JPS5926913B2 - Stability control method for ocean research vessel and position detection device for stability control - Google Patents

Description

[Detailed Description of the Invention] This invention installs a beacon oscillator or transponder at a predetermined location on a cable that lowers research equipment intended for deep sea research deep into the sea or to the seabed, and also installs a plurality of beacon oscillators or transponders on the bottom of an ocean research vessel. Stability maintenance control for a marine research vessel equipped with a hydrophone that detects the relative positional relationship between the beacon oscillator or transponder and the marine research vessel, and maintains the ship's position constant in relation to the cable. The present invention relates to a method and a position sensing device for stability control.

Conventionally, the stability of a ship during navigation has been maintained by detecting the position of the ship using the following three methods.

(1) Radio wave type In the case of this radio wave type, slave stations 1 and 2 are installed at two locations where the location (latitude and longitude) of land A is known, as shown in Figure 1, and the main station 4 is installed on the ship 3. is installed, and transmits radio waves in the microwave band from main station 4 to slave stations 1 and 2, and each slave station 1
, 2, the phase difference between the phase of the signal sent back and the signal from the main station 4 is determined, the position of the ship 3 is determined by the principle of triangulation, and the position of the ship 3 is determined to keep this position constant. It controls the drive device.

This radio type uses ultrasonic waves, so it can only be used in sea areas where there is optical line-of-sight between the slave station and the main station.

Furthermore, since it is necessary to install the slave stations 1 and 2 on land, there is an inconvenience in that it is impossible to determine the position of the ship 3 alone.

(2) Ultrasonic type Next, we will discuss the case of an ultrasonic type, which is different from the radio wave type described above.

In this case, as shown in FIG. Detect the position.

In this way, control is performed to maintain the position of the ship 3.

In this case, there are several combinations of hydrophons and beacon oscillators, such as single transmission, multiple reception, multiple transmission, and single reception.

There is also a method of using a transponder instead of using the beacon oscillator 5 described above.

FIG. 3 shows the case where this transponder is used.

In this case, as shown in the figure, transponders 8a to 8d
is installed in the sea, receives ultrasonic waves from the HydroFon, and sends them back to the HydroFon 7, and each transponder 8a to 8d that receives the HydroFon 7
The relative positions of the transponders 8a to 8d and the ship 3 are known from the phase difference and time difference of the ultrasonic waves transmitted from the transponders 8a to 8d.

However, both the method using the beacon oscillator 5 shown in FIG. 2 and the method using the transponders 8a to 8d shown in FIG. Install it in the correct position,
It is difficult to recover them on board a ship due to the force of the deep sea, and it is necessary to have a container structure that can withstand the water pressure of the deep sea, which inevitably leads to an increase in size and weight.

In addition, depending on the seawater temperature distribution, the effect of sound ray refraction can be significant in deep seas, increasing errors in position detection, or in extreme cases, making position detection impossible.

Furthermore, even if normal measurements can be made, the equipment must have a high output, which has the disadvantage of increasing the size, weight, and price of the equipment.

(3) Mechanical type Next, we will discuss the case of a mechanical type, which is different from either of the methods described in (1) and (2) above.

In the case of this method, as shown in Figure 4, a ship 3 is placed on the seabed 6.
The reference point of the sinker 10 fixed to the lower end of the tote wire 9 taken down from the ship is connected to a certain point on the ship using the tote wire 9, and the tension is adjusted by a tension wire winch to keep the tension constant. The declination angle with respect to the reference line between the ship 3 and the ship 3 is measured.

With this, the relative position with respect to the sinker 10 is calculated.

However, in the case of the method shown in Fig. 4, the water depth is 100
It has only been used in cases shallower than 0 m, and it is extremely difficult to apply it to deeper water depths, and it cannot be used for trench research vessels that target water depths of several thousand meters.

Further, since installing the sinker 10 requires a lot of labor, equipment, and time, it is not suitable for general research vessels that wish to survey several locations in a day.

For the above reasons, even though it is used in offshore oil drilling rigs, position detection becomes an obstacle for ocean research vessels due to the large depths in which they operate, so a precise fixed point holding system is adopted. The reality is that it is not.

Marine research vessels often carry out observation surveys in deep waters, using steel cables to lower research equipment to the ocean floor.

At this time, the relative relationship between the ship and the survey equipment is determined by ocean currents, tides, wind,
Severe collapse due to other reasons is not desirable from the standpoint of maintaining the posture of the survey equipment, preventing abnormal tension in the steel cables, and preventing the steel cables from becoming entangled in the propeller.

