JP2018131016A - Control device, boat carrying device and driving method of carrier - Google Patents

Control device, boat carrying device and driving method of carrier Download PDF

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JP2018131016A
JP2018131016A JP2017024916A JP2017024916A JP2018131016A JP 2018131016 A JP2018131016 A JP 2018131016A JP 2017024916 A JP2017024916 A JP 2017024916A JP 2017024916 A JP2017024916 A JP 2017024916A JP 2018131016 A JP2018131016 A JP 2018131016A
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water
water surface
carrier
control device
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JP7164935B2 (en
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祐之 右田
Sukeyuki Uda
祐之 右田
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Mitsubishi Heavy Industries Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a control device, boat carrying device and driving method of the carrier capable of safely lifting and recovering a cruising body.SOLUTION: The acquisition division 13 acquires the measured value from the measuring device to measure the amount changing in response to the water level fluctuation. Based on the measured value the measuring division 15 calculates the relative height in relative to the water surface of the carrier on which the cruising body cruising in water or on water can runs. The generating division generates the control signal of the actuator to vertically move up and down the carrier so that the changing amount of the relative height gets smaller.SELECTED DRAWING: Figure 1

Description

本発明は、制御装置、艇運搬装置及び搬器の駆動方法に関する。   The present invention relates to a control device, a boat transport device, and a method for driving a transporter.

艇運搬装置としては、母船内部又は外部に突き出したランプウェー（傾斜路）を介して、ボートを投入揚収する方式がある。
艇運搬装置としては、母船上のダビットやクレーン等から揚収索を吊下し、ボートを直接、又はボートが乗り込んだ架台等を吊上げて投入揚収する方式がある。 As a boat carrying device, there is a method of loading and unloading a boat via a rampway (inclined road) protruding inside or outside the mother ship.
As a boat transporting device, there is a method in which a lifting line is suspended from a davit, a crane, or the like on a mother ship, and a boat is directly loaded or a platform on which the boat is loaded is lifted and loaded.

特開平１０−２７９２８２号公報JP-A-10-279282 特開２００７−０３８７０６号公報Japanese Patent Laid-Open No. 2007-038706

ところが、上記特許文献１及び特許文献２に記載の技術では、波浪が激しくなるにつれ、母艦や揚収する小型艇における横動揺、縦動揺、上下動等の動揺が増大し、それに伴い、母艦側におけるランプウェーや吊上げ架台の揚収用架台等も激しく上下動することとなる。その結果、小型艇を揚収する際にタイミングを誤れば揚収用架台と小型艇が激しくぶつかって揚収が困難になることがある。   However, in the techniques described in Patent Document 1 and Patent Document 2, as the waves become intense, the swaying such as the lateral sway, the longitudinal sway, and the vertical sway in the mother ship and the small boat to be collected increases. In this case, the rampway and the lifting stand for the lifting stand will move up and down violently. As a result, if the timing is wrong when the small boat is picked up, the pick-up platform and the small boat may collide violently, making it difficult to pick up the boat.

本発明は、上記課題を解決するためになされたものであって、航走体を安全に揚収することができる制御装置、艇運搬装置及び搬器の駆動方法を提供することを目的とする。   The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a control device, a boat transport device, and a driving method of a transporter that can safely lift a traveling body.

上記課題を解決するために、本発明の一態様に係る制御装置は、水面の揺動に応じて変化する量を計測する計測装置から計測値を取得する取得部と、前記計測値に基づいて、水中または水上を航走する航走体が乗り上げ可能とされた搬器の前記水面に対する相対高さを算出する計算部と、相対高さの変化量が小さくなるように、前記搬器を上下動させるアクチュエータの制御信号を生成する生成部とを備える。   In order to solve the above-described problem, a control device according to one aspect of the present invention is based on an acquisition unit that acquires a measurement value from a measurement device that measures an amount that changes in accordance with rocking of the water surface, and the measurement value. A calculation unit that calculates the relative height of the transporter that can travel on the water or under water, and the vertical movement of the transporter so that the amount of change in the relative height is small. A generating unit that generates a control signal for the actuator.

