JPS61207290A - Automatic controller for mooring rope - Google Patents

Abstract

PURPOSE:To control the angle against the hull properly by providing the distortions in longitudinal, lateral and vertical directions, at the horizontal and vertical capstan supporting sections, the tide, the wind force, the position and the loading condition to a computer and operating the winch for respective mooring rope. CONSTITUTION:The detected levels from tide sensor, wind speed/wind force sensor, back/fro draft and inclination sensor, loading condition sensor and the distortions in longitudinal, lateral and vertical directions detected through stress gauges arranged on the supporting section of respective rotary shaft of horizontal and vertical capstans are fed through a terminal controller 3 to a computer 4. The computer 4 will execute operation on the basis of the initial setting level of mooring conditions thus to control the motor G of respective winch such that the respective mooring rope is maintained at the angle theta against the hull. Consequently, the manpower for mooring work can be saved with high accuracy.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to an automatic mooring line control device.

[Conventional technology]

Conventionally, in order to moor a ship to a quay, as shown in the perspective view in Figure 6, the factor plane view in Figure 7, and the side view in Figure 8, it was necessary to So, ship A and quay B
A plurality of mooring lines C are stretched between vertical capstans D and horizontal capstans E.

Wind pressure and tidal currents constantly change and affect the mooring force.
In addition, when loading and unloading cargo, the attitude and swamp of ship A change and the mooring force changes, so the amount of pullout of various mooring lines C is constantly adjusted according to the surroundings of ship A and the condition of ship A itself. .

Horizontal angles α1 to α5 with ship A. Vertical angle β1 to β5 with ship A
The crew adjusts the mooring line C after confirming or judging the mooring force.

However, such a method has the disadvantage that it requires a lot of labor since all of these various adjustment operations depend on the crew.

[Problem that the invention seeks to solve]

The present invention was proposed in view of these circumstances, and
An object of the present invention is to provide an automatic mooring line control device that saves labor in adjusting the mooring lines of a moored ship.

[Means for solving problems]

To this end, the present invention provides a mooring condition input device, a tidal force sensor, a wind speed and wind sensor 1 position sensor, and a loading state sensor in a ship equipped with a plurality of winches that wind and let out each mooring line through a plurality of capstans. and a computer that inputs the output of the terminal control device described later, a reaction force component sensor attached to each capstan that detects the reaction force component of the capstan, and a reaction force component sensor attached to each winch that detects the tension of the corresponding mooring line. The angle of each mooring line with respect to the ship's body is calculated based on the outputs of the tension sensor, the reaction force component sensor, and the tension sensor, respectively, and this is output to the computer. It is characterized by comprising a terminal control device that outputs a command signal to control the winch.

[For production]

With the above-described configuration, it is possible to obtain an automatic mooring line control device that saves labor in adjusting the mooring lines of a moored ship.

〔Example〕

An embodiment of the present invention will be explained with reference to the drawings. Fig. 1 is a model diagram showing the mechanical relationship between the direction of the mooring line and the reaction force of the capstan, Fig. 2 is a perspective view showing the capstan, and Fig. 3 is a model diagram showing the mechanical relationship between the direction of the mooring line and the reaction force of the capstan.
The figure is a plan view showing a mooring force detection mechanism, FIG. 4 is a side view showing a ship equipped with this device, and FIG. 5 is a flowchart showing the calculation procedure of the device shown in FIG.

In the above figure, the same symbols as in Figs. 6 to 10 indicate the same members as in the same figure. First, in Figs. A horizontal strain gauge 1x and a vertical strain gauge 1y are attached so as to be perpendicular to each other.

In this embodiment, the horizontal strain gauge 1X and the vertical strain gauge 1y are arranged at the base of the vertical capstan axis D1, and the height direction strain gauge 1z is arranged at the base of the horizontal capstan axis E1. are attached to the base of the terminal controller B, and each is connected to the terminal control device B by a transmission line 1a.

