JP2015217941A - Barge equipped with horizontal-state maintaining device, and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a barge equipped with a horizontal-state maintaining device capable of suppressing a swing of a hull while the barge is sailing or at the time when it stops, and a horizontal-state maintaining control method of the barge.SOLUTION: A barge 100 includes: a hull 200 floating on the sea by buoyant force; a horizontal-state maintaining device 300 installed at each of the four corners of the hull 200 that generates a swing suppression moment in response to the swing of the hull 200; a gradient detection part installed on one side of each of the horizontal-state maintaining devices 300 for measuring a gradient of the hull; and a control part for controlling the actuation of each of the horizontal-state maintaining devices 300 according to the value detected by the gradient detection part.

Description

  The present invention relates to a barge ship equipped with a horizontal maintenance device using a gyro effect so as to suppress the swinging of the hull at sea, and a horizontal maintenance control method for the barge ship.

  Usually, a barge ship is a non-powered ship that transports cargo in harbors, inland seas, lakes, rivers, canals, etc., or is equipped with offshore work equipment and works on the sea. This refers to a ship manufactured with a large space at the top of the hull to provide a working space at sea.

  Such barges can be used as barges moored next to the ship for loading and unloading of cargo when carrying cargo between two points, or when large ships cannot berth in the port. It is used to carry out coastal construction with construction equipment. In many cases, it is not equipped with power that can be operated by itself, and is configured to navigate while being pulled or propelled by a tugboat.

  However, barge ships are not only very unstable when handling heavy loads and working on the sea while floating on the sea, because the hull moves tremendously due to high waves and winds caused by the deterioration of the weather conditions of the ocean. There is a problem that accidents such as construction equipment toppling over and workers to be lost frequently occur. Furthermore, there is a risk that a heavy body loaded on the barge ship's deck is not evenly arranged and is heavily distributed, resulting in a hull rollover accident.

  Therefore, conventionally, as a method for stably balancing the hull of a barge ship, a support cable provided with an anchor at the end is lowered from the four corners of the hull to the sea bottom, or a circular or square spud ( spud) was lowered vertically to the bottom of the sea and a barge was moored at sea.

  However, in the case of the conventional technology using a support cable, its use is limited to small barges that play the role of transporting cargo in harbors, lakes, rivers, canals, etc. Because it fluctuates, it is impossible to perform precise marine operations, and the degree of anchorage of the hull is weak, so there is a problem that it is greatly affected by marine weather.

  In addition, in the case of the prior art using spuds, it is necessary to install at least four expensive spuds in order to maintain the balance of the barge. In addition, since a short-distance movement operation cannot be performed, there is a problem that a tugboat is always required not only for a long distance but also for a short-distance transfer. Furthermore, since a spud made of a hollow steel pipe is used, there is a problem that buoyancy of a size not less than the amount of seawater excluded by the spud volume acts on the hull and weights instability.

Korean Patent Gazette No. 10-1078391 Korean Patent Publication No. 10-2005-0051409

  The present invention has been devised to solve the above-described problems, and uses a gyroscope technology to provide a barge ship equipped with a horizontal maintenance device capable of suppressing the swinging of the hull during operation and stopping, and the same The purpose is to provide a control method.

  The above-described object of the present invention is to provide a hull that floats on the sea due to buoyancy, a horizontal maintenance device that is installed at each of the four corners of the hull, and generates a swing suppression moment corresponding to the swing of the hull, and the horizontal A horizontal maintenance system that is installed on one side of the maintenance device and includes a slope detection unit that measures the slope of the hull, and a control unit that controls the operation of the horizontal maintenance device in response to the value detected by the slope detection unit. This can be achieved by providing a barge with the device.

  According to a preferred aspect of the present invention, the horizontal maintaining device includes a box having a space therein, a drive motor installed in the box, and a flywheel that is coupled to the rotation shaft of the drive motor and rotates. Can be included.

  According to another preferred feature of the present invention, the gradient detection unit includes a gradient sensor that measures the gradient of the hull, and an acceleration sensor that measures acceleration in the vertical direction of the hull, and the control unit includes the acceleration sensor. The rotational speed of the flywheel can be controlled in accordance with the measured value.