この構成によれば、航走体の揚収に際し、母艦の搬器に航走体が乗り上げるときに波浪等で母艦が動揺しているとしても、搬器が海面に対してほぼ一定の深度を保てるために、船底が搬器に衝突したり、搬器で叩かれたりすることなく航走体を安全に揚収することができる。   According to this configuration, when the navigator is picked up, the carrier can maintain a substantially constant depth with respect to the sea level even if the mother ship is shaken by waves when the navigator rides on the carrier of the mother ship. In addition, the traveling body can be safely withdrawn without the bottom of the ship colliding with the carrier or being hit by the carrier.

また、上記の制御装置は、前記計測装置が、前記搬器を備える艦の船体に設けられ、前記船体の揺動角を検出するモーションセンサを含んでもよい。   In addition, the control device may include a motion sensor in which the measurement device is provided in a ship hull including the carrier and detects a swing angle of the ship hull.

この構成によれば、母艦の上下動を距離データに変換するためにモーションセンサにより母艦の上下動を感知することにより、搬器の先端部分が常に水面下にあるようにできる。   According to this configuration, by detecting the vertical movement of the mother ship by the motion sensor in order to convert the vertical movement of the mother ship into distance data, the tip portion of the carrier can always be below the water surface.

また、上記の制御装置は、前記計測装置が、前記搬器に設けられ、前記搬器と前記水面との高さを検出する水位センサを含んでもよい。   Moreover, said control apparatus may include the water level sensor which the said measuring device is provided in the said carrying device, and detects the height of the said carrying device and the said water surface.

この構成によれば、モーションセンサにより母艦の上下動を感知するとともに、水位センサにより搬器の先端部分が水面下に確実に配置されるようにできる。   According to this configuration, the vertical movement of the mother ship can be detected by the motion sensor, and the tip portion of the carrier can be surely disposed below the water surface by the water level sensor.

また、上記の制御装置は、前記搬器がランプウェーであり、前記生成部は、前記相対高さの変化量が０になるように、前記制御信号を生成してもよい。   In the control device, the transporter may be a lampway, and the generation unit may generate the control signal so that a change amount of the relative height becomes zero.

この構成によれば、水面に対する相対高さの変化量が０になるようにランプウェーを駆動させることができる。   According to this configuration, the lampway can be driven so that the amount of change in relative height with respect to the water surface is zero.

また、上記の制御装置は、前記搬器が揚収索に連結された天秤及び架台であり、前記生成部は、前記水面に対する前記架台の相対的な速度が所定の昇降速度になるように、前記制御信号を生成してもよい。   Further, the control device is a balance and a gantry in which the carrier is connected to a lifting line, and the generation unit is configured so that a relative speed of the gantry with respect to the water surface is a predetermined lifting speed. A control signal may be generated.

この構成によれば、水面に対する架台の相対的な速度が所定の昇降速度になるように架台を駆動させることができる。   According to this configuration, the gantry can be driven so that the relative speed of the gantry with respect to the water surface becomes a predetermined ascending / descending speed.

本発明の一態様に係る艇運搬装置は、水面の揺動に応じて変化する量を計測する計測装置と、水中または水上を航走する航走体が乗り上げ可能とされた搬器と、前記搬器を上下動させるアクチュエータと、上記の制御装置とを備える。   A boat carrying device according to an aspect of the present invention includes a measuring device that measures an amount that changes in response to rocking of the water surface, a carrier that is capable of riding a traveling body that travels in water or on water, and the carrier. An actuator that moves the actuator up and down, and the control device.

この構成によれば、航走体の揚収に際し、母艦の搬器に航走体が乗り上げるときに波浪等で母艦が動揺しているとしても、搬器が海面に対してほぼ一定の深度を保てるために、船底が搬器に衝突したり、搬器で叩かれたりすることなく航走体を安全に搬送することができる。   According to this configuration, when the navigator is picked up, the carrier can maintain a substantially constant depth with respect to the sea level even if the mother ship is shaken by waves when the navigator rides on the carrier of the mother ship. In addition, the traveling body can be transported safely without the bottom of the ship colliding with or being hit by the transporter.

本発明の一態様に係る搬器の駆動方法は、水面の揺動に応じて変化する量を計測する計測装置から計測値を取得し、前記計測値に基づいて、水中または水上を航走する航走体が乗り上げ可能とされた搬器の前記水面に対する相対高さを算出し、相対高さの変化量が小さくなるように、前記搬器を上下動させる制御信号を生成する。   According to an embodiment of the present invention, there is provided a method for driving a portable device that obtains a measurement value from a measurement device that measures an amount that changes in accordance with the fluctuation of a water surface, and travels underwater or on the water based on the measurement value. A relative height with respect to the water surface of the transporter on which the running body can be climbed is calculated, and a control signal for moving the transporter up and down is generated so that a change amount of the relative height becomes small.

