EP0129833B1 - Method of controlling the drift of an anchored ship and apparatus using the method - Google Patents

Method of controlling the drift of an anchored ship and apparatus using the method Download PDF

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Publication number
EP0129833B1
EP0129833B1 EP84107027A EP84107027A EP0129833B1 EP 0129833 B1 EP0129833 B1 EP 0129833B1 EP 84107027 A EP84107027 A EP 84107027A EP 84107027 A EP84107027 A EP 84107027A EP 0129833 B1 EP0129833 B1 EP 0129833B1
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Prior art keywords
vessel
signals
anchor
pick
board
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German (de)
French (fr)
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EP0129833A1 (en
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Martin W. Oettli
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/22—Handling or lashing of anchors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
    • B63B2021/009—Drift monitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S73/00—Measuring and testing
    • Y10S73/04—Piezoelectric

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Description

Die Erfindung betrifft ein Verfahren sowie eine Vorrichtung gemäß dem Oberbegriff des Anspruchs 1 bzw. des Anspruchs 6.The invention relates to a method and a device according to the preamble of claim 1 and claim 6.

Das Problem der Überwachung einer allfälligen Drift eines vor Anker liegenden Schiffes, insbesondere bei schlechten Wetterbedingungen und bei Dunkelheit ist von alters her wohlbekannt und hat in der Berufsschiffahrt zur Einrichtung der sogenannten Ankerwache geführt, d.h. zu der, meist mittels Peilungen durchgeführten, periodischen Kontrolle der genauen Schiffsposition durch ein Besatzungsmitglied. Diese Lösung ist aber für die heute zahlreichen, mit kleinen, meist aus Amateuren bestehenden Besatzungen fahrenden Vergnügungs-Einheiten nicht oder nur schlecht durchführbar. Ausserdem mangelt solchen Besatzungen in aller Regel die auf kleinen Einheiten früher weit verbreitete Erfahrung, welche zu beurteilen erlaubt, ob die - insbesondere nachts beschwerliche - Ankerwache überhaupt nötig ist oder nicht.The problem of monitoring a possible drift of an anchored ship, in particular in bad weather conditions and in the dark, has been well known from time immemorial and has led to the establishment of the so-called anchor watch in commercial shipping, i.e. to the periodic control of the exact position of the ship, usually carried out by bearing, by a crew member. This solution, however, cannot be carried out, or can only be carried out with difficulty, for the numerous amusement units which today operate with small crews, usually consisting of amateurs. In addition, such crews generally lack the experience previously widespread on small units, which makes it possible to assess whether the anchor watch - particularly difficult at night - is necessary at all or not.

Auch modernste elektronische Navigationsfühler, wie Echolot oder Satnav sind heute noch nicht exakt genug, um rechtzeitig die zunächst kleinen Lageverschiebungen eines vor Anker liegenden Schiffes anzuzeigen, wenn sein Anker anfängt zu rutschen oder ausbricht.Even the most modern electronic navigation sensors, such as echo sounder or Satnav, are not yet precise enough to indicate the small changes in position of a moored ship when its anchor begins to slide or break out.

Zur Lösung des Problems beschreibt das US-Patent US-A- 4 058 792 die Verwendung eines auf Grund liegenden, zweiteiligen Gewichtes mit einem Schalter, der anspricht, wenn Zugkräfte die beiden Teile voneinander trennen. Diese Vorrichtung hat den Nachteil, dass sie getrennt vom Anker verwendet werden muss und zudem keine sichere Beurteilung der Lageverschiebung ermöglicht, falls sie dem Grund entlang geschleift wird. Eine weitere, im US-Patent 3 428 942 vorgeschlagene Lösung umfasst eine am Anker angebrachte Vorrichtung, um die eventuelle Fortbewegung des Ankers durch den Sand oder Schlick hindurch festzustellen und zu melden. Für den praktischen Gebrauch hängt das Funktionieren einer solchen Vorrichtung allzusehr von der Bodenbeschaffenheit ab, wobei sie zumindest auf felsigem oder grasbewachsenem Grund nutzlos ist.To solve the problem, US Pat. No. 4,058,792 describes the use of an underlying, two-part weight with a switch that responds when tensile forces separate the two parts. This device has the disadvantage that it must be used separately from the anchor and, moreover, does not allow a reliable assessment of the positional shift if it is dragged along the bottom. Another solution proposed in U.S. Patent 3,428,942 includes a device attached to the anchor to detect and report any movement of the anchor through the sand or silt. For practical use, the functioning of such a device depends very much on the nature of the soil, and it is useless at least on rocky or grassy ground.

