, a predetermined position for the mobile floating platform, or it may be a waiting area (base) for the mobile floating platform. Therefore, after the movement of people and cargo between the vessel and the mobile floating platform, the mobile floating platform can be automatically moved back to the return point by automatic operation.

[0024] In one embodiment of this invention, the mobile floating body is not equipped with manual control equipment. With this configuration, the mobile floating body can be operated without manual control equipment, thus reducing costs.

[0025] One embodiment of this invention provides an automatic operation method for a mobile floating body that is movable on water, comprising a floating body, a propulsion system, and a steering device. The method includes an automatic movement step of moving the mobile floating body to a target position by controlling the propulsion system and the steering device, and a pressing step of pressing the floating body toward a target vessel near the target position by controlling the propulsion system and the steering device after the mobile floating body has arrived at the target position.

[0026] In one embodiment of this invention, the method further includes a pressing target recognition step for automatically recognizing the pressing target position on the target vessel. The pressing step involves pressing the buoy against the pressing target position recognized in the pressing target recognition step.

[0027] In one embodiment of this invention, the method further includes an automatic return step of moving the mobile float away from the target vessel to a return position.

[0028] One embodiment of this invention comprises a complex including a housing having a housing space and a floating body, and a propulsion system fixed to the complex, wherein the housing is detachably fixed to the floating body. With this floating body, because the floating body and the housing are detachable, the housing can be easily detached from the floating body.

[0029] In one embodiment of this invention, the thruster may be configured to be located inside the outline of the composite structure when viewed in the vertical direction. With this configuration, for example, compared to a configuration in which the thruster is located outside the outline of the composite structure when viewed in the vertical direction, it is possible to suppress the horizontal enlargement of the moving float.

[0030] In one embodiment of this invention, the housing may be positioned above the floating body, and at least a portion of the housing may be positioned so as to overlap the floating body when viewed in the vertical direction. With this configuration, because the housing is positioned above the floating body, the housing can be easily installed on and detached from the floating body, for example, on the water.

[0031] In one embodiment of this invention, the composite may further include a first convex portion formed on one of the upper surface of the floating body and the lower surface of the housing that faces the upper surface of the floating body in the vertical direction, and a first recess formed on the other of the upper surface of the floating body and the lower surface of the housing, into which the first convex portion is inserted. With this configuration, the first convex portion and the first recess can fix the housing to the floating body in a separable manner and suppress the occurrence of horizontal displacement of the housing relative to the floating body.

[0032] In one embodiment of this invention, the configuration may further include a first connecting member disposed on the first peripheral portion of the composite, and a second connecting member disposed on the second peripheral portion of the composite, which is located at a position different from the first peripheral portion in the circumferential direction of the composite. With this configuration, the movable float can connect multiple movable floats to each other by having the first connecting member and the second connecting member.

[0033] In one embodiment of this invention, the first peripheral portion may have a second convex portion that protrudes horizontally, and the second peripheral portion may have a second concave portion that is recessed horizontally. With this configuration, the second convex portion and the second concave portion that can be inserted into the second convex portion can guide the movable float to the connection position between the first connecting member and the second connecting member. This allows the first connecting member and the second connecting member to be connected smoothly.

[0034] In one embodiment of this invention, the first connecting member may be positioned in the second convex portion and the second connecting member may be positioned in the second concave portion. With this configuration, the first connecting member and the second connecting member can be connected more smoothly by having the second connecting member in the second concave portion.

[0035] In one embodiment of this invention, the second recess may be configured such that at least one of the pair of surfaces facing each other in the vertical direction and the pair of surfaces facing each other in the horizontal direction is inclined such that the distance between them increases as they move toward the opening side of the second recess. With this configuration, the second convex portion is made easier to insert into the second recess from the opening side of the second recess due to the structure in which at least one of the pair of surfaces facing each other in the vertical direction and the pair of surfaces facing each other in the horizontal direction is inclined such that the distance between them increases as they move toward the opening side of the second recess. In addition, the first connecting member positioned in the second convex portion is more easily guided into the second connecting member positioned in the second recess. As a result, the first connecting member and the second connecting member can be connected more smoothly.

[0036] In one embodiment of this invention, the second convex portion may be configured such that at least one of the pair of vertical surfaces and the pair of horizontal surfaces is inclined such that the distance between them decreases as they move toward the tip of the second convex portion. With this configuration, at least one of the pair of vertical surfaces and the pair of horizontal surfaces of the second convex portion is inclined such that the distance between them decreases as they move toward the tip of the second convex portion, making it easier to insert the second convex portion into the second recess from the opening side of the second recess. In addition, the first connecting member positioned on the second convex portion is more easily guided into the second connecting member positioned on the second recess. As a result, the first connecting member and the second connecting member can be connected more smoothly.

[0037] In one embodiment of this invention, the first connecting member may have a locking rod and a locking body positioned at a first distance from the locking rod in the first circumferential direction of the composite and connectable to the locking rod, and the second connecting member may have a locking rod and a locking body positioned at a first distance from the locking rod in the first circumferential direction. According to this configuration, the first connecting member has a locking rod and a locking body positioned at a first distance from the locking rod in the first circumferential direction, and the second connecting member has a locking rod and a locking body positioned at a first distance from the locking rod in the first circumferential direction. As a result, the first connecting member and the second connecting member can be connected, as can the first connecting member and the first connecting member, and as can the second connecting member and the second connecting member. As a result, the degree of freedom in connecting the movable floating bodies is improved.

[0038] In one embodiment of this invention, at least a portion of the first connecting member is located outside the outline of the composite in a vertical view, and the movable float may further include a first cover that is above the first connecting member, located outside the outline, and overlaps at least a portion of the first connecting member in a vertical view. With this configuration, even if a gap is created between the upper surfaces of the respective composites when the movable floats are connected to each other, the first cover can fill that gap.

[0039] In one embodiment of this invention, the first cover may be configured to be expandable and contractible in the direction of connection between the first connecting member and the second connecting member. With this configuration, the first cover can be extended in the connection direction, thereby reliably filling the gap between the upper surfaces of the respective composites.

[0040] In one embodiment of this invention, at least a portion of the second connecting member is located outside the outline of the composite in a vertical view, and the movable float may further include a second cover that is above the second connecting member, located outside the outline, and overlaps at least a portion of the second connecting member in a vertical view. With this configuration, even if a gap is created between the upper surfaces of the respective composites when the movable floats are connected to each other, the second cover can fill that gap.

[0041] In one embodiment of this invention, at least one of the second covers may be configured to be expandable and contractible in the direction of connection between the first connecting member and the second connecting member. With this configuration, the second cover can be extended in the connection direction, thereby reliably filling the gap between the upper surfaces of the respective composites.

[0042] In one embodiment of this invention, the propulsion system may have a plurality of propulsion devices that generate thrust for the moving float, and each propulsion device may be configured to have a battery that powers the propulsion device and a controller that controls the propulsion device. According to this configuration, the propulsion system of the moving float has a plurality of propulsion devices, and each propulsion device is equipped with a battery that powers the propulsion device and a controller that controls the propulsion device. With this structure, the battery and controller for each propulsion device are smaller compared to the case in which the propulsion system (moving float) is equipped with one battery that supplies power to a plurality of propulsion devices and one controller that controls a plurality of propulsion devices. Therefore, the battery and controller are easier to load and unload from the moving float.

[0043] This invention provides a mobile floating body that can move on water and an automatic operation method therefor, and can solve the problems that arise when utilizing mobile floating bodies.

[0044] FIG. 1 is a diagram for explaining a system utilizing a mobile floating pontoon bridge according to an embodiment of the present invention. FIG. 2 is a conceptual diagram for explaining a configuration example of the mobile floating pontoon bridge. FIG. 3 is a block diagram for explaining an electrical configuration example of the mobile floating pontoon bridge. FIG. 4 is a block diagram showing an electrical configuration example of the command device. FIG. 5 is a flowchart for explaining an example of processing by a controller of the mobile floating pontoon bridge. FIG. 6 is an explanatory diagram showing the configuration of the mobile floating pontoon bridge in the second embodiment. FIG. 7 is an explanatory diagram showing the configuration of the mobile floating pontoon bridge in the second embodiment. FIG. 8 is an explanatory diagram showing a cross-sectional configuration of the mobile floating pontoon bridge at the position VIII-VIII in FIG. 7. FIG. 9 is a cross-sectional view showing an enlarged view of the E1 portion in FIG. 8. FIG. 10 is a cross-sectional view showing an enlarged view of the E2 portion in FIG. 8. FIG. 11 is a cross-sectional view showing a disassembling process of the mobile floating pontoon bridge in the second embodiment. FIG. 12 is a cross-sectional view showing a connecting process of a pair of mobile floating pontoon bridges in the second embodiment. FIG. 13 is a cross-sectional view showing a connecting process of a pair of mobile floating pontoon bridges in the second embodiment. FIG. 14 is a cross-sectional view showing a connecting process of a pair of mobile floating pontoon bridges in the second embodiment.

