JP3611274B2 - Automatic cargo handling control method for cargo ships - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic cargo handling control method for tankers and other cargo ships applied to cargo handling operations for cargo ships such as cargo ships, tankers and container ships.
[0002]
[Problems to be solved by the invention]
Conventionally, as a cargo handling support device for cargo tankers, automatically creates loading / unloading patterns (assignment amount for each cargo oil / ballast tank) for loading and unloading without problems in hull attitude and hull strength. Although the system existed, this system is limited only to the verification of the state after loading, and the state of the hull in the middle of cargo handling cannot be verified in advance. In addition, the actual loading and unloading work is monitored from time to time to monitor the hull attitude and hull strength, and to operate pumps and valves to satisfy these conditions. It takes a long time for each tank to reach the planned final liquid level. This must be continued.
[0003]
The present invention carries out a simulation calculation with the final liquid level set based on the loading / unloading pattern planned based on the various conditions input to the controller as the final target, so that the state of the hull in the middle of cargo handling can be determined. It is an object of the present invention to provide an automatic cargo handling control method for tankers and other cargo ships that can be verified in advance.
[0004]
[Means for Solving the Problems]
According to the present invention, a display device that also functions as a cargo handling operation unit of a cargo ship and a sensor signal or display device from a real control unit of each device required for cargo handling operation of the cargo ship via a signal input / output device are provided. A controller having a control arithmetic device that takes in an operation signal and performs predetermined arithmetic processing, and a simulator that simulates a cargo handling state of a cargo ship while exchanging signals with the controller,
The controller can be switched between a simulation mode for performing arithmetic processing while exchanging signals with the simulator and an automatic control mode for performing arithmetic processing while exchanging signals with the actual machine control unit And
In the simulation mode, simulation from the start to the end of loading is performed based on various conditions related to the loading operation set from the display device side, and the final liquid level of the planned loading / unloading pattern is set as the final target. performed repeatedly arithmetic processing you with the controller determines the operation result in accordance with the condition of the cargo handling operation, which is set from the display device side,
On the other hand, in the automatic control mode, by inputting the actual equipment / hull condition to the same controller, the control signal according to the condition of the cargo handling work set from the display device side is obtained according to the calculation result at the time of the simulation . The automatic control is performed by transmitting from the controller side to the actual machine control unit side.
[0005]
In this case, preferably, as described in claim 2, it is possible to allow an operator to perform cargo handling training by adding a simulator time scale switching function to the simulator.
[0006]
Therefore, according to the present invention, by carrying out a simulation calculation with the final liquid level set based on the loading / unloading pattern planned based on various conditions input to the controller as the final target, The hull conditions can be verified in advance. According to the present invention, the final liquid level of the loading / unloading pattern calculated by the cargo handling planning function is set as the final target, and various conditions of cargo handling work are set to start cargo handling. A simulation of cargo handling work up to the end can be performed.
[0007]
In particular, in the present invention, since the simulation and the actual automatic cargo handling control are performed using the same controller, almost the same results can be obtained.
Therefore, when the simulation is switched to the automatic control mode after carrying out the simulation of the cargo handling work from the beginning to the end of the cargo handling repeatedly with the controller side, various data on which the simulation has been performed is accumulated on the controller side. Therefore, actual cargo handling automatic control using the simulation data as it is can be performed.
Further, by managing the cargo handling work as a plurality of control phases, a more accurate and efficient automatic control can be realized by providing a final target liquid level for each control phase.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention unless otherwise specified, and are merely illustrative examples. Only.
[0009]
Example 1
1 to 4 show a tanker automatic cargo handling planning / control system according to a first embodiment of the present invention, and FIG. 1 is a hardware configuration diagram thereof.
In FIG. 1, reference numeral 1 denotes a display device for carrying out a cargo handling operation / monitoring work and a cargo handling planning work, as with a conventional cargo handling console, and operation of valves / pumps, etc., coin oil / ballast tank liquid level, and hull person. In addition to monitoring drowning and various alarm conditions, it has the function of a man-machine interface for cargo handling planning and simulation, and the display output to the display device and the input signal from the display device are taken in by the host This is performed by a control arithmetic unit 2 composed of a computer.
[0010]
4a to 4d are a coin oil / ballast tank liquid level gauge 4a, a coin oil / ballast pump drive circuit or a discharge / suction pressure, a sensor 4b such as a pump speed, a valve drive circuit or valve opening sensor 4c, a pressure gauge 4d, etc. A plant sensor or drive circuit 4... The signals from the plant sensor 4 a and the like are taken into the control arithmetic device 2 via the signal input / output device 3, and the drive control signal from the control arithmetic device 2 is a signal input / output. The signals are output to the drive circuits 4b through the device 3.
