JPS5833507B2 - Position measurement display device for offshore work vessels, etc. - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a position measurement and display device for a marine work vessel, etc., which confirms the current position of a dredger, other work vessel, or fish boat, and facilitates the transition to a planned position. be.

For example, dredgers and other offshore work vessels are used to carry out work at planned locations on the sea, but as more and more work is being done offshore, several kilometers away from the coastline, it is easy to confirm the current location and locate the planned location. It is becoming difficult to shift navigation to

However, in terms of cost, it is problematic to use a complex position confirmation mechanism similar to that used in sailing vessels for this type of offshore work vessel.

In addition, due to the issue of so-called economic zones, there is an increasing need for cultured fish farms with artificial reefs sunk to the seabed. There is also a strong need for a position confirmation mechanism for fish boats that catch fish at culture fish farms to easily confirm their current positions and facilitate navigational transition to the planned location of culture fish farms.

In view of the above facts, this invention has a simple structure instead of a complicated and expensive position confirmation mechanism like that used in sailing ships.
Provided is a new position measurement and display device for offshore work vessels, etc., which allows the current position up to several tens of meters offshore to be easily confirmed, and in a manner that facilitates navigational transition to the subsequent planned position. This is what I am trying to do.

Regarding the illustrated embodiment, the configuration of the position measurement and display device for a marine work vessel, etc. according to the present invention will be explained. In Fig. 1, S is a ship such as a marine work vessel, and A measurement and display device is loaded on board, and this position measurement and display device is of a known radio wave type, with the ship S as the main station M and two fixed points A1 and B on land as slave stations A and B. The distance measuring device 1 (Fig. 2), that is, the main station M receives the reflected waves of the emitted radio waves at each slave station A and B, and calculates the distance rl'tr2 between the master station M and each slave station A and B! ', that is, the current position P1 of the ship S and the two fixed points A, , B on land.

As shown in FIG. is digitally displayed, and the measured values r,' are displayed on the printer section 1b.

It is configured to print and record rI and generate electrical output signals 8gz8g2 in accordance with measured values r1' and r2'.

Further, as shown in FIG. 2, this position measuring display device is connected to the measuring device 1 and is provided with a computing unit 2 as described below.

That is, in the illustrated case, this computing unit 2 operates at the two fixed points A1. B, the distance a between them, and the planned position P.

and the two fixed points A, B, and the distance r1゜r2 are preset, and the electrical output signal r+'-8 of the measuring instrument 1 is
g+, r2'=sg2 are input, and these preset values a t rl j r2 and input values r,'-8g 1
, r2'=sg2, the planned position P.

The following orthogonal coordinate system with the origin as
Therefore, the current position (α, β) on the orthogonal coordinate system with the y-axis parallel to the line segment is calculated, and the calculated value α is calculated.

The circuit is configured to output β as an electrical output signal Sg3tSg+. Next, the principle of the above calculation will be explained with reference to FIG.

From the above preset value aj rl j r2 and input value Sg 1=r 1', 5g2=r2', θ
, θ' can be calculated.

When the angles θ and θ' are determined in this manner, as is clear from FIG. 3, it follows that α and β can be calculated according to equations (5) and (6).

That is, the calculator 2 calculates the preset values a j r, t
From r2 and input value 3g l= r l', 5g2r2', ZPoB, A1-θ, ZP according to equations (3) and (4)
lBlAl-θ' is calculated, and then this calculated value θ.

θ′, preset value r2 and input value r! Tokara formula (5)
, the planned position P according to (6).

It is configured to calculate the deviation α in the X-axis direction and the deviation β in the y-axis direction from the current position P.

As shown in FIG. 2, electrical output signals 5g3-α and 5g4-β of the computing unit 2 are connected to the computing unit 2.
It is input to a cathode ray tube display 3, which is an example of a display,
The current position pi (α, β) on the above-mentioned orthogonal coordinate system is displayed on the display 3.

Therefore, the planned position P. The deviation values α and β from the cathode ray tube center O, which correspond to P.

This makes it possible to easily reach the destination.

In order to improve the accuracy of the cathode ray tube disconnection, it is appropriate that the cathode ray tube display 3 be configured so that it can be switched between three ranges, for example, 1 km, 500 m, and 100 m.

As above, the planned position P.

and two fixed points A, , B1 on land are determined, then these points P.

. A triangle P is formed by connecting A,,B,.

Since A and B are regular shapes, this triangle P.