Reference numeral 2 denotes a tension sensor attached to a winch H driven by a motor G, and the tension sensor 2 is connected to a terminal control device 3 through a data transmission line 2a.

3 instantaneously analyzes the data sent from the strain gauge 1 and the tension sensor 2, determines the horizontal angle θ between the mooring line and the ship's body, and the vertical angle ψ between the mooring line and the ship's body, and further analyzes the data. When the data is sent to the central computer 4, which will be described later, via the data transmission line 3a, the computer 4
A terminal control device that transmits commands sent from the motor through the command transmission line 3b to the motor q through the command transmission line 3C,
The terminal control device 3 automatically puts in and takes out the mooring line C.

Next, in FIG. 4, numeral 5 is an input device for inputting mooring conditions into the computer 4, 6 is a tidal current sensor attached to the bottom of the ship to detect the size of the tidal current, and 7 is a tidal current sensor attached to the bottom of the ship to detect the wind speed and wind force. Wind speed/wind force sensor 8 is installed on the bridge to detect the relative position of the ship and the seabed.

Position sensors detect the ship's fore-and-aft swamp, the ship's fore-and-aft inclination, and the ship's inclination to the left and right. 9 detects how much cargo is carried in which hold, and how much ballast water is carried in each palast tank. When detected, it is also a loading status sensor that controls parast water loading.

In such a device, first, the measurement principle of the mooring line force detection mechanism will be described with reference to Figure 1. , T is the tension applied to the mooring line C, F is the reaction force of the capstan due to the mooring line C % fX l fY # f
z't'' are component forces of the reaction force F in the Xa, Yr, and z-axis directions, and the following relationships (1) to (3) hold between them as static equilibrium conditions.

fx-1-T cos ψ sin θ= T cos ηCX
Balance of forces in the axial direction)...(1) f +T sin
η=T cosψcosθ (balance of forces in the y-axis direction)
... (2) f2 = T sinψ (balance of forces in two axial directions) ... (3) Here, the above (
1), (2), and (3), if T is known, then
This is a three-dimensional simultaneous equation regarding the angle η between the shaft and the mooring line C, the vertical angle ψ between the ship's body and the mooring line C, and the horizontal angle θ between the ship's body and the mooring line C. Find the value. Note that η is a constant determined by the relative positions of the capstan and the winch.

Therefore, as shown in Fig. 2, a lateral strain gauge 1x
If you install a vertical strain gauge 9'Yr and a vertical strain gauge 1z, you can calculate θ and ψ.If you want to improve the accuracy, you can increase the number of strain gauges and It is sufficient to analyze the value of and use the average value or the like.

As shown in FIG. 3, the horizontal strain gauge 91x, longitudinal strain gauge IY, and height strain gauge 1z, which are respectively attached to the capstan, are used to strain the mooring line C at X.

The magnitudes of the component forces fx, f, , f2 in the y- and z-axis directions are determined, and the data is sent to the terminal control device 3. Also, the tension T is measured by the tension sensor 2 attached to the winch H, and the Data is sent to the control device 3.

Furthermore, the terminal controller 3 analyzes these data and calculates θ
and ψ are determined and the size is transferred to the central computer 4, etc. At that time, various calculations are performed according to the flowchart shown in Fig. 5, and each winch H is automatically controlled. The analyzed data is used for various automation.

That is, in FIG. 4, information such as the tension T of each mooring line C, the length and direction of the mooring line C is sent from the terminal control device 3 to the computer 4, and information such as the tension T of each mooring line C, the length and direction of the mooring line C is sent from the terminal control device 3 to the computer 4, and the information such as the tension T of each mooring line C is sent to the computer 4.
Wind power sensor? -79 position sensor 8. Loading status sensor 9
Information from other sources is also collected moment by moment in the computer 4, and the computer 4 compares it with the mooring conditions input from the input device 5 and determines the optimal mooring condition based on the vessel's current condition, tidal current, and wind force. and sends motor GK commands to move each mooring line C in and out, and in some cases, to monitor the loading status. Send a command to -9 to load ballast water and change the state of the ship.

