JP2013163395A - System and method for controlling anchoring - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an anchoring control system and an anchoring control method which enable an anchor to be set up at a predetermined position predicting an anchor bottoming position on a water bottom.SOLUTION: An anchoring control system includes: a flow direction and flow speed meter 15, which measures the flow direction and the flow speed of tidal currents in a predetermined water area with multiple layers in the water depth direction; a device 16, which measures a position of an anchoring execution ship that casts an anchor 21 with a wire 20 of a mooring ship 13; and a personal computer PC, which calculates a target casting position where the anchor is cast from an anchoring execution ship 12. The personal computer PC calculates drag that acts on the anchor and the tension of the wire by drag/gravity that acts on the wire based on the measured data of the flow direction and flow speed of the currents, calculates movement direction/distance from the casting of the anchor up to bottoming based on the drag/gravity of the anchor and the tension of the wire, calculates a target casting position OA from a target bottoming position OB of the anchor and the movement direction/distance ΔAB calculated, and casts the anchor by measuring the position of the anchoring execution ship and by moving the anchoring execution ship to the target casting position.

Description

  The present invention relates to a anchor management system and a anchor management method for an anchor of a ship moored on water.

  In order to moor a ship within a predetermined range on the water, it is common practice to sink an anchor connected to the end of a chain or rope to the bottom of the water. In addition, anchors may be installed, relocated, or withdrawn by another ship (lifting ship) in order to moor a work ship or the like on the water.

  Patent document 1 discloses that the dredging instruction information on the pump dredger side (throwing target position information, throwing order information, work start command, main ship information (pump dredger position information and pump dredger direction information) and construction area information) is transmitted via a wireless LAN. It is sent to the slave station calculation control unit on the landing ship and displayed on the slave display part, and the crew on the lifting ship side can grasp the anchoring instruction information appropriately and quickly by looking at the display screen of the slave display part. We have proposed an anchoring support system and method that allows anchor anchoring to be performed quickly and accurately without relying on intuition or experience (summary, Fig. 1).

  Further, Patent Document 2 discloses a flow direction of an in-situ water area that forms the bottom structure as a charging method in which an input material for forming the bottom structure is transported by an earth ship and is dropped into water and freely dropped. A step of measuring a flow rate, and an optimum input position of the input material of the earth transport ship for landing the input material at a target position of the water bottom, the target position, the flow direction / flow speed, and the progress of the earth transport ship Analyzing and calculating on the basis of the direction and speed, a step of causing the earth ship to advance toward the optimal charging position at the traveling direction and speed when the optimal charging position is calculated, and the ongoing And a step of charging the input material from the ongoing ship, when a measured position of the ship is substantially coincident with the optimum input position. ).

JP 2006-273247 A Japanese Patent No. 4765443

  When anchoring a work boat or the like by anchoring at a deep water depth or in a place with a fast tide, the anchor will be greatly displaced from the target position due to the influence of the tide, etc. For this reason, it was very difficult to accurately install the anchor on the bottom of the water. In addition, when launching from a dredger, the anchorage starts at a position away from the vessel, but at this time, the force of pulling back to the vessel may be exerted by the action of tension by a rope etc. You can't think the same way.

  Further, in the prior art, a special device for measuring the position of the installation in the water is required to confirm the accurate installation at the bottom of the water. In addition, as a result of the confirmation, it was possible to raise the anchor and re-insert it.

  The anchorage support system / method of Patent Document 1 does not perform anchoring in consideration of the influence of such a tidal current during the fall of the anchor. In addition, since the charging method of the input material of Patent Document 2 is intended for free fall of the input material, it is not possible to predict the amount of deviation when the anchor is installed on the water bottom while being suspended.

  In the present invention, in view of the above-described problems of the prior art, when anchoring a wire or rope connected as a connecting member, the anchoring position on the water bottom of the anchor can be predicted and the anchor can be installed at a predetermined position. It is an object to provide a secure investment management system and method.

