JP6185299B2 - Hoist ship and swing suppression method - Google Patents

Description

  The present invention relates to a hoist ship.

  In hoisting ships such as crane ships, the influence of tidal currents and movements (swaying) of the hull accompanying work (moving suspended loads, etc.) occur, but in order to carry out work safely and reliably, such movement It is desirable to keep the position of the crane (three-dimensional position) and the posture (direction and inclination) constant. For example, the prior art document discloses a technique for suppressing the hull shaking.

JP 2000-080442 A JP 2000-351572 A JP 2006-103449 A

[Search June 10, 2013] Internet <URL: http://www.netis.mlit.go.jp/NetisRev/Search/NtDetail1.asp?REG_NO=QSK-050001>

In the technology of Patent Document 1, since a weight for balancing the hull and a mechanism for moving the weight inside and outside the hull are provided, the hull structure becomes complicated and the construction cost increases. With the technique of Patent Document 2, it is not possible to compensate for the movement of the crane accompanying the movement of the hull due to tidal currents. The techniques of Patent Document 3 and Non-Patent Document 1 may not be used depending on the water depth, the state of the seabed, and the like. Further, in a working environment that is greatly affected by tidal currents such as the open ocean, there may be cases where the suppression of swinging is not sufficient.
An object of the present invention is to improve the restraining force against the swinging of a hoist installed in a hull without causing complication of the hull structure.

In one aspect, the present invention provides a hull, a first hull control mechanism that changes at least one of the position and orientation of the hull, and a second hull control mechanism that controls rolling or tilting in the front-rear direction of the hull. A crane, a position sensor that measures the position of the hull, a pedestal on which the crane is installed, a tilt sensor that measures the attitude of the pedestal, and an extension mechanism, and the attitude of the crane with respect to the hull Information that is output from the tilt sensor by controlling the first hull control mechanism based on the information output from the position sensor and the support unit that supports the crane with respect to the hull so that the variable is variable. and a control unit for controlling the expansion mechanism based on, wherein, when the inclination of the seat exceeds the correction capability of the telescopic mechanism, the second hull control mechanism Thereby moving and provides a floating crane, characterized in that.
In a preferred aspect, at least three expansion / contraction mechanisms are provided between the pedestal and the hull, and the expansion / contraction mechanism is controlled so that the crane is maintained in a horizontal position.
In another preferable aspect, the control unit controls the expansion and contraction mechanism so that a height from a reference plane of the crane is maintained constant.
In another preferred aspect, the first hull control mechanism includes a first propulsion device that generates a propulsive force in the longitudinal direction of the hull and a second propulsion device that generates a propulsive force in the lateral direction of the hull.
In another preferable aspect, the apparatus further includes a behavior sensor that measures the behavior of the hull, and the control unit controls at least one of the first propulsion device and the second propulsion device based on the measured behavior. To do.
In another preferable aspect, the control unit repeatedly executes control of the first hull control mechanism until a target position and a target direction for the hull are realized, and determines the timing of the execution based on the behavior. .
In another aspect, the present invention provides a hull, a first hull control mechanism that changes at least one of the position and orientation of the hull, and a second hull control mechanism that controls rolling or tilting in the front-rear direction of the hull. A crane, a position sensor for measuring the position of the hull, a pedestal on which the crane is installed, a tilt sensor, and an expansion / contraction mechanism, and the crane is configured so that the attitude of the crane with respect to the hull is variable. In a hoist ship having a support portion that supports the hull, the step of measuring the position of the hull, the step of measuring the attitude of the pedestal, and the first output based on information output from the position sensor. A step of controlling a hull control mechanism; and the telescopic mechanism is controlled based on information output from the tilt sensor, and the tilt of the pedestal is controlled by the telescopic mechanism. If you exceed the correction capability, it provides a swinging motion restraint method comprising the steps of actuating the second hull control mechanism.

  According to the present invention, the restraining force against the swinging of the hoist installed in the hull is improved without causing the hull structure to be complicated.