According to such a device, it is possible to save the crew's labor by automating tasks such as putting in and taking out the mooring lines of a moored ship.

[Effects of the Invention] In short, according to the present invention, in a ship equipped with a plurality of winches that wind and let out each mooring line through a plurality of capstans, a mooring condition input device, a tidal force sensor, a wind speed and wind sensor 1 are provided. 1 sensor, a loading state sensor, and a computer that inputs the outputs of the terminal control device described later, a reaction force component sensor attached to each capstan that detects the reaction force component of the capstan, and a reaction force component sensor attached to each capstan that detects the reaction force component of the capstan. The angle of each mooring line with respect to the ship's body is calculated based on the outputs of the attached tension sensor that detects the tension of the corresponding mooring line, the reaction force component sensor, and the tension sensor, and outputs this to the computer. By including a terminal control device that outputs a command signal for controlling each of the winches based on the output of from,
The present invention is extremely useful industrially.

[Brief explanation of drawings]

Fig. 1 is a diagram showing the measurement principle of the present invention, Fig. 2 is a perspective view showing the capstan, Fig. 3 is a plan view showing the mooring force detection mechanism, and Fig. 4 is a ship equipped with this device. A side view showing the
Fig. 5 is a flowchart showing the calculation procedure of the device shown in Fig. 4, Fig. 6 is a perspective view showing the mooring procedure for a known ship, and Fig. 7 shows the horizontal angle between each mooring line and the ship's hull in Fig. 6. A plan view, FIG. 8 is a side view showing the vertical angle between each mooring line and the hull in FIG. 6, FIG. 9 is a perspective view showing the fairlead capstan and mooring line in FIG. 6, and FIG. FIG. 9 is a front view taken along the line XX in FIG. 9; 1...Strain gauge, 1a...Data transmission line, 1
x... Lateral strain gauge, 1y... Vertical strain gauge, 1z... Height strain gauge, 2... Tension sensor% 2a... Data transmission line, 3...
Terminal control device, 3a...Data transmission line, 3b...
・Command transmission line, 3C...Command transmission line, 4...
- Computer, 5... Input device, 6... Tidal current sensor, 7... Wind speed/wind force sensor, 8... Position sensor, 9... Loading state sensor, C... Mooring line, D...・-Vertical cab stan, Dl・・
・Vertical capstan shaft, E...Horizontal capstan, E
L...Horizontal capstan shaft, F...Reaction force from the capstan, G...Motor, H...Winch, T,
...Tension on the mooring line, fX... FOX axial component force, f,... FOy axial component force, f2... Component force in the two axial directions of F, θ... Mooring line and ship body horizontal angle, ψ・
...Vertical angle between the mooring line and the ship's hull, η...Angle between the mooring line and the X-axis. Sub-Agent Patent Attorney Masa Tsukamoto Figure 1 Figure 3 Figure 2 ■ Figure 4 Figure 7 Figure 8

Claims (1)

[Claims] In a ship equipped with a plurality of winches that reel in and let out each mooring line through a plurality of capstans, a mooring condition input device, a tidal force sensor, a wind speed sensor, a position sensor, a loading state sensor, and a mooring condition input device are provided. A computer that inputs the outputs of the terminal control devices described later, and a reaction force component sensor that is attached to each capstan and detects the reaction force component of the capstan.
A tension sensor attached to each winch detects the tension of the corresponding mooring line, and the angle of each mooring line with respect to the ship's body is calculated based on the outputs of the reaction force component sensor and tension sensor, and this is output to the computer. An automatic mooring line control device comprising: a terminal control device that outputs a command signal for controlling each of the winches based on the output of the computer.