この構成によれば、航走体の揚収に際し、母艦の搬器に航走体が乗り上げるときに波浪等で母艦が動揺しているとしても、搬器が海面に対してほぼ一定の深度を保てるために、船底が搬器に衝突したり、搬器で叩かれたりすることなく航走体を安全に搬送することができる搬器の駆動方法を提供できる。   According to this configuration, when the navigator is picked up, the carrier can maintain a substantially constant depth with respect to the sea level even if the mother ship is shaken by waves when the navigator rides on the carrier of the mother ship. In addition, it is possible to provide a method for driving a transporter that can safely transport the traveling body without the bottom of the ship colliding with or being hit by the transporter.

上記何れかの態様に係る制御装置によれば、航走体の揚収に際し、母艦の搬器に航走体が乗り上げるときに波浪等で母艦が動揺しているとしても、搬器が海面に対してほぼ一定の深度を保てるために、船底が搬器に衝突したり、搬器で叩かれたりすることなく航走体を安全に揚収することができる。   According to the control device according to any one of the above aspects, when the traveling body is picked up, even if the mother ship is shaken by waves when the traveling body rides on the carrier of the mother ship, Since a substantially constant depth can be maintained, the navigation body can be safely withdrawn without the bottom of the ship colliding with or being hit by the carrier.

第１実施形態に係る制御装置のブロック図である。It is a block diagram of a control device concerning a 1st embodiment. 図１に示した制御装置の模式図である。It is a schematic diagram of the control apparatus shown in FIG. 図１に示した制御装置の制御動作を説明するフローチャートである。It is a flowchart explaining the control action of the control apparatus shown in FIG. 第２実施形態に係る制御装置のブロック図である。It is a block diagram of a control device concerning a 2nd embodiment. 図４に示した制御装置の模式図である。It is a schematic diagram of the control apparatus shown in FIG. 図４に示した制御装置の制御動作を説明するフローチャートである。5 is a flowchart for explaining a control operation of the control device shown in FIG. 4.

以下、本発明の実施の形態について、図面を参照して説明する。
〈第１実施形態〉
《全体構成》
図１、図２に示すように、第１実施形態に係る艇運搬装置１は、制御装置１０と、モーションセンサ１１と、水位センサ１２と、ランプウェー１４と、ランプウェー駆動装置１６とを備える。艇運搬装置１は、航走体５０を母艦５１の艫（船尾）５２から揚収する。
制御装置１０は、取得部１３と、計算部１５と、出力部１７とを備える。 Embodiments of the present invention will be described below with reference to the drawings.
<First Embodiment>
"overall structure"
As shown in FIGS. 1 and 2, the boat transport device 1 according to the first embodiment includes a control device 10, a motion sensor 11, a water level sensor 12, a ramp way 14, and a ramp way driving device 16. . The boat transporting device 1 lifts the traveling body 50 from the stern (stern) 52 of the mother ship 51.
The control device 10 includes an acquisition unit 13, a calculation unit 15, and an output unit 17.

モーションセンサ１１は、母艦５１の艫５２に設けられている。モーションセンサ１１は、水面の揺動に応じて変化する船体の揺動角を計測する計測装置の一例である。モーションセンサ１１が計測する揺動角は、水面の揺動に応じて変化する量である。   The motion sensor 11 is provided on the anchor 52 of the mother ship 51. The motion sensor 11 is an example of a measuring device that measures a swing angle of a hull that changes according to the swing of the water surface. The swing angle measured by the motion sensor 11 is an amount that changes according to the swing of the water surface.

水位センサ１２は、後述するランプウェー１４の先端部に配置されている。水位センサ１２は、水面の揺動に応じて変化する水位を計測する計測装置の一例である。水位センサ１２が計測する水位は、水面の揺動に応じて変化するランプウェー１４と水面ＷＬとの高さである。   The water level sensor 12 is disposed at the tip of a lampway 14 to be described later. The water level sensor 12 is an example of a measuring device that measures a water level that changes in accordance with the swing of the water surface. The water level measured by the water level sensor 12 is the height of the rampway 14 and the water surface WL that change according to the swinging of the water surface.

