JP2888325B2 - Deck detection control device for ship in fluid handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

Generally, when a fluid such as a crude oil, a petroleum product, or a low-temperature liquefied gas is loaded from a land-based storage tank to a ship such as a tanker, or conversely, is received from a tanker or the like to a land-based storage tank. In this case, a fluid handling device is used.

[0002] When a pipe joint at the tip of an outboard arm of a fluid handling device is moved between a sea berth side and a ship side, in order to prevent explosion due to ignition of sparks or the like due to contact with the pipe joint, There is a need to avoid interference between the handrail erected on the edge of the deck of the ship and the pipe joint, so that the pipe joint passes above the handrail.

[0003] To meet such a demand, Japanese Patent Publication No.
Japanese Unexamined Patent Publication No. 3-26040 discloses a fluid handling apparatus (shown in FIG. 10). This fluid handling device is a sea berth 1
The riser 102 is provided with a riser 102, and an inboard arm 103 is rotatably connected to the riser 102 in a horizontal plane and a vertical plane. An outboard arm 104 is connected to the tip of the inboard arm 103 so as to be rotatable on a vertical plane.

A pipe joint 105 is provided at the tip of the outboard arm 104, and the pipe joint 105 is connected to a tanker 106.
Side to be connected to a connected pipe (not shown). The movement path of the pipe joint 105 at the tip of the outboard arm 104 of the fluid handling device is controlled by the control device.
That is, from the sea verse 101 to the outboard arm 104
The pipe joint 105 at the tip of
A is moved past a position above A, but the fitting 105 is programmed to be advanced until it is located just above the handrail 106A of the tanker 106;
At that time, the handrail 106A
And the distance d between the sea berth 101 and the shore side 106B of the tanker 106 are measured. After the measurement, the measured values are stored in a memory to determine the permissible passage area of the outboard arm tip, and the pipe joint to be moved. The trajectory of the actual space coordinates of 105 is corrected so as to enter the allowable passage area of the outboard arm tip. In order to measure the height h of the handrail 106A from the sea berth 101, a distance sensor is mounted.

[0005]

However, in the conventional fluid handling apparatus, for example, a distance sensor is attached to the end of the pipe joint 105, and the handrail 1 is moved while moving the distance sensor up and down.
Since the height of the handrail 106A is measured by capturing the top of the handrail 106A in the horizontal direction, the distance sensor detects the handrail 106A.
It was difficult to catch the top of A, and it was difficult to accurately measure the height of the handrail 106A. In particular, if the handrail 106A has a lattice structure, the handrail 106 as a measurement object
It is difficult to determine the top of A.

[0006] Even if the height of the handrail 106A is measured in this manner, the handrail 106A is not reliable, and the permissible passing area of the outboard arm tip stored in the memory becomes inaccurate. As a result, the height of the handrail 106A was measured and the outboard arm 10A was measured.
4 is set, the fitting 105 at the tip of the outboard arm 104 is
When moving between the 1st side and the tanker 106 side, there is a possibility that the railing 106A may be contacted. Thus, railing 1
Due to the unreliability of the measured value of the height of 06A, the position of the deck cannot be reliably predicted in the traveling program, and it becomes difficult to calculate the vertical descent amount of the pipe joint 105 beyond the handrail 106A. It is difficult to stop the pipe joint 105 at a predetermined height above the deck.

[0007] Therefore, the calculation of the vertical descent amount of the outboard arm 104 by the moving program based on the height of the handrail 106A is stopped, and the data of the tanker 106 and the difference in low tide on the sea surface are set in advance as the position where the joint 106A stops. It is possible to predict the position of the highest height of the deck expected from the above, but it is difficult to directly measure the height of the deck, so it varies depending on the loading capacity of the tanker 106 and low tide on the sea surface. It was necessary to stop the fitting 105 in anticipation of safety before the vertical descent position at the highest height of the deck.

The present invention has been made in order to solve the above-mentioned problems, and an object of the present invention is to vertically lower a pipe joint at the tip of an outboard arm from a sea berth side over a handrail on a ship side. Deck detection control of a vessel in a fluid handling equipment that can determine the movement path where the fittings do not contact the handrail without measuring the handrail height and can surely vertically lower the fittings to a predetermined height on the deck It is to provide a device.

[0009]

SUMMARY OF THE INVENTION The present invention is directed to a riser standing on a sea berth, an inboard arm rotatably connected to the riser in a horizontal plane and a vertical plane, and a vertical stand mounted on a tip of the inboard arm. An outboard arm rotatably connected on the surface, a pipe joint provided at the tip of the outboard arm and connected to a connected pipe on the vessel side, and an inboard arm angle sensor for measuring the angle of the inboard arm An outboard arm angle sensor to measure the angle of the outboard arm, a horizontal swing angle sensor to measure the swing angle of the inboard arm in the horizontal plane, and a distance to the deck provided at the tip of the outboard arm or at a pipe joint. A vertical distance sensor for measuring the distance, and a control device connected to the input side and having a storage device and a judgment means. The fittings store the handrails of the deck at the positions indicated by the design horizontal and vertical distances from the reference point on the sea berth calculated based on specifications such as the weight and loading capacity of the ship. After the crossing, the automatic connection operation route determined to descend vertically and the vertical limit value at a predetermined height from the deck where the fitting stops are stored, and the judgment means of the control device includes: Based on the inboard arm angle variable detected by the arm angle sensor, the outboard arm angle variable detected by the outboard arm angle sensor, and the horizontal turning angle variable detected by the horizontal turning angle sensor, the current position coordinates of the pipe joint are calculated. Arm tip coordinate calculation means for calculating, coordinate comparison means for judging whether or not the current coordinates of the fitting and the coordinates on the automatic connection operation path are the same, and Path tracing control means for calculating coordinates of a desired coordinate after elapse of a minute time, and outputting a signal of a required operation amount according to a deviation between the current coordinates of the fitting and the coordinates on the automatic connection operation path of the storage device. Amplifying means, an inboard arm actuator operated by a signal from the path tracing control means or the amplifying means, an outboard arm actuator operable by a signal from the path tracing control means or the amplifying means, and the path tracing control means or the amplification The horizontal turning actuator operated by the signal from the means, the vertical distance variable detected by the vertical distance sensor is compared with the vertical limit value of the storage device, and when the vertical distance variable is greater than the vertical limit value, the lowering of the fitting is performed. And a pipe joint descending judging means for judging to continue the process.

