EP4640548A1

EP4640548A1 - System for controlling posture of connected floats and method for transporting floats

Info

Publication number: EP4640548A1
Application number: EP23918413.8A
Authority: EP
Inventors: Masayuki Kanemasu; Akihito Suzuki; Takehiko Hirata; Shuho Tsubota
Original assignee: Mitsubishi Heavy Industries Ltd
Current assignee: Mitsubishi Heavy Industries Ltd
Priority date: 2023-01-27
Filing date: 2023-01-27
Publication date: 2025-10-29
Also published as: JPWO2024157451A1; EP4640548A4; WO2024157451A1

Abstract

A system for controlling posture of connected floats, the system includes a plurality of float bodies configured to cause a structure to float on a water surface, a connecting portion configured to connect the plurality of float bodies to each other in a state where the float bodies are relatively displaceable, and posture control units individually provided to the respective float bodies and configured to operate independently from each other to adjust a separation distance between the plurality of float bodies.

Description

TECHNICAL FIELD

The present disclosure relates to a system for controlling posture of connected floats and a method for transporting floats.

BACKGROUND ART

For example, in a case of constructing a structure on the sea, a lake, a river, or the like, the entire structure preassembled on land is often transported to a work site and installed. For such transportation, a marine vessel described in Patent Document 1 is used as an example. This marine vessel transports a structure by placing the structure on a deck, and then the structure is separated from the marine vessel by moving the deck up and down, and the structure is installed at a target location.

Citation List

Patent Document

Patent Document 1: Japanese Unexamined Patent Application, First Publication No. 2012-180088

SUMMARY OF INVENTION

Technical Problem

However, in a case where the above-described marine vessel is used, one marine vessel is required for each structure. Therefore, in a case of transporting a large number of structures, there is a problem that cost and time are required. In addition, even in a case where a plurality of structures are towed and transported by one marine vessel, there is a problem in that interference occurs between the structures. In this way, in a case where a plurality of floating structures are transported or disposed at intervals, there is an increasing demand for a technology for maintaining the intervals.
The present disclosure has been made in order to solve the above-described problems, and an object of the present disclosure is to provide a system for controlling posture of connected floats capable of stably maintaining an interval between floats, and a method of transporting floats using the same.

Solution to Problem

In order to solve the above-described problems, a system for controlling posture of connected floats according to the present disclosure includes: a plurality of floats capable of floating on a water surface; a connecting portion configured to connect the plurality of floats to each other in a state where the floats are relatively displaceable; and posture control units individually provided to the respective floats and configured to operate independently from each other.
A method of transporting floats according to the present disclosure is a method of transporting floats using the system for controlling posture of connected floats, the method including: a step of attaching the posture control unit to the float; and a step of towing the plurality of floats by a propulsive force generated by a propulsion device provided in at least one of the plurality of floats and different from the posture control unit.

Advantageous Effects of Invention

According to the present disclosure, it is possible to provide a system for controlling posture of connected floats capable of stably maintaining an interval between floats, and a method of transporting floats using the same.

BRIEF DESCRIPTION OF DRAWINGS

[FIG. 1] A top view showing a configuration of a system for controlling posture of connected floats according to a first embodiment of the present disclosure.
[FIG. 2] A functional block diagram showing the configuration of a control device according to the first embodiment of the present disclosure.
[FIG. 3] A flowchart showing a control flow of the control device according to the first embodiment of the present disclosure.
[FIG. 4] A flowchart showing each step of a method of transporting floats according to a second embodiment of the present disclosure.
[FIG. 5] A top view showing a state of a float during transportation by using the transportation method according to the second embodiment of the present disclosure.
[FIG. 6] A top view showing a modification example of the method of transporting floats according to the second embodiment of the present disclosure.
[FIG. 7] A hardware configuration diagram of the control device according to each embodiment of the present disclosure.

DESCRIPTION OF EMBODIMENTS

Hereinafter, a system 1 for controlling posture of connected floats according to a first embodiment of the present disclosure will be described with reference to FIGS. 1 to 3.

