JP2003276677A - Departing/landing bridge support device for ship - Google Patents
Departing/landing bridge support device for shipInfo
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- JP2003276677A JP2003276677A JP2002088659A JP2002088659A JP2003276677A JP 2003276677 A JP2003276677 A JP 2003276677A JP 2002088659 A JP2002088659 A JP 2002088659A JP 2002088659 A JP2002088659 A JP 2002088659A JP 2003276677 A JP2003276677 A JP 2003276677A
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- ship
- signal processing
- landing
- support device
- signal
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、船舶の離着桟支援
装置に関し、船舶を岸壁または桟橋に離桟・着桟させる
際に、地上設備を必要とせず、専ら船舶に搭載した装置
のみによって操船できるようにした船舶の離着桟支援装
置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ship's take-off and landing support apparatus, which does not require ground equipment when the ship is to be put on and taken off from a dock or a jetty, and is provided solely by a device mounted on the ship. The present invention relates to a take-off and landing support device for a ship that can be operated.
【０００２】[0002]
【従来の技術】船舶を桟橋や岸壁から離桟または着桟さ
せる（以下離桟・着桟という）場合、大型の船舶におい
ては、一般に操船者の定位置から船が岸壁や桟橋に接近
している部分の動きを直接見ることができない。そこで
舷側など、岸壁または桟橋と船体との位置関係を直接目
視可能な位置に見張りを立て、目視により操船の状況を
把握して操船者に伝えることが従来から行われている。2. Description of the Related Art When a ship is berthing or berthing from a pier or a quay (hereinafter referred to as "berthing / berthing"), a large ship is generally approaching the quay or pier from a fixed position of the operator. I can't see the movement of the part directly. Therefore, it has been conventionally practiced to look up the positional relationship between the hull or the pier and the hull directly on the port side so that the operator can visually check the situation of the vessel and inform the operator.
【０００３】[0003]
【発明が解決しようとする課題】ところで離桟・着桟時
の操船情報を目視により行う前記方法は、船の大小を問
わず作業に携わる担当者には、訓練とチームワークとが
必要であるという問題がある。そこで、離桟・着桟時の
操船を機器からの情報によって行う各種試みが従来から
行われている。By the way, the above-mentioned method of visually checking the marine vessel maneuvering information at the time of berthing / berthing requires training and teamwork for a person in charge of work regardless of the size of the ship. There is a problem. Therefore, various attempts have been made in the past to carry out ship maneuvering at the time of berthing / berthing based on information from equipment.
【０００４】例えば衛星を利用して測位するＧＰＳ（地
球規模測位システム）、Ｄ−ＧＰＳ、特にセンチメート
ル単位で測位できるキネマティックＧＰＳを使用し、そ
の位置情報と、岸壁または桟橋との正確な位置とを比較
して操船をするものである。しかしながらこの方法は、
地上設備が必要とすることから、場所により位置情報が
劣化したり、受信できなくなるなどの問題がある。For example, GPS (Global Positioning System) for positioning using satellites, D-GPS, especially kinematic GPS capable of positioning in units of centimeters are used, and its position information and accurate position of the quay or pier are used. The ship is operated by comparing with. However, this method
Since it is required by the ground equipment, there are problems that the location information deteriorates depending on the location, and reception becomes impossible.
【０００５】これに対し特開昭６０−２４０５９０号公
報に記載された発明はテレビカメラを用いて三角測量に
より岸壁と船体との相対位置を演算し、係船索の操作量
を算出し、ウインチで係船策の巻き込み、繰り出しを行
い船の位置を保持するもので、地上に明確な目標がない
とデータの信頼性が得にくいという問題がある。On the other hand, in the invention disclosed in Japanese Patent Laid-Open No. 60-240590, the relative position between the quay and the hull is calculated by triangulation using a TV camera to calculate the operation amount of the mooring line, and the winch is used. It holds the position of the ship by rolling in and out the mooring measures, and there is a problem that it is difficult to obtain the reliability of the data unless there is a clear target on the ground.