取得部１３は、水面ＷＬの揺動に応じて変化する量を計測するモーションセンサ１１及び水位センサ１２から計測値を取得する取得部の一例である。取得部１３は、モーションセンサ１１が計測した計測値を取得する入力部１８と、水位センサ１２が計測した計測値を取得する入力部１９とを備える。各入力部１８，１９によって取得された計測値は計算部１５にそれぞれ与えられる。   The acquisition unit 13 is an example of an acquisition unit that acquires measurement values from the motion sensor 11 and the water level sensor 12 that measure an amount that changes according to the swing of the water surface WL. The acquisition unit 13 includes an input unit 18 that acquires measurement values measured by the motion sensor 11 and an input unit 19 that acquires measurement values measured by the water level sensor 12. The measurement values acquired by the input units 18 and 19 are given to the calculation unit 15, respectively.

ランプウェー１４は、水中または水上を航走する航走体５０が乗り上げ可能とされた搬器の一例である。ランプウェー１４は、母艦５１の艫５２にヒンジ部２０を介して回動自在に設けられている。   The rampway 14 is an example of a transporter that can travel on a traveling body 50 that travels in water or on water. The rampway 14 is rotatably provided on the anchor 52 of the mother ship 51 via the hinge portion 20.

計算部１５は、モーションセンサ１１及び水位センサ１２の計測値に基づいて、ランプウェー１４の先端部の水面ＷＬに対する相対高さを算出する計算部の一例である。計算部１５は、不図示の中央集積回路を内蔵しており、中央集積回路によってランプウェー１４の先端部の水面ＷＬに対する相対高さを算出する。計算部１５は、モーションセンサ１１の計測値と、水位センサ１２の計測値のそれぞれに基づいてランプウェー１４の先端部の水面ＷＬに対する相対高さを求め、その平均値を以てランプウェー１４の制御に用いる相対高さとする。
例えば、計算部１５は、モーションセンサ１１が計測した母艦５１のピッチ角θと、鉛直情報から見たときにおける母艦５１の重心からランプウェー１４の基部までの長さＬと、ランプウェー１４の長さｌと、ランプウェー１４の傾斜角φと、喫水線に対するランプウェー１４の基部の相対高さｈとを用いて、以下に示す式（１）により、ランプウェー１４の先端部の水面ＷＬに対する相対高さＨ１を求める。
Ｈ１＝Ｌｓｉｎθ＋ｌｓｉｎ（θ＋φ）＋ｈｃｏｓθ …（１）
また例えば、計算部１５は、水位センサ１２が計測した過去所定回数分の水位の平均値により、ランプウェー１４の先端部の水面ＷＬに対する相対高さＨ２を求める。 The calculation unit 15 is an example of a calculation unit that calculates the relative height of the tip portion of the lampway 14 with respect to the water surface WL based on the measurement values of the motion sensor 11 and the water level sensor 12. The calculation unit 15 includes a central integrated circuit (not shown), and calculates the relative height of the tip of the lampway 14 with respect to the water surface WL by the central integrated circuit. The calculation unit 15 obtains the relative height of the tip of the lampway 14 with respect to the water surface WL based on the measurement value of the motion sensor 11 and the measurement value of the water level sensor 12, and controls the lampway 14 using the average value. Use relative height.
For example, the calculation unit 15 calculates the pitch angle θ of the mother ship 51 measured by the motion sensor 11, the length L from the center of gravity of the mother ship 51 to the base of the ramp way 14 when viewed from the vertical information, and the length of the ramp way 14. And the relative height h of the base of the lampway 14 with respect to the water line, and the relative height h of the tip of the lampway 14 with respect to the water surface WL by the following equation (1). Find the height H1.
H1 = Lsinθ + lsin (θ + φ) + hcosθ (1)
Further, for example, the calculation unit 15 obtains the relative height H2 with respect to the water surface WL at the tip portion of the rampway 14 based on the average value of the water level for the past predetermined number of times measured by the water level sensor 12.

ランプウェー駆動装置１６は、ランプウェー１４を上下動させるアクチュエータの一例である。ランプウェー駆動装置１６は、ランプウェー１４の先端部に例えばワイヤ２１によって連結されている。   The ramp way driving device 16 is an example of an actuator that moves the ramp way 14 up and down. The lampway driving device 16 is connected to the tip portion of the lampway 14 by, for example, a wire 21.