(Configuration of System for Controlling Posture of Connected Floats)

The system 1 for controlling posture of connected floats according to the present embodiment is used to keep an interval between a plurality of floats 10 constant in a state where the floats 10 that can float on a water surface of an ocean, a lake, or a river are connected. The "float 10" described herein includes not only an object that can float by its own buoyancy but also a structure having a weight that is not enough to obtain sufficient buoyancy being mounted on an object that assists buoyancy.
As shown in FIG. 1, the system 1 for controlling posture of connected floats includes a plurality of (for example, two) floats 10, a connecting portion 20, a tension sensor 30, a posture control unit 40, and a control device 50.

(Configuration of Float)

The float 10 includes a structure 11 and a float body 12. As the structure 11, for example, a tower-shaped construction such as a lighthouse, a windmill, or an oil field drilling rig is considered. The float body 12 supports the structure 11 from below in a state of floating the structure 11 on the water surface by buoyancy. Examples of the float body 12 include a container-shaped member having a cavity that uses buoyancy of air, a floating tool formed of a foamed resin, and a barge that does not have power. In any case, the configuration and the dimensions of the float body 12 are appropriately set according to the weight and the dimensional constitution of the structure 11. As an example, in the present embodiment, the float body 12 has a circular or annular shape as viewed in an up-down direction.
In a case where the structure 11 itself generates buoyancy, that is, in a case where the structure 11 itself can float on the water surface, the structure 11 itself constitutes the float body 12. Examples of such a structure 11 include a hollow column member.

(Configuration of Connecting Portion)

The connecting portion 20 connects the floats 10 to each other in a state in which the floats 10 are movable relative to each other. Specific examples of the connecting portion 20 include a chain, a wire, and a rope. That is, the connecting portion 20 has flexibility such that the floats 10 are connected to each other not to be separated from each other, but a slight movement of each float 10 is allowed.

(Configuration of Tension Sensor)

The tension sensor 30 measures the tension acting on the connecting portion 20 and transmits a measurement result to a control device 50 described below as an electric signal. One tension sensor 30 is provided for each float 10.

(Configuration of Posture Control Unit)

The posture control unit 40 performs the posture control of each float 10 based on the signal generated by the control device 50 based on the measurement result of the tension sensor 30 described above. In addition, the posture control unit 40 is provided for each float 10 and can operate independently for each float 10. Specifically, the posture control unit 40 includes a propulsion unit 41 and a spoiler 42.
The propulsion unit 41 is provided under the lower water surface or under the side water surface of the float 10, and generates a propulsive force with respect to the float 10 by pumping water in the water. It is desirable that the propulsion unit 41 can generate the propulsive force in all directions of 360°. As the propulsion unit 41, for example, a device having a propeller or a device using jet propulsion is specifically considered. The propulsion unit 41 is attachably and detachably attached to the float 10.
The spoiler 42 is provided to control the position of the float 10 by reducing the movement speed or setting the movement speed to zero in a case where the float 10 is moving. The spoiler 42 is provided, for example, one on each of both sides of the float 10 in the width direction. Each of the spoilers 42 is attached to be configured to transition between a deployed state and a state of being stored on the float 10 side. As an example, the spoiler 42 itself has a plate shape having a concave surface that is concave toward the rear side in the movement direction in the deployed state. The spoiler 42 does not necessarily have a concave surface and may have a flat plate shape. In addition, the number of the spoilers 42 is not limited to two, and may be appropriately increased or decreased depending on the design or specifications or the dimensional configuration of the float 10.

(Configuration of Control Device)

As shown in FIG. 2, the control device 50 includes a separation distance acquisition unit 51, a comparison determination unit 52, a drive control unit 53, and a storage unit 54.
The separation distance acquisition unit 51 acquires the separation distance between the floats 10 based on the measurement result of the tension sensor 30 described above. For example, the separation distance between the floats 10 is acquired with reference to a predetermined table according to the magnitude of the tension of the connecting portion 20.
The comparison determination unit 52 performs comparison determination as to whether or not the value of the separation distance acquired by the separation distance acquisition unit 51 is within a predetermined reference range. The storage unit 54 is provided to store the value of the reference range and the like. In a case where it is determined that the separation distance is out of the reference range, the comparison determination unit 52 transmits a command signal to a drive control unit 53, which will be described later.
The drive control unit 53 controls the operation of the posture control unit 40 described above based on the determination result of the comparison determination unit 52. That is, in a case where the comparison determination unit 52 determines that the separation distance is out of the reference range, the relative position between the floats 10 is adjusted so that the separation distance between the floats 10 is within the reference range by the operation of the drive control unit 53.