The side view of the hoist ship 1. FIG. The top view of the hoist ship 1. FIG. The functional block diagram of the hoist ship 1. FIG. The figure showing the example of control regarding the hull. The figure which represents the change of the position and direction of the hull 10 notionally. The figure showing the example of the control regarding the support part. The side view of hoist ship 1A.

FIG. 1 is a view of the hoist ship 1 in a state of floating on the sea surface as viewed from the side (Y direction) so that the bow is on the left and the stern is on the right. FIG. 2 is a view of the hoist ship 1 as viewed from above (Z direction). An outline of the structure of the hoist ship 1 will be described with reference to FIGS. The hoist ship 1 is roughly composed of a hull 10, a hull control mechanism 20, a support part 30, and a crane part 40.
A GNSS receiver 11 is provided in the vicinity of the wheelhouse on the bow side. A control unit (see FIG. 2) is provided in the wheelhouse, and the hull control mechanism 20 is controlled based on information output from the GNSS receiver 11. The hull control mechanism 20 includes a screw 21, side thrusters 22 (22a, 22b), and winches 23a to 23d, and changes the position and orientation of the hull 10.
The support unit 30 is provided on the stern side, and includes a sensor 31 and a jack 32 for instructing the pedestal 45 to the hull 10. By the jack 32, the crane part 40 is supported by the hull 10 so that the attitude | position with respect to the hull 10 becomes variable. Here, even if the posture of the crane unit 40 is changed, the center position (position in the horizontal plane) is unchanged with respect to the position in the horizontal plane of the hull 10.
The crane unit 40 is a crane fixed to a pedestal 45 and includes a hook 41, a jib 42, a wire rope 43, and a turning post 44. The crane unit 40 has a function as a general crane that performs lifting and lowering of the load by the wire rope 43 and the jib 42 and turning around the turning post 44. However, the crane unit 40 of the present embodiment is merely an example of a structure for work installed on the hull 10, and may be a crane other than this type of crane, or may perform work other than load lifting work. It may be a heavy machine for performing.

The function of the hoist ship 1 will be described in detail with reference to FIG.
The hoist ship 1 functionally includes a control unit 100, a monitoring unit 110, a driving unit 120, a storage unit 130, and an input / output unit 140.
The monitoring unit 110 includes a GNSS receiver 11 and a sensor 31. The GNSS receiver 11 includes an antenna for receiving radio waves from a global navigation satellite system (GNSS, which is also commonly referred to as GPS), a circuit for processing received signals, and the like. The GNSS receiver 11 periodically receives radio waves from satellites and measures the current position of the hull 10 based on the received radio waves. More specifically, the coordinates (latitude, longitude) and azimuth (direction of the hull 10) of the position of the hull 10 (more precisely, the position where the GNSS receiver 11 is provided) are measured. The sensor 31 includes an inclination sensor 111 and an acceleration sensor 112. The inclination sensor 111 is, for example, a gyro sensor, and measures the attitude (an inclination with respect to a reference plane (for example, a horizontal plane)) of the base 45 (in other words, the entire crane unit 40). The measured information is supplied to the control unit 100. The acceleration sensor 112 is, for example, an acceleration sensor or a speed sensor, and measures the movement (speed, direction, other behavior) of the hull 10. The measured information is output to the control unit 100.

