JPS585837B2 - Keiriyu Usagi Yosen Ni Okeru Keiriyurope no Sakaku Oyobi Yogenhireichikenshiyutsusouchi - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for detecting the difference angle of each anchor rope and its cosine proportionality for a work boat moored with several anchor ropes at a work site on the sea.

A work boat moored at sea with several anchor ropes is moored in a small area (several tens of centimeters to tens of centimeters) in order to move the working position or adjust position changes due to tides, wind, ebb and flow, etc.
It is necessary to perform parallel movement and turning maneuvers.

Conventionally, this kind of ship maneuvering work has been done by arranging the ship flat on a model, moving the ship, measuring the change in rope length, and instructing the winchman to extend and contract the required length of the rope in proportion to the change in mooring work. They were moving the workboat by operating winches placed throughout the ship.

This method requires calculation of the length of rope expansion and contraction, and also requires multiple people to operate a large number of winches, and to make judgments regarding ship maneuvering on a case-by-case basis, relying on experience, depending on the state of the ship during movement. The operation was extremely complicated.

The purpose of the present invention is to preset the parallel movement direction and the total moving distance or the turning direction and the total turning angle of the work ship, and to pay out each anchor rope when the work ship is moved in parallel or in a turning direction. An object of the present invention is to obtain a device for detecting a difference angle of each anchor rope with respect to a reference point and a cosine proportional value of this difference angle, which is used when detecting a winding length.

In general, it is possible to move a work boat that forms one plane in parallel to an expected position and turn in an expected direction by stretching and contracting multiple ropes. The conditions for minimizing the number are as follows, except in special cases.

In other words, if we take three points on the ship that form the vertices of a triangle that are separated by an appropriate distance from each other, and use these as reference points for starting rope extension (hereinafter also referred to as rope extension reference points), these three points are
Two ropes are each stretched from the vicinity of two rope tension reference points.

In this case, the number of ropes is six.

In this case as well, the range in which parallel movement and turning can be performed is limited by the conditions given by the position of the rope extension reference point on the ship and the position of the anchor point at the tip of the rope.

It is generally possible to expand the range of parallel movement and turning by increasing the number of rope extension reference points to four or more, or by increasing the number of ropes near the rope extension reference point to three or more. This also makes it possible to reduce the amount of tension applied to each rope.

The number of stretched ropes from each rope tension reference point is necessarily at least 2 from each point if the number of rope tension reference points is 4 or more.
There is no need to unroll each rope;
As a book, it is possible to perform some degree of translation and rotation within a certain limit range.

Moreover, the position of the rope extension reference point is not limited to only the position forming the apex of a triangle, but can be located at the position forming the apex of any number of polygons.

Therefore, it is clear that the shape of the work boat can be any arbitrary shape, such as a triangle, polygon, or circle, when viewed in plan.

Under the above conditions, in the actual example described below,
Taking a rectangular work boat with a side of several tens of meters as an example,
Two anchor ropes 100m from each apex of the work boat.
It is assumed that the vehicle will be extended to approximately 500 m, and will be moved in parallel by several tens of meters to several tens of meters, or made a small turn of several degrees to several tens of degrees. The aim is to keep the error within the tolerance of 30 cm.

In addition, the anchor at the end of the anchor rope is fixed to the seabed, and the anchor position does not change even when the ship is maneuvering. This is done automatically and the rope is not always in a relaxed state.

Furthermore, in the vertical direction of the stretched anchor rope, for example, if the stretched length of the rope is long and the weight per unit length of the rope is also large, but the tension of the rope is small compared to that, the part of the rope close to the ship is Although it is in a suspended state,
There may be a part of the rope lying on the seabed at a distance from the ship, and in that case, the suspended shape of the rope is assumed to remain approximately unchanged before and after slight movement, and the anchor winch pays out the rope. Changes in the length of the stretched rope when the rope is rolled up or wound can also be approximately regarded as changes in the length of the portion lying on the seabed.