  On the other hand, the object of the present invention described above is a hull that floats on the sea by buoyancy, a horizontal maintenance device that is installed at each of the four corners of the hull, and generates a swing suppression moment corresponding to the swing of the hull, An acceleration detection unit that is installed on one side of the horizontal maintenance device and measures the vertical acceleration of the hull, and a control that controls the operation of the horizontal maintenance device corresponding to the value detected by the acceleration detection unit. This can also be achieved by providing a barge with a leveling device that includes a section.

  According to a preferred feature of the present invention, the horizontal maintaining device includes a box having a space therein, a gimbal that is rotatably installed in the box, a rotating shaft of the gimbal that is installed in the gimbal. And a drive motor for rotating the flywheel.

  According to another preferred feature of the present invention, the control unit rotates the flywheel installed at the four corners of the hull according to the vertical acceleration values measured at the four corners of the hull. Each speed can be controlled independently.

  According to still another preferred feature of the present invention, the horizontal maintenance device may further include a rotation motor installed on one side of the gimbal to rotate the gimbal.

  According to still another preferred aspect of the present invention, the controller controls the rotational angle and rotational speed of the gimbal and the rotational speed of the flywheel according to vertical acceleration values measured at four corners of the hull. Can be controlled independently.

  On the other hand, the object of the present invention described above is based on (a) a step of detecting gradients and vertical acceleration caused by rocking at four corners of a hull of a barge, and (b) a value detected in step (a). A step of calculating a swing suppression moment that must be generated by a leveling device installed at each of the four corners of the hull of the barge, and (c) according to the swing suppression moment calculated in step (b). It can also be achieved by providing a method for controlling a barge ship including a level maintaining device including a step of controlling the operation of the level maintaining device.

  According to a preferred aspect of the present invention, the horizontal maintaining device includes a box having a space therein, a drive motor installed in the box, and a flywheel that is coupled to the rotation shaft of the drive motor and rotates. May be included.

  According to another preferred feature of the present invention, in the step (c), the rotational speed and direction of the flywheel can be independently controlled according to the swing suppression moment calculated in the step (b).

  According to still another preferred aspect of the present invention, the horizontal maintenance device further includes a gimbal that is rotatably installed in the box, and a rotation motor that is installed on one side of the gimbal and rotates the gimbal. The gimbal may be installed to have a rotation axis that is perpendicular to the rotation axis of the flywheel.

  According to still another preferred aspect of the present invention, in the step (c), the rotation angle and rotation speed of the gimbal and the rotation speed and rotation of the flywheel are determined according to the swing suppression moment calculated in the step (b). Each direction can be controlled independently.

  According to the barge ship provided with the level maintaining device according to the present invention and the control method thereof, the level maintaining device at the time of the hull swinging can immediately maintain the horizontal state by generating the swing suppressing moment.

  Also, according to the barge ship equipped with the horizontal maintenance device according to the present invention and its control method, unlike the conventional case, there is no need to install a separate cable or spud on the sea floor, so only when moored on the sea. There is also an effect that the balance of the hull can be maintained even when moving.

  Further, according to the barge ship equipped with the horizontal maintenance device according to the present invention and the control method thereof, the acceleration sensor and the horizontal maintenance device are installed at the four corners of the barge ship, respectively. Since the operation of the horizontal maintenance device can be controlled independently, there is an effect that fine adjustment to irregular movement of the barge can be performed.

1 is a schematic view of a barge ship equipped with a level maintaining device on a ship according to the present invention. It is a lineblock diagram of a level maintenance device by a 1st embodiment of the present invention. It is the schematic which shows generation | occurrence | production of the rocking | fluctuation suppression moment of the horizontal maintenance apparatus by 1st Embodiment of this invention. It is a block diagram of the horizontal maintenance apparatus by 2nd Embodiment of this invention. It is a block diagram of the horizontal maintenance apparatus by 3rd Embodiment of this invention. FIG. 5 is a flow chart illustrating a method for controlling a barge equipped with a horizontal maintenance device according to the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the embodiments described below are for explaining the details in such a manner that those having ordinary knowledge in the technical field to which the present invention belongs can easily carry out the invention, thereby limiting the protection scope of the present invention. It doesn't mean that. In describing various embodiments of the present invention, the same reference numerals are used for components having the same technical characteristics.