【０００６】また特開昭６０−２６３８１２号公報に記
載された発明は、前記テレビカメラに代えて赤外線追尾
カメラにより地上の目標からの反射赤外線を受光し、カ
メラの回転角計測装置によりカメラと目標との距離を求
め、ジャイロから船体方位角を求めることにより、船体
位置を自動的に検出するものである。In the invention disclosed in Japanese Patent Laid-Open No. 60-263812, instead of the television camera, an infrared tracking camera receives infrared rays reflected from a target on the ground, and a camera for measuring the rotation angle of the camera and the target. The position of the hull is automatically detected by finding the distance between the ship and the azimuth angle of the hull from the gyro.
【０００７】しかしながらこの公報に記載された手段
は、いずれも陸地に追尾可能な赤外線の反射物体がある
ことが必要であるという問題があり、地上設備を必要と
せずに正確な即位ができる自己完結型測位センサが求め
られる。However, all the means described in this publication have a problem in that there is an infrared reflective object that can be tracked on land, and are self-sufficient in that accurate positioning is possible without the need for ground equipment. Type positioning sensor is required.
【０００８】本発明は、以上の問題に着目して成された
ものであり、陸上の施設を一切必要とせず、専ら船舶に
装備した装置のみによって１００ｍ辺りから着桟までの
操船に使用可能であり、また離桟時の操船にも使用可能
な船舶の離着桟支援装置を提供することを目的としてい
る。The present invention has been made by paying attention to the above problems and does not require any facility on land, and can be used for maneuvering from about 100 m to berthing only by the equipment equipped on the ship. In addition, it is an object of the present invention to provide a ship landing and landing support device that can also be used for maneuvering at the time of landing.
【０００９】[0009]
【課題を解決するための手段】以上の目的を達成するた
めの本発明の船舶の離着桟支援装置は、少なくとも１個
のミリ波レーダー装置からなる自己完結型測位センサを
船舶の所定位置に取り付け、前記ミリ波レーダー装置の
指向性アンテナから対象物に向けて電波を発信し、対象
物からの反射波による受信信号を信号処理装置に与え、
該信号処理装置は、演算対象として少なくとも、前記発
信および受信から前記対象物と指向性アンテナとの間の
距離を演算するようにしたものである。In order to achieve the above objects, a ship's takeoff / landing support device of the present invention comprises a self-contained positioning sensor consisting of at least one millimeter wave radar device at a predetermined position of the ship. Attaching, emitting a radio wave from the directional antenna of the millimeter wave radar device toward the object, and giving the received signal by the reflected wave from the object to the signal processing device,
The signal processing device is configured to calculate at least a distance between the object and the directional antenna from the transmission and reception as a calculation target.
【００１０】ミリ波レーダ装置は、センチメートルオー
ダーの精度で距離測定が可能であるので、桟橋など対象
物の形状その他の外的要因を考慮しても数十センチメー
トルオーダーで位置測定が可能である。ミリ波レーダ装
置は、基本的装置部分を既存の機器を使用することがで
きる。また電波の発信方向は、目標方向に対し上下左右
に放射方向を動かし、目標方向を中心に、角度を数度程
度走査させることが好ましい。走査範囲の中で最も早く
アンテナに到着した反射波により距離が演算されるので
安全が確保できる。Since the millimeter-wave radar device can measure the distance with an accuracy of the order of centimeters, it is possible to measure the position of the order of several tens of centimeters even in consideration of the shape of an object such as a pier and other external factors. is there. The millimeter-wave radar device can use existing equipment for the basic device portion. In addition, it is preferable that the emission direction of the radio wave is moved in the vertical and horizontal directions with respect to the target direction, and the angle is scanned about several degrees around the target direction. Since the distance is calculated by the reflected wave that arrives at the antenna earliest in the scanning range, safety can be ensured.
【００１１】前記自己完結型センサを船に取り付ける位
置には特に限定はないが、舷側などに、好ましくは水平
維持手段を介して取り付けることができる。但し本発明
はこれに限定されず、岸壁、桟橋が見通せる場所であれ
ばいずれの場所にも取り付けることができる。水平維持
手段は、船が揺れた場合の距離測定値を安定させること
ができる。The position where the self-contained sensor is attached to the ship is not particularly limited, but it can be attached to the port side or the like, preferably via a horizontal maintaining means. However, the present invention is not limited to this, and can be attached to any place as long as the pier and the pier can be seen. The horizontal maintaining means can stabilize the distance measurement value when the ship shakes.
