JP2017094984A - Landing ship and control method for landing ship - Google Patents

Abstract

An object of the present invention is to provide a ship landing control that allows a ship to land to enter a predetermined landing point and ride on the land, and to perform position holding control and heading control of the landing ship during landing. Provided is a ship control method and a ship landing control method. In a ship 1 that climbs the bow side on land and unloads crew members and / or mounted vehicles from the bow, a bow thruster 7 disposed at the bow and a biaxial propeller disposed at the stern. 5 and a special rudder 6 that is disposed behind each of these propulsion devices 5 and generates a lateral force by changing the water flow generated by these propulsion devices 5 in the heel side direction. [Selection] Figure 2

Description

  The present invention relates to a landing ship and a method for controlling a landing ship. More specifically, the present invention relates to a ship maneuvering control until a landing ship enters a predetermined landing point and rides on a land, and a landing ship during landing. The present invention relates to a landing ship capable of performing position holding control and heading control only by its own boat and a method for controlling a landing ship.

  Ships that land, such as landing ships, are known as ships that have the ability to land vehicles and personnel on the coast without relying on harbor facilities such as quays. Examples of the landing ship include a coast landing ship directly landing on the coast and a dog type landing ship loaded with a landing craft.

  These landing ships (including landing boats) land on the shores and riverbanks from the bow side so that they can land (beach), and the crew and / Or landing the vehicle from the bow. When these landing ships get on the landing point, it is necessary to make the heading almost at right angles to the coastline (bundling) etc., and to prevent the landing ship from moving from the landing point during landing. Therefore, it is necessary to perform the position holding control and the heading control for maintaining the heading of the ship to land at a right angle to the coastline or the like.

  However, when approaching the landing site, when landing on the land, and during landing, the landing ship is affected by tidal currents, waves, and winds, so the bow direction of the hull is always perpendicular to the coastline, etc. In order to maintain this state, it is necessary to control the direction and magnitude of the lateral force generated in the ship in accordance with external forces such as wave force, tidal current force, and wind force. In addition, it is important for multiple ship operations and narrow beaches to enter and land at a precise landing point and not move from the predetermined landing point.

  Conventionally, a landing ship has a tugboat (for example, a patent boat) that assists in taking off and landing by pushing or crawling the ship when berthing and landing a large ship or special ship. Reference 1) and stern anchor.

  Specifically, when landing at the landing point, the heading is controlled by pushing or pulling the side of the hull on the stern side of the ship to be landed by a tugboat or a small boat mounted on the ship. However, after maneuvering this landing ship, aiming for the landing point, driving the stern anchor into the seabed just before landing, then climbing the bow on the land, and during the landing of crew, mounted vehicles and supplies, the hull of the ship Control is performed to maintain the heading of the ship to be landed by the tugboat on the rear side surface, and the heading of the ship to be landed by the tugboat is controlled in the same manner as when entering.

  For this reason, it takes time to get to the landing point and the landing work for a conventional landing ship, and it is necessary to prepare a tugboat. In addition, there was a problem that the loading amount of vehicles and landing materials decreased. Furthermore, there is a problem that a maneuvering manpower for maneuvering a tug boat or a small boat is required.

JP 7-89486 A

  The present invention has been made in view of the above-described situation, and the purpose of the present invention is to provide a ship maneuvering control until the landing ship enters a predetermined landing point and rides on the land, and the position of the landing ship during landing. It is an object of the present invention to provide a landing ship that can perform holding control and heading control only by its own ship and a control method therefor.

  In order to achieve the above object, a ship to land according to the present invention includes a bow thruster arranged at the bow part of a ship that rides a crew member and / or an onboard vehicle from the bow on the bow side. A two-axis propulsion device arranged at the stern part, a special rudder arranged behind each of these propulsion devices and generating a lateral force by changing the water flow generated by these propulsion devices to the side direction It is configured with.