出力部１７は、ランプウェー駆動装置１６に対する制御信号を生成する生成部の一例である。出力部１７は、ランプウェー駆動装置１６に制御信号を与えることにより、ランプウェー１４を上方に揺動あるいは下方に揺動させる。   The output unit 17 is an example of a generation unit that generates a control signal for the lampway driving device 16. The output unit 17 swings the lampway 14 upward or downward by giving a control signal to the lampway driving device 16.

《動作》
次に、図３を参照して艇運搬装置１の制御方法について説明する。
図３に示すように、母艦５１の航行中に母艦５１に揚収される航走体５０が接近してきた際に、制御動作が開始される。 <Operation>
Next, a control method of the boat transport apparatus 1 will be described with reference to FIG.
As shown in FIG. 3, the control operation is started when the traveling body 50 to be picked up by the mother ship 51 approaches during the navigation of the mother ship 51.

まず、モーションセンサ１１は母艦５１の揺動角を計測し、水位センサ１２はランプウェー１４の先端部を基準とした水位を計測する（ステップＳ１０１）。このとき、モーションセンサ１１及び水位センサ１２が計測した計測値は取得部１３（入力部１８および入力部１９）に取り込まれる。   First, the motion sensor 11 measures the swing angle of the mother ship 51, and the water level sensor 12 measures the water level with reference to the tip of the rampway 14 (step S101). At this time, the measurement values measured by the motion sensor 11 and the water level sensor 12 are taken into the acquisition unit 13 (the input unit 18 and the input unit 19).

次に、計算部１５は、モーションセンサ１１及び水位センサ１２の計測値に基づいて、ランプウェー１４の水面ＷＬに対する相対高さを算出する（ステップＳ１０２）。   Next, the calculation unit 15 calculates the relative height of the lampway 14 with respect to the water surface WL based on the measurement values of the motion sensor 11 and the water level sensor 12 (step S102).

そして、計算部１５は、ランプウェー１４の水面ＷＬに対する相対高さが目標高さより高いか否かを判定する（ステップＳ１０３）。ランプウェー１４の水面ＷＬに対する相対高さが目標高さより高い場合（ステップＳ１０３：ＹＥＳ）、計算部１５は、ランプウェー１４を下方に揺動させる制御信号を算出する。出力部１７は、当該制御信号をランプウェー駆動装置１６に出力する（ステップＳ１０４）。   And the calculation part 15 determines whether the relative height with respect to the water surface WL of the lampway 14 is higher than target height (step S103). When the relative height of the rampway 14 with respect to the water surface WL is higher than the target height (step S103: YES), the calculation unit 15 calculates a control signal for swinging the rampway 14 downward. The output unit 17 outputs the control signal to the lampway driving device 16 (step S104).

これに対し、ランプウェー１４の水面ＷＬに対する相対高さが目標高さより低い場合（ステップＳ１０３：ＮＯ）、計算部１５は、ランプウェー１４を上方に揺動させる制御信号を算出する。出力部１７は、当該制御信号をランプウェー駆動装置１６に出力する（ステップＳ１０５）。   On the other hand, when the relative height of the rampway 14 with respect to the water surface WL is lower than the target height (step S103: NO), the calculation unit 15 calculates a control signal for swinging the rampway 14 upward. The output unit 17 outputs the control signal to the lampway driving device 16 (step S105).

《作用・効果》
このように、制御装置１０は、ランプウェー１４の水面ＷＬに対する相対高さが目標高さに一致するような制御信号をランプウェー駆動装置１６に出力する。つまり、制御装置１０は、水面ＷＬに対する相対高さの変化量が０になるようにランプウェー１４を駆動させる。これにより、航走体５０は、母艦５１の動揺による影響を受けずにランプウェー１４に乗り上げられることになる。 《Action ・ Effect》
As described above, the control device 10 outputs a control signal to the lampway driving device 16 such that the relative height of the lampway 14 with respect to the water surface WL matches the target height. That is, the control device 10 drives the lampway 14 so that the amount of change in relative height with respect to the water surface WL becomes zero. As a result, the traveling body 50 is mounted on the rampway 14 without being affected by the movement of the mother ship 51.

