TWI603887B - Horizontal monitoring method for lifting type work boat - Google Patents
Horizontal monitoring method for lifting type work boat Download PDFInfo
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- TWI603887B TWI603887B TW105119280A TW105119280A TWI603887B TW I603887 B TWI603887 B TW I603887B TW 105119280 A TW105119280 A TW 105119280A TW 105119280 A TW105119280 A TW 105119280A TW I603887 B TWI603887 B TW I603887B
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Description
本發明係與昇降型工作船有關;特別是指一種昇降型工作船的水平監測方法。The invention relates to a lifting type working vessel; in particular to a level monitoring method of a lifting type working vessel.
昇降型工作船係設置於海上,用以作為海事工程的平台,且能因應潮汐而調整其船體與海面的距離,為海事工程不可獲缺的基礎。The lifting type working ship is installed at sea and used as a platform for maritime engineering. It can adjust the distance between its hull and the sea surface in response to tides, which is the basis for maritime engineering.
習用的昇降型工作船包括複數個棒錨、一船體與複數個昇降裝置,其中,該些棒錨係固定於海床且各該棒錨具有多數個定位孔沿各該棒錨的長軸向排列。該船體為各該棒錨所穿設且與各該昇降裝置結合,各該昇降裝置係相對各該棒錨移動而帶動該船體沿各該棒錨的長軸向上、下位移。The conventional lifting workboat includes a plurality of bar anchors, a hull and a plurality of lifting devices, wherein the bar anchors are fixed to the seabed and each of the bar anchors has a plurality of positioning holes along the long axis of each of the bar anchors Arrange. The hull is disposed for each of the rod anchors and combined with each of the lifting devices, and each of the lifting devices moves relative to each of the rod anchors to drive the hull to be displaced up and down along the long axis of each of the rod anchors.
由於該船體係作為工作平台之用,因此,在透過各該昇降裝置帶動船體移動時,需盡可能使船體維持在水平的狀態。目前,人員只能透過水平儀來觀看船體的水平狀態,進而依經驗各別控制調整昇降裝置帶動船體移動。然,礙於人員的經驗,以此方式調整水平,仍然會有誤差存在,往往需要經過多次上、下來回地調整才能將船體調整至適當的水平狀態。Since the ship system is used as a work platform, it is necessary to maintain the hull in a horizontal state as much as possible when the hull is moved by each of the lifting devices. At present, personnel can only view the horizontal state of the hull through the level meter, and then adjust the lifting device to drive the hull movement according to experience. However, due to the experience of personnel, adjusting the level in this way, there will still be errors, and it is often necessary to adjust the hull to an appropriate level after repeated adjustments.
有鑑於此,本發明之目的在於提供一種昇降型工作船的水平監測方法,可讓使用者直覺地得知船體上各個監測點的相對高度。In view of the above, an object of the present invention is to provide a level monitoring method for a lift type work vessel, which allows a user to intuitively know the relative heights of various monitoring points on the hull.
緣以達成上述目的,本發明提供的一種昇降型工作船的水平監測方法,其中該昇降型工作船包括有一船體、複數個棒錨與複數個昇降裝置,該船體可活動地設置於該些棒錨上,該些昇降裝置結合於該船體,各該昇降裝置用以帶動該船體相對各該棒錨移動;該水平監測方法包含有下列步驟:A、提供至少一水平偵測裝置,且透過該水平偵測裝置偵測該船體於一第一方向的一第一傾斜角度以及該船體於一第二方向的一第二傾斜角度,其中該第一方向與該第二方向相互垂直;B、依據該第一傾斜角度與該第二傾斜角度以及該水平偵測裝置至該船體上的複數個監測點之間的距離及相對位置計算該船體之該些監測點的相對高度;C、將該些監測點的相對高度所對應之數據顯示於一顯示器上。In order to achieve the above object, the present invention provides a horizontal monitoring method for a lift type work vessel, wherein the lift type work vessel includes a hull, a plurality of rod anchors and a plurality of lifting devices, and the hull is movably disposed at the The lifting device is coupled to the hull, and each lifting device is configured to drive the hull to move relative to each of the bar anchors; the horizontal monitoring method comprises the following steps: A. providing at least one horizontal detecting device And detecting, by the level detecting device, a first tilt angle of the hull in a first direction and a second tilt angle of the hull in a second direction, wherein the first direction and the second direction Calculating the monitoring points of the hull according to the first inclination angle and the second inclination angle and the distance and relative position between the horizontal detecting device and the plurality of monitoring points on the hull Relative height; C, the data corresponding to the relative heights of the monitoring points are displayed on a display.