[0010]

[0011]

[0012]

According to the present invention , based on the automatic connection operation path, the pipe joint draws a trajectory vertically descending after passing the handrail of the deck while the inboard arm and the outboard arm rotate horizontally and vertically. Is controlled to stop at a predetermined height above the deck. When the fitting moves from the sea berth to the deck, the inboard arm angle sensor detects the inboard arm angle variable, the outboard arm angle sensor detects the outboard arm angle variable, and the horizontal swing angle sensor detects the horizontal. A turning angle variable is detected.

These angle variables are input to the arm tip coordinate calculating means of the judgment means, and the arm tip coordinate calculating means calculates the current coordinates of the pipe joint based on these angle variables.

The coordinate comparing means of the determining means determines whether or not the current coordinates of the pipe joint and the coordinates on the automatic connection operation route are the same. When it is determined that the current coordinates of the pipe joint and the coordinates on the automatic connection operation route are the same, the route following control unit calculates the coordinates of the arbitrary coordinates on the automatic connection operation route after a lapse of a short time, and the path follow control unit , Each coordinate constituting the automatic connection driving route is selected one after another. Based on this, the actuator for the inboard arm, the actuator for the outboard arm, and the actuator for horizontal turning are operated, and the pipe joint is moved along the path of the automatic connection operation path.

If it is determined that the current coordinates of the fitting and the coordinates on the automatic connection operation route are not the same, the amplification means determines the difference between the current coordinates of the fitting and the coordinates on the automatic connection operation route of the storage device. A signal of a required operation amount is output.

These signals are sent to an in-board arm actuator, an out-board arm actuator, and a horizontal turning actuator, respectively, and by operating these actuators, the current coordinates of the pipe joint are set to the automatic connection operation path and If they do not match, the movement path is controlled so as to match. Simultaneously with or after this follow-up control, each coordinate constituting the automatic connection operation route is successively selected via the route following control means. Based on this, the actuator for the inboard arm, the actuator for the outboard arm, and the actuator for horizontal turning are operated, and the pipe joint is moved along the path of the automatic connection operation path.

In this way, the pipe joint is ready to descend along the vertically descending part of the automatic connection operation path, with the joint beyond the handrail of the deck. In this state, the vertical distance sensor measures the height of the joint from above the deck as a vertical distance variable.

Then, the vertical distance variable is transmitted to the joint lowering judging means, which compares the vertical distance variable with the vertical limit value of the storage device, and the vertical distance variable is larger than the vertical limit value. In this case, a signal for continuing the lowering of the pipe joint is sent to the inboard arm actuator and the outboard arm actuator.

When the fitting reaches the same height as the vertical limit value of the storage device, the fitting lowering judging means stops the lowering command of the fitting, and the lowering of the fitting is stopped. The follow-up control is performed while the pipe joint is descending. In particular, when the vertical limit value of the storage device is set to the same height as the connected pipe on the boat side, the vertically descending pipe joint is stopped at the height of the connected pipe on the boat side.

[0020]

[0021]

[0022]

[0023]

[0024]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 9 relate to one embodiment of the present invention ,
1 shows a deck detection control device of a ship in a fluid handling device.

1 to 3, a fluid handling device 2 is installed on a sea verse 1. Fluid handling equipment 2
Has a riser 3 whose bottom is fixed to the sea verse 1. As shown in FIG. 4, an inner race 4A of a first rotary joint 4 capable of horizontally turning is provided at the top of the riser pipe 3, and one end of a first connection pipe 5 is integrated with an outer race 4B of the first rotary joint 4. The other end of the first connection pipe 5 is
An inboard arm 7 is interposed via a rotary joint 6.

The second rotary joint 6 includes an inner race 6A integral with the inboard arm 7, an outer race 6B rotatable outside the inner race 6A, and a rotatable sheave ring 6C positioned outside the outer race 6B. It is composed of A first sheave 8 for an outboard arm and a second sheave 9 for an outboard arm are integrally attached to a sheave ring 6C, and an inboard arm sheave 10 is integrally attached to an outer race 6B. Therefore,
The inboard arm 7 can turn horizontally via the first rotary joint 4 and can turn on a vertical plane via the second rotary joint 6.

As shown in FIGS. 1 and 3, a base end of an outboard arm 11 is connected to a distal end of the inboard arm 7 via a third rotary joint 12 so as to be pivotable on a vertical plane. Is connected to one end of a second connection pipe 13 via a fourth rotary joint 14.

The second connecting pipe 13 has a fifth rotary joint 15 which can be turned horizontally and a sixth rotary joint 16 which can be turned around a horizontal axis. At the tip of the second connection pipe 13, a pipe joint 17 made of a coupler having a claw is attached.

