JPH0424188A - Cable direction operating device - Google Patents

Abstract

PURPOSE:To simplify a facility, in a device which observes the direction of a cable hung from a working mother ship in the water, by using a gimbal sheave which is flexible to three axes, and operating and indicating a cable throwing direction only from the information of three sensors. CONSTITUTION:A gimbal sheave 5 is installed on an A frame 4 fixed at a stem of a working mother ship 1. The gimbal sheave 5 has degree of freedom 3 to rotate around X-axis-Z-axis with a lifting point 7 centered, and a cable 3 which is connected with a towing unit 2 is thrown in the water through a sheave 6 of the gimbal sheave 5 and a cable pressing part 11. Also, there are provided an angle sensor 12 which measures an X-axis rotation angle thetax and an angle sensor 13 which measures a Y-axis rotation angle r in the gimbal sheave 5, and an angle sensor 14 is installed in the central part 10 of the sheave. These output signals are inputted to an operating part, and cable throwing direction is operated by the detected information from the three sensors 12-14 to be indicated on a display part.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a cable orientation calculation device for monitoring the orientation of a cable suspended underwater from a work mother ship.

[Conventional technology]

Conventionally, when working underwater using a towed vehicle such as an underwater unmanned submarine connected by a cable, the operator cannot directly check the direction of the cable, so the deck worker visually monitors the direction of the cable. However, when working in rough weather, the danger to deck workers increases, and the cables may come close to the ship's hull due to the influence of waves, making it difficult for the mother ship to operate. Accidents can also occur where cables become entangled in propellers.

Therefore, in order to prevent the tow cable dropped into the sea via the stern boom from coming into contact with the ship's propeller, and to prevent the tow cable from coming off the pulley, the relative positional relationship between the water entry point of the tow cable and the ship's hull was determined. A marine towline position display device has been proposed that automatically displays the position of the towline relative to the hull, allowing the helmsman to easily check the state of the towline entering the water. There is.

However, in this case, the angle of the stern boom with respect to the hull is calculated by calculating the final towline entry angle using the difference and sum of detection signals emitted from five angle detectors, which is a complicated calculation. Another drawback is that it requires a large number of angle detectors.

Problem to be Solved by the Invention) The present invention has been made to solve such conventional drawbacks, and by employing a gimbal sheave having a degree of freedom that is rotatable about three axes, three To provide a cable direction calculating device which can calculate and display the direction of cable insertion using only the information of the sensors, and can obtain the reliable direction of cable insertion even without information from a watchman or an industrial television. The purpose is to

[Means to solve the problem]

That is, the cable orientation calculation device of the present invention is connected to a towing body through a sheave of a gimbal sheave having three degrees of freedom attached to a frame and a cable holding part rotatably supported at the center of the sheave. At the same time, three sensors are installed to detect the Y-axis of the gimbal sheave, the rotation angle θ: θy of the Y-axis, and the inclination angle θay of the cable holding part, and the cable is inserted based on the detection information from these three sensors. This device is characterized by providing means for calculating and displaying the direction.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings.

In FIG. 1, 1 is a work mother ship, and a towing body 2 such as an unmanned submarine is carried underwater from the work mother ship 1 by a cable 3.
It has been invested by.

Further, a gimbal sheave 5 is provided on the A frame 4 fixed to the stern of the working mother ship 1.

Here, the axis in the bow and stern direction of the mother ship 1 is the Y axis, the axis in the starboard direction perpendicular to this Y axis is the Y axis, and the gimbal sheave 5 is suspended at the intersection of these Y axes and the Y axis. For convenience, this pixel 7 is assumed to be the origin. Furthermore, by setting an axis perpendicular to this pixel 7 as the Y-axis, the gimbal sheave 5 has three degrees of freedom in which it can rotate about the pixel 7 around the Y-axis, the Y-axis, and the Y-axis.

As described above, the cable 3 connected to the towing body 2 is connected to the sheave 6 of the gimbal sheave 5 from the delivery point 8 and the cable restraining part 1 rotatably supported at the sheave center 10.
1 into the water.

Therefore, the position of the sheave 6 of the gimbal sheave 5 changes depending on the direction and tension of the cable 3, but the sheave surface is
Exiting from the sending point 8, the sheave 5 and the cable restraining part 11
It is always located on the plane formed by the cable 3 extending to the towing body 2 in the water via the cable 3. That surface is indicated by the hatched area A in FIG.

As shown in FIG. 6, the gimbal sheave 5 is provided with an angle sensor 12 that measures the rotation angle θX of the Y-axis of the gimbal sheave 5 in the bow and aft direction. Further, as shown in FIG. 7, the gimbal sheave 5 is provided with an angle sensor 13 that measures the rotation angle θy of the Y-axis in the port and starboard direction. Furthermore, as shown in FIG. 7, an angle sensor 14 is provided at the position of the sheave center 10, and as shown in FIG.
y is now detected. This inclination angle θay
From this, it can be seen whether the cable 3 is directed toward the bow or toward the stern.