本發明之效果在於,使用者可以在顯示器上觀測船體的相對高度之數據及水平狀態,特別是在透過昇降裝置帶動船體昇降時,即時得知船體的相對高度,便可直接控制對應的昇降裝置,準確地讓船體移動。The effect of the invention is that the user can observe the data and the horizontal state of the relative height of the hull on the display, in particular, when the hull is lifted and lowered by the lifting device, the relative height of the hull can be instantly known, and the corresponding control can be directly controlled. The lifting device accurately moves the hull.
為能更清楚地說明本發明,茲舉一較佳實施例並配合圖式詳細說明如後。請參圖1至圖2所示,為應用本發明一較佳實施例之水平監測方法的昇降型工作船100,包含有複數個棒錨10、一船體20與複數個昇降裝置30。In order to explain the present invention more clearly, a preferred embodiment will be described in detail with reference to the drawings. Referring to Figures 1 to 2, a lift type workboat 100 for applying the level monitoring method of a preferred embodiment of the present invention includes a plurality of rod anchors 10, a hull 20 and a plurality of lifting devices 30.
該些棒錨10係呈長形且其底部供固定於海床(圖未示),該棒錨10之外周面具有四個表面102,各該表面102凹入有多數個定位孔104,該些定位孔104係沿該棒錨10的長軸向自上而下間隔排列。The rod anchors 10 are elongated and have a bottom portion fixed to the seabed (not shown). The outer peripheral surface of the rod anchor 10 has four surfaces 102, and each of the surfaces 102 is recessed with a plurality of positioning holes 104. The positioning holes 104 are spaced apart from top to bottom along the long axis of the rod anchor 10.
該船體20為一矩形的平台,該船體20上設置有一操控室22。該些棒錨10係分別穿過該船體20接近之四個角落之區域。The hull 20 is a rectangular platform on which a control room 22 is disposed. The rod anchors 10 are respectively passed through the area of the four corners of the hull 20.
該些昇降裝置30設置於該船體20上該些棒錨10所在之區域,用以帶動該船體20相對該些棒錨10之長軸向移動,且該操控室22位於二個昇降裝置30之間。該些昇降裝置30結構相同,於後茲以一該昇降裝置30與一該棒錨10為例說明。The lifting device 30 is disposed on the hull 20 in the area where the bar anchors 10 are located to drive the long axial movement of the hull 20 relative to the bar anchors 10, and the control room 22 is located in the two lifting devices. Between 30. The lifting devices 30 are identical in structure, and a lifting device 30 and a bar anchor 10 are exemplified.