上記構成の制御装置１０によれば、航走体５０の揚収に際し、母艦５１のランプウェー１４に航走体５０が乗り上げるときに波浪等で母艦５１が動揺しているとしても、ランプウェー１４が海面に対してほぼ一定の深度を保てるために、船底がランプウェー１４に衝突したり、ランプウェー１４で叩かれたりすることなく航走体５０を安全に揚収することができる。   According to the control device 10 having the above-described configuration, even if the mother ship 51 is shaken by waves or the like when the traveling body 50 rides on the rampway 14 of the mother ship 51 when the traveling body 50 is lifted, the rampway 14 Can maintain a substantially constant depth relative to the sea surface, so that the traveling body 50 can be safely withdrawn without the bottom of the ship colliding with the rampway 14 or being hit by the rampway 14.

上記構成の制御装置１０によれば、母艦５１の上下動を距離データに変換するためにモーションセンサ１１により母艦５１の上下動を感知することにより、ランプウェー１４の先端部分が常に水面下にあるようにできる。   According to the control device 10 configured as described above, the tip portion of the rampway 14 is always below the surface of the water by detecting the vertical movement of the mother ship 51 by the motion sensor 11 in order to convert the vertical movement of the mother ship 51 into distance data. You can

上記構成の制御装置１０によれば、モーションセンサ１１により母艦５１の上下動を感知するとともに、水位センサ１２によりランプウェー１４の先端部分が水面下に確実に配置されるようにできる。   According to the control device 10 configured as described above, the motion sensor 11 senses the vertical movement of the mother ship 51, and the water level sensor 12 can ensure that the tip portion of the rampway 14 is disposed below the water surface.

上記構成の制御装置１０によれば、水面ＷＬに対する相対高さの変化量が０になるようにランプウェー１４を駆動させることができる。   According to the control device 10 configured as described above, the lampway 14 can be driven so that the amount of change in relative height with respect to the water surface WL becomes zero.

なお、第１実施形態に係る艇運搬装置１は、航走体５０を母艦５１の艫５２から揚収するが、これに限られない。例えば、他の実施形態に係る艇運搬装置１は、航走体５０を母艦５１の舷から揚収してもよい。この場合、制御装置１０は、モーションセンサ１１が計測したロール角に基づいてランプウェー１４の先端部分の水面ＷＬに対する相対高さを算出することができる。   In addition, although the boat conveyance apparatus 1 which concerns on 1st Embodiment picks up the navigation body 50 from the anchor 52 of the mother ship 51, it is not restricted to this. For example, the boat transport apparatus 1 according to another embodiment may lift the traveling body 50 from the anchor of the mother ship 51. In this case, the control device 10 can calculate the relative height of the tip portion of the lampway 14 with respect to the water surface WL based on the roll angle measured by the motion sensor 11.

〈第２実施形態〉
次に、第２実施形態について図を参照しながら説明するが、第１実施形態と同一の部位には同一の符号を付してその説明は省略し、異なる点についてのみ説明する。 Second Embodiment
Next, the second embodiment will be described with reference to the drawings. However, the same parts as those in the first embodiment are denoted by the same reference numerals, the description thereof will be omitted, and only different points will be described.

図４、図５に示すように、第２実施形態に係る艇運搬装置２は、制御装置３０を備えており、揚収索３１に連結された天秤３２及び架台３３と、電動ウインチである揚収索駆動装置３４を設けた点が第１実施形態と異なる。   As shown in FIGS. 4 and 5, the boat transport device 2 according to the second embodiment includes a control device 30, a balance 32 and a pedestal 33 connected to a lifting / lowering line 31, and a lifting device that is an electric winch. The point which provided the condensing drive device 34 differs from 1st Embodiment.

天秤３２及び架台３３は、水中または水上を航走する航走体５０が乗り上げ可能とされた搬器の一例である。また水位センサ１２は天秤３２に設けられる。
揚収索駆動装置３４は、揚収索３１を上下動させるアクチュエータの一例である。 The balance 32 and the gantry 33 are an example of a transporter on which a traveling body 50 that travels in water or on water can be carried. The water level sensor 12 is provided on the balance 32.
The lifting / lowering drive unit 34 is an example of an actuator that moves the lifting / lowering line 31 up and down.

制御装置３０において、出力部１７は、水面ＷＬに対する架台３３の相対的な速度が所定の昇降速度になるように制御信号を生成する。   In the control device 30, the output unit 17 generates a control signal so that the relative speed of the gantry 33 with respect to the water surface WL becomes a predetermined ascending / descending speed.

