JPH052690Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a navigation aid device for a dredger equipped with an anchor boom device and a spud carriage device.

[Prior Art] The outline of a dredger equipped with an anchor boom device and a spud carriage device will be explained with reference to FIGS. 4 and 5.

A rudder 2 is provided at the center of the front part of the hull 1 so as to be able to rise and fall freely, and a bucket chain 3 is attached to the rudder 2.
is hanging around. Further, a pair of left and right anchor booms 4 and 5 are provided on the front deck of the hull 1 so that they can be raised and lowered and turned freely, and can be raised and lowered and turned by means of a lifting winch and a turning winch (not shown). An anchor winch (not shown) is also provided on the deck, and a rope drawn out from the anchor winch is hung around the anchor booms 4 and 5, and has an anchor tied to its tip.

Two sets of spud driving devices 6 and 7 are provided at the rear of the hull 1, one set of spud driving devices 6 is fixed, and the other set of spud driving devices 7 can be moved in the longitudinal direction of the hull. It's becoming like that.

When carrying out dredging work, one spud 9 is driven into the seabed 10 by a movable spud driving device 7, for example. The anchor booms 4 and 5 are raised and rotated to determine the dropping position of the anchor, and the anchor is dropped and fixed. When the swing rope tied to one anchor is wound up with a swing winch and the swing rope tied to the other anchor is let out according to the amount of winding, the hull 1 and rudder 2 are moved left and right around the spud 9. Dredging work is performed by the bucket chain 3 which is being swung and rotated.

When the dredging work within the swingable range is completed, the movable spud driving device 7 moves the movable spud 9 rearward to advance the hull 1 and proceed with the dredging work. When the stroke of the movable side spud is full, the fixed side spud 8 is driven in, the movable side spud 9 is pulled out and moved in the direction away from the fixed side spud 8, and the movable side spud driving device 7 drives the spud 9. At the same time, the fixed side spud 8 is pulled out by the fixed side spud driving device 6. With this operation, the hull 1 can move forward by the amount of movement of the movable spud driving device 7, and the bucket chain 3 can continue the dredging operation at the next stage.

If the amount of forward movement of the hull 1 exceeds a predetermined distance, the anchor will no longer function, so the anchor needs to be reset by pulling it up with an anchor winch and then performing the same operations as described above.

[Problems to be solved by the invention] As mentioned above, this type of dredger performs dredging work by moving the hull forward by moving the two sets of spud driving devices close to each other, replacing the spuds, and replacing the anchor. However, the anchor dropping position is confirmed by detecting the heave angle and swing angle of the anchor boom using instruments, and the movement of the spud driving device is individually monitored using instruments for the forward movement of the spuds. It was difficult for vessel operators to basically understand the position of the anchor relative to the hull and the area to be dredged.

Furthermore, although the actual position at which the anchor was dropped could be confirmed to some extent using instruments,
Currently, where to drop the anchor, that is, where to drop the anchor, must depend on the intuition of the boat operator.

However, if the anchor drop position is selected too close to the ship's hull, the anchor will have to be replaced frequently, reducing efficiency; if the anchor drop position is too far, the ship will tilt when the anchor is pulled up, creating a dangerous situation. Therefore, the work of dropping the anchor must be done by a skilled worker, and there is a problem in that the efficiency of the dredging work is largely influenced by the skill level of the worker.

[Means for solving the problem] The present invention was created in view of the above circumstances,
A detector for detecting the heave angle and turning angle of the left and right anchor booms, a gyro compass for detecting the hull attitude, a movable spud position detector for detecting the position of the movable spud, and the movable spud located closest to the bow side. In this case, the distance between the movable spud and the center of rotation of the anchor boom, the length of the anchor boom, and the shape of the hull are entered into the setting device, and the coordinate axes with the movable spud driving point as the origin are determined and input from the setting device. Based on the data obtained, the port side cut line, starboard side cut line, planned port guideline for anchor insertion, and starboard guideline planned for anchor insertion are calculated with respect to the dredging center line, and when the ship turns left and right around the movable spud, When the tip of the rudder provided at The actual hull attitude is determined based on the detection signal from the detector.
It is characterized by comprising a calculator that calculates the attitude of the anchor boom, and a display device that simultaneously displays the expected anchor insertion position, the actual hull attitude, and the attitude of the anchor boom based on the calculation results of the calculator. It is.