該昇降裝置30包括一下固定座32、一上固定座34、複數個油壓伸縮桿36與一活動框架38。該下固定座32結合於該船體20,該下固定座32具有一容室322。該上固定座34結合於該下固定座32的頂部,該上固定座34設置有至少一定位銷342,本實施例中該至少一定位銷342的數量為四個,各該定位銷342分別位於各該表面102的外側,各該定位銷342係受氣壓缸344帶動而沿該棒錨10的徑向移動,而可活動地***各該表面102的其中一該定位孔104中。該些油壓伸縮桿36及該活動框架38位於該下固定座32的容室322中,其中,各該油壓伸縮桿36之一端樞設於該容室322頂部之壁面,該活動框架38套設於該棒錨10上且各該油壓伸縮桿36之另一端樞設於該活動框架38上。該活動框架38另設置有四個定位銷382,各該定位銷382受氣壓缸384帶動而沿該棒錨10的徑向移動,而可活動地***各該表面102上對應的一該定位孔104中。藉此,該下固定座32與該上固定座34構成該昇降裝置30的一固定部,該活動框架38構成該昇降裝置30的一活動部,該活動框架38受該些油壓伸縮桿36帶動而可沿該棒錨10的長軸向移動。The lifting device 30 includes a lower fixing seat 32, an upper fixing seat 34, a plurality of hydraulic telescopic rods 36 and a movable frame 38. The lower mount 32 is coupled to the hull 20, and the lower mount 32 has a chamber 322. The upper fixing base 34 is coupled to the top of the lower fixing base 32. The upper fixing base 34 is provided with at least one positioning pin 342. In this embodiment, the number of the at least one positioning pin 342 is four, and each of the positioning pins 342 is respectively Located on the outer side of each of the surfaces 102, each of the positioning pins 342 is driven by the pneumatic cylinder 344 to move along the radial direction of the rod anchor 10, and is movably inserted into one of the positioning holes 104 of each of the surfaces 102. The hydraulic expansion rods 36 and the movable frame 38 are located in the chamber 322 of the lower fixing base 32. One end of each of the hydraulic expansion rods 36 is pivotally disposed on the wall surface of the top of the chamber 322. The movable frame 38 is disposed. The other end of each of the hydraulic expansion rods 36 is pivotally disposed on the movable frame 38. The movable frame 38 is further provided with four positioning pins 382, each of which is driven by the pneumatic cylinder 384 to move along the radial direction of the rod anchor 10, and is movably inserted into a corresponding one of the positioning holes on each surface 102. 104. Thereby, the lower fixing base 32 and the upper fixing seat 34 constitute a fixing portion of the lifting device 30, and the movable frame 38 constitutes a movable portion of the lifting device 30, and the movable frame 38 is subjected to the hydraulically-applied rods 36. It is driven to move along the long axis of the rod anchor 10.
當該活動框架38上的定位銷382***定位孔104中,而該上固定座34上的定位銷342退出定位孔104時,藉由控制該些油壓伸縮桿36伸長,即可帶動該船體20上移;反之,控制該些油壓伸縮桿36縮短,則是帶動該船體20下移。當該上固定座34移動到定位時,使該上固定座34上的定位銷342與定位孔104對位時,控制該上固定座34上的定位銷342***定位孔104,以及控制該活動框架38上的定位銷382退出定位孔104,即可固定該船體20的位置。When the positioning pin 382 on the movable frame 38 is inserted into the positioning hole 104, and the positioning pin 342 on the upper fixing seat 34 is withdrawn from the positioning hole 104, the boat can be driven by controlling the extension of the hydraulic expansion rod 36. The body 20 is moved up; otherwise, if the hydraulic expansion rods 36 are shortened, the hull 20 is moved downward. When the upper fixing seat 34 is moved to the positioning, when the positioning pin 342 on the upper fixing seat 34 is aligned with the positioning hole 104, the positioning pin 342 on the upper fixing seat 34 is controlled to be inserted into the positioning hole 104, and the activity is controlled. The positioning pin 382 on the frame 38 is withdrawn from the positioning hole 104 to fix the position of the hull 20.
該操控室22中設置有一控制裝置40與一顯示器42電性連接該控制裝置40。該控制裝置40用以控制該些昇降裝置30,如,控制氣壓缸344, 384帶動定位銷342, 382的移動,以及控制該些油壓伸縮桿36伸長或縮短,以帶動該船體20相對該些棒錨10移動。A control device 40 is disposed in the control room 22 to electrically connect the control device 40 to a display 42. The control device 40 is configured to control the lifting devices 30, such as controlling the pneumatic cylinders 344, 384 to drive the movement of the positioning pins 342, 382, and controlling the extension or shortening of the hydraulic expansion rods 36 to drive the hull 20 relative to each other. The rod anchors 10 move.
