JP2000298171A - Laser type speedmeter for bringing ship alongside-pier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately measure the moving speed of a hull to a quay regardless of the height of the quay and the size of the hull by projecting laser beams to the hull through a reflecting plate, and guiding reflected light from the hull to a laser sensor through the reflecting plate. SOLUTION: A reflecting plate 29 is installed near the water surface, at the lower part of a laser sensor 4 fixed to the upper part of a side face 1a of a quay 1, to change an optical axis 31 of laser beams by 90 deg. in the direction of a hull 3, parallel with the water surface. The laser beams are emitted in a vertical direction along the quay side face 1a and then changed its direction into a horizontal direction by the reflecting plate 29 to reach the hull 3. Reflected light from the hull 3 is changed its direction into the vertical direction by the reflecting plate 29 and returns to the laser sensor 4. With the laser beams thus emitted toward the hull 3 through the reflecting plate 29, the optical path length of the laser beams to the hull is formed long. Accordingly, even when the distance between the quay 1 and hull 3 is short, the return time of laser beams is made the specified value or more to accurately compute the moving speed of the hull 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a berthing speedometer for measuring the speed of a hull berthing on a quay of a harbor.
In particular, it is possible to measure the return time of the laser beam that returns from the hull by emitting the pulse laser light toward the hull from the quay and calculate the moving speed of the hull relative to the quay based on this return time. It relates to a laser berthing speedometer.

[0002]

2. Description of the Related Art Conventionally, a harbor to which a hull is berthed is provided with a berthing speedometer for performing berthing work safely and quickly. In particular, berthing work such as large tankers loaded with dangerous goods such as oil and LNG will cause considerable damage if berthing at a speed higher than the strength of the facility,
Because the risk of an explosion accident increases, a few centimeters /
It is necessary to berth slowly at the speed of every second,
The support of berthing work by berthing speedometer is indispensable.

FIG. 6 is a view showing an overview of the hull when berthing. A control room 2 for controlling all berthing operations is installed on the quay 1. A control device, a display and the like are provided.

Laser sensors 4 are installed at two places on the side surface 1a of the quay 1 outside the control room 2 so as to face the hull 3 on the water surface. The laser sensor 4 is connected to a control device in the control room 2 and integrally includes a launching device that emits pulsed laser light and a light receiving device that receives return light reflected from the hull 3 and returned. A laser beam is emitted according to a command from the control device, the reflected light is received, and a light reception signal is output to the control device.

The control device measures the time difference between the emission of the laser beam and the reception of the reflected beam, that is, the return time of the laser beam, and calculates the distance between the hull 3 and the quay 1, ie, the relative moving speed and other information. I do. The calculated information is transmitted to the hull 3 and the tugboat 5 by other communication means, and is also displayed outside and inside the control room.

FIG. 7 is a view showing a mooring state of the hull 3 after the berthing work is completed.

As shown in FIG. 7, during mooring, the hull 3 is fixed to the sea berth 7 with a plurality of mooring ropes 6, and the load is transported over time. During this time, the ship hull 3 is constantly monitored so that the hull 3 does not leave the sea berth 7 due to wind or waves.

[0008]

In the conventional laser berthing speedometer, a laser sensor 4 is fixedly installed on the quay 1. Therefore, when the laser sensor 4 is relatively higher than the surface of the water or the hull 3 is sufficiently high, the laser light is reflected from the hull 3 and
However, when the hull 3 is small at the time of ebb, for example, the water surface goes down, so that the hull 3 is entirely lowered with respect to the optical axis of the laser sensor 4, and the laser light passes over the hull 3,
In some cases, sufficient measurement cannot be performed. Conversely, when the tide is high, the water surface rises with respect to the laser sensor 4, and the wavefront interferes with the optical axis of the laser light, so that the laser light does not sufficiently reach the hull 3 and sufficient measurement may not be performed.

The present invention has been made in view of the above-mentioned drawbacks of the prior art, and has as its object the purpose of irrespective of the environmental conditions of the quay such as the height of the quay relative to the water surface and the size of the hull.
It is an object of the present invention to provide a laser berthing speedometer capable of accurately measuring a moving speed of a hull with respect to a quay.

[0010] The present invention also provides a laser-type berthing speed that can exhibit other effects.