A beam member 18 is integrally fixed to the inboard arm 7 along a longitudinal direction from an intermediate portion thereof. At the base end of the outboard arm 11, a sheave 19 for a third outboard arm is integrally pivotally mounted.
At the bottom end of 8, a fourth outboard arm sheave 20 is pivotally mounted. Sheave 20 for 4th outboard arm
A counterweight 21 is integrally fixed to the fourth outboard arm sheave 20.

A horizontal turning hydraulic cylinder 24 is fixedly mounted on the top of the riser pipe 3, and the rod tip is connected to the first connection pipe 5. An inboard arm hydraulic cylinder 22 is fixed to the beam member 18, and an outboard arm hydraulic cylinder 23 is fixed to a bracket provided on the top of the riser 3. A first pulley 25 and a second pulley 26 are provided at both ends of the rods 22A and 22B of the hydraulic cylinder 22 for the inboard arm. A first rope 27 is wound around the sheave 10 for the inboard arm between the first pulley 25 and the second pulley 26. By operating the inboard arm hydraulic cylinder 22, a rotational force is transmitted to the inboard arm sheave 10 via the first rope 27, and the inboard arm sheave 10 receives a rotational driving force to rotate the inboard arm sheave 10. 7 is pivoted on a vertical plane about the sixth rotary joint 16 as an axis.

Further, the sheave 1 for the third outboard arm 1
A second rope 28 is wound around the sheave 9 and the first sheave 8 for the outboard arm. A third rope 29 is wound between the sheave 9 for the second outboard arm and the sheave 20 for the fourth outboard arm.

As shown in FIGS. 1 and 5, a control panel including a control device 30 is installed in the sea verse 1.
On the input side of the control device 30, an inboard arm angle sensor 31, an outboard arm angle sensor 32,
The horizontal turning angle sensor 33, the vertical distance sensor 34, the operation mode selection means 35, and the target vessel selection means 36 are connected.

The inboard arm angle sensor 31, which measures the angle variables formed by the vertical line of Lee down board arm 7 is attached to the inboard arm 7. Since the inboard arm angle sensor 31 is of an explosion-proof type, it is possible to prevent ignition and avoid danger when there is a leak gas such as low-temperature liquefied gas, crude oil, petroleum products and the like.

The outboard arm angle sensor 32 measures an angle variable between the outboard arm 11 and the vertical line, and is attached to the outboard arm 11. Since the outboard arm angle sensor 32 is of an explosion-proof type, it is possible to prevent ignition and avoid danger when there is a leak gas such as low-temperature liquefied gas, crude oil, or petroleum products.

The horizontal turning angle sensor 33 measures a turning angle variable of the inboard arm 7 in a horizontal plane.
It is attached to the connection pipe 5. The turning angle variable is shown in FIG.
Is an angle changed from the reference line Y. Since the horizontal turning angle sensor 33 is of an explosion-proof type, it is possible to prevent ignition and avoid danger when there is a leak gas such as a low-temperature liquefied gas, crude oil, or petroleum product.

Each of the sensors 31, 32, and 33 includes an inclinometer having a pendulum attached to an absolute encoder, and a calculation unit connected to the inclinometer via a parallel input unit.
The inclinometer includes a parallel / serial conversion unit connected to the operation unit, and each inclinometer includes a damper oil for absorbing shock.

The vertical distance sensor 34 is composed of an ultrasonic sensor, is mounted on the pipe joint 17 and measures the distance between the pipe joint 17 and the deck 38 of the ship 37 composed of a tanker. Since the vertical distance sensor 34 is of an explosion-proof type, for example, when there is a leak gas such as low-temperature liquefied gas, crude oil, petroleum products, etc., it is possible to prevent ignition and avoid danger.

The operation mode selection means 35 selects one of various operation modes. The target vessel selecting means 36 specifies the vessel 37 related to the deck 38 to be measured. A connected pipe 38A is provided on the deck 38 at a predetermined height from the deck 38, and a handrail 38B is provided upright on an edge of the deck 38.

On the output side of the control device 30, the inboard arm hydraulic cylinder 22 is used as an inboard arm actuator, and the outboard arm hydraulic cylinder 23 is used as an outboard arm actuator.
However, the horizontal turning hydraulic cylinders 24 are respectively connected as horizontal turning actuators.

The control device 30 includes a storage device 39 and a CPU.
And a judgment means 40 comprising: The storage device 39 stores an operation mode storage unit 41, a ship storage unit 42, a ship-related operation route database 43, and a on-deck stop position vertical distance database 44.

The operation mode storage means 41 stores various operation modes.
The automatic storage operation mode 46 and the emergency departure operation mode 47 are stored.

In the automatic connection operation mode 45, the pipe joint 17 is vertically lowered from the storage posture of the fluid handling apparatus 2 (FIG. 3) in which the inboard arm 7, the outboard arm 11, and the like are folded, over the handrail 38B. This is the operation mode of the connection operation.

The automatic storage operation mode 46 is an operation mode of the automatic storage operation from the cargo handling position of the fluid handling apparatus 2 to the storage position (FIG. 3) beyond the handrail 38B. In the emergency departure operation mode 47, the movement of the moored ship 37 becomes large for some reason, and the opening angle of the inboard arm 7 and the outboard arm 11 in the cargo handling state is larger than a required angle. When a situation occurs, the pipe joint 17 is automatically disconnected from the connected pipe 38A of the marine vessel 37 by a well-known emergency detaching device, and the operation mode is an operation path of an operation path for safely retreating.

