JP6893864B2 - Position calculation device - Google Patents

Description

The present invention relates to a technique for measuring the position of a suspended load in water.

As a method of identifying the position of a suspended load suspended in water by a crane vessel, a method using ultrasonic waves can be considered. For example, a transponder is installed on a suspended load, and a transmitter and a receiver array are installed on a crane vessel. The distance from the transmission of the ultrasonic signal to the reception and the underwater sound velocity to the transponder is calculated, and the orientation of the transponder is calculated from the phase difference of the ultrasonic signal received by the receiver array.

As another method, a technique using a navigation signal transmitted from a navigation satellite is known. For example, the suspended load position measuring device for a crane ship described in Patent Document 1 is fixed to a jib-side GNSS positioning means for measuring the position of a GNSS (Global Navigation Satellite System) antenna supported by a jib and a crane turning portion. The swivel side GNSS positioning means for measuring the position of the GNSS antenna, the jib direction measuring means for measuring the jib direction, and the jib side reference position located in the center of the jib are calculated based on the position of the jib side GNSS antenna and the jib direction. Then, the swivel center position of the crane swivel is calculated based on the position of the swivel side GNSS antenna, the jib direction, and the relative position of the swivel side GNSS antenna with respect to the swivel center, and the jib is based on the jib side reference position and the swivel center position. It is provided with a calculation means for calculating the undulation angle and calculating the wire feeding position based on the undulation angle, the relative position between the jib-side GNSS antenna and the center of the sheave, and the sheave radius.

Japanese Unexamined Patent Publication No. 2016-20257

However, in the method using ultrasonic waves, it takes several tens of seconds to several minutes to detect a signal in water. Further, since a measurement error occurs due to the influence of water turbidity and air bubbles when the suspended load is dropped into water, it is desirable to perform the measurement after the turbidity and air bubbles are reduced to some extent. As described above, in the method using ultrasonic waves, it is necessary to secure a time for measuring the position each time the suspended load is lowered into the water, so that the work efficiency is lowered.

On the other hand, in the configuration described in Patent Document 1, the position can be measured in a shorter time than the method using ultrasonic waves, but since the position of the suspended load is regarded as directly below the wire feeding position at the tip of the jib, If the suspended load is pushed by the water stream and moved to a position not directly below the wire feeding position, an error will occur in the position of the suspended load.

In view of the above circumstances, the present invention provides a means for measuring the position of a suspended load in water with high accuracy and in a short time even in an environment where a strong water flow is generated.

The present invention is a first method of calculating the position of the tip of the boom by using a distance calculating means for calculating the distance between the tip of the boom of the crane and the suspended load in water by using the feeding amount of the wire rope and a navigation signal. The position calculation means, the second position calculation means for calculating the position where the wire rope and the water surface intersect using the navigation signal, the distance calculated by the distance calculation means, and the distance calculated by the first position calculation means. A position calculation device including a suspended load position calculating means for calculating the position of the suspended load using the position and the position calculated by the second position calculating means is proposed as the first aspect.

In the position calculation device according to the first aspect, the second position calculation means includes a floating body slidably attached to the wire rope and a receiver arranged on the floating body to receive a navigation signal. A configuration in which the position where the wire rope and the water surface intersect is calculated using the navigation signal received by the receiver may be adopted as the second aspect.

In the position calculation device according to the first or second aspect, the crane is supported on water by using a third position calculation means for calculating the position of the root of the boom using a navigation signal and a navigation signal. Calculated by the fourth position calculating means for calculating the position of a predetermined portion of the ship, the direction measuring means for measuring the direction of the ship, the position calculated by the first position calculating means, and the suspended load position calculating means. The ship and the suspension using the determined position, the position calculated by the third position calculating means, the position calculated by the fourth position calculating means, and the direction measured by the direction measuring means. A configuration in which a positional relationship specifying means for specifying the positional relationship with the load is provided may be adopted as the third aspect.

In the position calculation device according to the first or second aspect, the third position calculation means for calculating the position of the root of the boom using the navigation signal, and the position calculated by the first position calculation means. A positional relationship specifying means for specifying the positional relationship between the crane and the suspended load is provided by using the position calculated by the suspended load position calculating means and the position calculated by the third position calculating means. , May be adopted as the fourth aspect.

According to the present invention, the position of a suspended load in water can be measured with high accuracy and in a short time even in an environment where a strong water flow is generated.

The figure which shows the whole embodiment. The figure which shows the floating body 22 and the 2nd receiver 32. The block diagram which shows the hardware composition of the position calculation apparatus 10. The block diagram which shows the functional structure of the position calculation apparatus 10. Flow chart of position calculation process. The figure which shows the state of the suspended load 9 assumed in this embodiment. The figure which shows the display example of the result of a position calculation process. The figure which shows the display example of the result of a position calculation process.

