JPH0325094A - Alongside-pier method of marine vessel - Google Patents

Abstract

PURPOSE:To enable a vessel to approach a pier without requiring alongside-pier crews by providing distance detecting sensors and speed detecting sensors respectively in the proximity of a bow and a stern, and correcting the speed of the vessel automatically by a computing element to become the target ground speed corresponding to the distance from a quay. CONSTITUTION:Distance detecting sensors 2, 3 for detecting the distance between a quay and the broadside and speed detecting sensors 5, 6 for detecting the ground speed of a vessel are respectively provided in the proximity of a bow and a stern on the broadside. The target ground speed corresponding to signals from these distance detecting sensors 2, 3 is operated at a computing element 9, and this target ground speed is compared with speed signals from the speed detecting sensors 5, 6 to send a thruster blade angle control signal corresponding to the difference obtained by comparison out to thruster blade angle controllers 12, 13 provided at a bow part and a stern part. Alongside-pier is thus performed while controlling the blade angle of the thrusters 7, 8 to maintain the target ground speed. The special alongside-pier crews are therefore not required, and the vessel can approach the quay without receiving impact force.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for berthing a ship that does not require personnel for berthing. [Prior art] When a ship approaches the berth, the ground speed of the ship is determined using a Doppler sonar (vessel ground speed measurement device) indicator installed on the deck's overhang (wing), and the distance between the quay and the ship is visually determined. The thruster control panel also installed in the wing controls the angle of the bow thruster and stern thruster according to the speed of the ship and the distance to the quay. In other words, the motors of each thruster are left running, and while the distance between the ship and the quay is long, the true angle of the thruster is controlled so that the thrust force is applied to the quay to bring the vessel closer to the quay. , as the quay approaches,
The blade angle is controlled so that no thrust force is applied, or the thrust force is applied in the opposite direction to the quay, to prevent large impact forces from acting on the ship when it approaches the berth. [Problems to be solved by the invention] In the above-mentioned conventional method of berthing a ship, a person who controls the blade angle of the thruster is always required, and an expert who has sufficient knowledge of berthing techniques is essential. However, there was a problem with this, which was an obstacle to the future progress of automatic account transfer for ships. The purpose of this invention is to solve the above-mentioned problems of the prior art and to provide a method of berthing a ship that can automatically berth without requiring berthing personnel. [Means for Solving the Problems] A method for berthing a ship according to the present invention includes a distance detection sensor that detects the distance between the quay and the ship's side, and a distance detection sensor that detects the ground speed of the ship, located near the bow and stern of the ship's side. A speed detection sensor is provided respectively, a calculation unit calculates the target ground speed according to the signal from the distance detection sensor, the target ground speed is compared with the speed signal from the speed detection sensor, and the speed is determined according to the difference. This is a method of berthing a ship by sending a thruster blade angle control signal to the thruster blade angle controllers installed at the bow and stern to control the thruster blade angle and maintain the target ground speed. [Function] The method for berthing a ship according to the present invention includes installing a distance detection sensor for detecting the distance between the quay and the ship's side and a speed detection sensor for detecting the ground speed of the ship in the vicinity of the bow and stern of the ship's side, respectively. A calculator calculates the target ground speed according to the signal from the distance detection sensor, compares the ground target speed with the speed signal from the speed detection sensor, and generates a thruster blade angle control signal according to the difference. The bow section
-) and thruster blade angle control f1M 2a installed at the stern.
The ship is sent to the shore and controls the true angle of the thrusters to maintain the target ground speed while approaching the shore. Therefore, the ship can be berthed at the quay without receiving any impact force without the need for special berthing personnel. [Embodiment] A method of berthing a ship according to an embodiment of the present invention will be explained with reference to FIGS. 1 to 6. Although this example shows the case of port berthing, the case of starboard berth is also a disturbance. In the method of berthing a ship according to one embodiment of the present invention, as shown in FIG. I am trying to detect distance. In addition, as shown in FIG. 2, the ship's ground speed detection sensors (Doppler sensors) 5 and 6 installed near the bow and stern of the ship
The ground speed of the vehicle is detected.

FIG. 3 shows a case where the thruster approaches the shore while controlling its blade angle using distance signals from distance detection sensors 2 and 3 and speed signals from ground speed detection sensors 5 and 6. It is an explanatory diagram showing a method of controlling the X angle. As shown in Fig. 4, the blade angle is controlled by separately controlling the blade angle of the bow thruster 7 installed at the bow of the vessel 1 and the blade angle of the stern thruster 8 installed at the stern. Fig. 3 explains the blade angle control of either the bow thruster or the stern thruster. A distance signal from the distance detection sensor 2 (3) and a speed signal from the speed detection sensor 5 (6) are input to the calculator 9.Furthermore, the blade angle detector 10 (1) of the thruster 7 (8) is input to the calculator 9.
The blade angle signal from 1) is also input to the calculator 9. The computing unit 9 computes the target ground speed according to the distance signal. Then, this opposed target speed and the signal from the speed detection sensor are compared, and the blade angle is calculated according to the difference.The thruster blade angle is calculated from this blade angle signal and the blade angle signal from the true angle detector to (11). A thruster blade angle control signal of 3'A is sent to the controller 12 (13). Then, the true angle of the thruster 7 (8) is controlled by the thruster blade angle controller 12 <13>, so that the ship approaches the shore while maintaining the target ground speed. FIG. 5 is a graph showing the relationship between the distance X between the ship and the quay and the target speed ■ in the ship berthing method according to one embodiment of the present invention. The speed of the ship relative to the ground when berthing shall be b, which is the speed at which the ship can reliably berth without giving any impact to the ship. Since the speed of ax is added in proportion to the distance X, the target ground speed V of the ship is v=ax+b. Figure 6 is a professional diagram showing a method of controlling the thruster blade angle when approaching the shore while reducing the speed based on the target ground speed ■ shown in Figure 5. Based on the distance X signal input to the calculator, the ground target speed ax corresponding to the distance
A signal of +b is outputted by the magnification }i 1 4 and the adder 15. Next, the signal of the ground target speed ax-1-b and the speed f3 of the actual ship speed vO from the Doppler sensor
Output the speed deviation ax + b - vO of the ship, multiply this value by a constant K using the multiplier 16 (assuming that the speed of the ship and the thruster blade angle are proportional), and calculate the blade angle change amount that changes the thruster blade angle. Output Δy. Then, by adding this value and the input actual thruster blade angle signal y, the thruster blade angle signal y+Δy is obtained by the thruster blade angle controller 12.
In (13), the blade angle of the feed thruster 7 (8) is controlled, and the limiter 17 is used to suppress the maximum value of y + Δy so that the value of y and Δy does not exceed the blade angle at the maximum thrust. I have to. In the method for berthing a ship according to the first embodiment of the present invention, the speed of the ship can be berthed while being automatically corrected moment by moment so that the speed of the ship becomes the target speed over the ground according to the distance from the quay. It can be berthed without the need for special berthing personnel. [Effects of the Invention] According to this invention, a ship can berth without requiring special berthing personnel.

[Brief explanation of drawings]

Claims (1)

[Claims] A distance detection sensor that detects the distance between the quay and the ship's side and a speed detection sensor that detects the ship's ground speed are installed near the bow and stern of the ship. The ground speed is calculated by a calculator, this ground target speed is compared with the speed signal from the speed detection sensor, and a thruster blade angle control signal corresponding to the difference is sent to the bow and stern thruster blade angle controllers. A method of berthing a ship characterized by berthing while maintaining a target ground speed by controlling the feed and thruster blade angle.