The ship storage means 42 stores Ship A, Ship B, C
A list of ships, such as ships, is stored. As shown in FIG. 6, the ship-based driving route database 43 includes
An automatic connection operation route database 43A, an automatic storage operation route database 43B, and an emergency departure operation route database 43C are stored.

The automatic connection operation route database 43A stores the data of the automatic connection operation route corresponding to each ship. For example, the automatic connection operation route A corresponding to Vessel A
1 are stored, and the automatic connection operation route B1 is stored in correspondence with Vessel B. Similarly, the automatic connection operation routes C1, D1,. Is stored.

As described above, the automatic connection operation path starts from the storage posture (FIG. 3) of the fluid handling apparatus 2 in which the inboard arm 7, the outboard arm 11, and the like are folded, so that the pipe joint 17 extends beyond the handrail 38B. This is a driving route that descends vertically. This automatic connection operation route is calculated from various data (described later). As shown in FIG. 8, at the time of the calculation, the horizontal distance and the vertical distance from the predetermined reference point of the sea verse 1 to the top of the handrail 38B are calculated, and based on this, the pipe joint 1 is calculated.
By defining a safety area where the vehicle 7 safely passes over the handrail 38B and passing through the safety area, the fitting 1
The driving route must be determined so that 7 does not contact the handrail 38B.

If the reference point 1A of the sea verse 1 is set at the bottom of the riser 3, the reference point 1
The designed horizontal distance D from A is from the reference point 1A to the ship 3
The horizontal distance from the shore side 38C to the handrail 38B is added to the horizontal distance from the shore side 38C to the handrail 38B. This value is constant since the ship 37 is moored at a certain distance from the edge of the sea berth 1. Calculated as a value.

On the other hand, the estimated vertical distance H from the reference point 1A on the sea berth 1 is determined by calculating the draft position from the weight and the loading capacity of the ship 37 itself, and further taking into account the ebb and flow of the sea surface and the wave conditions. Is determined by the design conditions. Therefore,
Although the expected vertical distance H is a variable value, it can be determined if each element of the design conditions is known, and therefore, the specific ship 37
Is calculated as a constant value when is moored.

The automatic connection operation route is calculated so as to safely cross the handrail 38B, and FIG.
The automatic connection operation path A1 includes a handrail passing operation path A1 (1) and a vertical descent operation path A1 (2).

In this way, the data of the automatic connection operation route A1 corresponding to Vessel A is calculated, and this data is stored in the automatic connection operation route database 43A. And
The automatic storage operation route database 43B stores the data of the automatic storage operation route corresponding to each ship. For example, the automatic storage operation route A2 corresponding to Vessel A is stored,
The automatic storage operation route B2 is stored in correspondence with Vessel B, and the automatic storage operation routes C2, D2,. Have been. The automatic storage operation paths A2, B2, C2, D2,... Are determined by calculation in the same manner as the automatic storage operation path A1.

Further, the emergency departure driving route database 4
3C stores the data of the emergency departure operation route corresponding to each ship. For example, the emergency departure driving route A3 corresponding to Vessel A is stored, and the emergency departure driving route B3 is stored corresponding to Vessel B. Similarly, the emergency departure driving route A3 corresponding to Vessel C, Vessel D,. Departure operation paths C3, D3,... Are stored. Emergency departure driving route A3, B3, C3, D3
Are determined by calculation in the same manner as in the automatic storage operation route A1.

As shown in FIG. 7, each of the vessels A,
The data of the vertical limit value at a predetermined height from the deck 38 where the pipe joint 17 stops corresponding to Vessel B, Vessel C and Vessel D is stored. For example, the vertical limit value A _H is stored corresponding to Vessel A, the vertical limit value B _H is stored corresponding to Vessel B, and so on. Vertical limit values C _H , D _H ,... Are stored.

Next, the judgment means 40 of the control device 30 will be described. As shown in FIG. 5, the determining means 40 includes an operation mode determining means 48, a target vessel determining means 49, an operating route determining means 50, an arm tip coordinate calculating means 51, a coordinate comparing means 52, and a path following. Control means 53 and amplification means 5
4 and a pipe joint lowering judging means 55 are stored.

The amplification means 54 includes a deviation calculation means 56,
It comprises a servo valve 57 for an inboard arm, a servo valve 58 for an outboard arm, and a servo valve 59 for horizontal turning.

The operation mode determination means 48 receives the input signal from the operation mode selection means 35, fetches various operation modes of the operation mode storage means 41 of the storage device 39, and collates the input signal with the various operation modes. One operation mode is specified. In this embodiment, the automatic connection operation mode 4
5 is specified. By specifying the automatic connection operation mode 45 by the operation mode determination means 48, the information is sent to the operation route determination means 50.

The target vessel determining means 49 receives the input signal from the target vessel selecting means 36, fetches the list of vessels stored in the vessel storage means 42 of the storage device 39, and checks the input signal against the list of vessels. Identify one ship. In this embodiment, the vessel A is specified. By specifying the ship by the target ship determination means 49, the information is sent to the driving route determination means 50 and the on-deck stop position vertical distance database 44. This information is compared with the data of the on-deck stop position vertical distance database 44 by a vertical distance determination means (not shown), and the vertical limit value A _H corresponding to Vessel A is specified.