  As this special rudder, a flap that can be moved is attached to the rear end of the rudder plate, and this flap can be moved to almost twice the rudder angle of the main rudder surface. Use a high-lift rudder such as a shilling rudder that can take a rudder angle of up to about 70 degrees by attaching a baffle plate, or a normal type rudder that can take a rudder angle that exceeds the normal rudder angle range of 35 degrees be able to.

  According to this configuration, by controlling the bow thruster, the propeller and the rudder, the ship maneuvering control until the ship to land enters the predetermined landing point and rides on the land, the position holding control of the ship during the landing, and It is possible to control the heading control only with the ship itself. That is, it is not necessary to use a tugboat or a small boat as before when landing a ship to land, so that it is not necessary to prepare a tugboat or mount a small boat on the ship to land. As a result, it is possible to increase the loading amount of the crew, the mounted vehicle, the landing material, and the like to land as compared with a conventional landing ship. In addition, there is no need to deploy maneuvering personnel for tugboats and small boats.

  In the above landing ship, when the rudder shaft of the special rudder is arranged closer to the center of the hull than the central shaft of the propulsion device in the width direction of the hull, the special rudder allows the propulsion device to be more efficiently. The generated water flow can be made to flow in the heel side direction, and a larger lateral force can be generated. Therefore, it is advantageous for performing ship maneuvering control, position holding control, and bow direction control of a ship that is landing.

  In the above landing ship, with respect to the hull width direction, the rudder axis of the special rudder is a distance not less than 0.1 times and not more than 0.3 times the diameter of the propeller from the central axis of the propeller to the center of the hull. If it is the structure arrange | positioned in the distant position, a lateral force can be generated efficiently. When the rudder shaft of this rudder is located at a position less than 0.1 times the diameter of the propeller from the central axis of the propeller to the center of the hull, the efficiency of flowing the water flow generated by the propeller in the downside direction deteriorates. When the diameter of the propeller becomes larger than 0.3 times the diameter of the propeller, it is necessary to increase the width of the special rudder in order to efficiently receive the water flow generated by the propeller. It ’s not right.

  The above-mentioned landing ship is equipped with a GPS device, and based on the position information from the GPS device, the ship-operating control until the landing ship enters a predetermined landing point and rides on the land, and / or Or, when it is configured with a control device that automatically performs position holding control and heading control of the landing ship during landing, it is accurate based on the position measurement data of the landing ship measured by the GPS device. It is possible to enter and land on the landing ship at the landing point. In addition, by arranging a plurality of GPS devices in the bow direction, it is possible to detect the heading of this landing ship, so it is possible to change the bearing gyro, and this landing during landing of the landing ship, landing on the land and during landing The heading of the ship can be easily controlled.

  In order to achieve the above object, a method for controlling a ship to land is determined by controlling the bow thruster, the propulsion device, and the special rudder in any of the above landing ships. The ship maneuvering control until the vehicle enters the landing point and rides on the land, and / or the position holding control and the heading control of the landing ship during landing are performed.

  According to this method, the boat thruster, the propulsion device, and the special rudder are controlled so that the ship to be landed enters a predetermined landing point and rides on the land, and / or this landing during landing is performed. Since the ship position holding control and the heading control are performed, the landing operation of the ship to be landed can be performed relatively easily with a small number of operators.

  In the method for controlling a ship to land, the landing point at which the ship to be landed is determined by changing the strength of the water flow generated by the propulsion device in a state where the steering angle of the special rudder is fixed. To control the ship until it reaches the land and / or to land, and / or to maintain the position and control of the heading of the ship during landing, or to keep the strength of the water flow generated by the propulsion device constant. By changing the rudder angle of the special rudder in a fixed state, the ship to be landed enters a predetermined landing point and rides on the land, and / or this ship to land during landing If position holding control and heading control are performed, only one of the strength of the water flow generated by the propeller and the rudder angle of the special rudder is changed, so that there is no mutual interference, and Control of the ship which is to simplify.