[0045] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0046] FIG. 1 is a diagram for explaining a system utilizing a mobile floating pontoon bridge according to an embodiment of the present invention.

[0047] The mobile floating pontoon bridge 1 is a watercraft movable on water. The mobile floating pontoon bridge 1 includes a propulsion device 2 (see FIG. 2) and a steering device 3 (see FIG. 2) for changing the direction of the propulsion force generated by the propulsion device 2, and is configured to be able to move on water and change its traveling direction. Note that the mobile floating pontoon bridge 1 is an example of a "mobile floating body".

[0048] On the other hand, a mooring space 50 for anchoring a ship 51 is provided within the water area where the mobile floating pontoon bridge 1 can move, and a mooring pile 52 for mooring the ship 51 is provided in this mooring space 50. In the example of FIG. 1, a plurality of mooring piles 52 for fixing a plurality of locations of the hull 55 are provided respectively. The mooring pile 52 is an example of a water-fixed object, which extends upward from the root portion fixed in the ground under the water and has a mooring portion protruding above the water surface. Typically, the ship 51 is moored using a mooring aid such as a mooring rope 53. That is, one end of the mooring rope 53 is coupled to the mooring portion of the mooring pile 52, and the other end of the mooring rope 53 is coupled to the hull 55. By coupling the hull 55 to a plurality of mooring piles 52, the ship 51 can be moored while restricting the turning of the hull 55.

[0049] The mooring space 50 is typically provided at a position far from the land 60. The mobile floating pontoon bridge 1 can move on the water between the base 61 provided near the land 60 and the target ship 51. Some utilization examples of the mobile floating pontoon bridge 1 are as follows.

[0050] Utilization example 1 (Disembarkation from the ship 51) The mobile floating pontoon bridge 1 is directed from the base 61 (or other position) to the ship 51. When the mobile floating pontoon bridge 1 arrives at the ship 51, the crew of the ship 51 moves to the mobile floating pontoon bridge 1. When the movement of the crew is completed, the mobile floating pontoon bridge 1 carrying the crew returns to the base 61. When the mobile floating pontoon bridge 1 arrives at the base 61, the crew moves to the land 60.

[0051] Utilization example 2 (Disembarkation from the ship 51) The mobile floating pontoon bridge 1 is directed from the base 61 (or other position) to the ship 51. When the mobile floating pontoon bridge 1 arrives at the ship 51, the crew of the ship 51 moves to the mobile floating pontoon bridge 1. When the movement of the crew is completed, the mobile floating pontoon bridge 1 carrying the crew moves to a disembarkation point 62 different from the base 61. When the mobile floating pontoon bridge 1 arrives at the disembarkation point 62, the crew moves from the mobile floating pontoon bridge 1 to the land 60. The mobile floating pontoon bridge 1 may then return to the base 61, head towards another ship, or head towards a point different from the base 61.

[0052] Example 3 (Boarding Ship 51) Crew members who wish to board Ship 51 board the mobile floating dock 1 at base 61 from land 60, and then the mobile floating dock 1 is moved from base 61 to Ship 51. When the mobile floating dock 1 arrives at Ship 51, the crew members move from the mobile floating dock 1 to Ship 51. Once the crew members have moved, the mobile floating dock 1 returns to base 61 or heads to another destination.

[0053] Example of Use 4 (Boarding Ship 51) Crew members who wish to board Ship 51 wait at a separate waiting area 63 from the base 61, and the mobile floating pier 1 moves to this waiting area 63. When the mobile floating pier 1 arrives at the waiting area 63, the crew members move from the land 60 to the mobile floating pier 1. After the crew members have boarded the mobile floating pier 1, the mobile floating pier 1 is sent from the base 61 to Ship 51. When the mobile floating pier 1 arrives at Ship 51, the crew members move from the mobile floating pier 1 to Ship 51. Once the crew members have moved, the mobile floating pier 1 returns to the base 61 or heads to another destination.

[0054] In each of these applications, cargo can be moved and loaded onto the ship 51 in the same way as, or in conjunction with, the movement of the crew. Of course, the applications of the mobile floating dock 1 are not limited to those described above.

[0055] Typically, multiple mobile floating docks 1 are operated simultaneously. In this case, the mobile floating docks 1 may be placed close together to form a larger floating dock (a group of mobile floating docks). For example, at the base 61 of a mobile floating dock 1, it may be possible to move between the land 60 and the mobile floating dock 1 via other mobile floating docks 1.

[0056] Figure 2 is a conceptual diagram illustrating an example of the configuration of the mobile floating pier 1.

[0057] The mobile floating dock 1 includes a floating body 4, a propulsion system 2 installed on the floating body 4, a steering device 3, and a controller 5.

[0058] The steering device 3 is a device for changing the direction of the thrust force generated by the propulsion engine 2, that is, the direction of the thrust force acting on the floating body 4. The steering device 3 may also be a device for rotating the propulsion engine 2 around a vertical pivot axis 6. For example, the steering device 3 may be configured to allow the propulsion engine 2 to rotate in all directions around the pivot axis 6, i.e., 360 degrees. In other words, the steering device 3 may be configured to direct the direction of the thrust force generated by the propulsion engine 2 in all directions over 360 degrees around the pivot axis 6.

[0059] The controller 5 is configured or programmed to control the propulsion system 2 and the steering device 3, and to perform controls to move the mobile floating dock 1 on the water by unmanned operation.

[0060] Unmanned operation refers to an operating state in which the generation of thrust by the thruster 2 and the operation of the steering device 3 are controlled without the use of manual control equipment. Manual operation refers to operating manual controls that command the magnitude and / or direction of the thrust generated by the thruster 2, and manual controls that command changes in the direction of the thrust generated by the thruster 2. These manual controls constitute the manual control equipment. Specifically, manual controls include accelerator levers, steering wheels, joysticks, etc. In this embodiment, the mobile floating pier 1 is not equipped with manual control equipment.

[0061] In this embodiment, the thruster 2 is an electric thruster driven by an electric motor 2a. That is, the thruster 2 includes an electric motor 2a and a propeller 2b driven by the electric motor 2a.

[0062] The mobile floating dock 1 further includes a battery 7 for supplying power to the propulsion system 2. The mobile floating dock 1 further includes a charging system 8 for charging the battery 7. The charging system 8 may include a solar panel 9.

[0063] The floating body 4 may be a hollow structure made of a lightweight material such as FRP (Fiber Reinforced Plastic) or urethane. The floating body 4 has a deck 10 on its upper surface to support people or cargo. Fenders (not shown) may be placed around the periphery of the deck 10. Support columns 11 are provided projecting upward from the deck 10, and a roof 12 is fixed to the upper part of these support columns 11. Solar panels 9 may be placed on the upper surface of this roof 12. The deck 10 may provide a flat upper surface (floor surface), or it may have a concave surface for accommodating people or cargo. For example, the surface of the deck 10 may be molded into a concave shape (cup shape) having a seat for people to sit on and a back surface behind the seat that follows the upper back of the person's body.

[0064] The deck 10 has a pressing portion 13 at its edge that contacts and presses against the ship 51 (typically against the side of the hull 55). A pressing force sensor 14 is positioned on this pressing portion 13 to detect the pressing force against the ship 51 (hull).

[0065] The pressing portion 13 preferably has an edge that conforms to the shape of the area on the hull 55 to be pressed against. Typically, the pressing portion 13 may have an edge that is substantially straight in plan view. In this case, pressing the pressing portion 13 against the side of the hull 55 (especially the straight portion in plan view) facilitates the movement of crew or cargo between the deck 10 and the ship 51.

[0066] Preferably, the deck 10 is configured such that, in plan view, the pressing portion 13 has a shape with straight edges, and may, for example, have a polygonal shape. Figure 1 shows an example where the deck 10 is hexagonal (more specifically, a regular hexagon) in plan view, and Figure 2 shows an example where the deck 10 is rectangular in plan view. In order to bring multiple movable floating docks 1 close together to form a large floating dock made up of a group of movable floating docks, it is preferable that the planar shape of the deck 10 be selected so that the decks 10 of the multiple movable floating docks 1 can be brought together with minimal gaps.

[0067] Figure 3 is a block diagram illustrating an example of the electrical configuration of the mobile floating pier 1.

