JP3089129B2 - Automatic transfer device for floating bodies - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic transfer device which is most suitable for use in a transfer operation of a floating (ocean) floating body (barge) such as a sand pile working boat.

[0002]

2. Description of the Related Art As one method for improving soft ground, sand piles are created regardless of whether they are underwater or on land. It is necessary to create sand piles at specified positions with high precision, and therefore, underwater sand pile construction leads to the creation of sand piles that can move a sand pile driving ship with high accuracy and good movement. Will be. Here, the operation of moving the ship is called a transfer.

A sand pile working boat uses a floating (ocean) floating body (barge). For example, the sand pile working boat is provided with anchor winches at four points. (Sea, lake, etc.).
The transfer of the sand pile driving boat is performed by an operator by appropriately winding or unwinding the winch wire of each anchor winch toward the target position.

[0004] The transfer of a sand pile driving boat (hereinafter referred to as a barge) is performed based on the experience and intuition of an operator who operates an anchor winch. For this reason, skill is required, and it takes a long time to train an excellent individual operator.

[0005] That is, the accuracy of the sand pile is affected by the quality of the operator, and the work time is greatly different. In addition, recently, there is a shortage of operators and the training of operators does not go overnight, so it is extremely difficult to replenish them.

Therefore, a system for automating the operation of retracting or extending the anchor winch while referring to the target position and the current position has been attempted. However, there are the following problems, and it is difficult to realize the system. is there. (1) The reliability of position accuracy is low.

[0007] Position measurement is generally performed by triangulation using a laser beam or the like. Due to disturbance light such as the sun and fluctuations of a work boat, this type of measuring device has considerable variation in position data. (2) The position information calculation sampling interval is long. Since the sampling interval is close to 10 seconds, it is impossible to control the winch in real time. (3) The work boat may start to rotate. If the winch wire is unreeled or wound in an arbitrary procedure, the work boat may start rotating and fall into a dangerous state. (4) Auto-tension for keeping the wire tension at an appropriate level and moving the barge is also an effective method, but the mechanism of the auto-tension is very expensive.

It is also conceivable to control while measuring the tension. However, when the winding and unwinding of the wire are to be performed while keeping the tension of the wire at the four corners at the target value,
In this state, pulsation is unavoidable for the wire tension, and there is a problem that accurate measurement of the tension is difficult.

[0009]

It is necessary to form sand piles at predetermined positions with high precision. Therefore, sand pile construction in the sea or the like requires moving a sand pile driving boat with high precision. is important. Then, since the sand pile driving boat is fixed by the anchor winch, the operation of moving the sand pile driving boat, that is, the turning work, involves the operator appropriately winding the winch wire toward the target position. Or, it is carried out by extending, but the accuracy of the transfer and the length of the working time depend on the skill of the operator. However, since high skill is required, it is difficult to secure excellent operators, and it takes a long time to train excellent operators.

[0010] Therefore, an attempt has been made to automate the transfer operation, and in order to move to a target position, it is necessary to first detect the position of the work boat. There is also a problem in the technical accuracy of position measurement due to the condition that it is on the sea with waves and tides, there is a problem that it is difficult to move to the target position correctly due to low reliability, If the winch wire is unreeled or wound in an arbitrary procedure, there is a problem that the work boat starts to rotate and there is a risk of falling into a dangerous state.
Therefore, the development of an automated system for transfer work is not as expected, and it is rather dangerous. SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic transfer device for a floating body on water, which enables a highly accurate transfer to be performed safely and in a short time.

[0011]

In order to achieve the above object, the present invention is configured as follows. That is, winches are provided at a plurality of points on the floating body, the wire end positions of these winches are set outside the moving range of the floating body, and the length of the wire of each winch is controlled by winding and unwinding of each winch. By changing, as a transfer device that moves the floating body to the target position,

First, a measuring means for measuring a current position of the floating object and a target position of a movement destination, and a target position is calculated from the current position based on information on the current position and the target position obtained by the measuring means. Calculating means having a function of setting a shortest course to a position and dividing the shortest course into a plurality of sections, a function of calculating a necessary wire tension in each section when moving on the shortest course, Operation amount calculation means for calculating the operation amount of the wire of each winch from the tension of each wire obtained by the calculation means; and an actual operation amount for each winch.
A wire length measuring means for measuring the wire length, the water floating
A rotational angular velocity measuring means for measuring a rotational angular velocity of the moving body;
Actual wire length for each winch obtained by these measuring means
And rotational angular velocity, and each c
Rotate from the model of the floating body based on the inch operation amount
Model suitable for calculating the amount of correction so that the moment becomes zero
Adaptive control means and the model adaptive control means
The control means controls each winch in accordance with the corrected operation amount obtained by correcting the operation amount by the correction amount.

Secondly, a measuring means for measuring the current position of the floating object and the target position of the movement destination, and a current position based on the information on the current position and the target position obtained by the measuring means. Function to calculate the amount of wire change from the target position to the target position and the tension at the target position, the safe moment range where the floating body on the water does not rotate when the wire of the winch where the wire change amount is extended is gradually extended. Calculating means for measuring the tension of each wire, a means for calculating the moment using the tension value of each wire measured by the tension measuring means, and a calculating means for calculating the moment. Operation amount calculating means for calculating the operation amount of the wire of each winch from the tension of each wire, and controlling each winch on the winding side in accordance with the calculated operation amount. The moment is constructed more control means for controlling so as to be above the safety moment ranges for each winch feeding side.

[0014]

In the above construction, winches are provided at a plurality of points on the floating body, and the wire end positions of these winches are set within the moving range of the floating body, and the winch is wound to the target position by the wind-in / out control. Move.