《動作》
次に、図６を参照して艇運搬装置２の制御方法について説明する。
図６に示すように、母艦５１の航行中に母艦５１に揚収される航走体５０が接近してきた際に、制御動作が開始される。 <Operation>
Next, with reference to FIG. 6, the control method of the boat conveyance apparatus 2 is demonstrated.
As shown in FIG. 6, the control operation is started when the traveling body 50 to be picked up by the mother ship 51 approaches during the navigation of the mother ship 51.

まず、モーションセンサ１１は母艦５１の揺動角を計測し、水位センサ１２は天秤３２を基準とした水位を計測する（ステップＳ２０１）。このとき、モーションセンサ１１及び水位センサ１２が計測した計測値は取得部１３に取り込まれる。   First, the motion sensor 11 measures the swing angle of the mother ship 51, and the water level sensor 12 measures the water level based on the balance 32 (step S201). At this time, the measurement values measured by the motion sensor 11 and the water level sensor 12 are taken into the acquisition unit 13.

次に、計算部１５は、モーションセンサ１１及び水位センサ１２の計測値に基づいて、天秤３２の水面ＷＬに対する相対的な速度を算出する（ステップＳ２０２）。   Next, the calculation part 15 calculates the relative speed with respect to the water surface WL of the balance 32 based on the measured value of the motion sensor 11 and the water level sensor 12 (step S202).

そして、計算部１５は、天秤３２の水面ＷＬに対する相対速度が目標速度より大きいか否かを判定する（ステップＳ２０３）。天秤３２の水面ＷＬに対する相対速度が目標速度より大きい場合（ステップＳ２０３：ＹＥＳ）、計算部１５は、天秤３２の移動速度を減速させる制御信号を算出する。出力部１７は、当該制御信号を揚収索駆動装置３４に出力する（ステップＳ２０４）。   And the calculation part 15 determines whether the relative speed with respect to the water surface WL of the balance 32 is larger than target speed (step S203). When the relative speed of the balance 32 with respect to the water surface WL is higher than the target speed (step S203: YES), the calculation unit 15 calculates a control signal for reducing the moving speed of the balance 32. The output unit 17 outputs the control signal to the hoisting and driving device 34 (step S204).

これに対して、天秤３２の水面ＷＬに対する相対速度が目標速度より小さい場合（ステップＳ２０３：ＮＯ）、計算部１５は、天秤３２の移動速度を加速させる制御信号を算出する。出力部１７は、当該制御信号を揚収索駆動装置３４に出力する（ステップＳ２０５）。   On the other hand, when the relative speed of the balance 32 with respect to the water surface WL is smaller than the target speed (step S203: NO), the calculation unit 15 calculates a control signal for accelerating the moving speed of the balance 32. The output unit 17 outputs the control signal to the hoisting and driving device 34 (step S205).

《作用・効果》
このように、制御装置３０は、天秤３２の水面ＷＬに対する相対速度が目標速度に一致するような制御信号をランプウェー駆動装置１６に出力する。つまり、制御装置３０は、水面ＷＬに対する相対高さの変化量が一定になるように天秤３２を駆動させる。これにより、航走体５０は、母艦５１の動揺による影響を受けずに揚収されることになる。 《Action ・ Effect》
In this way, the control device 30 outputs a control signal to the lampway driving device 16 such that the relative speed of the balance 32 to the water surface WL matches the target speed. That is, the control device 30 drives the balance 32 so that the amount of change in the relative height with respect to the water surface WL is constant. As a result, the navigation body 50 is lifted without being affected by the shaking of the mother ship 51.

上記構成の制御装置３０によれば、水面ＷＬに対する架台３３の相対的な速度が所定の昇降速度になるように架台３３を駆動させることができる。したがって、航走体５０を安全に揚収することができる。   According to the control device 30 configured as described above, the gantry 33 can be driven so that the relative speed of the gantry 33 with respect to the water surface WL becomes a predetermined ascending / descending speed. Therefore, the traveling body 50 can be safely withdrawn.

以上、実施の形態について図面を参照して詳述したが、具体的な構成はこの実施の形態に限られるものではなく、本発明の要旨を逸脱しない範囲の設計変更等も含まれる。
例えば、航走体５０としては、図示した水上タイプに代えて潜水タイプでもよく、また、有人タイプに代えて無人タイプであってもよい。 Although the embodiment has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes design changes and the like within a scope not departing from the gist of the present invention.
For example, the traveling body 50 may be a diving type instead of the illustrated water type, or may be an unmanned type instead of the manned type.