[0068] As described above, the mobile floating dock 1 includes a propulsion system 2, a steering device 3, and a controller 5. Furthermore, the mobile floating dock 1 includes a battery 7 and charging equipment 8 (solar panel 9). The mobile floating dock 1 also includes a GPS receiver 20, a millimeter-wave radar 21, a pressure sensor 14, a camera 23, a wireless communication unit 24, and the like.

[0069] The controller 5 includes a processor 5a and a memory 5b. The processor 5a executes programs stored in the memory 5b to realize various functions, in particular, functions to control the propulsion system 2 and the steering device 3.

[0070] The GPS receiver 20 is an example of a position sensor that acquires positional information of the mobile floating pier 1. GPS (Global Positioning System) is an example of GNSS (Global Navigation Satellite System) which uses artificial satellites to measure position on Earth.

[0071] The millimeter-wave radar 21 is a sensor that emits millimeter waves into its surroundings and acquires positional information such as the distance and / or direction to an object, as well as relative velocity to the object. The millimeter-wave radar 21 can be used to detect nearby obstacles or to acquire information such as the distance to the target vessel 51, the direction of the target vessel 51, and the relative velocity to the target vessel 51. The millimeter-wave radar 21 is an example of a distance sensor.

[0072] As described above, the pressing force sensor 14 is a sensor for detecting the pressing force applied to the target vessel 51, and includes, for example, a pressure sensor.

[0073] Camera 23 is an imaging device that captures images of an object and generates image data. Camera 23 can be used for detecting obstacles, determining the position and direction of the target vessel 51, recognizing the area of ​​the hull 55 that is being pressed against, and determining the position and / or direction of the base 61 and other facilities.

[0074] The output signals from these sensors are input to the controller 5. The controller 5 is configured or programmed to acquire the output signals from the sensors and control the operation of the sensors as needed.

[0075] The wireless communication unit 24 communicates with an external command device 40 and has the function of receiving command signals from the command device 40 and transmitting response signals to the command device 40. The controller 5 acquires command signals from the wireless communication unit 24 and commands the wireless communication unit 24 to transmit response signals.

[0076] The wireless communication unit 24 is wirelessly connected to a network 30 formed in an area including the base station 61 and the mooring space 50. It can then communicate with a command device 40 connected to this network 30. An example of the network 30 is a wireless LAN (local area network).

[0077] An example of the command device 40 may be an information terminal device held by the user of the vessel 51. The information terminal device typically includes a computer and may also be a mobile terminal such as a tablet (tablet computer) or a smartphone. The user of the vessel 51 can issue commands to the controller 5 of the mobile floating dock 1 by operating the command device 40. The controller 5 of the mobile floating dock 1 may communicate with a server 31 connected to the network 30, and the command device 40 may communicate with this server 31. That is, the command device 40 may be able to issue commands to the controller 5 of the mobile floating dock 1 via the server 31.

[0078] For example, the server 31 can communicate with the controllers 5 of multiple mobile floating docks 1. Also, for example, the server 31 can communicate with multiple command devices 40. For example, when a command is issued from a command device 40 held by the user of a ship 51 to move a mobile floating dock 1 to the ship 51, the command is received by the server 31. The server 31 then issues movement commands to the multiple mobile floating docks 1.

[0079] Figure 4 is a block diagram showing an example of the electrical configuration of the command device 40.

[0080] In this example, the command device 40 includes a processor 41, memory 42, display 43, input device 44, wireless communication device 45, and GPS receiver 46. The processor 41 implements various functions by executing programs stored in memory 42. The display 43 and input device 44 provide a human-machine interface. The display 43 is a two-dimensional display device such as a liquid crystal panel. The input device 44 may include a touch panel provided on the display screen of the display 43. The wireless communication device 45 is wirelessly connected to the network 30. The GPS receiver 46 is an example of a position sensor that acquires position information of the command device 40.

[0081] The command device 40 may further include a camera 47. The camera 47 can be used to acquire image information and can be used, for example, to read code images such as barcodes and two-dimensional barcodes, or character information. For example, a code image or character information representing location information or identification information may be attached to the mooring pile 52, and the image can be acquired by the camera 47 and recognized by the processor 41, thereby enabling the acquisition of location information and identification information of the mooring pile 52. When identification information is acquired, it is preferable that the server 31 registers mooring pile management data (location management information) that associates the identification information of the mooring pile 52 with the location information of the mooring pile 52. The mooring pile management data may be registered in the controller 5 of the mobile floating pier 1.

[0082] Figure 5 is a flowchart illustrating an example of processing performed by the controller 5 of the mobile floating dock 1.

[0083] For example, the passengers of vessel 51 moor vessel 51 in the berthing space 50 and secure it to the mooring pile 52, then operate the command device 40 to issue a movement command to summon the mobile floating dock 1. The movement command includes target location information. The target location information represents the target location to which the mobile floating dock 1 should move, and in this example, the berthing position of vessel 51 is the target location.

[0084] When issuing a move command after the vessel 51 has been moored, the command device 40 may obtain its own location information from the GPS receiver 46 and issue a move command using that location information as the target location information. Alternatively, the target location information may be identification information of the mooring pile 52 or the mooring space 50. That is, if the location information of the mooring pile 52 or the mooring space 50 is managed based on the identification information of the mooring pile 52 or the mooring space 50, the target location can be identified by a move command that includes the identification information of the mooring pile 52 or the mooring space 50 as the target location information. For example, by attaching identification information to the mooring pile 52 by printing or other means, the user of the command device 40 can operate the command device 40 to issue a move command that includes that identification information. As mentioned above, the management of location information based on identification information may be performed on the server 31, or the corresponding location management information may be stored in the memory 5b of the controller 5 of the mobile floating pier 1.

[0085] The movement command issued by the command device 40 is transmitted to the controller 5 of the mobile floating dock 1 via the network 30. The transmission of the movement command may be mediated by the server 31 as described above, or it may be transmitted to the controller 5 of the mobile floating dock 1 without the mediation of the server 31.

[0086] Upon receiving a movement command (step S1), the controller 5 of a mobile floating pier 1 capable of handling the movement command sends a response signal to the network 30 indicating acceptance of the movement command (steps S2, S3). This response signal is transmitted to the command device 40. When multiple mobile floating piers 1 are connected to the network 30, the mobile floating pier 1 that sent the response signal first is considered to have accepted the movement command, and the controllers 5 of the other mobile floating piers 1 consider that movement command to be a command that has been handled. In this way, communication is established between the command device 40 and the controller 5 of one mobile floating pier 1 (step S4).

[0087] Upon receiving a movement command and establishing communication with the command device 40, the controller 5 of the mobile floating pier 1 sets a target position based on the target position information included in the movement command (step S5), and executes automatic movement control (step S6) to move the mobile floating pier 1 towards that target position in an unmanned manner. For example, the controller 5 controls the propulsion system 2 and the steering device 3 based on the current position of the mobile floating pier 1 and the target position detected by the GPS receiver 20, bringing the mobile floating pier 1 closer to the target position. It is also preferable that the controller 5 simultaneously executes obstacle avoidance control (step S7, part of automatic movement control) to detect and avoid obstacles using the millimeter-wave radar 21.

[0088] When the distance between the mobile floating dock 1 and the target position falls below a predetermined threshold (step S8: YES), the controller 5 may perform approach control (step S9, part of automatic movement control) to bring the mobile floating dock 1 closer based on the distance to the target vessel 51 detected by the millimeter-wave radar 21 (an example of a distance sensor). The predetermined threshold is set based on the distance detectable by the millimeter-wave radar 21 and may be, for example, about 10 meters. In this approach control, it is preferable for the controller 5 to bring the mobile floating dock 1 closer to the target vessel 51 at a predetermined low speed range (for example, 5 km / h or less).

[0089] While performing approach control (step S9), the controller 5 executes a target position recognition control (step S10) to recognize the target position (target position) to which the pressing portion 13 of the movable floating dock 1 will be pressed. The target position is typically set to a part on the side of the hull 55 of the target vessel 51 that has a shape that allows the pressing portion 13 to follow along.

[0090] The pressing target position may be marked with an identification symbol to identify the pressing target position. For example, a sticker bearing a predetermined symbol or pattern may be affixed to the side of the hull 55 in advance. Specifically, the pressing target position recognition control (step S10) is achieved by the controller 5 performing recognition processing on the image captured by the camera 23. The controller 5 recognizes the pressing target position through image recognition processing and controls the propulsion unit 2 and the steering device 3 to bring the pressing unit 13 close to and into contact with the recognized pressing target position.

