JPH0438633B2 - - Google Patents
Info
- Publication number
- JPH0438633B2 JPH0438633B2 JP59094315A JP9431584A JPH0438633B2 JP H0438633 B2 JPH0438633 B2 JP H0438633B2 JP 59094315 A JP59094315 A JP 59094315A JP 9431584 A JP9431584 A JP 9431584A JP H0438633 B2 JPH0438633 B2 JP H0438633B2
- Authority
- JP
- Japan
- Prior art keywords
- quay
- hull
- ship
- mooring
- mooring line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000012545 processing Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000004804 winding Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Landscapes
- Control And Safety Of Cranes (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、岸壁において係船索を介し係止され
る船舶の位置を保持するための装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for maintaining the position of a ship moored at a quay via a mooring line.
第８図ａ，ｂにそれぞれ示すように、岸壁ｂに
おいて係船索ｃを介し船舶ａを係止する場合、船
舶ａが岸壁ｂに近接した際に係船索ｃを岸壁ｂ上
のビツトｄに掛け、船舶ａ上のウインチｅにより
係船索ｃを巻き込みながら、船舶ａを所定位置へ
移動させフエンダーｆと接触させた後、係船索ｃ
の張力を一定に保つて係船作業が完了する。
As shown in Figures 8a and b, respectively, when a vessel a is moored at a quay b via a mooring line c, when a vessel a approaches quay b, the mooring line c is hung on a bit d on quay b. , While mooring line c is reeled in by winch e on vessel a, vessel a is moved to a predetermined position and brought into contact with fender f, and then mooring line c is
The mooring work is completed by keeping the tension constant.
このようにして、船舶ａを係止した後に、潮
位，風向，風速，潮流あるいは載荷量，揚荷重と
いつた様々な周囲条件による外力の変動に伴い、
係船索ｃの繰り出し長さが一定であつても、船位
や係船索ｃの張力を変動する。 In this way, after the vessel a is moored, due to fluctuations in external forces due to various ambient conditions such as tide level, wind direction, wind speed, tidal current, loading amount, and uplift load,
Even if the length of the mooring line c is constant, the position of the ship and the tension of the mooring line c are varied.
この変動に対応して船位を保持するため、従
来、船舶ａ上の乗組員が、常時、上述のような周
囲条件による外力の変動を判断するとともに、係
船索ｃの張力を監視しながら、ウインチｅを用い
て手動操作により係船索ｃの巻き込みまたは繰り
出し量を調整している。 In order to maintain the ship's position in response to these fluctuations, conventionally, the crew onboard the ship (a) has always judged the fluctuations in external forces due to the above-mentioned ambient conditions, and while monitoring the tension of the mooring line (c), The amount of winding in or letting out of the mooring line c is adjusted by manual operation using the lever e.
ところで、近年、船舶における乗組員数の削減
のニーズが高まつて、ウインチ等の甲板機器操作
員の員数についても減員されることが予想されて
おり、上述の係船，船位保持作業も極めて少数の
操作員にて遂行されることが望まれている。
Incidentally, in recent years, there has been an increasing need to reduce the number of crew members on ships, and it is expected that the number of deck equipment operators such as winches will also be reduced. It is hoped that this work will be carried out by staff members.
このような状況から、係船後の自動船位保持シ
ステムについて調査・研究がなされてきている
が、今日まで完全な実用化に至つていない。 In view of this situation, studies and research have been carried out on automatic ship positioning systems after mooring, but to date they have not been fully put into practical use.
本発明は、このような点に鑑み、従来、熟練し
た操作員の高度な判断により行なわれている岸壁
係船後の船位保持作業を自動化して、操作員数の
削減をはかれるようにした、岸壁における船位保
持装置を提供することを目的とする。 In view of these points, the present invention aims to reduce the number of operators by automating the work of maintaining the ship's position after mooring at the quay, which has conventionally been carried out based on the advanced judgment of skilled operators. The purpose is to provide a ship positioning device.