[0011]
The control arithmetic unit 2 takes in signals from the plant sensors 4a... And performs predetermined arithmetic processing via the signal input / output unit 3 or displays these signals on the display unit 1. Predetermined arithmetic processing is also performed on each input device operation instruction signal, or these signals are directly output to the actual machine control unit 4 such as the drive circuit 4b through the signal input / output device 3.
[0012]
Further, as shown in FIG. 2, the control / calculation device 2 loads / unloads the cargo with the optimal loading / unloading pattern based on the hull attitude and hull strength based on the cargo loading / unloading requirements and the conditions of the loading port. A planning function, a simulator 8 for calculating the state change of the device / hull with respect to each device operation, and a controller 9 of the coin oil / ballast pump drive circuit 4b for guiding these devices / hull to an optimum state are incorporated.
[0013]
2 is a functional block diagram showing the relationship between the simulator 8 incorporated in the control arithmetic unit 2, the controller 9, and the plant sensor or drive circuit 4 (hereinafter referred to as the actual machine control unit 4).
As shown in FIG. 2, the control arithmetic device 2 includes a simulation mode A in which the display device 1 that also functions as the operation unit and the controller 9 passes through the simulator 8 side, and an automatic control mode through the real machine control unit 4 side. It can be switched to B.
[0014]
In the simulation mode A, by combining the simulator 8 and the controller 9 of the control arithmetic device 2, the cargo handling situation until the plan result (final oil / ballast tank final liquid level) calculated by the cargo handling planning function is reached. Simulation can be performed based on various conditions (target loading or unloading rate, piping configuration, etc.) related to the cargo handling operation set from the display device 1 side, and can be displayed on the display device 1.
On the other hand, in the automatic control mode B, by inputting actual equipment / hull conditions to the same controller, the plan result calculated by the cargo handling planning function is set as the final goal, and the conditions for cargo handling work set at the time of simulation are set. It is possible to perform the automatic control by transmitting the control signal according to the actual control unit 4 side.
More specifically, the controller 9 receives data (1) such as the tank liquid level, the piping pressure, the pump rotation speed, the valve opening degree, and the flooding calculated from the simulator 8 or obtained from the sensor from the actual machine control unit 4. Then, a valve opening instruction signal, a pump start / stop signal, a pump rotation speed instruction signal, etc. (2) are output.
[0015]
FIG. 3 shows the processing contents between the controller 9 and the simulator 8 and the exchange between input / output data between the controller / simulator and the actual plant control unit 4 side of the actual plant.
[0016]
First, various calculation units on the controller 9 side will be described.
The flooding / trim / heel determination unit 21 includes a memory and a calculation determination unit, and the memory stores a flooding limit value, a target trim, and a target heel. Based on the input, the first valve opening instruction signal with a tank is output to the valve opening instruction value comprehensive determination unit 22 with the tank so that the flooding, trim, and heel are optimized.
The hull data is stored in the vertical strength calculation unit 23, and the vertical strength is output to the vertical strength determination unit 24 based on the input of each tank liquid level.
A longitudinal strength limit value is stored in the memory in the longitudinal strength determination unit 24, and based on the longitudinal strength from the longitudinal strength calculation unit 23 and the input of the valve valve opening with tank from the actual plant sensor 4, the longitudinal strength is determined. In order to optimize the output, the permissible valve opening value is output.
[0017]
The tank valve opening instruction value comprehensive determination unit 22 includes each tank valve opening instruction signal output by the flooding / trim / heel determination unit 21 and each tank valve opening output by the longitudinal strength determination unit 24. Comprehensive determination is performed based on the allowance signal, and a final valve opening instruction signal with each tank is output.
[0018]
The final liquid level arrival determination unit 25 of each phase compares with the final target liquid level based on the input of the actual tank liquid level from the tank liquid level gauge 4a, and outputs the cargo handling end status.
Based on the pump discharge / suction pressure and the actual pump speed input from the plant sensor 4 side, the pump operating speed calculator 26 calculates and outputs the target pump operating speed command value.
[0019]
Next, the actual sensor output on the plant sensor side will be described.
