JPH0312032B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a cable encroachment detection device for a mooring aircraft.

In recent years, there has been an increasing need for automation in ship navigation due to rising labor costs and a shortage of crew members.
Considering the automation of mooring as one of these, it is necessary to control the mooring machine in the order of mooring → ship position control (while moored) → leaving the berth. In this case, if the mooring line bites (the cable that should be wound on the outside is bitten into the layer wound inside the mooring machine, making it impossible to let out the line), control becomes uncontrollable.

Therefore, a method has been proposed in which a pinch roller is used to control the tension of the cable so that the cable does not become wedged when the cable is wound in, and a rope shifter is used to wind the cable in an orderly manner. However, this method cannot be applied to automated mooring. In other words, when controlling the ship's position, the cable tension is extremely large, and the pinch rollers and rope shifters have insufficient capacity, so they must be released, and the cables are directly entangled by the mooring machine's driving force, causing damage to the cables. Encroachment will occur.

This invention has been made in view of the above-mentioned circumstances, and it is an object of the present invention to provide a cable encroachment detection device that detects encroachment of a cable and immediately takes a process to release the unraveling when automating mooring. This is the purpose.

The mooring machine cable encroachment detection device of the present invention includes a mooring machine rotation speed meter, a mooring line payout speed meter,
It consists of a judgment circuit that compares and judges the signals from both speedometers with a reference value.

An embodiment of the apparatus of the present invention will be described below with reference to FIG. 2 in the figure is a mooring machine (winch) that winds in and lets out the mooring line 3 installed on the hull 1. A pinch roller 4 and a rope shifter 5 are provided so that the mooring line 3 is wound around the rope layer wound around the mooring machine 2 without biting into it. The pinch roller 4 is configured to be rotated in synchronization with the mooring machine 2 so that the mooring line 3 does not slacken between the mooring machine 2 and the mooring machine 2. Also rope shifter 5
is adapted to be reciprocated in synchronization with the mooring machine 2 so as to guide the rope on the inner layer wound around the mooring machine. Mooring line 3
The pinch rollers 4 and rope shifter 5 may be opened when a large tension is applied to the rope, such as when a tugboat is pulling the tip of the rope or when the tip is fixed to a bit on a quay. 11 is mooring machine 2
A tachometer attached to the shaft of the mooring machine detects the rotation angle and rotation speed of the mooring machine. Reference numeral 12 denotes a cable length meter for detecting the length and speed of the mooring line 3. For example, the length and speed of the mooring line 3 can be detected from the number of rotations and rotational speed of a roller that rotates in contact with the rope. There is. Then, the rotational speed signal and the let-out speed signal from the tachometer 11 and the cable length meter 12 are sent to a judgment circuit 13, which compares and judges the rotational speed and the let-out speed with a reference value to detect cable digging. .

The operation of the device of the present invention will be explained below. First, FIG. 2 shows a situation in which the cable 3 is let out with the cable 3 biting into the mooring machine 2.

(a) The mooring line 3 is let out according to the rotation of the mooring machine 2 until it reaches the biting point (at this time, tension is applied to the rope by pinch rollers 4 or quay bits, etc.) The cable 3 stops feeding out in the vicinity where it directly faces the length 12.

(c) When the mooring machine 2 attempts to rotate past (b), (1) If the rope tension is greater than the torque of the mooring machine 2, the mooring machine 2 will stop.

(2) If the cable tension is smaller than the torque of the mooring machine 2, the cable 3 will be caught in the mooring machine 2.

This situation is shown graphically in Figures 3 and 4. Here, penetration (1) and (2) correspond to (1) and (2) in (c) above.
Further, it is assumed that the rotation angle θ, the rotation speed θ〓, the cable payout length x, and the payout speed x of the mooring machine take positive values when the cable is paid out.

Therefore, while the mooring line 3 is being let out, the judgment circuit 1
3, as shown in Fig. 5, the rotational speed x of the mooring machine 3
Compare with the reference value 0 and determine θ〓≦0 (state of intrusion (1))
That is, when the mooring machine stops, it issues a cable jamming signal. Then, the mooring machine 2 is rotating, that is, θ〓>0
Even if , the cable pay-out speed x is compared with the reference value α to determine x = ≦ α (state of encroachment (2)), that is, when the cable is entangled in the mooring machine, a cable encroachment signal is issued. . In this way, cable encroachment can be completely detected. Although the reference value α at this time may be zero in principle, it is preferably set to a negative value in order to eliminate instability due to extension of the mooring line, etc.

The cable encroachment detection device for a mooring machine according to the present invention is as described above, and can reliably detect cable encroachment with a relatively simple configuration.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an embodiment of the device of the present invention;
Figures 2a, b, and c are explanatory diagrams showing over time how the cable is fed out when the cable is biting in, and Figures 3a, b, and 4a, b are the cases in which the cable is not biting in, respectively.
FIG. 5 is an explanatory diagram showing changes in the rotation angle, rotation speed, cable payout length, and payout speed of the mooring machine when the mooring machine is wedged in. FIG. 5 is a function explanatory diagram of the comparison judgment circuit. 2... Mooring machine, 3... Mooring line, 11... Mooring machine tachometer, 12... Cable payout speed meter, 13...
...comparative judgment circuit.

Claims (1)

[Claims] 1. A mooring machine cable encroachment detection device comprising a mooring machine tachometer, a mooring line payout speed meter, and a judgment circuit that compares and judges the signals from both speedometers with their respective reference values.