  In order to achieve the above object, the anchorage management system according to the present embodiment includes an anchorage with a connecting member of a mooring target ship, and a direction-of-flow velocity measuring means for measuring the direction and velocity of a tidal current in a predetermined water area in multiple layers in the depth direction. A anchoring execution ship position measuring means for measuring the position of the anchoring execution ship to be executed; and an arithmetic means for calculating a target insertion position for introducing the anchor with the connecting member from the anchoring execution ship; Based on the measurement data of the flow direction and flow velocity of the tidal current by the flow direction flow velocity measuring means, the drag acting on the anchor and the tension of the connecting member due to the drag / gravity acting on the connecting member are calculated, and the drag / gravity of the anchor and Based on the tension of the connecting member, the movement direction / distance from the insertion of the anchor to the bottom is calculated, and the target bottom position of the anchor is calculated. The target throwing position is calculated from the moving direction and distance, the position of the anchoring execution ship is measured by the anchoring execution ship position measuring means, and the anchoring anchor is thrown by moving the anchoring execution ship to the target throwing position. Run.

  According to this anchorage management system, the drag force acting on the anchor and the drag force acting on the connecting member and the tension of the connecting member due to gravity are determined based on the measurement data obtained by measuring the flow direction and flow velocity of the tidal current in multiple layers (by depth). Is calculated, and the target insertion position of the anchor is obtained by calculating the moving direction and distance from the insertion of the anchor to the bottom based on the drag / gravity of the anchor and the tension of the connecting member. Can be accurately predicted, and the anchor can be installed at a predetermined position.

  The anchoring management system further includes a mooring target ship position measuring means for measuring the position of the mooring target ship, and when the mooring target ship and the anchoring execution ship are different, the computing means includes the measured mooring target ship And the measured position of the anchoring ship, a distance between the connecting member winch of the anchored ship and the anchor of the moved anchoring ship is obtained, and the connection is based on this distance. It is preferable that the initial tension of the member is obtained and used for the calculation of the target loading position in order to obtain an accurate target loading position.

  In addition, by providing display means for displaying the position of the throwing execution ship and the target throwing position, maneuvering the throwing execution ship so that the position of the throwing execution ship matches the target throwing position while viewing the display means Can do.

  The anchorage management method according to the present embodiment is a anchorage management method when anchoring anchors with connecting members are executed from an anchoring execution ship, and measuring the flow direction and the flow velocity of a tidal current in a predetermined water area in multiple layers in the water depth direction, Based on the measurement data of the measured flow direction and flow velocity of the tidal current, the drag acting on the anchor and the tension of the coupling member due to the drag / gravity acting on the coupling member are calculated, and the drag / gravity of the anchor and the coupling are calculated. A step of calculating a moving direction / distance from the loading of the anchor to the bottom based on the tension of the member, and a target loading position at which the anchor with the connecting member is loaded from the anchoring vessel, a target landing position of the anchor And a step of calculating from the calculated moving distance, a position of the throwing execution ship is measured, and the throwing execution ship is moved to the target throwing position. Te containing and executing the anchoring of the anchor.

  According to this anchorage management method, the drag acting on the anchor and the tension of the connecting member due to the drag acting on the connecting member are calculated based on the measurement data obtained by measuring the flow direction and flow velocity of the tidal current in multiple layers (by depth). The target anchor position is calculated by calculating the moving direction / distance from the anchor insertion to the bottom of the anchor based on the anchor drag / gravity and the tension of the connecting member. The anchor can be installed at a predetermined position.

  When the anchoring target ship and the anchoring execution ship are different in the anchoring management method, the connection is based on the distance between the connecting member winch of the anchoring target ship and the anchor of the moved anchoring ship. It is preferable that the initial tension of the member is obtained and used for the calculation of the target loading position in order to obtain an accurate target loading position.

  Further, by displaying the position of the throwing execution ship and the target throwing position on the display means, it is possible to maneuver the throwing execution ship so that the position of the throwing execution ship matches the target throwing position while viewing the display means. it can.

  In the above anchorage management system / method, when calculating the moving direction / distance from the insertion of the anchor to the bottom, it is necessary to further consider the inertial force acting on the anchor, the gravity acting on the connecting member, the inertial force, etc. preferable.