[0091] The contact of the pressing portion 13 with the target position can be detected by the output signal of the pressing force sensor 14. When the controller 5 detects contact (step S11: YES), it starts pressing control (step S12). Specifically, the controller 5 controls the propulsion unit 2 and the steering device 3 to press the pressing portion 13 of the floating body 4 against the target position on the target vessel 51. More specifically, the controller 5 controls the magnitude and direction of the thrust force generated by the propulsion unit 2 so that the pressing force detected by the pressing force sensor 14 is maintained within a predetermined range that can maintain the pressing state, thereby maintaining the state in which the floating body 4 is pressed against the target position on the target vessel 51.

[0092] While this pressing control (step S12) is being performed, the crew can move from the ship 51 to the mobile floating dock 1, and cargo can also be moved as needed. To indicate that the crew and cargo can move while the pressing control is being performed, a display device such as a lamp may be provided on the mobile floating dock 1 and controlled by the controller 5. Alternatively, the display 43 of the command device 40 may show that the crew and / or cargo can move.

[0093] Once the movement of the crew and / or cargo is complete, the operator of the control device 40 notifies the mobile floating dock 1 of the completion of the crew / cargo movement. This notification is typically transmitted to the controller 5 of the mobile floating dock 1 via the network 30. Upon receiving notification of the completion of the crew / cargo movement (step S13: YES), the controller 5 terminates the push control. In other words, the notification of the completion of the crew / cargo movement is a form of a push control stop command that commands the cessation of the push control.

[0094] The operator of the command device 40 transmits a movement command to the mobile floating dock 1, instructing it to move to its next destination. The movement command includes target location information representing the destination. This movement command is transmitted via the network 30 to the controller 5 of the mobile floating dock 1, and is received by the controller 5 (step S14: YES). The controller 5 sets a target location according to the target location information included in the received movement command (step S5), and performs unmanned automatic movement control (step S6) to move toward that target location. As a result, the propulsion system 2 and steering device 3 are controlled so that the mobile floating dock 1 moves toward the new target location.

[0095] One example of a movement command is a return command that commands the mobile floating dock 1 to return to base 61. For example, a return command button for commanding a return to base 61 may be displayed on the display 43 of the command device 40, and the return command may be issued by operating this return command button. The return command is a movement command that includes target position information with the location of base 61 as the target position. When a return command is given (step S15: YES), the controller 5 sets base 61 as the target position (step S16) and executes automatic movement control (step S6, automatic return control) to move (return) the mobile floating dock 1 to that target position (base 61). As a result, the mobile floating dock 1 can be automatically returned to base 61 by unmanned automatic movement control (automatic return control).

[0096] When the use of the mobile floating dock 1 is finished, the operator of the command device 40 performs an operation to terminate use. The command device 40 then issues a disconnection command, which is sent to the controller 5 of the mobile floating dock 1 via the network 30. Upon receiving the disconnection command (step S18: YES), the controller 5 disconnects from the command device 40 (step S19) and enters a state of waiting for a new movement command (step S1).

[0097] As described above, this embodiment provides a movable floating pier 1 that can move on the water. The movable floating pier 1 can move on the water between land 60 and a berthing space 50 located away from land 60, and can carry people or cargo. This allows for the movement of people or cargo between land 60 and ships 51. Therefore, even if the berthing space provided by a pier fixed to land 60 is small, it becomes possible to berthe many ships. Furthermore, since a large fixed pier that can secure berthing space for many ships is not required, the space occupied by the pier in the harbor can be reduced, and the cost associated with constructing the pier can be reduced. In this way, a floating pier can be provided without permanently occupying space in the harbor and at a lower cost than a floating pier fixed to land.

[0098] On the other hand, because the mobile floating dock 1 is movable on the water, a challenge arises as to how to move people and cargo between it and the ship 51. Therefore, in this embodiment, the mobile floating dock 1 is equipped with a propulsion system 2 and a steering device 3, and the mobile floating dock 1 moves on the water by unmanned operation controlled by a controller 5. Thus, the ship 51 can be moored in a body of water where no berthing facilities such as piers are provided, and the mobile floating dock 1 can be moved unmanned to the mooring space 50 where the ship 51 is moored. This makes it possible to bring the ship 51 and the mobile floating dock 1 closer together and enable the movement of people and cargo between them.

[0099] Furthermore, since the mobile floating dock 1 of this embodiment is operated unmanned and automatically moves to the target vessel 51 or base 61 by automatic control, no personnel are required to operate the mobile floating dock 1. Therefore, the mobile floating dock 1 can be operated with little to no labor costs.

[0100] Furthermore, because the mobile floating dock 1 is movable on the water, the contact between the vessel 51 and the mobile floating dock 1 is unstable, which may prevent the smooth movement of people and cargo. Therefore, in the mobile floating dock 1 of this embodiment, when it arrives at the target position, a pressing control is automatically executed to press the floating body 4 against the target vessel 51. As a result, the movement of people or cargo can be carried out in a stable state while reliably maintaining contact between the target vessel 51 and the mobile floating dock 1.

[0101] In this embodiment, a pressing target recognition control is performed to recognize the pressing target position on the hull 55, and the floating body 4 is pressed against the recognized pressing target position. Therefore, the floating body 4 can be brought into contact with and pressed against the appropriate position on the hull 55, allowing for the smooth movement of people or cargo.

[0102] The specific pressing control involves detecting the external force applied to the pressing part 13 by the pressing force sensor 14, while maintaining the state in which the floating body 4 is pressed against the ship's hull. This allows for the maintenance of a pressing state with an appropriate pressing force. As a result, the contact state between the mobile floating dock 1 and the ship 51 can be stably maintained with just the right amount of pressing force, enabling the movement of people or cargo in a stable state.

[0103] When moving the mobile floating dock 1 toward the target vessel 51, once the mobile floating dock 1 has moved to the vicinity of the target position, approach control is performed to bring the mobile dock closer to the target vessel 51 based on the distance detected by the millimeter-wave radar 21 (distance sensor). This allows the mobile floating dock 1 to move appropriately according to the distance to the target vessel 51 and reach the target vessel 51. More specifically, the mobile floating dock 1 can be brought closer to the vessel 51 while appropriately controlling the relative movement state of the mobile floating dock 1 with respect to the vessel 51 (especially the relative movement speed). This allows the mobile floating dock 1 to approach and make contact with the vessel 51 at an appropriate relative speed.

[0104] In this embodiment, the command device 40 can transmit a movement command including target location information representing the target location, which is received by the wireless communication unit 24 (command receiver) and provided to the controller 5. The controller 5 acquires the target location based on the target location information included in the movement command and performs automatic movement control to move to that target location unmanned. In this way, the command device 40 can command the target location, and the mobile floating pier 1 can be automatically moved to that target location unmanned. That is, the mobile floating pier 1 can be automatically moved to the required location when needed. In this way, not only is automatic driving to the target location possible, but the setting of the target location can also be done unmanned. Therefore, since the mobile floating pier 1 can be operated unmanned (without crew), operating costs can be reduced.

[0105] As mentioned above, when mooring a vessel 51 in a berthing space 50 equipped with mooring posts 52 (fixed structures on the water), the target position information may be information that can identify the location of the mooring posts 52 or the berthing space 50 (this may also be identification information for the mooring posts 52 or the berthing space 50). This allows the controller 5 to be provided with target position information that accurately represents the target location without detecting the position of the vessel 51, thereby improving the movement accuracy of the mobile floating pier 1.

[0106] In this embodiment, automatic return control is also performed to move the mobile floating pier 1 to a return position such as the base 61 by unmanned operation. This allows the mobile floating pier 1 to be automatically returned to a predetermined return position.

[0107] (Second Embodiment) Figure 6 is an explanatory diagram showing the configuration of the movable floating pier 100 in the second embodiment. Figure 7 is an explanatory diagram showing the configuration of the movable floating pier 100 in the second embodiment. Figure 8 is an explanatory diagram showing the cross-sectional configuration of the movable floating pier 100 at position VIII-VIII in Figure 7. Each figure shows mutually orthogonal XYZ axes to specify the direction. In this specification, the positive Z-axis direction is referred to as the upward direction, and the negative Z-axis direction is referred to as the downward direction. Also, for convenience, in this specification, the positive X-axis direction is referred to as the forward direction, the negative X-axis direction as the backward direction, the positive Y-axis direction as the right direction, and the negative X-axis direction as the left direction, but the movable floating pier 1 and the movable floating pier 100 may actually be oriented in different directions. Furthermore, for the movable floating pier 100 of the second embodiment, the same components as the movable floating pier 1 of the above-described embodiment are denoted by the same reference numerals, and their explanation is omitted. The movable floating pier 100 is an example of a "movable floating structure".

