JP7702833B2 - Fin stabilizer device, ship, and method for controlling fin stabilizer device - Google Patents

Description

This disclosure relates to a fin stabilizer device, a vessel, and a method for controlling the fin stabilizer device.

Patent Document 1 discloses a ship equipped with a fin stabilizer device. The fin stabilizer device is configured to suppress the rolling of the ship's hull by generating lift on the fins while the ship is sailing.

JP 2016-141336 A

The fin stabilizer body (fin blades) of the fin stabilizer device protrudes diagonally downward from the hull. Therefore, when docking at a port facility or passing through shallow waters, the fin stabilizer body may be stored inside the hull to avoid damage to the fin stabilizer body. Furthermore, the lift generated by the fin stabilizer body becomes resistance to the navigation of the ship. Therefore, when the ship's sailing speed is low, the demerits such as increased fuel consumption rate due to resistance to the navigation of the ship may be greater than the effect of suppressing lateral rolling caused by the lift generated by the fin stabilizer body. Therefore, the crew must perform operations such as storing the fin stabilizer body inside the hull or protruding the fin stabilizer body from the hull depending on various situations, which poses the problem of increased workload for the crew.

The present disclosure has been made to solve the above problems, and aims to provide a fin stabilizer device that can efficiently navigate a ship and reduce the workload of crew members, as well as a method of controlling the ship and the fin stabilizer device.

In order to solve the above problems, the fin stabilizer device according to the present disclosure includes a fin stabilizer main body, a stabilizer drive unit, a speed acquisition unit, a motion acquisition unit, and a control device. The fin stabilizer main body is movable between a state in which it protrudes outward from the hull and a state in which it is housed within the hull, and is provided so as to be able to protrude and retract outward from the hull. The stabilizer drive unit drives the fin stabilizer main body forward and backward to protrude and retract relative to the hull. The speed acquisition unit acquires the sailing speed of the hull. The motion acquisition unit acquires at least one of the lateral motion and vertical motion of the hull. The control device drives the stabilizer drive unit based on at least one of the sailing speed acquired by the speed acquisition unit and the motion of the hull acquired by the motion acquisition unit. When the fin stabilizer main body is accommodated in the hull and the navigation speed acquired by the speed acquisition unit exceeds a predetermined speed reference, the control device drives the stabilizer drive unit to cause the fin stabilizer main body to protrude from the hull.

The vessel according to the present disclosure is equipped with the above-mentioned fin stabilizer device.

The control method for the fin stabilizer device according to the present disclosure is the control method for the fin stabilizer device described above. This control method for the fin stabilizer device includes the steps of acquiring the sailing speed of the hull and at least one of the rolling and vertical movements of the hull, and, when the fin stabilizer main body is protruding from the hull, storing the fin stabilizer main body within the hull if at least one of the sailing speed and the rolling of the hull satisfies a predetermined condition.

The fin stabilizer device, ship, and fin stabilizer device control method disclosed herein enable the ship to navigate efficiently and reduce the workload of the crew.

FIG. 1 is a diagram showing a schematic configuration of a ship according to an embodiment of the present disclosure, and is a cross-sectional view of the ship as viewed from the bow-stern direction. FIG. 2 is a diagram illustrating a hardware configuration of a control device of the fin stabilizer device according to an embodiment of the present disclosure. FIG. 2 is a functional block diagram of a control device according to an embodiment of the present disclosure. 4 is a flowchart illustrating the steps of a control method for a fin stabilizer device according to an embodiment of the present disclosure.

Hereinafter, a fin stabilizer device, a vessel, and a control method for a fin stabilizer device according to an embodiment of the present disclosure will be described with reference to FIGS. 1 to 4.
(Vessel configuration)
As shown in Fig. 1, a fin stabilizer device 100 of this embodiment is installed on a ship 1. The type of ship 1 is not limited to a specific one.

(Hull configuration)
As shown in Fig. 1, the hull 2 has a pair of side panels 3A, 3B that form its outer hull, and a ship bottom 4. The side panels 3A, 3B each have a pair of side panel shells that form the starboard and port sides, respectively. The ship bottom 4 has a bottom panel shell that connects the side panels 3A, 3B. The pair of side panels 3A, 3B and the ship bottom 4 give the outer hull 2 a U-shape in a cross section perpendicular to the bow-stern direction.