By the way, the coordinates of the normal vector V of the plane of the diagonally shaded area A including the pixel 7, the sheave center 10, and the feed-off point 8 in Fig. 2 are taken from the pixel 7 as the origin, and the Y axis points in the stern direction (+) and the bow direction. The direction is (-), and the Y-axis is starboard (+) and port (()).
-), and the Y axis is vertically downward (+) and vertically upward (-
). Then, let the distance between the pixel 7 and the sheave center 10 in Fig. 1 be l, the horizontal distance from the sending point 8 to the pixel 7, and the altitude difference between the sending point 8 and the pixel 7 be h, and the gimbal sheave Rotation angle θX around the X axis of 5 (see Figure 9)
It is assumed that the angle of rotation θy of the sheave 5 around the Y axis (see FIG. 8) are obtained as detection data by the angle sensors 12 and 13, respectively.

Here, θX and θy are zero when the sheave 6 of the gimbal sheave 5 is suspended directly below from the suspension point 7, and θX is when the gimbal sheave 5 rotates to the starboard side (+) and rotates to the port side. θy is defined as when the gimbal sheave 5 rotates toward the stern (+) and when the gimbal sheave 5 rotates toward the bow (-), and the criteria for determining this is shown in FIG. 12.

In addition, the vertical inclination angle θay of the cable restraining portion 11
(See FIG. 8), the detection data of the angle sensor 14 is obtained by setting θay to zero when the cable restraining portion 11 is vertically downward, that is, when the cable 3 is vertically downward.

Next, the horizontal inclination angle θax of the cable restraining part 11
(See Figure 3) is calculated using the above θX and θy and the distance h shown in Figure 1.

Here, when the cable restraining part 11 is vertically downward, that is, when the cable 3 is vertically downward, θax is set to zero.

Further, the insertion angle φ of the cable 3 between the sheave 6 and the towing body 2 shown in FIG. 5 (al) can be calculated using the above-mentioned θax and θay.

Now, the plane of the sheave 6 of the gimbal sheave 5 is always located on the plane created by the cable 3, so the equation of this plane is
It can be determined using the three coordinates of image point 7, sheave center 10, and delivery point 8, and determining the equation of this plane is the same as determining the normal vector V of plane A in Figure 2. This normal vector V can be calculated by the cross product of the vector from the pixel 7, which is the origin, to the sheave center 10 and the vector from the pixel 7 to the sending point 8.

Also, if the vector in the direction of the cable 3 is denoted by Y, this vector satisfies the plane equation because it lies on the plane A above, and therefore K is perpendicular to the normal vector V, that is, the relationship between K and V. The inner product is zero.

Furthermore, as shown in FIG. 4(a), the closing angle φ of the cable 3 can be determined from the inclination angle of the cable restraining portion 11, and the value of the KOZ axis component can be easily calculated from this closing angle φ.

Once the KOZ-axis component has been determined, substitute it into the equation for the inner product of k and V, select a set of KOX-axis and Y-axis component values that satisfy this equation by calculation, and calculate the
The values of the axis and Y-axis components indicate the input direction of the cable 3 in the X-Y axis plane.

Next, calculations by the arithmetic section of the present invention will be explained in more detail. First, an equation of the plane formed by the cable 3 is determined.

Assuming that the gimbal sheave 5 is rotating by θX, θy, the coordinates of the sheave center 10 of the gimbal sheave 5 (Xc,
Yc, Zc) is Xc=Jcos θxsin θ
y Yc=A sin θX Zc=#cos θx cos θy.

Next, in FIG. 1, the coordinates of the sending point 8 are (-ri).

o, h>, and in the cross product calculation, the origin is the pixel 7
The hector from to the sheave center 10 and the vector from the pixel point 7 to the sending point 8 are used, but the coordinate components can be used as they are, and the normal vector V and this component can be expressed as (Xv, Yv, Z
v), then the cross product is defined as = Ych father ten (-ZcL-Xch)'? +YcLX.

Therefore, the component of ■ is Xv = Ych Yv = -ZcL-Xch Zv-YcL becomes.

Here, the vector components of R are (Xk, Yk, Zk)
Then, when the inner product of V and Y is expressed using vector components, the definition of the inner product is O since V and k are perpendicular to each other, based on the above idea.

(v, K)= XvXk+ YvYk+ ZvZk=
O・”■Next, to find the Z-axis component of K, use cable 3.
The injection angle φ can be calculated using the following formula.

φ-cos-' (cos θax cos θay)
Here, cos θay is the detection data from the angle sensor 14, and cos θax can be calculated as follows with reference to FIG.

Since the cable restraining part 11 is always on the same plane as the sheave 60 surface, even if the cable restraining part 11 moves around the sheave center 10, as long as the position of the sheave 6 does not change, θax
is constant.