Currently, the direction of steel cables can be monitored from the ship even under severe weather and sea conditions such as extreme heat, extreme cold, wind, rain, waves, and spray.
Since it takes a long time between the start and end of a survey or observation for a deep-sea object, personnel are changed and the ship is maneuvered so that the relative relationship between the ship and the survey equipment does not deteriorate significantly.

This requires a large number of experienced crew members under harsh working conditions.

Moreover, even if you monitor the direction of the steel cable in this way, you can only see a few meters above the water and one underwater.
~2 meters, which is not necessarily satisfactory monitoring.

Furthermore, with the conventional position detection methods described in items (1) to 3) above, (a) the ship cannot install the detector by acting alone;
b) The sea area where the detector can be used is extremely limited;
(c) For use in deep waters, the detector must have a special structure such as a pressure-resistant container; (a) It is difficult to install the detector, and the accuracy deteriorates, especially at great depths. have.

This invention has been made in view of the above points, and uses ultrasonic waves from a beacon oscillator or transponder installed at a predetermined position from the water surface of a cable that lowers research equipment from an oceanographic research vessel to the sea or the seabed. Ultrasonic waves are received by three or more hydrophones installed in a plane parallel to the horizontal plane of the ship's bottom, and the relative positional relationship between the ocean research vessel and the beacon oscillator or transponder is determined from the phase and time difference of the ultrasonic signals received by each hydrophone. is calculated, and based on the calculation result, the positional relationship between the cable and the marine research vessel is detected, and the position of the marine research vessel is controlled so that the cable extends directly to the side of the marine research vessel and is suspended vertically. The gist is that it is characterized by carrying out the following,
A beacon oscillator or transponder is installed at a predetermined position above the water surface on a cable that the oceanographic research vessel lowers research equipment into the sea or the seabed, and three or more beacon oscillators or transponders are installed on the bottom of the marine research vessel and transmit signals from the beacon oscillator or transponder. A hydrofont that receives ultrasonic waves, and calculates the relative positional relationship between the ocean research vessel and the beacon oscillator or transponder from the phase and time difference of the ultrasonic waves received by three or more hydrofonts. By controlling the position of the oceanographic research vessel so that the cable extends directly to the side of the oceanographic research vessel and is suspended in the vertical direction, There are no restrictions, no time and effort is required to install and retrieve the detector, and the position of the ocean research vessel can be easily maintained at a constant position relative to the cable even in the deep ocean where it is aimed. Coupled with the ability to easily detect the ship's position using normally used equipment, this makes it possible to significantly reduce the number of crew members, thereby reducing costs. It is an object of the present invention to provide a stability control method for an ocean research vessel and a position detection device for stability control, which can significantly improve the reliability and certainty of ship maneuvering.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a method for controlling stability of an ocean research vessel and a position detection device for controlling stability of the present invention will be described below with reference to the drawings.

FIG. 5 is a diagram showing a schematic configuration of an embodiment of the system, that is, an embodiment of a position detection device for stable control of an oceanographic research vessel. It is something that

In this Fig. 5, for convenience of explanation, Figs.
The same parts as in the figures will be described with the same reference numerals.

11 in the figure is the sea surface, and the oceanographic research vessel 12 is on this sea surface.
is emerging.

An observation winch 13 and a large A-frame 14 are provided on the ocean research vessel 12.

The observation winch 13 is used to raise and lower the research equipment 15 deep into the sea or to the seabed.

Further, the large A-frame 14 is provided to conveniently handle the investigation equipment 15 on the side.

A pulley 16 is suspended from this large A-frame 14.

For example, a steel cable 17 is suspended from this pulley as a cable.

The steel cable 1γ is for raising and lowering the above-mentioned investigation equipment 15.

As this research device 15, for example, a piston core is used which is inserted into the seabed 6 to collect a soil sample.

Inside the steel cable 11, for example, from sea level 11 to several 10
A beacon oscillator or transponder 18 is mounted at 0 meters (100-200 meters).

When a beacon oscillator is used, ultrasonic waves are transmitted from the beacon oscillator to the hydrophone 7, and when a transponder is used, ultrasonic waves are transmitted from the transponder to the hydrophone 7.

Three or more hydropons 7 are arranged in a plane parallel to the horizontal plane of the bottom of the marine research vessel 12.

The arrangement positional relationship is as shown in FIG.

FIG. 6 schematically shows a bottom view of the oceanographic research vessel 12.

As is clear from FIG. 6, four hydrophons 7a to 7d are arranged at predetermined locations on the bottom 12a of the oceanographic research vessel 12 at the four corners of a square.