For example, even if the length of the lobes is extended to a certain extent, the weight per unit length of the rope is not so large and the tension of the rope is relatively large, so that the rope has a substantially straight shape between the ship and the anchor.

In this case, if the height of the rope extension starting point on the moored work vessel from the seabed is not very high, the rope extension length and its projected length on the horizontal plane are close to each other.

In this case, the change in the length of the stretched rope can be considered to be similar to the change in the projected length of the rope.

As mentioned earlier, this method is sometimes adopted onboard actual ships as a practical idea.

As another example, there may be a case where the shape is intermediate between the shapes of the two examples described above, that is, a continuous suspended shape from the main ship to the anchor point.

Even in this case, it can be assumed that there is no major change in the suspended shape of the rope before and after the slight movement, and in practice it can be considered that the change in the length of the stretched rope is approximated to the change in the projected length of the rope. Dew.

1 and 2 show a schematic plan view and a side view of a moored work boat in which the device of the present invention is installed.

In the figure, 1 is the main body of the work boat, which is configured as a catamaran with hulls 2 and 2, and has two winches 3 at each corner.
In some cases, each corner is provided with a pedestal 4 that is driven into the seabed.

A rail 5 is placed on the trunk 2, and a crane 6 is placed on top of this.
A movable table 7 is movably mounted thereon.

Two anchor ropes 8 are stretched in arbitrary directions from a portion of each corner.

The relationship between the work boat 1 and the anchor rope 8 will be explained with reference to FIG.

In the figure, 8a to 8h indicate anchor ropes stretched from a portion of each corner, and P1 to P3 indicate anchor points.

C1 to C4 are called reference points of each corner, which form a rectangle, and correspond to the extension reference points of the anchor ropes 8a to 8h.

The center point of the ship is assumed to be 0, the straight line passing through this point at right angles to the center line of the ship and heading towards starboard is defined as OS, and the straight line parallel to this and heading towards starboard is collectively referred to as the angle reference line. .

β1 to β3 are extension direction angles of each anchor rope 8a to 8h with respect to the reference line, and the angles are positive when rotated to the left and negative when rotated to the right.

Based on this arrangement of anchor ropes, as shown in Figure 4, the parallel movement direction angle (hereinafter also referred to as movement direction angle) of the work boat is α, the movement distance is d, and γ1 to γ2 are the differences, respectively. Let it be a corner.

Next, as shown in FIG. 5, the required rope stretch length △Ln for the total moving distance d is approximately △Ln=d|cosγn
becomes ｜.

In FIG. 5, a indicates that γn is an acute angle, and the rope is contracted during movement, and in FIG. 5, b indicates that γn is an obtuse angle, and the rope is stretched during movement.

In other words, considering the expansion and contraction state of the eight ropes during parallel movement, the rope expansion and contraction conditions, that is, the conditions for stretching (feeding out), contracting (winding), or no expansion and contraction, are the difference angle γn (n = 1.2...
It is determined by the value of 8).

) As shown in Figure 6, (1) If the difference angle γn is 00 and the values of the first and fourth quadrants, that is, -90°<γn<90° and γn is an acute angle, the rope is Shrink (wind up).

(2) The difference angle γn is 180° and the second and third quadrants
If the value of the quadrant is 90°<γn<270° and γn is an obtuse angle, the rope is stretched (let out).

(3) If the difference angle γn is γn=±90' and is a right angle, there is no expansion or contraction of the rope.

Further, when performing parallel movement, it is necessary that at least one of the difference angles γn is an acute angle and the rope is wound.

As shown in FIG. 7, the total moving distance is d, and this parallel movement is performed by repeatedly moving a constant distance in small steps.

Let this constant distance be lo, let lo be the unit movement distance, and 1
After the movement of lo is performed in a period and the transient phenomenon caused by the movement has stabilized to a certain extent, the next period is entered, and this is repeated for N periods to complete the movement of the required distance d. .

That is, d=Nlo.

The value of lo is selected from the minimum distance required for movement during work, and can be switched to large, medium, or small.