このため本発明の岸壁における船位保持装置
は、船体を係船索を介して岸壁に係止するための
ウインチをそなえ、上記船体を上記岸壁に対し所
要の平面位置に保持すべく、上記岸壁に対する上
記船体の相対位置を三角測量により求めるための
テレビカメラと、同テレビカメラからの上記相対
位置についての情報に基づき上記所要の平面位置
へ上記船体を復帰させるのに必要な上記係船索の
操作量を算出しうる演算装置と、同演算装置で算
出された上記操作量に基づき上記ウインチの制御
を行なうウインチ制御装置とが設けられたことを
特徴としている。
For this reason, the ship position holding device for a quay of the present invention is provided with a winch for mooring the ship's body to the quay via a mooring rope, and is provided with a winch for mooring the ship's body to the quay through a mooring rope. A television camera for determining the relative position of the ship by triangulation, and the amount of operation of the mooring line necessary to return the ship to the required plane position based on information about the relative position from the television camera. The present invention is characterized in that it is provided with a calculation device that can perform calculations, and a winch control device that controls the winch based on the operation amount calculated by the calculation device.
また、本発明の岸壁における船位保持装置は、
船体を係船索を介して岸壁に係止するためのウイ
ンチをそなえ、上記船体を上記岸壁に対し所要の
平面位置に保持すべく、上記岸壁に対する上記船
体の相対位置を三角測量により求めるためのテレ
ビカメラと、上記係船索の張力を検出しうる索張
力計と、上記テレビカメラからの上記相対位置に
ついての情報と上記索張力計から得られる情報と
に基づき上記所要の平面位置へ上記船体を復帰さ
せるのに必要な上記係船索の操作量を算出しうる
演算装置と、同演算装置で算出された上記操作量
に基づき上記ウインチの制御を行なうウインチ制
御装置とが設けられたことを特徴としている。 Further, the ship positioning device at the quay of the present invention includes:
A television equipped with a winch for mooring the hull to a quay via a mooring line, and for determining the relative position of the hull with respect to the quay by triangulation in order to maintain the hull at a required planar position with respect to the quay. A camera, a rope tension meter capable of detecting the tension of the mooring line, and the vessel returned to the required planar position based on information about the relative position from the television camera and information obtained from the rope tension meter. The present invention is characterized in that it is provided with a calculation device capable of calculating the amount of operation of the mooring line necessary for the operation of the mooring line, and a winch control device that controls the winch based on the amount of operation calculated by the calculation device. .
上述の本発明の岸壁における船位保持装置によ
れば、テレビカメラを用いて三角測量により船位
を測定し、船舶を所要位置に復帰させるべく、自
動的にウインチを制御して係船索の巻き込みまた
は繰り出し操作が行なわれる。
According to the above-described ship position holding device at a quay of the present invention, the ship position is measured by triangulation using a television camera, and the winch is automatically controlled to wind in or pay out mooring lines in order to return the ship to a desired position. An operation is performed.
また、上記テレビカメラからの情報と索張力計
から得られる情報とに基づき係船索の操作量が演
算装置で算出され、同演算装置により算出された
上記操作量に基づき、上記ウインチの制御が行な
われる。 Further, the operation amount of the mooring line is calculated by a calculation device based on the information from the television camera and the information obtained from the rope tension meter, and the winch is controlled based on the operation amount calculated by the calculation device. It will be done.
以下、図面により本発明の実施例について説明
すると、第１〜５図は本発明の第１実施例として
の岸壁における船位保持装置を示すもので、第１
図はその構成を説明するための模模式的なブロツ
ク図、第２図はその船位測定手段を説明するため
の岸壁における船体の平面図、第３図は同船体の
部分平面図、第４図はその船位保持制御手段を説
明するための岸壁における船体の平面図、第５図
は第４図の−矢視断面図であり、第６，７図
は本発明の第２実施例としての岸壁における船位
保持装置を示すもので、第６図はその船位保持制
御手段を説明するための船体の部分平面図、第７
図は第６図の−矢視断面図である。
Embodiments of the present invention will be described below with reference to the drawings. Figures 1 to 5 show a ship positioning device on a quay as a first embodiment of the present invention.
