JP2976940B2 - Method and apparatus for calculating shape of vehicle cable - 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 calculating the shape of a cable for a sailboat and a device for calculating the shape, and more particularly to a method for calculating the shape of a cable located between the sailboat moving in the water in front of the mother ship and the mother ship. And a device for calculating the shape thereof.

[0002]

2. Description of the Related Art As a conventional technique related to this kind, a method for measuring the position of a submersible towed vehicle will be described with reference to the drawings.

FIG. 7 is a schematic explanatory view showing a conventional position measuring method of an underwater towed body using ultrasonic waves, and FIG. 8 is a block diagram showing a part of a signal processing device in the conventional example shown in FIG.

In FIG. 7 and FIG. 8, this conventional example is
The contents disclosed in JP-A-59-1111075 will be described. First, the signal processing device 2 installed on the platform 101 will be described.
Transmitter 105 ₁ , 1 attached to platform 101 from
A pulse signal is transmitted to 05 ₂ and 105 ₃ . Then, the transmitters 105 _1, 105 _2, 105 ₃ receives this pulse signal, and transmits individually burst signal of a frequency f _1, f _2, f _3.

[0005] The ultrasonic signal is received by a receiver 106 attached to the underwater towing body 104, and the received signal is transmitted to a cable 1.
The signal is transmitted to the signal processing device 102 installed on the platform 101 through the channel 03.

[0006] In this signal processing device 102, for example, as shown in FIG. 8, a received signal from a receiver 106 is passed through a broadband filter 107 and matched filters 108 ₁ , 108 ₂ , 1
08 ₃ The separated into three different frequencies f _1, f _2, f ₃ of the signal, the detector 109 _1, 109 _2, 109 ₃ the center frequency f _1, f _2, to detect the peak value of f ₃ In the positioning operation circuit 110, each of the transmitters 105 ₁ , 10
For 5 _2, 105 ₃ and the distance and the platform 101 to measure the respective distance differences between the receivers 106 is obtained so as to measure the position or distance and orientation of the underwater towed vehicle 104.

In the above conventional example, a method of measuring only the position of the hull or the towing body using the transmitter of the mother ship and the receiver of the hull is used. The shape of the cable between the hulls was not actually measured. Conventionally, the estimation of the cable shape between the mother hull and the hull was based on fluid dynamics-based estimation calculations based on the speed, tide velocity, and tidal direction of the mother ship. Had been.

[0008]

In the prior art for measuring only the position of the tow body, the cable and the shape between the mother ship and the tow body are not actually measured, so that the cable is connected to the propeller of the mother ship. There is a problem that the cable may be cut off or damaged due to interference or a foreign body on the seabed.

Further, the method of estimating the cable shape based on the fluid dynamics requires an enormous amount of time, and it is necessary to carry out the estimating calculation in real time corresponding to the ever-changing position of the vehicle. However, there was a problem that it did not endure practical use. Furthermore, the tide velocity and tide direction required for performing the estimation calculation are
While the value of the whole space between the mother ship and the hull is needed,
Since there is no ability to measure the tide velocity and tide direction, values measured near the mother ship or the cruising body have to be substituted, and the accuracy of estimating the cable shape is low.

(Purpose) It is an object of the present invention to continuously and accurately estimate the shape of a cable between a mother ship and a traveling body so as not to damage the cable.

[0011]

According to the method of calculating the shape of a cable for a sailing body according to the present invention, the shape of a cable which is unreeled from a mother ship and which is located between the sailing body running in water and the mother ship is measured. In the meantime, a cable receiving unit is installed at each of a plurality of predetermined positions on the cable, and the plurality of cable receiving units are respectively different acoustic signals from the mother ship and the sailing body, and Receiving the reception time of the acoustic signal, the mother ship uses the predetermined position of the mother ship as the origin of the three-dimensional coordinates, and calculates the position of the navigation body and the acoustic signal of each of the mother ship and the navigation body. The shape of the cable is calculated by receiving a transmission signal and the reception time from each of the plurality of cable reception units and calculating respective positions of the plurality of cable reception units.