(Fin stabilizer device)
The fin stabilizer device 100 includes at least a fin stabilizer main body 5 , a stabilizer driving unit 7 , and a control device 6 .
The fin stabilizer main body 5 is provided on both sides of the ship bottom 4 of the ship 1 in the ship width direction W. Each fin stabilizer main body 5 is provided so as to protrude obliquely downward from the ship bottom 4 toward the outside in the ship width direction W. The fin stabilizer main body 5 generates lift according to the water current generated by the navigation of the ship 1, and suppresses the lateral rolling of the hull 2. The fin stabilizer main body 5 has a fin axis 5s. The fin stabilizer main body 5 is rotatable around the fin axis 5s. The fin stabilizer main body 5 rotates around the fin axis 5s under the control of a fin stabilizer control unit (not shown), and the angle (fin blade angle) of the fin stabilizer main body 5 is adjustable. The fin stabilizer main body 5 is configured to be able to adjust the magnitude of the generated lift by adjusting the angle (fin blade angle) around the fin axis 5s.

The fin stabilizer main body 5 is provided so that it can move in and out of the hull 2. The stabilizer drive unit 7 causes the fin stabilizer main body 5 to extend and retract relative to the hull 2 in accordance with control commands from the control device 6, which will be described later. One stabilizer drive unit 7 is provided for each of the multiple fin stabilizer main bodies 5. The stabilizer drive unit 7 drives the fin stabilizer main body 5 forward and backward between a protruding state in which the fin stabilizer main body 5 protrudes outward from the hull 2 and a contained state in which the fin stabilizer main body 5 is contained within the hull 2. The stabilizer drive unit 7 can use, for example, a hydraulic cylinder, a motor, or the like as its drive source.

The fin stabilizer device 100 illustrated in this embodiment includes a speed acquisition unit 11, a motion acquisition unit 12, a position acquisition unit 13, and a water depth acquisition unit 14.
The speed acquisition unit 11 acquires information on the sailing speed of the hull 2. The sailing speed information acquired by the speed acquisition unit 11 can be acquired from a Doppler sonar equipped on the ship 1 for detecting water speed, a GPS (Global Positioning System) for detecting ground speed, or the like. Note that, although a case has been shown in which sailing speed information detected by a GPS is used as an example of sailing speed information acquired by the speed acquisition unit 11, any GNSS (Global Navigation Satellite System) can be similarly adopted (the same applies to GPS below).

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

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

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

(manual operation device)
The fin stabilizer device 100 includes a manual operation device 20. The manual operation device 20 is a device for allowing an occupant to manually operate the stabilizer drive unit 7. When the occupant performs a predetermined operation input, the manual operation device 20 transmits an operation signal corresponding to the operation input to the control device 6.

(Hardware configuration diagram)
As shown in FIG. 2, the control device 6 is a computer including a central processing unit (CPU) 61, a read only memory (ROM) 62, a random access memory (RAM) 63, a hard disk drive (HDD) 64, a signal receiving module 65, and the like.

(Function block diagram)
As shown in Figure 3, the CPU 61 of the control device 6 executes a program previously stored in the ROM 62, HDD 64, etc., thereby realizing each of the functional components of the input unit 70, stabilizer appearance/removal control unit 71, memory unit 72, speed determination unit 73, motion determination unit 74, position determination unit 75, water depth determination unit 76, and output unit 77.
The input unit 70 receives signals from the speed acquisition unit 11, the motion acquisition unit 12, the position acquisition unit 13, and the water depth acquisition unit 14 via the signal receiving module 65. When the crew performs a predetermined operation input to the manual operation device 20, the input unit 70 receives an operation signal from the manual operation device 20 in response to the operation input.

The stabilizer appearance/retraction control unit 71 controls the operation of the stabilizer drive unit 7 based on various information such as the sailing speed of the hull 2, the motion of the hull 2, the position of the hull 2, and the water depth below the hull 2. When the stabilizer appearance/retraction control unit 71 receives an operation signal from the manual operation device 20 via the input unit 70, it controls the operation of the stabilizer drive unit 7 based on the received operation signal.

The storage unit 72 is the ROM 62 or HDD 64 described above, and stores various thresholds (speed reference, lower limit speed reference, oscillation reference, lower limit oscillation reference, water depth reference, lower limit water depth reference, etc.) used by the control device 6 to control the operation of the stabilizer drive unit 7, as well as data on electronic charts used by the position acquisition unit 13. Note that the storage unit 72 is not limited to the ROM 62 or HDD 64.