The figure is a schematic block diagram to explain the configuration, Figure 2 is a plan view of the hull at the quay to explain the ship position measuring means, Figure 3 is a partial plan view of the hull, and Figure 4 is a plan view of the hull at the quay for explaining the ship position maintenance control means, FIG. 5 is a sectional view taken along the - arrow in FIG. 4, and FIGS. 6 and 7 are views of the quay as a second embodiment of the present invention. Fig. 6 is a partial plan view of the ship's hull for explaining the ship position holding control means, and Fig. 7
The figure is a sectional view taken along the - arrow in FIG. 6.
第１〜５図により本発明の第１実施例について
説明すると、第１〜３図に示すように、目標物自
動追跡装置付きの一対のテレビカメラ１ａ，１ｂ
が、船体２上の船首部および船尾部位置に１組ず
つそなえており、これらの２組のテレビカメラ１
ａ，１ｂ；１ａ，１ｂは、常時、それぞれ係船用
岸壁１１上の目標物１０，１０を自動的に追跡し
ている。 A first embodiment of the present invention will be described with reference to FIGS. 1 to 5. As shown in FIGS. 1 to 3, a pair of television cameras 1a and 1b equipped with an automatic target tracking device
There are one set each at the bow and stern positions on the hull 2, and these two sets of television cameras 1
a, 1b; 1a, 1b are always automatically tracking the targets 10, 10 on the mooring quay 11, respectively.
そして、テレビカメラ１ａ，１ｂを用いて三角
測量により岸壁１１に対する船体２の相対的位置
（以下、船位と呼ぶ。）を測定する。つまり、第３
図に示すように、テレビカメラ１ａ，１ｂのそれ
ぞれが、目標物１０を追跡することにより、水平
面内の船体幅方向と角度α，βを成すので、この
角度α，βを図示しない角度センサにより検出し
て、この検出信号を第１図に示す中央演算装置３
に入力する。この中央演算装置３において、角度
α，βの検出信号と既知の値であるテレビカメラ
１ａ，１ｂ間の距離とから、船体２の基準点（第
３図中ではテレビカメラ１ａの設置点）と岸壁１
１上の目標物１０との水平距離Ｘ，Ｙすなわち船
位が算出される。 Then, the relative position of the ship 2 with respect to the quay 11 (hereinafter referred to as ship position) is measured by triangulation using the television cameras 1a and 1b. In other words, the third
As shown in the figure, each of the television cameras 1a and 1b forms angles α and β with the hull width direction in the horizontal plane by tracking the target object 10, so these angles α and β are determined by angle sensors (not shown). The central processing unit 3 shown in FIG.
Enter. In this central processing unit 3, the reference point of the hull 2 (the installation point of the television camera 1a in FIG. 3) is determined from the detection signals of the angles α and β and the distance between the television cameras 1a and 1b, which are known values. Quay 1
The horizontal distances X and Y to the target 10 above, that is, the ship position, are calculated.
また、テレビカメラ１ａが垂直方向と成す角度
を図示しない角度センサを用い検出することによ
り、この検出信号と水平距離Ｘ，Ｙとから中央演
算装置３において、目標物１０とテレビカメラ１
ａとの垂直距離も算出される。 Further, by detecting the angle that the television camera 1a makes with the vertical direction using an angle sensor (not shown), the central processing unit 3 uses the detection signal and the horizontal distances X and Y to determine the angle between the target object 10 and the television camera 1.
The vertical distance to a is also calculated.
このような船位測定手段によれば、船位は様々
な外力の影響を受けて時々刻々変化するが、岸壁
１１上の目標物１０と船体２上の基準点との距離
がその都度測定される。 According to such a ship position measuring means, although the ship position changes from time to time under the influence of various external forces, the distance between the target object 10 on the quay 11 and the reference point on the ship body 2 is measured each time.
そして、中央演算装置３により、測定距離と所
要の平面位置との差を求め、この差が船位ずれの
量となる。 Then, the central processing unit 3 determines the difference between the measured distance and the required plane position, and this difference becomes the amount of ship position deviation.