Es ist daher das Ziel der Erfindung, ein Verfahren zur Überwachung der Lageverschiebung eines vor Anker liegenden Schiffes sowie eine Einrichtung zur Durchführung dieses Verfahrens zu schaffen. Zu diesem Zweck ist die Erfindung wie in den Ansprüchen 1 und 6 beschrieben, definiert. Gegenüber dem System nach US-A- 4 058 792 hat dies u.a. den Vorteil, eine sichere Beurteilung der Lageverschiebung zu ermöglichen. Ausserdem kann der benötigte Sender auf einfache Weise mit einem Anker üblicher Bauart verbunden werden.It is therefore the object of the invention to provide a method for monitoring the positional shift of a ship at anchor and a device for carrying out this method. For this purpose, the invention is defined as described in claims 1 and 6. Compared to the system according to US-A-4 058 792, this has among other things. the advantage of enabling a reliable assessment of the shift in position. In addition, the required transmitter can be easily connected to an anchor of the usual type.

Ausführliche Versuche haben gezeigt, dass die Verwendung handelsüblicher, verhältnismässig preiswerter Beschleunigungsfühler es anhand der erzeugten Signale sicher zu unterscheiden gestatten, ob der auf dem Grunde liegende Körper - sei es nun an einem Anker befestigt oder davon getrennt - festsitzt, oder dem Grunde entlang geschleift wird. Solch eine, durch eine an Bord befindliche elektronische Empfangsstation durchführbare Unterscheidung stellt einen ganz wesentlichen Sicherheitsfaktor dar, insbesondere bei misslichen Wetterverhältnissen und schlechter Sicht.Extensive tests have shown that the use of commercially available, relatively inexpensive acceleration sensors makes it possible, based on the signals generated, to differentiate between whether the body lying on the ground - whether attached to or separated from an anchor - is stuck or dragged along the bottom . Such a distinction, which can be carried out by an on-board electronic receiving station, represents a very important safety factor, especially in poor weather conditions and poor visibility.

Im folgenden soll die Erfindung anhand von Ausführungsbeispielen und der Zeichnung näher erläutert werden.The invention will be explained in more detail below with the aid of exemplary embodiments and the drawing.

Es zeigt:

  • Fig. 1 eine schematische Darstellung eines vor Anker liegenden und eine Variante des erfindungsgemässen Verfahrens benutzenden Bootes,
  • Fig. 2 ein ebenfalls vor Anker liegendes Boot, welches eine andere Variante des erfindungsgemässen Verfahrens benutzt,
  • Fig. 3 die Ausführung einer weiteren Variante des Verfahrens,
  • Fig. 4 ein Blockschema einer Empfangsstation.
It shows:
  • 1 shows a schematic representation of a boat lying at anchor and using a variant of the method according to the invention,
  • 2 is also an anchored boat, which uses another variant of the inventive method,
  • 3 shows the execution of a further variant of the method,
  • Fig. 4 is a block diagram of a receiving station.