In FIG. 8, the total movement distance d and the unit movement distance lo,
Required rope expansion/contraction length △1, n and △ln for these
It shows the relationship between

Instead of moving the entire distance at once, by repeating this unit distance movement multiple times, it is possible to make a small turn that occurs even when moving in parallel, or to move in a zigzag manner, or in some cases. It is possible to move smoothly while minimizing inconvenient phenomena such as excessive tension being transiently generated on some of the eight ropes or coasting.

Next, a method for detecting a cosine proportional value to the lobe difference angle, which is a reference value for the required rope expansion/contraction length for each rope, will be described.

FIG. 9 is a schematic diagram of a device for detecting a difference angle and a cosine proportional value, taking as an example two ropes 8a and 8b extending from a corner reference point C1.

In the figure, reference numeral 11 is a movement direction angle setting unit disposed in the work boat maneuvering room.

Then, the direction angle α is set by the parallel movement direction angle setting handle 12.
Set.

A celsin motor transmitter 1 is attached to the rotating shaft of this handle 12.
3 is directly connected, and its rotor rotates by α to the left.

This Sershin motor transmitter 13 is connected to the Sershin motor receiver 16 of the movement direction angle receiving section 15 of the difference angle and cosine proportional value detection section 14 with respect to the corner reference point C1, and its rotor is rotated α clockwise. Spur gears 17, 18 directly connected to are similarly rotated α to the right.

Sershin motor receivers 21 and 22 in the rope extension direction angle receiving sections 19 and 20 for the rope 8a and rope 8b
The spur gears 23 and 24 to which the stator is fixed are connected to the aforesaid gear 17.
, 18 have the same number of teeth and the same pitch diameter, and are in mesh with these, so the Sershin motor receiver 2
1 and 22 and spur gear 23. 24
are each rotated to the left by α.

The direction of this α rotation to the left is defined as OQ. On the other hand, a part of each corner, which is the rope extension reference point of the work boat, is
A pollard or fairlead (not shown) as shown in the figure is attached, and a rope 8 is in sliding contact with this and extends toward the sea.

The rope 8 is in contact with a rope contact arm 26 provided at one end of a rotary plate 27 on the pollard 25, and when the rope extension direction changes, the rotary plate 27 on the pollard rotates, and the rotary plate 27 on the pollard rotates. Spur gear 28 fixed to the rotating shaft
The rotor of the Sershin motor transmitter 53 is rotated via the spur gear 28, which has the same number of teeth and the same pitch diameter, and meshes with it.

The rope extension direction angles β1 and β2 measured through the rope extension direction angle detection device having such a structure are detected.

This rope extension direction angle detection device is indicated by reference numerals 31 and 32 in FIG.

The sershin motor transmitters 33 and 34 provided directly connected to the rope extension direction angle detection devices 31 and 32 are connected to the sershin motor receivers 21 and 22, and the rotors of the sershin motor receivers 21 and 22 are Rotate clockwise by β1 and β2 from OQ, respectively.

As a result of the above, the cell thin motor receiver 21. The 22 rotors are β1-α=γ1, β2 from the reference line OS, respectively.
This means that the rotation is clockwise by −α=γ2, and the difference angle γ1,
The spur gears 35 are rotated clockwise by γ2 from the reference line and are directly connected to the rotors of the Sershin motor receivers 21 and 22.
, 36 are rotated clockwise by γ1 and γ2 from the reference line OS, respectively.

Further, the cosine proportional value detection section 37. 38 includes two spur gears 39, 40 that mesh with the spur gear 35, and two spur gears 41, 42 that mesh with the spur gear 36, and these spur gears that mesh with each other have teeth. The number and pitch circle diameter are equal, and input potentiometers 43,
44 are arranged.

The sliders 45 and 46 are connected to the respective spur gears 39 .
It is stretched between arms 47, 48 and 49, 50 provided at 40 and 41, 42.

Therefore, spur gears 35 and 36 are each
When rotated clockwise by 1, γ2, spur gears 39, 40 and 4
1 and 42 are respectively rotated to the left by γ1 and γ2 from the OS.

