JP2987504B2 - Movement method of work boat such as sand pile formation - Google Patents
Movement method of work boat such as sand pile formationInfo
- Publication number
- JP2987504B2 JP2987504B2 JP63052979A JP5297988A JP2987504B2 JP 2987504 B2 JP2987504 B2 JP 2987504B2 JP 63052979 A JP63052979 A JP 63052979A JP 5297988 A JP5297988 A JP 5297988A JP 2987504 B2 JP2987504 B2 JP 2987504B2
- Authority
- JP
- Japan
- Prior art keywords
- anchor
- work boat
- work
- anchor wire
- sand pile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Description
【発明の詳細な説明】 （発明が属する技術分野） 本発明は砂杭造成等作業船を任意の繋留位置から所定
の作業位置に移動させる方法に関するものである。Description: TECHNICAL FIELD The present invention relates to a method for moving a work boat such as sand pile formation from an arbitrary mooring position to a predetermined work position.
（発明の課題とその特徴点） 砂杭造成等作業船は通常、４本以上のアンカーワイヤ
で繋留されており、これを適宜広さの水域内において任
意の繋留位置から所定の作業場所に移動させる場合は各
アンカーワイヤを適宜巻取り・巻戻すのであるが、従
来、この移動時の各アンカーワイヤの操作はオペレータ
ーが勘で各アンカーワイヤの巻取りドラムを制御して行
っていた。(Problems of the invention and its features) Work boats for sand pile construction and the like are usually moored by four or more anchor wires, and are moved from an arbitrary mooring position to a predetermined work place in a suitably wide water area. In this case, each anchor wire is wound up and rewinded appropriately. Conventionally, the operation of each anchor wire during this movement has been performed by controlling the winding drum of each anchor wire with an operator's intuition.
本発明は、前述の砂杭造成等作業船の移動をオペレー
ターの勘に頼ることなく合理的に行うことができる方法
の提供を目的としているものであって、その構成上の特
徴は特許請求の範囲に記載したとおりである。An object of the present invention is to provide a method capable of rationally moving a work boat such as the above-mentioned sand pile formation without relying on an operator's intuition. It is as described in the range.
本発明における作業船の繋留位置の検知には、例えば
従来周知の光波測距儀による方法を用いればよく、ま
た、アンカーの位置の検知には、例えばトランシットに
よる直接的測定の外、後述の手法の採用も考えられる。The detection of the mooring position of the work boat according to the present invention may be performed by using, for example, a conventionally known method using a lightwave range finder, and the detection of the anchor position may be performed by, for example, a method described below in addition to direct measurement using a transit. The adoption of is also conceivable.
なお、本発明におけるアンカーワイヤの巻取りドラム
の制御は手動と自動の何れでもよい。The control of the anchor wire winding drum in the present invention may be either manual or automatic.
（発明の具体的説明） 以下、図面により本発明を説明する。Hereinafter, the present invention will be described with reference to the drawings.
第１図において、Ｗは作業船Ｓを実線で示す位置に繋
留している４本のアンカーワイヤの内の１本であり、Ａ
点は巻取りドラムの位置（この位置は作業船Ｓの繋留位
置を検知することで容易に求められる）、ａ点はアンカ
ーの位置をそれぞれ示している。In FIG. 1, W is one of the four anchor wires that anchor the work boat S at the position shown by the solid line, and A
The point indicates the position of the winding drum (this position is easily obtained by detecting the anchoring position of the work boat S), and the point a indicates the position of the anchor.
Ａ点とａ点の座標をそれぞれ（x1,y1）、（xa,ya）と
して、これらが判れば、Ａ−ａ間の水平距離Ｌは、 L2＝（xa−x1）２＋（ya−y1）２ の式で算出できる。Let the coordinates of point A and point a be (x 1 , y 1 ) and (x a , y a ) respectively, and if these are known, the horizontal distance L between A-a is L 2 = (x a −x 1) ) 2 + (y a −y 1 ) 2 .