According to the present invention, there is provided a navigation body cable shape calculating apparatus for measuring a shape of a cable which is unreeled from a mother ship and which is positioned between the navigation body and the mother ship traveling in water. An apparatus, installed on the mother ship,
A mother ship transmitting unit that transmits first acoustic signals of different frequencies from two or more different transmitters, and the first sound that is installed on the marine vehicle and transmitted by the mother ship transmitting unit A traveling body transmitting section for transmitting a second acoustic signal having a frequency different from that of the signal, and a plurality of transmitting sections installed at predetermined points on the cable and transmitted from the mother vessel transmitting section and the traveling body transmitting section. A cable receiving unit that receives the first and second acoustic signals to be waved and separates the first and second acoustic signals to measure a reception time; 1 transmission time of the acoustic signal, transmission time of the second acoustic signal by the marine vessel transmitting section, and reception of the first and second acoustic signals measured by the cable receiving section. Each point of the plurality of cable receiving units is determined based on time and a relative position of the navigation body with respect to the mother ship obtained in advance. Position sequentially and a cable shape calculating unit for calculating three dimensionally, the mother ship transmitting portion includes a first signal control device, a signal converter A, the signal converter B, transmitters A
And the first signal controller controls the timing of transmission, sends a transmission command to the signal converter A and the signal converter B, and sets the transmission time. The signal is sent to the cable shape calculation unit, and the signal converter A and the signal converter B receive the transmission command, generate signal generation pulses of respective individual frequencies, and transmit the signal from the transmitter A and the transmitter B. And the transmitter A and the transmitter B transmit the first acoustic signals having different frequencies underwater based on the received signal generation pulses, respectively. A signal controller, a signal converter and a transmitter, the second signal controller controls the timing of transmission, sends a transmission command to the signal converter,
Sending the transmission time to the cable shape calculation unit, the signal converter receives a transmission command, generates a signal generation pulse, sends to the transmitter, the transmitter, the received signal Based on the generated pulse, the second acoustic signal is transmitted underwater, the cable receiving unit includes a receiver, a signal converter and a reception time detector, and the receiver includes:
The first and second acoustic signals transmitted by the mother ship transmitting section and the marine vessel transmitting section into water are received, and the signal converter electrically converts the signal received by the receiver. The signal is transmitted to the reception time detector, and the reception time detector detects the first and second acoustic signals transmitted from the motherboard transmission section and the marine vessel transmission section. The reception time is detected and sent to the cable shape calculation unit.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the present invention will be described with reference to the drawings.

FIG. 1 is a conceptual diagram showing an embodiment of a vehicle body shape calculating device according to the present invention, and FIG. 2 is a block diagram showing an embodiment of the vehicle body shape calculating device of the present invention. is there.

In FIG. 1 and FIG. 2, an apparatus for calculating the shape of a cable for a vehicle according to the present embodiment uses an acoustic signal 5 a from a mother ship 10.
And a sound signal 5 from the hull 20.
and a cable receiver for receiving acoustic signals 5a and 5b transmitted from the mother ship 10 and the vehicle 20 at a plurality of predetermined positions on the cable 30. Unit 3 and transmission time signals 6 of the acoustic signals 5 a and 5 b of the mother ship transmitting unit 1 and the marine vessel transmitting unit 2 which are located in the mother ship 10.
a, 6b and the respective acoustic signals 5 of the cable receiving unit 3
and a cable shape calculation unit 4 that receives the reception time signals 7a and 5b and calculates the position of each cable reception unit 3 of the cable 30.

FIG. 3 is a block diagram showing an example of a mother ship transmitting section in the present embodiment, FIG. 4 is a block diagram showing an example of a traveling transmitting section in the present embodiment, and FIG. It is a block diagram which shows an example of a cable receiving part.