On the other hand, the resistance elements 51 and 52 in the input potentiometers 43 and 44 are vertically divided into two by a straight line connecting the rotation centers of the arms 47 and 48 and 49 and 50.

Changes in the resistance values of the resistive elements 51 and 52 are linearly proportional to the distance from the center point C1 or C2 on the resistive element.

Now, both ends of resistance elements 51 and 52 are connected to A1 and B1, respectively.
, and A2, B2, the center is C1, C2, and the voltages at both ends and center are VA1, VB1, Vc1 and VA
2, VB2, Vc2, and the voltage at both ends is VA1
=VA2=E, VB1=VB2=-E, and the center voltage is Vc1=Vc2=±0.

In addition, when γ=0, γ=90°, γ=180°, the voltage taken out from the input potentiometers 43 and 44 is E, ±0
, -E.

If the contact point between the resistance element 51 and the slider 45 is P1, the contact point between the resistance element 52 and the slider 46 is P2, and the voltages are VP1 and VP2, cosγ1|Similarly, VP2=ECOSγ2.

As described above, the voltage Vp1 proportional to the cosine value of the difference angle,
VP2 can be taken out.

By providing such a device for each rope, it is possible to detect the difference angle of the ropes and its cosine value and obtain a voltage proportional to this for all the ropes.

Based on the voltages thus obtained, a reference value for the required rope expansion/contraction length for each unit movement distance during parallel movement of each rope is synthesized, and this is converted into a voltage value using an input potentiometer.

On the other hand, an output potentiometer (not shown) whose voltage value changes in proportion to the number of rotations of the drum is provided in order to detect the rotation angle of the winch drum and the length of extension and contraction of the rope.

By determining whether the voltage detected by the input potentiometer is positive or negative, the winch is operated to wind or unwind the rope, and as it rotates, the absolute value of the voltage of the output potentiometer increases to be equal to the voltage of the input potentiometer. Stop the winch when this happens.

To explain this in a little more detail, unit movement distance l per cycle
To move o, the required stretch length of each rope is △
If ln (n=1, 2...8), △Ln=N・△ln
becomes.

The magnitude of γn in Δln=lo|cosγn| continues to change slightly even during movement of unit movement distance lo, and therefore the input potentiometer value proportional to lo|cosγn| also continues to change slightly.

However, the absolute value of the voltage taken out from the output potentiometer starts from O and increases almost in proportion to the rotation of the drum.
Since the rate of change is greater than the rate of change of the input potentiometer value, they always reach the same value.

If the expansion/contraction length is expressed as lo|cosγn|, this γn is the value at the final point of movement of a unit movement distance, and γn can be regarded as approximately constant within movement of a unit movement distance.

As already mentioned, the unit travel distance lo can be switched between medium and small, and the voltage applied across the resistive element of the input potentiometer is constant, so the voltage taken out from the input potentiometer is only the cosine value of the difference angle. It is proportionate.

Therefore, the method for determining the difference in the magnitude of lo is accomplished by switching the voltage applied across the resistive element of an output potentiometer (not shown).

That is, a voltage inversely proportional to the value of lo is generated and applied across the resistive element of the output potentiometer, thereby causing l
By detecting the rotation angle of the winch drum which is proportional to the size of o, it is possible to detect the length of the rope.

The expansion and contraction of this anchor rope is performed by winches placed at each corner of the work boat, but the diameter of the anchor rope is thick, and if it is wound around the drum of each winch in several stages, the drum The distance from the center of the drum differs depending on the level of the ropes stacked on top, and when trying to detect the rotation angle of the winch drum to detect the length of rope expansion and contraction, the difference in the length of rope expansion and contraction in one rotation of the drum depending on the level of the rope. Since it is necessary to correct this, a device for controlling the extension/contraction length around the drum of the rope extension winch is installed to correct it.

The drum periphery telescoping length control device of the rope telescoping winch described herein is not the subject of this application, but is disclosed in other applications of the present applicant.