Further, in FIG. 5, a pair of left and right propulsion probes 19 are provided on the bottom 12a of the marine research vessel 12 near the stern.

In addition, 20 is a rudder, 21 is a bow thruster (lateral bow propulsion device), and 22 is a stance thrust (lateral stern propulsion device).
shows.

Next, the operation of the position detection device for stability control of a marine research vessel of the present invention configured as described above will be explained, and in explaining the operation, the method of stabilization control of a marine research vessel of the present invention will be explained. Also listed.

That is, the explanation will be given by applying the position detection device for stability control of an oceanographic research vessel to a method for controlling stability of an oceanographic research vessel.

FIG. 7 is a diagram for explaining the relationship between the four hide fins 7a to 7d disposed on the bottom 12a and the steering direction of the oceanographic research vessel 12.

In FIG. 7, 0 is the origin of the X-X axis, Y-Y axis, and Z-Z axis placed at the center of the hydrophons 7a to 7d.

Further, the XX axis is a horizontal line that lies on the center plane of the longitudinal hull of the oceanographic research vessel 12 and passes through the origin 0.

The Y-Y axis similarly passes through this origin O, and is horizontal and perpendicular to the X-X axis.

Then, the Z-Z axis also passes through the origin O, and the X-X axis, Y
- is a vertical axis perpendicular to the Y axis.

On the other hand, the symbol H is the pulley 1 suspended on the large A frame 14.
6, b is the distance measured from the origin 0 on the X-X axis, a is the distance measured from the origin O on the Y-Y axis, and C is the distance measured from the origin 0 on the Z-Z axis. The measured distance is shown above.

These distances a, b, c are known for shipboard installations.

In addition, T is the middle of the steel cable 1T (predetermined distance from the sea level 11)
l indicates the location of the beacon oscillator or transponder 18 mounted on the pulley 16 of the large A-frame 14.
The length of the steel cable 17 from to the beacon oscillator or transponder 18 is shown.

Furthermore, α is the angle formed by the position H of the pulley and a straight line parallel to the X-X axis when the straight line that is the projection of the position T of the beacon oscillator or transponder onto the plane of the X-X axis and the Y-Y axis is in the same plane. shows.

Further, β indicates the angle formed by the projection line, the position H of the pulley, and the position T of the beacon oscillator or transponder 18.

Furthermore, θ is the beacon oscillator or transponder 18
Indicates the angle between the projection line, the beacon oscillator or transponder 18, and the origin O, and δ is the angle between the projection line, the beacon oscillator or transponder 18, and the origin O. Indicates the angle formed by the line connecting

Note that f indicates the straight-line distance between the position T of the beacon oscillator or transponder and the origin O.

Now, a plurality of hydrophons 7a to 7a (located centered on the origin O in FIG. 7) provided on the bottom 12a of the ocean research vessel 12 are connected to a beacon oscillator or transponder 18 (as shown in FIG. 7). Receives ultrasonic waves emitted by a beacon oscillator or transponder (located at position T).

At this time, when measuring the phase difference and time difference of the signals received between the plurality of idrophones 73 to 7d, we can find the straight line distance f between the position T of the beacon oscillator or transponder 18 and the origin 0, and its azimuth θ. , δ can be obtained.

This allows the beacon oscillator or transponder 18
The position T of is determined.

Once this position T is determined, the angle α between the steel cable 17 and the sea surface 11 is determined.

β can be determined from the values of distances a, b, and c that are known as onboard equipment.

These calculations can be easily and quickly performed using an electronic computer.

Furthermore, the length l of the steel cable 17 between the pulley 16 of the large A-frame 14 (located at position H in FIG. 7) and the beacon oscillator or transponder 18 (position T in FIG. 1) is Since the position T of the beacon oscillator or transponder 18 can be determined from this value as well, the position detection system has a double method. It can also be used as a coefficient to know the extension status of the steel cable.

In this way, when the direction of the beacon oscillator or transponder 18 is known, the angle α is 90° and the angle β is also 90°, that is, the steel cable 17 on which the survey equipment 15 is suspended is A propeller 19 for propulsion of the marine research vessel 12 (constituting a propulsion drive device) extends directly to the side of the marine research vessel 12 and is suspended vertically.
, the rudder 20, the bow thruster 21, and the stance rask 22 are automatically controlled.

In this case, the steel cables 17 are controlled so as to be suspended vertically from the pulleys 16 installed on the A-frame 14 while maintaining the distance from the hull shell as much as possible.