An example of a mode for carrying out the present invention will be described.
FIG. 1 is a diagram showing the entire embodiment. The work ship 1 (an example of a ship) is configured to include a crane 3 on a hull 2. The crane 3 includes a swivel body 4, a boom 5, and a take-up device 6. The swivel body 4 is supported by the hull 2 and performs a swivel operation. One end of the boom 5 is supported by a horizontal shaft 51 provided on the swivel body 4, and undulating operation is performed with the horizontal shaft 51 as a fulcrum. One end of the wire rope 7 is wound around the winding device 6 and hung around a pulley 8 provided at the tip of the boom 5. The suspended load 9 is, for example, a grab bucket, and is suspended by a wire rope 7 suspended from the pulley 8. The suspended load 9 is raised and lowered by winding and unwinding the wire rope 7 using the winding device 6. The winding device 6 measures the feeding amount of the wire rope 7, and outputs the feeding amount data indicating the measured feeding amount.

The swivel body 4 is provided with a position calculation device 10 and a control device 20. The control device 20 has a function of controlling the swivel body 4 and the boom 5. The first receiver 31, the second receiver 32, the third receiver 33, and the fourth receiver 34 receive the navigation signal transmitted from the navigation satellite. The first receiver 31 is provided at the tip of the boom 5. It is desirable that the first receiver 31 is provided at the tip of the boom 5 near a position where the wire rope 7 hangs down (hereinafter, referred to as a hanging position) on the outer edge of the pulley 8.

FIG. 2 is a diagram showing a floating body 22 and a second receiver 32. The floating body 22 has a through hole 23 through which the wire rope 7 is passed, and is slidably attached to the wire rope 7. The illustrated example is an example in which the shape of the floating body 22 is annular, but the shape of the floating body 22 may be any shape. The second receiver 32 is arranged above the floating body 22 and receives a navigation signal at a position where the wire rope 7 and the water surface intersect. The third receiver 33 is provided at the base of the boom 5, for example, in the vicinity of the horizontal axis 51 that supports the boom 5 in the swivel body 4. The fourth receiver 34 is provided on the hull 2.

The directional meter 21 is provided on the hull 2 and measures the direction of the hull 2. The directional meter 21 includes, for example, two receivers arranged side by side in the long axis direction of the hull 2, measures the position of each receiver using the navigation signal received by each receiver, and two receivers. Find the direction of a straight line passing through the position of the receiver. This direction represents the direction of the hull 2. The directional meter 21 outputs directional data representing this directional.

FIG. 3 is a block diagram showing a hardware configuration of the position calculation device 10. The hardware configuration of the position calculation device 10 includes general computer hardware, and includes a calculation unit 11, a storage unit 12, an input / output I / F (Interface) unit 13, and a UI (User Interface) unit 14.

The storage unit 12 includes a storage device such as a hard disk drive, and stores programs and data. The arithmetic unit 11 includes a processor and a memory used as a work area in data processing, and executes various data processing according to a program stored in the storage unit 12.

The first receiver 31, the second receiver 32, the third receiver 33, the fourth receiver 34, the take-up device 6, and the directional meter 21 are connected to the input / output I / F unit 13. The arithmetic unit 11 receives navigation signals from the first receiver 31, the second receiver 32, the third receiver 33, and the fourth receiver 34 via the input / output I / F unit 13, and the winding device 6 The payout amount data is received from, and the directional data is received from the directional meter 21.

The UI unit 14 includes a display unit and an operation unit, the display unit displays various information, and the operation unit accepts an operation by a user. The display unit is, for example, a liquid crystal panel. The operation unit is, for example, a keyboard and a pointing device. The UI unit 14 may be configured as a device separated from the main body of the position calculation device 10, and the UI unit 14 may be connected to the input / output I / F unit 13.

FIG. 4 is a block diagram showing a functional configuration of the position calculation device 10. FIG. 5 is a flow chart of the position calculation process. A program describing the procedure of the position calculation process is stored in the storage unit 12, and when the calculation unit 11 executes this program, each function shown in FIG. 4 is realized.

First, the distance calculating means 100 calculates the distance L1 between the tip of the boom 5 of the crane 3 and the suspended load 9 in the water using the feeding amount of the wire rope 7 (step S01). Specifically, it is as follows.

FIG. 6 is a diagram showing a state of the suspended load 9 assumed in the present embodiment. It is assumed that the suspended load 9 is pushed by the water stream and moved to a position not directly below the hanging position of the wire rope 7 (the position where the wire rope 7 is hung on the outer edge of the pulley 8). The distance L1 corresponds to the length of the portion of the wire rope 7 hanging from the pulley 8 (hereinafter, referred to as the hanging amount). For example, it is assumed that the hanging load 9 is suspended in the air as the initial state, and the amount of hanging in the initial state is known. The winding device 6 outputs the feeding amount data indicating the feeding amount of the wire rope 7 in the initial state. When the wire rope 7 is unwound to lower the suspended load 9 into the water, the take-up device 6 outputs the unwound amount data indicating the unloaded amount of the wire rope 7 in the state where the suspended load 9 is lowered. The distance calculating means 100 calculates the increment of the feeding amount with respect to the initial state, and adds the increment of the feeding amount to the drooping amount in the initial state to calculate the distance L1.

