JPS60135393A - Position maintaining equipment of moving body - Google Patents

Abstract

PURPOSE:To enable a working ship of being captured in the accurate and specified position and enable identification of the position of the working ship by having the light receiving panel thereon receive laser beams generated from specified points in the ocean and operating winches of captive wires each arranged on both sides of the working ship according to the displacement of the beams. CONSTITUTION:Laser beam generating parts 12-16 are provided for a pole 4 standing in the specified position in the sea and laser beams 6-10 from said parts are received by a light receiving panel 18 mounted on a working ship 2. Captive wires 36, 38, 36' and 38' which are retained by anchors 40, 42, 40' and 42', respectively are stretched on both sides of the working ship 2 and reeled in and out under control of winches 42 and 44 mounted on the ship 2. The radiated points of the laser beams on the light receiving panel 18 is detected for any displacement and according thereto, each of the winches 42 and 44 are actuated, thereby capturing the ship in position and identifying the position thereof. If weather conditions get bad, the capturing and the identification may be performed accurately using the laser beams.

Description

[Detailed Description of the Invention] [Technical Field] The present invention relates to a position holding device for a moving body such as a work boat, and in particular, when a work boat deviates from a predetermined position, the shift is detected by a laser and the position of the work boat is determined. The present invention relates to a position holding device for a moving body that restores a vehicle to a predetermined position.

[Prior art]

Conventionally, when a ship such as a work boat performs work at sea, it is necessary to determine the position of the work boat, and for this purpose, the position of the work boat is determined by measuring the distance and angle between the work boat and a fixed point on land or on the seabed. It was customary to do so. However, workboats do not necessarily work on a flat surface at sea, and they are not necessarily held in place by sufficient mooring lines, which causes the workboat to sway, causing errors in range and angle measurements, and the accuracy of the workboat. ◎ In addition, in order to move the workboat to a designated position, it was necessary to pull the designated mooring line out of the multiple mooring lines stretched radially along the side of the workboat. However, pulling one of the mooring lines causes slack in the other mooring ropes, and removing that slack causes other mooring lines to slacken, causing inconveniences.
Difficulties arose in restoring the workboat to its designated position in a short period of time.

〔the purpose〕

SUMMARY OF THE INVENTION Therefore, in order to eliminate the above-mentioned drawbacks, an object of the present invention is to accurately determine the shift of a work boat from a predetermined position without being affected by the movement of the work boat caused by weather and sea conditions. In addition, it is an object of the present invention to provide a position holding device that allows a work boat to be returned to a predetermined position with great ease.

〔Example〕

Embodiments of the present invention will be described in detail below based on the drawings.

FIG. 1 shows a plan view of a working boat 2, which is a moving body, in which light sources 12, 14, and 16 that emit laser beams 6, 8°, and 16 are arranged in three upper and lower stages on a pole 4 provided in the water. work boat 2
includes a light receiving means 1 for receiving the laser beam 6,8°10;
8 is provided, and the traveling direction of the laser beam 6.8.10 shall match the traveling direction of the work boat 2. On the side of the work boat 2, mooring cable first rope portions 20 and 22, such as two wires, are stretched parallel to the traveling direction of the work boat, and each end thereof is connected to an anchor 24, 26, 28. ．． ．． 30. On the other hand, on the port side of the work boat 2, the front and rear side end rollers 3
2, 34, a second mooring line such as a wire parallel to each other
A rope section 36, 38 is stretched, one end of which is connected to an anchor 40, 42 provided in the water, and the other end is wound around a winch 42, which is a winding means, on the work boat 2. Also, on the starboard side of the work boat 2, second rope sections 36', 38, such as wires, are connected parallel to each other via front and rear side end rollers 32', 34'.
' is stretched, one end of which is anchored by an anchor 40 set in the water.
'.

42', and the other end is wound around the winch 44 on the work boat 2.

FIG. 2 shows the details of the light receiving means 18 and the driving means 46 for driving the winches 42 and 44. As shown in the figure, the light receiving means 18 has a central portion 48 in the center, and the central portion 48 on both sides thereof. The first semi-central part 50 and the second semi-central part 52, the first side part 54 and the second side part 56, the first polar side part 58 and the second polar side part 6
0 are provided so as to be symmetrical to each other with respect to the solid axis 62 of the light receiving means 18.

The first semi-central portion 50 is connected to the first control means 64 and the first side portion 54
is connected to the second control means 66, the first pole side part 58 is connected to the third control means 68, the second semi-central part 52 is connected to the fourth control means 70, and the second pole side part 58 is connected to the fourth control means 70.
The side part 56 is connected to the fifth control means 72, and the second pole side part 60 is connected to the sixth control means 72.
connected to the control means 74, each control means 64, 66.6B
, 70° 72.74 are connected to the generator 76, and upon receiving the signal from the light receiving means 18, the first to third control units apply current to the motor 78 to drive the winch 44, and the fourth to fifth units The control means applies a current to the motor 80 to drive the winch 42, but the current applied to the motor 78.80 by the first control means 64 and the fourth control means 70 is a low period /f pulse current. , the current that the second control means 66 and the fifth control means 72 apply to the motors 78 and 80 is a high-period /f pulse current, and the third control means 68 and the sixth control means 74 apply the current to the motors 78 and 80. Since the current flowing through the control means is a continuous current, the total operating time of the winches 44 and 42 within a unit time through each control means is as follows. 1 control means or 4th control means.