The driving route determining means 50 includes the information of the ship-related driving route database 43 and the driving mode determining means 48.
Of the operation mode specified in the above and the target vessel determination means 4
The information of the ship specified in 9 is collated. In the present embodiment, the automatic connection driving route A1 corresponding to Vessel A is specified from the automatic connection driving route database 43A. Since the content of the automatic connection operation route A1 has been described above, the description is omitted.

The arm tip coordinate calculating means 51 is connected with the inboard arm angle sensor 31, the outboard arm angle sensor 32, and the horizontal turning angle sensor 33, and signals from these sensors 31, 32, 33 are provided. The present coordinates (X, Y, Z) of the pipe joint 17 that change every moment are calculated by (angle variables).

The coordinate comparing means 52 calculates the momentarily changing current coordinates (X, Y, Z) of the pipe joint 17 from the arm tip coordinate calculating means 51 and the automatic connection operation path A1 specified by the operation path determining means 50. Compare the coordinates of.

The path following control means 53 calculates the next coordinate after a short time after the presently changing current coordinates (X, Y, Z) of the pipe joint 17 on the automatic connection operation path A1, and calculates the servo for the inboard arm. Valve 57, servo valve 58 for outboard arm, servo valve 59 for horizontal turning
Activate

The deviation calculating means 56 of the amplifying means 54
The current coordinates (X _t, Y_t, Z_t)But
The coordinates (X on the automatic connection operation route A1_to, Y_to, Z_to)When
Are determined to be shifted, the deviation amount (α
_t, Β_t, Γ_t) Is calculated.

The input side of the servo valve 57 for the inboard arm is connected to the path tracing control means 53 and the deviation amount calculating means 56, and the hydraulic cylinder 22 for the inboard arm 22 is connected to the output side.
Is connected.

The input side of the outboard arm servo valve 58 is connected to the path tracing control means 53 and the deviation amount calculating means 56, and the output side is connected to the outboard arm hydraulic cylinder 23.

The path tracing control means 53 and the deviation amount calculating means 56 are connected to the input side of the servo valve 59 for horizontal turning.
The horizontal turning hydraulic cylinder 24 is connected to the output side. The pipe joint descending judging means 55 calculates the vertical limit value A _{H of the} vessel A specified by the on-deck stop position vertical distance database 44.
And the signal from the vertical distance sensor 34 are collated to determine whether or not the pipe joint 17 should be lowered.

Next, the operation of this embodiment will be described with reference to FIGS. In FIG. 9, first, the operation of the control device 30 is started by turning on a power switch (not shown) (step S1). By hitting a keyboard (not shown), the operation mode selection means 35 is operated (step S2). The input signal from the operation mode selection means 35 is transmitted to the operation mode judgment means 48 of the judgment means 40, and the operation mode judgment means 48 compares this signal with various operation modes of the storage device 39, and , The automatic connection operation mode 45 is specified (step S3). This specified automatic connection operation mode 45
Is transmitted to the driving route determination means 50.

Next, by hitting a keyboard (not shown), the target vessel selecting means 36 is operated. The input signal from the target vessel selection means 36 is transmitted to the target vessel determination means 49 of the determination means 40, which compares the input signal with the list of vessels in the storage device 39, and specifies the vessel to be measured. (Step S4). The information on the specified ship is transmitted to the driving route determination means 50.

The driving route determination means 50 reads the data of the specified driving mode signal and the signal of the boat and the data of the driving route database 43 of the storage device 39 in the storage device 39 and collates them (step S5), and checks the automatic connection driving route A1. Is specified. Thus, preparation for starting the automatic connection operation is completed (step S6).

By the automatic connection operation of the fluid handling device 2, as shown in FIG. 8, the fluid handling device 2 in the storage position (a)
Is (a) → (b) → (c) → (d) → (e) → (f)
→ The posture changes in the order of (g). The posture of the fluid handling device 2 is (a) due to the overhandrail driving route A1 (1) →
(B) → (c) → (d) → (e) → (f). The fluid handling apparatus 2 descends vertically by the vertically descending operation path A1 (2), and its posture changes as (f) → (g).

The details will be described below. When the automatic connection operation of the fluid handling apparatus 2 is started, but the trajectory on consisting of automatic connection operation path A1 is a pipe joint 17 will be moved in accordance with flow chart shown in FIG. 9, the trajectory data of the automatic connection operation path A1 Is sent to the coordinate comparing means 52.

At the same time, the inboard arm angle sensor 3
1, the angle variable θ _i of the inboard arm 7, the angle variable θ _o of the outboard arm 11, and the horizontal rotation angle variable θ _h that change every moment by the outboard arm angle sensor 32 and the horizontal turning angle sensor 33. It is detected (step S7, step S8, step S9).

The signals consisting of these angle variables θ _i , θ _o , θ _h are input to the arm tip coordinate calculating means 51, respectively. In the arm tip coordinate calculating means 51, the pipe joint 17 is determined based on the length of the riser pipe 3, the length of the inboard arm 7, the length of the outboard arm 11, angle variables θ _i , θ _o , θ _{h and the} like. The ever-changing current coordinates (X, Y, Z) of the connection point are calculated using the reference point 1A as the origin (step S10).

The current coordinates (X, Y, Z) of the connection point 17A of the pipe joint 17 calculated by the arm tip coordinate calculating means 51
Is sent to the coordinate comparing means 52. In the coordinate comparison means 52, the current coordinates (X,
It is determined whether (Y, Z) and the coordinates on the automatic connection driving route A1 are the same (step S11).