The speed determination unit 73 monitors the traveling speed of the hull 2 based on the detection value received by the input unit 70 from the speed acquisition unit 11 while sailing. When the fin stabilizer main body 5 is housed within the hull 2, the speed determination unit 73 monitors whether the traveling speed acquired by the speed acquisition unit 11 exceeds a predetermined speed standard when the fin stabilizer main body 5 is in a protruding state protruding from the hull 2, the speed determination unit 73 monitors whether the traveling speed acquired by the speed acquisition unit 11 falls below a predetermined lower speed limit standard.

During navigation, the motion determination unit 74 monitors the motion of the hull 2 based on information received by the input unit 70 from the motion acquisition unit 12. The motion determination unit 74 monitors whether the motion of the hull 2 acquired by the motion acquisition unit 12 exceeds a predetermined motion criterion when the fin stabilizer main body 5 is housed within the hull 2. The motion determination unit 74 monitors whether the motion of the hull 2 acquired by the motion acquisition unit 12 falls below a predetermined motion lower limit criterion when the fin stabilizer main body 5 is protruding from the hull 2. Here, the motion lower limit criterion is set to a value smaller than the motion criterion.

The motion criterion can be set, for example, so that the hull 2 does not put people on board the hull 2 in a state that makes them susceptible to seasickness. It is known that people are more susceptible to seasickness when the period of the hull 2 rolls, as well as the vertical acceleration, roll angle, and lateral acceleration, are large. Therefore, the conditions under which the period of the hull 2 rolls, the vertical acceleration, the roll angle, and the lateral acceleration are equal to or greater than a certain value can be appropriately set as the motion criterion. To set the motion criterion for the period of the hull 2 rolls and the vertical acceleration, for example, the correlation between the vomiting rate, the period of the hull roll, and the vertical acceleration based on the experimental results of O'Hanlon et al. (O'Hanlon, J.F & McCauley, M.E: Motion Sickness Incidence as a Function of the Vertical Sinusoidal Motion, Aerospace Medicine, 1974) can be used.

The position determination unit 75 monitors the position of the hull 2 during navigation based on a signal received by the input unit 70 from the position acquisition unit 13. The position determination unit 75 determines whether the position of the hull 2 acquired by the position acquisition unit 13 is within a preset area on the electronic chart. Here, the preset area is set to, for example, shallow waters, a harbor, etc.

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

(Procedure of the control method of the fin stabilizer device)
As shown in Fig. 4, a control method S10 for the fin stabilizer main body 5 in the ship 1 according to the embodiment of the present disclosure includes at least a step S11 of acquiring information on at least the sailing speed of the hull 2 and information on at least one of the rolling and vertical movements of the hull 2, a step S12 of determining whether the fin stabilizer main body 5 is housed, a step S13 of determining whether a condition for protruding the fin stabilizer main body 5 is satisfied, a step S14 of protruding the fin stabilizer main body 5, a step S15 of determining whether a condition for accommodating the fin stabilizer main body 5 in the hull 2 is satisfied, and a step S16 of accommodating the fin stabilizer main body 5 in the hull. The above steps S11 to S16 are repeatedly executed from the time the ship 1 leaves port until it enters port. When the ship 1 leaves port, the fin stabilizer main body 5 is housed in the hull 2.

In step S11, the speed acquisition unit 11 acquires the traveling speed of the hull 2.
Also, in step S11, the motion acquisition unit 12 acquires the motion of the hull 2.
Also, in step S11, the position acquisition unit 13 acquires the position of the hull 2.
Also, in step S<b>11 , the water depth acquisition unit 14 acquires the water depth below the hull 2 .

In step S12, which determines whether the fin stabilizer main body 5 is stored, it is determined whether the fin stabilizer main body 5 is stored in the hull 2. If the fin stabilizer main body 5 is stored in the hull 2, the process proceeds to step S13. If the fin stabilizer main body 5 is not stored in the hull 2 and is protruding from the hull 2, the process proceeds to step S15. In this embodiment, when the ship 1 departs, the fin stabilizer main body 5 is stored in the hull 2, so in the first processing immediately after departure, the determination in step S12 proceeds to step S13. After departure, in the second and subsequent processing, the process proceeds to step S13 or S15 depending on the state of the fin stabilizer main body 5 at that time.

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

In step S14, in which the fin stabilizer main body 5 is protruded, a predetermined notification signal is output to the stabilizer appearance/retraction control unit 71. Upon receiving the notification signal, the stabilizer appearance/retraction control unit 71 outputs a command to protrude the fin stabilizer main body 5 outward from the hull 2 from the output unit 77 to the stabilizer drive unit 7. Based on the command from the stabilizer appearance/retraction control unit 71, the stabilizer drive unit 7 protrudes the fin stabilizer main body 5 outward from the hull 2. Then, after the fin stabilizer main body 5 is protruded, the process returns to step S11 and repeats the above-mentioned processing.

