JPS6166968A - Detecting method of running anchor - Google Patents
Detecting method of running anchorInfo
- Publication number
- JPS6166968A JPS6166968A JP59190422A JP19042284A JPS6166968A JP S6166968 A JPS6166968 A JP S6166968A JP 59190422 A JP59190422 A JP 59190422A JP 19042284 A JP19042284 A JP 19042284A JP S6166968 A JPS6166968 A JP S6166968A
- Authority
- JP
- Japan
- Prior art keywords
- anchor
- ship
- chain
- horizontal distance
- calculated
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/22—Handling or lashing of anchors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
- B63B2021/009—Drift monitors
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
- Navigation (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は錨泊中の船舶が走錨しているか否かを検知する
走錨検知方法に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an anchor dragging detection method for detecting whether or not a ship at anchor is dragging its anchor.
（従来技術）
錨泊中の船舶がその位置を保持することは、重要な課題
であり、本来錨が海底に正常な把駐状態で噛込んでおれ
ば、船の位置は錨鎖長さと外力とにより一義的に決定さ
れる。(Prior art) It is an important issue for a ship at anchor to maintain its position. Originally, if the anchor was properly anchored to the seabed, the position of the ship would depend on the length of the anchor chain and external forces. Uniquely determined.
こうした状態では、予め投錨位置を、他ＱＨ”７あるい
は障害物との位置関係を考慮して決定することで他船あ
るいは障害物との衝突という問題は回避することができ
る。In such a situation, the problem of collision with other ships or obstacles can be avoided by determining the anchoring position in advance by considering the positional relationship with other ships or obstacles.
しかし船にかかる外力が錨及び錨鎖から決まる把駐力を
上回ると錨が海底の土中を移動するいわゆる走錨が起る
。However, when the external force applied to the ship exceeds the holding force determined by the anchor and anchor chain, what is called anchor dragging occurs, where the anchor moves through the soil on the ocean floor.
走錨が始まるとｆＮｆ）が受ける外力が急激に減少する
ことがないためその状態が継続され、衝突などの重大事
故につながる。Once anchor dragging begins, the external force applied to fNf does not decrease rapidly, so this state continues, leading to serious accidents such as collisions.
このため走錨が始まると速やかに対策、例えば○ 錨鎖
をさらに繰出し把駐力を高める。For this reason, as soon as anchor dragging begins, take countermeasures, such as increasing the holding power by extending the anchor chain further.
Ｑ 主機を使用する。Q: Use the main engine.
などの対策をたてることが不可欠である。It is essential to take measures such as:
従来の走錨検知方法として、次の方法が主に採られてい
る。The following methods are mainly used as conventional anchor dragging detection methods.
地上の固定物を見透かしながら船首方向の変化を観察し
、それが一定方向のまま船が移動する場合には走錨状態
であると判断する。Observe changes in the bow direction while looking through fixed objects on the ground, and if the ship continues to move in the same direction, it is determined that the ship is dragging anchor.
或いは対地船位を従来からの船位測定方法により測定し
、走錨を検知する。Alternatively, the ship's position relative to the ground is measured using a conventional ship position measurement method to detect anchor dragging.
（発明が解決しようとする問題点）
１−記走錨検知方法或いはこれに類する方法は、乗組員
の経験に依る所が多く、自動化することが難しく、また
乗組員の船位測定などに依るため走錨の〒朋検知が難し
く、例えば１〜２ｋｍも走錨しないと検知されないこと
も珍しくない。(Problems to be solved by the invention) 1- The method of detecting a dragging anchor or a similar method depends on the experience of the crew, is difficult to automate, and relies on the crew's measurement of the ship's position, etc. It is difficult to detect when a ship is dragging an anchor, and it is not uncommon for a ship to not be detected unless the anchor has been dragged for 1 to 2 km.
このように、従来の走錨検知方法は、種々の欠点を有し
、自動化を曲折とした走錨検知技術として適用できない
ものである。As described above, the conventional anchor dragging detection method has various drawbacks and cannot be applied as an anchor dragging detection technique that requires automation.