於該操控室22兩旁的下固定座32內部分別設置有一水平偵測裝置44,該些水平偵測裝置44電性連接該控制裝置,該二水平偵測裝置44為二軸的電子式水平儀,該二水平偵測裝置44偵測該船體20於圖1所示之一第一方向D1的一第一傾斜角度以及該船體20於一第二方向D2的一第二傾斜角度,其中該第一方向D1與該第二方向D2相互垂直。A horizontal detecting device 44 is disposed in the lower fixing base 32 of the two sides of the control room 22, and the horizontal detecting devices 44 are electrically connected to the control device. The two horizontal detecting devices 44 are two-axis electronic level devices. The second level detecting device 44 detects a first tilt angle of the hull 20 in a first direction D1 shown in FIG. 1 and a second tilt angle of the hull 20 in a second direction D2. The first direction D1 and the second direction D2 are perpendicular to each other.
藉由上述之架構,即可進行圖3所示之水平監測方法,包含有下列步驟:With the above architecture, the level monitoring method shown in FIG. 3 can be performed, including the following steps:
首先,於該船體20上預設複數個虛擬的監測點M及一虛擬的參考點R,該些監測點M的位置分別在該四棒錨10所在之區域,且其中二個監測點M為該二水平偵測裝置44所在之位置;該參考點R位於該船體20之中央,且該參考點R至各該監測點M的距離為等距。分別測量各該水平偵測裝置44至該些監測點M之間的距離,以及分別測量各該水平偵測裝置44至該參考點R之間的距離。並將所測量的距離及該些監測點M與參考點R的相對位置記錄於該控制裝置40中。First, a plurality of virtual monitoring points M and a virtual reference point R are preset on the hull 20, and the positions of the monitoring points M are respectively located in the area where the four-bar anchor 10 is located, and two monitoring points M The position of the two-level detecting device 44 is located; the reference point R is located at the center of the hull 20, and the distance from the reference point R to each of the monitoring points M is equidistant. The distance between each of the horizontal detecting devices 44 to the monitoring points M is measured, and the distance between each of the horizontal detecting devices 44 to the reference point R is measured. The measured distance and the relative positions of the monitoring points M and the reference point R are recorded in the control device 40.
該控制裝置40於該顯示器42上顯示一操作介面A,使用者可在該操作介面A上以按鈕B1, B2選擇使用該二水平偵測裝置44其中一者,圖4所示為按下按鈕B1選擇位於操控室22左側之水平偵測裝置44。The control device 40 displays an operation interface A on the display 42. The user can select one of the two horizontal detection devices 44 by using buttons B1 and B2 on the operation interface A. B1 selects the level detecting means 44 located on the left side of the control room 22.
該控制裝置40透過該水平偵測裝置44偵測該船體20於該第一方向D1的該第一傾斜角度以及該船體20於該第二方向D2的該第二傾斜角度。The control device 40 detects the first tilt angle of the hull 20 in the first direction D1 and the second tilt angle of the hull 20 in the second direction D2 through the level detecting device 44.
該控制裝置40依據該水平偵測裝置44測得的該第一傾斜角度與該第二傾斜角度以及該水平偵測裝置44至該船體20上的該些監測點M之間的距離及相對位置計算該船體20之該些監測點M的相對高度。本實施例中,該控制裝置40更依據該第一傾斜角度與該第二傾斜角度以及該水平偵測裝置44至該參考點R之間的距離及相對位置計算該參考點R的相對高度。The first tilt angle and the second tilt angle measured by the level detecting device 44 and the distance between the horizontal detecting device 44 and the monitoring points M on the hull 20 are relative to each other. The position calculates the relative heights of the monitoring points M of the hull 20. In this embodiment, the control device 40 calculates the relative height of the reference point R according to the first tilt angle and the second tilt angle and the distance and relative position between the horizontal detecting device 44 and the reference point R.