Step S15 of determining whether or not the conditions for housing the fin stabilizer main body 5 within the hull 2 are met is executed when the fin stabilizer main body 5 is in a protruding state protruding from the hull 2.
In step S15 for determining whether the conditions for accommodating the fin stabilizer main body 5 within the hull 2 are met, the speed determination unit 73 determines whether the navigation speed acquired by the speed acquisition unit 11 is below a predetermined lower limit speed standard (condition S15a).
In step S15, the motion determination unit 74 determines whether or not the motion of the hull 2 acquired by the motion acquisition unit 12 is below a predetermined motion lower limit standard (condition S15b).
In step S15, the position determination unit 75 determines whether or not the position of the hull 2 acquired by the position acquisition unit 13 is within a set area that is preset on the electronic nautical chart (condition S15c).
In step S15, the water depth determination unit 76 determines whether the water depth at a position below the hull 2 acquired by the water depth acquisition unit 14 is below a preset lower water depth limit (S15d).
As a result, if at least one of the conditions S15a to S15d is satisfied, the process proceeds to step S16. If none of the conditions S15a to S15d are satisfied, the process returns to step S11 and the above-mentioned processing is repeated.

In step S16, in which the fin stabilizer main body 5 is accommodated within the hull, the stabilizer appearance/retraction control unit 71 outputs a command to accommodate the fin stabilizer main body 5 within the hull 2 from the output unit 77 to the stabilizer drive unit 7. Based on the command from the stabilizer appearance/retraction control unit 71, the stabilizer drive unit 7 accommodates the fin stabilizer main body 5 within the hull 2. Then, after the fin stabilizer main body 5 has been accommodated within the hull 2, the process returns to step S11 and repeats the above-mentioned processing.

By repeating the above series of processes from when the ship 1 departs from port until it enters port, the fin stabilizer main body 5 is automatically raised and lowered according to the speed of the ship 2, the motion of the ship 2, the position of the ship 2, and the water depth below the ship 2.

Even if the control device 6 is in the middle of executing the above-mentioned series of processes, if the occupant performs a specified operation input to the manual operation device 20, the control device 6 may interrupt the series of automatic processes and control the drive of the stabilizer drive unit 7 based on the operation signal received from the manual operation device 20 to extend or retract the fin stabilizer main body 5.

(Action and Effect)
In the fin stabilizer device 100 of the above embodiment, the stabilizer drive unit 7 is driven under the control of the control device 6 based on the traveling speed of the hull 2 acquired by the speed acquisition unit 11 and the motion of the hull 2 acquired by the motion acquisition unit 12. This allows the fin stabilizer main body 5 to automatically extend and retract in accordance with the traveling speed and motion of the hull 2. Therefore, the ship 1 equipped with the fin stabilizer main body 5 can be navigated efficiently and easily.

In addition, in the above embodiment, when the fin stabilizer main body 5 is housed in the hull 2 and the sailing speed exceeds the speed standard, the fin stabilizer main body 5 is protruded from the hull 2. As a result, after leaving port, etc., when the sailing speed exceeds the speed standard and the lift force of the fin stabilizer main body 5 is effective in suppressing the lateral rolling of the hull 2, the fin stabilizer main body 5 is protruded and sailing is performed, thereby enabling stable sailing while suppressing the lateral rolling of the hull 2.

Furthermore, in the above embodiment, when the fin stabilizer main body 5 protrudes from the hull 2 and the sailing speed falls below the lower limit speed standard, the fin stabilizer main body 5 is accommodated within the hull 2 .
As a result, in the low speed range where the lift force of the fin stabilizer main body 5 is not easily able to suppress the lateral swaying of the hull 2, by storing the fin stabilizer main body 5 inside the hull 2, the resistance caused by the fin stabilizer main body 5 is reduced, enabling efficient navigation.

In the above embodiment, when the traveling speed exceeds the speed reference and the oscillation of the hull 2 exceeds the oscillation reference, the fin stabilizer main body 5 is caused to protrude from the hull 2 .
By doing so, after departure from port, etc., when the navigation speed exceeds the speed standard and the speed range is such that the lift force of the fin stabilizer main body 5 can provide an effect of suppressing the rolling of the hull 2, and when the rolling is large, the fin stabilizer main body 5 can protrude from the hull 2. Therefore, the rolling suppression effect of the fin stabilizer main body 5 can be effectively exerted.