  An object of the present invention is to provide a anchoring management system and method capable of predicting the landing position of the anchor at the bottom of the water and installing the anchor at a predetermined position when anchoring an anchor to which a wire, a rope, or the like is anchored. And

It is the schematic which shows the anchoring management system of this embodiment for each step (a)-(d) of anchor anchoring. It is a flowchart which shows each step Sa-Sd of throwing corresponding to Fig.1 (a)-(d). It is the schematic which shows the example of a screen display of the personal computer of FIG.1 (b). It is a figure which shows roughly each position of a work ship, an anchor, a wire, and a multilayer flow direction anemometer when an anchor is thrown in directly from the work ship to be moored in this embodiment. In this embodiment, it is a figure which shows roughly each position of a work ship, an anchor, a wire, and a dredger ship when an anchor is thrown in from a lift ship different from a mooring object work ship. It is a flowchart for demonstrating the calculation algorithm about the movement distance (DELTA) AB of an anchor in this embodiment, and its direction. It is a flowchart for demonstrating each step of the throwing management method by this embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. FIG. 1 is a schematic view showing the anchor management system of this embodiment for each step (a) to (d) of anchor anchoring. FIG. 2 is a flowchart showing the steps Sa to Sd of throwing corresponding to FIGS. 1 (a) to 1 (d). FIG. 3 is a schematic diagram showing a screen display example of the personal computer shown in FIG.

  As shown in FIGS. 1 (a) to (d), the anchorage management system according to the present embodiment has an anchor 21 for mooring a work ship 13 that performs work in a predetermined water area from a lifting ship 12 that is another ship. When throwing in, the anchor 21 connected to the wire 20 moves in the horizontal direction due to the influence of tidal current etc. until it falls underwater and settles on the bottom G, but the direction and distance of the movement are predicted. Thus, the insertion position of the anchor 21 is determined.

  The anchorage management system of the present embodiment is a multi-layer flow direction anemometer 15 mounted on the bottom of the measuring ship 11 in order to measure the flow direction and flow velocity of the tidal current in a predetermined water area where the anchor 21 is anchored in multiple depths (by depth). And a personal computer (personal computer) PC that inputs various tidal current and flow velocity measurement data measured by the multi-layer flow direction anemometer 15 and carries out various calculations, and is mounted on a lifting ship 12 that performs anchor 21 anchoring. A position measuring device 16 comprising a GPS for measuring the anchor insertion position of the dredger 12. The multi-layer flow direction anemometer 15 may be hung from the measurement ship 11 with a rope or a wire.

  The dredger 12 has a crane KR that suspends an anchor 21, and a position measuring device 16 that measures the input position of the anchor 21 is arranged at the upper end of the hanging part of the crane. For this reason, the position where the dredger 12 is measured coincides with the anchor insertion position.

  The work ship 13 includes a wire winch 18 that unwinds and winds the wire 20 connected to the anchor 21, and a position measurement device 17 that includes a GPS that measures the position of the work ship 13.

  The personal computer PC is installed in the dredger 12, and from the submerged injection of the anchor 21 to the bottom G based on the measurement data obtained by measuring the flow direction and flow velocity of the tidal current in the multi-layer direction (by depth) with the multi-layer flow direction anemometer 15. The travel distance ΔAB to the bottom of the ship and its direction are calculated, the target insertion position OA is calculated from the travel distance ΔAB, the direction and the target landing position OB, and the position of the dredger 12 is measured on the monitor screen MT. The current position measured by the device 16 and the target insertion position OA are displayed. The measurement data from the multi-layer flow direction anemometer 15 is transmitted from the measurement ship 11 to the personal computer PC by radio or wire.

  The anchor throwing steps Sa to Sd in FIG. 2 by the throwing management system according to the present embodiment will be described.

  Step Sa: As shown in FIG. 1 (a), the measurement ship 11 moves to the water area near the target bottom position OB of the anchor 21 of the work ship 13, and the multi-directional flow direction anemometer 15 changes the flow direction and flow speed of the tidal current in the depth direction. Measure in multiple layers. As the multilayer flow direction anemometer, a known ultrasonic Doppler type multilayer flow direction anemometer (ADCP) can be used, and the flow direction / velocity can be measured in real time in multiple layers (multistage) in the water depth direction.