そして、水深を検知してこれをＨとし、水面から巻取
りドラムまでの高さとアンカーワイヤＷのカテナリーを
それぞれ無視すると、繋留位置におけるアンカーワイヤ
Ｗの繰出し長l1は、 l1 2＝L2＋H2 の式で算出できる（第２図参照）。When the water depth is detected and set to H, and the height from the water surface to the winding drum and the catenary of the anchor wire W are ignored, respectively, the feeding length l 1 of the anchor wire W at the anchoring position is l 1 2 = L 2 + can be calculated by the formula H 2 (see Figure 2).
以上の計算に必要な座標（x1,y1）は、作業船Ｓの位
置を例えば光波測距儀による方法（船上の基準点に設置
した光波測距儀から陸上の基準点に設置した反射器まで
の直距離、水平角、鉛直角を同時に計測する方法）で検
出して知ることができ、また座標（xa,ya）は、例えば
２台のトランシットによる測定法（２地点にそれぞれト
ランシットを設置し、これを基線にして前方の１点まで
の角度を同時に読取って該１点の位置を測定する方法）
でａ点に設置されているアンカーの位置を示すブイの位
置を測定して知ることができる。The coordinates (x 1 , y 1 ) necessary for the above calculation are obtained by, for example, determining the position of the work boat S by a method using a light wave range finder (from a light wave range finder installed at a reference point on a ship to a reflection point installed at a land reference point). straight distance to the vessel, a horizontal angle can be known by detecting simultaneously a method of measuring) the vertical angle and the coordinates (x a, y a), for example respectively on the measurement method (2 points by two transit A method in which a transit is installed and the angle of one point in front is measured simultaneously by using this as a baseline to measure the position of the one point)
By measuring the position of the buoy indicating the position of the anchor installed at the point a, it can be known.
次に、作業船Ｓを点線で示す所定の作業位置に移動さ
せたときのＡ点の位置を（x2,y2）とすると、これは既
知であるから、作業位置におけるアンカーワイヤＷの繰
出し長l2も同様に算出できる。Next, assuming that the position of the point A when the work boat S is moved to the predetermined work position indicated by the dotted line is (x 2 , y 2 ), this is known, so that the anchor wire W is fed at the work position. The length l 2 can be calculated similarly.
従って、作業船Ｓを（x1,y1）から（x2,y2）に移動さ
せた時のアンカーワイヤＷの操作長（巻き取りまたは巻
き戻しの長さ）は、（l2−l1）として算出することがで
きる。Therefore, when the work boat S is moved from (x 1 , y 1 ) to (x 2 , y 2 ), the operation length (winding or unwinding length) of the anchor wire W is (l 2 −l 1 ) can be calculated.
なお、以上の説明ではＡ点を巻取りドラムの位置とし
ているが、実際にはアンカーワイヤは巻取りドラムから
直接、アンカーに向かって真っすぐ延びておらず、途中
の案内ローラの位置からアンカーに向かって延びている
ので、本来ならばこの案内ローラの位置をＡ点とすべき
であるが、説明の便宜上、以上のようにした。In the above description, the point A is set as the position of the winding drum. However, in practice, the anchor wire does not extend straight from the winding drum directly toward the anchor. The guide roller should normally be set at the point A because it extends. However, for convenience of explanation, the position is set as described above.
以上、１本のアンカーワイヤについて説明したが、他
のアンカーワイヤについても同様であり、このようにし
て各アンカーワイヤの操作長を求めて、そのように各ア
ンカーワイヤの巻取りドラムを制御することにより、作
業船Ｓの移動を容易に行うことができる。Although one anchor wire has been described above, the same applies to other anchor wires. In this manner, the operation length of each anchor wire is obtained, and the winding drum of each anchor wire is controlled in such a manner. Accordingly, the work boat S can be easily moved.
海上の作業ではどうしても誤差が伴うので、１回の操
作で所定の位置に移動させることができない場合が生じ
るが、この場合は、所定の移動位置に近ずいた段階で判
るので、この段階で作業船Ｓの移動を一旦停止し、この
位置を第２の繋留位置にして前述の作業を繰り返し、こ
れでも駄目な場合はさらに繰り返せばよい。There is a case where it is not possible to move to a predetermined position by one operation because an error is inevitably involved in offshore work, but in this case, since it is known at the stage where the predetermined movement position is approached, work at this stage The movement of the ship S is temporarily stopped, this position is set to the second mooring position, and the above-described operation is repeated.