  In addition, in a normal propulsion unit and rudder relationship, when climbing the bow on land, it approaches at low speed, so the rotation speed is decreased to weaken the propulsion force by the propulsion unit, and the water flow hit the rudder is weakened. Although the effectiveness of the rudder deteriorates, in the ship to land in the present invention, the special rudder is opened to the side of the ship and made into a square shape, thereby reducing the strength of the generated water flow without reducing the rotation speed of the propeller. By keeping the water flow constant and changing the direction of the water flow with a special rudder with a large rudder angle and flowing it to the shore side, the propulsion force by the thruster can be changed to the lateral force to the shore side, so the number of revolutions of the thruster The ship speed can be reduced without lowering.

  By controlling the magnitude relationship between the left and right lateral forces, the lateral force on the stern side can be set to either the left or right direction, and the magnitude of the lateral force can be controlled. In conjunction with the lateral force on the side, during landing after landing on the land, only the lateral force on the stern side is used to control the magnitude of this lateral force according to external forces such as wave force, tidal current force and wind force. Thus, the heading can be directed or maintained in an arbitrary direction. The lateral force control is automatically controlled by an automatic control device so that the set heading is maintained at a right angle to the coastline or the like.

  According to the ship to be landed according to the present invention, in a ship that climbs the bow side on the land and unloads the crew and / or the mounted vehicle from the bow, the bow thruster arranged at the bow part and the 2 arranged at the stern part. Since it is configured with a shaft thruster and a special rudder that is arranged behind each of these thrusters and generates a lateral force by changing the water flow generated by these thrusters in the lateral direction, By controlling the bow thruster, propulsion device and rudder, the ship maneuvering control until the landing ship enters the predetermined landing point and rides on the land, and / or the ship position holding control and heading control during the landing Can be controlled only by own ship.

  That is, it is not necessary to use a tugboat or a small boat as before when landing a ship to land, so that it is not necessary to prepare a tugboat or mount a small boat on the ship to land. As a result, it is possible to increase the loading amount of the crew, the mounted vehicle, the landing material, and the like to land as compared with a conventional landing ship. In addition, there is no need to deploy maneuvering personnel for tugboats and small boats.

  Further, according to the method for controlling a landing ship of the present invention, in the above-mentioned landing ship, by controlling the bow thruster, the propulsion device and the special rudder, the landing ship enters a predetermined landing point, Since the ship maneuvering control and / or the ship position holding control and the heading control during the landing are performed, the landing operation of the ship to be landed can be performed relatively easily with a small number of operators.

It is a top view which shows typically the condition when the ship to land of embodiment which concerns on this invention rides on land. It is a top view which shows typically the condition during landing of the ship to land of embodiment which concerns on this invention. It is the top view to which the ship to land in FIG. 2 was expanded. It is the top view which expanded further the rudder part of the ship to land in FIG. It is AA sectional drawing of FIG. It is a top view which shows typically the condition under the landing of the conventional ship to land.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a landing ship according to an embodiment of the present invention will be described with reference to the drawings.

  As shown in FIGS. 1 to 5, a landing ship 1 according to an embodiment of the present invention includes a bow thruster 7 disposed at the bow 2 and a biaxial propeller (propeller disposed at the stern 3. ) 5, 5 and a special rudder (hereinafter referred to as a special rudder) which generates a lateral force by changing the water flow generated by the propulsors 5 and 5 in the direction of the heel side, which is arranged behind each of these propulsors 5 and 5. 6). Furthermore, in this embodiment, the ship 1 to land includes two GPS devices 8 and 8 and an automatic control device 9.

  The two propulsion units 5 and 5 are connected to the propulsion devices 4 and 4, and by controlling the propulsion devices 4 and 4, the strength of the water flow generated by the respective propulsion units 5 and 5 ( (Propulsive force) can be changed individually. These propulsion devices 5 and 5 are arranged symmetrically with respect to the hull center line Cf.

