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EP3048039A1 - Procédé et dispositif de commande de navire - Google Patents

Procédé et dispositif de commande de navire Download PDF

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Publication number
EP3048039A1
EP3048039A1 EP15152545.8A EP15152545A EP3048039A1 EP 3048039 A1 EP3048039 A1 EP 3048039A1 EP 15152545 A EP15152545 A EP 15152545A EP 3048039 A1 EP3048039 A1 EP 3048039A1
Authority
EP
European Patent Office
Prior art keywords
lever
control
azimuthing
mode
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15152545.8A
Other languages
German (de)
English (en)
Inventor
Niko Ostrow
Pauli Hemmilä
Vladimir Kukkonen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Schweiz AG
Original Assignee
ABB Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Oy filed Critical ABB Oy
Priority to EP15152545.8A priority Critical patent/EP3048039A1/fr
Publication of EP3048039A1 publication Critical patent/EP3048039A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H21/213—Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H2025/026—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters

Definitions

  • the present invention relates to controlling of a ship.
  • An azimuthing propulsion unit is a configuration of marine propellers that can be rotated horizontally to any angle. This gives the ship better maneuverability than a fixed propeller and rudder system.
  • Each azimuthing propulsion unit may have a manual controller such as a lever for controlling the orientation and propulsion power of the propulsion unit.
  • Figure 1 shows one example of a prior art bridge center 100 where all the control devices are arranged. The shown view is very much simplified such that only the relevant features have been shown.
  • a port lever 102 for controlling the port azimuthing propulsion unit, and a starboard lever 104 for controlling the starboard propulsion unit.
  • the control panel 106 has an activation button 110 for activating the synchronous mode such that the lever 102 becomes the master lever and the lever 104 is the slave lever.
  • the panel 108 has a similar button 114 for activating the synchronous mode such that the lever 104 becomes the master lever.
  • the buttons 112 and 116 are provided for deactivating the synchronous mode whereby the system returns to a separated azimuthing propulsion mode where both propulsion units can be separately controlled by their respective levers 102, 104.
  • Figure 1 shows also a miniwheel 120 for providing an alternative for controlling the ship in the synchronous mode.
  • Both panels 106 and 108 may have one or more buttons for activation and deactivation of such a control mode.
  • An object of the present invention is to provide an apparatus and a method which are defined in the independent claims. Some embodiments are disclosed in the dependent claims.
  • the embodiments relate to a ship, and especially to a control arrangement for controlling the ship.
  • the ship according to the embodiments comprises at least two azimuthing propulsion units.
  • the azimuthing propulsion unit is arranged to a bottom of the ship and can be horizontally rotated as desired. There may be arranged a space to the bottom of the ship such that the azimuthing propulsion units fit within the outer dimensions of the ship even when rotated to any position.
  • the azimuthing propulsion units may be arranged symmetrically adjacent to each other behind the skeg of the ship.
  • the azimuthing propulsion unit comprises a pod, which is fixedly arranged to a strut.
  • the strut is arranged rotationally by a bearing/swivel unit to the bottom of the ship.
  • the pod houses an electric propulsion motor for rotating a propeller fixed to a hub at the end of the pod.
  • a shaft rotated by the electric motor is the same shaft that rotates the propeller or at least coaxial to it.
  • the control devices of the ship are typically arranged to one or more bridge centers. There may be, for instance, three such centers adjacent to each other, one in the middle and two on both sides the ship.
  • the ship can be controlled from any of the bridge centers.
  • the bridge centers can be mutually similar or there may be some differences between those.
  • the main center in the middle may, for instance, be provided with all or at least most functionality whereas the bridge centers on the edges may be provided with more limited functionality.
  • FIG 2 shows an embodiment of a bridge center 200 according to the invention to be compared to the prior art bridge center 100 of Figure 1 .
  • To the bridge centre 200 belong a port azimuthing lever 202 and a starboard azimuthing lever 204.
  • Each lever is adapted for controlling both the orientation and the propulsion power of the azimuthing propulsion unit. From the initial orientation, the lever can typically be rotated 180 degrees, for instance, either clockwise or counter-clockwise. On top of the lever there may be slide controller for controlling the propulsion power (propeller revolution rate) of the propulsion unit.
  • the slide controller can be set between 0 and 10 in the forward and backward directions, for instance.
  • Figure 2 shows also respective control panels 206 and 208 similarly as in Figure 1 .
  • the control panels are free from activation/deactivation buttons of the synchronous mode shown in Figure 1 .
  • the activation and deactivation of the synchronous mode are carried out differently.
  • the user may enter the synch mode by grabbing any of the two levers, which automatically becomes the master lever and the other lever starts following the master lever.
  • the synch mode can be deactivated by grabbing both levers and turning them to different reference points.
  • Figure 3 illustrates one embodiment of a state model of the port and starboard levers.
  • the "idle"-mode is the default mode in which the system is, for instance, at start when no operation has yet been carried out.
  • the user performs a control gesture on the port lever, whereby the system enters automatically into a synchronous mode where the port lever is the master lever and the other lever the slave lever.
  • the state transition 344 is similar but in the opposite way, that is the user first performs a control gesture on the starboard lever whereby it becomes the master lever.
  • the user grabs both levers simultaneously or within a predetermined time window whereby the system enters the separated mode where both levers control their respective propulsion units.
  • the system can return to the idle mode. This can be carried out for instance when a predetermined time has elapsed during which no control gestures have been carried out on the port lever. At shortest, the period can be some seconds.
  • the slave lever may follow with a delay of a couple of seconds.
  • the delay has lapsed and the slave lever had time to complete the task that was previously performed on the master lever, the system will return to the idle state in which any lever can become master lever again.
  • the system can perform a state transition 450 from the "sync-port" state to "separate cntl" by grabbing the starboard lever and turning it a different reference point than the port lever.
  • the different reference points means here that the levers are rotated sufficiently, e.g. a predetermined angle to different orientations. This is an indication to the system to exit the synchronous mode and enter the separated mode.
  • the state transitions 346 and 352 correspond to the respective state transitions 342 and 350.
  • the active control board may be selected by performing a control gesture on one of the control levers of the azimuthing propulsion unit.
  • the control gesture may perform two tasks, that is, select the active control board, and activate a synch mode between the levers of the propulsion units.
  • Figure 4 shows one embodiment of a method.
  • the method is applicable in controlling a ship having at least two azimuthing propulsion units each having a lever for controlling one or more control parameters of the propulsion unit.
  • the propulsion units are operated such that at least one of their operating parameters is the same.
  • the operating parameter can include an orientation angle and/or a revolution speed of a propeller of the propulsion unit.
  • the synch mode is activated by performing a control gesture on one of the control levers while leaving the other lever intact.
  • the operated lever becomes automatically the master lever which is followed by the other lever.
  • Steps 402 and 404 show an embodiment how the master lever can be changed.
  • a control gesture such as modification of the orientation angle and/or the revolution speed
  • the slave lever follows the control gesture.
  • the system enters into a state where any of the two levers can again be selected as a master lever.
  • the other lever than the lever in step 400 is operated, whereby that lever becomes the master lever.
  • Step 406 highlights how the separated mode can be entered from the synch mode.
  • the user has performed the control gestures on one of the levers only, the user now performs the control gestures on both levers.
  • the threshold value may be any value, such as 30 degrees, or 90 degrees, for instance.
  • both propulsion units may be controlled independently from each other with their own respective levers.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)
EP15152545.8A 2015-01-26 2015-01-26 Procédé et dispositif de commande de navire Withdrawn EP3048039A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15152545.8A EP3048039A1 (fr) 2015-01-26 2015-01-26 Procédé et dispositif de commande de navire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15152545.8A EP3048039A1 (fr) 2015-01-26 2015-01-26 Procédé et dispositif de commande de navire