The drive means 46 includes each control means 64, 66, 68.

Consists of 70, 72, 74 generator 76, and motor 78, 80.

Next, the effect will be explained. The work boat 2 moved slightly in the direction B in Figure 1 due to the influence of tidal currents, etc., and the laser beam 6,
8.10 is irradiated onto the first quasi-central portion 50 of the light receiving means 18 (this case is referred to as case a), a signal is applied from the first quasi-central portion 50 to the first control means 64, and the 1 control means 64 receives current from a generator 76 and controls a motor 78.
A low-period nosolus current is sent to drive the winch 44, and the second cable portions 36' and 38' are wound. For this purpose, work boat 2
is restored to its original position, and when the work boat 2 is restored to its original position, the Rede beams 6, 8, and 10 reach the central portion 48 of the light receiving means 18.
However, in this case, the current that drives the winch 44 is not applied to the motor 78, and the work boat 2 maintains its original position.

Further, the work boat 2 moves in the direction B due to the tidal current, etc., and the laser beam 6. When the first side 54 of the light receiving means 18 is irradiated with s and io (this case is referred to as case b), the first side 5
4 to the second control means 66, which receives the current from the generator 76 and controls the motor 78.
A high-period i9 pulse current is sent to drive the winch 44 to wind the second cable portions 36' and 3B'. At this time, since the current applied to the motor 78 is a high-frequency pulse current, the driving force of the motor 78 has a longer operating time than in case a, and drives the winch 44 to move the second cable portion 36'.

38'. Therefore, the work boat 2 is towed earlier than in case a and is restored to its original position via state a.

Furthermore, the work boat 2 moved significantly and the laser beam was emitted by 6 degrees.

8.10 is irradiated onto the first pole side portion 58 of the light receiving means 18 (this case is referred to as the appetizer of C), the third control means 68
Since the current applied to the motor 78 is continuous, the operating time of the motor 78 is longer than in case b, and the winch 44 is moved more quickly to the second rope section 36',
38'.

When the work boat 2 moves in the incoming direction in FIG.
6. Irradiation is applied to either of the second pole side parts 60, and the same pressure as when moving in the A direction is applied to restore the original position.

In this embodiment, the light receiving means is divided into t7 parts, but other division methods are also possible.

Furthermore, although two second cables were installed on each side of the work boat 2, it is also possible to use two or more cables.

In addition, in this embodiment, the Raded beams 6, 8° 10i are used so that the light receiving means 18 is constantly irradiated even when the ship is rocking or the tide level changes, but it is also possible to use only one Raded beam 6. Method: 18 Care divided bands were used, but optically it is possible to detect how much the laser beam has changed from the center depending on the shading of the left and right laser beams.Using a 2-split Fortguioto, it transmits in 7 divisions according to the shading. It is also possible to cause the winches 42 and 44, which are the winding means, to perform the same operation as in the embodiment by means of generating signals at three points on the left and three points on the right.

〔effect〕

As described above in detail and specifically, the present invention provides the following remarkable effects.

(1) To determine the position of a ship using a laser beam,
To accurately determine the position of a ship even when weather conditions such as rain or fog deteriorate.

(2) After determining the deviation t of the ship from a predetermined position, this is automatically fed back to restore the ship to the predetermined position, making the restoring operation extremely easy.

13) Since the restoring force can be changed according to the deviation of the ship from the predetermined position, the ship can be restored to the predetermined position in a short time.

(4) Since multiple radar beams are arranged in parallel in the vertical direction, it is possible to determine the exact position of the ship without being affected by changes in the tide level or the movement of the workboat.

(5) There is no need to process the measurement results of the ship's position using a computer or the like, which can reduce cost.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view of the position holding device for a work boat according to this embodiment, and FIG. 2 is an explanatory diagram of the light receiving means and the driving means. In the figure, 2...A work boat as a moving body, 12, 14.16-...Light source, 18...Light receiving means, 20.22...First rope part,
36, 38, 36', 38'...second cable part, 4
2, 44...Winch serving as winding means, 46-... Drive means.

Claims (2)

[Claims] (1) a light source, a light receiving means for receiving the luminous flux from the light source;
a first member extending in the moving direction of the moving body in contact with the moving body;
a cable portion, a second cable portion provided on the side portion of the mobile body, and a second cable portion provided on the side portion of the mobile body;
A position holding device for a movable body, comprising a winding means for winding a cable portion, and a driving means for driving the winding means by a signal generated by the light receiving means. (2) A position holding device for a movable body according to claim 1, wherein the movable body is a ship, the light source is provided outside the ship, and the light receiving means is provided inside the ship.