一方、目標物１０を一点に限定すると、この目
標物１０を中心として船体２が回転し船位ずれを
生じた場合、テレビカメラ１ａ，１ｂの追跡角度
α，βの変化が発生せず、船位ずれが検出できな
くなるため、第２図に示すように、目標物１０は
二点とし、船首部および船尾部のそれぞれにおい
て一対のテレビカメラ１ａ，１ｂを用いて船位測
定を行なう。また、目標物１０を二点とする代わ
りに、ジヤイロ等によつて船体２の回転ずれを測
定し、目標物１０を一点としてもよい。 On the other hand, if the target object 10 is limited to one point, if the hull 2 rotates around this target object 10 and the ship's position shifts, the tracking angles α and β of the TV cameras 1a and 1b will not change, and the ship's position will shift. Therefore, as shown in FIG. 2, there are two targets 10 and the ship position is measured using a pair of television cameras 1a and 1b at the bow and stern, respectively. Further, instead of setting the target object 10 as two points, the rotational deviation of the hull 2 may be measured using a gyroscope or the like, and the target object 10 may be set as a single point.
ところで、第４，５図に示すように、船体２が
岸壁１１に係船している際には、係船索９が、そ
の一端側において船体２上のウインチ５により巻
き込みまたは繰り出しを行なわれる一方、他端を
岸壁１１上のビツト８に接続されており、この係
船索９により船体２は所要の平面位置に保持され
うるようになつている。 By the way, as shown in FIGS. 4 and 5, when the hull 2 is moored at the quay 11, the mooring line 9 is reeled in or let out by the winch 5 on the hull 2 at one end thereof. The other end is connected to a bit 8 on the quay 11, and the mooring line 9 allows the hull 2 to be held in a required flat position.
なお、ウインチ５，ビツト８，係船索９は船首
部および船尾部においてそれぞれ２個ずつ設けら
れる。また、第１図に示すように、ウインチ５そ
れぞれにはこのウインチ５からの係船索９の巻き
込みまたは繰り出し量を計測する索長計７がそな
えられている。 Note that two winches 5, two bits 8, and two mooring lines 9 are provided at the bow and stern. Further, as shown in FIG. 1, each winch 5 is equipped with a cable length gauge 7 for measuring the amount of winding in or letting out of the mooring cable 9 from the winch 5.
一方、係船索９が外力に抗して船位を保持する
力を有し、係船中に係船索９が懸垂状態にならな
いとした場合、通常では船体２の前後方向，左右
方向の船位ずれ（すなわち平面位置のずれ）は生
じないが、船体２における荷役による吃水の変化
あるいは潮位の変化に伴う船体２の垂直位置のず
れは生じ、このずれにより必然的に生じる所要の
平面位置からのずれは避けられない。 On the other hand, if the mooring lines 9 have the power to maintain the ship's position against external forces and the mooring lines 9 do not become suspended during mooring, normally the ship's position will shift in the longitudinal and lateral directions of the hull 2 (i.e. However, deviations in the vertical position of the hull 2 due to changes in water due to cargo handling or changes in the tidal level will occur, and deviations from the required planar position that will inevitably occur due to this deviation will be avoided. I can't do it.
中央演算装置３において、この平面位置および
垂直位置のずれすなわち船位ずれの量が前述のと
おりテレビカメラ１ａ，１ｂを用いた三角測量か
ら算出される一方、算出された船位ずれの量に基
づき所要の平面位置へ船体２を復帰させるために
必要な係船索９の操作量を算出する。 In the central processing unit 3, the deviation between the planar position and the vertical position, that is, the amount of ship position deviation, is calculated by triangulation using the television cameras 1a and 1b as described above, and the required amount of ship position deviation is calculated based on the calculated amount of ship position deviation. The amount of operation of the mooring line 9 required to return the hull 2 to the flat position is calculated.
このようにして中央演算装置３において算出さ
れた係船索９の操作量だけ、係船索９の巻き込み
または繰り出しが自動的に行なわれる。この巻き
込み・繰り出し操作は、第１図に示すように、索
長計７を用いて係船索８の巻き込み・繰り出し量
を計測しながら、ウインチ制御装置４によりウイ
ンチ５を作動させて行なう。 The mooring line 9 is automatically retracted or let out by the amount of operation of the mooring line 9 calculated by the central processing unit 3 in this manner. As shown in FIG. 1, this winding and letting-out operation is performed by operating the winch 5 using the winch control device 4 while measuring the amount of winding-in and letting-out of the mooring line 8 using a cable length gauge 7.