[0108] As shown in Figures 6 and 7, the mobile floating dock 100 is a water-moving structure that can move on the water. As shown in Figure 6, the mobile floating dock 100 has, for example, a regular hexagonal shape when viewed from above.

[0109] The mobile floating dock 100 comprises a controller 5, a battery 7, a deck 200, a floating dock body 500, and a propulsion system 700 (see Figure 8). Note that the floating dock body 500 is an example of a "composite."

[0110] The floating pier body 500 is a component that floats on the water. The floating pier body 500 is the main body of the movable floating pier 100. The floating pier body 500 is roughly flat. As shown in Figure 6, the floating pier body 500 is, for example, roughly hexagonal when viewed from above.

[0111] The floating pier body 500 includes a housing 300, a floating body 400, a first connecting member 810, and a second connecting member 820.

[0112] As shown in Figure 7, the housing 300 is a component that forms the upper part of the floating pier body 500. The housing 300 has a flat plate shape overall. When viewed from above, the housing 300 is approximately a regular hexagon (see Figure 6). A housing space R is formed inside the housing 300. For example, a controller 5 and a battery 7 are arranged in the housing space R of the housing 300 (see Figure 8).

[0113] As shown in Figure 6, the housing 300 is formed of, for example, multiple rod-shaped members. The material of the rod-shaped members is, for example, aluminum and stainless steel. The housing 300 is formed by arranging multiple triangular prisms, each made of multiple rod-shaped members, horizontally.

[0114] As shown in Figure 8, the housing 300 has a plurality of fixed protrusions 312 (six in this embodiment) on its lower surface. The fixed protrusions 312 are, for example, cylinders extending in the vertical direction. The plurality of fixed protrusions 312 are arranged at equal intervals along the circumferential direction of the housing 300. Note that the fixed protrusions 312 are an example of the first protrusion.

[0115] As shown in Figure 7, the floating body 400 is a component that forms the lower part of the floating pier body 500. The floating body 400 is a component that generates buoyancy for the movable floating pier 100. The floating body 400 is located below the housing 300. That is, the housing 300 is located above the floating body 400. When viewed from above, the floating body 400 is, for example, disc-shaped (see Figure 6). The inside of the floating body 400 is hollow (see Figure 8). At least a portion of the housing 300 is positioned to overlap with the floating body 400 when viewed in the vertical direction. In this embodiment, when viewed from above, the floating body 400 is substantially overlapping with the housing 300.

[0116] As shown in Figure 8, the floating body 400 has a plurality of (six in this embodiment) fixed recesses 422 on its upper surface. The fixed recesses 422 are formed, for example, on the upper surface of the central floating body 420, which will be described later. The fixed recesses 422 are recesses that extend downward (into the interior of the floating body 400) from the upper surface of the floating body 400 (central floating body 420). The fixed recesses 422 are, for example, cylindrical recesses. The recesses of the fixed recesses 422 are shaped to allow the fixed protrusions 312 to be inserted. The plurality of fixed recesses 422 are arranged at equal intervals along the circumferential direction of the floating body 400. Note that the fixed recesses 422 are an example of the first recess.

[0117] Multiple fixing recesses 422 and multiple fixing protrusions 312 are positioned opposite each other on the floating body 400 and the housing 300, respectively. This allows the floating body 400 and the housing 300 to be fixed in a separable manner.

[0118] As shown in Figure 8, the floating body 400 has a peripheral floating body 410 and a central floating body 420. The peripheral floating body 410 is located at the lower peripheral edge of the movable floating pier 100. The peripheral floating body 410 constitutes the peripheral edge of the floating body 400. The peripheral floating body 410 is tubular in shape. The peripheral floating body 410 is hollow. The material of the peripheral floating body 410 is, for example, high-density polyethylene. Alternatively, the material of the peripheral floating body 410 may be either polyvinyl chloride or cross-sulfonated polyethylene.

[0119] The central floating body 420 is located in the center below the movable floating pier 100. The peripheral floating body 410 constitutes the center of the floating body 400. The shape of the central floating body 420 is disc-shaped. The central floating body 420 is hollow. The material of the central floating body 420 is a lightweight material such as FRP (Fiber Reinforced Plastic) or urethane. The central floating body 420 is less prone to deformation than the peripheral floating body 410. As described above, the central floating body 420 has a plurality of fixing recesses 422 on its upper surface.

[0120] The thruster 700 is a component that provides thrust to the movable floating pier 100. As shown in Figure 7, the thruster 700 is located below the movable floating pier 100 in the vertical direction. When viewed from above, the thruster 700 is located inward relative to the outer diameter line of the floating pier body 500 (see Figure 6). The thruster 700 has multiple (three in this embodiment) thrust modules (700P, 700Q, 700R). The lower ends of each thrust module (700P, 700Q, 700R) are at the same position in the vertical direction. Note that the thrust modules (700P, 700Q, 700R) are examples of a thrust device.

[0121] Each propulsion module (700P, 700Q, 700R) is located on the periphery of the movable floating pier 100, as shown in Figure 6. In an overhead view, each propulsion module (700P, 700Q, 700R) is positioned at three non-adjacent vertices of the roughly hexagonal housing 300. In an overhead view, each propulsion module (700P, 700Q, 700R) is located inward relative to the outer diameter line of the floating pier body 500.

[0122] As shown in Figure 7, the propulsion module 700P has a support column 720P, a propulsion module body 740P, and a propeller. The propeller has a propeller shaft 760P and multiple blades (three in this embodiment) 780P. Note that each propulsion module 700P, 700Q, and 700R has the same structure.

[0123] The support column 720P is a hollow, rod-shaped body extending vertically. The support column 720P is fixed to the floating pier body 500. In this embodiment, the upper end of the support column 720P is fixed to a rod-shaped member of the housing 300. A cord extending from the battery 7 is arranged in the hollow portion of the support column 720P (not shown).

[0124] The propulsion module body 740P is a roughly cylindrical member extending horizontally. The propulsion module body 740P is fixed to the lower end of the support column 720P. The propulsion module body 740P is located below the floating pier body 500. The propulsion module body 740P has, for example, an electric motor inside. The propulsion module body 740P is electrically connected to a cord (not shown) that runs from the battery 7 through the support column 720P.

[0125] The propeller shaft 760P is a component that transmits the rotational motion generated by the electric motor of the propulsion module body 740P to the multiple blades 780P of the propulsion module body 740P. The propeller shaft 760P is a rod-shaped component. In the vertical direction, the propeller shaft 760P is located in the center of the propulsion module body 740P. The propeller shaft 760P is positioned inside the propeller shaft 760P in an orientation that extends in the axial direction of the propulsion module body 740P. One end of the propeller shaft 760P protrudes to the outside of the propulsion module body 740P. The center line of the propeller shaft 760P is the first rotation axis Ap1.

[0126] Multiple blades (three in this embodiment) 780P are attached to a propeller shaft 760P that protrudes from the propulsion module body 740P. As the propeller shaft 760P rotates, the multiple blades 780P also rotate.

[0127] As shown in Figure 6, each propulsion module 700P, 700Q, and 700R is arranged circumferentially around the floating pier body 500 in a vertical view. Each propulsion module 700P, 700Q, and 700R is fixed, for example, to a rod-shaped member of the housing 300. Each propulsion module 700P, 700Q, and 700R is not in contact with, for example, the floating body 400. In other words, in this embodiment, each propulsion module 700P, 700Q, and 700R is arranged in a location where the housing 300 and the floating body 400 do not overlap in a vertical view. This makes it easy to attach each propulsion module 700P, 700Q, and 700R to the housing 300 and to retrieve them from the housing 300.

[0128] As shown in Figure 6, the first rotation axis Ap1, the second rotation axis Ap2, and the third rotation axis Ap3 are tangent to the same circle along the circumferential direction of the floating pier body 500 in a vertical view. In each propulsion module body, each blade (780P, 780Q, 780R) is positioned in the same direction with respect to the circumferential direction of the floating pier body 500. The rotation axes (Ap1, Ap2, Ap3) of each propulsion module (700P, 700Q, 700R) are positioned at the same location in a vertical view. The rotation axes (Ap1, Ap2, Ap3) are positioned to form approximately the same plane (see Figure 7).

[0129] As shown in Figure 6, the first connecting member 810 is positioned on the outer surface of the floating pier body 500 in the circumferential direction (the virtual surface of the floating pier body 500 in the circumferential direction on which the first connecting member 810 is positioned is referred to as the "first peripheral portion 810S" (see Figure 8)). In this embodiment, the first connecting member 810 is positioned on the housing 300 (see Figure 7). The first connecting member 810 is fixed to the housing 300, for example, in the vertical direction. The first connecting member 810 has a locking rod 620, a locking body 640, a connecting projection 625, and a connecting recess 645, which will be described in detail later. The connecting projection 625 is an example of the second projection. The connecting recess 645 is an example of the second recess.