In FIG. 3, the mother ship transmitting section 1 comprises a signal controller 11, a signal converter A12, a signal converter B13, a transmitter A14 and a transmitter B15. Signal controller 1
In step 1, the transmission timing is controlled, and the transmission command is transmitted to the signal converter A12 and the signal converter B13. Further, the transmission time signal 6 a is transmitted to the cable shape calculation unit 4. The signal converter A12 and the signal converter B13 receive the transmission command, generate signal generation pulses of respective individual frequencies, and send them to the transmitter A14 and the transmitter B15. The transmitter A14 and the transmitter B15 transmit two acoustic signals 5a having different frequencies underwater based on the received signal generation pulse.

In FIG. 4, the vehicle transmitting unit 2 comprises a signal controller 21, a signal converter 22 and a transmitter 23. The signal controller 21 controls the transmission timing and sends a transmission command to the signal converter 22. Further, the transmission time signal 6 b is sent to the cable shape calculation unit 4. Signal converter 22
Receives the transmit command, generates a signal generation pulse,
It is sent to the transmitter 23. The transmitter 23 transmits the acoustic signal 5b into water based on the received signal generation pulse.

In FIG. 5, the cable receiver 3 comprises a receiver 31, a signal converter 32 and a reception time detector 33. The receiver 31 receives the acoustic signals 5a and 5b transmitted by the mother ship transmitting unit 1 and the marine vessel transmitting unit 2 underwater.
The signal converter 32 converts the signal received by the receiver 31 into an electric signal, and sends the signal to the reception time detector 33. The receiving time detector 33 detects the receiving time signal 7 of each acoustic signal transmitted from the mother ship transmitting section 1 and the marine vessel transmitting section 2 and sends it to the cable shape calculating section 4.

The cable shape calculation unit 4 detects the transmission time signals 6a and 6b of the mother ship transmission unit 1 and the vehicle transmission unit 2, and the cable reception units 3 existing on the cable 30. The position of each of the plurality of cable receiving units 3 is calculated based on the reception time signal 7 and the position of the vehicle measured by a method such as the related art. The position calculation is performed for all the cable receiving units 3 existing on the cable 30, and finally the shape of the entire cable is calculated.

Next, in the present embodiment, the cable 3
A method for calculating the shape of 0 will be described with reference to FIG.

The predetermined position of the mother ship 10 is defined as the origin of the three-dimensional coordinates, and the positions of the two transmitters of the mother ship transmitting unit 1, ie, the transmitter A14 and the transmitter B15, are respectively (x1, y1,
z1,) and (x2, y2, z2), the position of the transmitter 23 of the vehicle body transmitting unit 2 is (x3, y3, z3), and one position of the cable receiving unit 3 to be obtained is ( x, y, z)
And The transmission time of the acoustic signal in the mother ship transmitting unit 1 and the marine vehicle transmitting unit 2 is t0, and the receiving time of the acoustic signal from each transmitter received by the cable receiving unit 3 is t1, t2. , And t3, and the velocity of sound in water is c, the relationship between the coordinates is given by Equation (1).
It is represented as

[0023]

(Equation 1)

Since three equations are given to the three unknowns (x, y, z), one position of the cable receiving unit 3 can be calculated by solving the equations. Since there are a plurality of cable receiving units 3, the calculation of Expression (1) is performed for all the cable receiving units 3.

The plurality of cable receiving units 3 are installed at predetermined positions of the cable 30, respectively;
The shape of the cable can be calculated from the calculation result of Expression (1).

In the equation (1), the effects of the Doppler effect are neglected because the speeds of the mother ship 10 and the hull 20 are much lower than the sound speed C in water.

FIG. 6 is a conceptual diagram showing a method for obtaining the position of the cable receiving section in the present embodiment.

Next, a method of three-dimensionally obtaining the position of one of the plurality of cable receiving units 3 in the present embodiment will be described with reference to FIG.