Furthermore, in the above embodiment, when the fin stabilizer main body 5 protrudes from the hull 2 and the oscillation of the hull 2 falls below the oscillation lower limit standard, the fin stabilizer main body 5 is accommodated within the hull 2 .
In this way, when the rocking of the hull 2 is small, by storing the fin stabilizer main body 5 inside the hull 2, the resistance caused by the fin stabilizer main body 5 can be reduced, enabling efficient navigation.

In the above embodiment, the fluctuation lower limit reference is set to a value smaller than the fluctuation reference.
This can prevent the fin stabilizer main body 5 from frequently appearing and disappearing.

Furthermore, in the above embodiment, when the boat 1 is located within a set area with the fin stabilizer main body 5 protruding from the hull 2 , the fin stabilizer main body 5 is accommodated within the hull 2 .
Thereby, for example, by setting a place where a harbor or shallow water is located as the set area in advance, it is possible to store the fin stabilizer main body 5 in the hull 2 in the harbor or shallow water. This makes it possible to prevent damage to the fin stabilizer main body 5.

Furthermore, in the above embodiment, when the water depth falls below the lower water depth limit standard with the fin stabilizer main body 5 protruding from the hull 2, the fin stabilizer main body 5 is accommodated within the hull 2.
This makes it possible to prevent the fin stabilizer body 5 from being damaged in shallow water.

In addition, in the control method of the fin stabilizer main body 5 in the ship 1 of the above embodiment, when the fin stabilizer main body 5 is in a protruding state from the hull 2, the fin stabilizer main body 5 is accommodated within the hull 2 if at least one of the sailing speed, the motion of the hull 2, the position of the hull 2, and the water depth at a position below the hull 2 satisfies predetermined conditions.
As a result, when there is a disadvantage in having the fin stabilizer main body 5 protrude, the fin stabilizer main body 5 can be stored in the hull 2, making it possible to efficiently and easily navigate the ship 1 equipped with the fin stabilizer main body 5.

Other Embodiments
Although the embodiments of the present disclosure have been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like that do not depart from the gist of the present disclosure are also included.
In the above embodiment, the steps of the control method for the fin stabilizer device 100 in the boat 1 are described, but the order of the steps can be changed as appropriate.
Furthermore, the conditions for protruding the fin stabilizer main body 5 from the hull 2 and the conditions for accommodating the fin stabilizer main body 5 within the hull 2 can be changed as appropriate.
For example, in the above embodiment, the four conditions of the sailing speed, motion, position, and water depth of the hull 2 are used to determine whether the fin stabilizer main body 5 protrudes from the hull 2 and whether the fin stabilizer main body 5 is accommodated in the hull 2, but this is not limited to the above. Within the scope of the gist of the present disclosure, these four conditions may be appropriately selected, or conditions other than those shown in the above embodiment may be added to determine whether the fin stabilizer main body 5 protrudes from the hull 2 and whether the fin stabilizer main body 5 is accommodated in the hull 2. Furthermore, the number and content of conditions serving as judgment criteria may be different between the case where the fin stabilizer main body 5 protrudes from the hull 2 and the case where the fin stabilizer main body 5 is accommodated in the hull 2.

<Additional Notes>
The fin stabilizer device 100 and the control method for the fin stabilizer device 100 described in the embodiment can be understood, for example, as follows.

(1) The fin stabilizer device 100 according to the first aspect includes a fin stabilizer main body 5 that is arranged to be able to extend and retract outward from the hull 2, a stabilizer drive unit 7 that causes the fin stabilizer main body 5 to extend and retract relative to the hull 2, a speed acquisition unit 11 that acquires information on the traveling speed of the hull 2, a motion acquisition unit 12 that acquires information on at least one of the lateral and vertical motions of the hull 2, and a control device 6 that drives the stabilizer drive unit 7 based on at least one of the information on the traveling speed acquired by the speed acquisition unit 11 and the motion of the hull 2 acquired by the motion acquisition unit 12.

This fin stabilizer device 100 drives the stabilizer drive unit 7 under the control of the control device 6 based on the sailing speed of the hull 2 acquired by the speed acquisition unit 11 and information on the oscillation of the hull 2 acquired by the oscillation acquisition unit 12. This allows the fin stabilizer main body 5 to automatically extend and retract according to the sailing speed and oscillation of the hull 2. Therefore, the ship 1 equipped with the fin stabilizer main body 5 can be navigated efficiently and the workload of the crew can be reduced.