The drive unit 120 includes an expansion / contraction mechanism 125 and a hull control mechanism 20.
The expansion / contraction mechanism 125 includes three jacks 32 each capable of operating independently by hydraulic pressure, etc., and a circuit for controlling expansion / contraction of each jack. As each jack 32 expands and contracts, the distance between the base 45 and the hull 10 and the attitude of the base 45 change. The hull control mechanism 20 includes a main propulsion device 122, an auxiliary propulsion device 123, and a winch 23. The main propulsion device 122, the auxiliary propulsion device 123, and the winch 23 can be controlled independently.
The main propulsion device 122 includes a power generation mechanism such as an engine, a power transmission mechanism such as a shaft (both not shown), a screw 21 and the like, and propulsion that generates a propulsive force substantially in the front-rear direction with respect to the hull 10. A mechanism and a direction adjusting mechanism such as a rudder (not shown) provided behind the screw 21 are included. The main propulsion device 122 is suitable for moving a long distance.
The auxiliary propulsion devices 123 are provided at the bow and stern respectively, and are side thrusters 22 including a cavity provided in the lateral direction of the bow of the hull 10 and a screw, a shaft, and the like provided in the cavity. On the other hand, a substantially lateral thrust (rotational force) is generated. The side thruster 22 is suitable for fine adjustment of the position and adjustment of the direction (on the spot). Note that the “lateral direction” does not mean just right against the hull, but includes an oblique direction.
The winch 23 is a winder, and is used to wind or loosen a rope fixed to the seabed by anchors at four locations on the side of the hull 10 or fixed to other work boats or onshore or offshore structures in a predetermined manner. To adjust the position and orientation of the hull 10. The winch 23 is suitable for fine adjustment of the position and orientation of the hull 10. Note that the setting location and number of winches 23 are not limited to the example shown in FIG.
The hull control mechanism 20 may include a mechanism other than those described above. In short, the term “propulsion” as used herein does not mean only the propulsive force obtained by drainage, but may be anything that generates a force for moving the hull 10.

The storage unit 130 is a storage device such as a semiconductor memory or a hard disk. The storage unit 130 stores information necessary for controlling the hull 10 and various control programs executed by the control unit 100, and performs control for stabilizing the behavior of the crane unit 40. For this purpose, target coordinates d1, propulsion characteristic data d2, and control condition data d3 are stored.
The target coordinate d1 includes the position coordinate of the hull 10 in the horizontal plane that is the target when performing the work (as a result, the position coordinate of the crane unit 40 fixed to the hull 10). The coordinate data has a format of (latitude, longitude), for example. A position in the height direction (that is, a three-dimensional position) may be included in addition to the position in the horizontal plane (two-dimensional position).
The propulsion characteristic data d2 is data representing characteristics (performance) of each of the screw 21, the side thruster 22, and the winch 23. The characteristic is a characteristic as a mechanism for changing the position and orientation of the hull 10, for example, the magnitude of propulsive force or rotational force (torque) that can be generated per unit time and the generation of those forces. It is characterized by the time required (time lag). The required characteristics differ depending on how the position and orientation of the hull 10 are changed. Therefore, in this embodiment, one or more of the screw 21, the side thruster 22, and the winch 23 having different characteristics are operated selectively or in cooperation.

The control condition data d3 is information used for determining the control content of the position and orientation of the hull 10 in addition to the target coordinates d1 and the propulsion characteristic data d2. For example, it includes information on the deviation to the target position and orientation, which is a reference for whether or not to correct the position and orientation. The error allowed for the target value (for example, ± 15 cm for each of the x-coordinate and y-coordinate) varies depending on the work environment and work content, and there is a case where it is meaningless to correct it even though it is within the allowable range. is there. In the first place, there is a lower limit to the amount that can be fine-tuned due to the ability of the hull control mechanism 20 and tidal currents, and even if correction is performed for a deviation below the lower limit, a significant effect cannot be obtained. In addition, it may include information that defines when correction is performed. When it is difficult to reach the target state with one correction, it is preferable to perform correction several times with a small correction amount and gradually approach the target value. At this time, it is defined how to set the execution timing (repetition timing) of each correction.
Further, the control condition data d3 may store parameters used for controlling the posture and height of the crane unit 40. For example, it is information such as a range in which posture correction is allowed (for example, the inclination is ± 0.5 ° on the horizontal plane) and conditions for executing posture control (for example, the inclination is ± 1 ° with respect to the horizontal plane).