[0011]

A laser type berthing speed meter according to the present invention is installed on a quay and has a laser sensor having a pulse laser light emitting device and a light receiving device, and the emitted laser light is reflected by a hull. Measuring a return time to reach the light receiving device, comprising a speed calculator for calculating a moving speed of the hull with respect to the quay based on the return time reflected in a laser beam path between the laser sensor and the hull. A laser beam is projected onto the hull via the reflector and the reflected light from the hull is guided to the laser sensor via the reflector.

Further, the laser sensor of the laser type berthing speedometer according to the present invention is installed at the upper part of the quay side, and the reflecting plate is installed at the lower part of the quay side.

The reflector of the laser-type berthing speedometer according to the present invention can be moved up and down along the side of the quay.

In the laser type berthing speedometer according to the present invention, a plurality of the reflectors are provided in an optical path along the side of the quay.

Further, at least one of the plurality of reflectors of the laser-type berthing speedometer according to the present invention is capable of protruding and retracting with respect to an optical path.

The reflector of the laser-type berthing speedometer according to the present invention is attached to a float, and can be moved up and down along with the water surface along the quay side.

A laser type berthing speedometer according to the present invention is provided on a quay and has a laser sensor having a pulse laser light emitting device and a light receiving device, and the emitted laser light is reflected by a hull to the light receiving device. A laser type berthing speedometer comprising a speed calculator for measuring a return time to reach the ship and calculating a moving speed of the hull relative to the quay based on the return time, wherein the laser sensor is attached to the float, It can be moved up and down along with the water surface along the side.

The laser sensor of the laser-type berthing speedometer according to the present invention is supported by guide means installed on the side of the quay, and can be moved up and down on the quay.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a laser berthing speedometer according to the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing a configuration of a laser berthing speedometer according to the present invention.

As shown in FIG. 1, the control room 2 has a central control device 8 inside. The central controller 8 performs monitoring and control of the entire system. The central controller 8 includes two laser sensors 4, a telemeter transmitter 9, an outdoor display 10, and two speed alarms. The light 11 and the like are connected. For the telemeter transmitter 9, the pilot on the hull side or the tug boat is used by the telemeter receiver 1
2 corresponds to the wireless reception.

The central controller 8 receives various outputs from the laser sensor 4 to calculate various information including the distance between the hull 3 and the quay 1 and the relative movement speed between the hull 3 and the quay. In particular, it controls the emission of pulsed laser light from the laser sensor 4, processes the received signal of the reflected laser light from the hull 3, measures the return time of the laser light, and based on this measured time, It has a speed calculator 8a as a calculator for calculating the moving speed between the quay 1 and the quay 1.

The central control unit 8 has various display units, a power supply unit, an operation unit, an output unit and the like to input necessary information,
Output, display, etc.

The laser sensors 4 are individually installed at two places on the quay side like the laser sensor 4 shown in FIG. 6, and emit laser light on the bow side of the hull 3 and on the other side on the stern side. And receives the return light, respectively, and outputs data to the central control unit 8.

The telemeter transmitter 9 transmits various information calculated and processed by the central controller 8 to the telemeter receiver 12 carried by the pilot on the hull 3 or the tug boat 5.
To communicate this information to the pilot.

The outdoor display 10 is installed on the quay, and provides information such as a bow distance, a speed, a stern distance, and a speed to a worker on the quay 1.

The speed warning rotating light 11 is composed of rotating lights of three colors, red, yellow, and blue, and is installed on the quay on each of the bow side and the stern side.

FIG. 2 is a block diagram showing the main configuration of a laser berthing speedometer according to the present invention.

FIG. 2 shows the internal configuration of the laser sensor 4 and the speed calculator 8a. As shown in FIG.
The speed calculator 8a is built in the central control device 8, but may be provided in the unit of the laser sensor 4.

As shown in FIG. 2, the laser sensor 4 includes a pulse laser oscillator 13, a light transmission optical system 14, and an emission light detector 16 for detecting an output pulse from the pulse laser oscillator 13 via a reflection mirror 15. Launching device 17 consisting of
And a light receiving device 20 including a light receiving optical system 18 and a return light detector 19.

