JPH0425600B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application This invention relates to a coordinate detection device for detecting the position and direction of a ship.

(b) Prior art In general, when measuring the magnetic distribution of a ship containing a magnetic material, it can be done on land such as in a dock, but in most cases it is done while the ship is moored at sea to save time and effort. There is. In this case, multiple magnetic detectors are installed on the ocean floor to measure the magnetic distribution.

These magnetic detectors are not installed in a matrix, but only in a straight line, so if the ship is stopped in the direction of the magnetic detectors, the magnetic distribution can be accurately measured. Since it is located at sea, it is not possible to obtain an accurate magnetic distribution if the ship moves due to wind or other factors.

Therefore, conventionally, in order to understand the condition of a ship,
The ship's position and direction were measured from land using electrical or optical rangefinders using radio waves, and the magnetic distribution was corrected based on the measurement results.

However, since the vessel condition is measured using separate means, the measurement itself becomes large-scale, and if you try to systemize it, there are problems that the configuration will be complicated, large, and expensive. Ta.

(C) Purpose This invention was made in view of the above points, and utilizes the fact that the magnetic field emitted by the magnetic material of a ship is a function of position and direction, and the ship's position can be determined from the magnetic signal detected by the magnetic detector.・Detect the direction,
It is an object of the present invention to provide a coordinate detection device for a ship that can systemize magnetic distribution measurement with a small and simple configuration.

(D) Structure In order to achieve the above object, the present invention includes a plurality of magnetic detectors installed on the seabed to detect the magnetic field emitted by the magnetic material of a ship, and magnetic signals from the magnetic detectors detect the vertical direction of the magnetic field. a first measuring means for measuring the distribution of the directional component; a second measuring means for measuring the distribution of the planar component of the magnetic field based on the magnetic signal of the magnetic detector; and determining the ship position from the measured distribution of the first measuring means. The vessel is configured to include a first calculating means for calculating, and a second calculating means for calculating the ship's heading from the measurement distribution of the second measuring means.

(e) Embodiment Hereinafter, an embodiment of the present invention will be described in detail based on the drawings.

As shown in FIGS. 1 to 6, reference numeral 1 is a coordinate detection device that detects the position and direction of a ship 3 moored on the sea surface with a rope 2 or the like.

This coordinate detection device 1 includes a plurality of magnetic detectors 4, 4, 4, . . . . Magnetic detector 4
is installed in a straight line on the seabed, and is designed to detect the magnetic field emitted by the magnetic material of the ship 3 (however, the magnetic moment is only in the vertical direction).

The magnetic field emitted by the magnetic material of this ship 3 travels underwater 3
It will propagate in the axial direction, and the Z component in the Z axis direction (vertical direction), the X component in the
It is synthesized with ingredients. And magnetic detector 4
is designed to detect the Z component, X component, and Y component and output magnetic signals H _z , H _x and H _y .

This Z component is divided between the X axis and the Y axis as shown in Figure 3.
2 of the axis (on the row line of the magnetic detector 4 and in the orthogonal direction)
Equimagnetic potential lines are distributed concentrically in the next plane. Therefore, when the ship 3 is stopped at the origin 0, the magnetic detector 4 directly below the ship 3 detects the maximum value of the Z component, and the magnetic detectors 4 that are sequentially separated in the X-axis direction detect small values. . Then, ship 4
Even when moving to a point, the distribution of the Z component is measured from the magnetic signals H _z of the plurality of magnetic detectors 4 (first measuring means). In other words, the distribution of the Z component has a quadratic curve shape as shown in Fig. 4, and the moving distance X0 in the X-axis direction is calculated from the peak value on the X-axis (first calculation means). . Furthermore,
Points X1 and X2 where the Z component becomes zero are measured on the X-axis, so the distance traveled in the Y-axis direction from these points X1 and X2 is measured.
Y0 is calculated (first calculation means). That is, the magnetic signal H _z of the Z component ^is H _z = M( ^{2Z 2} −X ^{2 −Y 2} )/(X ² Therefore, this magnetic signal
The point X where _Hz becomes zero is expressed as X=±√2 ² − ² .