[0015] Then, contact on the control by the first measuring means in the case of the first configuration perform measurement of the current position and the target position of the water float, thereby also the information obtained current position and the target position At the same time, the shortest course from the current position to the target position is set. Then, the shortest course is divided into a plurality of sections, and the necessary tension of each wire in each section when moving on the shortest course is calculated. Then, the operation amount of the wire of each winch is calculated from the tension of each wire thus obtained, and each winch is controlled in accordance with the calculated operation amount.

As described above, the position is measured first to determine the moving path in the shortest distance, and when moving along this moving path, the moment acting on the floating body due to the tension of the winch wire is affected by the moment. Winch in and out are controlled while controlling and balancing so that the floating body does not rotate so that it can be safely and automatically turned over at the shortest distance. Also, since the position measurement is performed only at the beginning, there is no worry of accumulating errors,
The automatic transfer to the target position can be accurately performed. Also, control is performed to keep the wire tension at the target value during the transfer, but since this is controlled by the operation amount of the wire,
Tension measurement is unnecessary, and stable and accurate automatic transfer control becomes possible.

In the case of the second configuration, first, the current position of the floating body and the target position of the movement destination are measured by the measuring means, and based on the information of the current position and the target position obtained thereby, The wire change amount from the current position to the target position and the tension at the target position are calculated. Then, while determining the safe moment range in which the floating body on the water does not cause rotation when the wire of the winch from which the wire change amount is extended is gradually extended, while measuring the tension of each wire by the tension measuring means, Find the moment. Then, the operation amount of the wire of each winch is calculated from the tension of each wire obtained by the arithmetic means, and each winch on the winding side is controlled in accordance with the calculated operation amount, and each winch on the payout side is calculated. Is controlled so that the above-mentioned moment falls within the above-mentioned safe moment range.

As described above, first, the current position and the target position are determined by measuring the position, and the wire of the payout side winch is controlled so as to have a tension within the safe moment range during the movement between the current position and the target position. By controlling the winch on the side to a predetermined tension, the winch on the wire feed-out side can be controlled with a margin, and moreover, stable rotation can be automatically performed without rotation. Further, in addition to the allowance of the control width, the above-described tension control reduces the pulsation of the tension, so that the tension measurement becomes stable, and the target control is easily performed.

Further, since the coordinates obtained by first measuring the current position and the target position are used to move to the target position, the error of the ship is compared with the conventional method in which the own ship position measurement is repeated in the middle stage. There is no accumulation. Therefore, a precise transfer can be performed.

[0020]

An embodiment of the present invention will be described below with reference to the drawings. Here, during the transfer of the sand pile driving boat, the anchor winch is operated without using the position information and tension information of the sand pile driving boat, and the problem of position measurement accuracy and sampling is reduced. To prevent the ship from intervening, and to prevent the sand pile driving boat from rotating.
An embodiment will now be described in which the winding and unwinding of the anchor winch can be controlled while balancing the tension moment of the wire of the anchor winch. (First embodiment)

FIG. 1 is a block diagram showing a first embodiment of the present invention. FIG. 2 is a diagram showing a barge to which the present apparatus is applied, an anchor winch and a winch wire, and their relations at a turning point. FIG.

As shown in FIG. 2, the barge 12 is, for example,
An anchor winch (not shown) is arranged near each of the four corners of the floating body, and is moored on the sea surface by a winch wire 11 drawn out from each anchor winch. Anchor 10 is attached to the tip of winch wire 11.
Is attached.

Numeral 14 denotes a transfer position of the barge 12 and 13
Shows the winch wires from each anchor winch at the transfer point 14. Reference numeral 17 denotes the shortest course when the barge 12 is moved from the current position to the target position, 15 is the center coordinate of the barge 12 at the current position, 16 is the center coordinate of the barge at the target position, and 18 is the shortest course 17. The points obtained at the above minute intervals (minute intervals) are shown.

In FIG. 1, 1 is a tension meter, 2 is a shift position measuring device, 3 is a moment calculator, 4 is a wire feeding and winding amount calculator, 5 is a wire length meter, 6 is a barge rotation angular velocity meter, Reference numeral 7 denotes a barge model adaptive control unit, 8 denotes a winch operation signal generator, and 9 denotes a winch controller.

The tension meter 1 is provided for each anchor / winch, and measures the tension of the winch wire 11 and generates a measurement output according to the tension. The tension meter 1 can be realized by using, for example, a load cell attached to a wire, a pressure gauge of a winch hydraulic motor, or the like.

The transfer position measuring device 2 outputs coordinate information of the current position and the target position of the barge 12, and uses, for example, an optical distance meter. However, a position measurement device using an artificial satellite can be used, and in this case, extremely accurate position measurement can be performed.

The moment calculator 3 calculates the shortest course 17 for moving the barge 12 to the target position based on the coordinate information of the current position and the target position. The tension of each wire 11 is determined so that the vector sum of the external force and the wire tension at the point 18 is zero and the rotational moment is zero.

The wire feeding and winding amount calculator 4 calculates the wire length of each wire 11 from the wire catenary calculation formula based on the obtained wire tension, and
In response to the correction value from the model adaptive control unit 7, information (signal) on the wire operation amount obtained by correcting the obtained wire length by the correction value is output for each anchor / winch.

The wire length meter 5 is provided for each anchor winch, and counts the current wire length from the anchor winch to the anchor 10 in conjunction with the feeding and winding of the wire of the anchor winch. Numerical values are output as wire length information. The rotational angular velocity meter 6 is for measuring the rotational angular velocity of the barge 12 and outputting the measurement signal.

