JP2926532B2 - Distance measurement method for oscillating floating structures - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring a distance in an oscillating floating structure, and more particularly, to a relatively small boat such as a fire-fighting boat, which receives a reaction force such as a wave, a tide or a water discharge gun. The present invention relates to a distance measuring method suitable for a case in which the distance to a large ship or the like that is oscillating and causing a fire changes.

[0002]

2. Description of the Related Art Generally, as a device for measuring a distance between two objects, a distance detecting device using a laser, an ultrasonic wave, or an infrared ray is known. In these distance detection devices,
The distance is measured by irradiating light or sound waves from a measurement point to a reflecting mirror provided at the point to be measured.

[0003]

However, even if the conventional distance detecting device is mounted on a swinging marine structure such as a fire boat, the distance to a measured object such as a large ship in fire can be accurately measured. Can not do. In other words, the first point is that the reflector or the like cannot be installed on the object to be measured, and the second point is that the marine structure equipped with the distance detection device constantly changes the launch angle of light or sound wave by rolling or pitching, The exact distance cannot be measured. An object of the present invention is to overcome such a conventional problem.

[0004]

That is, a method of measuring the distance of a swinging floating structure according to the present invention is characterized in that the swinging floating structure has an inclinometer and a swing angle detection sensor on the swinging floating structure, and uses a driving device. A movable base capable of swinging three-dimensionally, and two distance sensors capable of adjusting the angle in the horizontal direction and having an angle detection sensor mounted on the movable base are arranged, and the signal of the inclinometer and the swing angle are provided. The driving device is driven by the signal of the sensor to operate the movable table, and further, the signal of the angle sensor and the signal of the distance sensor are input to a calculation device to perform a calculation process. I do.

[0005]

The tilt angle signal of the floating structure measured by the inclinometer is input to the CPU and compared with the signal of the movable platform tilt angle measured by the swing angle detection sensor. A drive signal is provided to the drive device to control the tilt angle of the movable table. When the tilt angle signal and the movable base tilt angle signal match, that is, when the movable base is horizontal, the signal of the angle sensor and the signals from the two distance sensors are input to the arithmetic unit of the CPU. Then, the distance is measured by triangulation.

In the actual fire boat, the distance measurement signal is compared with a predetermined distance signal, and when displacement occurs, the propulsion unit and the thruster are controlled so that the boat position is positioned at a fixed point.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 denotes a relatively small swinging marine structure such as a fire boat, and reference numeral 2 denotes an object to be measured such as a large ship causing a fire. The marine structure 1 is provided with a movable base 4 having distance sensors 3a and 3b, and an inclinometer 5 for detecting a horizontal inclination angle a by rolling and a vertical inclination angle b by pitching. And CPU6 is mounted. 7 is a thruster and 8 is a propulsion device.

More specifically, as shown in FIG.
Is an X-axis 1 connected to a first drive 9 such as a motor
0 and a Y-axis 12 also connected to a second drive device 11 such as a motor, and is configured to be three-dimensionally tiltable. A support shaft 1 is provided on the movable base 4.
Two support plates 14 that rotate in the horizontal direction about 3
a, 14b are attached, and further, each support plate 14a, 14b
b, distance sensors 3a and 3b are arranged respectively. Reference numeral 15 denotes an angle sensor which is a distance sensor 3a, 3
This is to detect the angle α of b.

The movable table 4 is also provided with a first swing angle sensor 16 for detecting the vertical tilt angle θ ₁ and a second swing angle sensor 17 for detecting the horizontal tilt angle θ ₂ . . Horizontal angle of inclination a signal V ₁ and the longitudinal inclination angle b signal V ₂ of the above-mentioned inclinometer 5 marine structure 1 detected by the angle sensor 15 signals V ₃ and the signal of the first swinging angle sensor 16 V ₄ and the signal V ₅ of the second swing angle sensor 17 are output from the CPU 6
, And if necessary, control signals V ₆ and V ₇ are created, and the control signals V ₆ and V ₇ are given to the first driving device 9 and the second driving device 11.

That is, as shown in FIG. 4, the signals V ₁ and V ₂ from the inclinometer 5 are input to a comparator 18 of the CPU 6, and the comparator 18 outputs a signal of the first swing angle sensor 16. V ₄ and the signal V _{5 of} the second swing angle sensor 17 are compared respectively. Specifically, the horizontal tilt angle a due to rolling, the horizontal tilt angle θ ₂ of the movable base 4, and the vertical tilt angle b due to pitching
And the vertical tilt angle θ ₁ of the movable base 4 are compared with each other, and if there is a difference, V ₆ and V ₇ are created by the control signals, respectively, and the first driving device 9 and the second driving device 11 The tilt angle is adjusted so that the movable table 4 is horizontal.

When the signals V ₁ and V ₂ match the above signals V ₄ and V ₅ , the control signals V ₆ and V ₇ are stopped, and the first driving device 9 and the second driving device 11 are stopped. Stops. Then, the signal V ₈ from the comparator 18 is applied to the arithmetic unit 1
9 given. At this time, the signal V of the angle sensor 15
₃ , that is, the horizontal angle α of the distance sensors 3a and 3b is CP
As shown in FIG. 2, the signal V of this angle α and the distance L between the angle α and the side wall 2a of the DUT 2 such as a large ship, which is obtained by the distance sensors 3a and 3b, is input to the arithmetic unit 19 of U6. distance L 'is determined by triangulation method by _9, that signal V ₁₀ is outputted. This signal V ₁₀ is,
It is input to the ship control device 20 and used as a control signal for the thruster 7 and the propulsion device 8.

In this embodiment, the swinging marine structure has been described as a fire boat, but the present invention is not limited to this, and may be a general surveying vessel.
The object to be measured can be applied even to a marine structure or a quay having a vertical surface.

[0013]

As is apparent from the above description, according to the present invention, it is not necessary to set a special measurement point on the object to be measured, and the distance is measured after the inclination angle due to the shaking is corrected. Therefore, an accurate distance measurement can be performed, and it is possible to automate the maintenance of the fixed point of the marine structure based on the measurement result.

[Brief description of the drawings]

FIG. 1 is a schematic side view of an oscillating marine structure and an object to be measured according to the present invention.

FIG. 2 is a plan view of a swinging marine structure and an object to be measured according to the present invention.

FIG. 3 is a signal input / output system diagram.

FIG. 4 is a signal processing system diagram of a CPU.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Offshore structure 3 Large vessel 3a, 3b Distance sensor 4 Movable table 5 Inclinometer 6 CPU 7 Thruster 8 Propeller 9 First drive unit 10 X axis 11 Second drive unit 12 Y axis 13 Support shaft 14a, 14b Support Plate 15 Angle sensor 16 First swing angle sensor 17 Second swing angle sensor 18 Comparator 19 Computing device 20 Ship control device

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G01C 3/00-3/32 G01C 15/00-15/14

Claims (1)

(57) [Claims] 1. A movable base having an inclinometer and a swing angle detection sensor on a swinging floating structure and capable of swinging three-dimensionally by a driving device, and adjusting an angle of the movable base in a horizontal direction. A possible distance sensor and two distance sensors mounted with an angle detection sensor are arranged, and the movable unit is operated by driving the driving device according to the signal of the inclinometer and the signal of the swing angle sensor, A method for measuring a distance in a swinging floating structure, wherein a signal from the angle sensor and a signal from the distance sensor are input to an arithmetic device to perform arithmetic processing.