The details of this device described above are for the case where a work boat is moved in parallel.

The total movement distance d for this parallel movement is regarded as an integral multiple of the unit movement distance lo, and a value proportional to the cosine value as a reference value of the required rope expansion/contraction length, which differs for each rope, is calculated corresponding to the unit movement distance. This device is used for detection.

Here, the operations generally required for position adjustment of a moored work vessel can be divided into two.

That is, one of them is the above-mentioned translation, and the other is rotation.

In both cases, the range of movement is self-limited by given conditions.

These conditions include various factors related to the extension of the anchor rope, such as the number and position of reference points on the work vessel for the start of rope extension, the number of ropes to be extended from each reference point, and the distance to the anchor point at the end of each rope. The distance, the relative position of each anchor point are factors, and in some cases, the total length of the rope that can be stretched is also a limiting condition.

Next, the device used for the purpose of parallel movement as described above was
We will also discuss whether it can be used for the same purpose in the case of small turns.

In the case of turning operation, the relationship between the work boat and the anchor rope extension direction angle is as shown in FIG. 3, as in the case of parallel movement.

Based on the arrangement of the anchor ropes, the difference angle γn (n=1, 2...8) is defined as shown in Figures 11 and 12 for right-hand turns and left-hand turns. .

In these figures, α1 to α4 are corner reference points C1 to C with respect to the angle reference line OS when turning right or left.
The moving direction angle is 4.

For example, in the case of a right turn, as shown in Fig. 13, the direction of movement exists in a perpendicular direction extending to the right of OC1 to OC4 when viewed from the hull center point O, and therefore this direction is the reference direction. The angles formed with respect to the line OS are the moving direction angles α1 to α4, which are always constant values.

That is, it is determined geometrically from the relationship between the center point of the hull and the relative positions of the husbands of C1 to C4.

In addition, in the case of a left turn, the direction of movement exists in a direction rotated 180 degrees from the direction of a right turn. Therefore, the movement direction angle values α1 to α4 are 18 times larger than α1 to α4 in the case of a right turn.
This is the value added by 0°.

As shown in FIG. 14, the total turning angle of the work boat is assumed to be 0, and this turning angle is completed by repeating the operation of turning by a minute unit turning angle θo N times.

Instead of turning the entire turning angle at once in the same way as repeating the movement of the unit movement distance in the case of parallel movement described above, by repeating the turning of such a small unit turning angle multiple times, Due to the difference in the length of time it takes for the eight ropes to expand and contract when turning, unreasonable tension or transient tension may be created on some of the ropes, there may be a temporary pause in the middle of the turn, or the center point of the ship may have to be slightly moved while the final It is possible to turn smoothly while minimizing the inconvenient phenomenon of unnecessary movements such as settling at the original center position.

As shown in FIG. 15, when turning at a unit turning angle θ0, the moving distance do of the reference points C1 to C4 at each corner is OC
If n (Cn is a general term for reference points) and R, then do=R·θ0 (θ0 is radian) approximately.

As shown in Fig. 16, when turning with a unit turning angle θ0 every cycle, the required length of each rope is △Ln(n
=1,2...8), approximately △Ln=do|c
osγn|

In FIG. 16, a indicates an acute angle of γn, which causes the rope to be contracted when turning, and b in FIG. 16 indicates an obtuse angle of γn, which causes the rope to stretch when turning.

As described above, even when turning, by using the method of turning with a unit turning angle, it is possible to detect the required length of extension and contraction of the rope in the same way as the method of moving with a unit movement distance during parallel movement described above. Become.

Here, we will describe a method for synthesizing the difference angles during turning and detecting their cosine proportional values.

FIG. 17 is a schematic diagram of various devices related to corner movement direction angle setting during turning.

Here, the term "corner" refers to the corner reference points C1 to C4, and C1 to C4 are also points that are approximately regarded as the reference points for starting the rope extension.

This figure shows the connection state when turning right.