The plant state calculation unit 31 includes a coin oil / ballast tank liquid level gauge 4a, a coin oil / ballast pump discharge / suction pressure, a sensor 4b such as a pump speed, a valve opening sensor 4c, a pressure gauge 4d, and a flood gauge 4e. In the memory to which the output from the plant sensor 4 is input, the valve opening signal with tank, the pump rotation speed, and the like are appropriately output according to the request from the controller.
[0020]
Next, various operation units on the simulator side will be described.
The piping resistance calculation unit 32 has a memory and a calculation unit, and each memory of each piping system and each piping is stored in the memory. The tank valve valve opening instruction signal fetched from the controller 9 side, a pump Based on the input value of the rotation speed instruction signal, the pipe resistance coefficient to the tank is output.
The flow rate / pressure calculation unit 32 calculates and outputs the tank flow rate and pressure by the flow rate / pressure balance calculation based on the input of the pipe resistance coefficient up to the tank calculated by the pipe resistance calculation unit 32.
The tank liquid level calculation unit 33 includes a memory and a calculation unit, and tank shape data is stored in the memory. Based on the input of the tank flow and the pressure from the flow rate / pressure calculation unit 32, the tank liquid level calculation unit 33 The tank capacity and the tank level are calculated and output.
The hull attitude calculation unit 34 has a memory and a calculation unit, and the hull data is stored in the memory. Based on the input of each tank liquid level from the tank liquid level calculation unit 33, the flooding / trim / heel is output. To do.
[0021]
Therefore, with the above-described configuration, on the controller 9 side, the hull attitude (flooding / trim / heel) / tank transmitted from the hull attitude calculation unit 34 of the simulator 8 or the plant state calculation unit 30 in which the sensor output from the actual plant is stored. Based on the data such as the liquid level, the irrigation / trim / heel determination unit 21 or the longitudinal strength determination unit 24 checks whether it is within the allowable value, and if necessary, the overall determination unit 22 keeps it within the allowable value. A valve opening instruction signal with a tank is obtained, and the signal is output to the simulator 8 or the actual plant.
In addition, the final liquid level arrival determination unit 25 of each Phase compares the actual tank liquid level taken in from the simulator 8 side or the actual plant side with the final tank liquid level calculated by the cargo handling planning function. If so, it outputs a tank closing valve close request signal. Further, the pump operation frequency calculation unit 26 checks the pump operation state based on the pump discharge pressure / suction pressure, and calculates and outputs a target pump rotation number for promoting efficient operation.
[0022]
On the other hand, on the simulator 8 side, the pipe resistance calculation unit 31 calculates the pipe resistance based on the valve opening instruction signal with tank and the pump rotation speed instruction signal output from the controller 9 while switching to the simulation mode A. The flow rate / pressure calculation unit 32 calculates the flow rate / pressure in each tank pipe using the calculated pipe resistance. Further, the tank liquid level after a fixed simulation cycle time at this flow rate and pressure is calculated by the tank liquid level calculation unit 33 and output to the controller 9. Further, flooding is calculated by the hull attitude calculation unit 34 based on the tank liquid level and output to the controller 9.
[0023]
By repeating the above process with the controller 9 and the simulator 8, a simulation from the start to the end of the cargo handling is carried out.
Thereafter, in FIG. 2, the simulator mode A is switched to the actual plant mode B, and the cargo handling automatic control is performed with the plan result calculated by the cargo handling planning function as the final target.
[0024]
For example, in a cargo handling plan, as shown in FIG. 6, cargo handling control is divided and managed as a plurality of control phases, a final target liquid level is provided for each phase, and cargo handling automatic control is performed.
For example, when the tanks A to C are oil tanks and the tank D is a ballast tank, in the first phase, the oil is injected into the tank A until the liquid level reaches 100% while the ballast tank is full. In the next 2nd Phase, oil is injected into the tank B until the liquid level reaches 100% while discharging the ballast tank to 50%. Further, in the final 3rd Phase, oil is injected into the tank C until the liquid level reaches 50% while further discharging the ballast tank to 0%.
[0025]
FIG. 4 shows a specific processing flowchart showing the operation of the present embodiment.
First, the required load / unloading oil necessary for planning the loading pattern on the controller 9 side, the flooding condition of the cargo handling port, etc. are input to the controller 9 side from the display device 1 having an operation function. (S10)
Based on the input data, the controller 9 calculates the optimal loading / unloading pattern in terms of hull attitude and hull strength. (S11)
Such a system for automatically creating a loading / unloading pattern (assignment amount for each freight oil / ballast tank) for loading / unloading without any problems in hull attitude / hull strength is already known. Description is omitted.