A numerical value specifying AlB, is preset in the calculator 2, and the above α,
It is clear that β can be calculated, and the triangle PoA1
As the numerical value for specifying B, other than the lengths of the three sides a trl t r2 as described above, other numerical values may be used.

In addition, the two coordinate axes x and y of the orthogonal coordinate system also have one coordinate axis X as described above at two fixed points on land A1. Line segment A, B connecting B1
In addition to being orthogonal to , the coordinate axes may be arbitrarily selected such as, for example, PoA, the line being taken as the X axis, etc. In short, the coordinate axes may be selected so as not to make the arithmetic expression too complicated.

The coordinate axes of this orthogonal coordinate system are also the planned position P of the ship S after measuring the current position P1.

To make the transition easier, you can also choose:

That is, as shown in FIG. 4, the y-axis is set in the north-south SN direction, that is, along the earth's axis.

At this time, ZPoAlBl is adjusted to θ1 as shown in FIG.
1. Let iP, A, B be θ1', and let the intersection angle between line segments A, B and the earth's axis be φ, and since the angle φ is determined when two fixed points A, , B1 are determined, the triangle P .

In addition to the numerical values that specify A1B1, the above angle φ is also preset in the calculator 2, and the preset value and input value r 1'-8
g], r2'-8g2, according to equation (9), α0) and equations aυ, α force, (2) Planned position P on the orthogonal coordinate system with the coordinate axis along the earth's axis.

The deviation α in the X-axis direction and the deviation β in the y-axis direction of the duck's current position P can be calculated.

In this way, the planned position P on the orthogonal coordinate system, where one coordinate axis is along the earth's axis.

When the deviations α and β from P are calculated and displayed, a gyro is used to determine the future planned position P.

This greatly facilitates the transition to the next stage.

Note that instead of the above-mentioned intersection angle ψ between the earth's axis and line segments A and B, another side P.

A1 or P. The intersection angle between B1 and the earth's axis may be preset in the calculator 2.

From such current position P1 to planned position P.

The facilitation of the transition to can be distantly related to the case where the orthogonal coordinate system according to FIG. 3 is selected as follows.

That is, as shown in FIG. 5, a large number of indication lines L1 are drawn in advance on the above-mentioned cathode ray tube display 3 to indicate the angle of deviation from the earth's axis. , on the cathode ray tube, the planned position P is immediately determined.

This allows the angle of deviation from the angle to be visually recognized.

In the case shown in FIG. 5, the planned position P is placed on the cathode ray tube in advance.

The current position P1 and the planned position P are plotted by drawing a number of circular indicating lines L2 indicating the distance from the current position P1.

The planned position P after the position measurement is made so that the absolute distance between them can be immediately recognized.

We aim to make the transition easier.

As mentioned above, the two fixed points on land AIjB1 and the current position 4
By configuring the measuring device 1 for measuring the distance between 1 and 2 as a radio distance measuring device, compared to the case of position measurement or distance measurement using optical means such as transjet or laser light, it is possible to The advantage of this method is that measurements can be made without the influence of turbulence, and that the measurement distance can be extended to a maximum of about 1100 km.

As described above, the current position P can also be expressed by the following index.

That is, as shown in FIG. 6, if the deviation values α and β on the orthogonal coordinate system in the case of FIG. 4 are found,
Current position P, and planned position P.

The distance between them and the deviation angle δ of the line segment P1Po with respect to the earth's axis can be found by, etc. Therefore, as mentioned above, the triangles PoA, B
, and the triangle P.

Preset the angle of intersection of one side of A and B with the earth's axis into a calculator, and input the measured values r1' and r2' into the calculator, and combine these preset values with the measurements. The above deviation angle δ and distance can be calculated from the values.

FIG. 7 shows a position measuring display device configured to display the current position P using the above-mentioned index according to the second invention, and the computing unit 2' in this embodiment is The above numerical values a, r1. r2. ψ is preset and the above measured value 8g, = r 1', 5g2
=r2' is input, formulas (9), (10) and formula 0υ
, 02) and 2〇 Station α(1), the current position P,
and the planned position P.

the distance between them, the current position P, and the planned position P.

It is configured to calculate the deviation angle δ of the line segment P1Po connecting between the two points with respect to the earth's axis.

The values calculated by the calculator 2' and δ are displayed digitally on a panel section 3' provided in the calculator 2'.

Of course, it is also possible to display the calculated value δ on a display separate from the calculator 2' instead of the display 3' attached to the calculator 2' itself.