  As described above, the special rudder 6 is a rudder having a mechanism capable of generating a lateral force by changing the water flow generated by the propulsion device 5 toward the side of the ship 1 that is landing. In other words, the special rudder 6 can be used like a bow thruster or a slang raster that generates a lateral force by generating a water flow in the side direction by changing the water flow generated by the propulsion device 5 to a side force in the side direction. High lift rudder. The special rudder 6 plays the same role as a general rudder during navigation other than landing, and when the landing ship 1 is landing, the ship maneuvering control, position holding control, bow of the landing ship 1 It functions as a special rudder that plays an important role in generating lateral force for azimuth control.

  As shown in FIG. 4, the special rudder 6 in the landing ship 1 of this embodiment includes a rudder shaft 6a, a rudder plate 6b, and a flap 6c. The rudder plate 6b has a mechanism that rotates around the rudder shaft 6a. A flap 6c is attached to the rear end of the rudder plate 6b so as to be rotatable about a part of the rear end. . And this flap 6c is comprised so that it can move to nearly twice the rudder angle of the main control surface (steering plate 6b).

  As shown in FIG. 4, the movable range of the rudder plate 6b is, for example, a steering angle (steering angle) α, which is an angle formed by the rudder plate 6b and the hull longitudinal direction (the direction of the hull center line Cf), is 30 °. ≦ α ≦ 70 °, and the movable range of the flap 6c with respect to the steering plate 6b is, for example, a steering angle β, which is an angle formed by the steering plate 6b and the flap 6c, in a range of 20 ° ≦ β ≦ 60 °. is there. By moving the rudder plate 6b and the flap 6c, the angle γ (= α + β) formed between the flap 6c and the hull longitudinal direction is movable to a range of 50 ° ≦ γ ≦ 100 °.

  Further, as shown in FIG. 4, the rudder shaft 6a of the special rudder 6 is in the hull center side (the hull center line Cf side) with respect to the hull width direction with respect to the central shaft 5a of the propulsion device 5 (the propeller center line X0). Are arranged symmetrically with respect to the hull center line Cf.

  More specifically, the rudder shaft 6a of the special rudder 6 is not less than 0.1 times and not more than 0.3 times the diameter Dp of the thruster 5 from the center axis 5a of the thruster 5 toward the center of the hull in the width direction of the hull. It is located at a distance. In other words, the first position X1 which is a distance 0.1 times the diameter Dp of the propulsion device 5 from the central axis 5a of the propulsion device 5 toward the center of the hull, and the propulsion device from the central axis 5a of the propulsion device 5 toward the center of the hull. The rudder shaft 6a of the special rudder 6 is disposed in the first region R1 between the second position X2 and the distance D3 that is 0.3 times the diameter Dp of 5.

  In this way, when the rudder shaft 6a of the special rudder 6 is arranged closer to the hull center side than the central shaft 5a of the propulsion device 5 in the width direction of the hull, the special rudder 6 generates the propulsion device 5 more efficiently. It becomes possible to flow the water flow to the heel side direction, and a larger lateral force can be generated.

  Furthermore, with respect to the width direction of the hull, the rudder shaft 6a of the special rudder 6 is separated from the central shaft 5a of the propulsion device 5 by a distance of 0.1 times or more and 0.3 times or less of the diameter of the propulsion device 5 toward the center of the hull. If it is arranged at a position, a lateral force can be generated efficiently. When the rudder shaft 6a is located at a position less than 0.1 times the diameter dimension of the propulsion device 5 from the central shaft 5a of the propulsion device 5 to the center of the hull, the efficiency of flowing the water flow generated by the propulsion device 5 in the downside direction is deteriorated. When the diameter of the propeller 5 is larger than 0.3 times the diameter of the special rudder 6, it is necessary to increase the width of the special rudder 6 in order to receive the water flow generated by the propulsion unit 5 efficiently. The machine becomes bigger and less practical.

  Note that the special rudder 6 is not limited to the configuration shown in this embodiment, and for example, a rectifying plate is attached to the upper and lower ends of a specially shaped rudder plate, and a rudder angle up to about 70 degrees is provided. A high-lift rudder such as a shilling rudder that can be taken or a normal rudder that can take a rudder angle that exceeds a normal rudder angle range of 35 degrees can be employed.