（問題点を解決するための手段）
本発明の走錨検知方法は、自船から錨に至る水平距離を
、錨鎖張力と水深とを用いて錨鎖カテナリ理論式で求め
た錨鎖カテナリと繰出し錨鎖長とから演算し、投錨位置
から現在の自船位置に至る水平距離を、自船の船速若し
くは加速度を投錨から現在に互って時間積分することに
より演算し、上記自船から錨に至る水Ｔ距に１と投錨イ
１装置から現在の自Ｑｊ１位置に至る水゛■石距離とを
比較することにより走錨を検知するものである。(Means for Solving the Problems) The dragging anchor detection method of the present invention is based on the anchor chain catenary and the length of the dragged anchor chain, which are obtained by calculating the horizontal distance from the own ship to the anchor using the anchor chain catenary theoretical formula using the anchor chain tension and water depth. The horizontal distance from the anchoring position to the current own ship's position is calculated by integrating the own ship's ship speed or acceleration from the anchor to the current position, and the water distance from the own ship to the anchor is calculated from Dragging an anchor is detected by comparing the T distance with the water distance from the anchoring device to the current Qj1 position.
（作用）
本発明の走錨検知方法においては、各々検出される錨鎖
張力と水深を用いて錨鎖カテナリ理論式で！６１鎖カテ
ナリを求め、この錨鎖カテナリと繰出し錨鎖長とに基い
て自前から錨に至る水平距離を演算し、また船速８Ｊや
加速度耐で各々検出される自船のＡｎ １．１’若しく
は加速度を初回に設定した座標軸を基ｔｐにし、ジャイ
ロコンパス等の手段により各々の成分に分けて、これら
の成分を投錨から現在に互って時間積分することにより
投錨位置から現在の自船位置に至る水平距離を演算し、
十記自船から錨に至る水平距離と投錨位置から現在の自
船位置に至る水平距離とを比較し、前者と後者が略等し
いときには走錨していないと判断され、前杆よりも後者
が大きいときには走錨しつつあると判断される。(Function) In the anchor dragging detection method of the present invention, the anchor chain catenary theory is calculated using the detected anchor chain tension and water depth. 61 chain catenary is calculated, and the horizontal distance from the own ship to the anchor is calculated based on this anchor chain catenary and the length of the extended anchor chain, and the An 1.1' or acceleration of the own ship, which is detected at the ship speed 8J and acceleration resistance, respectively. Based on the coordinate axis tp set at the beginning, divide it into each component by means such as a gyro compass, and integrate these components over time from the anchor to the current position to get from the anchor position to the current own ship position. Calculate the horizontal distance,
10. Compare the horizontal distance from your ship to the anchor and the horizontal distance from your anchor position to your current ship position, and if the former and the latter are approximately equal, it is determined that the anchor is not dragging, and the latter is longer than the fore-rod. When it is large, it is judged that the ship is dragging anchor.
（実施例）
以下、本発明の実施に供する走錨検知装置及び本発明の
走錨検知方法について図面に基いて順に説明する。(Example) Hereinafter, an anchor-dragging detection device and an anchor-dragging detection method of the present invention will be explained in order based on the drawings.
先ず、第１図に示すように、船体Ｓの前部甲板」二には
左右１対のウィンドラス１が設けられ、各ウィンドラス
１から繰出される錨鎖２はホースパイプ３内を通って、
各船側に臨み、各錨鎖２の先端には錨４が連結されてい
る。First, as shown in FIG. 1, a pair of left and right windlasses 1 are provided on the front deck 2 of the hull S, and an anchor chain 2 fed out from each windlass 1 passes through a hose pipe 3.
Facing each ship side, an anchor 4 is connected to the tip of each anchor chain 2.