なお、この巻き込み・繰り出し操作は、船首部
および船尾部の係船索９のそれぞれについて、船
首部および船尾部それぞれの基準点のずれから
別々に操作量を算出して行なわれる。 Note that this reeling/reeling operation is performed by calculating the operation amount separately for each of the mooring lines 9 at the bow and stern portions from the deviations of the reference points at the bow and stern portions.
また、係船索９の操作による船位ずれの補正
は、船位ずれが荷役装置等の使用限界値よりも小
さく設定される制限値を越えた時点で行なうよう
にする。 Further, the correction of the ship position deviation due to the operation of the mooring line 9 is performed when the ship position deviation exceeds a limit value that is set smaller than the usage limit value of the cargo handling equipment or the like.
上述のような船位保持制御装置により、吃水あ
るいは潮位の変化に伴つて船体２に垂直位置のず
れが生じても、第５図に示すように、適当な量だ
け係船索９の巻き込みまたは繰り出し操作が行な
われるので（第５図中では繰り出し操作）、船体
２は、平面位置のずれを生ずることなく、破線で
示すような位置に垂直方向に移動する。 As shown in FIG. 5, even if the vertical position of the hull 2 shifts due to stagnant water or changes in the tide level, the above-described ship position maintenance control device allows the mooring line 9 to be reeled in or let out by an appropriate amount, as shown in FIG. is carried out (a payout operation in FIG. 5), the hull 2 moves vertically to the position shown by the broken line without causing any deviation in planar position.
したがつて、船体２がその係船用岸壁１１に対
し所要の平面位置に保持されるのである。 Therefore, the hull 2 is held at a required planar position with respect to the mooring quay 11.
さらに、船体２の垂直ずれのみならず、誤操作
等により船体２に水平方向の船位ずれ（前後，左
右，回転）が生じた場合にも、同様にして船体２
の位置保持がなされる。 Furthermore, in addition to vertical deviations of the hull 2, if horizontal positional deviations (front/rear, left/right, rotation) occur in the hull 2 due to erroneous operation, etc., the hull 2 can be
The position is maintained.
次に、第６，７図により本発明の第２実施例に
ついて説明すると、第２実施例も第１実施例とほ
ぼ同様に構成されているが、第２実施例では、中
央演算装置３において所要の平面位置へ船体２を
復帰させるために必要な係船索９の操作量を算出
する際に、テレビカメラ１ａ，１ｂを用いた三角
測量から算出される船位ずれの量と、索張力計６
（第１図参照）により検出される係船索９の張力
とから得られる係船索９の所要張力における懸垂
状態に基づいて、係船索９の操作量が算出される
ようになつている。 Next, a second embodiment of the present invention will be explained with reference to FIGS. 6 and 7. Although the second embodiment has almost the same structure as the first embodiment, When calculating the amount of operation of the mooring line 9 necessary to return the hull 2 to the required planar position, the amount of ship position deviation calculated from triangulation using the television cameras 1a and 1b and the cable tension meter 6 are used.
The amount of operation of the mooring line 9 is calculated based on the tension of the mooring line 9 detected by the method (see FIG. 1) and the suspended state of the mooring line 9 at the required tension.
すなわち、第６図に示すように、テレビカメラ
１ａ，１ｂにより船体２の基準点（テレビカメラ
１ａの設置点）と岸壁１１上の目標物１０との水
平距離Ｘ，Ｙおよび垂直距離を常時測定する一
方、第６，７図に示すように、岸壁１１上のビツ
ト８とウインチ５との水平距離，，および垂
直距離も常時測定する。 That is, as shown in FIG. 6, the horizontal distances X, Y, and vertical distances between the reference point of the hull 2 (the installation point of the television camera 1a) and the target object 10 on the quay 11 are constantly measured by the television cameras 1a and 1b. At the same time, as shown in FIGS. 6 and 7, the horizontal and vertical distances between the bit 8 on the quay 11 and the winch 5 are also constantly measured.