[First Embodiment]
FIG. 1 is a schematic view of a barge ship equipped with a horizontal maintenance device on a ship according to the present invention.

  A barge ship (hereinafter referred to as a “barge ship”) 100 having a horizontal maintenance device according to the first embodiment of the present invention has a total of four horizontal maintenances, one at each of the four corners of the hull 200 as shown in FIG. The apparatus 300 is provided, and a control unit 500 for controlling the operation of each level maintaining apparatus 300 is provided on one side of the hull 200.

  At this time, in the present embodiment, the case where the horizontal maintenance device 300 is installed on the upper side of the hull 200 is described as an example, but the present invention is not limited to this. The horizontal maintenance device 300 may be installed inside the hull 200 or below the hull 200. Furthermore, although this embodiment has shown the case where the horizontal maintenance apparatus 300 is each installed in four corners of the hull 200, for example, the horizontal maintenance apparatus 300 is installed one by one between each corner. It can also be installed.

  In order for the barge ship 100 that is shaken by waves at sea to maintain the horizontal state continuously, fine adjustment to take the horizontal in response to the swinging of the hull 200 is necessary.

  That is, the barge 100 swings irregularly due to wind and waves at sea, and such movement appears differently at the four corners of the hull 200 of the barge 100. According to the first embodiment of the present invention, the control unit 500 controls the operation of the horizontal maintenance device 300 installed at each of the four corners of the hull 200 in accordance with the movement that appears differently at each of the four corners of the hull 200. Each is controlled independently.

  FIG. 2 is a configuration diagram of the horizontal maintenance device according to the first embodiment of the present invention.

  The horizontal maintenance device 300 according to the first embodiment of the present invention is a case where a gyro effect is used, and the hull 200 is in a horizontal state by generating a rocking suppression moment corresponding to the rocking of the hull 200. It plays a role to be able to maintain. Here, the gyro effect means that a rotating body that rotates at a high speed has a property of constantly maintaining the rotation axis in the initial state.

  As shown in FIG. 2, the horizontal maintaining apparatus 300 according to the first embodiment of the present invention includes a box 310 having a space therein, a drive motor 320 installed inside the box 310, and a rotation shaft of the drive motor 320. A flywheel 340 is coupled to 330 and rotates. The box 310 shown in FIGS. 1 and 2 is shown in a hexahedron shape, but this is only an example, and the box 310 has a space in which the drive motor 320 and the flywheel 340 are installed. The appearance of is not particularly limited. For example, the box 310 can be a polyhedral shape such as a sphere or octahedron.

  The drive motor 320 is for rotating the flywheel 340 and is installed inside the box 310. The operation of the drive motor 320 can be controlled by the controller 500. Therefore, by controlling the operation of the drive motor 320, the rotation direction and rotation speed of the flywheel 340 can be controlled.

  The flywheel 340 is coupled to the drive motor 320 by the rotation shaft 330 and is rotated by the operation of the drive motor 320 to generate a moment of inertia. At this time, the moment of inertia generated by the rotation of the flywheel 340 acts as a swing suppression moment that suppresses the swing of the hull 200.

  On the other hand, one side of the flywheel 340 is provided with a gradient detection unit 400 that measures the gradient of the hull 200, for example, a gradient sensor 410 that measures the gradient due to rocking of the hull 200, and an acceleration sensor that measures vertical acceleration. 420 is comprised.

  FIG. 3 is a schematic diagram illustrating generation of the swing suppression moment of the horizontal maintenance device according to the first embodiment of the present invention.

  As shown in FIG. 3, when the hull 200 is tilted by wave energy, the control unit 500 controls the rotational direction and the rotational speed of the flywheel 340 according to the gradient and acceleration measured by the gradient detection unit 400 to restore the restoring force. generate.

  At this time, as described above, the gradient and the acceleration are measured at the four corners of the hull 200, and the rotation direction and the rotation speed of the flywheel 340 respectively installed at the four corners of the hull 200 are controlled independently of each other. As a result, rocking suppression moments corresponding to the rocking of the hull 200 are independently generated at the four corners of the hull 200.