(Control Flow of Control Device)

Next, a control flow of the control device 50 will be described with reference to FIG. 3. As shown in the drawing, first, in Step S1, the separation distance acquisition unit 51 acquires the separation distance between the floats 10. In subsequent Step S2, the comparison determination unit 52 determines whether or not the value of the separation distance is out of the reference range. In a case where the determination result in Step S2 is No, the process returns to Step S1 again. In a case where the determination result in Step S2 is Yes, the process proceeds to Step S3. In Step S3, the drive control unit 53 drives the posture control unit 40 to adjust the separation distance between the floats 10. Specifically, measures are taken to operate the propulsion unit 41 to move the floats 10 relative to each other in the front, rear, left, and right directions, or to deploy the spoiler 42 to reduce the speed of the relative movement and adjust the position of the float 10 in the front, rear, left, and right directions. Then, the determination as to whether or not the separation distance is corrected within the reference range is made by further repeatedly executing Step S1 and Step S2. Alternatively, the control flow ends after Step S3. As described above, the separation distance between the floats 10 is within the reference range.

(Action Effect)

According to the above-described configuration, the posture control unit 40 is provided for each float body 12, and moreover, the float bodies 12 can operate independently of each other. In a case where the interval between the float bodies 12 changes, the posture control unit 40 of at least one float 10 is operated to move the float bodies 12 relative to each other. Accordingly, while the connection by the connecting portion 20 is maintained, one float 10 is separated from the other float 10 or is brought close to the other float 10 to an appropriate distance. As a result, it is possible to keep the interval between the float bodies 12 constant. As an example, in a case where a large number of offshore wind turbines are arranged at intervals, it is possible to secure and maintain the separation distance between the wind turbines.
According to the above configuration, after the separation distance acquisition unit 51 of the control device 50 acquires the separation distance, the comparison determination unit 52 compares the separation distance with the reference distance. Accordingly, it is determined whether or not the interval between the float bodies 12 deviates from the reference range. In a case where the deviation from the reference range occurs, the drive control unit 53 drives the posture control unit 40 to perform the adjustment of the separation distance described above. Thereafter, the float bodies 12 can autonomously correct the interval between the float bodies 12 until the separation distance falls within the reference range.
Further, according to the above-described configuration, the separation distance acquisition unit 51 acquires the separation distance based on the measurement result of the tension sensor 30. Therefore, the separation distance between the float bodies 12 can be more directly and accurately acquired based on the tension acting on the connecting portion 20. Accordingly, it is possible to more stably and accurately control and maintain the interval between the float bodies 12.
In addition, with the above-described configuration, the propulsion unit 41 as the posture control unit 40 is driven, and thus the float bodies 12 can be moved relative to each other by any distance in any direction. Accordingly, it is possible to easily and stably maintain the separation distance between the float bodies 12.
In addition, according to the above configuration, the movement speed of the float body 12 can be adjusted by deploying the spoiler 42. Accordingly, for example, in a situation where one float body 12 rapidly approaches the other float body 12 and the separation distance is shortened, it is possible to reduce the movement speed of the one float body 12 and to optimize the separation distance between the float bodies 12.
The first embodiment of the present disclosure has been described above. Various changes and modifications can be made to the above configuration without departing from the gist of the present disclosure. For example, a radar device can be used instead of the tension sensor 30 described in the first embodiment. In this case, the separation distance between the floats 10 can be accurately acquired based on the measurement and search results of the radar device. In addition, a configuration can also be adopted in which a beacon marker is attached to one float body 12 and a monitor device is provided on the other float body 12 to acquire the separation distance between the float bodies 12. With these configurations, in particular, even in a case where the separation distance between the floats 10 is set to be relatively long, it is possible to accurately and precisely acquire the separation distance between the floats 10. In addition, it is also possible to perform the posture control (securing the separation distance) by imparting a magnetic force to the float bodies 12 instead of the propulsion unit 41 of the posture control unit 40. That is, the float bodies 12 are spaced from each other by the repulsive force of the magnetic force, and a separation distance equal to or greater than a certain distance can be maintained. In addition, it is also possible to provide a buffer material or a fender material on the outer surface of the float body 12. Further, the control device 50 and the tension sensor 30 described above do not necessarily need to be provided. In this case, a worker can ensure and maintain the separation distance by visually determining the magnitude of the separation distance and appropriately operating the posture control unit 40. In addition, a configuration in which a distance between the float bodies 12 is acquired by a position sensor or a global positioning system (GPS) can also be adopted. Furthermore, a configuration in which only one of the propulsion unit 41 or the spoiler 42 described above is provided can also be adopted.