The speed calculator 8a includes an amplifier 21 for amplifying the output of the output light detector 16, an amplifier 22 for amplifying the output of the return light detector 19, a flip-flop 23 receiving the outputs of both amplifiers 21 and 22, and Flip-flop 23
Circuit 2 which receives the output of the clock and the clock for time input
4. It comprises a counter 25 for receiving the output of the gate circuit and a controller 26 for receiving the output of the counter 25.

The controller 26 is connected to the pulse laser oscillator 13 and controls the emission of the pulse laser oscillator 13.

Next, a speed detection method in the laser berthing speedometer will be described with reference to the drawings.

As shown in FIG. 3, the pulse laser oscillator 1
The laser pulse 27 emitted from 3 is 900 [mm]
Is a pulse wave having a predetermined period. Therefore, if the time t from the emission of a specific pulse to the return to the laser sensor 4 is measured by the clock 28,
The distance L between the laser sensor 4 and the hull 3 is obtained as follows. L = c × t ÷ 2 where c is the speed of light

Further, if the distance change ΔL after a predetermined time ΔT is continuously measured by a pulse wave of a predetermined cycle, the hull 3
The relative moving speed v between the laser and the laser sensor 4 is obtained as follows. v = ΔL ÷ ΔT

As shown in FIG. 2, the laser type berthing speedometer first detects the output pulse of the pulse laser oscillator 13 by the reflector 15 directly by the emitted light detector 16 and inputs the output to the flip-flop 23. Thereby, the firing timing of the laser pulse is set in the flip-flop 23.

On the other hand, the return pulse from the hull 3 is detected by the return light detector 19 and input to the flip-flop 23. Thereby, the arrival timing of the return light is set in the flip-flop 23. Therefore, by turning on / off the gate circuit 24 by the output of the flip-flop 23, the number of clocks of the clock is counted by the counter, and the controller 26 calculates the above distance and speed from the output of the counter 25.

Next, the installation structure of the laser sensor 4 in the laser berthing speedometer will be described with reference to FIGS.

FIG. 4 shows an example in which a reflection plate is provided. A laser sensor 4 is fixed above the side surface 1a of the quay 1 and its optical axis 31 in the laser light emitting direction and the light receiving direction is attached to the quay side 1a. Along the bottom. Laser sensor 4 is fender 3
0, and the fender 30 extends in the optical axis direction along the quay side 1a. Near the water surface below the quay side 1a below the laser sensor 4, a reflector 29
Is installed, and the optical axis 31 of the laser beam is changed by 90 ° in the direction of the hull 3 parallel to the water surface.

According to this configuration, the laser beam is applied to the quay side 1
After being fired in the vertical direction along the line a, the direction is changed in the horizontal direction by the reflector 29 and reaches the hull 3. The reflected light from the hull 3 is redirected by the reflector 29 in the vertical direction and returns to the laser sensor 4.

As described above, by emitting laser light toward the hull 3 via the reflection plate 29, the optical path length of the laser light to the hull 3 is increased. Accordingly, even when the distance between the quay 1 and the hull 3 is short, the return time of the laser beam can be made longer than a predetermined value, so that the distance or the moving speed of the hull 3 can be accurately calculated.

The reflection plate 29 located near the water surface is extremely advantageous in terms of durability and maintenance because of its simple structure and low cost as compared with the laser sensor 4 against salt damage and impact. .

Further, the reflection plate 29 shown in FIG.
If the hull 3 is provided so as to be able to move up and down in the vertical direction along the line a, the measurement can be performed in response to a change in the water level, a change in the vertical position of the hull 3 due to the size of the hull 3, the load, and the like.

Further, in the example of FIG. 4, a plurality of reflectors 29 may be provided on the optical path along the quay side 1a. In this way, even if the lifting device is not attached to the reflector 29, one laser sensor 4 can be used in accordance with a change in the vertical position of the hull 3 due to the water level, the size of the hull, and the load.
It is possible to perform an appropriate measurement by using.

Further, of the plurality of reflectors 29, reflectors other than the reflector located at the lowest position on the quay side 1a are mounted so as to be rotatable and swingable so that they can protrude and retract from the optical path. If this is the case, it is possible to suppress the loss of laser light and the like, and prevent the laser sensor from being enlarged.