Transmitter A14 and Transmitter B of mother ship transmitting section 1
The equi-propagation distance plane 41 and the equi-propagation distance plane 42 of the acoustic signal transmitted from the cable 15 and received by the cable receiving unit 3 have the radii c · (t1−t0) and c · (T2-
t0) is a spherical surface. In addition, the transmitter 2 of the
3, the equi-propagation distance surface 43 of the acoustic signal transmitted from the cable receiving unit 3 and received by the cable receiving unit 3 has a radius c · (t3-
t0) is a spherical surface. The point where these three spherical surfaces intersect in the three-dimensional space is the position of the cable receiving unit 3.

As described above, in the present embodiment, the mother ship transmitting section 1 has two or more transmitters, transmits acoustic signals of different frequencies into water, and sets the transmission time to the cable shape. Output to the calculation unit 4. The watercraft transmitting unit 2 has one or more transmitters, transmits an acoustic signal having a frequency different from that of each transmitter of the mother ship transmitting unit 1 into water, and transmits the transmission time to a cable. Output to the calculation unit 4. The cable receiving unit 3 includes the mother ship transmitting unit 1
Also, it receives the acoustic signal transmitted from the transmitter of the traveling body transmitter 2 and outputs the measured reception time to the cable shape calculator 4. The cable shape calculation unit 4 determines each cable reception based on the transmission time of the mother ship transmission unit 1 and the navigation unit transmission unit 2, the reception time of the cable reception unit 3, and the previously measured position of the navigation unit. The position of the wave part 3 can be calculated.

[0031]

As described above, the present invention relates to a ship body cable shape grasping device for measuring the shape of a cable which is unwound from a mother ship and which is located between the ship and a ship running underwater. And a motherboard transmitting section installed on the motherboard and transmitting first acoustic signals of different frequencies from two or more different transmitters, and a motherboard transmitting section installed on the hull. A marine vessel transmitting unit that transmits a second acoustic signal having a frequency different from the first acoustic signal, and a plurality of marine vessel transmitting units and a marine vessel transmitting unit that are installed at a plurality of predetermined points on the cable. A cable receiving unit that receives the transmitted first and second acoustic signals, separates the first and second acoustic signals and measures the receiving time, and a first acoustic signal transmitted by the mother ship transmitting unit. The transmission time of the signal, the transmission time of the second acoustic signal by the marine vehicle transmitter, and the measurement by the cable receiver A cable shape calculator for sequentially calculating the position of each point of the plurality of cables in three dimensions from the reception times of the first and second acoustic signals and the relative position of the navigation body obtained from the mother ship obtained in advance; Thereby, the following effects can be obtained.

The first effect is that the shape of the cable can be obtained in real time as compared with the conventional method.

The reason is that the cable shape is not calculated hydrodynamically but is actually measured using an acoustic signal received by a receiver provided on the cable.

A second effect is that a cable shape can be obtained with higher accuracy than the conventional method.

The reason is that a plurality of receivers are arranged on a cable, and in order to actually measure the positions, it is necessary to use parameters with high uncertainties such as tide flow velocity and tide flow direction used in the hydrodynamic calculation. Because there is no.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing an embodiment of a vehicle cable shape calculation device according to the present invention.

FIG. 2 is a block diagram showing one embodiment of a vehicle body shape calculation device of the present invention.

FIG. 3 is a block diagram showing a mother ship transmitting section in the present embodiment.

FIG. 4 is a block diagram showing a vehicle transmitting unit in the present embodiment.

FIG. 5 is a block diagram illustrating a cable receiving unit according to the present embodiment.

FIG. 6 is a conceptual diagram showing a method for obtaining a position of a cable receiving unit in the present embodiment.

FIG. 7 is a schematic explanatory view showing a conventional position measuring method of an underwater towed body using ultrasonic waves.