Therefore, if the zero points in the X-axis direction are X1 and X2, then X1 − X2 = 2√2 ² − ² , and by substituting the measurement points X1 and
Y0 is calculated.

On the other hand, as shown in FIG. 5, the X component has a maximum value (in opposite directions) at the bow 3a and stern 3b in the quadratic plane of the X and Y axes, and becomes zero at the center.
Even if the ship 3 tilts around the origin 0, the distribution of the X component is measured from the magnetic signals H _x of the plurality of magnetic detectors 4 (second measuring means).
In other words, the distribution of the X component becomes sinusoidal as shown in FIG. Based on the distribution of this X component, when the ship 3 is stopped on the X-axis direction (on the row line of the magnetic detector 4), the The orientation is calculated from the peak-to-peak length (La-Lb) in the X-axis direction, which is measured by calculating the length on the axis (La-Lb) in advance (second calculation means). That is, the magnetic signal H _x of the X component is expressed as H _x = MXZ / (X ² + Y ² + Z ² ) ^2.5 , and from this, the peak-to-peak length (La - Lb)
and is configured to calculate the direction.

Next, the coordinate detection operation will be explained based on the control flow shown in FIG.

First, with the ship 3 moored on the sea,
Magnetic signals H _z and H _x of the magnetic field generated by the ship 3 are detected by a magnetic detector 4 at step (hereinafter referred to as ST) 1.
is detected.

Subsequently, in ST2, a Z component distribution curve on the X axis (on the column line of the magnetic detector 4) is created from the Z component magnetic signal H _z as shown in FIG. 4 (first measuring means).

From this distribution curve, from the peak value at ST3
Calculate the moving distance X0 in the axial direction, and also calculate the zero point X
1. Calculate the moving distance Y0 in the Y-axis direction from X2 (first calculation means).

Subsequently, in ST4, the length (La-Lb) between the peak values of the X component in the X-axis direction (on the row line) for each direction of the ship 3 is calculated.

Next, in ST5, the length between peak values (La-Lb) is measured from the X-component magnetic signal H _x based on the distribution curve shown in FIG. 6 (second measuring means). and,
In ST6, the direction is calculated from the value calculated in advance in ST4 and the measured value (second calculation means).

Based on the position and direction of the ship 3, the magnetic distribution is corrected and created in ST7.

In this embodiment, the magnetic detector 4 is installed in the longitudinal direction of the ship 3, but it is also possible to install the magnetic detector 4 in the left-right direction (Y-axis direction) and detect the position and direction from the Z and Y components of the magnetic field. good.

(f) Effects As described above, according to the present invention, since the ship position and direction are detected based on the vertical component and the planar component of the magnetic field detected by the magnetic detector, processing of the detection results becomes extremely easy.

In particular, when measuring magnetic distribution, it is easy to correct, it can be systemized with magnetic distribution measurement, and the configuration is extremely simple and can be made small and inexpensive. I can do it.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a plan view of the coordinate detection device, Fig. 2 is a front view thereof, Fig. 3 is a distribution diagram of the Z component of the magnetic field, and Fig. 4 is a diagram showing the same in the X-axis direction. 5 is a distribution diagram of the X component of the magnetic field, FIG. 6 is a distribution diagram in the X-axis direction, and FIG. 7 is a control flow diagram for coordinate detection. 1: Coordinate detection device, 2: Rope, 3: Ship, 3
a: Bow, 3b: Stern, 4: Magnetic detector.

Claims (1)

[Claims] 1. A plurality of magnetic detectors that detect the magnetic field emitted by the magnetic material of the ship are installed on the seabed, and a first measuring means that measures the distribution of the vertical component of the magnetic field based on the magnetic signal of the magnetic detector; a second measuring means for measuring the distribution of the planar component of the magnetic field based on the magnetic signal of the device; a first calculating means for calculating the ship position from the measured distribution of the first measuring means; and a measured distribution of the second measuring means. 1. A coordinate detection device for a ship, comprising: second calculation means for calculating a ship direction.