In the figure, 98 is a centralized control panel, 99 is a turning direction selection switch installed near it, these are placed in the maneuvering room of a work boat (not shown), and 100 is a corner movement direction when turning. Four Sershin motor transmitters 101 to 1 showing angle setting devices and corresponding to the four corners of a work boat
Consists of 04.

As shown in FIG.
It is always set to transmit the angle between the vertical movement direction extending to the right of ~OC4 and the reference line OS, that is, the movement direction angles α1, α2, α, and α4 of the corner reference point during a right turn. , installed inside the maneuvering room.

The moving direction angle receiving section 15 in the difference angle and cosine proportional value detecting section 14 already explained in FIG. 9 is set at the corner reference point C1.
Further, 106, 107 and 108 indicate moving direction angle receiving units for the corner reference points C2, C3 and C4. By selecting the right turn of the turning direction selection switch 99, the Sershin motor transmitter 101 is set in the moving direction. By connecting 102 to 110, 103 to 111, and 104 to 112 to the Sershin motor receiver 16 in the corner receiving section 15, each Sershin motor receiver 16, 110,
The rotors 111 and 112 are rotated to a set angle,
The moving direction angle of the corner reference point for turning to the right is set.

In this way, even if the movement direction angle at each corner reference point is different when turning, the difference angle and cosine proportional value detection device used in the case of parallel movement can be provided independently for each corner. This makes it possible to receive the direction of movement.

Next, among the four corner reference points, only the C1 part is set to the 17th corner reference point.
This is shown in FIG. 18, taken out from the figure and combined with the related parts shown in FIG. 9 already shown.

That is, this figure shows the mutual connections of related devices during a right turn with respect to the corner reference point C1.

The content is the same as that already explained in the case of parallel movement, but the only difference is that α1 is given instead of α in the case of parallel movement in the composition of the difference angle, and the difference angle is relative to rope 8a. Then, let γ1 = β1 - α1, and the rope 8
b is synthesized as γ2-β2-α1, and therefore a proportional value of COSγ1 and COSγ2 is detected.

Distinguishing this from the perspective of the configuration of the device, in the case of parallel movement, a device shown in the movement direction angle setting section 11 is used as shown in FIG. The one that gives a common moving direction angle α to the moving direction angle receiving unit of ~C4 (only the C1 part 14 is shown in the figure), and the one that gives a common moving direction angle α to the moving direction angle receiving unit of C4 (in the figure, only the C1 part 14 is shown).
As shown in FIG.
1 to 104 differ in that each corner reference point is given its own movement direction angle α1 to α4 as described above.

The interconnection of the related devices in the case of a right turn among the above turns has been explained with reference to FIGS. 17 and 18. On the other hand, in the case of a left turn, the left turn is selected using the turning direction selection switch 99 in FIG. 101 and 111, 102 and 112,
By switching so that 103 and 16, 104 and 110 are connected, respectively, the rotors 16 and 110 to 112 have their respective corner movement direction angles 180 when turning to the right.
The rope is rotated to an additional value of .degree., and the other steps are performed in the same manner as when turning to the right, so that the difference angles of each rope are combined and a cosine proportional value is detected.

The above is an explanation of the configuration for detecting the difference angle and cosine proportional value in the case of turning, but also in the case of turning, turning with a unit turning angle θ0 is repeated multiple times to complete the entire turning, and this θ0 is to be switched between large, medium and small, so the size of do (=R・θo) will also be large, medium and small, and the required rope stretch length △Ln=do
|cosγn| (n=1, 2...8) varies depending on the size of do.

The determination of the magnitude of do is the same as the determination of the unit movement distance lo described above. Now, take a certain magnitude of lo, and let Elo be the corresponding voltage applied across the resistance element of the output potentiometer. For example, the applied voltage Edo for a certain magnitude of do is set to a voltage that satisfies the relational expression: Edo:Elo=lo:do.

That is, by setting a voltage that is inversely proportional to the magnitude of the moving distance, it is possible to determine the magnitude of do and, in turn, θo.