8 is a block diagram showing a part of the signal processing device in the conventional example shown in FIG.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 mother ship transmitting unit 2 ship transmitting unit 3 cable receiving unit 4 cable shape calculating unit 5a, 5b acoustic signal 6a, 6b transmission time signal 7 reception time signal 10 mother ship 11 signal controller 12 signal converter A DESCRIPTION OF SYMBOLS 13 Signal converter B 14 Transmitter A 15 Transmitter B 20 Aircraft 21 Signal controller 22 Signal converter 23 Transmitter 30 Cable 31 Receiver 32 Signal converter 33 Received time detector 41 Equal propagation Distance plane 42 Equi-propagation distance plane 43 Equi-propagation distance plane

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G01S 7/52-7/64 G01S 15/00-15/96

Claims (5)

(57) [Claims] When measuring the shape of a cable which is unwound from a mother ship and travels underwater and is positioned between the mother ship and a ship, the cable is provided at each of a plurality of predetermined positions on the cable. A receiving unit is installed, and the plurality of cable receiving units receive respectively different acoustic signals from the mother ship and the marine vessel and reception times of these acoustic signals, and the mother ship uses the receiving unit of the mother ship. The predetermined position is defined as the origin of the three-dimensional coordinates, and the position of the sailing body, the transmission signal of the acoustic signal of each of the mother ship and the sailing body, and the plurality of cable receiving units from each of the cable receiving units. A method for calculating the shape of a navigation cable, comprising: receiving a reception time and calculating a position of each of the plurality of cable reception units to calculate a shape of the cable. 2. A sailing body cable shape calculating device for measuring a shape of a cable which is unwound from a mother ship and is positioned between the sailing body running in water and the mother ship, wherein the sailing body cable shape calculating device is installed on the mother ship, A mother ship transmitting unit that transmits first acoustic signals of different frequencies from two or more different transmitters, and the first sound that is installed on the marine vehicle and transmitted by the mother ship transmitting unit A traveling body transmitting section for transmitting a second acoustic signal having a frequency different from that of the signal, and a plurality of transmitting sections installed at predetermined points on the cable and transmitted from the mother vessel transmitting section and the traveling body transmitting section. Receiving the first and second acoustic signals to be waved,
A cable receiving unit that separates the second acoustic signal and measures a receiving time; a transmitting time of the first acoustic signal by the mother ship transmitting unit; 2 from the transmission time of the acoustic signal, the reception time of the first and second acoustic signals measured by the cable receiving unit, and the relative position of the navigation body obtained from the mother ship obtained in advance. And a cable shape calculation unit for sequentially calculating three-dimensionally the position of each point of the plurality of cable reception units. 3. The transmitting unit of the mother ship includes a first signal controller, a signal converter A, a signal converter B, a transmitter A and a transmitter B, and The signal controller controls the timing of transmission, sends a transmission command to the signal converter A and the signal converter B, and sends a transmission time to the cable shape calculation unit. And the signal converter B receives the transmission command, generates a signal generation pulse of each individual frequency, sends the signal generation pulse to the transmitter A and the transmitter B, and transmits the signal to the transmitter A and the transmitter B. 3. The apparatus according to claim 2, wherein the first acoustic signal having a different frequency is transmitted underwater based on the received signal generation pulse. 4. 4. The vehicle transmitter includes a second signal controller, a signal converter and a transmitter, wherein the second signal controller controls a transmission timing. Sending a transmission command to the signal converter, and sending the transmission time to the cable shape calculation unit, wherein the signal converter receives the transmission command, generates a signal generation pulse, and The said wave transmitter transmits the said 2nd acoustic signal underwater based on the said signal generation pulse received, The shape calculation apparatus of the vehicle body cable of Claim 2 and 3 characterized by the above-mentioned. . 5. The cable receiving unit includes a receiver, a signal converter, and a reception time detector, and the receiver includes the mother ship transmitting unit and the navigation unit transmitting unit. Receives the first and second acoustic signals transmitted underwater, the signal converter converts the signal received by the receiver into an electric signal, and sends the signal to the reception time detector. The reception time detector detects reception times of the first and second acoustic signals transmitted from the mother ship transmission unit and the marine vessel transmission unit, and transmits the signal to the cable shape calculation unit. 5. The apparatus for calculating the shape of a cable for a vehicle according to claim 2, wherein the cable is sent.