  Step Sb: As shown in FIG. 1B, the flow direction / flow velocity measurement data measured by the multi-layer flow direction anemometer 15 is input to the personal computer PC, and based on the measurement data, the gravity of the anchor 21, the tension of the wire 20, and the like. The movement distance ΔAB from the underwater injection of the anchor 21 to the bottom of the bottom G and its direction are calculated, and the target insertion position OA with respect to the target bottom position OB is displayed on the monitor screen MT as shown in FIG.

  Step Sc: The anchor hanging position of the crane KR measured by the position measuring device 16 of the lifting ship 12 in FIG. 1 (c) is displayed on the monitor screen MT of the personal computer PC as the anchor insertion position OC as shown in FIG. The The anchor ship 12 is guided in the arrow direction P indicated by the broken line in FIG. 3 so that the anchor insertion position OC coincides with the target insertion position OA displayed on the monitor screen MT, and is positioned at the target insertion position OA. Thereafter, the anchor 21 suspended from the crane KR is thrown into the water.

  Step Sd: As shown in FIG. 1 (d), the anchor 21 falls under water while being affected by the tidal current in the water area and the wire 20, and the flow direction / velocity measurement data in the depth direction of this tidal current, the gravity of the anchor 21, Since the movement distance ΔAB from the underwater loading of the anchor 21 to the bottom of the bottom G and the direction thereof are predicted by calculation based on the tension of the wire 20 and the like, the target landing position OA is determined. It reaches the bottom G of the water.

  The calculation of the movement distance ΔAB from the insertion of the anchor 21 to the bottom and the direction thereof in the anchoring management system / method of this embodiment will be described with reference to FIGS.

  FIG. 4 is a diagram schematically showing positions of the work ship, the anchor, the wire, and the multilayer flow direction anemometer when the anchor is directly input from the work ship to be moored in the present embodiment. FIG. 5 is a diagram schematically showing positions of a work ship, an anchor, a wire, and a lift ship when an anchor is introduced from a lift ship different from the work ship to be moored in the present embodiment. In FIG. 5, the illustration of the multilayer flow direction anemometer is omitted). FIG. 6 is a flowchart for explaining the calculation algorithm (steps S01 to S09) for the anchor movement distance ΔAB and its direction in the present embodiment.

As shown in FIG. 4, when the anchor 21 is directly input from the work vessel 13 to be moored,
In the case of an anchor alone, the forces acting on the anchor may be considered gravity, drag, inertial force in the vertical direction, drag in the horizontal direction H due to tidal current, and inertial force. Since it is suspended, the influence of the tension T caused by gravity, drag, inertial force and horizontal drag caused by tidal current, inertial force, and the like is further considered. For this reason, it is necessary to consider not only the balance of single forces but also the balance of forces in which the anchor 21 and the wire 20 are integrated. Further, when the anchor 21 moves due to a tidal current, a tension according to the distance between the anchor 21 and the winch 18 is taken into consideration.

  Moreover, when anchoring the anchor 21 from the dredger 12 as shown in FIG. 5, the anchoring starts at a position away from the work ship 13 to be moored. At this time, the anchor 21 input position and the winch of the work ship 13 are started. Depending on the distance from the position 18, a tension is applied to the wire 20, so that a force to pull back to the work boat 13 side acts.

  For example, as shown in FIG. 5, when the anchor 21 is dropped to a midway position, and there is no wire 20, the anchor 21 is connected to the wire 20 without being affected by the tidal current. Since the tension T is acting, it is pulled back and reaches the final position of the solid line.

  For the above reasons, when loading from the dredger ship 12, the distance between the winch position (fair leader position) of the work ship 13 and the anchor 21 is measured by the position measuring devices 16 and 17 in FIG. In the case where the pull back force acts as described above, this force is considered as the initial tension.

  4 and 5, the calculation of the movement distance ΔAB from the insertion of the anchor to the bottom and the direction thereof is performed as shown in FIG. 6. First, the initial weight and shape (drag coefficient) of the anchor 21 wire 20 are calculated. Conditions are set (S01) and input to the personal computer PC, which stores them in a memory such as a hard disk or RAM.

  Next, as shown in FIG. 4, the multi-direction flow direction anemometer 15 measures the flow direction and flow velocity of the tidal current in the target water area of the work ship 13 in multiple layers in the water depth direction (S02), and inputs it to the personal computer PC. Or memory such as RAM. In the case of FIG. 5, the same measurement is performed with the multilayer flow direction anemometer 15.