なお、この距離，，の測定は、中央演算
装置３において、テレビカメラ１ａ，１ｂを用い
た三角測量および既知の他であるテレビカメラ１
ａとウインチ５との距離から算出してもよいし、
船体２の岸壁１１への係船時における初期値とし
ての距離，，を計測しておき、その変化量
を別に測定される船位ずれの量から算出してもよ
い。 Note that this distance, , is measured in the central processing unit 3 by triangulation using the television cameras 1a and 1b or by a known method such as the television camera 1.
It may be calculated from the distance between a and the winch 5, or
It is also possible to measure the initial value of the distance, .
このようにして測定された船位としての水平距
離，および垂直距離と、ビツト８とウインチ
５との距離，，と、係船索９の張力とか
ら、懸垂曲線の計算式を用いて係船索９の長さを
算出する。 From the horizontal distance and vertical distance as the ship position measured in this way, the distance between the bit 8 and the winch 5, and the tension of the mooring line 9, the mooring line 9 is calculated using the catenary curve calculation formula. Calculate the length.
そして、所要の平面位置での係船索９の長さと
船位ずれが生じた際の係船索９の長さとの差から
係船索９の操作量が算出され、この操作量だけ係
船索９の巻き込みまたは繰り出し操作が自動的に
行なわれる。 Then, the amount of operation of the mooring line 9 is calculated from the difference between the length of the mooring line 9 at the required plane position and the length of the mooring line 9 when the ship position shift occurs, and the amount of operation of the mooring line 9 is determined by the amount of the operation. The feeding operation is performed automatically.
なお、係船索９の巻き込み・繰り出し操作は、
第１実施例と同様、ウインチ制御装置４およびウ
インチ５により複数の係船索９それぞれについて
行なわれる。 In addition, the operation of winding in and letting out the mooring line 9 is as follows.
As in the first embodiment, the winch control device 4 and the winch 5 perform this on each of the plurality of mooring lines 9.
上述のような第２実施例においても第１実施例
と同様の作用効果が得られるとともに、周囲条件
により変動する係船索９の張力を計測し、この張
力とビツト８，ウインチ５間の距離とを基に係船
索９の懸垂状態を考慮して係船索９操作量を算出
するので、より精度の高い船体２の位置保持制御
が可能になる。 In the second embodiment as described above, the same effects as in the first embodiment can be obtained, and the tension of the mooring line 9, which varies depending on the surrounding conditions, is measured, and the distance between this tension and the bit 8 and the winch 5 is calculated. Since the operating amount of the mooring line 9 is calculated based on the amount of mooring line 9 in consideration of the suspended state of the mooring line 9, more accurate position maintenance control of the hull 2 is possible.
以上詳述したように、本発明の岸壁における船
位保持装置によれば、船体を係船索を介して岸壁
に係止するためのウインチをそなえ、上記船体を
上記岸壁に対し所要の平面位置に保持すべく、上
記岸壁に対する上記船体の相対位置を三角測量に
より求めるためのテレビカメラと、同テレビカメ
ラからの上記相対位置についての情報に基づき上
記所要の平面位置へ上記船体を復帰させるのに必
要な上記係船索の操作量を算出しうる演算装置
と、同演算装置で算出された上記操作量に基づき
上記ウインチの制御を行なうウインチ制御装置と
が設けられるという簡素な構成で、係船索のほか
には船体と岸壁との間に機械的な取り合いを必要
とせずに、係船中に係船索の巻き込みまたは繰出
し操作が適切に行なわれるので、船体は、係船用
岸壁に対し所要の平面位置に自動的に保持される
ようになつて、その船位保持が確実に行なわれる
ほか、係船中に必要とされる船位保持のための作
業員を大幅に減員できる利点がある。
As described in detail above, the ship position holding device for a quay of the present invention includes a winch for mooring a ship's body to a quay via a mooring line, and maintains the ship's body at a required planar position with respect to the quay. In order to do so, a television camera is used to determine the relative position of the ship with respect to the quay by triangulation, and information necessary to return the ship to the required planar position is provided based on information about the relative position from the television camera. It has a simple configuration that includes a calculation device that can calculate the operation amount of the mooring line, and a winch control device that controls the winch based on the operation amount calculated by the calculation device. The mooring line can be properly reeled in or let out during mooring without the need for mechanical engagement between the hull and the quay, so the hull can be automatically moved to the required planar position relative to the mooring quay. In addition to being able to maintain the ship's position reliably, there is the advantage that the number of workers required to maintain the ship's position while the ship is moored can be significantly reduced.
