Ship

Abstract

A ship including an engine, a jet propulsion device, a ship controller, and a ship position detection unit, in which the jet propulsion device includes a nozzle that ejects a jet stream generated by the driving force output from the engine, and a bucket that changes a direction of the jet stream, the position of the bucket includes at least a forward-side intermediate position between the forward position and the neutral position, the ship controller has a ship fixed point holding mode in which feedback control of the engine and the jet propulsion device is performed based on a deviation between a preset target ship position and the actual ship position, and both control of the position of the bucket including the forward-side intermediate position and control of a rotational speed of the engine are performed in the ship fixed point holding mode.

1 . A ship comprising:
 an engine that outputs a driving force;   a jet propulsion device that generates a propulsion force of the ship using the driving force output from the engine;   a ship controller that controls the engine and the jet propulsion device; and   a ship position detection unit that detects an actual ship position which is an actual position of the ship,   wherein the jet propulsion device includes a nozzle that ejects a jet stream generated by the driving force output from the engine, and   a bucket that changes a direction of the jet stream ejected from the nozzle,   the position of the bucket includes at least   a forward position where the jet propulsion device generates a propulsive force for moving the ship forward,   a neutral position where the jet propulsion device does not generate a propulsive force for moving the ship, and   a forward-side intermediate position between the forward position and the neutral position,   the ship controller has a ship fixed point holding mode in which feedback control of the engine and the jet propulsion device is performed based on a deviation between a target ship position, which is a preset target position of the ship, and the actual ship position, and   both control of the position of the bucket including the forward-side intermediate position and control of a rotational speed of the engine are performed in the ship fixed point holding mode.   
     
     
         2 . The ship according to  claim 1 ,
 wherein the forward-side intermediate position between the forward position and the neutral position includes a plurality of forward-side intermediate positions, and   the control performed by the ship controller in the ship fixed point holding mode includes control of setting the rotational speed of the engine to a predetermined value so that the ship is held at a fixed point of the target ship position and setting the position of the bucket to any of the forward position, the neutral position, and the plurality of forward-side intermediate positions.   
     
     
         3 . The ship according to  claim 1 ,
 wherein the forward-side intermediate position between the forward position and the neutral position includes a linear forward-side intermediate position that is linearly adjustable, and   the control performed by the ship controller in the ship fixed point holding mode includes control of setting the rotational speed of the engine to a predetermined value so that the ship is held at a fixed point of the target ship position and adjusting the linear forward-side intermediate position.   
     
     
         4 . The ship according to  claim 2 ,
 wherein, when the actual ship position is located behind the target ship position if the position of the bucket is set to the neutral position in the ship fixed point holding mode, the position of the bucket is set to the forward-side intermediate position, and the rotational speed of the engine is set to a predetermined value so that the ship is held at a fixed point of the target ship position, and when the actual ship position is located ahead of the target ship position if the position of the bucket is set to the forward position in the ship fixed point holding mode, the position of the bucket is set to the forward-side intermediate position, and the rotational speed of the engine is set to a predetermined value so that the ship is held at a fixed point of the target ship position.   
     
     
         5 . A ship comprising:
 an engine that outputs a driving force;   a jet propulsion device that generates a propulsion force of the ship using the driving force output from the engine;   a ship controller that controls the engine and the jet propulsion device; and   a ship position detection unit that detects an actual ship position which is an actual position of the ship,   wherein the jet propulsion device includes   a nozzle that ejects a jet stream generated by the driving force output from the engine, and   a bucket that changes a direction of the jet stream ejected from the nozzle,   the position of the bucket includes at least   a forward position where the jet propulsion device generates a propulsive force for moving the ship forward,   a neutral position where the jet propulsion device does not generate a propulsive force for moving the ship,   a reverse position where the jet propulsion device generates a propulsive force for moving the ship backward, and   a reverse-side intermediate position between the reverse position and the neutral position,   the ship controller has a ship fixed point holding mode in which feedback control of the engine and the jet propulsion device is performed based on a deviation between a target ship position, which is a preset target position of the ship, and the actual ship position, and   both control of the position of the bucket including the reverse-side intermediate position and control of a rotational speed of the engine are performed in the ship fixed point holding mode.   
     
     
         6 . The ship according to  claim 5 ,
 wherein the reverse-side intermediate position between the reverse position and the neutral position includes a plurality of reverse-side intermediate positions, and   the control performed by the ship controller in the ship fixed point holding mode includes control of setting the rotational speed of the engine to a predetermined value so that the ship is held at a fixed point of the target ship position and setting the position of the bucket to any of the reverse position, the neutral position, and the plurality of reverse-side intermediate positions.   
     
     
         7 . The ship according to  claim 5 ,
 wherein the reverse-side intermediate position between the reverse position and the neutral position includes a linear reverse-side intermediate position that is linearly adjustable, and   the control performed by the ship controller in the ship fixed point holding mode includes control of setting the rotational speed of the engine to a predetermined value so that the ship is held at a fixed point of the target ship position and adjusting the linear reverse-side intermediate position.   
     
     
         8 . The ship according to  claim 6 ,
 wherein, when the actual ship position is located ahead of the target ship position if the position of the bucket is set to the neutral position in the ship fixed point holding mode, the position of the bucket is set to the reverse-side intermediate position, and the rotational speed of the engine is set to a predetermined value so that the ship is held at a fixed point of the target ship position, and when the actual ship position is located behind the target ship position if the position of the bucket is set to the reverse position in the ship fixed point holding mode, the position of the bucket is set to the reverse-side intermediate position, and the rotational speed of the engine is set to a predetermined value so that the ship is held at a fixed point of the target ship position.   
     
     
         9 . A ship comprising:
 an engine that outputs a driving force;   a jet propulsion device that generates a propulsion force of the ship using the driving force output from the engine;   a ship controller that controls the engine and the jet propulsion device; and   a ship position detection unit that detects an actual ship position which is an actual position of the ship,   wherein the jet propulsion device includes   a nozzle that ejects a jet stream generated by the driving force output from the engine, and   a bucket that changes a direction of the jet stream ejected from the nozzle,   the position of the bucket includes at least   a forward position where the jet propulsion device generates a propulsive force for moving the ship forward,   a neutral position where the jet propulsion device does not generate a propulsive force for moving the ship,   a reverse position where the jet propulsion device generates a propulsive force for moving the ship backward,   a forward-side intermediate position between the forward position and the neutral position, and   a reverse-side intermediate position between the reverse position and the neutral position,   the ship controller has a ship fixed point holding mode in which feedback control of the engine and the jet propulsion device is performed based on a deviation between a target ship position, which is a preset target position of the ship, and the actual ship position, and   both control of the position of the bucket including the forward-side intermediate position and the reverse-side intermediate position and control of a rotational speed of the engine are performed in the ship fixed point holding mode.   
     
     
         10 . The ship according to  claim 9 ,
 wherein the forward-side intermediate position between the forward position and the neutral position includes a plurality of forward-side intermediate positions,   the reverse-side intermediate position between the reverse position and the neutral position includes a plurality of reverse-side intermediate positions, and   the control performed by the ship controller in the ship fixed point holding mode includes control of setting the rotational speed of the engine to a predetermined value so that the ship is held at a fixed point of the target ship position and setting the position of the bucket to any of the forward position, the neutral position, the reverse position, the plurality of forward-side intermediate positions, and the plurality of reverse-side intermediate positions.   
     
     
         11 . The ship according to  claim 9 ,
 wherein the forward-side intermediate position between the forward position and the neutral position includes a linear forward-side intermediate position that is linearly adjustable,   the reverse-side intermediate position between the reverse position and the neutral position includes a linear reverse-side intermediate position that is linearly adjustable, and   the control performed by the ship controller in the ship fixed point holding mode includes control of setting the rotational speed of the engine to a predetermined value so that the ship is held at a fixed point of the target ship position and adjusting the linear forward-side intermediate position and the linear reverse-side intermediate position.   
     
     
         12 . The ship according to  claim 10 ,
 wherein, when the actual ship position is located behind the target ship position if the position of the bucket is set to the neutral position in the ship fixed point holding mode, and when the actual ship position is located ahead of the target ship position if the position of the bucket is set to the forward position, the position of the bucket is set to the forward-side intermediate position, and the rotational speed of the engine is set to a predetermined value so that the ship is held at a fixed point of the target ship position.   
     
     
         13 . The ship according to  claim 10 ,
 wherein, when the actual ship position is located ahead of the target ship position if the position of the bucket is set to the neutral position in the ship fixed point holding mode, and when the actual ship position is located behind the target ship position if the position of the bucket is set to the reverse position, the position of the bucket is set to the reverse-side intermediate position, and the rotational speed of the engine is set to a predetermined value so that the ship is held at a fixed point of the target ship position.   
     
     
         14 - 22 . (canceled)