[0130] As shown in Figure 6, the second connecting member 820 is positioned on the outer surface of the floating pier body 500 in the circumferential direction (the virtual surface in the circumferential direction of the floating pier body 500 on which the second connecting member 820 is positioned is referred to as the "second peripheral portion 820S" (see Figure 8)). In this embodiment, the second connecting member 820 is positioned on the housing 300 (see Figure 7). The second connecting member 820 is fixed to the housing 300, for example, in the vertical direction. The second peripheral portion 820S is, for example, a circumferential side surface of the floating pier body 500, separate from the first peripheral portion 810S. In this embodiment, the second peripheral portion 820S is positioned opposite the first peripheral portion 810S in the horizontal direction of the floating pier body 500 (position in the X-axis direction) (see Figure 8). The second connecting member 820 can be connected to the first connecting member 810 (see Figure 14, which will be described later).

[0131] Figure 9 is a cross-sectional view showing an enlarged view of portion E1 in Figure 8. Figure 10 is a cross-sectional view showing an enlarged view of portion E2 in Figure 8.

[0132] As shown in Figure 6, the connecting projection 625 is a member that protrudes horizontally from the circumferential surface of the floating pier body 500. In this embodiment, the connecting projection 625 protrudes from the housing 300. The connecting projection 625 is fixed, for example, to a rod-shaped member of the housing 300. The connecting projection 625 is, for example, hollow. As shown in Figure 9, the shape of the connecting projection 625 is, for example, a truncated square pyramid. The base end of the connecting projection 625 (the bottom surface of the truncated square pyramid) is located on the circumferential surface (side surface) of the housing 300. The tip end of the connecting projection 625 (the top surface of the truncated square pyramid) is located outside the circumferential surface of the housing 300. The pair of vertical surfaces 625S of the connecting projection 625 are inclined such that the distance between them decreases as they move towards the tip end of the connecting projection 625. The pair of horizontal surfaces of the connecting projection 625 are inclined such that the distance between them decreases as they move toward the tip of the connecting projection 625. In other words, the connecting projection 625 is tapered. The tip surface of the connecting projection 625 (the top surface of the truncated square pyramid) is open.

[0133] As shown in Figure 6, the connecting recess 645 is a member that is horizontally recessed from the circumferential surface of the floating pier body 500. In this embodiment, the connecting recess 645 is recessed relative to the housing 300. The connecting recess 645 is fixed, for example, to a rod-shaped member of the housing 300. The shape of the connecting recess 645 is, for example, the shape of the inner surface of a truncated square pyramid (see Figure 10). The opening side of the connecting recess 645 is located on the circumferential surface (side) of the housing 300. The bottom surface of the connecting recess 645 is located inside the circumferential surface (housing space R) of the housing 300. The pair of vertically opposing surfaces 645S of the connecting recess 645 are inclined such that the distance between them increases as they move toward the opening side of the connecting recess 645. The pair of horizontally opposing surfaces of the connecting recess 645 are inclined such that the distance between them increases as they move toward the opening side of the connecting recess 645.

[0134] The connecting protruding portion 625 and the connecting recessed portion 645 are arranged side by side in the circumferential direction of the floating pier body 500 (hereinafter, this direction of arrangement will be referred to as the "first circumferential direction"). A pair of vertical surfaces 625S of the connecting protruding portion 625 and a pair of vertical surfaces 645S of the connecting recessed portion 645 are inclined at the same angle. A pair of horizontal surfaces of the connecting protruding portion 625 and a pair of horizontal surfaces of the connecting recessed portion 645 are inclined at the same angle. The connecting protruding portion 625 and the connecting recessed portion 645 have, for example, corresponding shapes to each other.

[0135] As shown in Figure 9, the locking rod 620 is a component positioned at the tip of the connecting projection 625. The locking rod 620 is a rod-shaped body extending horizontally from the vertical center of the tip of the connecting projection 625. The locking rod 620 is fixed, for example, to a pair of horizontal surfaces of the connecting projection 625.

[0136] The lock body 640 is a component that connects to the lock rod 620 (see Figure 14, described later). As shown in Figure 10, the lock body 640 is positioned in the center of the bottom surface of the connecting recess 645. The lock body 640 has a pair of locking claws 641 and a lever 642. The pair of locking claws 641 are positioned vertically within the connecting recess 645.

[0137] The locking rod 620 and the locking body 640 are arranged in the first circumferential direction. Specifically, the locking body 640 is positioned to the right of the locking rod 620 when viewed horizontally from the outside of the movable floating pier 100. The locking rod 620 and the locking body 640 have a distance of width W1 in the first circumferential direction. Specifically, the width between the locking rod 620 and the locking body 640 is width W1 in the horizontal direction. Note that width W1 is an example of the "first distance".

[0138] The second connecting member 820 has a locking rod 620, a locking body 640, a connecting projection 625, and a connecting recess 645. The first connecting member 810 and the second connecting member 820 have the same parts. Furthermore, the positional relationship of the parts is the same in the first connecting member 810 and the second connecting member 820. Specifically, the locking body 640 of the second connecting member 820 is positioned to the right of the locking rod 620 when viewed horizontally from the outside of the movable floating pier 100. The width between the locking rod 620 and the locking body 640 of the second connecting member 820 is width W1 in the horizontal direction.

[0139] As shown in Figure 8, the deck 200 is located above the movable floating pier 100. The deck 200 is flat. When viewed from above, the deck 200 has a roughly regular hexagonal shape (see Figure 6). The deck 200 has a first cover 210 and a second cover 220. The deck 200 can also be divided in the front, back, left, and right directions. In this embodiment, the deck 200 is formed of six trapezoidal flat plates and one regular hexagonal flat plate.

[0140] The first cover 210 is a member that protrudes horizontally from the deck 200, as shown in Figure 8. In a vertical view, the first cover 210 is located outside the outline of the floating pier body 500. In a vertical view, the first cover 210 overlaps at least a portion of the first connecting member 810. The first cover 210 is located above the first connecting member 810. The first cover 210 is expandable and contractible in the direction in which it protrudes from the deck 200 (an example of the "connecting direction").

[0141] The second cover 220 is a member that protrudes horizontally from the deck 200, as shown in Figure 8. In a vertical view, the second cover 220 is located outside the outline of the floating pier body 500. In a vertical view, the second cover 220 overlaps at least a portion of the second connecting member 820. The second cover 220 is located above the second connecting member 820. The second cover 220 is expandable and contractible in the direction in which it protrudes from the deck 200.

[0142] (Effects of the second embodiment) As described above, the mobile floating pier 100 of this embodiment comprises a floating pier body 500 and a propulsion machine 700. The floating pier body 500 has a housing 300 and a floating body 400. The housing 300 and the floating body 400 are separable. According to the mobile floating pier 100 of this embodiment, the housing 300 can be easily detached from the floating body 400.

[0143] Figure 11 is a cross-sectional view showing the separation process of a mobile floating pier according to the second embodiment. In the mobile floating pier 100 of this embodiment, the housing 300 is located above the floating body 400. According to the mobile floating pier 100 of this embodiment, it is easier to assemble and disassemble the mobile floating pier 100 on the water. In addition, when the mobile floating pier 100 is positioned on the water, it is easier to place batteries 7, luggage, etc. in the housing space R of the housing 300.

[0144] In the movable floating dock 100 of this embodiment, the housing 300 has a plurality of fixing protrusions 312 on its lower side. The floating body 400 has a plurality of fixing recesses 422 on its upper side. According to the movable floating dock 100 of this embodiment, the housing 300 and the floating body 400 can be easily attached and detached in the vertical direction by the fixing protrusions 312 and the fixing recesses 422. Furthermore, the housing 300 and the floating body 400 are fixed in the horizontal direction by the engagement of the fixing protrusions 312 and the fixing recesses 422.

[0145] In the movable floating pier 100 of this embodiment, the thruster 700 is positioned inward relative to the outline of the floating pier body 500 when viewed in the vertical direction. Compared to a configuration in which the thruster 700 is positioned outward relative to the outline of the floating pier body 500 when viewed in the vertical direction, the movable floating pier 100 can be made larger in the horizontal direction.