If it is determined in step S11 that the current coordinates (X, Y, Z) of the connection point 17A of the pipe joint 17 and the coordinates of the automatic connection operation route A1 are the same, the process proceeds to step S16, and in step S16, Path tracing control means 5
3, the current coordinates (X (t), Y at time t)
Based on (t) and Z (t), the next coordinates (X (t + Δt), Y in the automatic connection operation route A1 after a short time Δt
(T + Δt), Z (t + Δt)) are calculated.

The current coordinates (X (t), Y (t), Z (t)
Angle variable theta _i of the inboard arm 7 corresponding to the angle variable theta _o outboard arms 11, horizontal turn angle variables theta
_h and the next coordinates (X (t + Δt), Y (t + Δt), Z
Each angle difference and direction between the angle variable θ _i of the inboard arm 7, the angle variable θ _o of the outboard arm 11, and the horizontal turning angle variable θ _h corresponding to (t + Δt) is calculated by the path following control means 53. The spools of the servo valve 57 for the inboard arm, the servo valve 58 for the outboard arm, and the servo valve 59 for horizontal turning are operated so as to correspond to each angle difference (step S17). The oil from the inboard arm servo valve 57, the outboard arm servo valve 58, and the horizontal turning servo valve 59 is supplied to the inboard arm hydraulic cylinder 22, the outboard arm hydraulic cylinder 23, and the horizontal turning hydraulic cylinder 24. Supplied respectively. Hydraulic cylinder for inboard arm 22, hydraulic cylinder for outboard arm 2
3. By operating the horizontal turning hydraulic cylinders 24 simultaneously (step S18), the postures of the inboard arm 7, the outboard arm 11, and the first connection pipe 5 change simultaneously, and the joint 17 advances to the next coordinate. . This operation is repeatedly performed, and as shown in FIG. 8, (a) → (b) →
The trajectory of the automatic connection driving route A1 (1) is drawn in the order of (c) → (d) → (e) → (f). At this time, the pipe joint 17
Has safely passed over the handrail 38B.

On the other hand, in step S11, the pipe joint 1
7 (X)_t, Y_t, Z_t) And self
It is determined that the coordinates of the dynamic connection driving route A1 (1) are not the same.
Then, the process proceeds to step S12. In step S12,
The deviation calculating means 56 of the amplifying means 54 includes the coordinate comparing means 5
2 and the current coordinates (X_t, Y_t, Z_t) Is the automatic connection operation route
A1 coordinates (X_to, Y_to, Z_to) Is different from
And their deviations (α _t, Β_t, Γ_t) Is calculated.

The servo valve 57 for the inboard arm is
Deviation amount calculating means 56 receives a signal of deviation alpha _t from sending oil flow rate corresponding to the deviation amount alpha _t the hydraulic cylinder 22 for the inboard arm.

Outboard arm servo valve 58
Is the deviation amount β from the deviation amount calculating means 56. _tReceiving the signal of
The deviation amount β_tCorresponding flow rate of oil outboard arm
To the hydraulic cylinder 23 for use.

The servo valve 59 for horizontal turning receives the signal of the deviation amount γ _t from the deviation amount calculating means 56 and receives the signal of the deviation amount γ _t
Is sent to the horizontal turning hydraulic cylinder 24. The current coordinates (X _t , Y _t , Y _{t) are} determined by the operation of the inboard arm hydraulic cylinder 22, outboard arm hydraulic cylinder 23, and horizontal turning hydraulic cylinder 24.
_Zt ) is controlled to follow the coordinates of the automatic connection operation route A1 (1).

Next, the next coordinate after a short time from the connection point 17A of the pipe joint 17 is calculated by the path follow-up control means 53 (step S13). Further, as described above, the inboard arm servo valve 57 The board arm servo valve 58 and the horizontal swing servo valve 59 operate, and the inboard arm hydraulic cylinder 22, the outboard arm hydraulic cylinder 23, and the horizontal swing hydraulic cylinder 24 operate.

As described above, by the automatic connection operation of the fluid cargo handling device 2, the posture of the fluid cargo handling device 2 is (A) → (B) → (C) → (D) by the handrail passing operation route A1 (1).
→ (e) → (f). At this time, fitting 1
7 exceeds the handrail 38B.

In step S19, it is determined whether or not the pipe joint 17 exceeds the handrail 38B for confirmation.
This is determined, for example, by immediately analyzing the difference between a reflected wave that oscillates ultrasonic waves from the vertical distance sensor 34 and receives a reflected wave from the deck 38 and a reflected wave that is radiated directly to the sea surface and received. If NO is determined, the process returns to the handrail passing driving route A1 (1). If YES is determined, the fitting 1
It is confirmed that 7 has reached the vertical lowering state beyond the handrail 38B, and the process proceeds to step S20.

In step S20, an ultrasonic wave is oscillated from the vertical distance sensor 34 attached to the pipe joint 17, and the ultrasonic wave reflected by the deck 38 is received by the vertical distance sensor 34, whereby The distance from the fitting 17 to the deck (vertical distance variable) begins to be measured.

Then, the vertical lowering of the pipe joint 17 is started (step S21). During the vertical descent of the fitting 17, the vertical distance variable from the fitting 17 to the deck is measured. In step S22, the vertical distance variable between the deck 38 and the pipe joint 17 and the on-deck stop position vertical distance database 44
A vertical limit value A _H which is specific are compared. When the vertical distance variable is greater than the vertical limit value A _H is determined NO, and the vertical descent of the pipe joint 17 to continue. When the vertical distance variable is equal to the vertical limit value A _H, it is determined YES, and
The vertical lowering of the pipe joint 17 is stopped (step S2).
3).