更に、繰出し錨鎖長を検出するためのヂエーンカウンタ
５及び錨鎖張力を検出する錨鎖張力検出器がウィンドラ
スｌから繰出した錨１￥２に連係させて配設されている
。他方、船体Ｓの前後部の左右両側には４組の吃水計７
が設けられ、また錨泊するような浅海域で対地絶対船速
を計測するトンプラーソナー船速計８が船底部に設けら
れている。Further, a chain counter 5 for detecting the length of the anchor chain being paid out and an anchor chain tension detector for detecting the tension of the anchor chain are arranged in conjunction with the anchor 1\2 paid out from the windlass l. On the other hand, there are four sets of stutter gauges 7 on both left and right sides of the front and rear parts of the hull S.
In addition, a Tompla sonar speedometer 8 is installed at the bottom of the ship to measure the absolute speed of the ship relative to the ground in shallow waters such as when anchored.
ここで、第２図のブロック図に示すように、走ｊ１δ検
知装置はウィンドラス１の制御系からの信号を受けて投
錨信号を出力する投錨信号発信器９と、−に記チェーン
カウンタ５と、上記錨鎖張力検出器６と、上記吃水計７
と、データ設定器１０と、」ニ記船；」計８と、これら
諸機器からの信号及びジャイロコンパス１７等から船首
方向信号を受ける走１１１１演算装置１１と、走錨演算
装置１１からの信号を受ける表示器１２とから構成され
る。Here, as shown in the block diagram of FIG. 2, the running j1δ detection device includes an anchoring signal transmitter 9 that receives a signal from the control system of the windlass 1 and outputs an anchoring signal, and a chain counter 5 shown in -. , the anchor chain tension detector 6 and the stutter meter 7
, a data setting device 10, a total of 8 signals from these devices, a running 1111 calculation device 11 that receives heading direction signals from a gyro compass 17, etc., and a signal from the dragging anchor calculation device 11. It is composed of a display device 12 that receives the information.
上記データ設定器１０は、走１開演算装ｒｆｌ １で錨
鎖カテナリを演算するのに必要な各種データを設定する
ためのもので、例えば海図から得られる錨泊地の水深Ｄ
、水面からのホースパイプまでの垂直距＾ｌｉｄ及び錨
鎖２の単位型ＭＷｃなどがこのデータ設定器１０でディ
ジタル入力される。The data setting device 10 is used to set various data necessary for calculating the anchor chain catenary with the run 1 open calculation unit rfl 1, for example, the water depth D of the anchorage obtained from the nautical chart.
, the vertical distance ^lid from the water surface to the hose pipe, the unit type MWc of the anchor chain 2, etc. are digitally inputted by this data setting device 10.
但し、水深りについては水深検出装置で検出し、その検
出信号を用いてもよい。However, the water depth may be detected by a water depth detection device and the detection signal may be used.
」−記走錨演算装置１１は、チェーンカウンタ５・錨鎖
張力検出器６・吃水計７・船速計８からの信号を各々Ａ
Ｄ変換する各Ａ／Ｄ変換器５ａ・６ａ・７ａ・８ａ及び
船首方向信号をＡＩ）変換するＡ／Ｄ変喚器１７ａと、
中央演算装置１３と、中央演算装置ヘクロツタ信号を出
力するフリーランニングカウンタ１４と、Ｒ２Ｍ１７と
、ＲＡＭｌ６とから構成される装
次に、−１−記走ｆ＾１検知装置による走錨検知方法に
ついて詳しく説明する。”-Record The running anchor calculation device 11 receives signals from the chain counter 5, anchor chain tension detector 6, stuttering meter 7, and ship speed meter 8, respectively.
Each A/D converter 5a, 6a, 7a, 8a that performs D conversion and an A/D converter 17a that converts the bow direction signal to AI),
The following is a detailed description of the method for detecting anchor dragging using the -1-recording f^1 detection device, which includes a central processing unit 13, a free-running counter 14 that outputs a signal from the central processing unit, a R2M17, and a RAM16. explain.