【００１２】また前記センサの数は２個とすると周囲を
広く観測できるだけでなく、三角測量が可能になり、更
に数を増やせばその分、視野範囲を広げ測位精度を向上
させることができる。また船の両側に取り付けることが
できる。If the number of the sensors is two, not only the surroundings can be widely observed but also triangulation can be performed. If the number is further increased, the visual field range can be expanded correspondingly and the positioning accuracy can be improved. It can also be installed on both sides of the ship.
【００１３】前記自己完結型測位センサは、ミリ波レー
ダー装置と監視カメラとを組合わせたものとし、対象物
の映像を表示装置に表示させ、離着桟時の操船に利用す
ることができる。また監視カメラには特に限定はない
が、ＣＣＤ（電子結合素子）カメラ、いわゆるデジタル
カメラを使用し、デジタル映像信号を信号処理装置に与
えることにより各種演算を行わせることができる。The self-contained positioning sensor is a combination of a millimeter wave radar device and a surveillance camera, and an image of an object can be displayed on the display device to be used for maneuvering at the time of takeoff and landing. Although the monitoring camera is not particularly limited, a CCD (electronically coupled device) camera, a so-called digital camera is used, and various calculations can be performed by supplying a digital video signal to the signal processing device.
【００１４】前記映像装置に信号処理装置の演算結果で
ある距離データを表示装置に表示させることができる。It is possible to cause the display device to display the distance data, which is the calculation result of the signal processing device, on the video device.
【００１５】前記距離以外の演算対象としは、距離の時
間的変化割合（即ち速さ）、対象物の方向（即ち角度）
など、適宜必要とする量を対象とすることができる。The calculation targets other than the distance are the temporal change rate of the distance (ie, speed), the direction of the object (ie, angle).
And the like, and the like, can be applied to an appropriately required amount.
【００１６】船舶にＧＰＳを取り付け、ＧＰＳから与え
られる位置情報を前記信号処理装置に入力し、ＧＰＳに
よる測位信号、ミリ波レーダー装置から与えられる信
号、および予め前記信号処理装置に入力した海図データ
から、前記船舶と岸壁または桟橋との関係位置を割り出
せるようにすることができる。得られた関係位置は、表
示装置に表示できるようにすることができる。A GPS is attached to a ship, position information given from the GPS is inputted to the signal processing device, and a positioning signal by the GPS, a signal given from the millimeter wave radar device, and nautical chart data inputted in advance to the signal processing device. The relative position of the ship and the quay or pier can be determined. The obtained relational position can be displayed on a display device.
【００１７】更に船舶に統合操船装置を船舶に取り付
け、前記信号処理装置の出力する信号を前記統合操船装
置に与え、統合操船装置により操船することができる。Further, the integrated marine vessel maneuvering device can be attached to the marine vessel, a signal output from the signal processing device can be given to the integrated marine vessel maneuvering device, and the marine vessel maneuvering device can be operated.
【００１８】前記自己完結型離着桟支援装置は、航行中
海面に突き出している岩礁などの危険物や、何らかの事
情で異常接近した小型船の発見・確認、海賊行為などの
被害予防などにも使用することができる。The self-contained take-off / berthing support device is also used for finding and confirming dangerous objects such as reefs protruding to the surface of the sea during navigation, small boats that have abnormally approached for some reason, and preventing damage such as piracy. Can be used.
【００１９】[0019]
【発明の実施の形態】添付の図面を参照する本発明の一
実施の形態により本発明の船舶の離着桟支援装置を具体
的に説明する。BEST MODE FOR CARRYING OUT THE INVENTION With reference to the accompanying drawings, an embodiment of the present invention will be described in detail with respect to the ship's take-off and landing support device according to the present invention.