Next, as a second embodiment of the present disclosure, a method of transporting the float 10 using the above-described system 1 for controlling posture of connected floats will be described with reference to FIGS. 4 and 5. In addition, the same configurations as in the first embodiment described above are denoted by the same reference signs, and detailed descriptions thereof will be omitted.
As shown in FIG. 4, this transportation method includes Step S11 of attaching the posture control unit 40 to the float body 12, Step S12 of attaching the propulsion device 60 to at least one float body 12, Step S13 of driving the propulsion device 60, and Step S14 of performing the posture control between the floats 10.
In Step S11, the posture control unit 40 including the propulsion unit 41 or the spoiler 42 described in the first embodiment is attached to each float body 12. In Step S12, the propulsion device 60 different from the propulsion unit 41 is attached to or connected to at least one float body 12. Specifically, as shown in FIG. 5, a towing marine vessel 61 may be used as the propulsion device 60, or another thrust force generating source different from the propulsion unit 41 may be directly attached to the float body 12. As the float body 12, an object that can float by itself, such as a tower-shaped structure, is also applied.
In Step S13, the plurality of floats 10 are towed (transported) by driving the propulsion device 60. While the floats 10 are moved to the target location, the separation distance between the floats 10 is secured and controlled by the system 1 for controlling posture of connected floats described in the first embodiment as appropriate (Step S14). Through the above steps, the transportation of the float 10 is completed.

(Action Effect)

According to the above method, the plurality of float bodies 12 and the structure 11 can be transported in a state where the separation distance between the float bodies 12 is kept constant. Accordingly, the possibility of damage or contamination due to interference between the float bodies 12 or between the structures 11 can be reduced. Here, in the related art, it has been common to carry out the towing with one float 10 using one towing marine vessel 61. In this case, there is a problem in that the efficiency of transportation is reduced and the cost is increased. In addition, in a case where a plurality of the floats 10 are connected to one towing marine vessel 61, there is a possibility that the floats 10 may collide with or come into contact with each other. However, according to the above method, it is possible to smoothly transport a plurality of floats 10 without interfering with each other by one propulsion device 60. Accordingly, it is possible to realize improvement in transportation efficiency and a significant reduction in cost.
The second embodiment of the present disclosure has been described above. Various changes and modifications can be made to the above method and configuration without departing from the gist of the present disclosure. For example, as shown in FIG. 6 as a modification example, it is also possible to make one propulsion device 60 (towing marine vessel 61) to tow a plurality of rows of connected floats 10. In this case, in addition to the securing of the separation distance between the floats 10 in the same column, it is desirable to secure the separation distance between the floats 10 in different columns. In this case as well, each of the tension sensor 30, the posture control unit 40, and the control device 50 can be used in the same manner as described above.
In the processing of the control device 50 in the embodiment of the present disclosure, the order of processing may be changed within a range in which appropriate processing is performed.
Each of the storage unit 54 and the other storage devices in the embodiment of the present disclosure may be provided anywhere as long as appropriate information is transmitted and received. Further, each of the storage unit 54 and the other storage devices may exist at a plurality of locations within a range in which appropriate information is transmitted and received, and data may be distributed and stored.
The process of the control device 50 described above is stored in a recording medium readable by a computer 100 in a program format, and the process is performed by the computer 100 reading and executing the program. A specific example of the computer 100 is described below.
As shown in FIG. 7, the computer 100 includes a CPU 101, a main memory 102, a storage 103, and an interface 104. For example, the control device 50 is implemented in the computer 100. The operation of each processing unit described above is stored in the storage 103 in the form of a program. The CPU 101 reads out the program from the storage 103, deploys the read out program into the main memory 102, and executes the process described above in accordance with the program. In addition, the CPU 101 secures a storage region corresponding to the storage unit 54 described above in the main memory 102 in accordance with the program.
Exemplary examples of the storage 103 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, an optical magnetic disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), and a semiconductor memory. The storage 103 may be an internal medium directly connected to a bus of the computer 100 or may be an external medium connected to the computer 100 via the interface 104 or a communication line. Further, when this program is distributed to the computer 100 via a communication line, the computer 100 receiving the distribution may deploys the program in the main memory 102 and execute the above process. The storage 103 is a non-transitory tangible storage medium.
In addition, the program described above may realize a part of the functions described above. Further, the program may be a file that can realize the functions described above in combination with a program already recorded in the computer 100, that is, a so-called difference file (difference program).
In addition to the above configuration or instead of the above configuration, a custom large scale integrated circuit (LSI) such as a programmable logic device (PLD), an application specific integrated circuit (ASIC), a graphics processing unit (GPU), and a processing device similar thereto may be provided. Examples of PLDs include a programmable array logic (PAL), a generic array logic (GAL), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA). In this case, some or all of the functions realized by the processor may be realized by the integrated circuit.