この走錨検知方法は、簡Ｉｉｉに説明すると、自船から
錨に至る水平距離を錨鎖張力と水深とを用いてＳ：＋’
） ｉｊｌカテナリ理論式で求めた錨鎖カテナリと繰出
し錨鎖長とから演算し、投錨位置から現在の自船位置に
至る水平距離を船速計などから検出された自船の船速を
最初に設定した座標軸を基準にし、ジャイロコンパス等
を用いて各々の座標軸に対する速度成分を投錨から現在
に互って時間積分することにより演算し、上記自船から
錨に至る水平距離と投錨位置から現在の自船位置に至る
水平距離とを比較することにより走錨を検知するもので
ある。This anchor dragging detection method can be explained simply by using the anchor chain tension and water depth to calculate the horizontal distance from own ship to the anchor S:+'
) The horizontal distance from the anchoring position to the current own ship's position is calculated from the anchor chain catenary and the length of the anchor chain calculated using the ijl catenary theoretical formula, and the own ship's speed detected from the ship's speedometer etc. is first set. Using the coordinate axes as a reference, calculate the velocity components for each coordinate axis using a gyro compass, etc. by time-integrating them from the anchor to the present, and calculate the current own ship from the horizontal distance from the own ship to the anchor and the anchor position. Dragging anchor is detected by comparing the horizontal distance to the anchor position.
即ち、第３図に示すように自船から錨４に至る水平路＃
Ｘは、錨鎖張力Ｔ０と水深りと繰出し錨ｉｉ′ｉ長ｃと
を主要パラメータとして周知の錨鎖カテナリ理論式で求
めることが出来る。In other words, as shown in Figure 3, the horizontal path # from own ship to anchor 4
X can be determined by a well-known anchor chain catenary theoretical formula using the anchor chain tension T0, water depth, and length c of the let-out anchor ii'i as main parameters.
Ｓ＝ ｒ＋ （Ｔ、Ｄ、ｄ、ｗｃ）
Ｓ・・錨鎖カテナリのガース長
Ｔ・・１７Ａ鎖張力の水Ｔ分力
ｄ・・水面とホースパイプ間の垂直距離ｗ３ ・・！ａ
ｔｉ’ｉ単位重量
φ−１’ｚ （Ｔｏ 、Ｄ、ｄ、ｗｃ）φ・・！１１
）鎖−４二端の仰角
Ｔｏ ・・錨鎖張力
Ｔ ＝ Ｔａ ｃｏｓ φ
Ｙ−ｆ３ （Ｔ、ｗｃ、Ｓ）
Ｙ・・錨鎖カテナリ水平長さ
Ｚ＝Ｃ−Ｓ
Ｚ・・錨鎖の海底泊綿部長さ
Ｘ ＝ Ｙ ＋ ７゜
Ｘ・・自船から錨４に至る水平距刈
尚、−上記ｆ、、ｆ２、ｒ３は錨鎖カテナリ理論式から
得られる関数関係を示すものであるが、−・般に知られ
ている理論式なのでその詳１１１１な説明を省略する。S= r+ (T, D, d, wc) S... Girth length of anchor chain catenary T... 17A water T component force of chain tension d... Vertical distance between water surface and hose pipe w3...! a
ti'i unit weight φ-1'z (To, D, d, wc) φ...! 11
) Elevation angle To of two ends of chain-4... Anchor chain tension T = Ta cos φ Y-f3 (T, wc, S) Y... Anchor chain catenary horizontal length Z = C-S Z... Anchor chain seabed anchor length X = Y + 7° Since this is a well-known theoretical formula, a detailed explanation thereof will be omitted.
以−１−のようにして、自船から錨４に至る水平距因Ｉ
Ｘが求められる。As shown below-1-, the horizontal distance factor I from own ship to anchor 4 is
X is required.
一方、投錨位置から現在の自船位置に至る水平路ＩＩ
Ｌは、投錨時点から現在に至って船速を時間積分するこ
とにより求めることが出来る。On the other hand, the horizontal path II from the anchor position to the current ship position
L can be determined by time-integrating the ship's speed from the time of anchoring to the present.