In Fig. 1 liegt ein Boot 1 an einem Anker 2, mit dem es über eine Ankerkette 3 verbunden ist. Letztere kann in üblicher Weise aus einem durch eine Trosse verlängertem Kettenvorfach bestehen. Auf dem Anker 2 ist ein wasserdichtes Gehäuse 4 angebracht, welches einen dreiachsigen, piezoelektrischen Beschleunigungs-Sensor sowie eine an dessen Ausgänge angeschlossene Vorverstärker-Schaltung enthält. Diese ist über ein dreiadriges, isoliertes Kabel 5 mit dem Boot 1 verbunden. Es dienen die Leitungen des Kabels sowohl für die vom Boot her erfolgende Speisung der Vorverstärker-Schaltung, wie auch für die Rückführung der vom Sensor abgegebenen und danach verstärkten Messignale zum Boot. Bootsseitig ist das Kabel auf einer Trommel 6 aufgewickelt, die (in nicht gezeigter Weise) eingerichtet ist, um stets ein gewisses Moment in der durch einen Pfeil angezeigten Richtung auszuüben, so dass das Kabel trotz Seeganges und sonstiger Eigenbewegungen des Bootes 1 stets unter mässigem Zug bleibt, u.a. um ein eventuelles Vertörnen von Kabel 5 und Ankerkette 3 zu vermeiden. Von der Trommel 6 ausgehend ist das Kabel 5 elektrisch mit einer (in den Fig. 1 und 2 nicht gezeigten) Empfangsstation (Fig. 4) verbunden. In der Zeichnung ist der Anker 2 in Form eines Danforth-Anker skizzert, weil sich die ebenen Schaufelflächen dieses Typs besonders gut für eine Befestigung des Gehäuses 4 durch einfaches Anschrauben eignen. Es kann aber praktisch jeder Ankertyp verwendet werden. In vielen Fällen wird auch das Übertragungskabel 5 nicht wie in Fig. 1 der Deutlichkeit halber gezeigt, gänzlich frei schwebend vom Gehäuse 4 bis zur Trommel 6 verlaufen, sondern ein erstes Stück Kabel, welches von einem starken Schutzmantel umgeben ist, wird dem Ankerschaft entlang laufen und vom Ankerschäkel an über eine gewisse Strecke mit der Ankerkette verbunden sein, bevor es getrennt von dieser bis zur Trommel 6 läuft.In Fig. 1, a boat 1 lies on an anchor 2, to which it is connected via an anchor chain 3. The latter can consist in the usual way of a chain leader extended by a hawser. A waterproof housing 4 is attached to the armature 2, which contains a three-axis, piezoelectric acceleration sensor and a preamplifier circuit connected to its outputs. This is connected to the boat 1 via a three-core, insulated cable 5. The lines of the cable are used both for feeding the preamplifier circuit from the boat and for returning the measurement signals emitted by the sensor and then amplified to the boat. On the boat side, the cable is wound on a drum 6, which is set up (in a manner not shown) in order to always exert a certain moment in the direction indicated by an arrow, so that the cable is always under moderate tension despite the swell and other own movements of the boat 1 remains, among other things to avoid a possible jamming of cable 5 and anchor chain 3. Starting from the drum 6, the cable 5 is electrically connected to a receiving station (not shown in FIGS. 1 and 2) (FIG. 4). In the drawing, the anchor 2 is sketched in the form of a Danforth anchor because the flat blade surfaces of this type are particularly suitable for fastening the housing 4 by simply screwing it on. However, practically any type of anchor can be used. In many cases, the transmission cable 5 will not run completely freely floating from the housing 4 to the drum 6 as shown in FIG. 1 for clarity, but a first piece of cable, which is surrounded by a strong protective jacket, will run along the anchor shaft and be connected to the anchor chain over a certain distance from the anchor shackle before it is separated from it to Drum 6 is running.

Von der Trommel 6 aus verlaufen die drei Adern des Kabels 5 zu der im Blockschaltbild der Fig. 3 gezeigten Empfangsstation an Bord des Bootes, wobei zu bemerken ist, dass diese sogenannte Empfangsstation nicht nur dem Empfang und der Verarbeitung von Signalen dient, sondern u.a. auch der Speisung des Vorverstärkers und der Funktionsprüfung der gesamten Anlage.The three wires of the cable 5 run from the drum 6 to the receiving station on board the boat shown in the block diagram of FIG. 3, it being noted that this so-called receiving station is not only used for receiving and processing signals, but also among other things. also the supply of the preamplifier and the function test of the entire system.