また、本発明の岸壁における船位保持装置によ
れば、船体を係船索を介して岸壁に係止するため
のウインチをそなえ、上記船体を上記岸壁に対し
所要の平面位置に保持すべく、上記岸壁に対する
上記船体の相対位置を三角測量により求めるため
のテレビカメラと、上記係船索の張力を検出しう
る索張力計と、上記テレビカメラからの上記相対
位置についての情報と上記索張力計から得られる
情報とに基づき上記所要の平面位置へ上記船体を
復帰させるのに必要な上記係船索の操作量を算出
しうる演算装置と、同演算装置で算出された上記
操作量に基づき上記ウインチの制御を行なうウイ
ンチ制御装置とが設けられるという簡素な構成
で、前述の効果のほか、上記係船索の所要張力に
おける懸垂状態に基づき、係船索の巻き込みまた
は繰出しの制御が一層適切に行なわれるようにな
つて、より精度の高い船体の位置保持制御を行な
える効果がある。 Further, according to the ship position holding device for a quay of the present invention, a winch is provided for mooring the ship's body to the quay via a mooring line, and the winch is provided on the quay to hold the ship's body at a required planar position with respect to the quay. a television camera for determining the relative position of the vessel to the vessel by triangulation; a rope tension meter capable of detecting the tension of the mooring line; information about the relative position from the television camera and information obtained from the rope tension meter; a calculation device capable of calculating the amount of operation of the mooring line necessary to return the ship to the required planar position based on the information; and a calculation device capable of controlling the winch based on the amount of operation calculated by the calculation device. In addition to the above-mentioned effects, with a simple configuration in which a winch control device is provided, the winding in or letting out of the mooring line can be more appropriately controlled based on the suspended state of the mooring line at the required tension. This has the effect of enabling more accurate hull position maintenance control.
第１〜５図は本発明の第１実施例としての岸壁
における船位保持装置を示すもので、第１図はそ
の構成を説明するための模式的なブロツク図、第
２図はその船位測定手段を説明するための岸壁に
おける船体の平面図、第３図は同船体の部分平面
図、第４図はその船位保持制御手段を説明するた
めの岸壁における船体の平面図、第５図は第４図
の−矢視断面図であり、第６，７図は本発明
の第２実施例としての岸壁における船位保持装置
を示すもので、第６図はその船位保持制御手段を
説明するための船体の部分平面図、第７図は第６
図の−矢視断面図であり、第８図ａ，ｂは従
来の岸壁における船位保持手段を示すもので、第
８図ａは同手段を説明するための岸壁における船
体の正面図、第８図ｂは同船体の平面図である。
１ａ，１ｂ……テレビカメラ、２……船体、３
……中央演算装置、４……ウインチ制御装置、５
……ウインチ、６……索張力計、７……索長計、
８……ビツト、９……係船索、１０……目標物、
１１……係船用岸壁。
1 to 5 show a ship position holding device on a quay as a first embodiment of the present invention, FIG. 1 is a schematic block diagram for explaining its configuration, and FIG. 2 is a ship position measuring device thereof. FIG. 3 is a partial plan view of the hull, FIG. 4 is a plan view of the hull at the quay to explain the ship's position maintenance control means, and FIG. 6 and 7 are cross-sectional views taken in the direction of the - arrow in the figure, and FIGS. 6 and 7 show a ship position holding device on a quay as a second embodiment of the present invention, and FIG. 7 is a partial plan view of the 6th
8A and 8B are cross-sectional views taken along the - arrow in the figure, and FIGS. 8A and 8B show conventional means for maintaining ship position on a quay, and FIG. Figure b is a plan view of the hull. 1a, 1b...TV camera, 2...hull, 3
... central processing unit, 4 ... winch control device, 5
...Winch, 6...Cable tension meter, 7...Cable length meter,
8...bit, 9...mooring line, 10...target,
11...Wharf for mooring.