即ち、上記ドツプラーソナー船速計によれば、錨泊する
ような浅海域においては対地絶対船速を検出し得るので
、第４図に示すように投錨位置を原点（（０，０）、ｔ
＝ｏ）として現在（時刻ｔ＝１）の自船位置（ＬＸ、Ｌ
、）は次のようになる。That is, according to the Doppler sonar speedometer mentioned above, it is possible to detect the absolute ship speed relative to the ground in shallow waters such as when anchored, so the anchoring position is set from the origin ((0,0), t) as shown in Figure 4.
= o), the current (time t = 1) own ship position (LX, L
, ) becomes as follows.
Ｌ−（ＬＸ ” ＋Ｉ、 ２ ） ｌ／１ｖＸ（ｔ）
・・時間ｔにおける船速測定値をジャイロコンパス等
を用いて所定
座標軸のＸ軸方向成分に分割し
た船速
ｖ、（ｔ） ・・時間ｔにおける船速測定値をジャイ
ロコンパス等を用いて所定
座標軸のｙ軸方向成分に分割し
た船速
以上のようにして、投錨位置から現在の自船位置に至る
水平距離りを高精度に求めることが出来尚、−１−記の
ように船速計８で検出された＊）連（ＶＷ （ｏ 、
Ｖ、 （ｔ） ）を用いる代りに、加速度センサで検
出される加速度Ｃａｘ （ｔ） 、 ａ、 （ｔ））
を用いてＬを求めることも出来る。L-(LX ” +I, 2) l/1vX(t)
...Ship speed v, (t) obtained by dividing the measured ship speed at time t into components in the X-axis direction of a predetermined coordinate axis using a gyro compass, etc....Divide the measured ship speed at time t into a predetermined component using a gyro compass, etc. The horizontal distance from the anchor position to the current own ship position can be determined with high precision by dividing the ship speed into the y-axis direction component of the coordinate axis. 8 detected *) series (VW (o,
Instead of using the acceleration Cax (t), a, (t)) detected by the acceleration sensor,
You can also find L using
走錨状態でないときには自船から錨４に至る水平距離Ｘ
と投錨位置から現在の自船位置に〒る水平路１ｉ１１Ｌ
とは略等しくなる（第４図参照）。When not in anchor dragging state, horizontal distance from own ship to anchor 4
Horizontal path 1i11L from the anchor position to the current own ship position
are approximately equal (see Figure 4).
これに対して、走錨状態のときには自船から錨４に至る
水平距離Ｘよりも投錨位置から現在の自船位置に至る水
平距離りが大きくなり、（１，−Ｘ）が走錨した距離で
ある（第５図参照）。On the other hand, when the anchor is dragged, the horizontal distance from the anchor position to the current own ship position is greater than the horizontal distance X from the own ship to anchor 4, and (1, - (See Figure 5).
次に、上記中央演算装置１３で実行される演算手順の一
例を第６図のフローチャートに基いて説明するが、Ｓ１
〜Ｓ１２は各ステップを示す。Next, an example of the calculation procedure executed by the central processing unit 13 will be explained based on the flowchart of FIG.
~S12 indicates each step.
Ｓｌにおいてスタート後、Ｓ２において初期化され、Ｓ
３において投錨信号発信器９からの投錨１８号を受けて
投錨開始時刻ｔが１＝０と設定される。After starting in Sl, it is initialized in S2, and S
In step 3, the anchoring start time t is set to 1=0 in response to the anchoring signal 18 from the anchoring signal transmitter 9.
Ｓ４においてはフリーランニングカウンタ１４か〔゛）
の々ロック信号Ｑこ基づいて投錨開始後例えば５分経過
毎に出力される演算指令信号により演算時１！■か否か
が判定さね、演算時期のときにはＳ５へ（多行し、そう
でないときには再びＳ４へ移行し演η時期になるまでこ
れを繰り返す。In S4, the free running counter is 14 or [゛)
1 at the time of calculation based on the calculation command signal that is outputted every 5 minutes, for example, after the start of anchoring based on the lock signal Q. It is not determined whether (2) or not, and when it is the calculation time, the process goes to S5 (multiple steps are performed); otherwise, the process goes to S4 again and repeats this process until the calculation time comes.