In Fig. 4 ist das am Anker befestigte Gehäuse wiederum angedeutet und mit 4 bezeichnet. Die Bezugsziffern 11 a, 11b, 11c bezeichnen die zueinander orthogonal angeordneten piezoelektrischen Beschleunigungsfühler und 12 die zugehörige Verstärkungsschaltung. In 5 ist das dreiadrige Verbindungskabel zum Boot angedeutet und die Empfangsstation als Ganzes ist mit 14 bezeichnet. Eine vom (nicht gezeigten) Bordnetz gespiesene Ladeschaltung 15 lädt einen eigenen Akkumulator 16, der selbst wieder die Empfangsstation 14 versorgt, um eine grösstmögliche Sicherheit zu gewährleisten. Die wesentlichen Teile dieser Schaltung sind: ein Spannungsüberwacher 17 und ein Geberüberwacher 18, ein Endverstärker 19 für die ankommenden Signale, ein einstellbarer Kompensator 20, um zu bestimmen ob ein bestimmter Schwellwert erreicht ist, eine Rückstelllogik 21 und eine durch den Kompensator 20 und die Rückstellogik 21 gesteuerte Alarmschaltung 23.In Fig. 4, the housing attached to the armature is again indicated and designated 4. The reference numerals 11a, 11b, 11c denote the piezoelectric acceleration sensors arranged orthogonally to one another and 12 the associated amplification circuit. The three-wire connection cable to the boat is indicated in FIG. 5 and the receiving station as a whole is designated by 14. A charging circuit 15 fed by the on-board electrical system (not shown) charges its own accumulator 16, which itself supplies the receiving station 14 in order to ensure the greatest possible security. The essential parts of this circuit are: a voltage monitor 17 and an encoder monitor 18, a power amplifier 19 for the incoming signals, an adjustable compensator 20 to determine whether a certain threshold value has been reached, a reset logic 21 and one by the compensator 20 and the reset logic 21 controlled alarm circuit 23.

Diese bekannten elektrischen Kreise und fallweise weitere dafür benötigte Schaltelemente sind geschaltet, um auf eine dem Elektronik-Fachmann geläufigt Weise folgende Funktionen zu erfüllen: die Kontrolle des Ladezustandes des Akkumulators 16 und die Anzeige einer ungenügenden Stromreserve, die Speisung und die Kontrolle des Vorverstärkers 12, die Überwachung der piezoelektrischen Geber 11 a, 11b, 11c, die Überwachung des Zustandes der elektrischen Leitungen des Kabels 5, die Prüfung, ob eine oder mehrere der durch die Geber 11 angezeigten Beschleunigungen einen voreingestellten Wert übersteigen und fallweise die Auslösung eines entsprechenden Alarms sowie die durch einen Handschalter bewirkte Rückstellung der Anlage in den Zustand vor Ausgabe des Alarms.These known electrical circuits and, in some cases, further switching elements required for this purpose are switched in order to perform the following functions in a manner familiar to the electronics expert: checking the state of charge of the accumulator 16 and displaying an insufficient current reserve, supplying and checking the preamplifier 12, the monitoring of the piezoelectric sensors 11a, 11b, 11c, the monitoring of the state of the electrical lines of the cable 5, the checking whether one or more of the accelerations indicated by the sensors 11 exceed a preset value and, in some cases, the triggering of a corresponding alarm and the The system is reset to the state it was in before the alarm was triggered by a manual switch.