The model adaptive control unit 7 receives a winch speed signal for each anchor / winch output from the winch operation signal generator 8 and each output of the rotation gyro 6 and each wire length meter 5, and receives the current value from the rotation gyro 6. Angular velocity value and each line length meter 5
Is calculated by applying the line length value (count value) for each anchor / winch to the barge model formula, and the correction value obtained thereby is given to the wire feeding and winding amount calculator 4.

The winch operation signal generator 8 is provided with each of the anchors determined by the wire feeding and winding amount calculator 4.
Upon receiving information (signal) of the wire operation amount for each winch, a winch speed signal corresponding to the characteristics of each winch is generated for each anchor / winch.

The winch controller 9 controls the driving of each anchor / winch based on the winch speed signal for each anchor / winch obtained from the winch operation signal generator 8. With such a configuration,
The operation of the present device will be described.

In moving the ocean (water) floating body (barge) to the target point in the shortest time, at any point on the shortest path, the wire tension of each winch that can be stopped without rotating the barge is determined. be able to.

The barge can be quickly moved without rotating by controlling the feeding amount and the winding amount of each wire so as to correspond to the obtained wire tensions.

(ST1) Now, when the barge 12 is at rest (the moment is balanced), the tension of each wire 11 of each anchor / winch is measured by a tension meter 1 for each anchor / winch. Measure with. The measured tension value for each anchor / winch is input to the moment calculator 3.

(ST2) Not only the tension of the wire 11 acts on the barge 12, but also an external force such as tide or wind is applied. Since the vector sum of the external force and the tension of each wire 11 becomes zero and the barge 12 is stationary, the external force can be calculated from the tension of each wire 11.

(ST3) On the other hand, the coordinates of the current position and the target position of the barge 12 are input from the turning point measuring device 2 to the moment calculator 3. Transfer position measuring device 2
Measures the current position and the target position in the same way as before, but only at the first stage.

(ST4) When the coordinate information of the current position and the target position is obtained, the moment calculator 3 sets the shortest course 17 from the current position to the target position based on the obtained coordinate information (FIG. 2). ). Then, the moment calculator 3 plots the shortest course 17 on the shortest course 17 at a predetermined minute interval, sets the minute interval points 18 on the shortest course 17, and obtains the tension of each wire when moving at these points 18. .

The tension of each wire is determined so as to satisfy the condition that the vector sum of the external force and the wire tension at the minute interval 18 on the shortest course 17 is zero and the rotational moment is zero.

(ST5) Based on the wire tensions obtained by the moment calculator 3, the wire feeding and winding amount calculator 4 calculates the wire of each anchor / winch corresponding to each wire tension from the wire catenary calculation formula. Calculate the length. Then, the wire operation amount of each anchor / winch is calculated from the difference between the wire length of each anchor wire 11 at the local point and the wire length at the moving point.

(ST6) The wire operation amount of each anchor / winch obtained by the wire feeding / winding amount calculator 4 in this way is given to the winch operation signal generator 8,
The winch operation signal generator 8 converts the wire operation amount into a signal that gives the winch speed of each anchor / winch according to the characteristics of the winch, and supplies the signal to the winch controller 9.

(ST7) The model adaptive control unit 7 calculates a barge model based on the current values of the line length meter 5 and the rotational gyro 6 corresponding to each anchor / winch and the output signal of the winch operation signal generator 8. The correction value is obtained from the equation and given to the winch operation signal generator 8. Therefore, a correction amount can be given in consideration of the amount of movement and rotation of the barge, etc., so that the winch operation signal generator 8 can safely and safely position the barge according to the actual barge condition. The corrected signal is output as a signal that gives the winch speed of each anchor winch necessary to move the winch, and is given to the winch controller 9. It should be noted that the winch operation signal generator 8 is additionally provided, and without this, it does not mean that the function of the present apparatus cannot be realized.

The winch controller 9 controls the driving of the respective anchor winches in accordance with the signals giving the respective winch speeds, whereby the wire length of each anchor winch is controlled.
2 is stably moved to the target minute interval point 18.

(ST8) After moving to the first minute interval point 18, the above-mentioned processing (ST4) and subsequent steps are performed to move to the next minute interval point 18, and control of the wire length of each anchor winch is performed. And the barge 12 is transferred to the target position. When approaching the target position, the winch speed of each anchor winch is reduced and stopped when the target position is reached.

As described above, first, the current point and the target point of the barge are measured to obtain coordinate information, and based on the coordinate information, the shortest course from the current point to the target point is automatically set. Divide into short sections, calculate the wire tension of each anchor winch necessary for stable movement in each section, and based on the obtained wire tension, use the catenary calculation formula of the wire to calculate each wire of each anchor winch. Calculate the wire length, calculate the wire operation amount of each anchor / winch based on this,
The operation of each anchor / winch is controlled at a wire speed corresponding to the wire operation amount while checking the actual wire length of each anchor / winch.

Therefore, in the first stage, the current point and the target point are measured, but thereafter, it is necessary for safe movement while following the shortest route to the target point obtained based on the first measurement data. Since the operation control of each anchor / winch is performed so as to obtain each wire operation amount, it is possible to automate the transfer operation while ensuring safety. Further, in the present embodiment, the barge is moved by following the shortest course, and since the position of the barge is not measured in the middle of the movement, it is possible to transfer to the target position in a short time. become. In addition, by only performing the barge position measurement first, the present invention can minimize the decrease in position accuracy due to repeated low-accuracy position measurement as in the related art. Thus, the accuracy of the transfer can be greatly improved. (Second Embodiment) Next, a second embodiment will be described.