Ｓ５においてはＲΔＭ１６に格納さねている各種検出デ
ータ及び設定データが読み込まれ、Ｓ５からＳ６及びＳ
８へ移行する。In S5, various detection data and setting data stored in RΔM16 are read, and from S5 to S6 and S
Move to 8.
Ｓ６においてはチェーンカウンタ５からの何回が停止し
たか否かにより錨鎖２の繰出しが完了したか否かが判定
され、完了していないときには再びＳ６移行し、完了し
たときにはＳ７へ移行する。In S6, it is determined whether or not the anchor chain 2 has been completely fed out based on how many times the chain counter 5 has stopped, and if it has not been completed, the process moves to S6 again, and when it has been completed, the process moves to S7.
Ｓ７においてはチェーンカウンタ５からの検出信号を用
いて繰出し錨鎖長Ｃが演算され、錨鎖カテナリ理論式に
基いて錨鎖カテナリのガース長Ｓ、錨鎖カテナリの水平
距離Ｙ、錨鎖の海底直線部長さＺが演算され、自ｎ；）
から錨４に至る水平路１１Ｘが演算される。In S7, the length C of the anchor chain to be paid out is calculated using the detection signal from the chain counter 5, and the girth length S of the anchor chain catenary, the horizontal distance Y of the anchor chain catenary, and the seabed straight length Z of the anchor chain are calculated based on the theoretical formula for the anchor chain catenary. Calculated, self n;)
A horizontal path 11X from to the anchor 4 is calculated.
Ｓ８においては投錨位置から現在の自船位置に至る水平
距離りが演算される。尚、このＳ８における演算は割り
込み処理で行ってもよい。In S8, the horizontal distance from the anchoring position to the current own ship position is calculated. Note that the calculation in S8 may be performed by interrupt processing.
Ｓ９に１−９いては走錨距離ΔＬ＝（Ｌ−Ｘ）が演算さ
れ、ＳＩＯにおいては走錨昨月１ΔＩ、が比較的小さな
設定値Δ（例えばＡ＝２０ｍ）以−１−か否かが判定さ
れる。In S9 1-9, the anchor dragging distance ΔL=(L-X) is calculated, and in SIO, it is determined whether the anchor dragging distance 1ΔI last month is less than a relatively small set value Δ (for example, A=20 m) or not. is determined.
この設定４ｆｉ、Ａは、各種検出器５・６・７・８の検
出誤差や錨が海底に食い込むのに要する距に１などの誤
差分を吸収するために設定するものである。The settings 4fi, A are set to absorb detection errors of the various detectors 5, 6, 7, and 8 and errors such as 1 in the distance required for the anchor to penetrate into the seabed.
走錨距離ΔＩ、が設定値Ａ以上でないときには走錨状態
でないので、Ｓ４へ移行し８４〜３１０のステップが繰
出り返される。When the anchor dragging distance ΔI is not equal to or greater than the set value A, the anchor is not in the anchor dragging state, so the process moves to S4 and steps 84 to 310 are repeated.
走錨ｉ？ｌ’ｉ 離ΔＩ７が設定値Ａ以上のときには走
錨状態にあるので、Ｓｌｌへ移行し表示器１２へΔ１４
、ＬＸ、Ｌ、 、ｌ７、Ｘ及び警報などが表示され、Ｓ
１２において終了する。Dragging anchor i? l'i When the separation ΔI7 is equal to or greater than the set value A, the anchor is in a dragging state, so it shifts to Sll and the indicator 12 shows Δ14.
,LX,L, ,l7,X and alarms are displayed, and S
It ends at 12.
尚、−ヒ記フローチャートにおいては、所定の演算時期
４ＩＴに自船から錨に至る水平距離を演算するようにし
たけれども、この演算は投錨直後に１回だけ実行するよ
うにしてもよいことは勿論である。In addition, in the flowchart in -H, the horizontal distance from the own ship to the anchor is calculated at the predetermined calculation time 4IT, but it is of course possible to perform this calculation only once immediately after anchoring. It is.