(2) The fin stabilizer device 100 according to the second aspect is the fin stabilizer device 100 of (1), in which the control device 6 drives the stabilizer drive unit 7 to protrude the fin stabilizer main body 5 from the hull 2 when the fin stabilizer main body 5 is accommodated in the hull 2 and the sailing speed acquired by the speed acquisition unit 11 exceeds a predetermined speed reference.

As a result, after leaving port, etc., when the sailing speed exceeds the speed standard and the lift of the fin stabilizer main body 5 has the effect of suppressing the lateral rolling of the hull 2, the fin stabilizer main body 5 can be extended and sailed in a speed range where this can suppress the lateral rolling of the hull 2, thereby enabling stable sailing while suppressing the lateral rolling of the hull 2.

(3) The fin stabilizer device 100 according to the third aspect is the fin stabilizer device 100 according to (2), in which the control device 6 drives the stabilizer drive unit 7 to accommodate the fin stabilizer body 5 within the hull 2 when the fin stabilizer body 5 protrudes from the hull 2 and the sailing speed acquired by the speed acquisition unit 11 falls below a predetermined lower limit speed standard.

In this way, in the low-speed range where the lift of the fin stabilizer body 5 is unlikely to suppress the lateral rolling of the hull 2, the resistance caused by the fin stabilizer body 5 can be suppressed by storing the fin stabilizer body 5 inside the hull 2, enabling efficient navigation.

(4) The fin stabilizer device 100 according to the fourth aspect is the fin stabilizer device 100 according to (2), in which the control device 6 drives the stabilizer drive unit 7 to accommodate the fin stabilizer main body 5 within the hull 2 when the fin stabilizer main body 5 protrudes from the hull 2 and the sway of the hull 2 acquired by the sway acquisition unit 12 falls below a predetermined sway lower limit standard.

In this way, when the swaying of the hull 2 is small, the resistance caused by the fin stabilizer main body 5 can be reduced by storing the fin stabilizer main body 5 inside the hull 2, allowing for efficient navigation.

(5) The fin stabilizer device 100 according to the fifth aspect is the fin stabilizer device 100 according to (2), and the control device 6 drives the stabilizer drive unit 7 to protrude the fin stabilizer main body 5 from the hull 2 when the navigation speed acquired by the speed acquisition unit exceeds a predetermined speed standard and the oscillation of the hull 2 acquired by the oscillation acquisition unit 12 exceeds a predetermined oscillation standard while the fin stabilizer is housed in the hull.

By doing this, after leaving port, etc., when the sailing speed exceeds the speed standard and the lift force of the fin stabilizer body 5 is exerted to suppress the lateral rolling of the hull 2, and the lateral rolling is large, the fin stabilizer body 5 can be protruded from the hull 2, thereby effectively exerting the lateral rolling suppression effect of the fin stabilizer body 5.

(6) The fin stabilizer device 100 according to the sixth aspect is any one of the fin stabilizer devices 100 of (1) to (5), further comprising a position acquisition unit 13 that acquires the position of the hull 2, and when the position of the hull 2 acquired by the position acquisition unit 13 is within a preset setting area, the control device 6 drives the stabilizer drive unit 7 to accommodate the fin stabilizer main body 5 within the hull 2.

For example, by setting a location such as a harbor or shallow water as a preset area in advance, the fin stabilizer body 5 can be stored in the hull 2 in the harbor or shallow water. This helps prevent damage to the fin stabilizer body 5.

(7) The fin stabilizer device 100 according to the seventh aspect is any one of the fin stabilizer devices 100 of (1) to (6), further comprising a water depth acquisition unit 14 that acquires the water depth at a position below the hull 2, and when the water depth acquired by the water depth acquisition unit 14 falls below a preset lower water depth limit standard, the control device 6 drives the stabilizer drive unit 7 to accommodate the fin stabilizer main body 5 within the hull 2.

This allows the fin stabilizer body 5 to be stored in the hull 2 in shallow water. This helps prevent damage to the fin stabilizer body 5.

(8) The control method for the fin stabilizer device 100 according to the eighth aspect is a control method S10 for any one of the fin stabilizer devices (1) to (7), and includes a step S11 of acquiring information on the sailing speed of the hull 2 and at least one of the lateral and vertical movements of the hull 2, and a step S16 of storing the fin stabilizer main body 5 in the hull 2 when the sailing speed and at least one of the lateral and vertical movements of the hull 2 satisfy a predetermined condition when the fin stabilizer main body 5 is protruding from the hull 2.

For example, in situations where protruding the fin stabilizer body 5 would be detrimental, the fin stabilizer body 5 can be stored in the hull 2, allowing the ship 1 equipped with the fin stabilizer body 5 to navigate efficiently and easily.