That is, when the pipe joint 17 becomes the same height as the connected pipe 38A on the ship 37 side, the pipe joint lowering judging means 55 stops the lowering command of the pipe joint 17, and the lowering of the pipe joint 17 is stopped. . The pipe joint 17 of the fluid handling apparatus 2 descends vertically along the vertically descending operation path A1 (2), and its posture is (f).
→ It changes like (G). The follow-up control is performed while the pipe joint 17 is descending.

In this manner, the pipe joint 17 stops at a fixed position above the deck 38, and in this state, the pipe joint 17 is operated in the horizontal direction and connected to the connected pipe 38A of the boat 37.

According to the above configuration, the sea berth 1 calculated on the basis of the specifications such as the weight and the loading capacity of the ship 37 is provided.
The height of the handrail 38B is incorporated in advance in the automatic connection operation path at the designed horizontal distance and vertical distance from the upper reference point 1A, and after the automatic connection operation path A1 causes the pipe joint 17 to exceed the deck handrail 38B. Is vertically lowered, so that the pipe joint 17 can be safely passed without contacting the handrail 38B without measuring the height of the handrail 38B. As a result, since the vehicle descends vertically while searching for the height at which it stops from above the deck 38, it is possible to reliably stop at the stop position on the deck 38.

In short, instead of measuring the height of the handrail 38B with a distance sensor that is not reliable as in the prior art,
The automatic connection operation route A1 in which the height of the handrail 38B is previously incorporated at the designed horizontal distance and vertical distance is adopted, eliminating the need for the conventional distance sensor to catch the top of the handrail 38B, and thereby ensuring that the fitting 17 is safe. A state that exceeds the handrail 38B is secured, and based on that state, the deck 38 as a measurement object is surely detected by the vertical distance sensor 34.
And the vertical distance from the pipe joint 17 to the deck 38 can be reliably measured. Therefore, the measurement is also reliable, and the vertically descending pipe joint 17 is stored in the storage device 3.
It can be stopped at the height of 9 vertical limit values A _H , B _H , C _H , D _H, etc., and connected to the connected pipe 38A on the ship 37 side.

In particular, the vertical limit values A _H , B of the storage device 39
_H, C _H, by setting the D _H and the like at the same height as the target connection tube 38A of the vessel 37 side, to stop the tube joint 17 to the vertical descent of the vessel 37 side to the height of the connection pipe 38A it can.

In this embodiment, the vertical distance sensor 34 is mounted on the pipe joint 17. However, the vertical distance sensor 34 may be mounted on the tip of the outboard arm 11 without mounting on the pipe joint 17. it can.

In this embodiment, an ultrasonic sensor is described as an example of the vertical distance sensor. However, the present invention is not limited to this, and an infrared sensor may be used.

Further, in this embodiment, the hydraulic cylinder 22 for the inboard arm is used as the actuator for the inboard arm, the hydraulic cylinder 23 for the outboard arm is used as the actuator for the outboard arm, and the hydraulic cylinder for horizontal turning is used as the horizontal turning actuator. Cylinder 2
4 are used, but the present invention is not limited to these hydraulic cylinders. For example, a servomotor can be used.

In this embodiment, the pipe joint 17
If it is determined that the current coordinates are not the same as the coordinates of the automatic connection driving route, the current coordinates are corrected for the route by the amplifying means 54, and then the next coordinates are calculated by the route following control means 53. Can be performed simultaneously.

Further, in this embodiment, the vertical limit value is determined in accordance with the specifications of each ship, but the vertical limit value is set to a constant value regardless of the specifications of the ship. You can also.

Further, in the present embodiment, there are three operation modes of the automatic connection operation mode, the automatic storage operation mode, and the emergency departure operation mode. However, at least the automatic connection operation mode is sufficient. In this case,
Since the automatic connection operation mode is automatically selected, the operation mode selection unit 35 and the operation mode determination unit 48 become unnecessary, and the automatic connection operation route A1 is automatically selected in the ship-based operation route database 43. Therefore, the automatic storage driving route database 43B and the emergency departure driving route database 43C become unnecessary. Further, other operation modes and operation routes can be stored in the storage device.

In addition, in this embodiment, for example, a case where a plurality of ships having different specifications are moored, the on-deck stop position vertical distance database 44 is stored in the storage device 39 in correspondence with the list of ships having different specifications. Although stored, if there is only one vessel specification, the target vessel selection means and the target vessel determination means become unnecessary.

In this embodiment, a coupler having claws is used as a pipe joint. However, a flange without claws may be used. In the present embodiment, the vertical distance sensor 34, the inboard arm angle sensor 31, the outboard arm angle sensor 32, and the horizontal turning angle sensor 33 are of an explosion-proof type, but are not limited to such a structure. .

[0097]

As described above, according to the present invention ,
In the fluid handling equipment, the handrail height is previously included in the automatic connection operation route based on the design horizontal distance and vertical distance from the reference point on the sea berth calculated based on the weight, size, loading capacity, etc. of the ship. This automatic connection operation path allows the fittings to descend vertically after passing over the handrail of the deck, so that the fittings can safely contact the handrail without measuring the height of the handrail without measuring the handrail height. You can get over. The pipe joint in which the vertically descendable state is ensured descends vertically by the vertical distance sensor while searching for the stopping height from above the deck, so that the pipe joint can be reliably stopped at the stop position on the deck.