[Function] Since the target of ship maneuvering is displayed and the actual attitude of the ship due to maneuvering is displayed, the ship operator can maneuver the ship easily and reliably without relying on intuition.

[Example] Embodiments of the present invention will be described below based on the drawings.

In FIG. 1, 11 is a starboard anchor boom luffing angle detector, 12 is a starboard anchor boom swing angle detector, 13 is a port anchor boom luffing angle detector, 14 is a port anchor boom swing angle detector,
15 is a gyro compass, 16 is a movable spud position detector, 17 is an arithmetic unit, 18 is a memory, 19 is a setting device, and 20 is a display device.

The setting device 19 adjusts the hull 1 around the movable spud 8 when the movable spud 8 is located closest to the bow side.
Determine the turning radius (distance between the spud and the center of rotation of the anchor boom) R, the length L of the anchor boom, the hull shape, and the optimal anchor dropping positions C and H based on the spud 8, and calculate these as fixed data. Input the settings into the device 17.

Further, the configuration shown in FIG. 1 will be explained together with the dredging work.

First, the hull 1 is moved to the dredging area, and the dredging start position and dredging direction are determined. Drive the movable spud into the bowmost position.

The arithmetic unit 17 determines a coordinate axis with the driving point as the origin by driving the movable spud, and the setting device 19
Based on the input data, as shown in Figure 2, with respect to the dredging direction (dredging center line) O, the starboard side cutting line RL, the port side cutting line LL, the starboard guideline RG scheduled for anchor insertion, and the port guideline LG scheduled for anchor insertion are determined. At the same time, the attitude of the ship and the attitude of the anchor boom when dropping the anchor at the optimum anchor dropping position are calculated, and these calculation results are stored in the memory 1.
Enter it in 8. The storage device 18 stores these calculation results and outputs them to the display device 20 for display. Therefore, the display device 20 shows the center line O, left and right offset lines LL, RL, left and right guidelines LG,
RG, optimal anchor dropping positions C and H, and the hull and anchor boom attitude F ₀ when dropping the anchor at the optimal anchor dropping position are displayed.

Moreover, each detector 11, 12, 13, 14, 15,
Based on the detection signal from the controller 16 and the data from the setting device 19, the calculator 17 calculates the actual attitude of the ship and the attitude of the boom, and outputs the obtained results to the display device 20. The display device 20 displays the actual attitude of the hull and boom based on the output from the computing unit 17, superimposing the information displayed based on the data from the memory device 18.
At this time, the attitude of the ship body is such that the center of the ship body and the center line O coincide with each other, and the center lines of both booms are also parallel to the center line O.

The boat operator operates the hull 1 and both booms 4, 5 so as to match the fixedly displayed attitude F ₀ of the hull and anchor boom.

First, the case of dropping the anchor on the port side will be explained with reference to FIG.

When the hull 1 is turned to the port side by maneuvering, the turning angle ψ of the hull 1 is detected by the gyro compass 15, and the detection result is input to the calculator 17.

The calculator 17 calculates the coordinates A (X _A , Y _A ) of the center of rotation of the left anchor boom 4 using the following formula.

X _A = Rcosψ−bsinψ … Y _A = Rsinψ−bcosψ … (Here, b is the distance between the ship center line and the boom turning center, and ψ is the turning angle of the ship.) Furthermore, the coordinate C of the tip of the anchor boom 4 is Calculate using the formula below.

_{X C = ​} If required, by superimposing the hull and anchor boom shapes on this specific point,
The actual postures of the hull 1 and anchor boom 4 at that time can be determined and displayed on the display device 20.

The boat operator then maneuvers the boat so that the actual hull posture and anchor boom posture displayed on the display device 20 match the fixedly displayed anchor dropping posture.

If the actual hull attitude and anchor boom attitude match the anchor dropping attitude, drop the anchor.