(9) The control method for the fin stabilizer device 100 according to the ninth aspect is the control method S10 for the fin stabilizer device 100 in the ship 1 of (8), and includes a step S11 of acquiring the position of the hull 2, and a step S16 of storing the fin stabilizer main body 5 within the hull 2 when the position of the hull 2 satisfies a predetermined condition while the fin stabilizer main body 5 is protruding from the hull 2.

For example, in harbors or shallow waters, storing the fin stabilizer body 5 inside the hull 2 can prevent damage to the fin stabilizer body 5.

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

As a result, for example, in shallow water, storing the fin stabilizer main body 5 within the hull 2 can prevent damage to the fin stabilizer main body 5.

(11) The control method S10 of the fin stabilizer device 100 relating to the eleventh aspect is any one of the control methods S10 of the fin stabilizer device 100 of (8) to (10), and includes a step of protruding the fin stabilizer body from the hull when the fin stabilizer body is housed in the hull and the sailing speed of the hull exceeds a predetermined speed standard.

As a result, after leaving port, etc., the fin stabilizer body 5 can be extended and navigated in a speed range where the sailing speed exceeds the speed standard and the lifting force of the fin stabilizer body 5 can suppress the lateral rolling of the hull 2, thereby enabling stable sailing while suppressing the lateral rolling of the hull 2.

(12) The control method S10 of the fin stabilizer device 100 relating to the twelfth aspect is any one of the control methods S10 of the fin stabilizer device 100 of (8) to (10), and includes a step of protruding the fin stabilizer main body from the hull when the sailing speed of the hull exceeds a predetermined speed standard and the oscillation of the hull exceeds a predetermined oscillation standard while the fin stabilizer main body is accommodated in the hull.

By doing this, after leaving port, etc., when the sailing speed exceeds the speed standard and the lift of the fin stabilizer main body 5 is effective in suppressing the lateral rolling of the hull 2, and when the lateral rolling is large, the fin stabilizer main body 5 can be protruded from the hull 2, thereby effectively exerting the lateral rolling suppression effect of the fin stabilizer main body 5.

Reference Signs List 1 Ship 2 Ship hull 3A, 3B Ship side 4 Ship bottom 5 Fin stabilizer main body 5s Fin shaft 6 Control device 7 Stabilizer drive unit 11 Speed acquisition unit 12 Motion acquisition unit 13 Position acquisition unit 14 Water depth acquisition unit 15 Doppler sonar 20 Manual operation device 61 CPU
62...ROM
63...RAM
64...HDD
65... signal receiving module 70... input section 71... stabilizer appearance/removal control section 72... memory section 73... speed determination section 74... motion determination section 75... position determination section 76... water depth determination section 77... output section 100... fin stabilizer device

Claims (14)