  The GPS device 8 is a device that acquires position information of the ship 1 that is landing. In this embodiment, two GPS devices 8 are arranged at an interval in the bow direction so that the bow direction of the ship 1 to land can be detected. The number of installed GPS devices 8 is not particularly limited. For example, when the GPS device 8 has a function capable of detecting the heading alone, the number of installed GPS devices 8 is configured as one. In addition, when it is desired to improve the detection accuracy of the heading, the number of installed GPS devices 8 can be three or more. Although the GPS device 8 is inexpensive and simple, an orientation gyro may be used for detecting the heading.

  The bow thruster 7, the propulsion device 5 (propulsion device 4), the special rudder 6 and the GPS device 8 are connected to the control device 9 of the ship 1 to land by wire or wirelessly, and based on the position measurement data of the GPS device 8. The control device 9 controls the bow thruster 7, the propulsion device 5 (propulsion device 4) and the special rudder 6 in general, and the operation of each device is indicated by an operation input device such as an operation stick. To be done automatically according to Furthermore, just by entering the target landing point and entering the heading at the landing point, the ship to automatically land will enter the predetermined landing point, get on the land, and land at this landing point. It is preferable that the bow thruster 7, the propulsion device 5 (propulsion device 4), and the special rudder 6 are configured to be comprehensively controlled so as to maintain the position of the ship 1 and maintain the heading. For this automatic maneuvering and automatic position holding and automatic heading control techniques, known control techniques such as fixed point holding can be used.

  Next, a method for controlling the landing ship 1 will be described. In the following description, the description will be made with the flow of the landing of the ship 1 to be landed, the landing on the land, and the landing.

  At the time of entry of the landing ship 1, that is, before the landing on the landing point, by maneuvering the landing ship 1, the ship enters the land with a precise course toward the predetermined landing point.

  In the ship 1 to land, the ship maneuvering control is performed by controlling the bow thruster 7, the propulsion device 5 (propulsion device 4) and the special rudder 6. That is, the side force generated by the bow thruster 7 toward the side of the bow 2 and the side force generated by the propeller 5 and the special rudder 6 toward the side of the stern 3 and the propulsive force generated toward the stern are waved. By controlling in response to external forces such as force, tidal power and wind force, the heading can be directed in an arbitrary direction, or the target can be maintained at the heading. The ship maneuvering control is performed so that the vehicle enters in a precise course.

  More specifically, in the bow raster 7, the strength of the water flow to be generated (the rotational speed of the bow raster 7) and the direction in which the water flow is generated (the rotation direction of the bow raster 7) are controlled. In the propulsion unit 5 and the special rudder 6, the strength of the water flow generated by the propulsion unit 5 (the number of revolutions of the propulsion unit 5), the steering angle α of the special rudder 6 (the steering angle β of the flap 6c as necessary), and Is controlled relatively on the starboard side and the port side, thereby controlling the direction and magnitude of the lateral force generated in the stern portion 3, the speed in the traveling direction of the landing ship 1, and the like.

  The ship 1 to land in this embodiment is based on the position measurement data (heading and position information) of the ship 1 to be landed measured by the GPS device 8, and the bow thruster 7 and the propulsion device 5 by the automatic control device 9. By automatically controlling the (propulsion device 4) and the special rudder 6 in a comprehensive manner, the ship maneuvering control of the ship 1 to be landed is performed. Then, by carrying out the ship maneuvering control, the ship 1 to be landed is made to approach the predetermined landing point on an accurate route.

  In the control of the propulsion unit 5 and the special rudder 6, the landing ship 1 of the present invention determines the strength of the water flow generated by the propulsion unit 5 and the steering angle α of the special rudder 6 (the steering angle β of the flap if necessary). By controlling each, it is possible to perform the heading control of the landing ship 1, but either the propulsion unit 5 or the special rudder 6 is in a fixed state and only the other is controlled to land. One ship maneuvering control can also be performed.