巻取りドラムの制御は自動化することが容易である
が、手動で行っても勿論構わない。It is easy to automate the control of the winding drum, but it goes without saying that it can be performed manually.
なお、アンカーの位置の検出には、前述の直接的測定
の外、以下述べるような手法の採用も考えられる。Note that, in addition to the above-described direct measurement, the method described below may be used for detecting the position of the anchor.
（手法の１） 作業船を任意の位置に止め、アンカーを設置して、作
業船の位置を前述の手段で検知するとともに、アンカー
設置時のアンカーワイヤの繰出し長を検知し、次に、作
業船をアンカーワイヤの操作で他の位置に移して、その
位置を検知するとともに、このときのアンカーワイヤの
操作長と最初の位置のアンカーワイヤの繰出し長から、
移動位置におけるアンカーワイヤの繰出し長を検知す
る。(Method 1) Stop the work boat at an arbitrary position, install an anchor, detect the position of the work boat by the above-described means, detect the extension length of the anchor wire at the time of anchor installation, and then perform the work. Move the ship to another position by operating the anchor wire and detect that position, and from the operating length of the anchor wire at this time and the feeding length of the anchor wire at the initial position,
The extension length of the anchor wire at the moving position is detected.
このようにして、２つの位置におけるアンカーワイヤ
の繰出し長が判れば、後は計算でアンカーの位置を求め
ることができる（計算省略）。In this way, if the extension length of the anchor wire at the two positions is known, the position of the anchor can be obtained by calculation (calculation omitted).
（手法の２） 任意位置に繋留されている作業船の位置を検知した
後、作業船の位置をアンカーワイヤの操作で次々と２回
変え、各変更後の作業船の位置と各変更時のアンカーワ
イヤの操作長をそれぞれ検知すると、後は計算でアンカ
ーの位置が求められる（計算省略）。(Method 2) After detecting the position of the work boat moored at an arbitrary position, the position of the work boat is changed twice one after another by operating the anchor wire, and the position of the work boat after each change and the time of each change After detecting the operation lengths of the anchor wires, the position of the anchor is calculated (calculation omitted).
（発明の効果） 本発明は以上のようなものであるから、作業船を任意
の繋留位置から所定の作業位置に移動させる際のアンカ
ーワイヤの巻取りドラムの操作をオペレーターの勘に頼
ることなく合理的に行うことができるのみならず、操作
の自動化も簡単であり、その実用上の効果は極めて大き
い。(Effect of the Invention) Since the present invention is as described above, the operation of the winding drum of the anchor wire at the time of moving the work boat from any mooring position to the predetermined work position without depending on the operator's intuition. Not only can it be performed rationally, but also the operation can be automated easily, and its practical effect is extremely large.
第１図は本発明説明用の平面図、第２図は同じく側面図
である。 S:作業船、W:アンカーワイヤ、・・・。FIG. 1 is a plan view for explaining the present invention, and FIG. 2 is a side view of the same. S: work boat, W: anchor wire, ...