【００２０】図１に示す第１の実施の形態の船舶の離着
桟支援装置は、監視カメラ１およびミリ波レーダー装置
２からなる自己完結型測距センサ３、信号処理装置４、
表示装置５、ＧＳＰ６ａ、方位ジャイロ６ｂを組み合わ
せて実施したものである。The ship landing and landing support device of the first embodiment shown in FIG. 1 is a self-contained distance measuring sensor 3 comprising a surveillance camera 1 and a millimeter wave radar device 2, a signal processing device 4,
This is implemented by combining the display device 5, the GSP 6a, and the azimuth gyro 6b.
【００２１】監視カメラ１およびミリ波レーダー２から
なる自己完結型測距センサ３は、船舶７の喫水線（図示
せず）より上の舷側８に水平維持装置９を介して取り付
け、信号処理装置４および表示装置５は、船橋１０の所
定位置に取り付けた。また、前記監視カメラ１は、ＣＣ
Ｄカメラなどデジタル情報として映像データを信号処理
装置４に取り込めるデジタルカメラを使用した。なお図
１に示す符号１１は岸壁、１２は海面である。A self-contained distance measuring sensor 3 including a surveillance camera 1 and a millimeter wave radar 2 is attached to a side 8 of a ship 7 above a waterline (not shown) via a horizontal maintenance device 9, and a signal processing device 4 is provided. The display device 5 was attached to a predetermined position of the bridge 10. Further, the surveillance camera 1 is a CC
A digital camera such as a D camera that can capture video data as digital information into the signal processing device 4 was used. Reference numeral 11 shown in FIG. 1 is a quay and 12 is a sea surface.
【００２２】ミリ波レーダー装置２は、図２に示すとお
りレーダーユニット１３、指向性アンテナ１４、駆動装
置１５、コンピュータからなる信号処理部１６および送
受信回路１７からなっている。そして指向性アンテナ１
４を所定の電波放射方向に向ける駆動と、ミリ波パルス
の放射・受信動作との制御は、いずれも信号処理部１６
によって制御するようにした。アンテナ１４と対象物
（この場合岸壁１１）との間の距離、速度、方向などの
演算は信号処理部１６で行い、その結果を船橋１０の信
号処理装置４に出力するようにした。As shown in FIG. 2, the millimeter wave radar device 2 comprises a radar unit 13, a directional antenna 14, a driving device 15, a signal processing section 16 including a computer, and a transmitting / receiving circuit 17. And directional antenna 1
4 is directed to a predetermined radio wave radiation direction, and control of the millimeter wave pulse radiation / reception operation is performed by the signal processing unit 16
It was controlled by. The calculation of the distance, speed, direction, etc. between the antenna 14 and the object (in this case, the quay 11) is performed by the signal processing unit 16, and the result is output to the signal processing device 4 of the bridge 10.
【００２３】そして図３に示すように、ＧＰＳ６から出
力される緯度・経度による位置信号も信号処理装置４に
入力し、前記位置信号を予め信号処理装置４に入力され
た海図データに入力し、ミリ波レーダー装置２から出力
される位置データと比較して、船舶７と岸壁１１との位
置関係をより正確に演算し、表示装置５上に表示する。
更に本発明装置は、船舶７に統合操船装置１８（例えば
システム操船装置：三井造船株式会社製品）を搭載し、
離着桟時の操船から洋上での操船まで連続した操船を行
うことを可能にできる。As shown in FIG. 3, a position signal based on latitude and longitude output from the GPS 6 is also input to the signal processing device 4, and the position signal is input to the nautical chart data previously input to the signal processing device 4, Compared with the position data output from the millimeter wave radar device 2, the positional relationship between the ship 7 and the quay 11 is more accurately calculated and displayed on the display device 5.
Further, in the device of the present invention, an integrated marine vessel manipulating device 18 (for example, a system marine vessel manipulating device: a product of Mitsui Shipbuilding Co., Ltd.) is mounted on the ship 7,
It is possible to carry out continuous maneuvering from the maneuvering at the time of takeoff and landing to the maneuvering at sea.