Here, a moment calculator 3, a wire feeding / winding amount calculator 4, a model adaptive control unit 7, and a winch operation signal generator 8 described in the first embodiment are implemented by a computer, for example, a general-purpose personal computer. An example of an automatic transfer device will be described.

FIG. 3 shows the overall configuration. In the figure, 19
Is a control winch console, and the control winch console 19 has a computer CPU at the center of control. The computer CPU executes various operations of the present invention. A general-purpose personal computer (personal computer) or a microcomputer can be used as the computer CPU.

Reference numeral 20 denotes an input device as a man-machine interface of the computer 19, which is a keyboard having a numeric keypad and an ASCII key (or a JIS key or the like) for performing various settings and operation commands (command input). belongs to.

Reference numeral 21 denotes a display, which is an output device serving as a man-machine interface of the computer CPU, which is used for monitoring operation status, displaying input data confirmation, and the like. Although a CRT display is used as the display 21, a character display such as a liquid crystal panel display or a plasma display may be used.

Reference numeral 5 denotes the above-described wire length meter, which measures the wire length of the anchor wire of each anchor / winch, and outputs a measurement output corresponding to the amount of extension and winding in contact with the anchor wire. It is something to put out. As the line length meter 5, a rotary encoder or the like is used, and the measurement output is input to the computer CPU.

Reference numeral 1 denotes a tension meter, which measures the tension of an anchor wire at each anchor winch.
As the tension meter 1, for example, a differential pressure transmitter that generates a signal corresponding to the differential pressure is used. An analog signal corresponding to the differential pressure is digitized by a D / A converter and input to the computer CPU. I have. The anchor winch is driven by a hydraulic motor, and the tension of the wire of the anchor winch is applied to the hydraulic motor of the anchor winch and appears as a differential pressure between the inlet and the outlet of the hydraulic motor. Therefore, the tension is measured by measuring the differential pressure with a differential pressure transmitter.

Reference numeral 22 denotes a solenoid valve for releasing the brake of the anchor winch. Reference numeral 9 denotes a proportional control valve constituting a winch controller. The proportional control valve adjusts an oil amount of an anchor winch, which is a hydraulic winch, and adjusts a wire speed. Reference numeral 2 denotes a transfer position measuring device for measuring and calculating a barge position, which is input to the computer CPU via an RS232C interface which is a serial interface.

Although a conventional position measuring device such as a light wave range finder is used as it is as the transfer position measuring device 2,
It is also possible to use a position measurement device using artificial satellites,
In this case, more accurate measurement can be performed.

Next, the overall flow of the control system will be described with reference to the flowchart shown in FIG. When the apparatus is started, the computer CPU first enters an operation for determining the tension. [Operation for determining tension]

This starts by measuring the tension of the wire of each anchor winch when the barge is at rest with the tensiometer 1. The barge is not only affected by the wire tension, but is also subject to external forces such as tide and wind. Since the vector sum of the external force and the wire tension becomes zero and the barge is stationary, the external force can be calculated from the wire tension.

The actual operation is performed as follows. First, the brake release electromagnetic valves 22 provided on each winch are excited to release the brake (step S1).

When the brake is released, the tension of the wire is applied to the hydraulic motor of the winch, and appears as a differential pressure between the inlet and the outlet of the hydraulic motor. The tension meter 1 measures the tension by measuring the differential pressure. The measurement output of the tensiometer 1 is given to a computer CPU, which converts it into a tension value. This conversion is performed based on factory calibration data for the hydraulic motor used for the anchor winch.

In order to check whether the tension of each wire is appropriate or not, the tension value of each winch is compared with a preset target tension value. Insufficiently, a message is displayed on the display to prompt the operator to perform the operation to reach the target tension by the winch operation and wait for an instruction from the operator (steps S2, S3, S4).
At this time, the current tension value of each winch is displayed to inform the user of the state.

The operator looks at this display, determines whether or not to tighten the wire, and gives an instruction from the keyboard (S5). If the instruction is an instruction to fasten a wire, the computer CPU issues a winch winding operation command to cause each winch to wind (S
9). Then, the tension of each wire is checked again (S3). As a result of this check, if the tension of each wire is appropriate, the winding of the winch is stopped, the tension is determined by the current value, and the process returns to step S2 (S8).

If the instruction in step S5 does not require the wire tightening, the computer CPU sets the target tension to the current tension value.
Return to 2 (S6, S7).

In this way, the tension of each wire is checked. If the tension is insufficient, the tension is adjusted by an operator's command. If the tension of each wire is appropriate, these values are used and the current tension of each wire and the external force are used. Move to the balance calculation. [Calculation of the balance between the tension of each wire and the external force] That is, if the tension value is determined, the computer CPU calculates the current balance between the tension of each wire and the external force using the determined tension data.

In this calculation, since the balance between the tension of each wire and the external force has a relationship as shown in FIG.
~ Can be calculated using equation (3). The external force and the point of action of the external force can be estimated (identified) by the force balance and the moment balance. This calculation result is used in the stage of calculating the wire operation amount described below.

[0064]

(Equation 1) [Calculation of wire operation amount]

On the other hand, the data of the coordinates of the current barge position and the target position is transmitted from the transfer position measuring device 2 to the computer CP.
U has been entered. Therefore, the computer CPU sets the shortest course from the current position to the target position based on the data. This is a straight line connecting 15 and 16 in FIG. Where 15 is the barge center coordinate of the current position,
Reference numeral 16 denotes barge center coordinates at the target position.

Next, the computer CPU sets a point at a minute distance interval, for example, every 20 cm on the shortest course. This is the minute interval point 18 in FIG. The minute distance indicated by 18 depends on the performance of the winch and the size of the barge, and can be adjusted at a later date.