  Specifically, for example, by changing the strength of the water flow generated by the propulsion device 5 while the steering angle α of the special rudder 6 is fixed, the ship maneuvering control of the landing ship 1 can be performed. . That is, by setting the steering angle α of the special rudder 6 to be fixed, the outflow direction of the water flow generated by the propulsion device 5 is made constant, and the strength of the water flow generated by the port side and the starboard side propulsion devices 5 is increased. The ship maneuvering control of the ship 1 to land is performed by changing the magnitude of each lateral force generated on the port side and starboard side by changing the height.

  In addition, for example, by changing the steering angle α of the special rudder 6 in a state where the strength of the water flow generated by the propulsion device 5 is fixed, the ship maneuvering control of the landing ship 1 can be performed. That is, by changing the steering angle α of the special rudder 6 on the starboard side and starboard side to change the outflow direction of the water flow generated by the propeller 5 on the starboard side and starboard side, the port side and starboard side are changed. The ship maneuvering control of the landing ship 1 is performed by changing the magnitude of each lateral force to be generated.

  As described above, when the control is performed by changing only one of the strength of the water flow generated by the propulsion device 5 and the steering angle α of the special rudder 6, there is no mutual interference. Can be simplified. Therefore, this is an effective control method particularly in the case where the ship maneuvering control of the ship 1 to be landed is performed manually.

  When the landing ship 1 rides on the land (coast), as shown in FIG. 1, approach the land with the bow direction of the landing ship 1 maintained at right angles to the coastline, and ride the bow 2 on the land. And then land.

  The marine vessel maneuvering control when the landing ship 1 rides on the land is performed by the same method as the control method at the time of approach. Specifically, based on the position measurement data (heading) of the landing ship 1 measured by the GPS device 8, the automatic control device 9 performs the bow thruster 7, the propulsion device 5 (propulsion device 4), and the special rudder 6. The ship's maneuvering control of the landing ship 1 is carried out by comprehensively automatically controlling the ship, and the bowing direction of the landing ship 1 is maintained at a right angle with respect to the coastline, entering the landing point. Take 2 to land.

  However, when the landing ship 1 gets on the land, if the speed of the landing ship 1 (speed in the traveling direction) is high, the impact when getting on the land increases, so the ship speed of the landing ship 1 increases. Need to slow down.

  As a method of reducing the ship speed of the landing ship 1, there is a method of weakening the propulsive force by the propulsion unit 5, but if the propulsive force by the propulsion unit 5 is weakened, the water flow hitting the special rudder 6 is weakened. The rudder effect becomes worse and it becomes difficult to perform the ship maneuvering control. For this reason, the speed of the propulsion device 5 is reduced to a lateral force toward the shore side by the special rudder 6 without reducing the propulsion force of the propulsion device 5, thereby reducing the ship speed of the landing ship 1. .

  Specifically, as shown in FIG. 3, the special rudder 6 on both the starboard side and the port side is opened to the saddle side so as to have a square shape, and the steering angle α of the special rudder 6 is increased to increase the starboard side. The flow in the traveling direction by the propulsion devices 5 on the side and port side is changed to the flow on the starboard side and the flow on the port side, respectively, and the side force on the starboard side and the side force on the port side are antagonized. The propulsive force in the traveling direction by the propelling device 5 is reduced.

  As described above, the ship 1 that landed according to the present invention changes the magnitude of the steering angle α of the special rudder 6 so that the strength of the water flow generated by the propulsion device 5 is maintained constant. The ship speed of the ship 1 to land can be changed. That is, while maintaining the good rudder effect of the special rudder 6 without weakening the propulsive force by the propelling device 5, the ship speed of the landing ship 1 is lowered and the propulsive force of the propelling device 5 is changed to the heading. Therefore, the landing ship 1 according to the present invention can get on the land while performing the ship maneuvering control with high accuracy.