  In addition, the control condition data d3 includes information on factors that may affect the position of the hull 10 and the crane unit 40 and their postures, such as information on weather conditions such as tidal currents and waves and other environmental factors. Also good. These pieces of information may be used independently or may be related to each other. For example, the significant wave height may be associated with the repetition timing. Alternatively, the behavior of the hull 10 may be associated with a repetition timing or an allowable range. Thereby, for example, when the behavior of the hull 10 is severe (unstable) due to the influence of tidal currents or the like, the repeated timing is shortened and fine correction is performed so that the deviation does not become large, while the allowable range of deviation is large, and the hull When the behavior of the vehicle 10 is stable, it is possible to realize control such as reducing the number of operations of the hull control mechanism 20 and suppressing fuel consumption required for position and orientation correction.

  The input / output unit 140 is an information output device such as a display or an information input device such as a keyboard. A user who controls the hull 10 inputs information and instructions to the control unit 100, and is executed by the control unit 100. The processed result is displayed.

  The control unit 100 is realized by an arithmetic processing unit such as a CPU, and controls normal navigation and the like of the hull 10 and controls the position and orientation of the hull 10 and the attitude and height of the crane unit 40 from the monitoring unit 110. Specifically, the control content of the drive unit 120 is determined based on the information acquired from the monitoring unit 110. Note that control (control of the position and orientation of the hull 10) and control of the support unit 30 (crane unit 40) (control of height and attitude (tilt)) are performed independently as described below. Alternatively, mutual control contents may be associated with each other. For example, the execution timing of the correction of the hull 10 and the correction of the crane unit 40 may be synchronized, or a common control parameter (such as a repetition timing) may be used.

Regarding the control of the position and orientation of the hull 10, the control unit 100 has the following functions.
The position information of the hull 10 is acquired from the GNSS receiver 11, and the deviation from the target position is calculated by comparison with the target coordinates d1. It is determined whether it is necessary to read out the correction width from the control condition data d3 and execute position correction. The correction contents for the position and orientation up to the target are determined. Specifically, based on the information acquired from the monitoring unit 110, the current behavior and direction of the hull 10 are determined, and the route to the target, the procedure for changing the direction, the speed at each position, the traveling (turning) direction, etc. Develop amendments including information.
When the contents of the movement route and the direction change are determined, the propulsion control contents suitable for the contents are calculated with reference to the propulsion characteristic data d2. Then, according to the calculated propulsion control content, the drive unit 120 is operated by outputting instructions such as the rotational speed of various screws and the winding speed of the winch 23 to the hull control mechanism 20.

Regarding control of the posture of the crane unit 40, the control unit 100 has the following functions.
Based on the information acquired by the tilt sensor 111, the jack 32 is controlled. Specifically, it is determined whether the inclination of the pedestal 45 (inclination from the horizontal plane) is greater than or equal to a predetermined value, and if it is greater than or equal to the predetermined value, it is determined that correction is necessary, and the correction amount is determined. Specifically, the expansion / contraction amount is determined for each of the three jacks based on the state of inclination, and a signal for adjusting the hydraulic pressure or the like so as to realize the determined expansion / contraction amount is supplied to the expansion / contraction mechanism 125. Further, the contents of correcting the posture of the crane unit 40 include that the inclination with respect to a predetermined reference plane (for example, a horizontal plane) is zero, and the height of the pedestal 45 with respect to the predetermined reference plane (more precisely, the pedestal). You may perform control of maintaining the center of 45 (position of the position which corresponds to the turning axis of a crane) constant. In this case, the control unit 100 acquires information on the height of the pedestal 45. Specifically, acceleration in the Z direction is detected by the acceleration sensor 112, and the height is calculated based on this acceleration. Alternatively, the GNSS receiver 11 that acquires three-dimensional coordinates may be provided on the pedestal 45 to acquire the height of the pedestal 45.

  The hull 10 has a control mechanism of the crane itself such as turning, raising / lowering, and winding of the crane unit 40 and functions necessary for navigation, but the description thereof is omitted because it is not directly related to the present invention. That is, in this embodiment, the description will focus on the points directly related to the correction of the position and orientation of the hull 10 and the posture and height of the crane unit 40.