At each of the 18 points, the tension of each anchor wire that can be stopped without rotating the barge is obtained as the optimal solution of the relational expressions (1) to (3) based on FIG. However, it is assumed that the magnitude and direction of the external force do not change from those obtained earlier.

In this manner, the tension of each anchor wire 11 is obtained, and if the tension is determined, the length of the wire corresponding to the tension of the wire can be calculated using a known catenary equation.

Accordingly, the computer CPU calculates the length of the wire corresponding to the wire tension using the catenary equation. The difference between the calculated wire length and the current wire length is determined as a wire operation amount. It goes without saying that the current wire length is input to the computer CPU by the wire length meter 5. By performing a series of these calculations for each of the 18 points which are minute distance intervals on the shortest course, the wire operation amount at each of the 18 points can be obtained. [Control amount setting for winch controller 9]

After completing a series of calculations in this way, the computer CPU sets a control amount for the winch controller 9 next. This means that, of the wire operation amounts obtained as described above, the one with the maximum length is operated at the optimum winch speed, and for other winches, the value obtained by dividing the wire operation length by this operation time is used as the winch speed. Just set it.

In this way, each anchor / point between the points at the minute distance indicated by reference numeral 18 on the shortest course 17
A program curve in which the winch speed of the winch is set is obtained. This is shown in FIG. In FIG. 6, the four anchor winches attached to the barge are shown as “winch 1” to “winch 4”. The control amount of the winch controller 9 is set along the program curve.

After the wire tension is determined, the above-described calculation in the process of setting the control amount is performed in step S13. This is performed after the determination of the tension data and the following procedure.

That is, in step S2, if the tension data is confirmed, the operation state of each winch is checked (S10). If the winch is operating, the display of the operation is displayed on the display. (S1
1) Wait for a predetermined time (S12). Then, the process proceeds to step S13, and the above-described calculation is performed. Then, when the setting of the control amount based on the calculation result in step S13 is completed, the flow proceeds to winch control using this. [Barge movement control by winch control]

This control is performed after step S14. First, the computer CPU determines that the wire operation amount necessary for moving the barge 12 to the target position 14 reaches a preset switching target value αm (threshold value for confirming whether the wire operation amount has become small). It is checked whether or not the operation has been performed (S14). If it has not been reached, each winch is operated at a speed in accordance with the above-mentioned program curve, or the winding operation is carried out to perform the operation of changing boats (normal ship operation (S17)).

From the wire length meter 5, measured values of the wire length of each winch are sequentially input to the computer CPU. Accordingly, the wire operation amount necessary for moving the barge 12 to the target position 14 is set to the preset switching target value αm.
If not reached (S14), each winch is operated at a speed in accordance with the above-mentioned program curve, or the wind-in operation is carried out to carry out a changeover operation (normal ship operation (S1)).
7)).

If the amount of wire operation required for moving the barge 12 to the target position 14 becomes small, the computer C
The PU changes the setting of the winch speed from the optimum winch speed to the minimum winch speed in order to stably stop the barge 12 (S15).

When the remaining amount of the wire operation amount becomes equal to or less than the predetermined lower limit value βm, that is, the measured value of the wire length of each winch output from each wire length meter 5 changes between the target points. If the wire operation length is reached (S1
6) The barge position is confirmed (S18 to S19). If the barge position reaches the target position (target coordinate position), the computer CPU locks the brake of each winch and ends a series of sequences (S19 to S22). ).

As a result of confirming the position of the barge (S19),
If the target position has not been reached, the operator instructs the operator (S20). If the operator instructs the forced termination from the keyboard, the computer CPU locks the brake of each winch and ends a series of sequences (S20).
22). In S20, if the operator's instruction is a re-operation, the re-operation is displayed on the display (S20).
21), returning to step S1 to start over from the beginning;

With the above control, a stable transfer operation can be performed. In addition, a sand pile with high accuracy can be formed, and since the transfer operation is performed along the shortest course, the transfer operation can be performed. The efficiency can be improved.

As described above, the first and second embodiments are both
First, the wire tension is determined, and the shortest course to the target position for the transfer is determined.Then, the wire operation amount is determined so as to move the shortest course, and the wire operation is performed by the wire operation amount by the above tension. In this method, the wire operation amount for operating the wire with a tension that does not rotate the barge is determined, the winch is controlled, and the tension and position are not measured during the transfer. Was.

In the case of this method, since the barge is not rotated by the tension of each wire, it is necessary to control all winches at the same time, so that precision of each winch is required. Therefore, a third embodiment of the present invention will be described, which is a little rougher and can control the boat turning operation so that the barge does not rotate. (Third embodiment)

In this embodiment, when the barge is moved to the target point, the wire transfer operation is controlled while the wire to be paid out is extended with some allowance. In the winch on the wire feeding side, the moment of the barge when the wire is fed out to a certain extent is obtained, and the moment range in which the barge does not rotate can be obtained by considering the barge resistance value and the like by the calibration.

Accordingly, by controlling the amount of unwinding and winding of the wire, the speed, and the like so as to be within the moment range in which the obtained barge does not rotate, the barge can be rotated quickly and without rotating. It can be moved stably.

In this embodiment, the shortest course to the target position in the previous embodiment is separated by a minute interval, and the winch is controlled in accordance with the wire operation amount for each section. Determine the wire tension and the length of each wire, and control the wire length so that the length of each wire is reached. Is adopted. Then, when the wire is fed, the feeding of the wire is controlled so as to be within the moment range where the barge is not rotated.