  After landing on the land, that is, during landing, as shown in FIG. 2, the position where the bow portion 2 is mounted on the land is maintained and the bow direction of the landing ship 1 is maintained at right angles to the coastline. The landing work of the crew and / or the mounted vehicle to the land is performed. That is, during landing, position holding control and heading control of the landing ship 1 are performed.

  Position holding control and heading control during landing are performed by controlling the bow thruster 7, the propulsion device 5 (propulsion device 4), and the special rudder 6 in the same manner as the ship maneuvering control method when entering or landing on land. To do. Specifically, based on the position measurement data (heading) of the landing ship 1 measured by the GPS device 8, the automatic control device 9 performs the bow thruster 7, the propulsion device 5 (propulsion device 4), and the special rudder 6. Are automatically controlled to perform position holding control and heading control of the landing ship 1. More specifically, the ship 1 to be landed is held at the position of the landing point by generating a forward thrust as required, and the magnitude of the lateral force generated on the ship 1 to be landed is determined by the wave force. By controlling according to the external force such as the tidal current and wind force, the bow direction of the landing ship 1 is maintained at a right angle to the coastline.

  However, during landing of the ship 1 that is landing, the bow 2 is in a state of riding on land, so that the bow raster 7 may not be used in some cases. In that case, without using the bow thruster 7, by controlling the propulsion device 5 (propulsion device 4) and the special rudder 6, only the lateral force on the stern side can be used to determine the magnitude of this lateral force, Position holding control and heading control are performed by controlling in accordance with external forces such as tidal power and wind power.

  In the position holding control and heading control during the landing of the ship 1 that is landing, either the propulsion device 5 or the special rudder 6 is set to a constant state in the same manner as in the ship maneuvering control method when entering or landing on the land. Thus, by controlling only the other, it is also possible to perform the ship maneuvering control of the landing ship 1. Similarly, during the landing, if the control is performed by changing only one of the strength of the water flow generated by the propulsion device 5 or the steering angle α of the special rudder 6, the mutual interference disappears. The control of the ship 1 can be simplified. Therefore, this is an effective control method particularly in the case where the position holding control and the heading control of the ship 1 to land are manually performed.

  As described above, according to the ship 1 to land, according to the present invention, by controlling the bow thruster 7, the propulsion device 5 and the special rudder 6, the ship 1 to be landed enters a predetermined landing point and rides on the land. It is possible to carry out the position control and the heading control of the landing ship during the ship maneuvering control and the landing, using only the own ship. That is, during the landing operation of the landing ship 1, a tug boat T or a small boat is used as in the conventional landing ship 1 </ b> X equipped with the single-axis propulsion unit 5 (propulsion unit 4) and the rudder 10 shown in FIG. 6. Since there is no need to use it, it is not necessary to prepare a tug boat T or mount a small boat on the ship 1 to land. As a result, it is possible to increase the loading amount of the crew, the mounted vehicle, the landing material, and the like to land as compared with the conventional landing ship 1X. In addition, there is no need to deploy a tugboat T or small boat maneuvering personnel.

  In addition, the ship 1 to be landed by controlling the bow thruster 7, the propulsion device 5 and the special rudder 6 enters the predetermined landing point and rides on the land, and the position of the landing ship during landing is maintained. Since the control and the heading control are performed, the landing operation of the ship 1 to be landed can be performed relatively easily with a small number of operators.

  Further, since the conventional landing ship 1X uses the tug boat T and the stern anchor 11, it takes a lot of time to get to the landing point, but in the landing ship 1 of the present invention, the bow thruster 7, Since only the control of the propulsion device 5 and the special rudder 6 can be used to get on the landing point, it is possible to shorten the time required for getting on the landing point as compared to the conventional ship 1X that is landing.