Die praktische Verwendung der Einrichtung gestaltet sich etwa folgendermassen. Nach dem Ankern wird die Anlage eingeschaltet und auf Funktionsfähigkeit sowie auf das Vorhandensein genügender Stromreserven geprüft. Dann wird der Kompensator justiert bis die bei festsitzendem Anker von den piezoelektrischen Gebern empfangenen Signale den eingestellten Schwellwert um einen gewissen Betrag unterschreiten. Der so eingestellte Schwellwert kann vom herrschenden Seegang, von der Art des Grundes, des Ankers und des Ankergeschirrs abhängig sein. Er wird in der Regel nicht überschritten werden, solange der Anker hält. Bricht dieser aber aus und wird über Grund geschleift, dann erleidet er auch auf sandigem oder schlammigem Grund derart starke - wenn auch oft kurze - Beschleunigungen, dass die von den Beschleunigungsfühlern 11 a, 11 b, 11 c abgegebenen Signale zu einer Überschreitung des eingestellten Schwellwertes in der Empfangsstation und damit zum Auslösen eines Alarmes führen. Daraufhin können die nötigen Sicherheitsvorkehrungen getroffen werden. Um bei relativ niedrig eingestelltem Schwellwert durch Rucken der Ankerkette bedingte Falschalarme zu vermeiden, kann es von Vorteil sein, zwischen der Kette und dem Ankerschäkel ein kurzes Tau einzufügen.The practical use of the facility is roughly as follows. After anchoring, the system is switched on and checked for functionality and the presence of sufficient power reserves. The compensator is then adjusted until the signals received by the piezoelectric sensors when the armature is stuck are below the set threshold value by a certain amount. The threshold value set in this way can depend on the prevailing sea conditions, the type of bottom, the anchor and the anchor tackle. As a rule, it will not be exceeded as long as the anchor holds. However, if this breaks out and is dragged over the ground, it also suffers such strong - albeit often short - accelerations on sandy or muddy ground that the signals emitted by the acceleration sensors 11 a, 11 b, 11 c exceed the set threshold value in the receiving station and thus trigger an alarm. The necessary safety precautions can then be taken. In order to avoid false alarms caused by jerking of the anchor chain when the threshold value is set relatively low, it can be advantageous to insert a short rope between the chain and the anchor shackle.

Falls kein Schwojen um den Anker zu erwarten ist, etwa weil das Boot zwischen Bug- und Heckanker liegt oder auch wenn - etwa an einem überfüllten Ankerplatz - gerade ein solches Schwojen gemedet werden soll, kann man, wie in Fig. 2 gezeigt, das die piezoelektrischen Beschleunigungssensore enthaltende Gehäuse 4' unabhängig vom Anker 2 an einer kurzen Leine 5' auf Grund legen. Die Trommel 6 entfällt dann und es kann die Leine 5' (oder fallweise der deren Funktion erfüllendes Verbindungskabel zwischen Gehäuse und Boot) an Bord festgemacht werden. Es ist klar, dass auf diese Weise ein durch Wind oder Strömung bedingtes Schwojen des Bootes angezeigt wird, auch wenn der Anker hält, indem dabei das Gehäuse 4' auf dem Grund herumgezogen wird und entsprechende Beschleunigungen erleidet. Der Umfang des ohne Auslösung des Alarmes zulässigen Schwojens kann durch die länge der Leine 5' reguliert werden.If no float around the anchor is to be expected, for example because the boat is between the bow and stern anchor or even if such a float is to be spoken - for example at a crowded anchorage -, as shown in Fig. 2, the Lay the housing 4 'containing piezoelectric acceleration sensors independently of the armature 2 on a short line 5'. The drum 6 is then omitted and the line 5 '(or in some cases the connecting cable which fulfills its function between the housing and the boat) can be fixed on board. It is clear that in this way a swooping of the boat caused by wind or current is indicated, even if the anchor stops, by pulling the housing 4 'around on the bottom and suffering corresponding accelerations. The length of the line that is allowed without triggering the alarm can be regulated by the length of the line 5 '.

Schliesslich ist es, wie in Fig. 3 gezeigt, möglich, die von den am Anker befestigten piezoelektrischen Fühlern abgegebenen Signale über ein verhältnismässig kurzes Kabel 5" zu einer Ankerboje 7 zu führen, die einen (nicht gezeigten) Radiesender enthält, von dem die Signale drahtlos zu einem zugehörigen Empfänger 8 an Bord des Bootes übertragen werden. Der Sender muss dann eine eigene Stromquelle besitzen; dafür kann aber in gewissen Fällen auf den Vorverstärker verzichtet werden, wodurch die Masse und die Empfindlichkeit der am Anker befestigten Vorrichtung kleiner werden. Diese Lösung ist vor allem bei schwierigem Ankergrund vorteilhaft, auf welchem in der Regel eine Ankerboje von Nutzen ist.Finally, it is possible, as shown in FIG. 3, to lead the signals emitted by the piezoelectric sensors attached to the armature via a relatively short cable 5 "to an anchor buoy 7 which contains a radio transmitter (not shown), from which the signals be transmitted wirelessly to an associated receiver 8 on board the boat, in which case the transmitter must have its own power source, but in some cases the preamplifier can be dispensed with, which reduces the mass and the sensitivity of the device attached to the anchor is particularly advantageous in the case of a difficult anchor base, on which an anchor buoy is usually useful.