Next, the anchor on the starboard side can be dropped using the same procedure.

When the driving of the left and right anchors is completed, the bucket chain is rotated to perform dredging, and the hull 1 is rotated to change the dredging position by letting out and winding the rope from the left and right swing winches (not shown).

The postures of the hull 1 and anchor booms 4 and 5 at this time are also displayed on the display device 20, and the operator steers the ship so that the hull 1 does not cross the port and starboard turning lines LL and RL.

When the dredging work by turning is completed, the hull 1 is moved forward by changing the spuds. This work for replacing the spuds has been described above, so it will be omitted here. The amount of advance due to the replacement of the spud is equal to the amount of movement of the movable spud, and this amount of movement is determined by the movable spud position detector 16.
Detected by. This appropriate amount of movement is also displayed on the display device 20 by the calculator 17.

Regarding the specific points A and C after this movement, as described above,
,,R in the formula is R+S (S is the amount of movement)
If so, it can be easily determined, and the postures of the ship's hull and anchor boom are similarly displayed on the display device 20.

Dredging work was carried out while replacing the movable spuds.
When the amount of movement of the movable spud reaches the maximum stroke, the movable spud is replaced with the movable spud returned to its original position.

As the hull 1 moves forward and the positions of the left and right anchors are no longer appropriate, the anchors will be reset.The position for driving the new spud and the dropping position of the anchor, which are necessary for resetting the anchor, can be easily determined based on the current posture of the hull and anchor boom. Desired.

Here, the positions of the left and right anchors relative to the hull 1 are determined by the turning angles of the left and right anchor booms 4 and 5, so if you input the limit angle ψ ₀ for the turning angle ψ into the calculator 17 in advance, it will not be incorrect. It is also possible to issue a warning to the operator when the
Furthermore, at the time this warning signal is issued, the new spud position and new anchor drop position are calculated and displayed on the display device 2.
If it is displayed as 0, the operator does not need to set a new dredging position every time he or she performs the dredging operation, and the dredging operation can be performed efficiently without interruption.

[Effects of the invention] As described above, with the present invention, the optimal scheduled dropping position of the anchor is displayed on the display device, as well as the actual positions of the hull and anchor boom, so the operator can grasp the situation of the hull. This allows the anchor to be easily driven into the proper position, increases the safety of ship operation, and allows dredging work to be carried out efficiently regardless of the skill level of the ship operator.

[Brief explanation of drawings]

Fig. 1 is a block configuration diagram of an embodiment according to the present invention, Fig. 2 is a diagram showing display contents in the embodiment, Fig. 3 is an explanatory diagram for determining specific points necessary for display, and Fig. 4 is a diagram showing the display contents in the embodiment. The figure is a side view showing an example of a dredger, No. 5
The figure is a front plan view of the same. 11 and 13 are anchor boom levitation angle detectors, 1
2 and 14 are anchor boom rotation angle detectors, 15 is a gyro compass, 16 is a movable spud detector,
17 is a computing unit, 19 is a setting device, and 20 is a display device.

Claims (1)

[Scope of utility model registration request] A detector for detecting the heave angle and turning angle of the left and right anchor booms, a gyro compass for detecting the hull attitude, a movable spud position detector for detecting the position of the movable spud, and the movable spud located closest to the bow side. In this case, the distance between the movable spud and the center of rotation of the anchor boom, the length of the anchor boom, and the shape of the hull are entered into the setting device, and the coordinate axes with the movable spud driving point as the origin are determined and input from the setting device. Based on the data obtained, the port side cut line, starboard side cut line, planned port guideline for anchor insertion, and starboard guideline planned for anchor insertion are calculated with respect to the dredging center line, and when the ship turns left and right around the movable spud, When the tip of the rudder provided at A calculator that calculates the actual hull attitude and anchor boom attitude based on the detection signal from the detector, and a calculator that simultaneously calculates the planned anchor insertion position, actual ship attitude, and anchor boom attitude based on the calculation results of the calculator. What is claimed is: 1. A navigation aid device for a dredger, comprising: a display device for displaying information.