[0146] The movable floating pier 100 of this embodiment further includes a first connecting member 810 positioned on the first peripheral edge portion 810S of the floating pier body 500, and a second connecting member 820 positioned on the second peripheral edge portion 820S of the floating pier body 500, which is located at a different position from the first peripheral edge portion 810S in the circumferential direction of the floating pier body 500. According to the movable floating pier 100 of this embodiment, by having the first connecting member 810 and the second connecting member 820, multiple movable floating piers 100 can be connected to each other.

[0147] Figures 12 to 14 are cross-sectional views showing the connection process of a pair of movable floating docks according to a second embodiment. As shown in Figure 12, a movable floating dock 100 and a movable floating dock 100A having the same structure as the movable floating dock 100 are arranged horizontally. The movable floating dock 100 and the movable floating dock 100 float on the water surface WS at different positions in the vertical direction. Note that the same reference numerals are used for the same components of the movable floating dock 100 and their descriptions are omitted. When describing elements provided on the movable floating dock 100 and elements provided on the movable floating dock 100A separately, the reference numeral "A" is added to the end of the reference numeral of the elements provided on the movable floating dock 100A.

[0148] As shown in Figure 13, the movable floating pier 100 and the movable floating pier 100A are in a state where they are closer to each other than the relative positions of the movable floating pier 100 and the movable floating pier 100A shown in Figure 12. When the movable floating pier 100 and the movable floating pier 100A are closer to each other, the first connecting member 810 and the second connecting member 820A of the movable floating pier 100 come into contact. Specifically, a pair of vertically oriented surfaces 625S of the connecting projection 625 of the movable floating pier 100 and a pair of vertically opposing surfaces 645S of the connecting recess 645 come into contact. Since the connecting projection 625 and the connecting recess 645A have corresponding shapes, the connecting projection 625 is inserted into the connecting recess 645A along the slope with respect to the connecting recess 645A. In this way, the movable floating pier 100 and the movable floating pier 100A move closer together. Consequently, the vertical displacement between the movable floating pier 100 and the movable floating pier 100A decreases. The locking rod 620 of the connecting projection 625 and the locking body 640A of the connecting recess 645A move closer together. That is, the connecting projection 625 and the connecting recess 645A guide the movable floating pier 100 and the movable floating pier 100A to the connection position of the first connecting member 810 and the second connecting member 820.

[0149] Furthermore, the first cover 210 and the second cover 220A, which are located above the first connecting member 810 and the second connecting member 820, are in contact horizontally. Both the first cover 210 and the second cover 220A are expandable and contractible in the protruding direction. Therefore, as the movable floating pier 100 and the movable floating pier 100A move closer together, both the first cover 210 and the second cover 220A contract along the protruding direction.

[0150] As shown in Figure 14, when the movable floating pier 100 and the movable floating pier 100A move closer together, the connecting projection 625 is fully inserted into the connecting recess 645A. The locking rod 620 is inserted between the pair of locking claws 641 of the locking body 640A. The pair of locking claws 641 lock and hold the locking rod 620. This connects the movable floating pier 100 and the movable floating pier 100A.

[0151] The movable floating pier 100 and the movable floating pier 100A are made less mobile in the vertical direction and in the horizontal direction perpendicular to the connection direction by the connecting protrusion 625 and the connecting recess 645A. In addition, the gap between the deck 200 of the movable floating pier 100 and the deck 200A of the movable floating pier 100A is closed by the first cover 210 and the second cover 220A. As a result, the deck 200 of the movable floating pier 100 and the deck 200A of the movable floating pier 100A become flush.

[0152] In the movable floating dock 100 of this embodiment, the first connecting member 810 has a locking rod 620 and a locking body 640 positioned in the first circumferential direction of the floating dock body 500 relative to the locking rod 620. The width between the locking rod 620 and the locking body 640 is width W1. The second connecting member 820 has the same structure. As a result, the first connecting member 810 (second connecting member) of the movable floating dock 100 can be connected to either the first connecting member or the second connecting member 820A of a different movable floating dock 100A. As a result, the degree of freedom in connecting the movable floating docks 100 to each other is improved.

[0153] While embodiments of this invention have been described above, this invention can also be implemented in other forms.

[0154] For example, in the embodiment described above, an example was described in which the charging equipment 8 is equipped with a solar panel 9, but the charging equipment 8 may also be equipped with power receiving equipment such as a power supply cable for receiving power from shore power equipment.

[0155] Furthermore, although the above-described embodiment shows an example where the thruster 2 is an electric thruster, a thruster driven by an engine may also be used.

[0156] Furthermore, although the above-described embodiment showed an example in which the mobile floating dock 1 is equipped with a position sensor such as a GPS receiver 20, such a position sensor is not necessarily required. For example, if the movement area of ​​the mobile floating dock 1 is not wide, the mobile floating dock 1 can be moved appropriately even without a position sensor by means of distance sensors such as a millimeter-wave radar 21 or recognition of the target vessel 51 by a camera 23.

[0157] Furthermore, various design modifications can be made within the scope of the matters described in the patent claims.

[0158] In the second embodiment described above, the housing 300 is formed of multiple rod-shaped members, but it does not have to be made of multiple rod-shaped members. For example, the housing 300 may have a shape that has a housing space R, such as a box. Furthermore, by forming the housing 300 with multiple rod-shaped members, the housing 300 can be made lighter and more compact. As a result, the housing 300 becomes easier to carry.

[0159] In the second embodiment described above, the interiors of the peripheral float 410 and the central float 420 of the float 400 are hollow, but they do not have to be hollow. For example, the interior of the central float 420 may be filled with a material that floats on water, such as styrofoam. Alternatively, the interiors of both the peripheral float 410 and the central float 420 may be hollow.

[0160] In the second embodiment described above, the housing 300 and the floating body 400 are directly fixed to each other in the vertical direction, but this does not have to be the case. The housing 300 and the floating body 400 may be fixed to each other in the vertical direction while another member is placed between them.

[0161] In the second embodiment described above, a plurality of fixing protrusions 312 are arranged below the housing 300 and a plurality of fixing recesses 422 are arranged above the floating body 400, but the structure is not limited to this. For example, a plurality of fixing recesses 422 may be arranged below the housing 300 and a plurality of fixing protrusions 312 may be arranged above the floating body 400, or the fixing protrusions 312 and fixing recesses 422 may be arranged in the housing 300 and the floating body 400, respectively, as long as the opposing relationship between the fixing protrusions 312 and the fixing recesses 422 matches. Alternatively, a plurality of fixing recesses may be arranged below the housing 300 and above the floating body 400. In that case, the housing 300 and the floating body 400 can be fixed together by connecting the plurality of fixing recesses 422 below the housing 300 and the plurality of fixing recesses 422 above the floating body 400 with a separate rod-shaped member.

[0162] In the second embodiment described above, the thruster 700 has three thrust modules (700P, 700Q, 700R), but it may also be a single thruster. In the case of a single thruster, the movable floating pier 100 can change the direction of the thrust force of the thruster 700 by further equipping the thruster 700 with a steering device.

[0163] Furthermore, the thruster 700 of the second embodiment described above can control the magnitude and direction of the thrust force of the mobile floating dock 100 by controlling the rotation speed and rotation direction of the propellers of each thrust module (700P, 700Q, 700R) (for example, by controlling them with a controller 5 mounted on the mobile floating dock 100). For example, in Figure 6, the thrust module 700P rotates the propeller shaft 760P in the reverse direction. That is, the thrust module 700P generates a thrust force directed toward the opposite side of the blade 780P at the first rotation axis Ap1. The thrust module 700Q is stationary. The thrust module 700R rotates the propeller shaft in the forward direction. That is, the thrust module 700R generates a thrust force directed toward the blade side at the third rotation axis Ap3. As a result, the mobile floating dock 100 moves toward the opposite side (upper right direction in Figure 6) of the position of the thrust module 700Q. Furthermore, when the propellers of each propulsion module (700P, 700Q, 700R) are all rotated in the same direction, the mobile floating pier 100 rotates in that position. Note that there may be three or more propulsion modules in the thruster 700.

[0164] In the second embodiment described above, the thruster 700 controls each thrust module (700P, 700Q, 700R) of the thruster 700 from a single controller 5, but is not limited to this. For example, each thrust module (700P, 700Q, 700R) may have its own controller. As a result, the controllers of each thrust module (700P, 700Q, 700R) are smaller than the controller 5 of the mobile floating pier 100. Therefore, the mobile floating pier 100 becomes more compact when assembling and disassembling it. Also, the controllers of the thrust modules are easier to load and unload from the mobile floating pier 100. Furthermore, if each thrust module (700P, 700Q, 700R) has its own controller, another controller may be additionally mounted on the mobile floating pier 100 to control each controller of each thrust module and control the movement of the mobile floating pier 100. Also, the command device 40 may have the functions of the above-mentioned other controller.