Next, consider a plane containing the V obtained above and the Z-axis unit vector 2, and from these two vectors, a vector 5 perpendicular to this plane can be calculated as follows using the definition of cross product.

n+=ZXV Furthermore, finding the vector M2 perpendicular to ■ and 51, we get
6□=v
ll hill 2 [).

Also, the Z-axis component Zk of K is Zk when the input angle φ is used.
= l x IcO5φ (see Figure 4(a))
.

For convenience of calculation, if we set K15inφ=K=constant, the magnitude of K projected onto the X-Y axis plane will be constant regardless of the magnitude of the input angle φ, as shown in Figure 4(b). , the calculation becomes easier.

Zk is Zk = (K/sinφ)cosφ...■.

Next, in FIG. 5 (bl), Xk and Yk are as follows, where β is the angle formed by the Y axis and K on the X-Y axis plane, that is, the input direction.

Therefore, as shown in FIG. 4(C), the above-mentioned feeding direction β is changed by a certain angle, and when the feeding direction β is, Xk, Yk
The set of Xk and YkO that satisfies the equation (2) and the equation (2) above is selected from among these.

When the Xk and YkO groups are selected in this way, two groups remain, and these are shown in FIG. 11(a).

As shown in (b) and (C), it faces the stern direction and the bow direction, and when the sign of the vertical inclination angle θay of the cable restraining part 11 is (+), it faces the stern direction, and (
-), it is assumed that the ship is facing the bow direction, and therefore, it is determined which of the remaining two sets to take based on the sign of θay.

Now, the Xk, YkO group is decided, and β at this time is shown in Figure 5 (
The input direction is shown in C) as seen from above the stern of the work mother ship 1.

In the present invention, as shown in FIG. 10, three sensors,
That is, an angle sensor 12 that detects the rotation angle θX, an angle sensor 13 that detects the rotation angle θy, and an inclination angle θ
Sensor part 2 consisting of an angle sensor 14 that detects ay
1, an arithmetic unit 22 that averages the detection information from these sensors and calculates the input direction β of the cable 3 by calculating a vector, and a display unit 23 that displays the value are electrically connected to each other. , are appropriately arranged on the work mother ship 1. Then, the cable orientation is automatically displayed on the display section 23.

〔Effect of the invention〕

As mentioned above, the present invention provides three
A cable connected to the towing body is inserted through the sheave of the gimbal sheave having a degree of freedom and a cable restraining part rotatably supported at the center of the sheave, and the X-axis and Y-axis of the gimbal sheave are Three sensors are provided to detect the rotation angles θX, θy and the inclination angle θay of the cable holding part, and a means is provided to calculate and display the cable feeding direction based on the detection information from these three sensors, making it easy for observers and industrial workers to Even when there is no information from a commercial television camera, the direction of cable insertion can be reliably obtained, making it possible to carry out safe work even in stormy weather, as well as saving labor by reducing the number of workers. Further, in the device of the present invention, the calculation is performed using the detection data from the three angle sensors, so the calculation and device are simple and easy, and a highly versatile device can be provided.

Note that the device of the present invention is applicable not only to underwater unmanned submersibles but also to towed objects such as balloons that move in all directions while being connected by cables.

[Brief explanation of the drawing]

Fig. 1 is a side view of a work mother ship equipped with a cable orientation calculation device according to the present invention, Fig. 2 is a normal vector diagram created by the cable, and Fig. 3 is a plan view showing the horizontal inclination angle of the cable holding part. , Figure 4 (a), ff1), (C) are explanatory diagrams of how to find the vector in the cable direction, Figure 5 (a)
, (b), (c) are explanatory diagrams of the cable input direction,
Figure 6 is a side view of the gimbal sheave in its standard state, Figure 7 is a front view of the gimbal sheave in its standard state, Figure 8 is a side view of the gimbal sheave in its tilted state, and Figure 9 is a front view of the gimbal sheave in its tilted state. Figure 10 shows the configuration of the cable orientation calculation device and the arrangement of each component on the work mother ship, and Figure 11fa
n, (bl, (C) is an explanatory diagram of the vector selection method, and Fig. 12 is a drawing showing the criteria for determining the rotation angles θX and θy. 2... Towing body, 3... Cable, 5...Gimbal sheave, 6...Sheave, 7...Picture point, 10...Sheave center, 11...Cable holding part, 12.13.1
4... Angle sensor, 22... Arithmetic unit, 23...
Display section, β... Cable input direction. Agent Patent Attorney Nobuo Ogawa −

Claims (1)

[Claims] A cable connected to the towing body is inputted through a sheave of a gimbal sheave having three degrees of freedom attached to the frame and a cable restraining part rotatably supported at the center of the sheave, and the gimbal sheave is Rotation angle θ of X-axis and Y-axis: θy and inclination angle θay of cable restraint part
A cable direction calculation device is provided with three sensors for detecting the direction of the cable, and a means for calculating and displaying the cable insertion direction based on the detection information from these three sensors.