  That is, when the flywheel 340 starts to rotate, the torque due to gravity acts so as to incline to one side on the upper plane of the flywheel 340. Such torque induces a torque that causes the flywheel 340 to stand straight against a virtual axis that is perpendicular to the upper plane of the flywheel 340 due to precession, and gradually increases as the rotational speed of the flywheel 340 increases. To stand. As a result, the torque due to gravity disappears, and only the torque due to precession remains, so that the hull 200 does not tilt and maintains a horizontal state while the flywheel 340 rotates.

  At this time, it is preferable that the acceleration sensor 420 installed at each corner of the hull 200 measures the acceleration in the vertical direction, and increases the rotational speed of the flywheel 340 as the measured acceleration value increases. For example, it is preferable to measure the vertical accelerations of the four corners of the hull 200 and increase the rotational speed of the flywheel 340 in descending order of acceleration.

  In this case, a corner having a large swing generates a relatively large swing suppression moment compared to a corner having a small swing, and a corner having a small swing has a relatively small swing suppression compared to a corner having a large swing. A moment is generated, and instantaneous fine adjustment corresponding to the swinging of the hull 200 becomes possible.

[Second Embodiment]
FIG. 4 is a block diagram of a horizontal maintenance device according to a second embodiment of the present invention. For convenience of explanation, boxes are omitted from the drawings. Hereinafter, the same reference numerals are assigned to the same components as those in the first embodiment described above, and a duplicate description is omitted.

  The horizontal maintaining apparatus 300 ′ according to the second embodiment of the present invention includes a box (310, see FIG. 1) having a space therein, a gimbal 350 rotatably installed in the box 310, A flywheel 340 that is rotatably installed in the gimbal 350 and a drive motor 320 that rotates the flywheel 340 are included.

  Here, the boxes 310 are respectively provided at four corners of the hull of the barge ship, and serve to protect the gimbal 350, the flywheel 340 and the drive motor 320 installed therein. At this time, the appearance of the box 310 is not particularly limited. For example, it may be a spherical shape or a polyhedral shape such as a tetrahedron or an octahedron.

  In the present embodiment, the box 310 is provided on the upper side of the hull 200, but as described above, the box 310 can be located inside the hull 200 or on the lower side of the hull 200. Furthermore, in this embodiment, the box 310 is provided at the corner of the hull 200, but it can also be positioned between the corners of the hull 200, for example.

  The gimbal 350 has a space so that the flywheel 340 and the drive motor 320 can be installed therein, and is installed rotatably inside the box 310. For example, as shown in FIG. 4, the gimbal 350 may be formed in a hexahedral shape with both sides opened. Gimbal rotation shafts 351 are formed on both sides of the gimbal 350 so as to project outward, and are rotatably coupled to upper stages of a pair of support bases 360 that are vertically spaced apart from the floor surface of the box 310. Therefore, when the hull 200 swings, the gimbal 350 can be rotated by a predetermined angle in the vertical direction on the drawing with respect to the rotational shaft 351 of the gimbal.

  At the center of the gimbal 350, a flywheel rotation shaft 341 is installed in a direction perpendicular to the gimbal rotation shaft 351. For example, in the case of the embodiment shown in FIG. 4, the rotary shaft 341 of the flywheel is installed so as to be rotatable in the vertical direction in the drawing relative to the rotary shaft 351 of the gimbal installed in the horizontal direction on the drawing.

  A drive motor 320 is fixedly installed on the floor surface of the gimbal 350, and a flywheel 340 is coupled to the upper portion of the drive motor 320 so that the rotary shaft 341 of the flywheel passes through the central portion. At this time, the rotational force of the drive motor 320 is transmitted to the flywheel 340 via the flywheel rotating shaft 341. Therefore, when the drive motor 320 is operated, the flywheel 340 is rotated together with the rotary shaft 341 of the flywheel to generate a moment of inertia.

  According to the second embodiment of the present invention, the hull 200 is swung by generating a rocking suppression moment in the reverse direction in which the hull 200 is swung using the gyro effect caused by the rotation of the gimbal 350 and the flywheel 340. Stabilize.

  For example, as shown in FIG. 4, when the flywheel 340 rotates about the Z axis, if the rotation of the gimbal 350 about the Y axis perpendicular to the Z axis is applied as an input, the Z axis and the Y axis Oscillation suppression moment is generated by rotation about the X axis which is perpendicular to all.