In the case of this embodiment, as shown in FIG. 7, the anchors and winches of the four anchors and winches of the barge 12 are used.
The wire 11 extends the right one diagonally to the left and stretches it.
Stretch the left one diagonally to the right. In other words, stretch like a cross. Then, the control contents of the computer CPU in the second embodiment are changed as shown in the flowchart of FIG. The flow chart of FIG.
However, there is a change in part of step S13 and steps S14 to S17.

That is, the tension of each wire is checked. If the tension is insufficient, the tension is adjusted by an operator's command. If the tension of each wire is appropriate, these values are used to balance the current tension of each wire and the external force. Is the second
This is the same as the embodiment (calculation of the balance between the current tension of each wire and the external force using the determined data of the tension value).

The calculation of the balance is based on the relationship shown in FIG. This seems to be slightly different since the previous embodiment is based on FIG. 4, but in the previous embodiment, the extending direction of the anchor wire is the radiation direction as viewed from the barge,
This embodiment is based on the point of crossing.

However, when this balance is calculated by formulating the balance between the tension of each wire and the external force from the relation shown in FIG. 9, the relations of the above-mentioned equations (1) to (3) are obtained.
Is the same. Therefore, by calculating using the relations of Expressions (1) to (3), it is possible to estimate the external force and the point of action of the external force from the balance of the force and the balance of the moment.

Then, using this and the data of the coordinates of the current position and the target position of the barge obtained from the transfer position measuring device 2, the wire change amount from the current position of the barge to the target position and the tension at the target position are obtained. Is obtained by a catenary operation formula.

Then, a moment range in which the barge does not rotate when the wire on the payout side is gradually fed out is obtained from the wire change amount obtained by the catenary operation formula.

Theoretically, the barge should rotate with a very small change in tension, but does not actually rotate to some extent. It is assumed that the range in which the rotation does not occur is held as data by calibration. Therefore, when obtaining a moment range in which the barge does not rotate (hereinafter, this is referred to as a safe moment range), the calibration data is taken.

In the step of controlling each winch (steps S14 to S17) for the transfer, the tension of the wire is adjusted so as to have a moment value within the safe moment range obtained in this way, and the tension is maintained. In order to be able to do so, by starting the feeding and winding of the wire, the boat is changed by the wire operation so as to be always within the safe moment range. However, it is assumed that the magnitude and direction of the external force do not change from those obtained earlier. When the barge position reaches the target position (target coordinate position), a series of sequences is completed as in the previous embodiment.

The operation of the third embodiment in which such a function is provided to the computer CPU will be described. Except for the above differences, the system configuration is the same as that of the second embodiment.

The overall flow of the control system is as shown in the flowchart of FIG. 8 and will be described with reference to this flowchart.
When the apparatus is started, the computer CPU first enters an operation for determining the tension. [Operation for determining tension]

This starts by measuring the tension of the wire of each anchor winch when the barge is at rest with the tensiometer 1. The barge is not only affected by the wire tension, but is also subject to external forces such as tide and wind. Since the vector sum of the external force and the wire tension becomes zero and the barge is stationary, the external force can be calculated from the wire tension.

The actual operation is performed as follows. First, the brake release electromagnetic valves 22 provided on each winch are excited to release the brake (step S1).

When the brake is released, the tension of the wire is applied to the hydraulic motor of the winch, and appears as a differential pressure between the inlet and the outlet of the hydraulic motor. The tension meter 1 measures the tension by measuring the differential pressure. The measurement output of the tensiometer 1 is given to a computer CPU, which converts it into a tension value. This conversion is performed based on factory calibration data for the hydraulic motor used for the anchor winch.

In order to check whether or not the tension of each wire is appropriate, the tension value of each winch is compared with a preset target tension value. Insufficiently, a message is displayed on the display to prompt the operator to perform the operation to reach the target tension by the winch operation and wait for an instruction from the operator (steps S2, S3, S4).
At this time, the current tension value of each winch is displayed to inform the user of the state.

The operator looks at this display, determines whether or not to tighten the wire, and gives an instruction from the keyboard (S5). If the instruction is an instruction to fasten a wire, the computer CPU issues a winch winding operation command to cause each winch to wind (S
9). Then, the tension of each wire is checked again (S3). As a result of this check, if the tension of each wire is appropriate, the winding of the winch is stopped, the tension is determined by the current value, and the process returns to step S2 (S8).

If the instruction in step S5 does not require the wire tightening, the computer CPU sets the target tension to the current tension value.
Return to 2 (S6, S7).

In this manner, the tension of each wire is checked. If the tension is insufficient, the tension is adjusted by an operator's command. If the tension of each wire is appropriate, these values are used and the current tension of each wire and the external force are used. Move to the balance calculation. [Calculation of the balance between the tension of each wire and the external force] That is, if the tension value is determined, the computer CPU calculates the current balance between the tension of each wire and the external force using the determined tension data.

In this calculation, since the balance between the tension and the external force of each wire has a relationship as shown in FIG.
~ Can be calculated using equation (3). FIG.
9 and FIG. 9, T1 to T4 are the tensions at the current position, T1 'and T4' in FIG. 7 are the tensions during the transfer, T1 "and T4" are the tensions at the target position, A is a feeding moment, and B is a winding moment.

The external force and the point of application of the external force can be estimated (identified) by the balance of the force and the balance of the moment. This calculation result is used in the stage of calculating the wire operation amount described below. [Calculation of wire operation amount]

On the other hand, the data of the coordinates of the current barge position and the target position is transmitted from the transfer position measuring device 2 to the computer CP.
U has been entered. Then, based on this and the estimation result of the external force and the action point of the external force described above, the wire change amount from the current position to the target position and the tension at the target position are obtained by a catenary operation formula. A safe moment range in which the barge does not rotate when the wire on the payout side is gradually fed out is obtained from the wire change amount obtained by the catenary operation formula.