FIG. 4 shows a control example of the hull 10.
The control unit 100 determines whether a predetermined time (repetition timing defined by the control condition data d3, etc .; for example, support unit 30 seconds) has elapsed (S102). When the predetermined time has elapsed (S102, YES), the control unit 100 acquires the current position (two-dimensional coordinates) in the horizontal plane measured by the monitoring unit 110 (S104). When the position information is acquired, the control unit 100 refers to the target coordinate d1 and calculates a deviation between the current position and the target position (S106). Subsequently, the control unit 100 refers to the control condition data d3 and determines whether correction for the calculated deviation needs to be executed (S108). When correction is necessary (S108, YES), the acceleration of the hull 10 sampled for a predetermined period in the monitoring unit 110 is acquired (S110), and the speed (the average value during the period is based on the time change of the acquired acceleration. ) And the distance moved is calculated (S112). The current speed of the hull 10 is calculated in order to consider the influence of tidal currents and waves when determining the correction contents. The reason for calculating the movement distance is to improve the accuracy of control by correcting the current position in consideration of the time lag between the end of sensing and the start of operation of the drive unit 120. Subsequently, the control unit 100 acquires the current direction of the hull 10 from the monitoring unit 110 (S114). Based on the distance to the target position calculated in this way, the direction, the current orientation of the hull 10, and the current behavior, the contents of correction for the target position are formulated (S116). The contents of correction include, for example, the route scheduled to move to the target position and the speed and direction at each point on the route.

FIG. 5 conceptually shows changes in the movement route and direction established in S116 of FIG. A route established for moving from the corrected current point L0 to the target position Lx is P2. Due to the influence of the tidal current Tc (and the need to change the direction), in this example, a curved path is determined instead of the shortest distance path P1.
Specifically, in the first correction, the robot moves for a predetermined time at a speed v1 in the direction of the angle θ with respect to the target, and from there, the correction is performed once again to reach the point L2, and further correction is made. The content is determined by performing once and reaching the Lx point, and finally correcting only the direction (direction change on the spot). It is not always necessary to formulate a route to the target position (position changing procedure) or a direction changing procedure. In short, it is only necessary to determine at least the (a) speed and the traveling direction and / or (b) the direction change angle necessary to realize the change of position and orientation by one correction.

Returning to FIG. 4, the control unit 100 determines how to control the hull control mechanism 20 (propulsion control method) with reference to the propulsion characteristic data d2 based on the formulated correction content (S118). For example, in FIG. 5, only the main propulsion device 122 is operated for the movement from L0 to L2, the main propulsion device 122 and the auxiliary propulsion device 123 are used together for the movement of L2 to Lx, and the final correction is the auxiliary propulsion device 123. Only using it. The control unit 100 controls the drive unit 120 according to the determined propulsion control method (S120). Time is measured at the same time.
When the repeat timing arrives, the second correction is performed. Here, when the travel route has been formulated up to the target, in the second and subsequent corrections, there may be a deviation from the original plan due to changes in environmental factors, but there is no problem. The current position is measured again, the correction content is formulated again based on the current position, and the propulsion device is controlled based on the formulation content (S104 to S120). Thus, when the deviation is within the allowable range and correction is unnecessary (S108; NO), measurement of the current position and calculation of the deviation are repeated until correction is required again.

  The formulation of the correction content described above is merely an example, and for example, acquisition of information regarding the current behavior of the hull 10 may be omitted. For example, if it can be assumed that the current position is substantially stationary without the influence of the tidal current, only the distance and direction to the target position need be calculated. Further, only one of the hull 10 position and orientation may be corrected. For example, as long as the crane position is constant, it is not necessary to correct the direction of the hull 10 under the condition that the direction of the hull 10 may change. On the other hand, in a situation where the direction varies but the position does not substantially change by a fixing means such as a rope, only the direction is the correction target.