If the voltage of the input potentiometer and the voltage of the output potentiometer (not shown) are compared as described above and the winch operation is stopped when the two voltages match,
Movement of the set unit movement distance or turning of the unit turning angle is completed.

By repeating such an operation a plurality of times, it is possible to complete movement over a predetermined total travel distance or turning through a predetermined total turning angle.

As is clear from the above description, according to the device of the present invention, the rope extension direction angle detected by the extension direction angle detection device of each rope mooring the work boat and the parallelism set by the movement direction angle setting device of the work boat The difference between the movement angles of each corner reference point set by the movement direction angle or corner movement direction angle setting device during turning can be synthesized as a difference angle, and a voltage proportional to the cosine value can be obtained by the input potentiometer. It is possible to accurately detect the required length of expansion and contraction of the rope.

[Brief explanation of the drawing]

1 and 2 are a plan view and a side view of an example of a moored work boat to which the device of the present invention is applied, FIG. 3 is an explanatory diagram showing the relationship between the work boat and the rope extension direction angle, and FIG. Figure 5 is an explanatory diagram of the rope difference angle obtained by subtracting the moving direction angle of the work boat from the rope extension direction angle. Figure 6 is an explanatory diagram showing the expansion/contraction relationship between the angle of difference and the anchor rope, and Figure 7 is an explanatory diagram showing the relationship in which the total travel distance is an integral multiple of the unit travel distance.
Fig. 8 is an explanatory diagram showing the relationship between the total movement distance, unit movement distance, and the required rope extension/contraction length for each, and Fig. 9 is the configuration of the difference angle and cosine proportional value detection device and related devices in the case of parallel movement. Figures 10a and 10b are a plan view and a side view of the rope extension direction angle detection device, Figures 11 and 1
Figure 2 is an explanatory diagram showing the difference angle of each rope, which is obtained by subtracting the moving direction angle of the corner reference point from the rope extension direction angle when turning right and turning left, respectively, and Fig. 13 takes the case of turning right as an example. An explanatory diagram showing that the movement direction angle of the corner reference point always has a constant value with respect to the reference line. Figure 14 is an explanatory diagram showing the relationship in which the total turning angle is an integral multiple of the unit turning angle.
FIG. 5 is an explanatory diagram showing the movement distance of the corner reference point for a unit turning angle, and FIGS. 16a and 16b are explanatory diagrams showing the required rope expansion/contraction length for the corner reference point movement distance when the difference angle is an acute angle or an obtuse angle. FIG. 17 is a schematic configuration diagram of various devices related to setting the corner movement direction angle of four corner reference points when turning right, and FIG.
FIG. 2 is a configuration diagram of a difference angle and cosine proportional value detection device and related devices when turning. 1...Work boat, 8a, 8b...Rope, 9...Constant power supply device for common input cabotentiometer, 11...Movement direction angle setting section, 13...Selsin motor transmitter, 14...Difference angle and cosine Proportional value detection section, 15...Movement direction angle reception section,
16...Selsin motor receiver, 17,18...Spur gear, 21,22...Selsin motor loaner, 31,3
2... Rope expansion direction angle detection device, 37, 38... Cosine proportional value detection unit, 43, 44... Input cabotension meter,
53... Sershin motor transmitter, 99... Turning direction selection switch, 100... Corner movement direction angle setting device during turning, 101-104... Selshin motor transmitter, 10
6 to 108...Movement direction angle receiving section, 110 to 112...
Sercin motor receiver.

Claims (1)

[Claims] 1. In a control device for parallelly moving or turning a moored work boat moored at sea by a plurality of anchor ropes by controlling the expansion and contraction of the anchor ropes, a setting means for setting a direction angle in which a starting point of extension of the anchor ropes moves; , a means for detecting the extension direction angle of the anchor rope, a transmission means for transmitting the angle detected by the extension direction angle detection means, and an angle obtained by subtracting the movement direction angle from the rope extension direction angle, and the cosine of this angle is calculated. 1. A mooring rope difference angle and cosine proportionality detection device for a moored work vessel, characterized by comprising means for detecting a proportional value.