According to this second invention, as is clear from the above description of FIG. 5, the movement to the planned position after position measurement is further facilitated.

As is clear from the above explanation, in the first invention, the position measurement and display device for a marine work boat, etc. of the present invention measures the distance between two fixed points on land and the current position, and measures the distance between two fixed points on land and the current position, and A measuring device that generates an electrical output signal; and a computing device that is preset with numerical values for specifying a triangle formed by connecting the two fixed points and the planned position, and is inputted with the electrical output signal from the measuring device. a computing unit that computes the current position on a rectangular coordinate system with the planned position as the origin from the preset value and the input value and generates an electrical output signal according to the computed value;
and a display device that receives the electrical output signal from the arithmetic unit and displays the current position on the orthogonal coordinate system, and in the second invention, the preset value In addition, the value of the angle between the inclination of the triangle and the axis of one side of the triangle is also preset in the calculation unit, and the calculation unit is used to calculate the value between the current position and the planned position, not the position on the orthogonal coordinate system as described above. The system is configured to calculate the distance between the current position and the deviation angle with respect to the earth's axis of the line segment connecting the current position and the planned position, and the current position of the offshore work vessel, etc. is automatically displayed. This makes it possible to easily and immediately confirm the current position, and in particular, it is configured to calculate and display the current position on an orthogonal coordinate system with the planned position as the origin. (first invention), or the position can be confirmed by the deviation value at Since the position is confirmed in the direction and distance to the position (second invention), it is easy to guide the ship to the planned position after confirming the current position. Yes, and since it has the above configuration,
It has the advantage of having a simple structure and being able to be installed on offshore work vessels and the like at an economical cost.

[Brief explanation of drawings]

Fig. 1 is a schematic explanatory diagram showing the position of a work boat, etc., Fig. 2 is a block diagram of one embodiment, Fig. 3 is an explanatory diagram of its calculation principle, and Fig. 4 is a calculation principle in another embodiment. FIG. 5 is a schematic front view showing a modified example of the display, FIG. 6 is an explanatory diagram of the calculation principle in another embodiment, and FIG. 7 is a block diagram of the same other embodiment. . S... Ship, A7. B...Fixed point on land, PO...Planned position, Pl...Current position, 1...Measuring instrument, 2.2'... ...Arithmetic unit, 3,3'...Display device.

Claims (1)

[Claims] 1. A measuring device that measures the distance between two fixed points on land and the current position and generates an electrical output signal according to the measured value, and a triangle formed by connecting the two fixed points and the planned position. A computing unit that is preset with a specific numerical value and inputted with an electrical output signal from the measuring device, and computes the current position on a rectangular coordinate system with the planned position as the origin from the preset value and the input value. Maritime work consisting of a computing unit that generates an electrical output signal according to a calculated value, and a display that receives the electrical output signal from the computing unit and displays the current position on the orthogonal coordinate system. Position measurement and display device for ships, etc. 2. The position measurement and display device for a marine work vessel or the like according to claim 1, wherein one coordinate axis of the orthogonal coordinate system is set to be an axis orthogonal to a line segment connecting the two fixed points. 3. In addition to the numerical values, the arithmetic unit is preset with the value of the intersection angle of any one side of the triangle with the earth's axis, and from the preset value and the input value, calculate the value on the orthogonal coordinate system with one coordinate axis aligned with the earth's axis. The position measurement and display device for a marine work vessel or the like according to claim 1, which is configured as a computing unit that calculates the current position. 4. The measuring device is configured as a radio distance measuring device,
A position measurement and display device for a marine work vessel, etc., according to any one of claims 1 to 3. 5 The @ display is configured as a cathode ray tube display,
A position measurement and display device for a marine work vessel, etc., according to any one of claims 1 to 4. 6 A measuring device that measures the distance between two fixed points on land and the current position and generates an electrical output signal according to the measured value, a numerical value that specifies the triangle formed by connecting the two fixed points and the planned position, and the triangle. A computing device which is preset with the intersection angle value with the earth's axis of any one side and is inputted with the electrical output signal from the measuring device, and which calculates the distance between the current position and the planned position from the preset value and the input value. and a computing unit that calculates the deviation angle with respect to the earth's axis of a line segment connecting the current position and the planned position and generates an electrical output signal according to the computed value, and a computing unit that receives the electrical output signal from the computing unit and generates the computed value. A position measurement and display device for a marine work vessel, etc., which is composed of a display device that displays the current position of a ship.