而後,將該些監測點M的相對高度所對應之數據顯示於該顯示器42上。請配合圖4,本實施例中,該控制裝置40係預設以該參考點R的相對高度為一基準值,該操作介面A中預設為選定對應該參考點R之按鈕B3,並依據該基準值的為正值或負值進行數據的顯示,其中,若該基準值為正值,則將所有監測點M的相對高度扣除該基準值後的數據顯示於該顯示器42上;若該基準值為負值;則將所有監測點M的相對高度加上該基準值後的數據顯示於該顯示器42上。藉此,使用者即可在該顯示器42上監控該船體20的水平狀態。實務上,亦可只顯示該些監測點M的相對高度未扣除或加上該基準值之數據。Then, the data corresponding to the relative heights of the monitoring points M is displayed on the display 42. With reference to FIG. 4, in the embodiment, the control device 40 presets the relative height of the reference point R as a reference value, and the operation interface A presets to select the button B3 corresponding to the reference point R, and according to The reference value is a positive value or a negative value for displaying the data. If the reference value is a positive value, the data after subtracting the relative height of all the monitoring points M from the reference value is displayed on the display 42; The reference value is a negative value; the data after adding the relative heights of all the monitoring points M to the reference value is displayed on the display 42. Thereby, the user can monitor the horizontal state of the hull 20 on the display 42. In practice, it is also possible to display only the relative heights of the monitoring points M without subtracting or adding the data of the reference values.
請配合圖5,使用者亦可以按下該操作介面A上的對應任一該監測點M之按鈕B4,以圖5右上角之按鈕B4為例,按下該按鈕B4後,該控制裝置40以該按鈕B4對應的監測點M的相對高度為一基準值,並如前述依據基準值為正值或負值,將有監測點M的相對高度扣除該基準值後的數據顯示於該顯示器42上,或將所有監測點M的相對高度加上該基準值後的數據顯示於該顯示器42上。藉此,即可讓所選之監測點M的數據顯示為“0 cm”,使用者即可在該顯示器42上監控其它監測點M相對於所選之監測點M的相對高度之數據。Please refer to FIG. 5 , the user can also press the button B4 corresponding to any of the monitoring points M on the operation interface A, and take the button B4 in the upper right corner of FIG. 5 as an example. After pressing the button B4, the control device 40 The relative height of the monitoring point M corresponding to the button B4 is a reference value, and the data after the relative height of the monitoring point M is deducted from the reference value is displayed on the display 42 as described above according to the reference value being a positive value or a negative value. The data after adding or adding the relative heights of all the monitoring points M to the reference value is displayed on the display 42. Thereby, the data of the selected monitoring point M can be displayed as "0 cm", and the user can monitor the data of the relative heights of the other monitoring points M with respect to the selected monitoring point M on the display 42.
請配合圖6,在前述中,若使用者在該操作介面A上按下對應操控室22右側之水平偵測裝置44的按鈕B4,該控制裝置40則依據所選擇的水平偵測裝置44偵測該第一傾斜角度與該第二傾斜角度;並依據所選擇的水平偵測裝置44所偵測的該第一傾斜角度與該第二傾斜角度以及所選擇的水平偵測裝置44至該些監測點M之間的距離及相對位置計算該船體20之該些監測點M的相對高度,並將該些監測點M的相對高度所對應之數據顯示於該顯示器42上。Please refer to FIG. 6. In the foregoing, if the user presses the button B4 of the horizontal detecting device 44 corresponding to the right side of the control room 22 on the operation interface A, the control device 40 detects the level detecting device 44 according to the selected level. Measuring the first tilt angle and the second tilt angle; and determining the first tilt angle and the second tilt angle detected by the selected level detecting device 44 and the selected level detecting device 44 to the The relative heights of the monitoring points M of the hull 20 are calculated from the distances and relative positions between the monitoring points M, and the data corresponding to the relative heights of the monitoring points M are displayed on the display 42.
此外,本實施例的水平監測方法更包含,該控制裝置40在判斷該些監測點M之中任二者的相對高度相差一預定距離時,發出一警示訊息,該警示訊息可在該顯示器42上顯示,或透過揚聲器(圖未示)以聲音發出。同時,該控制裝置40更限制相對高度較低之區域中的昇降裝置30無法帶動該船體20向下移動,及/或限制相對高度較高之區域中的昇降裝置30無法帶動該船體20向上移動。藉此,可避免船體20因傾斜程度過大而與棒錨10之間發生干涉的情形。In addition, the level monitoring method of the embodiment further includes: when determining that the relative heights of the two monitoring points M are different by a predetermined distance, the control device 40 sends a warning message, and the warning message is available on the display 42. Displayed on the sound or emitted through a speaker (not shown). At the same time, the control device 40 further limits that the lifting device 30 in the region of relatively low altitude cannot drive the hull 20 to move downward, and/or the lifting device 30 in the region where the relative height is restricted cannot drive the hull 20 Move up. Thereby, it is possible to avoid the situation in which the hull 20 interferes with the rod anchor 10 due to the excessive inclination.