FIG. 6 illustrates an example of control of the support unit 30.
The control unit 100 determines whether a preset predetermined time (repetition timing; for example, 1 second) has elapsed (S202). When the predetermined time has elapsed, information from the inclination sensor 111 is acquired and the current posture of the pedestal 45 is determined (S204). The necessity of correction is determined based on whether the attitude of the base 45 is within a preset allowable range (S206). When it is necessary to execute correction (S206: YES), the expansion / contraction amount for each jack required to level the pedestal 45 is calculated, and a control signal indicating the expansion / contraction amount is supplied to the expansion / contraction mechanism 125 (S208). .

According to this embodiment, the position of the crane unit 40 and the posture of the crane unit 40 are maintained in a constant state. As a result of the simulation, for example, assuming a general hoist ship of the same size, assuming that the significant wave height (working limit wave height) at which the load can be safely suspended is 0.5 meters, the above embodiment It became clear that the significant wave height of the working limit when it was used was 1.5 m. On the other hand, even if only 3% of crane ships can be operated in a year in a certain weather condition (that is, the operation rate is 3%), as described above, the above-mentioned operation limit wave height is three times that of the conventional one. According to the hoist ship of the embodiment, the operation rate reaches 70%.
As described above, the hoisting ship of the above-described embodiment has a larger work limit wave height than before, so that there are fewer restrictions on the sea area and weather conditions in which the load lifting work can be performed than before. Conversely, if the work environment is the same, the operating rate is improved.
Moreover, according to the present Example, even if it is an environment where it is difficult to fix to a seabed or other structures using a rope, a wire, etc., a load lifting operation can be performed. In addition, since the vibration control mechanism using weights is not adopted, the hull structure is not complicated and there are no structural restrictions to secure the space for moving the weights and weights. This increases the degree of freedom in hull design. In particular, since a large ship usually has a propulsion device such as a side thruster, it is not necessary to provide a moving mechanism that is used only for correcting the position of the crane with respect to the hull.

<Modification>
The above embodiment may be modified as appropriate. Hereafter, the viewpoint at the time of performing a modification is illustrated.
FIG. 7 is a side view of the hoist ship 1A. The hoist ship 1 </ b> A uses a support portion 30 </ b> A instead of the support portion 30. 30 A of support parts are provided with a pair of jack 33a and a pair of jack 33b which each oppose as the expansion-contraction mechanism 125 instead of the jack 32, respectively. Each jack 33a and jack 33b are arranged at four vertices of a square. That is, the pedestal 45 and the hull 10 are supported by a total of four jacks, and each jack is formed by joining two support members to the joint center so as to be rotatable at the connection point R. Each jack changes the distance between the hull 10 and the base 45 by changing the coupling angle. Thereby, the attitude | position of the base 45 with respect to the hull 10 changes.

  The support mechanism employed as the expansion / contraction mechanism 125 is not limited to a liquid operation type using a hydraulic cylinder or the like, but may be a mechanical type or a pneumatic type. In addition, a damper mechanism that does not have a function of receiving an instruction from the control unit 100 and that maintains a horizontal state using a pressure change of the liquid caused by a change in the posture of the jack or a restoring force caused by elastic deformation is provided. May be.

The hull 10 is provided with a mechanism for suppressing rolling (starboard-portal movement) and a mechanism for correcting the tilt in the front-rear (bow-stern) direction , so that the tilt of the pedestal 45 can be realized by the telescopic mechanism 125. If the capacity is exceeded, these mechanisms may be operated in place of or along with the expansion / contraction mechanism 125.