[0026]
After the calculation, the calculation result (allocation amount of each cargo oil / ballast tank before and after loading / unloading, hull attitude, hull strength) is displayed on the display device (S12).
Furthermore, various conditions (target loading or unloading rate, piping configuration, coin oil washing request, etc.) relating to the cargo handling work are input (S13).
[0027]
Next, after switching the mode to the simulation mode A, a simulation calculation is performed based on the inputted various conditions, with the final liquid level of the planned loading / unloading pattern as the final target, and the controller 8 and the simulator 9 The simulation from the start to the end of the cargo handling is carried out by repeating the above process (S14).
After the simulation calculation from the start to the end of the cargo handling, the calculation result (time change of each coin oil / ballast tank liquid level, hull attitude, hull strength, etc.) is displayed on the display device 1 (S15).
[0028]
Finally, after switching from the simulation mode A to the actual machine control mode B, the load handling plan result and various conditions relating to the cargo handling operation input to the controller 9 for executing the simulation are sent to the drive circuit of the actual plant, etc. Control is performed (S16).
[0029]
(Example 2)
FIG. 5 is a functional block diagram of a tanker automatic cargo handling planning / control system according to the second embodiment of the present invention.
In the present embodiment, the simulator 8 is provided with four types of time scale modes of a simulation high speed mode, a real time mode, a double speed mode 1 and a double speed mode 2, and each scale mode is operated by the operation from the display device 1 side. It is configured to be switchable.
[0030]
According to this embodiment, for example, the simulation is first performed in the high-speed mode, and data such as the target pump speed calculated by the simulation and the target tank liquid level for each phase is accumulated on the controller side.
Next, change the time scale mode to “real time mode” and use the simulator of Example 1 to calculate changes in equipment / hull conditions in response to each equipment operation request input from the display device using the simulator time scale “real time mode”. By displaying, it is possible to reproduce the actual cargo handling work, and an operator's cargo handling training function can be added.
[0031]
【The invention's effect】
According to the present invention, a hull in the middle of cargo handling is carried out by performing a simulation calculation with the final liquid level set based on the loading / unloading pattern planned based on various conditions input to the controller as a final target. The situation can be verified in advance.
According to the second aspect of the present invention, since the simulator time scale switching function is added to the simulator, it is possible to perform an operator's cargo handling training.
[Brief description of the drawings]
FIG. 1 is a hardware configuration diagram of an automatic cargo handling planning / control system according to a first embodiment of the present invention.
FIG. 2 is a functional block diagram of an automatic cargo handling planning / control system according to the embodiment of FIG. 1;
FIG. 3 is a data processing diagram of the automatic cargo handling planning / control system according to the embodiment of FIG. 1;
FIG. 4 is a processing flowchart of the automatic cargo handling plan / control apparatus according to the embodiment of FIG. 1;
FIG. 5 is a functional block diagram of an automatic cargo handling planning / control system according to a second embodiment of the present invention.
6 is a graph showing the relationship between the cargo handling plan result and automatic control of the automated cargo handling plan / control system according to the embodiment of FIG. 1; FIG.
[Explanation of symbols]
1 Display device 2 Control processing device (host computer)
3 Signal Input / Output Device 4 Actual Machine Control Unit 8 Simulator 9 Controller

Claims (2)

A display device that also functions as a cargo handling operation unit for a cargo ship, and a sensor signal from the actual control unit of each device required for cargo handling operation of the cargo ship or an operation signal from the display device via a signal input / output device, A controller having a control arithmetic device for performing the arithmetic processing of, and a simulator for simulating the cargo handling state of the cargo ship while exchanging signals with the controller,
The controller can be switched between a simulation mode for performing arithmetic processing while exchanging signals with the simulator and an automatic control mode for performing arithmetic processing while exchanging signals with the actual machine control unit And
In the simulation mode, simulation from the start to the end of loading is performed based on various conditions related to the loading operation set from the display device side, and the final liquid level of the planned loading / unloading pattern is set as the final target. performed repeatedly arithmetic processing you with the controller determines the operation result in accordance with the condition of the cargo handling operation, which is set from the display device side,
On the other hand, in the automatic control mode, by inputting the actual equipment / hull condition to the same controller, the control signal according to the condition of the cargo handling work set from the display device side is obtained according to the calculation result at the time of the simulation . An automatic cargo handling control method for a cargo ship, wherein automatic control is performed by transmitting from the controller side to the actual machine control unit side. An automatic cargo handling control method for a cargo ship, wherein an operator's cargo handling training is made possible by adding a simulator time scale switching function to the simulator.

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