Publications (1)

Publication Number Publication Date
EP3048039A1 true EP3048039A1 (fr) 2016-07-27

Family

ID=52446203

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15152545.8A Withdrawn EP3048039A1 (fr) 2015-01-26 2015-01-26 Procédé et dispositif de commande de navire

Country Status (1)

Country Link
EP (1) EP3048039A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11945563B2 (en) 2021-06-01 2024-04-02 Caterpillar Inc. Propulsion control selection and synchronization system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001000485A1 (fr) * 1999-06-24 2001-01-04 Siemens Aktiengesellschaft Systeme d'entrainement et de propulsion pour bateaux
WO2007105995A1 (fr) * 2006-03-16 2007-09-20 Cpac Systems Ab Systeme de commande de propulsion marine et navire contenant un tel systeme de commande de propulsion marine
US20080171479A1 (en) * 2007-01-16 2008-07-17 Ab Volvo Penta Method of steering aquatic vessels
US20090197486A1 (en) * 2008-01-31 2009-08-06 Ab Volvo Penta Method and system for maneuvering aquatic vessels
EP2163473A2 (fr) * 2008-09-16 2010-03-17 AB Volvo Penta Bateau avec système de commande pour contrôler le sillage et procédé de contrôle du sillage

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001000485A1 (fr) * 1999-06-24 2001-01-04 Siemens Aktiengesellschaft Systeme d'entrainement et de propulsion pour bateaux
WO2007105995A1 (fr) * 2006-03-16 2007-09-20 Cpac Systems Ab Systeme de commande de propulsion marine et navire contenant un tel systeme de commande de propulsion marine
US20080171479A1 (en) * 2007-01-16 2008-07-17 Ab Volvo Penta Method of steering aquatic vessels
US20090197486A1 (en) * 2008-01-31 2009-08-06 Ab Volvo Penta Method and system for maneuvering aquatic vessels
EP2163473A2 (fr) * 2008-09-16 2010-03-17 AB Volvo Penta Bateau avec système de commande pour contrôler le sillage et procédé de contrôle du sillage

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"AUSTRIAN RIVER ICEBREAKER WITH AZIPOD PROPULSION", SHIP AND BOAT INTERNATIONAL, ROYAL INSTITUTION OF NAVAL ARCHITECTS, LONDON, GB, vol. 48, no. 5, 1 June 1995 (1995-06-01), pages 5,07,09, XP000517047, ISSN: 0037-3834 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11945563B2 (en) 2021-06-01 2024-04-02 Caterpillar Inc. Propulsion control selection and synchronization system

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