１ 艇運搬装置
１０ 制御装置
１１ モーションセンサ（計測装置）
１２ 水位センサ（計測装置）
１３ 取得部
１４ ランプウェー（搬器）
１５ 計算部
１６ ランプウェー駆動装置（アクチュエータ）
１７ 出力部（生成部）
３０ 制御装置
３１ 揚収索
３２ 天秤（搬器）
３３ 架台（搬器）
３４ 揚収索駆動装置（アクチュエータ）
５０ 航走体
５１ 母艦（艦）
５２ 艫（船尾）
ＷＬ 水面 DESCRIPTION OF SYMBOLS 1 Boat carrier 10 Control apparatus 11 Motion sensor (measuring device)
12 Water level sensor (measuring device)
13 Acquisition Unit 14 Lampway (Carrier)
15 Calculator 16 Lampway drive (actuator)
17 Output unit (generation unit)
30 Control device 31 Lifting and unloading line 32 Balance (carriage)
33 frame (carriage)
34 Lifting and collecting drive device (actuator)
50 Sailing bodies 51 Mother ship (ship)
52 艫 (Stern)
WL Water surface

Claims (7)

水面の揺動に応じて変化する量を計測する計測装置から計測値を取得する取得部と、
前記計測値に基づいて、水中または水上を航走する航走体が乗り上げ可能とされた搬器の前記水面に対する相対高さを算出する計算部と、
相対高さの変化量が小さくなるように、前記搬器を上下動させるアクチュエータの制御信号を生成する生成部と
を備える制御装置。 An acquisition unit for acquiring a measurement value from a measurement device that measures an amount that changes in accordance with the rocking of the water surface;
Based on the measurement value, a calculation unit that calculates a relative height of the transporter that can travel on the water or under water, with respect to the water surface;
And a generating unit that generates a control signal for an actuator that moves the transporter up and down so that the amount of change in relative height is small. 前記計測装置が、前記搬器を備える艦の船体に設けられ、前記船体の揺動角を検出するモーションセンサを含む請求項１に記載の制御装置。   The control device according to claim 1, wherein the measurement device includes a motion sensor that is provided in a hull of a ship including the carrier and detects a swing angle of the hull. 前記計測装置が、前記搬器に設けられ、前記搬器と前記水面との高さを検出する水位センサを含む請求項１又は２に記載の制御装置。   The control device according to claim 1, wherein the measurement device includes a water level sensor that is provided in the transporter and detects a height between the transporter and the water surface. 前記搬器がランプウェーであり、
前記生成部は、前記相対高さの変化量が０になるように、前記制御信号を生成する請求項１に記載の制御装置。 The carrier is a lampway;
The control device according to claim 1, wherein the generation unit generates the control signal so that a change amount of the relative height becomes zero. 前記搬器が揚収索に連結された天秤及び架台であり、
前記生成部は、前記水面に対する前記架台の相対的な速度が所定の昇降速度になるように、前記制御信号を生成する請求項１に記載の制御装置。 The carrier is a balance and a pedestal connected to a lifting line;
The control device according to claim 1, wherein the generation unit generates the control signal such that a relative speed of the gantry with respect to the water surface is a predetermined ascending / descending speed. 水面の揺動に応じて変化する量を計測する計測装置と、
水中または水上を航走する航走体が乗り上げ可能とされた搬器と、
前記搬器を上下動させるアクチュエータと、
請求項１から請求項５の何れか１項に記載の制御装置と
を備える艇運搬装置。 A measuring device that measures the amount of change according to the rocking of the water surface;
A transporter capable of riding underwater or on the water, and
An actuator for moving the carrier up and down;
A boat carrying device comprising: the control device according to any one of claims 1 to 5. 水面の揺動に応じて変化する量を計測する計測装置から計測値を取得することと、
前記計測値に基づいて、水中または水上を航走する航走体が乗り上げ可能とされた搬器の前記水面に対する相対高さを算出することと、
相対高さの変化量が小さくなるように、前記搬器を上下動させるアクチュエータの制御信号を生成することと
を有する搬器の駆動方法。 Obtaining a measured value from a measuring device that measures the amount of change according to the rocking of the water surface;
Based on the measurement value, calculating a relative height of the carrier that can travel on the water or traveling on the water with respect to the water surface;
Generating a control signal for an actuator that moves the portable device up and down so that the amount of change in relative height is small.
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