Theoretically, the barge should rotate with a very small change in tension, but does not actually rotate to some extent. This non-rotational range is stored as data by calibration. Therefore, using this calibration data, a safe moment range in which the barge does not rotate is determined. Then, the tension within the safe moment range is obtained. [Control amount setting for winch controller 9]

After completing a series of calculations in this way, the computer CPU gives the winch controller 9 a corresponding control amount to adjust the tension of each wire so as to have a moment value within the obtained safe moment range. .

After the wire tension is determined, the above-mentioned calculation in the process of setting the control amount is performed in step S13. This is performed after the tension data is determined and the following procedure is performed.

That is, in step S2, when the tension data is confirmed, the operating state of each winch is checked (S10). If the winch is operating, the display of the operating state is displayed on the display. (S1
1) Wait for a predetermined time (S12). Then, the process proceeds to step S13, and the above-described calculation is performed. Then, when the setting of the control amount based on the calculation result in step S13 is completed, the flow proceeds to winch control using this. [Barge movement control by winch control]

This control is performed after step S14. The winch controller 9 is a computer CP
Each winch is controlled in accordance with the control amount from U. In order to maintain the tension within the safe moment range, the wire of each anchor and winch is controlled to be fed out and entangled. When the position is reached, the wire operation is performed so that the tension value at the previous target position is reached, and the control is terminated.

Specifically, the computer CPU first determines whether the wire operation amount required for moving the barge 12 to the target position is a preset switching target value αm (whether the wire operation amount has become small or not). Is checked (S14), and if not reached,
Each winch is rolled by performing a winding operation (the winch on the wire winding side) having the tension value obtained above and a feeding operation (a feeding operation of the winch on the wire feeding side) so as to have a tension within the safe moment range. The ship is operated (normal ship operation (S17)).

That is, the normal ship maneuvering in this embodiment (S1
7) First, the wire is fed, the tension is checked, the moment is calculated, and it is checked whether or not the result is the limit of the safe moment range. If not, the wire is fed, and the tension is checked again. Perform a moment calculation and check whether the result is the limit of the safe moment range.If the result of the moment calculation is the limit of the safe moment range, wind the wire and measure each tension. If the moment calculation result is not within the safe moment range, wind the wire, measure each tension, perform the moment calculation using this, and check whether the moment calculation result is within the safe moment range. The process of checking is repeated, and when the vehicle enters the safe moment range, the process returns to S14.

From the wire length meter 5, measured values of the wire length of each winch are sequentially input to the computer CPU. Therefore, when the wire operation amount required for moving the barge 12 to the target position does not reach the preset switching target value αm (S14), the respective winches are extended or retracted so that the respective winches have the above-mentioned tension values. It is normal ship maneuvering to perform the transfer operation.

As a result, during the movement of the barge (such as the position indicated by reference numeral 14 in FIG. 7), as indicated by reference numeral 13 in FIG. 7, the wire of the winch on the wire feed-out side is loosened, and the wire of the winch on the wire winding side is loosened. The barge is moved toward the target position in a state in which the barge is taut.

If the amount of wire operation required to move the barge 12 to the target position becomes small, the computer CPU
Controls each winch so that the moment becomes zero in order to stably stop the barge 12 (S15). That is, when the wire operation amount necessary for moving the barge 12 to the target position has reached the preset switching target value αm (S14), the wire is fed on the wire winding side, and the wire is fed on the wire feeding side. The wire is wound up, the tension is measured, and the moment is calculated using this. Then, it is checked whether the calculated value is almost zero, and if not almost zero, the wire is fed out on the wire winding side, the wire is wound on the wire feeding side, and then the tension is measured. Is used to calculate a moment, and a process of checking whether or not the calculated value is substantially zero is repeated. Calculated value (moment calculated value)
Is substantially zero, the process proceeds to S16. The above is the details of the processing in S15 in the third embodiment.

The processing in S16 is the same as in the previous embodiment, and the remaining amount of the wire operation amount is set to a predetermined lower limit β
Check if m has been reached. As a result, if it is equal to or more than the lower limit βm, the process returns to S15. If it is equal to or less than the lower limit βm, that is, if the measured wire length of each winch output from each wire length meter 5 is measured between target points. When the wire operation length is reached (S16), the barge position is confirmed (S18 to S19). When the barge position reaches the target position (target coordinate position), the computer CPU locks the brake of each winch, End a series of sequences (S
19 to S22).

As a result of confirming the barge position (S19),
If the target position has not been reached, the operator instructs the operator (S20). If the operator instructs the forced termination from the keyboard, the computer CPU locks the brake of each winch and ends a series of sequences (S20).
22). In S20, if the operator's instruction is a re-operation, the re-operation is displayed on the display (S20).
21), returning to step S1 to start over from the beginning;

In summary, in the third embodiment, the tension of each wire of each anchor winch when the barge is at rest (state in which the moment is balanced) is calculated for each anchor winch. While measuring with each tension meter, the tension at the target position and the wire length are calculated from the coordinates of the target position from the transfer position measuring device using the catenary calculation formula, and when moving to the target position, one of the anchors and winches is used. , For the winch on the wire payout side, find the safe moment range that is the moment range where the barge does not rotate when the wire is paid out, and extend it so that the moment value is within the calculated safe moment range. / Calculate the winding amount and provide for control. The wire operation amount for each winch obtained in this manner is used for winch control at a winch speed suitable for the characteristics of the winch.

