JPH04300796A - Cleaning work device - Google Patents

Abstract

PURPOSE:To confirm the position of a working ship B to a ship A to be cleaned, and enable the automatic shifting control of the working ship B to a designated position, in a cleaning work device cleaning barnacles, etc., adhering to the ship's bottom of the ship A to be cleaned. CONSTITUTION:A working ship B is connected with a ship A to be cleaned with two lines 4L and 4R and two winch devices 5L and 5R, the working ship B's position is fixed by the lengths and directions of the lines 4L and 4R, and a shifting position is computed to automatically operate working ship B's shifting.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work boat used for removing marine organisms such as barnacles, cellulose, bryozoans, and sea lettuce adhering to marine structures such as ships.

0002

2. Description of the Related Art Conventionally, it has been known that a separate work boat is used as a device for removing marine organisms such as barnacles attached to marine structures. For example, there is a technique described in Japanese Unexamined Patent Publication No. 59-179494.

0003

[Problems to be Solved by the Invention] However, in the conventional cleaning work equipment, the position of the work boat with respect to the ship to be cleaned is determined by human judgment, and the relative position is determined by a suction cup protruding from the side of the work boat. It was fixed. Therefore, in the case of a small FRP ship, it is difficult to fix the suction cup to the ship's side, and once the suction cup is attached to the ship's side, it is difficult to gradually control the movement of the work boat relative to the ship being cleaned. The problem was that it was difficult to do this automatically without relying on human judgment. Another problem was that the suction cup on the work boat could easily come off when the waves got high or the boat being cleaned moved. In the present invention, the means for automatically determining the relative position between the vessel to be cleaned and the work boat is implemented by two cables protruding left and right from the side of the work boat B and a winch device.

0004

[Means for Solving the Problems] The problems to be solved by the present invention are as described above, and next, the means for solving the problems will be explained. That is, in the work boat B cleaning the bottom of the boat A to be cleaned,
Control of the distance and position between the vessel to be cleaned A and the work vessel B,
By means of a pair of left and right cables stretched from work boat B to both sides of the structure that fixes the boat A to be cleaned or the boat to be worked, and a winch mechanism placed on top of work boat B to wind up the cables, This is done by detecting length and angle.

[0005]

[Operation] Next, the operation of the present invention will be explained. First, ship A to be cleaned
Bring work boat B closer to the area and fully extend cables 4L and 4R. Next, the cables 4L and 4R are fixed to two locations on the left and right sides of the boat A to be cleaned. Next, an initial position is set, and at this position, the winch device pulls to a set force to determine the position of work boat B. Then, at this position, the bottom of the boat is cleaned while moving the cleaning mechanism D from the master lever L using the master-slave operating mechanism, and when the cleaning of the possible range at that position is completed, by pressing the movement switch, the cleaning mechanism D is moved for the next fixed distance. The computer control mechanism 12 operates the winch devices 5L and 5R, and also controls the control propulsion devices 25 and 2 in FIG.
6, 27, and 28 to move work boat B a certain distance.

[0006]

[Example] Next, an example of the present invention will be described. FIG. 1 is a side view showing the working state of the cleaning device of the present invention, FIG. 2 is a plan view showing the same working state, FIG. 3 is a control block diagram showing the control mechanism of the cleaning device of the present invention, and FIG. 4 is a control block diagram showing the control mechanism of the cleaning device of the present invention. 5 is a plan view showing the winch device 5L, FIG. 6 is a plan view showing another embodiment, and FIG. 7 is a plan view showing the winch device 5L in the embodiment of FIG. 6. An enlarged view, FIG. 8 is a schematic diagram of a mechanism for controlling the position of the work boat B by the length and angle of the cables 4L and 4R, and FIG. 9 is a block diagram of the position control.

1 and 2, the overall structure of the cleaning device of the present invention will be explained. A boat A to be cleaned is moored at a quay G, and fenders 23 and 24 are interposed between the quay G and the boat A to be cleaned. Then, marine organisms such as barnacles adhering to the bottom of the ship A to be cleaned are scraped off from the bottom and side of the ship using high pressure water discharged from the pressure water outlet 16. The work boat B approaches the vessel A to be cleaned, which has stopped at the quay G, in a right angle direction from the opposite side of the quay G, and the fenders 21 and 22 at the tip of the work vessel B.
to press the side of the ship A to be cleaned. The work boat B is pushed toward the boat A to be cleaned by a propulsion device 18 driven by the main engine E1.