  Next, when anchor anchoring is performed from the dredger 12 as shown in FIG. 5 (S03), the distance between the anchor 21 and the winch 18 of the work ship 13 is measured by the position measuring devices 16 and 17 in FIG. The personal computer PC calculates the initial tension in the wire 20 based on this distance (S04).

  Next, after the calculation of the initial tension, or in the case of a dredging from a work ship instead of a dredging ship in step S03, the personal computer PC is based on tidal current and flow rate measurement data, initial conditions, etc. Forces after a minute (gravity, drag, inertial force in the vertical direction acting on the anchor 21, inertial force in the horizontal direction, inertial force in the vertical direction V, and gravity, drag, inertial force and tidal current in the vertical direction acting on the wire 20 The balance of the drag H in the horizontal direction H and the tension T) due to the inertial force is calculated (S05), and the horizontal movement distance and direction of the anchor 21 and the vertical movement distance are calculated from the balance of the forces (S06).

  From the calculated vertical movement distance, the personal computer PC determines whether or not the anchor 21 has reached the bottom position of the bottom G (S07). If not yet settled, the process returns to step S05. The balance of the force after a minute time is calculated, and the calculation of calculating the horizontal movement distance and direction and the vertical movement distance is repeated in step S06.

  When it is determined that the anchor 21 has reached the bottom position of the water bottom G (S07), the horizontal movement distance and direction at that time are the direction of the movement distance ΔAB from the anchor insertion position to the bottom position (S08). ).

  A target insertion position OA is obtained from the movement distance ΔAB, the direction and the target bottom position OB obtained as described above (S09).

  Next, each step S11-S17 of the throwing management method by this embodiment is demonstrated with reference to the flowchart of FIG. 7, and FIGS.

  The multi-layer flow direction anemometer 15 mounted on the measurement ship 11 measures the flow direction and the flow speed of the tidal current in multiple layers in the water depth direction in the water area near the target bottom position OB of the anchor 21 of the work ship 13 (S11). Further, the position measuring device 16 of the lifting ship 12 measures the anchor hanging position (anchor throwing position) of the crane KR (S12).

  Next, as shown in FIG. 6, the movement distance ΔAB and the direction from the anchor insertion position to the landing position are calculated, and the target insertion position OA is calculated from the movement distance ΔAB, the direction, and the target landing position OB. (S13) As shown in FIG. 3, the target input position OA of the anchor and the input position OC of the dredger 12 are displayed on the monitor screen MT of the personal computer PC (S14).

  Next, the dredger 12 is moved to the target loading position OA of the anchor and positioned at the target loading position OA (S15).

  Next, the crane KR of the dredger 12 is operated and the anchor 21 is inserted (S16). At this time, a wire 20 extending from the winch 18 of the work boat 13 is connected to the anchor 21.

  Next, the inserted anchor 21 falls underwater in a state where it is connected to the wire 20, and reaches the target bottom position OB or a position near it (S17).

  In FIG. 7, anchor anchoring is performed by the anchor ship 12, but the anchor anchoring can be performed in the same manner when it is performed by the mooring target work ship 13. In this case, the personal computer PC or the like is installed on the work boat 13.

  According to the anchorage management method according to the present embodiment, the drag acting on the anchor 21 and the wire 20 is obtained based on the measurement data obtained by measuring the flow direction and flow velocity of the tidal current in multiple layers (by depth) in the water depth direction, and acts on the anchor 21. The movement distance ΔAB and the direction of the anchor 21 are determined in consideration of not only the gravity, drag, and inertia, but also the drag of the wire 20 connected to the anchor 21 and the tension due to gravity, inertia, and the like. The landing position can be accurately predicted, and the anchor can be installed at a predetermined position.

  In particular, when mooring a work ship in a deep water area or a fast tidal water area, there is a problem that the anchoring position of the anchor is likely to deviate greatly from the loading position, but this problem is solved. In addition, there is less risk of the anchor being lifted / re-inserted due to the anchor being displaced significantly and bottoming, the anchor throwing reliability is improved, and work efficiency is improved.