Claims (13)

1. Method for monitoring the position of a vessel (1) which lies at anchor (2) by using a sensor body (4, 4') deposited on the ground and tied to the vessel by non-rigid linking means (3, 5'), characterized in that said body is fitted with at least one accelerometer (11a-c), and in that the signals emitted by the accelerometer are transmitted to the vessel.
2. Method according to claim 1, characterized in that the accelerometer generates electrical measuring signals which are transmitted to a receiver station (14) on board the vessel through electrical conductors (5').
3. Method according to claim 1, characterized in that the accelerometer generates electrical measuring signals which are transmitted to a buoy (7) through electrical conductors (5") and then transmitted by radio waves to a receiver station (8) on board the vessel.
4. Method according to any of claims 1 - 3, characterized in that on board the vessel the signals are compared with a predetermined threshold value (20), and that an alarm signal is produced if the threshold value is exceeded.
5. Method according to any of claims 1 - 4, characterized in that the integrity of the signal paths and the functioning of the accelerometer is checked periodically or continuouslv from on board the vessel and that a not-ready state is signalled if certain rated values are not attained.
6. Device for monitoring the position of a vessel (1) which lies at anchor (2) by using a sensor body (4, 4') deposited on the ground and tied to the vessel by non-rigid linking means, characterized by at least one piezoelectric pick-off (11 a-c) mounted on or in said body, by electrical conductors (5, 5', 5") which can be attached to the body in order to transmit the signals generated by the pick-off at least as far as the water surface, and by a receiver station (14) which is operative to generate an alarm signal whenever the signals triggered in the receiver station by the output signals of the pick-off exceed an adjustable threshold value.
7. Device according to claim 6, characterized in that it comprises a floating radio emitter (7) for transmitting the signals from the water surface to a radio receiver (8) on board the vessel, this receiver being responsive to the signals emitted by the emitter.
8. Device according to claim 6 or 7, characterized in that it comprises three mutually orthogonal piezoelectric pick-offs (11 a-c).
9. Device according to claim 8, characterized in that it comprises a preamplifier (12) common to all three pick-offs.
10. Device according to claim 9, characterized in that the preamplifier (12) is located in the body (4).
11. Device according to claim 10, characterized in that the current supply for the preamplifier is provided by the receiving station.
12. Device according to any of claims 6 - 10, characterized in that the body (4) is an hermetic enclosure attachable to the anchor (2), which enclosure contains the piezoelectric pick-off means and is provided with a watertight electrical outlet.
13. Device according to claim 6, characterized in that the receiving station (14) comprises means for checking the integrity of the signal paths, the performance of the pick-off means, of the signal processing circuits, and the existence of a sufficient energy supply.
EP84107027A 1983-06-22 1984-06-19 Method of controlling the drift of an anchored ship and apparatus using the method Expired EP0129833B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH3421/83A CH659981A5 (en) 1983-06-22 1983-06-22 Method for monitoring the drift of lying at anchor vessel and device for implementing the procedure.
CH3421/83 1983-06-22

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EP0129833A1 EP0129833A1 (en) 1985-01-02
EP0129833B1 true EP0129833B1 (en) 1987-09-02

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EP (1) EP0129833B1 (en)
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DE (1) DE3465727D1 (en)

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DE3465727D1 (en) 1987-10-08
US4651139A (en) 1987-03-17
EP0129833A1 (en) 1985-01-02
CH659981A5 (en) 1987-03-13

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