  That is, when the hull 200 is swung by waves, tides, or ocean currents, the gimbal 350 naturally rotates with respect to the rotating flywheel 340, and such rotation of the gimbal 350 is input. Due to the gyro effect, a swing restraining moment is generated and transmitted to the hull 200, and the swing of the hull 200 is reduced.

  At this time, it is described above that instantaneous fine adjustment corresponding to the swinging of the hull 200 is possible by making the rotational speed of the flywheel 340 different according to the acceleration value measured at each angle of the hull 200. That's right.

[Third Embodiment]
FIG. 5 is a configuration diagram of a horizontal maintenance device according to a third embodiment of the present invention. The horizontal maintaining apparatus 300 ″ according to the third embodiment of the present invention is generally similar in configuration to the horizontal maintaining apparatus 300 ′ according to the second embodiment of the present invention described above with reference to FIG. There is a difference in that a rotary motor 352 for rotating the gimbal is provided at one end of the rotational shaft 351 of the gimbal.

  Therefore, the same reference numerals are assigned to the same configurations as those of the second embodiment described above, and a duplicate description is omitted.

  Referring to FIG. 5, a rotation motor 352 is installed at one end of the gimbal rotation shaft 351, and the operation of the rotation motor 352 is controlled by the control unit 500, so that the gimbal 350 can be arbitrarily rotated by a predetermined angle.

  That is, according to the third embodiment of the present invention, when the swing of the hull 200 is detected by the gradient sensor 410 or the acceleration sensor 420, the values measured by the respective sensors (410, 420) are transmitted to the control unit 500, The controller 500 calculates the rotation angle and rotation speed of the gimbal 350 necessary for suppressing the swing and controls the operation of the rotation motor 352. Therefore, it is possible to reduce the swing of the hull 200 by generating a swing suppression moment by the gyro effect caused by the rotation of the flywheel 340 and the gimbal 350.

  At this time, the rotational angle and rotational speed of the gimbal 350 constituting each horizontal maintaining device 300 ″ and the rotational speed of the flywheel 340 are made different depending on the acceleration value measured at each angle of the hull 200. Corresponding to the swing of the hull 200, instantaneous fine adjustment is possible at each corner of the hull 200.

  FIG. 6 is a flow chart illustrating a method for controlling a barge equipped with a leveling device according to the present invention. Hereinafter, a method for controlling a barge ship equipped with a level maintaining apparatus according to the present invention will be described in detail with reference to FIGS.

(Step of detecting gradient and acceleration (S10))
When the hull 200 swings, the gradient detector 400 of the horizontal maintenance device (300, 300 ′, 300 ″) installed at the four corners of the hull 200 measures the gradient of the hull 200 and the vertical acceleration, respectively. The measured value is transmitted to the control unit 500.

(Step of calculating swing suppression moment (S20))
The controller 500 receives the values measured by the gradient detector 400 and calculates the swing suppression moments required at the four corners of the hull 200. At this time, the rotational direction and rotational speed of the flywheel 340 are determined. To do. At this stage, the rotational angle and rotational speed of the gimbal 350 may be determined as necessary.

(Step of controlling the operation of the leveling device (S30))
The flywheel 340 is rotated by controlling the operation of the drive motor 320 according to the rotational direction and rotational speed of the flywheel 340 calculated and determined by the control unit 500.

  At this time, it is preferable to increase the rotational speed of the flywheel 340 at the four corners of the hull 200 as the measured acceleration value increases, and decrease the rotational speed of the flywheel 340 as the measured acceleration value decreases.

  Further, when the rotation angle and rotation speed of the gimbal 350 are determined, the operation of the rotation motor 352 can be controlled to rotate the gimbal 350 by a predetermined angle, and the rotation direction and rotation speed of the flywheel 340 and the gimbal 350 are controlled. Each of the four corners of the hull 200 can be controlled independently of each other by the portion 500.

  As a result, by the rotation of the flywheel 340 or the flywheel 340 and the gimbal 350, swing restraint moments due to the gyro effect are respectively generated at the four corner portions of the hull 200, thereby reducing the swing of the hull and reducing the barge. The ship 100 can maintain a horizontal state stably.