Accordingly, when the oceanographic research vessel 12 is to maintain its position in the target sea area, especially in the deep sea area, and perform various surveys and various observations, it is necessary for the marine research vessel 12 to operate on its own and use normally used equipment. The position of the oceanographic research vessel 12 can be easily detected using this method.

FIG. 8 is a block diagram showing the configuration of an embodiment of a control system that performs the above-mentioned automatic control.

In this FIG. 8, 23 indicates a disturbance.

This disturbance 23 is applied to the disturbance detector 24 and the oceanographic research vessel 12. When the disturbance 23 is applied to the disturbance detector 24, it is detected and the disturbance detection signal 24a is sent forward to the control device 25. The information is sent to the control unit 25a.

The control device 25 has this feedforward control section 25a and a feedback control section 25b, and the feedback control section 25b has a course target value 26 of the ocean research vessel 12 and a position detection device 27 (the above-mentioned beacon oscillator or A deviation signal 28 is supplied by comparing position and orientation detection signals 27a detected by the transponder 18 and the hydrophones 78 to 7d).

The position detection device 27 detects the position and azimuth of the oceanographic research vessel 12 at the fifth position.
The position and azimuth, such as the angle formed between the beacon oscillator or transponder 18, the hydrophones 7a to 7d, the steel cable 17, and the sea surface 11, is determined as described with reference to FIGS. 7 to 7.

In this way, the position and azimuth of the oceanographic research vessel 12 is determined by the position detection device 27, and the deviation signal 28 between the position and azimuth detection signal 27a and the target value 26 is supplied from the position detection device 27 to the feedback control section 25b. Then, the feedback control unit 25b outputs the feedback control amount.

Further, when the disturbance detection signal 24a is applied to the feedforward control section 25a, the feedforward control section 25a outputs a feedforward control amount.

The feedforward control amount and the feedback control amount are compared in the control device 25, and a deviation signal thereof, that is, a thrust command signal 29 is output from the control device 25.

This thrust command signal 29 is sent to a propulsion drive device 30.

The propulsion drive device 30 includes a propulsion propeller 19, a rudder 20, a bow thruster 21, a stance rask 22, etc. shown in FIGS. 5 and 6.

By applying the thrust command signal 29 to the propulsion drive device 30, a thrust force 31 is applied to the oceanographic research vessel 12, and as described above, the position of the oceanographic research vessel 12 is maintained and controlled at the target position.

As is clear from the above, the present invention is aimed at the deep sea, and a beacon oscillator or A hydrophone 7 (for example,
7a to 7d), and the thrust drive device is controlled so as to maintain the position of the marine research vessel 12 at a constant position relative to the cable.

The characteristics of the above-mentioned embodiments associated with this can be summarized in terms of easy-to-understand items as follows.

(i) The range of use of precision holding systems is not limited to use near the coast or in places where the water depth is shallower than several hundred meters, as is the case with conventional offshore oil drilling rigs.

(ii) When used, there is no need to install a land station, a sinker, or a special beacon oscillator or transponder in a deep-sea pressure vessel, and therefore there is no need to remove it. .

(iii) Since relatively inexpensive beacon oscillators, transponders, etc. for shallow sea use that are already in use are used, it is much cheaper than the conventional approach of developing and producing ones for deep sea use.

(IV) Underwater installation,
Recovery is extremely easy.

(vJ) Previously, the ship was maneuvered by observing only the behavior of the cables close to the sea surface, but now the ship can be operated by detecting the behavior of the cables at depths of several hundred meters. Reliability and certainty are greatly improved.

(■1) Conventionally, the behavior of the cable was monitored near the cable,
This will be reported to the bridge, and the officer on duty will order the ship operator on duty to operate the propulsion propeller, rudder, bow thruster, and stance rusk appropriately based on experience and intuition, but with this invention, these personnel are unnecessary. This allows for a significant reduction in the number of passengers.

QI) At present, it is said that the vessel will be operated to the best of its ability under any conditions, regardless of the experience and ability of the line watcher, the officer on duty, and the helmsman on duty, the physical and mental state of the moment, weather, sea conditions, etc. I can't afford it.

However, in this invention, various external conditions are detected and estimated,
The vessel can be operated to maintain a constant position relative to the line.

Moreover, the dynamic characteristics of the oceanographic research vessel were tested in advance through a model test.
If you fully understand this through experiments, conduct simulation tests in advance, and conduct research, you will be able to maneuver the ship with even greater precision under various external conditions.

Due to the above characteristics, the present invention can be applied to a ship holding control system having a calculation mechanism and a position detection system for this holding control system.