The system 1 for controlling posture of connected floats and the method for transporting the floats 10 described in each embodiment are understood as follows, for example.

(1) A system 1 for controlling posture of connected floats according to a first aspect includes: a plurality of float bodies 12 configured to cause a structure 11 to float on a water surface; a connecting portion 20 configured to connect the plurality of float bodies 12 to each other in a state where the float bodies 12 are relatively displaceable; and posture control unit 40 individually provided to the respective float bodies 12 and configured to operate independently from each other to adjust a separation distance between the plurality of float bodies 12.

According to the above-described configuration, the posture control unit 40 is provided for each float body 12, and moreover, the float bodies 12 can operate independently of each other. Therefore, in a case where the interval between the float bodies 12 changes, the float body 12 is moved relative by operating the posture control unit 40 of at least one float 10, and the interval between the float bodies 12 can be kept constant.
(2) The system 1 for controlling posture of connected floats according to a second aspect is the system 1 for controlling posture of connected floats according to (1), and further includes a control device 50 including a separation distance acquisition unit 51 configured to acquire the separation distance between the float bodies 12, a comparison determination unit 52 configured to compare the separation distance acquired by the separation distance acquisition unit 51 with a predetermined reference range, and a drive control unit 53 configured to control an operation of the posture control unit 40 based on a determination result of the comparison determination unit 52.
According to the above-described configuration, by comparing the separation distance with a reference distance, it is determined whether or not the interval between the float bodies 12 deviates from the reference range. In a case where the separation distance deviates from the reference range, the posture control unit 40 is driven by the drive control unit 53, and the interval between the float bodies 12 can be autonomously corrected.
(3) The system 1 for controlling posture of connected floats according to a third aspect is the system 1 for controlling posture of connected floats according to (2), in which the separation distance acquisition unit 51 acquires the separation distance based on a measurement result of a tension sensor 30 configured to measure a tension acting on the connecting portion 20.
According to the above-described configuration, the separation distance between the float bodies 12 can be acquired more directly and accurately based on the measurement result of the tension sensor 30. Accordingly, it is possible to more stably maintain the interval between the float bodies 12.
(4) The system 1 for controlling posture of connected floats according to a fourth aspect is the system 1 for controlling posture of connected floats of (2), in which the separation distance acquisition unit 51 acquires the separation distance based on a measurement result of a radar device provided for each float body 12.
According to the above configuration, since the measurement result of the radar device is used, even in a case where the distance between the float bodies 12 is relatively long, the separation distance between the float bodies 12 can be accurately acquired. Accordingly, it is possible to more stably maintain the interval between the float bodies 12.
(5) The system 1 for controlling posture of connected floats according to a fifth aspect is the system 1 for controlling posture of connected floats according to any one of (1) to (4), in which the posture control unit 40 has a propulsion unit 41 to generate a propulsive force in water.
With the above-described configuration, the propulsion unit 41 is driven, and thus the float bodies 12 can be moved relative to each other by any distance in any direction. Accordingly, it is possible to easily and stably maintain the separation distance between the float bodies 12.
(6) The system 1 for controlling posture of connected floats according to a sixth aspect is the system 1 for controlling posture of connected floats according to any one of (1) to (5), in which the posture control unit 40 has a spoiler 42 configured to transition between a state of being deployed in water and a state of being stored in the float body 12.
According to the above configuration, the movement speed of the float body 12 can be adjusted by deploying the spoiler 42. Accordingly, for example, in a situation where one float body 12 rapidly approaches the other float body 12 and the separation distance is shortened, it is possible to reduce the movement speed of the one float body 12 and to optimize the separation distance between the float bodies 12.
(7) A method of transporting floats 10 according to a seventh aspect is a method of transporting floats 10 using the system 1 for controlling posture of connected floats according to any one of (1) to (6), and the method includes: a step of attaching the posture control unit 40 to the float body 12; and a step of towing the plurality of float bodies 12 and the structure 11 by a propulsive force generated by a propulsion device 60 that is provided in at least one of the plurality of float bodies 12 and different from the posture control unit 40.
According to the above method, the plurality of float bodies 12 and the structure 11 can be transported in a state where the separation distance between the float bodies 12 is kept constant. Accordingly, the possibility of damage or contamination due to interference between the float bodies 12 or between the structures 11 can be reduced.