In this way, the tension of the wire is adjusted so as to have a moment value within the safe moment range, and the feeding and winding of the wire are started so as to maintain the tension. When the boat is turned by operation and the wire operation amount to the target position becomes small, the winch speed setting is changed from the optimum winch speed to the minimum winch speed in order to stably stop the barge. However, the speed setting change point and the optimum speed depend on the performance of the winch and the size of the barge, so that they can be adjusted at a later date. When the wire length from the wire length meter reaches the wire operation length between the target points, the operation is to end a series of sequences.

As described above, in the third embodiment, the tension of each wire is adjusted so as to have a moment value within the safe moment range, and the feeding and winding control of each anchor / winch wire is controlled so that the tension can be maintained. It starts and always changes the boat by operating the wire within the safe moment range.

In this manner, the wire of the payout side winch is controlled to have a tension within the range of the safe moment, and the winding side winch is controlled to have a predetermined tension. The winch can be controlled with a margin, and it can perform a stable turnover operation.In addition, it is possible to move to the target position using the coordinates obtained by measuring the current position and the target position first. Since there is no error accumulation compared to the conventional method that repeats own ship position measurement in the middle stage, even if a relatively low-accuracy position measurement device is used, a sand pile with higher accuracy than before can be used. In addition to being able to construct, the ship can be turned with relatively rough wire tension control, so that the system can be constructed at low cost.

In particular, when controlling while measuring the tension,
The wire tension during winding and unwinding is so pulsating that it is difficult to measure the wire tension correctly, which often causes a problem.In this embodiment, the winch on the wire unwinding side has a marginal control. To make it possible,
Not only the pulsation of the tension is reduced, but also if a precise measurement value is not obtained, a safe transfer operation can be performed.

The present invention is not limited to the above-described embodiment, but may be modified as appropriate without departing from the scope of the invention. For example, in the above embodiment, four points of anchor wires are stretched on the barge. However, three or more points can be used.

[0123]

As described in detail above, according to the present invention, there is provided an automatic transfer device for a floating body on water, which can perform an automatic transfer operation accurately, safely, and in a short time. can do.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining a first embodiment of the present invention, and is a block diagram showing an overall configuration.

FIG. 2 is a diagram for explaining a barge transfer operation.

FIG. 3 is a block diagram showing a second embodiment of the present invention.

FIG. 4 is a flowchart of a transfer control system according to a second embodiment of the present invention.

FIG. 5 is a diagram showing a balance of forces when the barge is stationary.

FIG. 6 is a diagram showing a curve of a winch operation amount program.

FIG. 7 is a view for explaining a barge transfer operation according to a third embodiment of the present invention.

FIG. 8 is a flowchart of a transfer control system according to a third embodiment of the present invention.

FIG. 9 is a diagram showing a force balance when the barge is stationary in the third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Tensiometer 2 ... Ship turning position measuring device 3 ... Moment calculator 4 ... Wire feeding and winding amount calculator 5 ... Wire length gauge 6 ... Barge rotation angular velocity meter 7 ... Barge model adaptive control unit 8 ... Winch operation signal Generator 9 ... Winch controller 10 ... Anchor 11 ... Winch wire 12 ... Barge 13 ... Winch wire 14 ... Transfer position of barge 12 19 ... Computer (general-purpose personal computer) 21 ... CRT display 22 ... Brake release valve

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B63B 21/00 B63B 21/04 B63B 21/16 B63B 21/50 B63B 35/44 B63H 15/00

Claims (2)

(57) [Claims] A winch is provided at a plurality of points on a floating body, and the position of a wire end of the winch is set outside the moving range of the floating body. In a transfer device for moving the floating body to a target position by changing the length, measuring means for measuring a current position of the floating body and a target position of a movement destination; and a current position obtained by the measuring means. The function to set the shortest course from the current position to the target position based on the information of the target position and to divide the shortest course into a plurality of sections, the necessary wires for each section when moving on the shortest course operation means having a function of calculating the tension of, from the tension of the wires obtained by the calculation means, an operation amount calculating means for calculating an operation amount of each winch wire, Wire to measure the actual wire length for each winch length meter
Measuring means, and a rotational angular velocity measurement for measuring a rotational angular velocity of the floating body above water
Means and actual wires for each winch obtained by these measuring means
Length and rotation angular velocity, and each obtained by the operation amount calculation means
Based on the operation amount of the winch and the model
A model that calculates the correction amount so that the rolling moment becomes zero.
Adaptive control means , the correction amount obtained by the model adaptive control means,
A control means for controlling each winch in accordance with the corrected manipulated variable in which the manipulated variable is corrected ; 2. A winch is provided at a plurality of points on the floating body, and the position of the wire end of the winch is set outside the range of movement of the floating body. In a transfer device for moving the floating body to a target position by changing the length, a measuring means for measuring a current position of the floating body and a target position of a movement destination; and a current position obtained by the measuring means. Function to calculate the wire change amount from the current position to the target position and the tension at the target position based on the information of the target position and the target position, and when the wire of the winch from which the wire change amount is advanced is gradually fed out Calculating means having a function of obtaining a safe moment range in which the floating body in the water does not rotate, tension measuring means for measuring the tension of each wire, and tension measuring means Means for calculating a moment using the tension value of each wire measured by the above; and operation amount calculation means for calculating the operation amount of the wire of each winch from the tension of each wire obtained by the calculation means. Control means for controlling each of the winches on the take-up side in accordance with the manipulated variable, and for controlling each of the winches on the pay-out side such that the above-mentioned moment is within the above-mentioned safe moment range, comprising: Transfer equipment.