In the conventional technology, the cleaning mechanism is projected from the side of the work boat B by a manipulator mechanism, reaches the target bottom of the ship, and is removed by an operator from above the work boat while looking at the cleaning mechanism through the water surface. The operator relied on the operator's fingertips to operate the cleaning mechanism. In addition, the cleaning mechanism had to be controlled by delicately manipulating multiple levers, just like in regular construction machinery. Because they were cleaning the bottom of the ship, which was particularly difficult to see underwater, they were not able to clean the bottom thoroughly. In the present invention, a video device C is attached to the tip of the manipulator mechanism, and the manipulator mechanism is operated by a master-slave operation mechanism, and the work boat B
The slave actuators 6 and 6 of the slave arms 1 and 2 are operated so that the movement of the master lever L provided in the slave arms 1 and 2 is expanded or moved at the same ratio by moving the master lever L part forward, backward, left, right, up and down.・This is a movement. Further, the master lever L is a master-slave mechanism provided with a bilateral servo mechanism, and is configured so that the pressing force of the cleaning mechanism D from the vessel A to be cleaned is fed back to the master lever L as is.

The movement of the work boat B to the boat A to be cleaned is carried out by the propulsion device 18 of the main engine E1, and the fender 21.
A control propulsion device driven by a hydraulic pump P driven by an auxiliary engine E2 is used to control the delicate left-right movement and posture of the cleaning mechanism D from the state where the part 22 is attached to the vessel A to be cleaned. Machines 25, 26, 27, and 28 are installed. The control propulsion devices 25, 26, 27, and 28 are driven by hydraulic motors m1, m2, m3, and m4, respectively. The hydraulic motors m1, m2, m3, and m4 and the control propulsion devices 25, 26, 27, and 28 control the position of the work boat B in the left-right direction. When the movement speed and movement pitch are set using the left-right movement setting device 9 shown in FIG. It is.

[0010] Also, during the cleaning operation by the cleaning mechanism D, the fender 23 is installed to prevent the vessel A to be cleaned from moving or shifting.
- 24 and fenders 21 and 22 are constructed, and by pressing the fenders 21 and 22 with the propulsion device 18 of the work boat B, the boat A to be cleaned is fixed. The manipulator mechanism is composed of slave arms 1 and 2 and a slave actuator 6, and its posture changes according to the input operation of the master lever L. Furthermore, a video device C is attached to the tips of the slave arms 1 and 2 that constitute the manipulator mechanism. It is attached in such a position that the Therefore, the status of the cleaning mechanism D is constantly visualized on the monitor television 3 in front of the operator based on the signal from the video device C.

[0011] A teaching playback operation or a teaching playback operation in which the memory device 10 shown in FIG. It is also possible to move by following the bottom shape information input to the ship. An operator M sits in the cockpit of the workboat B and operates the master lever L while watching the status of the cleaning mechanism D on the monitor television 3. By operating the master lever L, teaching playback work and movement following the bottom of the ship can be performed, but normally, the cleaning mechanism D is moved in accordance with the moving direction and moving distance of the master lever L by the master-slave operating mechanism. It is configured. Further, the master lever L is linked with the cleaning mechanism D by a bilateral servo mechanism, and the adhesion force of the cleaning mechanism D to the bottom of the ship and the pressure received from the bottom side are directly applied to the master lever L. It is configured to be fed back to L.

Next, a description will be given with reference to FIG. The work boat B is equipped with two engines, a main engine E1 and an auxiliary engine E2, and the main engine E1 drives a propulsion device 18. Then, the rudder 17 is operated by the steering wheel 20 installed in the cockpit of the work boat B.
, and also use the accelerator lever 19 to start the main engine E1.
Operate the electronic governor mechanism 11 of. As a result, the steering and ship speed of work boat B are determined. Further, computer control mechanisms 12, 13, and 14 are arranged, and the computer control mechanism 12 performs setting of left and right movement by the left and right movement setting device 9, posture maintenance, fixed point maintenance, and omnidirectional movement. In addition, the computer control mechanism 13 performs tracing movement using the memory device 10, teaching playback work, operation instructions for the master slave, and fender 21
・The position of 22 is specified. Further, the computer control mechanism 14 instructs the positions of the slave arms 1 and 2. In addition, the main engine E1 drives the hydraulic pump P, and the pressure oil discharged from the hydraulic pump P drives the hydraulic motors m1, m2, m2, m4, and the slave actuators 6 of the slave arms 1 and 2 are expanded and contracted. . In addition, pressure oil from the hydraulic pump P causes the pressure water discharge port 16 to
A hydraulic motor is driven to discharge .