In short, instead of measuring the handrail height with a distance sensor that is not reliable as in the past, an automatic connection operation path in which the handrail height is previously incorporated based on the designed horizontal distance and vertical distance is adopted. Eliminates the need to catch the top of the handrail with conventional distance sensors, thereby ensuring that the fittings safely cross the handrail, and based on that condition, the vertical distance sensor can be reliably measured as an object And the vertical distance from the fitting to the deck can be reliably measured, so that the measurement is also reliable and the vertically descending fitting can be measured at the height of the vertical limit of the storage device. Can be stopped. In particular, if the vertical limit value of the storage device is set to the same height as the connected pipe on the boat side, the vertically descending pipe joint can be stopped at the height of the connected pipe on the boat side.

[0099]

[0100]

[0101]

[0102]

[Brief description of the drawings]

FIG. 1 is a side view of a fluid handling device according to an embodiment of the present invention.

FIG. 2 is a plan view of the fluid handling apparatus.

FIG. 3 is a side view showing details of the fluid handling apparatus.

FIG. 4 is a sectional view showing a connection portion between a riser pipe and an inboard arm of the fluid handling apparatus.

FIG. 5 is a block diagram of a deck detection control device for a ship according to an embodiment of the present invention.

FIG. 6 is an explanatory diagram of a ship-based driving route database of FIG. 5;

FIG. 7 is an explanatory diagram of the on-deck stop position vertical distance database of FIG. 5;

FIG. 8 is an explanatory diagram of an automatic connection operation route.

FIG. 9 is a flowchart of a deck detection control device for a ship according to an embodiment of the present invention.

FIG. 10 is an explanatory diagram of a conventional deck detection control device for a ship.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Sea verse 1A Reference point 3 Rise pipe 7 Inboard arm 11 Outboard arm 17 Fitting 22 Hydraulic cylinder for inboard arm 23 Hydraulic cylinder for outboard arm 24 Hydraulic cylinder for horizontal turning 31 Inboard arm angle sensor 32 Outboard arm angle Sensor 33 Horizontal turning angle sensor 34 Vertical distance sensor 37 Ship 38 Deck 38A Connected pipe 38B Handrail 30 Control device 39 Storage device 40 Judging means 51 Arm tip coordinate calculating means 52 Coordinate comparing means 53 Path following control means 54 Amplifying means 55 Pipe joint Descent judgment means A1 Automatic connection operation route A _H Vertical limit value B _H Vertical limit value C _H Vertical limit value D _H Vertical limit value

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masamitsu Aoki 1-9-3 Kamata Honcho, Ota-ku, Tokyo Inside Chiksan Center, Industrial Machinery Division, Niigata Ironworks Co., Ltd. (72) Inventor Toshiyuki Kumagai Kamata, Ota-ku, Tokyo 1-9-3 Honmachi Chiksan Center, Industrial Machinery Division, Niigata Ironworks Co., Ltd. (72) Inventor Kuniyoshi Okamoto 4-1-2, Hiranocho, Chuo-ku, Osaka-shi, Osaka Osaka Gas Co., Ltd. Production Department (72) Inventor Toshifumi Nagatani 4-1-2, Hirano-cho, Chuo-ku, Osaka City, Osaka Prefecture Inside the Production Department of Osaka Gas Co., Ltd. (56) References JP-A-54-8618 (JP, A) Japanese Utility Model Application Sho-63-71000 (JP, U) JP-B 63-2640 (JP, B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) B67D 5/00-5/70

Claims (1)

(57) [Claims] 1. A riser erected on a sea berth, an inboard arm rotatably connected to the riser in a horizontal plane and a vertical plane, and an inboard arm rotatably connected in a vertical plane to a tip of the inboard arm. Outboard arm, a fitting provided at the tip of the outboard arm and connected to the connected pipe on the ship side, an inboard arm angle sensor for measuring the angle of the inboard arm, and measuring the angle of the outboard arm An outboard arm angle sensor, a horizontal turning angle sensor for measuring the turning angle of the inboard arm in the horizontal plane, a vertical distance sensor provided at the tip of the outboard arm or at a fitting to measure the distance to the deck, A vertical distance sensor is connected to the input side, a storage device, and a control device having a determination unit, wherein the storage device of the control device includes: The pipe joint descends vertically after the handrail of the deck at the position indicated by the design horizontal distance and vertical distance from the reference point on the sea berth calculated based on the specifications of the ship weight, loading capacity, etc. The automatic connection operation route determined as described above and the vertical limit value of a predetermined height from the deck where the fitting stops are stored, and the determination means of the control device detects the inboard arm angle sensor. Arm tip coordinate calculating means for calculating the current position coordinates of the pipe joint based on the inboard arm angle variable, the outboard arm angle variable detected by the outboard arm angle sensor, and the horizontal turning angle variable detected by the horizontal turning angle sensor. A coordinate comparing means for determining whether or not the current coordinates of the fitting and the coordinates on the automatic connection operation route are the same; Path tracing control means for calculating coordinates after a lapse of time, amplifying means for outputting a signal of a required operation amount according to a deviation between the current coordinates of the pipe joint and the coordinates on the automatic connection operation path of the storage device, and a path. An actuator for an inboard arm operated by a signal from the scanning control means or the amplification means, an actuator for an outboard arm operated by a signal from the path scanning control means or the amplification means, and a signal from the path scanning control means or the amplification means The vertical swing variable that is activated and the vertical distance variable detected by the vertical distance sensor are compared with the vertical limit value of the storage device. If the vertical distance variable is larger than the vertical limit value, it is determined to continue the descent of the fitting. A deck detection control device for a ship in a fluid cargo handling device, comprising: