JPH09267798A - Automatic fixed point holding system for ship - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automate the control of the turning angle and propelling force of a turning type propelling device for holding the position and direction of a ship. SOLUTION: The reference state of a plurality of turning type propelling devices 2 provided in both end parts of a pull 1 is set so as to direct a propelling direction (a) toward the center 1a of the ship body, the adjusting of a turning angle for each propelling device 2 is reduced based on this reference state, and control for holding the position and direction of the ship body 1 mainly based on the adjusting of a propelling force strength is automatically performed according to detecting signals from a ship body position measuring device and a ship body direction sensor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the position of a hull, such as when a bridge girder is lifted or lowered by a crane at a sea construction site during the construction of a crossing bridge, or when working on an excavating ship, a dredging ship, etc. The present invention relates to an automatic fixed point holding system for a ship, which is suitable for holding an azimuth (direction).

[0002]

2. Description of the Related Art Conventionally, in order to maintain a fixed point of a work boat,
As shown in FIG. 4, it is the operator's judgment to equip both ends of a hull 1 as a barge with a plurality of omnidirectional swivel propulsion units 2 and control the thrust and the swivel angle for each propulsion unit. It was done by manual operation.

[0003]

By the way, in the case of determining the thrust directions and the magnitudes of the thrusts of the plurality of propulsion units in response to changes in the disturbance of the tidal current or the wind, there are innumerable combinations thereof. , The skill and complicated operation of the ship operator are required. Further, in the manual operation as described above, a water flow containing bubbles generated by one of the propulsion devices may be sucked into the other propulsion device, which may cause a reduction in thrust. The present invention is intended to solve such problems, and sets a reference state in which a plurality of swivel-type propulsion devices provided at both ends of the hull generate thrust toward the hull center,
It is an object of the present invention to provide an automatic fixed point holding system for a ship capable of holding a fixed point by automatically controlling the thrust of the propulsion device and the turning angle from the reference state according to the disturbance.

[0004]

In order to achieve the above-mentioned object, the automatic fixed point holding system for a ship of the present invention changes the direction of the thrust according to the turning angle from a reference state in which the thrust is generated toward the center of the hull. In order to maintain the position and azimuth of the hull by adjusting the direction and magnitude of each thrust of the plurality of swivel-type propulsion devices according to the disturbance by providing a plurality of swivel-type propulsion devices capable of being at both ends of the hull, First computing means for computing the direction and magnitude of the thrust necessary for the hull and the turning moment of the hull based on the detection signals from the hull position measuring device and the hull orientation sensor, and the plurality of means for obtaining the turning moment. Second calculating means for calculating each thrust at the present turning angle of the turning propulsion device of No. 2 and the above turning moment cannot be obtained by the second calculating means at the present turning angle of each propulsion device. , A propulsion device turning means for adjusting the present turning angle of each propulsion device, and a propulsion device for each required horizontal movement of the hull when the turning moment is obtained by the second computing means. Third calculation means for obtaining thrust, fourth calculation means for adding thrusts for the respective propulsion devices obtained by the second calculation means and the third calculation means, and fourth calculation means. Command means for instructing the thrust adjusting means of each propulsion device so as to realize the thrust of each propulsion device obtained by the means.

In the above-mentioned automatic fixed point holding system for ships,
In order to restore the hull to its original state when the hull's position and orientation change due to the disturbance of the tidal current or wind,
The calculation means performs the operation of calculating the direction and magnitude of the thrust required for the hull and the turning moment of the hull based on the detection signals from the hull position measuring device and the hull orientation sensor. Then, in order to obtain the turning moment, the second calculating means performs the operation of calculating the magnitude of each thrust at the present turning angle of the plurality of turning type propulsion devices. If the turning moment cannot be obtained even if each thrust is changed at the current turning angle of each propulsion device, the turning angle of each propulsion device is finely adjusted by the propulsion device turning means.

In this way, when the above turning moment is obtained by the second calculating means, the third calculating means calculates the thrust of each propulsion unit for the required horizontal movement of the hull. The desired calculation is performed.

Then, in the fourth computing means, the above-mentioned second
Of the thrusts of the respective propulsion devices obtained by the calculation means and the third calculation means, and the thrust of the respective propulsion devices thus obtained is realized from the command means to the thrusters of the respective propulsion devices. The thrust adjusting means is commanded.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An automatic fixed point holding system for a ship according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of a pontoon equipped with the present system, and FIG. FIG. 3 is an explanatory view showing the operating state of the ship, and FIG. 3 is a flowchart showing the operation of the above system.

As shown in FIGS. 1 and 2, two omnidirectional swivel propulsion units 2 are installed at each end of a hull 1 as a barge, and two propulsion units 2 in total are provided. As shown in FIG. 2, by generating the same thrust in the reference state of generating thrust toward the center 1a of the hull 1, the position and orientation of the hull 1 can be maintained unless there is a disturbance of tidal current or wind. ing. In FIG. 2, the symbol a indicates the direction of thrust of each propulsion device 2, and the symbol b indicates the direction of water flow generated from each propulsion device 2.

Further, as shown in FIG. 1, the hull 1 is provided with a hull position measuring device 3 and a gyro compass 4 as an orientation sensor for the hull, and also with an anemometer 5. It should be noted that each propulsion device 2 is provided with thrust adjusting means capable of adjusting the magnitude of thrust and propulsion device turning means capable of adjusting the direction of thrust.

Further, in the present system, as shown in FIG. 3, in order to maintain the position and orientation of the hull 1 by adjusting the directions and magnitudes of the thrusts of the four swivel-type propulsion units 2 in accordance with the disturbance, as shown in FIG. 1 to 4 computing means are provided, and these computing means are included in the control computing device 6 shown in FIG.

The first computing means is a hull position measuring device 3
Also, it has a function of calculating the direction and magnitude of the thrust required for holding the fixed point of the hull 1 and the turning moment based on the detection signal from the gyro compass 4. Also the second
The calculation means of (3) has a function of calculating each thrust at the present turning angle of each propulsion device 2 for obtaining the turning moment obtained by the first calculation means.

When the second turning means cannot obtain the turning moment at the current turning angle of each propulsion device 2, the current turning angle of each propulsion device is set to the above-mentioned propulsion device attached to the same propulsion device 2. It is adapted to be adjusted slightly by the turning means. Further, the third calculating means is provided with the respective propulsion units 2 for performing the required horizontal movement of the hull 1 when the turning moment is obtained by the second calculating means.
It has a function to calculate the thrust of.

The fourth arithmetic means has a function of adding the thrusts of the propulsion devices 2 respectively obtained by the second arithmetic means and the third arithmetic means, and the fourth arithmetic means is used. In order to realize the required thrust of each propulsion device 2, a command is sent from the commanding device included in the control arithmetic unit 6 of FIG. 1 to the thrust adjusting device attached to the propulsion device 2. There is.

Since the automatic fixed point holding system for a ship of the present embodiment is constructed as described above, the thrust of each propulsion device 2 can be adjusted while the adjustment of the turning angle of each propulsion device 2 is kept as small as possible. By adjusting, the action for holding the position and orientation of the hull 1 is performed as follows.

That is, when the hull 1 is subjected to disturbances such as tidal currents and winds and the position and orientation of the hull 1 change, the hull 1
In order to restore the original state of the ship, the first computing means uses the hull 1
Based on the detection signals from the position measuring device 3 and the gyro compass 4 that detects the azimuth of the hull 1, the action and the magnitude of the thrust required for the hull 1 and the turning moment of the hull are calculated. Then, in order to obtain the turning moment, the second calculating means performs an operation of calculating the magnitude of each thrust at the current turning angle of the plurality of turning type propulsion devices 2. When the above turning moment cannot be obtained even if each thrust is changed at the current turning angle of each propulsion device 2, the propulsion device turning means slightly adjusts the turning angle of each propulsion device 2. .

In this way, when the above turning moment is obtained by the second calculating means, the third calculating means performs the horizontal movement necessary for returning the hull 1 to the original position. The calculation for obtaining the thrust of each propulsion device 2 is performed.

Then, in the fourth computing means, the above-mentioned second
Each propulsion device 2 obtained by the arithmetic means and the third arithmetic means
Is added, and the commanding means commands the thrust adjusting means of each propulsion device 2 so as to realize the thrust of each propulsion device 2 thus obtained.

The above-described operation is performed in this automatic fixed point holding system for a ship, and each propulsion device 2 has its thrust direction directed to the center 1a of the hull as a reference state, and each propulsion device from this reference state. The turning angle of 2 is suppressed to be as small as possible.

Therefore, the water flow containing bubbles generated from each propulsion device 2 is not sucked into another propulsion device 2. The thrust of each propulsion device 2 is greatly influenced by the speed of the water flow flowing into the same propulsion device, and the larger the inflow speed, the smaller the propulsion force. However, by adopting this system, the water flow containing bubbles generated by each propulsion device 2 is prevented from flowing into another propulsion device 2, so that each propulsion device 2 responds to the command from the thrust adjusting means. As a result, the required thrust can be secured, whereby the position and orientation of the hull 1 can be accurately maintained.

In this manner, the hull 1 is held at a fixed point by adjusting the thrust of each propulsion device 2 while making the adjustment of the turning angle of each propulsion device 2 as small as possible. Will be Further, in this system, each propulsion device 2 is automatically controlled so as to be able to cope with a disturbance, and there is an advantage that a troublesome manual operation by a trained operator such as the conventional one is not required.

[0022]

As described above in detail, according to the automatic fixed point holding system for a ship of the present invention, the following effects can be obtained. (1) Each propulsion device is automatically controlled so that the position and orientation of the hull can be secured, eliminating the need for a troublesome manual operation by a conventional skilled operator. (2) Since the adjustment of the turning angle from the reference state of each propulsion device is suppressed as much as possible, and the control for maintaining a fixed point is performed by adjusting the thrust of each propulsion device, the control to deal with disturbance is performed quickly. , Its responsiveness is improved. (3) The water flow containing bubbles generated from each propulsion device does not flow into other propulsion devices, so that the thrust is appropriately generated according to the control.

[Brief description of drawings]

FIG. 1 is a plan view of a pontoon equipped with an automatic fixed point holding system for a ship according to an embodiment of the present invention.

FIG. 2 is a plan view showing an operating state of the barge of FIG.

3 is a flow chart showing the operation of the above system in the barge of FIG.

FIG. 4 is a plan view showing an operating state of a conventional barge.

[Explanation of symbols]

 1 hull 1a center of hull 2 omnidirectional swivel propulsion device 3 position measuring device 4 gyro compass as direction sensor 5 wind direction anemometer 6 control computing device a direction of thrust b direction of water flow

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Noboru Koga 1-6-16 Edabori, Imabari-shi, Ehime Himeyahous 305 (72) Inventor Yoshihiro Asakura 3-4 Karakodai East, Imabari-shi, Ehime Karakodai Housing 1-202 (72) Inventor Shigeki Onaka 6-16-1, Hinoshima Enoura-cho, Hikoshima, Shimonoseki City Mitsubishi Heavy Industries Ltd. Shimonoseki Shipyard

Claims (1)

[Claims] 1. A plurality of swivel-type propulsion devices capable of changing the direction of the thrust depending on a swivel angle from a reference state for generating thrust toward the center of the hull are provided at both ends of the hull, and the plurality of swirl-type propulsion devices are provided according to disturbance. In order to maintain the position and orientation of the hull by adjusting the direction and magnitude of each thrust of the swing type thruster of
First calculating means for calculating the direction and magnitude of the thrust required for the hull and the turning moment of the hull based on the detection signals from the hull position measuring device and the hull orientation sensor, and the plurality of units for obtaining the turning moment. Calculating means for calculating each thrust at the present turning angle of the turning propulsion device, and each propulsion when the turning moment cannot be obtained by the second calculating means at the present turning angle of each propulsion device. A propelling device turning means for adjusting the present turning angle of the device, and the second
The third calculating means for obtaining the thrust of each propulsion unit for the required horizontal movement of the hull when the turning moment is obtained by the calculating means, the second calculating means and the third calculating means. And a fourth arithmetic means for adding the thrusts of the respective propulsion devices obtained by the arithmetic means of
The automatic fixed point holding system for a ship, further comprising: command means for instructing the thrust adjusting means of each propulsion device so as to realize the thrust of each propulsion device obtained by the computing means.