FIGS. 5 and 6 show examples in which the laser sensor 4 is attached to a float. In this example, the quay side 1a
Two guide rails 32 each having a H-shaped cross section extending in the vertical direction are provided, and the mounting base 33 is supported by the pair of rollers 34 so as to be vertically movable with respect to the guide rails 32. The float 35 is attached to the lower part of the mount 33, and the laser sensor 4 is attached to the upper part. Therefore, the guide means 32 of the laser sensor 4 is constituted by the guide rail 32, the mounting base 33, and the roller 34, and the float 35 floats on the water surface, so that the laser sensor 4 moves at a predetermined position on the water surface according to the fluctuation of the water surface. And it is supported by the guide rail 32 so that it can go up and down along the quay side.

According to this configuration, the water level, the size of the hull,
1 according to the change of the vertical position of the hull 3 due to the load
Appropriate measurement can be performed using one laser sensor.

Although not shown, the above-mentioned float structure can be provided for the reflection plate 29 shown in FIG. That is, instead of the laser sensor 4 described above, the reflection plate 29 shown in FIG.

According to this configuration, it is possible to provide a small-sized and low-cost elevating device as compared with the elevating device of the laser sensor 4, and it is also advantageous in terms of measures against salt damage, durability and maintenance.

[0050]

As described above, in the laser berthing speedometer according to the present invention, the moving speed of the hull relative to the quay can be accurately determined regardless of the environmental conditions such as the height of the quay relative to the water surface and the size of the hull. Can be measured.

[Brief description of the drawings]

FIG. 1 is a view showing a schematic configuration of a laser type berthing speedometer according to the present invention.

FIG. 2 is a block diagram showing a main configuration of a laser berthing speedometer according to the present invention.

FIG. 3 is a diagram illustrating a speed detection method of the laser berthing speedometer according to the present invention.

FIG. 4 is an explanatory view showing an installation structure of a laser sensor of the laser berthing speedometer according to the present invention.

FIG. 5 is an explanatory view showing an installation structure of another laser sensor of the laser berthing speedometer according to the present invention.

FIG. 6 is a schematic view when the hull is berthing.

FIG. 7 is a view for explaining the holding state of the hull after the berthing work has been completed.

FIG. 8 is a diagram illustrating a relationship between laser light and a hull in a laser berthing speedometer.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Wharf 1a Wharf side 3 Hull 4 Laser sensor 8 Central control unit 8a Speed calculator 13 Pulse laser oscillator 17 Launching device 19 Return light detector 20 Light receiving device 29 Reflector 31 Optical axis 32 Guide rail 33 Mounting base 34 Roller 35 Float 36 Guide means

Claims (8)

[Claims] 1. A laser sensor installed on a quay and having a pulse laser light emitting device and a light receiving device, and measuring a return time until the emitted laser light is reflected by a hull and reaches the light receiving device, A laser type berthing speedometer having a speed calculator for calculating a moving speed of the hull with respect to the quay based on the return time, wherein a reflector is interposed in a laser beam path between the laser sensor and the hull, and A laser type berthing speed meter, which projects laser light onto a hull via a plate and guides reflected light from the hull to a laser sensor. 2. The laser berthing speedometer according to claim 1, wherein the laser sensor is installed at an upper part of the quay side, and the reflector is installed at a lower part of the quay side. 3. The laser berthing speedometer according to claim 2, wherein the reflector can be moved up and down along the side of the quay. 4. The laser-type berthing speedometer according to claim 2, wherein a plurality of the reflectors are provided in an optical path along a quay side. 5. The laser berthing speed meter according to claim 4, wherein at least one of the plurality of reflectors is capable of protruding and retracting with respect to an optical path. 6. The laser-type berthing speed meter according to claim 2, wherein the reflector is attached to a float and can be moved up and down along with a water surface along a quay side. 7. A laser sensor installed on the quay and having a pulse laser light emitting device and a light receiving device, and measuring a return time until the emitted laser light is reflected by the hull and reaches the light receiving device, A speed calculator for calculating a moving speed of the hull relative to the quay based on the return time, wherein the laser sensor is attached to a float, and is capable of ascending and descending along with the water surface along the side of the quay. Laser type berthing speedometer characterized by the following. 8. The laser berthing speed meter according to claim 7, wherein the laser sensor is supported by guide means provided on the side of the quay, and is capable of moving up and down on the quay.