Next, the first position calculating means 301 calculates the position of the tip of the boom 5 using the navigation signal received by the first receiver 31 (step S02). In the present embodiment, the first receiver 31 is provided near the hanging position of the wire rope 7 at the tip of the boom 5, and the coordinates of the position A calculated from the navigation signal received by the first receiver 31 ( X1, Y1, Z1) are used as the coordinates of the position of the tip of the boom 5. The coordinate system may be determined in any way. For example, the east-west direction may be the X-axis, the north-south direction may be the Y-axis, and the vertical direction may be the Z-axis.

Next, the second position calculating means 302 calculates the position where the wire rope 7 and the water surface intersect using the navigation signal received by the second receiver 32 (step S03). Let (X2, Y2, Z2) be the coordinates of the position B where the wire rope 7 and the water surface intersect.

Next, the suspended load position calculating means 200 uses the distance calculated by the distance calculating means 100, the position calculated by the first position calculating means 301, and the position calculated by the second position calculating means 302. , The position of the suspended load 9 is calculated (step S04). Specifically, the position T in which the suspended wire rope 7 and the suspended load 9 are connected is set as the position of the suspended load 9. The distance L2 from the hanging position to the position where the wire rope 7 and the water surface intersect is calculated by the following equation.

Assuming that the coordinates of the position T of the suspended load 9 are (X, Y, Z), the following equation holds.
(X-X1) / (X2-X1) = L1 / L2
(Y-Y1) / (Y2-Y1) = L1 / L2
(Z-Z1) / (Z2-Z1) = L1 / L2
Therefore, X, Y, and Z can be obtained by the following equation.
X = (X2-X1) L1 / L2 + X1
Y = (Y2-Y1) L1 / L2 + Y1
Z = (Z2-Z1) L1 / L2 + Z1

Next, the third position calculation means 303 calculates the coordinates (X3, Y3, Z3) of the position C at the base of the boom 5 using the navigation signal received by the third receiver 33. The fourth position calculating means 304 calculates the coordinates (X4, Y4, Z4) of the position D of the predetermined portion of the hull 2 that supports the crane 3 on the water by using the navigation signal received by the fourth receiver 34. .. The direction measuring means 400 is the above-mentioned direction meter 21, which measures the direction of the hull 2 and outputs the direction data indicating the measured direction (step S05).

Next, the positional relationship specifying means 500 has a position calculated by the first position calculating means 301, a position calculated by the suspended load position calculating means 200, a position calculated by the third position calculating means 303, and a second. 4 The positional relationship between the hull 2 and the suspended load 9 is specified by using the position calculated by the position calculating means 304 and the direction measured by the directional measuring means 400 (step S06). Specifically, the orientation of the boom 5 is calculated from the position of the tip of the boom 5 calculated by the first position calculating means 301 and the position of the base of the boom 5 calculated by the third position calculating means 303. .. The turning angle of the boom 5 with respect to the hull 2 is calculated from the calculated direction of the boom 5 and the direction of the hull 2 measured by the direction measuring means 400.

FIG. 7 is a diagram showing a display example of the result of the position calculation process. On the screen on the left side, the hull 2, the swivel body 4, the boom 5, the wire rope 7, and the suspended load 9 are displayed with the viewpoint above the work vessel 1, and the hull 2 specified by the positional relationship specifying means 500 is displayed. The positional relationship with the suspended load 9 is displayed. The hull 2 is arranged so that the center line of the hull 2 coincides with the vertical direction of the screen, and the turning body 4 is turned with respect to the hull 2 by the turning angle calculated by the positional relationship specifying means 500. .. The upper right screen shows the positional relationship between the target position of the suspended load 9 and the position of the suspended load 9 calculated by the suspended load position calculating means 200. The lower right screen shows the distance between the suspended load 9 and the bottom of the water. The elevation of the bottom of the water is known by prior research.

According to the present embodiment, the position of the suspended load 9 is measured with high accuracy even when the suspended load 9 moves to a position not directly below the hanging position of the wire rope 7 at the tip of the boom 5 due to the influence of the water flow. .. Further, in the present embodiment, since the position is calculated using the navigation signal transmitted from the navigation satellite, the position of the suspended load 9 is calculated in a shorter time than the method using ultrasonic waves. Further, in the present embodiment, the position of the tip of the boom 5 and the position of the base of the boom 5 are calculated, and the posture (turning angle, undulation angle) of the boom 5 is calculated from these positions, so that the boom length is variable. The attitude of the boom 5 can be easily calculated even for the crane vessel of.