a fin stabilizer body that is movable between a state in which it protrudes outward from the hull and a state in which it is housed within the hull and that is capable of protruding and retracting outward from the hull;
a stabilizer drive unit that drives the fin stabilizer body forward and backward to project and retract from the hull;
A speed acquisition unit that acquires information on the sailing speed of the ship;
A motion acquisition unit that acquires information on at least one of the rolling and vertical movements of the hull;
a control device that drives the stabilizer drive unit based on at least one of information on the navigation speed acquired by the speed acquisition unit and information on the motion of the hull acquired by the motion acquisition unit,
The control device includes:
a fin stabilizer device that, when the fin stabilizer main body is accommodated in the hull and the navigation speed acquired by the speed acquisition unit exceeds a predetermined speed reference, drives the stabilizer drive unit to cause the fin stabilizer main body to protrude from the hull. The control device includes:
2. The fin stabilizer device according to claim 1, wherein when the fin stabilizer main body protrudes relative to the hull and the navigation speed acquired by the speed acquisition unit falls below a predetermined lower limit speed standard, the stabilizer drive unit is driven to accommodate the fin stabilizer main body within the hull. The control device includes:
2. The fin stabilizer device according to claim 1, wherein when the fin stabilizer main body protrudes relative to the hull and the hull motion acquired by the motion acquisition unit falls below a predetermined motion lower limit standard, the stabilizer drive unit is driven to accommodate the fin stabilizer main body within the hull. a fin stabilizer body that is movable between a state in which it protrudes outward from the hull and a state in which it is housed within the hull and that is capable of protruding and retracting outward from the hull;
a stabilizer drive unit that drives the fin stabilizer body forward and backward to project and retract from the hull;
A speed acquisition unit that acquires information on the sailing speed of the ship;
A motion acquisition unit that acquires information on at least one of the rolling and vertical movements of the hull;
a control device that drives the stabilizer drive unit based on at least one of information on the navigation speed acquired by the speed acquisition unit and information on the motion of the hull acquired by the motion acquisition unit,
The control device includes:
A fin stabilizer device that drives the stabilizer drive unit to protrude the fin stabilizer main body from the hull when the navigation speed acquired by the speed acquisition unit exceeds a predetermined speed standard and the oscillation of the hull acquired by the oscillation acquisition unit exceeds a predetermined oscillation standard with the fin stabilizer main body accommodated in the hull. A position acquisition unit that acquires the position of the vessel is further provided.
The control device includes:
A fin stabilizer device as described in any one of claims 1 to 4, wherein when the fin stabilizer main body protrudes relative to the hull and the position of the hull acquired by the position acquisition unit is within a preset setting area, the stabilizer drive unit is driven to accommodate the fin stabilizer main body within the hull. A water depth acquisition unit that acquires a water depth at a position below the hull,
The control device includes:
A fin stabilizer device as described in any one of claims 1 to 5, wherein when the fin stabilizer main body protrudes relative to the hull and the water depth acquired by the water depth acquisition unit falls below a preset lower water depth limit standard, the stabilizer drive unit is driven to accommodate the fin stabilizer main body within the hull. A ship comprising the fin stabilizer device according to any one of claims 1 to 6 . a fin stabilizer body that is movable between a state in which it protrudes outward from the hull and a state in which it is housed within the hull and that is capable of protruding and retracting outward from the hull;
a stabilizer drive unit that drives the fin stabilizer body forward and backward to project and retract from the hull;
A speed acquisition unit that acquires information on the sailing speed of the ship;
A motion acquisition unit that acquires information on at least one of the rolling and vertical movements of the hull;
a control device that drives the stabilizer drive unit based on at least one of information on the navigation speed acquired by the speed acquisition unit and information on the hull motion acquired by the motion acquisition unit; and
a position acquisition unit that acquires the position of the hull,
The control device includes:
When the fin stabilizer body protrudes from the hull and the position of the hull acquired by the position acquisition unit is within a preset area, the stabilizer drive unit is driven to accommodate the fin stabilizer body within the hull.
Fin stabilizer device . a fin stabilizer body that is movable between a state in which it protrudes outward from the hull and a state in which it is housed within the hull and that is capable of protruding and retracting outward from the hull;
a stabilizer drive unit that drives the fin stabilizer body forward and backward to project and retract from the hull;
A speed acquisition unit that acquires information on the sailing speed of the ship;
A motion acquisition unit that acquires information on at least one of the rolling and vertical movements of the hull;
a control device that drives the stabilizer drive unit based on at least one of information on the navigation speed acquired by the speed acquisition unit and information on the hull motion acquired by the motion acquisition unit; and
a water depth acquisition unit that acquires a water depth at a position below the hull,
The control device includes:
When the fin stabilizer body protrudes from the hull and the water depth acquired by the water depth acquisition unit falls below a preset lower water depth limit standard, the stabilizer drive unit is driven to accommodate the fin stabilizer body within the hull.
Fin stabilizer device. A control method for a fin stabilizer device according to any one of claims 1 to 9 , comprising:
acquiring a sailing speed of the hull and at least one of a rolling motion and a vertical motion of the hull;
and when at least one of the sailing speed and the motion of the hull satisfies a predetermined condition while the fin stabilizer main body is protruding from the hull, storing the fin stabilizer main body within the hull. obtaining a position of the vessel;
A control method for a fin stabilizer device as described in claim 10, comprising a step of storing the fin stabilizer main body within the hull when the position of the hull satisfies a predetermined condition while the fin stabilizer main body is protruding from the hull . obtaining a water depth at a position below the vessel;
A control method for a fin stabilizer device as described in claim 10 or 11, comprising a step of accommodating the fin stabilizer main body within the hull when the water depth at a position below the hull satisfies a predetermined condition when the fin stabilizer main body is in a protruding state from the hull . A control method for a fin stabilizer device described in any one of claims 10 to 12, comprising a step of protruding the fin stabilizer main body from the hull when the fin stabilizer main body is housed in the hull and the sailing speed of the hull exceeds a predetermined speed reference. A control method for a fin stabilizer device described in any one of claims 10 to 12, comprising a step of protruding the fin stabilizer main body from the hull when, with the fin stabilizer main body housed in the hull, the sailing speed of the hull exceeds a predetermined speed standard and the oscillation of the hull exceeds a predetermined oscillation standard.

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