  In addition, the ship 1 to be landed in this embodiment includes a GPS device 8, and based on the position information from the GPS device 8, the ship 1 to be landed enters the landing point where the ship 1 is determined and enters the land. Since the control device 9 is provided for performing the ship maneuvering control until the boarding and the position holding control and the heading control of the landing ship 1 during landing, the position measurement data of the landing ship 1 measured by the GPS device 8 is included. Based on this, it is possible to enter and land on the ship 1 that has landed accurately at the landing point. Further, by arranging a plurality of GPS devices 8 in the bow direction, it is possible to detect the bow direction of the landing ship 1 like a direction gyro, so that when the landing ship 1 enters, on land, and during landing It is possible to easily control the heading of the ship 1 landing at

  In the embodiment described above, the GPS device 8 and the control device 9 are provided. Based on the position measurement data of the GPS device 8, the bow thruster 7, the propelling device 5 (propulsion device 4), and the special rudder 6 are provided. For example, a crew member operates the bow thruster 7, the propulsion device 5 (propulsion device 4), and the special rudder 6 without using the automatic control function (automatic steering function) of the control device 9. A configuration in which (control) is performed manually can be employed, or a configuration in which the bow direction and position of the ship 1 landing by visual observation, radar, or the like can be confirmed without using the GPS device 8.

  According to the control method for a landing ship and a landing ship according to the present invention, a bow thruster, a propulsion device, and a special rudder are controlled in a ship that rides a crew member and / or an onboard vehicle from the bow by riding the bow side on the land. Therefore, it is possible to control the ship until the landing ship enters the specified landing point and rides on the land and / or the position holding control and heading control of the landing ship during landing. The landing operation of the ship to be landed can be performed relatively easily. Therefore, it can be used for many landing ships.

DESCRIPTION OF SYMBOLS 1 Ship to land 1X Conventional ship to land 2 Bow part 3 Stern part 4 Propulsion device 5 Propeller (propeller)
5a Propeller center shaft 6 Special rudder 6a Rudder shaft 6b Rudder plate 6c Flap 7 Bow thruster 8 GPS device 9 Control device 10 Rudder 11 Stern anchor T Tug boat Cf Hull center line X0 Propeller center line X1 First position X2 Second Position R1 in the first region

Claims (7)

  In a ship that climbs the bow side to land and lifts crew members and / or mounted vehicles from the bow, a bow thruster arranged at the bow, a biaxial propeller arranged at the stern, and these propellers And a special rudder that changes the water flow generated by these propulsion devices in the downside direction and generates a lateral force.   The ship to land according to claim 1, wherein a rudder axis of the special rudder is arranged closer to a hull center side than a central axis of the propulsion unit with respect to a hull width direction.   With respect to the width direction of the hull, the rudder axle of the special rudder is arranged at a distance of 0.1 times or more and 0.3 times or less of the diameter of the propeller from the central axis of the propeller to the center of the hull. The ship to land according to claim 2.   A GPS device is provided, and on the basis of the position information from the GPS device, the ship to be landed enters a predetermined landing point and rides on the land, and / or this landing during landing The ship to land as described in any one of Claims 1-3 provided with the control apparatus which performs position maintenance control and ship heading control of the ship to perform automatically.   The ship to land in any one of Claims 1-4 WHEREIN: By controlling the said bow thruster, the said propulsion device, and the said special rudder, the said ship to land enters the landing point where the land was decided, and land A method for controlling a ship to land, characterized by performing ship maneuvering control up to boarding and / or position holding control and heading control of the landing ship during landing.   With the steering angle of the special rudder fixed at a constant value, by changing the strength of the water flow generated by the propulsion device, the maneuvering until the ship to land enters the predetermined landing point and rides on the land 6. The method for controlling a landing ship according to claim 5, wherein control and / or position holding control and heading control of the landing ship during landing are performed.   By changing the rudder angle of the special rudder in a state where the strength of the water flow generated by the propulsion device is fixed, the ship maneuvering until the ship to land enters the predetermined landing point and rides on the land 6. The method for controlling a landing ship according to claim 5, wherein control and / or position holding control and heading control of the landing ship during landing are performed.

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