[0165] In the second embodiment described above, the thruster 700 supplies power to each of its thrust modules (700P, 700Q, 700R) from a single battery 7, but is not limited to this. For example, each of the thrust modules (700P, 700Q, 700R) may have its own battery. As a result, the batteries of each thrust module (700P, 700Q, 700R) are smaller than the battery 7 of the mobile floating dock 100. Therefore, the mobile floating dock 100 becomes more compact when assembling and disassembling it. In addition, the batteries of the thrust modules are easier to load and unload from the mobile floating dock 100.

[0166] In the second embodiment described above, the first connecting member 810 and the second connecting member 820 are positioned opposite each other in the X-axis direction, but are not limited to this position. For example, the first connecting member 810 and the second connecting member 820 may be positioned on all of the circumferential sides of the floating pier body 500 (in this embodiment, the sides of a regular hexagon when viewed from above). Note that if the structures of the first connecting member 810 and the second connecting member 820 are the same, as in this embodiment, then connecting members (810, 820) with the same structure are positioned on all surfaces. Furthermore, the first connecting member 810 and the second connecting member 820 may be positioned at the corners of any two adjacent circumferential sides of the floating pier body 500.

[0167] In the second embodiment described above, the first connecting member 810 and the second connecting member 820 each have a locking rod 620, a locking body 640, a connecting projection 625, and a connecting recess 645, but the configuration does not have to be this. For example, the first connecting member 810 may have only a locking rod 620, and the second connecting member 820 may have only a locking body 640. In that case, for example, the connecting projection 625 may be located in a different location on the first peripheral portion 810S than where the locking rod 620 is located, and the connecting recess 645 may be located in a different location on the second peripheral portion 820S than where the locking body 640 is located.

[0168] Furthermore, the first connecting member 810 and the second connecting member 820 can also be arranged with the connecting projection 625, locking rod 620, locking body 640, and connecting recess 645 in the same order and at the same distance from each other. For example, as follows: The connecting projection 625, locking rod 620, locking body 640, and connecting recess 645 of each connecting member are arranged in this order in the first direction. The horizontal distance between the connecting projection 625 and the locking rod 620 of each connecting member is the same. The horizontal distance between the locking body 640 and the connecting recess 645 of each connecting member is the same. As a result, a pair of movable floating docks 100 can be freely connected.

[0169] In the second embodiment described above, the shape of the connecting protrusion 625 was a truncated square pyramid, and the shape of the recess of the connecting recess 645 was a truncated square pyramid, but the shape is not limited to this. For example, the shape of the connecting protrusion 625 and the shape of the recess of the connecting recess 645 may be hemispherical. The surface 625S of the connecting protrusion 625 and the surface 645S of the connecting recess 645 may be curved surfaces when joined together.

[0170] In the second embodiment described above, the locking rod 620 is positioned at the tip of the connecting projection 625 and the locking body 640 is positioned in the center of the bottom surface of the connecting recess 645, but the embodiment is not limited to this. For example, the locking rod 620 may be positioned in the center of the bottom surface of the connecting recess 645 and the locking body 640 may be positioned at the tip of the connecting projection 625.

[0171] In the second embodiment described above, a pair of movable floating docks 100 are connected by a locking rod 620 and a locking body 640, but other structures are also possible. When the locking rod 620 is inserted between a pair of locking claws 641 of the locking body 640, the pair of locking claws 641 lock and hold the locking rod 620. The locking claws 641 are released by operating the lever 642. This releases the locking rod 620 from its locked state. In other words, it is a snatch lock.

[0172] In the second embodiment described above, the deck 200 is formed of six trapezoidal plates and one regular hexagonal plate, but it is not limited to this. It may also be made of one regular hexagonal plate.

[0173] In the above-described embodiment, the movable floating pier (1,100) may have fins and a rudder positioned below the floating body 4 and the floating pier body 500.

[0174] 1: Mobile floating dock 2: Propulsion system 2a: Electric motor 2b: Propeller 3: Steering mechanism 4: Floating body 5: Controller 5a: Processor 5b: Memory 6: Rotation axis 7: Battery 8: Charging equipment 9: Solar panel 10: Deck 11: Support column 12: Roof 13: Pressing part 14: Pressing force sensor 20: GPS receiver 21: Millimeter wave radar 23: Camera 24: Wireless communication unit 30: Network 31: Server 40: Command device 41: Processor 42: Memory 43: Display 44: Input device 45: Wireless communication device 46: GPS receiver 47: Camera 50: Mooring space 51: Ship 52: Mooring pile 53: Mooring rope 55: Hull 60: Land 61: Base 62: Disembarkation point 63: Waiting area 100, 100A: Mobile floating pier 200, 200A: Deck 210: First cover 220, 220A: Second cover 300: Housing 312: Fixed protrusion 400: Floating body 410: Peripheral floating body 420: Central floating body 422: Fixed recess 500: Floating pier body 620: Locking rod 625: Connecting protrusion 640, 640A: Locking body 641: Locking claw 642: Lever 645, 645A: Connecting recess 645S: Surface 700: Propulsion unit 700P, 700Q, 700R: Propulsion module 720P: Support column 740P: Propulsion module body 760P: Propeller shaft 780P: Blade 810: First connecting member 810S: First peripheral portion 820, 820A: Second connecting member 820S: Second peripheral portion Ap1: First rotation axis Ap2: Second rotation axis Ap3: Third rotation axis R: Storage space WS: Water surface

Claims

1. A mobile floating body comprising a complex including a housing having a housing space and a floating body, and a propulsion system fixed to the complex, wherein the housing is detachably fixed to the floating body.

2. A mobile floating body according to claim 1, wherein the propulsion system is located inward with respect to the outline of the composite body when viewed in the vertical direction.

3. A movable floating body according to claim 1 or claim 2, wherein the housing is located above the floating body, and at least a portion of the housing is positioned to overlap the floating body when viewed in the vertical direction.

4. A movable float according to claim 3, wherein the composite further includes: a first convex portion formed on one of the upper surface of the float and the lower surface of the housing facing the upper surface of the float in the vertical direction; and a first recess formed on the other of the upper surface of the float and the lower surface of the housing into which the first convex portion is inserted.

5. A movable floating body according to any one of claims 1 to 4, further comprising: a first connecting member disposed on a first peripheral portion of the composite; and a second connecting member disposed on a second peripheral portion of the composite located at a position different from the first peripheral portion in the circumferential direction of the composite.

6. A movable float according to claim 5, wherein the first peripheral portion has a second convex portion that protrudes horizontally, and the second peripheral portion has a second concave portion that is recessed horizontally.

7. A movable floating body according to claim 6, wherein the first connecting member is arranged on the second convex portion and the second connecting member is arranged on the second concave portion.

8. A movable float according to claim 6 or claim 7, wherein at least one of a pair of faces facing each other in the vertical direction and a pair of faces facing each other in the horizontal direction is inclined such that the distance between them increases as it approaches the opening side of the second recess.

9. A movable float according to any one of claims 6 to 8, wherein the second convex portion is formed, and at least one of a pair of vertical surfaces and a pair of horizontal surfaces is inclined such that the distance between them decreases as they move toward the tip of the second convex portion.

10. A movable floating body according to claim 5, wherein the first connecting member comprises a locking rod and a locking body positioned at a first distance apart from the locking rod in the first circumferential direction of the composite and connectable to the locking rod, and the second connecting member comprises the locking rod and the locking body positioned at a first distance apart from the locking rod in the first circumferential direction.

11. A movable float according to any one of claims 5 to 10, wherein at least a portion of the first connecting member is located outside the outline of the composite in a vertical view, and the movable float further comprises a first cover which is above the first connecting member and located outside the outline and overlaps at least a portion of the first connecting member in a vertical view.

12. A movable float according to claim 11, wherein the first cover is expandable and contractible in the direction of connection between the first connecting member and the second connecting member.

13. A movable float according to any one of claims 5 to 12, wherein at least a portion of the second connecting member is located outside the outline of the composite in a vertical view, and the movable float further comprises a second cover located above the second connecting member and outside the outline, and overlapping at least a portion of the second connecting member in a vertical view.

14. A movable float according to claim 13, wherein at least one of the second covers is expandable and contractible in the direction of connection between the first connecting member and the second connecting member.

15. A mobile floating body according to any one of claims 1 to 14, wherein the propulsion system has a plurality of propulsion devices that generate a thrust force for the mobile floating body, and the propulsion device has a battery which is the power source for the propulsion device and a controller which controls the propulsion device.

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