Next, the position control mechanism of work boat B will be explained with reference to FIGS. 4 and 5. In FIG. 4, the position l2 of the work boat B is obtained by l2=l1×sinθ. In this state, after the manipulator mechanism is extended and the cleaning mechanism D completes the cleaning work, it is necessary to move by Δl2 to the next work area. Work boat B needs to move to a distance of l2 + Δl2, and to do so, the winch device 5L is required.
- It is necessary to find l1' where the length l1 of the cable 4L of 5R changes. It is necessary to find the angle θ' at that time. Therefore, assuming that the side of the ship A to be cleaned is a straight line, the vertical distance L from the winch devices 5L and 5R to the side of the ship A to be cleaned
is calculated, and the angle θ' is obtained from the values of L and l2+Δl2
It is found by calculating backwards. And depending on the value of θ',
The length l1' of the cable 4L after being moved by l2 is calculated, the cable 4L is extended from the winch device 5L to this length, and the other cable 4R is brought in by the winch device 5R. In addition, by moving the work boat B using the control propulsion devices 25, 26, 27, and 28, the predetermined length Δl2
Therefore, work boat B can be moved to the right.

The above operation will be explained. Bring the work boat B closer to the boat A to be cleaned and fix the cables 4L and 4R to the boat A to be cleaned.Then, press the initial position setting switch and set the cables 4L and 4R to the boat A to be cleaned.
The position is determined by 4R and winch devices 5L and 5R. The cables 4L and 4R do not have enough tension to fix the work boat B, but are used for measurement to determine the position. Cleaning is performed by the cleaning mechanism D at this position, and then the movement switch is pressed. By this operation, the work boat B starts to be moved to the right by a width of Δl2. When determining the width of Δl2, the angle and θ' are determined in the computer control mechanism 12, the winch devices 5L and 5R are loosened, one of the cables 4L and 4R is extended and the other is contracted, and the control propulsion device 25 and 26・
It moves by applying a force of 27/28. If it moves too far, it will issue a warning, return it, and fix it in its new position again. In FIG. 5, a portion of the winch device 5L is shown, and this portion includes an angle detection sensor 35 that detects the angle in the direction in which the cable 4L extends, and an angle detection sensor 35 that detects the extended length of the cable 4L. A cable length detection device 37 and a tension detection sensor 36 for detecting the tension of the cable 4L are provided. While detecting each value using these, work boat B
move it and fix it in the correct position.

FIG. 6, FIG. 7, FIG. 8, and FIG. 9 show the cables 4L and 4.
A control mechanism is shown in which the work boat B is brought closer to the target position PO on the quay G while performing detection and measurement using the winch devices 5L and 5R. The distances P1-PO and P2-PO are measured in advance and input into the memory device 10 provided in the work boat. L1 and l2 which are the lengths of cables 4L and 4R in Figure 8
The angles Φ1 and Φ2 are detected by the left-right angle detection sensor 35 and the cable length detection device 37 of the device shown in FIG. cable 4
L and 4R are given constant tension by winch devices 5L and 5R, and are configured so that lengths l1 and l2 can be measured correctly. From these measured values, the distance to the PO and the tilt angle θ are calculated as shown in Equation 1, and the operator M
The work boat B is guided to the target position PO by automatically providing support to the control propulsion units 25 and 26.

[0016]

[Math 1]

[0017]

[Effects of the Invention] Since the present invention is constructed as described above, the following effects are achieved. In other words, the work boat B can be accurately positioned with respect to the boat A to be cleaned.
Operator M can simply press the movement switch and then automatically operate the control propulsion devices 25 and 26 to move work boat B to a predetermined position, so operator M can clean using master lever L. This allows him to concentrate on operating mechanism D. In addition, even if the relationship between the vessel to be cleaned A and the work vessel B shifts due to waves, the cables 4L and 4R detect the shift in position, and the control propulsion units 25 and 26 automatically control the It is also possible to return it to its position.

[Brief explanation of drawings]

FIG. 1 is a side view showing a working state of a cleaning work device of the present invention.

FIG. 2 is a plan view showing the same working state.

FIG. 3 is a control block diagram showing a control mechanism of the cleaning work device of the present invention.

FIG. 4 is a plan view showing the attitude control mechanism of the work boat B.

FIG. 5 is a plan view showing a winch device 5L.

FIG. 6 is a plan view showing another embodiment.

7 is an enlarged view of the winch device 5 in the embodiment of FIG. 6. FIG.

FIG. 8 is a schematic diagram of a mechanism that controls the position of the work boat B based on the length and angle of the cables 4L and 4R.

FIG. 9 is a block diagram of position control.

[Explanation of symbols]

1, 2 Slave arm 3 Monitor TV 4L, 4R cable 5L, 5R Winch device A　Vessel to be cleaned B Work boat C. Video equipment D Cleaning mechanism E1 Main engine E2 Auxiliary engine G Quay

Claims (1)

[Claims] Claim 1: In a work boat that cleans the bottom of a ship to be cleaned, a structure for fixing the ship to be cleaned or the ship to be worked from the work ship to control the distance and position between the ship to be cleaned and the work ship. A cleaning device that performs cleaning work by detecting the length and angle using a pair of left and right cables stretched on both sides of the cable and a winch mechanism placed on a work boat to wind the cables.