【００２４】第２の実施の形態は 図４に示すように船
舶７の一方の舷側に２組の自己完結型側拒センサ３ａ、
３ｂを取り付け、各組３ａ、３ｂによって距離測定を行
うようにした。それぞれの自己完結型側拒センサ３ａ、
３ｂの構成は第１実施の形態の場合と同様なので、同様
の物体には同じ符号を付し説明を省略する。自己完結型
側拒センサ３ａ、３ｂのそれぞれの出力信号は、信号処
理装置（第２実施の形態用には図示せず）に並行的に入
力し、それぞれの信号を別個に演算した後、統合する演
算を行わせることができる。In the second embodiment, as shown in FIG. 4, two sets of self-contained side rejection sensors 3a are provided on one port side of the ship 7.
3b was attached, and the distance was measured by each set 3a, 3b. Each self-contained side rejection sensor 3a,
Since the configuration of 3b is the same as that of the first embodiment, the same reference numerals are given to the same objects and the description thereof will be omitted. The respective output signals of the self-contained side rejection sensors 3a and 3b are input in parallel to a signal processing device (not shown for the second embodiment), and the respective signals are separately calculated and then integrated. The calculation can be performed.
【００２５】第２実施の形態においては、岸壁１１上に
目標位置Ａ，Ｂを定め、自己完結型側拒センサ３ａ、３
ｂによって距離および目標位置Ａ，Ｂが船体７の軸方向
となす角度θaA，θaB，θbA，θbB，および距離ＳaA，
ＳaB，ＳbA，ＳbBを演算することにより三角測量の手法
により、岸壁１１と船舶７との相対位置を知ることがで
き、第１実施の形態の場合より更に情報量を多くするこ
とができる。In the second embodiment, the target positions A and B are set on the quay 11, and the self-contained side refusal sensors 3a and 3 are provided.
The angles θ aA , θ aB , θ bA , θ bB formed by the distance and the target positions A and B with the axial direction of the hull 7 by b, and the distance S aA ,
By calculating S aB , S bA , and S bB , the relative position between the quay 11 and the ship 7 can be known by the triangulation method, and the amount of information can be further increased as compared with the case of the first embodiment. it can.
【００２６】[0026]
【発明の効果】以上説明したように本発明の船舶の離着
桟操船支援装置は、監視カメラとミリ波レーダー装置と
を組合わせた自己完型測位センサにより測定するように
したので、陸地の施設を全く使用せず、しかも船上から
目視にすることもなく、離着桟中の船舶と岸壁または桟
橋との相対位置およびその変化割合を定量的に測定する
ことができる。As described above, since the ship takeoff and landing vessel maneuvering support device of the present invention is designed to measure by a self-contained positioning sensor that is a combination of a surveillance camera and a millimeter wave radar device, It is possible to quantitatively measure the relative position of the ship and the dock and the pier or the pier and its change rate without using the facility at all and without visually observing the ship.
【００２７】また、操船装置と組合わせることにより、
離着桟時の操船から洋上での操船まで連続して操船を可
能にすることができる。Further, by combining with the marine vessel manipulating device,
It is possible to continuously operate the ship from the operation at the time of takeoff and landing to the operation at sea.
【００２８】更に本発明の支援装置の応用的使用とし
て、船の周りの各種障害物の発見、位置その他の定量的
確認、不審船の予防・対策にも利用することができる。Further, as an applied use of the support device of the present invention, it can be used for finding various obstacles around a ship, quantitatively confirming the position and the like, and preventing / measuring a suspicious ship.
【図１】本発明の第１の実施の形態による船舶の離着桟
支援装置の概要説明図である。FIG. 1 is a schematic explanatory diagram of a take-off and landing support device for a ship according to a first embodiment of the present invention.
【図２】図１に示す自己完結型測距センサおよび信号処
理装置の回路構成を示すブロック回路図であるFIG. 2 is a block circuit diagram showing a circuit configuration of the self-contained distance measuring sensor and the signal processing device shown in FIG.
【図３】図１に示す全体の回路構成を示すブロック回路
図である。FIG. 3 is a block circuit diagram showing an overall circuit configuration shown in FIG.
【図４】本発明の第２実施の形態による船舶の離着桟支
援装置を２個による測位する場合の様子を示す説明図で
ある。FIG. 4 is an explanatory diagram showing a situation in which positioning is performed by using two take-off and landing boat support devices for a ship according to a second embodiment of the present invention.