In the above embodiment, the main propulsion device 122, the auxiliary propulsion device 123, and the winch 23 are only examples of means for changing the position and orientation of the hull 10. It is not always necessary to have a plurality of hull control mechanisms having different characteristics. Or even if it has a plurality of hull control mechanisms, the functional roles of the master and slave (auxiliary) need not be clearly defined in order to realize the functions of propulsion and direction change. For example, as the auxiliary propulsion device 123, by providing a propeller and a mechanism capable of freely changing the direction of the propeller (the direction in which propulsion is generated by drainage) 360 ° near the four corners of the hull bottom, the position of the hull (center Position) and / or hull orientation may be controlled. In this case, other propulsion devices may be omitted, and the position and orientation of the hull may be controlled in cooperation with other propulsion devices.
In short, the hoist ship of the present invention has a hull, a hull control mechanism that changes at least one of the position and orientation of the hull, a crane, a sensor that measures the position of the hull, and a telescopic mechanism. A support unit that supports the crane with respect to the hull so that the posture of the crane with respect to the hull is variable, and a control unit that controls the hull control mechanism based on information output from the sensor. It only has to be.

140 ... Input / output unit, 130 ... Storage unit, 110 ... Monitoring unit, 100 ... Control unit, 112 ... Acceleration sensor, 125 ... Extension mechanism, 120 ... Drive unit, 122 ... Main propulsion device, 123 ... Auxiliary propulsion device, 111 ... Tilt sensor, 43 ... Wire rope, 41 ... Hook, 42 ... Jib, 44 ... Swivel post, 45 ... Base, 31 ... Sensor, 32 ... Jack, 33 ... Jack, 30 ... Supporting part, 40 ... Crane part, 20 ... Hull control mechanism, 21 ... Screw , 22 ... side thrusters, 23 ... winches, 11 ... GNSS receiver, 10 ... hull, 1, 1A ... hoist ship

Claims (7)

The hull,
A first hull control mechanism for changing at least one of the position and orientation of the hull;
A second hull control mechanism for controlling rolling or forward / backward inclination of the hull;
A crane,
A position sensor for measuring the position of the hull;
A pedestal on which the crane is installed, an inclination sensor that measures the attitude of the pedestal, and an extension mechanism, and supports the crane with respect to the hull so that the attitude of the crane with respect to the hull is variable. A supporting part to
A controller that controls the first hull control mechanism based on information output from the position sensor, and that controls the telescopic mechanism based on information output from the tilt sensor ;
The control unit activates the second hull control mechanism when the inclination of the pedestal exceeds the correction capability of the expansion and contraction mechanism;
Hoist ship characterized by that . There are at least three extension mechanisms provided between the pedestal and the hull,
Floating crane of claim 1, wherein the posture of the crane controls the expansion mechanism so as to be maintained horizontally. The hoist ship according to claim 2 , wherein the control unit controls the telescopic mechanism so that a height from a reference plane of the crane is maintained constant. The first hull control mechanism includes a first propulsion device that generates a propulsive force in a longitudinal direction of the hull and a second propulsion device that generates a propulsive force in a lateral direction of the hull. The hoist ship as described in any one of thru | or 3 . A behavior sensor for measuring the behavior of the hull;
The hoist ship according to claim 4 , wherein the control unit controls at least one of the first propulsion device and the second propulsion device based on the measured behavior. The controller is
Until the target position and target orientation for the hull are achieved, the control of the first hull control mechanism is repeatedly executed,
The hoist ship according to claim 5 , wherein the execution timing is determined based on the behavior. The hull,
A first hull control mechanism for changing at least one of the position and orientation of the hull;
A second hull control mechanism for controlling rolling or forward / backward inclination of the hull;
A crane,
A position sensor for measuring the position of the hull;
In a hoist ship having a pedestal on which the crane is installed, an inclination sensor, and an expansion / contraction mechanism, and a support portion that supports the crane with respect to the hull so that the posture of the crane with respect to the hull is variable,
Measuring the position of the hull;
Measuring the posture of the pedestal;
Controlling the first hull control mechanism based on information output from the position sensor;
A swinging mechanism that controls the expansion / contraction mechanism based on information output from the inclination sensor, and activates the second hull control mechanism when the inclination of the pedestal exceeds the correction capability of the expansion / contraction mechanism. Suppression method.

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