據上所述,藉由本發明昇降型工作船的水平監測方法,使用者可以在顯示器42上觀測船體20的相對高度之數據而得知水平狀態,特別是在透過昇降裝置30帶動船體昇降時,即時得知船體20的相對高度,便可直接控制對應的昇降裝置30,準確地讓船體20移動。According to the above, the level monitoring method of the lift type work vessel of the present invention allows the user to observe the relative height data of the hull 20 on the display 42 to know the horizontal state, in particular, to drive the hull up and down through the lifting device 30. When the relative height of the hull 20 is immediately known, the corresponding lifting device 30 can be directly controlled to accurately move the hull 20.
以上所述僅為本發明較佳可行實施例而已,舉凡應用本發明說明書及申請專利範圍所為之等效變化,理應包含在本發明之專利範圍內。The above is only a preferred embodiment of the present invention, and equivalent changes to the scope of the present invention and the scope of the patent application are intended to be included in the scope of the present invention.
[本發明][this invention]
100‧‧‧昇降型工作船100‧‧‧ Lifting work boat
10‧‧‧棒錨10‧‧‧ Rod Anchor
102‧‧‧表面102‧‧‧ surface
104‧‧‧定位孔104‧‧‧Positioning holes
20‧‧‧船體20‧‧‧ hull
22‧‧‧操控室22‧‧‧Control room
30‧‧‧昇降裝置30‧‧‧ Lifting device
32‧‧‧下固定座32‧‧‧ lower mount
322‧‧‧容室322‧‧ ‧ room
34‧‧‧上固定座34‧‧‧上固定座
342‧‧‧定位銷342‧‧‧Locating pin
344‧‧‧氣壓缸344‧‧‧ pneumatic cylinder
36‧‧‧油壓伸縮桿36‧‧‧Hydraulic telescopic rod
38‧‧‧活動框架38‧‧‧ Activity framework
382‧‧‧定位銷382‧‧‧Locating pin
384‧‧‧氣壓缸384‧‧‧ pneumatic cylinder
40‧‧‧控制裝置40‧‧‧Control device
42‧‧‧顯示器42‧‧‧ display
44‧‧‧水平偵測裝置44‧‧‧Horizontal detection device
A‧‧‧操作介面A‧‧‧ operation interface
B1~B4‧‧‧按鈕B1~B4‧‧‧ button
D1‧‧‧第一方向D1‧‧‧ first direction
D2‧‧‧第二方向D2‧‧‧ second direction
M‧‧‧監測點M‧‧‧ monitoring points
R‧‧‧參考點R‧‧‧ reference point
圖1為本發明一較佳實施例之昇降型工作船的俯視圖。 圖2為本發明上述較佳實施例之昇降型工作船的局部側視圖。 圖3為上述較佳實施例之水平監測方法流程圖。 圖4為一示意圖,揭示顯示器所顯示的操作介面。 圖5為一示意圖,揭示顯示器所顯示的操作介面。 圖6為一示意圖,揭示顯示器所顯示的操作介面。1 is a top plan view of a lift type work boat in accordance with a preferred embodiment of the present invention. Figure 2 is a partial side elevational view of the lift type work boat of the above preferred embodiment of the present invention. 3 is a flow chart of the level monitoring method of the above preferred embodiment. Figure 4 is a schematic diagram showing the operational interface displayed by the display. Figure 5 is a schematic diagram showing the operational interface displayed by the display. Figure 6 is a schematic diagram showing the operational interface displayed by the display.
Claims (8)
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