（発明の効果）
１！２１−説明Ｌ７た。ｌ ’ｌに、本発明の走ｉｉ、
ｌ検知方法は、ｉ、！Ｉｉ ｆｊｌｉカテリ・りと繰出
し錨鎖長とから求められる自船かコ）ｆｌ′ｌｉニ至る
水艷１′距＾１１ト、［’Ｉ Ｑ：’＋ （’） Ｉ’
ｌｉ＋ Ａ ヤＪＪＩＩ ＋ｕ ｒｉを投ｊｌｌｉから
現在に互って時間積分して求められるＩＱ ｉｉ５位置
から現在の自ｆＨ７位置に至る水平距離とを比較するこ
とにより走錨を検知する方法なので、−切の陸ｌ−固定
設備を必要と−υず、自１）；１側に設けたａ 器のみ
で検知することが可能となること、誤ｙ吉しては検出器
の誤差を除りば錨が海底に喰い込むのに要するｔｉ’ｔ
ｉ 離だけであるから極めて早期に走錨を検知してイ１
効な対策を講することができること、乗組員の経験や勘
に依存せず各種検出器からの検出信号や設定データを用
いて走錨を検知するため走錨検知の自動化に適すること
、などの効果かｉすらねる。(Effect of the invention) 1!21-Explanation L7. In l'l, the present invention ii,
The detection method is i,! Ii 1' distance from the own ship to fl'li, determined from the length of the anchor chain and the length of the anchor chain, ['I Q:'+ (') I'
Since this is a method of detecting anchor dragging by comparing the horizontal distance from the IQ ii5 position to the current fH7 position, which is obtained by time-integrating li from the casting jlli to the present, - There is no need for land-based fixed equipment, and it is possible to detect it only with a detector installed on the 1 side. Ti't required for it to bite into the seabed
i Since there is only separation, anchor dragging can be detected very early and I1
It is possible to take effective countermeasures, and it is suitable for automating anchor detection because it detects anchor dragging using detection signals and setting data from various detectors without relying on the experience or intuition of the crew. I'm even wondering if it's effective.
Ｍ面は本発明の実施例を示すもので、第１図は各ｆｉｌ
ｉ検出器を装備した船の側面図、第２図は走錨検知装置
のブロック図、第３図は錨鎖カテナリの説明図、第４図
及び第５図は各々非走１Ｍ状態と走錨状態を説明する説
明図、第６図は中央演算装置で実行ずろ／！ｉＩ′ｔｊ
Ｉ丁順の一例を示ず（れ略フロー千ヤード°ζある。
■・・ウィントラス、 ２・・錨ｉ、ｊｌｉ、 ３・・
ホースパイプ、 ４・・錨、 ５・・チェーンカウンタ
、 ６・・錨鎖張力検出器、 ７・・吃水工１．８９．
ｔ’１ｉｂｕｉ旧、 ９・・投錨（３月発信器、１０−
・データ設定器、 １１・・走錨病１γ装置、１２・
・表示器、 Ｓ・・船体、 ×・・自船から錨に至る水
平距離、 １．・・投錨位置から現在の自船位置に〒る
水平ｓ＋ｉ ｚ＋＋、 Ｔ。・・錨鎖張力、Ｄ・・水深
、 ＶＸ（ｔ） ・・時刻ｔにおけるｆＫ＞速測定イ
１１」をジャイロコンパス等を用いて所定座標軸のＸ軸
方向成分に分割した船速、 ｖｙｍ ・・時刻（にお
ける口（１速測定値をジャイロ−Ｉンパス等を用いて所
定座標軸のＸ軸方向成分に分割した０；）速。
手続主市−ｘＥり３： ０式）
昭和 ６０年 ２月 ５０The M plane shows an embodiment of the present invention, and FIG.
A side view of a ship equipped with an i-detector, Figure 2 is a block diagram of the anchor detection device, Figure 3 is an explanatory diagram of the anchor chain catenary, and Figures 4 and 5 are the non-travel 1M state and anchor dragging state, respectively. An explanatory diagram for explaining, Figure 6 is an explanatory diagram explaining the execution by the central processing unit /! iI′tj
I do not show an example of the flow (there is approximately 1,000 yards of flow. ■... Wintruss, 2... Anchor i, jli, 3...