  Although the embodiments of the present invention have been described above, it should be understood that those having ordinary knowledge in the technical field to which the present invention belongs can be implemented with various modifications without departing from the scope of the claims of the present invention. Can do.

DESCRIPTION OF SYMBOLS 100 Barge ship 200 Hull 300, 300 ', 300 "Level maintenance device 310 Box 320 Drive motor 340 Flywheel 341 Flywheel rotation axis 350 Gimbal 351 Gimbal rotation axis 352 Rotation motor 360 Support stand 400 Gradient detection part 500 Control part

Claims (13)

A hull that floats on the sea by buoyancy,
A horizontal maintenance device that is installed at each of the four corners of the hull, and generates a swing suppression moment corresponding to the swing of the hull;
A slope detector installed on each side of the horizontal maintenance device for measuring the slope of the hull;
A barge ship provided with a horizontal maintenance device including a control unit that controls the operation of the horizontal maintenance device corresponding to the value detected by the gradient detection unit.   The horizontal maintaining device includes a box having a space therein, a drive motor installed in the box, and a flywheel that is coupled to a rotation shaft of the drive motor and rotates. A barge equipped with the leveling device described in 1.   The gradient detection unit includes a gradient sensor that measures a gradient of the hull and an acceleration sensor that measures an acceleration in the vertical direction of the hull, and the control unit corresponds to a measurement value of the acceleration sensor. The barge ship provided with the horizontal maintenance device according to claim 2, wherein each of the rotation speeds is controlled. A hull that floats on the sea by buoyancy,
A horizontal maintenance device that is installed at each of the four corners of the hull, and generates a swing suppression moment corresponding to the swing of the hull;
An acceleration detector that is installed on each side of the leveling device and measures the vertical acceleration of the hull;
A barge ship comprising a horizontal maintenance device including a control unit that controls the operation of the horizontal maintenance device in accordance with values detected by the acceleration detection unit.   The horizontal maintaining device includes a box having a space portion therein, a gimbal that is rotatably installed inside the box, and a rotation axis that is installed in the gimbal and is perpendicular to the rotation axis of the gimbal. The barge ship provided with the horizontal maintenance device according to claim 4, further comprising: a flywheel having a drive motor that rotates the flywheel.   The control unit independently controls the rotational speeds of the flywheels installed at the four corners of the hull according to the vertical acceleration values measured at the four corners of the hull. A barge equipped with the horizontal maintenance device according to claim 5.   The barge ship with the horizontal maintenance device according to claim 5, wherein the horizontal maintenance device further includes a rotation motor that is installed on one side of the gimbal and rotates the gimbal.   The control unit independently controls the rotational angle and rotational speed of the gimbal and the rotational speed of the flywheel according to vertical acceleration values respectively measured at four corners of the hull. A barge equipped with the horizontal maintenance device according to claim 7. (A) detecting gradients due to rocking and vertical acceleration at four corners of a hull of a barge;
(B) calculating swing suppression moments that must be generated by the horizontal maintenance devices respectively installed at the four corners of the hull of the barge based on the values detected in the step (a);
(C) A barge ship control method including a level maintaining device including a step of controlling the operation of the level maintaining device in accordance with the swing suppression moment calculated in the step (b).   The horizontal maintaining device includes a box having a space portion therein, a drive motor installed in the box, and a flywheel that is coupled to a rotation shaft of the drive motor and rotates. A control method for a barge ship comprising the level maintaining device according to claim 9.   The horizontal phase according to claim 10, wherein in step (c), the rotational speed and direction of the flywheel are independently controlled in accordance with the swing suppression moment calculated in step (b). A method for controlling a barge equipped with a maintenance device.   The horizontal maintenance device further includes a gimbal that is rotatably installed inside the box, and a rotation motor that is installed on one side of the gimbal and rotates the gimbal, and the gimbal is connected to a rotation shaft of the flywheel. The method of controlling a barge ship with a horizontal maintenance device according to claim 10, wherein the control method is installed so as to have a rotation axis that is perpendicular to the horizontal axis.   In the step (c), the rotation angle and rotation speed of the gimbal and the rotation speed and rotation direction of the flywheel are independently controlled according to the swing suppression moment calculated in the step (b). A method for controlling a barge ship comprising the level maintaining device according to claim 12.

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