  Further, as shown in FIG. 3, the anchor target input position OA and the input position OC of the dredger ship 12 are displayed on the monitor screen MT of the personal computer PC. OA) can be specified, and the operator can maneuver the dredger 12 so that the loading position OC of the dredger 12 matches the target loading position OA.

  As described above, the modes for carrying out the present invention have been described. However, the present invention is not limited to these, and various modifications can be made within the scope of the technical idea of the present invention. For example, in this embodiment, a wire is used as the anchor connection member, but the present invention is not limited to this. For example, a chain may be used.

  1 has a crane that suspends anchors. However, a dredger without a crane may be used, and anchors may be attached to ropes and wires from winches installed on the dredger. In some cases, they are linked.

  In addition, although a working ship has been described as an example of a mooring target ship, the present invention is not limited to this, and can be applied to mooring other ships.

  In addition, the personal computer is installed in a dredger (or work ship), but the present invention is not limited to this. For example, the personal computer is installed in a land office, and the necessary data can be transmitted wirelessly to the dredger or work ship. 3 may be displayed on the monitor screen of the dredger or work boat.

11 Measuring ship 12 Lifting ship (shipping execution ship)
13 Work ship (ships subject to mooring)
15 Multi-layer flow direction anemometer 16, 17 Position measuring device 18 Wire winch 20 Wire (connection member)
21 Anchor KR Crane PC Personal computer MT Monitor screen ΔAB Movement distance OA Target insertion position OB Target landing position OC Anchor insertion position T Tension V Vertical direction H Horizontal direction

Claims (6)

Current direction flow velocity measuring means for measuring the flow direction and flow velocity of a tidal current in a predetermined water area in multiple layers in the water depth direction;
Throwing execution ship position measuring means for measuring the position of the anchoring execution ship that performs anchoring of the anchor with the connecting member of the mooring target ship;
A calculation means for calculating a target loading position for loading the anchor with the connecting member from the throwing execution ship,
The calculation means calculates a drag force acting on the anchor and a drag force acting on the connection member and a tension of the connection member due to gravity based on measurement data of a flow direction and a flow velocity of the tidal current by the flow direction flow velocity measurement unit, Based on the drag / gravity of the anchor and the tension of the connecting member, the movement direction / distance from the loading of the anchor to the bottom is calculated, and the target bottom position of the anchor and the calculated movement direction / distance are Calculate the target loading position,
A anchorage management system that measures the position of the anchoring execution ship by the anchoring execution ship position measuring means and moves the anchoring execution ship to the target insertion position to execute anchor anchoring. A mooring target ship position measuring means for measuring the position of the mooring target ship;
When the mooring target ship and the throwing execution ship are different,
The calculating means is configured to determine, from the measured position of the mooring target ship and the measured position of the anchoring execution ship, the connecting member winch included in the mooring target ship and the anchor in the moved anchoring execution ship; The throwing management system according to claim 1, wherein an initial tension of the connecting member is obtained based on the distance and used for calculating the target throwing position.   The anchorage management system according to claim 1 or 2, further comprising display means for displaying the position of the anchoring ship and the target input position. A anchorage management method for executing anchor anchoring with a connecting member from an anchoring ship,
Measuring the flow direction and flow velocity of the tidal current in a predetermined water area in multiple layers in the depth direction;
Based on the measurement data of the measured flow direction and flow velocity of the tidal current, the drag acting on the anchor and the tension of the connecting member due to the drag / gravity acting on the connecting member are calculated, the drag / gravity of the anchor and the tension Calculating a moving direction / distance from the insertion of the anchor to the bottom based on the tension of the connecting member;
Calculating a target loading position for loading the anchor with the connecting member from the anchoring vessel from the target landing position of the anchor and the calculated movement distance;
A anchorage management method comprising: measuring a position of the anchoring execution ship, moving the anchoring execution ship to the target insertion position, and executing anchor anchoring.   When the mooring target ship and the anchoring execution ship are different, the initial tension of the connecting member is determined based on the distance between the connecting member winch of the mooring target ship and the anchor of the moved anchoring ship. The throwing management method according to claim 4, wherein the throwing management method is used for calculating the target throwing position.   The throwing management method according to claim 4 or 5, wherein the position of the throwing execution ship and the target throwing position are displayed on a display means.

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