Hose pipe, 4. Anchor, 5. Chain counter, 6. Anchor chain tension detector, 7. Plumbing work 1.89.
t'1ibui old, 9...Anchor (March transmitter, 10-
・Data setting device, 11・・Anchor dragging disease 1γ device, 12・
・Indicator, S...hull, ×...horizontal distance from own ship to anchor, 1. ...Horizontal s+i z++, T from the anchoring position to the current own ship position.・・Anchor chain tension, D・・Water depth, VX(t) ・・Ship speed obtained by dividing fK>speed measurement at time t into X-axis direction components of a predetermined coordinate axis using a gyro compass, etc., vym ・・Time (The first speed measurement value is divided into the X-axis direction components of the predetermined coordinate axis using a gyro-in pass, etc.) speed.
Claims (1)
を用いて錨鎖カテナリ理論式で求めた錨鎖カテナリと繰
出し錨鎖長とから演算し、 投錨位置から現在の自船位置に至る水平距離を、自船の
船速若しくは加速度を投錨から現在に互って時間積分す
ることにより演算し、 上記自船から錨に至る水平距離と投錨位置から現在の自
船位置に至る水平距離とを比較することにより走錨を検
知することを特徴とする走錨検知方法(1) Calculate the horizontal distance from your own ship to the anchor from the anchor chain catenary and the length of the anchor chain, which are calculated using the anchor chain catenary theoretical formula using the anchor chain tension and water depth, and calculate the horizontal distance from the anchoring position to the current own ship position. The distance is calculated by time-integrating the ship's speed or acceleration from the anchor to the current position, and the horizontal distance from the own ship to the anchor and the horizontal distance from the anchor position to the current own ship position are calculated. An anchor dragging detection method characterized by detecting anchor dragging by comparison.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59190422A JPS6166968A (en) | 1984-09-10 | 1984-09-10 | Detecting method of running anchor |
| KR1019850006354A KR910004761B1 (en) | 1984-09-04 | 1985-08-31 | Automatic anchor watching control system |
| NO853469A NO169987C (en) | 1984-09-04 | 1985-09-03 | AUTOMATIC ANCHOR ANCHOR MONITORING AND CONTROL SYSTEM |
| DE8585306266T DE3570633D1 (en) | 1984-09-04 | 1985-09-04 | Automatic anchor watching control system |
| EP85306266A EP0174189B1 (en) | 1984-09-04 | 1985-09-04 | Automatic anchor watching control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59190422A JPS6166968A (en) | 1984-09-10 | 1984-09-10 | Detecting method of running anchor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6166968A true JPS6166968A (en) | 1986-04-05 |
| JPH0369049B2 JPH0369049B2 (en) | 1991-10-30 |
Family
ID=16257870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59190422A Granted JPS6166968A (en) | 1984-09-04 | 1984-09-10 | Detecting method of running anchor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6166968A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021014158A (en) * | 2019-07-11 | 2021-02-12 | 日立造船株式会社 | Installation method for mooring system and installation method for floating body for mooring |
| CN116767461A (en) * | 2023-08-25 | 2023-09-19 | 太极计算机股份有限公司 | Ship anchoring behavior detection method and device and electronic equipment |
-
1984
- 1984-09-10 JP JP59190422A patent/JPS6166968A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021014158A (en) * | 2019-07-11 | 2021-02-12 | 日立造船株式会社 | Installation method for mooring system and installation method for floating body for mooring |
| CN116767461A (en) * | 2023-08-25 | 2023-09-19 | 太极计算机股份有限公司 | Ship anchoring behavior detection method and device and electronic equipment |
| CN116767461B (en) * | 2023-08-25 | 2023-12-22 | 太极计算机股份有限公司 | Ship anchoring behavior detection method and device and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0369049B2 (en) | 1991-10-30 |
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