INDUSTRIAL APPLICABILITY

According to the system for controlling posture of connected floats and the method for transporting floats, it is possible to stably maintain the interval between the floats and to transport the plurality of floats in a state where the interval is maintained.

REFERENCE SIGNS LIST

1 System for controlling posture of connected floats
10 Float
11 Structure
12 Float body
20 Connecting portion
30 Tension sensor
40 Posture control unit
41 Propulsion unit
42 Spoiler
50 Control device
51 Separation distance acquisition unit
52 Comparison determination unit
53 Drive control unit
54 Storage unit
60 Propulsion device
61 Towing marine vessel
100 Computer
101 CPU
102 Main memory
103 Storage
104 Interface

Claims

A system for controlling posture of connected floats, comprising:
a plurality of float bodies configured to cause a structure to float on a water surface;

a connecting portion configured to connect the plurality of float bodies to each other in a state where the float bodies are relatively displaceable; and

posture control units individually provided to the respective float bodies and configured to operate independently from each other to adjust a separation distance between the plurality of float bodies.
The system for controlling posture of connected floats according to Claim 1, further comprising a control device,
wherein the control device includes

a separation distance acquisition unit configured to acquire the separation distance between the float bodies,

a comparison determination unit configured to compare the separation distance acquired by the separation distance acquisition unit with a predetermined reference range, and

a drive control unit configured to control an operation of the posture control unit based on a determination result of the comparison determination unit.
The system for controlling posture of connected floats according to Claim 2, wherein the separation distance acquisition unit acquires the separation distance based on a measurement result of a tension sensor configured to measure a tension acting on the connecting portion.
The system for controlling posture of connected floats according to Claim 2, wherein the separation distance acquisition unit acquires the separation distance based on a measurement result of a radar device provided for each float body.
The system for controlling posture of connected floats according to any one of Claims 1 to 4, wherein the posture control unit has a propulsion unit to generate a propulsive force in water.
The system for controlling posture of connected floats according to any one of Claims 1 to 4, wherein the posture control unit has a spoiler configured to transition between a state of being deployed in water and a state of being stored in the float body.
A method for transporting floats using the system for controlling posture of connected floats according to any one of Claims 1 to 4, the method comprising:
a step of attaching the posture control unit to the float body; and

a step of towing the plurality of float bodies and the structure by a propulsive force generated by a propulsion device provided in at least one of the plurality of float bodies and different from the posture control unit.