Claims (1)
ウインチをそなえ、上記船体を上記岸壁に対し所
要の平面位置に保持すべく、上記岸壁に対する上
記船体の相対位置を三角測量により求めるための
テレビカメラと、同テレビカメラからの上記相対
位置についての情報に基づき上記所要の平面位置
へ上記船体を復帰させるのに必要な上記係船索の
操作量を算出しうる演算装置と、同演算装置で算
出された上記操作量に基づき上記ウインチの制御
を行なうウインチ制御装置とが設けられたことを
特徴とする、岸壁における船位保持装置。 ２ 船体を係船索を介して岸壁に係止するための
ウインチをそなえ、上記船体を上記岸壁に対し所
要の平面位置に保持すべく、上記岸壁に対する上
記船体の相対位置を三角測量により求めるための
テレビカメラと、上記係船索の張力を検出しうる
索張力計と、上記テレビカメラからの上記相対位
置についての情報と上記索張力計から得られる情
報とに基づき上記所要の平面位置へ上記船体を復
帰させるのに必要な上記係船索の操作量を算出し
うる演算装置と、同演算装置で算出された上記操
作量に基づき上記ウインチの制御を行なうウイン
チ制御装置とが設けられたことを特徴とする、岸
壁における船位保持装置。[Scope of Claims] 1. A winch is provided for mooring the hull to a quay via a mooring line, and the relative position of the hull with respect to the quay is adjusted to maintain the hull at a required plane position with respect to the quay. A computing device capable of calculating the amount of operation of the mooring line necessary to return the ship to the required plane position based on the information about the relative position obtained from the television camera and the television camera for determination by triangulation. and a winch control device that controls the winch based on the operation amount calculated by the calculation device. 2. Equipped with a winch for mooring the hull to the quay via mooring lines, and for determining the relative position of the hull with respect to the quay by triangulation in order to maintain the hull at the required plane position with respect to the quay. A television camera, a rope tension meter capable of detecting the tension of the mooring line, and moving the vessel to the required planar position based on information about the relative position from the television camera and information obtained from the rope tension meter. The vessel is characterized by being provided with a calculation device capable of calculating the operation amount of the mooring line necessary for returning the mooring line, and a winch control device controlling the winch based on the operation amount calculated by the calculation device. A ship positioning device on the quay.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9431584A JPS60240590A (en) | 1984-05-11 | 1984-05-11 | Method of keeping position of ship at quay |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9431584A JPS60240590A (en) | 1984-05-11 | 1984-05-11 | Method of keeping position of ship at quay |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60240590A JPS60240590A (en) | 1985-11-29 |
| JPH0438633B2 true JPH0438633B2 (en) | 1992-06-25 |
Family
ID=14106837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9431584A Granted JPS60240590A (en) | 1984-05-11 | 1984-05-11 | Method of keeping position of ship at quay |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60240590A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878635A (en) * | 2019-02-28 | 2019-06-14 | 中集海洋工程研究院有限公司 | Ship mooring control system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010143256A (en) * | 2008-12-16 | 2010-07-01 | Mitsui Miike Mach Co Ltd | Position adjustment system of ship's hull at landing of bulk carrying vessel |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5021751U (en) * | 1973-06-21 | 1975-03-12 | ||
| JPS5437396A (en) * | 1977-08-27 | 1979-03-19 | Takara Nakajima Kk | Automatic water supplying device |
-
1984
- 1984-05-11 JP JP9431584A patent/JPS60240590A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5021751U (en) * | 1973-06-21 | 1975-03-12 | ||
| JPS5437396A (en) * | 1977-08-27 | 1979-03-19 | Takara Nakajima Kk | Automatic water supplying device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878635A (en) * | 2019-02-28 | 2019-06-14 | 中集海洋工程研究院有限公司 | Ship mooring control system |
| CN109878635B (en) * | 2019-02-28 | 2021-01-22 | 中集海洋工程研究院有限公司 | Ship mooring control system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60240590A (en) | 1985-11-29 |
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