The above embodiment may be modified as follows. Moreover, you may combine a plurality of modification examples.

[Modification 1]
The position relationship specifying means 500 uses a crane calculated by the first position calculating means 301, a position calculated by the suspended load position calculating means 200, and a position calculated by the third position calculating means 303. It may be configured to specify the positional relationship between 3 and the suspended load 9. In this configuration, the fourth position calculating means 304 and the directional measuring means 400 in the above embodiment are not indispensable.

FIG. 8 is a diagram showing a display example of the result of the position calculation process according to the present modification. On the screen on the left side, the swivel body 4, the boom 5, the wire rope 7, and the suspended load 9 are displayed, and the positional relationship between the crane 3 and the suspended load 9 specified by the positional relationship specifying means 500 is displayed. Each part is arranged so that the longitudinal direction of the boom 5 coincides with the vertical direction of the screen. The contents of the upper right screen and the lower right screen are the same as those in FIG. 7.

[Modification 2]
In the above embodiment, the turning angle of the boom 5 with respect to the hull 2 is calculated from the orientation of the boom 5 and the orientation of the hull 2, and the positional relationship of each part with the viewpoint above the work vessel 1 is displayed (FIG.). Although the figure on the left of 7) is shown, the undulation angle of the boom 5 is calculated from the position of the tip of the boom 5 and the position of the base of the boom 5, and the viewpoint is viewed from the side of the work vessel 1 as shown in FIG. It may be configured so that the positional relationship of each placed part is displayed.

[Modification 3]
In the above embodiment, the coordinates (X1, Y1, Z1) of the position A calculated from the navigation signal received by the first receiver 31 are used as the coordinates of the tip of the boom 5, but the first receiver 31 and The coordinates of the position A may be corrected based on the positional relationship with the hanging position, and the corrected coordinates may be used as the coordinates of the tip of the boom 5. At this time, since the positional relationship between the first receiver 31 and the hanging position changes depending on the undulation angle of the boom 5, the coordinates of the position A may be corrected using the undulation angle.

1 ... work ship, 2 ... hull, 3 ... crane, 4 ... swivel body, 5 ... boom, 6 ... winding device, 7 ... wire rope, 8 ... pulley, 9 ... suspended load, 10 ... position calculation device, 20 ... Control device, 21 ... azimuth meter, 31 ... first receiver, 32 ... second receiver, 33 ... third receiver, 34 ... fourth receiver, 22 ... floating body, 32 ... second receiver, 23 ... penetration Hole, 11 ... Calculation unit, 12 ... Storage unit, 13 ... Input / output I / F unit, 14 ... UI unit, 100 ... Distance calculation means, 200 ... Suspended load position calculation means, 301 ... First position calculation means, 302 ... 2nd position calculating means, 303 ... 3rd position calculating means, 304 ... 4th position calculating means, 400 ... orientation measuring means, 500 ... positional relationship specifying means

Claims (4)

A distance calculation means that calculates the distance between the tip of the boom of the crane and the suspended load in the water using the amount of wire rope drawn out.
A first position calculating means for calculating the position of the tip of the boom using a navigation signal, and
A second position calculating means for calculating the position where the wire rope and the water surface intersect using a navigation signal, and
The suspended load for which the position of the suspended load is calculated using the distance calculated by the distance calculating means, the position calculated by the first position calculating means, and the position calculated by the second position calculating means. A position calculation device including a position calculation means. A floating body slidably attached to the wire rope and
It is equipped with a receiver that is placed on the floating body and receives navigation signals.
The position calculation device according to claim 1, wherein the second position calculation means calculates a position where the wire rope and the water surface intersect using a navigation signal received by the receiver. A third position calculating means for calculating the position of the base of the boom using a navigation signal, and
A fourth position calculating means for calculating the position of a predetermined portion of a ship supporting the crane on the water using a navigation signal, and
A directional measuring means for measuring the directional of the ship and
A position calculated by the first position calculating means, a position calculated by the suspended load position calculating means, a position calculated by the third position calculating means, and a position calculated by the fourth position calculating means. The position calculation device according to claim 1 or 2, further comprising a positional relationship specifying means for specifying the positional relationship between the ship and the suspended load by using the directional measurement means and the directional direction measured by the directional measuring means. A third position calculating means for calculating the position of the base of the boom using a navigation signal, and
The crane and the suspended load are subjected to the position calculated by the first position calculating means, the position calculated by the suspended load position calculating means, and the position calculated by the third position calculating means. The position calculation device according to claim 1 or 2, further comprising a positional relationship specifying means for specifying a positional relationship.

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