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭60−131396（ＪＰ，Ａ) 特開 昭59−80834（ＪＰ，Ａ) 特開 昭62−110590（ＪＰ，Ａ) 特開 昭58−20589（ＪＰ，Ａ) 特公 昭57−49435（ＪＰ，Ｂ２) 特公 昭61−47755（ＪＰ，Ｂ２) ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-60-131396 (JP, A) JP-A-59-80834 (JP, A) JP-A-62-110590 (JP, A) JP-A-58-108 20589 (JP, A) JP-B-57-49435 (JP, B2) JP-B-61-47755 (JP, B2)
Claims (1)
作して、砂杭造成等作業船を任意の繋留位置から所定の
作業位置に移動させる際に、作業船の繋留位置と各アン
カーの位置と水深とを適宜手段で検知し、この検知結果
に基いて繋留位置および作業位置における各アンカーワ
イヤの繰出し長を算出し、この算出値から移動に必要な
各アンカーワイヤの操作長を求め、そのように各アンカ
ーワイヤの巻取りドラムを制御することを特徴とする砂
杭造成等作業船の移動方法。When a work boat such as a sand pile formation is moved from an arbitrary mooring position to a predetermined work position by appropriately operating at least four anchor wires, the mooring position of the work boat and the position of each anchor are determined. The depth of water is detected by appropriate means, the extension length of each anchor wire at the anchoring position and the working position is calculated based on the detection result, and the operation length of each anchor wire required for movement is calculated from the calculated value. A method for moving a work boat, such as sand pile formation, characterized by controlling a winding drum of each anchor wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63052979A JP2987504B2 (en) | 1988-03-07 | 1988-03-07 | Movement method of work boat such as sand pile formation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63052979A JP2987504B2 (en) | 1988-03-07 | 1988-03-07 | Movement method of work boat such as sand pile formation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01226491A JPH01226491A (en) | 1989-09-11 |
| JP2987504B2 true JP2987504B2 (en) | 1999-12-06 |
Family
ID=12930021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63052979A Expired - Lifetime JP2987504B2 (en) | 1988-03-07 | 1988-03-07 | Movement method of work boat such as sand pile formation |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2987504B2 (en) |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5820589A (en) * | 1981-07-29 | 1983-02-07 | Mitsubishi Heavy Ind Ltd | Position control unit of working platform vessel |
| JPH08890B2 (en) * | 1984-08-13 | 1996-01-10 | 三菱化学株式会社 | Reactive pyridone disazo dye |
-
1988
- 1988-03-07 JP JP63052979A patent/JP2987504B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01226491A (en) | 1989-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5175095B2 (en) | Contour scanner and mooring robot and method including the same | |
| CA2054657A1 (en) | Method and apparatus for underwater sonar scanning | |
| US6082710A (en) | Device for the retrieval of ocean bottom seismic cable | |
| JP2987504B2 (en) | Movement method of work boat such as sand pile formation | |
| CN115288221B (en) | Accurate positioning system of hydraulic impact hammer | |
| JP3089129B2 (en) | Automatic transfer device for floating bodies | |
| CN115683430A (en) | Cable tension measuring device, winding and unwinding equipment and tension measuring method | |
| JP2001074834A (en) | Method for measuring underwater structure | |
| US11999601B2 (en) | Method for determining the rope reeving of a pulley block | |
| JP2920862B2 (en) | Ship position detection device | |
| KR102640051B1 (en) | Fender moving apparatus of floating structure | |
| US4610007A (en) | Method and apparatus for surveying positions of mooring lines | |
| JPH09156580A (en) | Control method and control device for winch motor in controlling and steering ship | |
| JP3238272B2 (en) | Fuzzy control type mooring equipment | |
| JP2520659B2 (en) | SENSOR-STANDARD BOTTOM SEATING METHOD AND DEVICE | |
| JP2888325B2 (en) | Deck detection control device for ship in fluid handling equipment | |
| JPH0313513Y2 (en) | ||
| JP3313010B2 (en) | Position control system for large structures | |
| JPH0729453Y2 (en) | Container crane | |
| JP3464708B2 (en) | Caisson installation method and apparatus | |
| JPH07108987A (en) | Ship detecting device | |
| NO840126L (en) | PROCEDURE FOR INDIRECT MEASUREMENT OF ANGLES. | |
| JPH09278380A (en) | Wire sag control method and device for work barge | |
| JP3208822B2 (en) | Unloader relative position detection method | |
| JPH0313514Y2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| EXPY | Cancellation because of completion of term | ||
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20081008 Year of fee payment: 9 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20081008 Year of fee payment: 9 |
|
| S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20081008 Year of fee payment: 9 |
|
| R370 | Written measure of declining of transfer procedure |
Free format text: JAPANESE INTERMEDIATE CODE: R370 |