１ 監視カメラ ２ ミリ波レーダー装置 ３ 自己完結型測位センサ ４ 信号処理装置 ７ 船舶 １４ 指向性アンテナ 1 surveillance camera 2 Millimeter wave radar device 3 Self-contained positioning sensor 4 Signal processing device 7 ships 14 Directional antenna
───────────────────────────────────────────────────── フロントページの続き Ｆターム(参考） 5H180 AA25 CC02 CC04 CC12 CC14 FF05 FF22 FF27 FF32 LL01 LL02 LL15 5J062 BB02 CC07 EE04 5J070 AB01 AB24 AC02 AE07 AF05 BF02 ─────────────────────────────────────────────────── ─── Continued front page F-term (reference) 5H180 AA25 CC02 CC04 CC12 CC14 FF05 FF22 FF27 FF32 LL01 LL02 LL15 5J062 BB02 CC07 EE04 5J070 AB01 AB24 AC02 AE07 AF05 BF02
Claims (6)
らなる自己完結型測位センサを船舶の所定位置に取り付
け、前記ミリ波レーダー装置の指向性アンテナから対象
物に向けて電波を発信し、対象物からの反射波による受
信信号を信号処理装置に与え、該信号処理装置は、演算
対象として少なくとも、前記発信および受信から前記対
象物と指向性アンテナとの間の距離を演算するようにし
た船舶の離着桟支援装置。1. A self-contained positioning sensor consisting of at least one millimeter-wave radar device is attached to a predetermined position of a ship, and a directional antenna of the millimeter-wave radar device emits radio waves toward the target object. A signal received by the reflected wave from the signal processor is given to the signal processing device, and the signal processing device calculates at least the distance between the object and the directional antenna from the transmission and reception as a calculation target. Takeoff and landing support device.
視カメラを取り付け、前記対象物の映像を表示装置に表
示させるようにした請求項１記載の船舶の離着桟支援装
置。2. The take-off and landing support device for a ship according to claim 1, wherein a surveillance camera is attached in combination with the millimeter wave radar device to display an image of the object on a display device.
求項２記載の船舶の離着桟支援装置。3. The take-off and landing support device for a ship according to claim 2, wherein the surveillance camera is a CCD camera.
置に表示させるようにした請求項１〜３のいずれかに記
載の船舶の離着桟支援装置。4. The ship landing and landing support device for a ship according to claim 1, wherein distance data as the calculation result is displayed on a display device.
から与えられる位置情報を前記信号処理装置に入力し、
前記ＧＰＳによる測位信号、前記ミリ波レーダー装置か
ら与えられる信号、および予め前記信号処理装置に入力
した海図データから、前記船舶と岸壁または桟橋との関
係位置を割り出せるようにした請求項１〜４のいずれか
に記載の船舶の離着桟支援装置。5. A GPS is attached to the ship, and the GPS is attached.
Input the position information given from the signal processing device,
The relational position between the ship and the quay or pier can be determined from the positioning signal by the GPS, the signal given from the millimeter wave radar device, and the nautical chart data previously input to the signal processing device. The take-off and landing support device for a ship according to any one of the above.
号処理装置の出力する信号を前記統合操船装置に与え、
該統合操船装置により操船可能にした請求項５記載の船
舶の離着桟支援装置。6. An integrated marine vessel maneuvering device is attached to a ship, and a signal output from the signal processing device is given to the integrated marine vessel maneuvering device.
The take-off and landing support device for a ship according to claim 5, wherein the integrated ship handling device is capable of maneuvering.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002088659A JP2003276677A (en) | 2002-03-27 | 2002-03-27 | Departing/landing bridge support device for ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002088659A JP2003276677A (en) | 2002-03-27 | 2002-03-27 | Departing/landing bridge support device for ship |
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Family
ID=29234459
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| Application Number | Title | Priority Date | Filing Date |
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| JP2002088659A Pending JP2003276677A (en) | 2002-03-27 | 2002-03-27 | Departing/landing bridge support device for ship |
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