As described in detail above, according to the stability control method for an oceanographic research vessel of the present invention, a beacon oscillator or transponder installed at a predetermined position from the water surface of the cable that lowers research equipment from the oceanographic research vessel to the sea or the seabed can be used. The ultrasonic waves are received by three or more hydropons installed in a plane parallel to the horizontal plane of the bottom of the marine research vessel, and from the phase and time difference of the ultrasonic signals received by each hydropon, it can be determined that the oceanographic research vessel and Calculates the relative positional relationship with the beacon oscillator or transponder, detects the positional relationship between the cable and the oceanographic research vessel based on the calculation result, and causes the cable to protrude directly to the side of the oceanographic research vessel and hang vertically. In addition, according to the position detection device for stability control of a marine research vessel of the present invention, the marine research vessel can be used as a research equipment. A beacon oscillator or transponder is attached to a predetermined position above the water surface of the cable lowered into the sea or the seabed, and three or more beacon oscillators or transponders are installed on the bottom of the marine research vessel to receive ultrasonic waves from the beacon oscillator or transponder. means for calculating the relative positional relationship between the ocean research vessel and the beacon oscillator or transponder from the phase and time difference of the ultrasonic waves respectively received between the hydrophon and the three or more bite adders;
The main feature of the present invention is that the position of the marine research vessel is controlled so that the cable extends directly to the side of the marine research vessel and is suspended vertically, so there is no limit to the depth of the water. There is no need for time and effort to install and retrieve the detector, and even in deep waters where the marine research vessel is intended, the vessel's position can be easily maintained at a constant position relative to the cable, and the vessel can act independently and normally. Coupled with the ability to easily detect the position using existing equipment, it is possible to significantly reduce the number of crew members, which in turn reduces costs and improves the reliability and certainty of ship maneuvering with respect to the rope. It has excellent effects such as significantly improving performance.

[Brief explanation of the drawings] Figure 1 is a diagram for explaining a conventional radio-based ship position detection method, and Figure 2 is a diagram for explaining a conventional ultrasonic ship position detection method using a beacon oscillator. diagram for,
FIG. 3 is a diagram for explaining a conventional ultrasonic ship position detection method using a transponder, and FIG. 4 is a diagram for explaining a conventional mechanical ship position detection method.
FIG. 5 is a diagram showing a schematic configuration of an embodiment of the stability control system for an oceanographic research vessel according to the present invention, FIG. A diagram for explaining the stability control method for a marine research vessel of the invention and the operation of the position detection device for stability control of the marine research vessel, FIG. 8 is a control system applied to the stability control method for the marine research vessel. FIG. 2 is a block diagram showing the configuration of an embodiment of the present invention. 6...Sea floor, 7.7a-7d...Hydrophon, 11...Sea surface, 12...
Marine research vessel, 13...Observation winch, 14...
...Large A-frame, 15...Investigation equipment,
16... Pulley, 17... Steel cable, 18.
...beacon oscillator or transponder, 19
... Propulsion propeller, 20 ... Rudder, 2
1... Bow thruster, 22... Stance scrub, 24... Disturbance detector, 25...
...Control device, 27...Position detection device, 30.
...Propulsion 1 drive device.

Claims (1)

[Scope of Claims] 1. Ultrasonic waves from a beacon oscillator or transponder installed at a predetermined position from the water surface of a cable that lowers research equipment from a marine research vessel to the sea or the seabed are transmitted to a plane parallel to the horizontal plane of the bottom of the marine research vessel. The ultrasonic waves are received by three or more hydrophons installed in the vessel, and the relative positional relationship between the ocean research vessel and the beacon oscillator or transponder is calculated from the phase and time difference of the ultrasonic signals received by each hydrophon,
Based on this calculation result, the positional relationship between the cable and the oceanographic research vessel is detected, and the position of the oceanographic research vessel is controlled so that the cable extends directly to the side of the oceanographic research vessel and is suspended vertically. Features: Stability control method for ocean research vessels. 2 A beacon oscillator or transponder attached to a predetermined position above the surface of the water on the cable by which the oceanographic research vessel lowers research equipment into the sea or the seabed, and three or more beacon oscillators or transponders installed on the bottom of the oceanographic research vessel and connected to the beacon oscillator or transponder. A hydrophone that receives ultrasonic waves and these three
The means calculates the relative positional relationship between the marine research vessel and the beacon oscillator or transponder from the phase and time difference of the ultrasonic waves received between each of the plurality of hydrophonos, and the cable is located right next to the marine research vessel. A position detection device for stabilizing and controlling an oceanographic research vessel, characterized in that it controls the position of the oceanographic research vessel so that it is overhanging in the direction and suspended in the vertical direction.