JPS61189409A - Position measuring instrument for docked ship - Google Patents

Abstract

PURPOSE:To check the positional relation between a ship body and a dock easily and to save the power of docking work by measuring the positions of respective parts of the ship body in the dock by a range finder using ultrasonic waves and executing the analog or digital display of the positions of the ship body on a picture on the basis of the measured results. CONSTITUTION:The shift of the port side and starboard positions is detected by ultrasonic transmitters/receivers 13A-13D for detecting the ship position on the bow side of a small ship and the positional shift of the center of the ship body on the stern side is detected by ultrasonic transmitters/receivers 12A-12D for detecting the shift of the ship body on the stern side. On the other hand, ship body depth detecting ultrasonic transmitters/receivers 16A-16C and ship body inclination detecting ultrasonic transmitters/receivers 17A, 17B which are arranged on the dock bottom 3A in the dock detect the depth and inclination of the ship body 7 respectively and a bow position detecting ultrasonic transmitter/receiver 15 fitted to a front dock wall 3A detects a bow line. Thus, the values detected by respective transmitters/receivers 12A-17C are calculated by an arithmetic unit 23 in a ship body guiding device 19 and the calculated values are displayed on a picture display unit 24 to check the position of the ship body 17 easily.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a docked ship position measuring device for guiding a ship to a predetermined position in a dock.

``Conventional technology'' When repairing a ship's hull, it is necessary to dock the ship,
Repairs are carried out by supporting the hull on pedestals such as the keel board and belly board installed at the bottom of the dock beam.

The structure of the dock will be briefly explained using FIG. 1O.

A door boat (sluice gate) 2 is provided on a quay 1, and a dock is provided inside the door boat 2. The dock is on the front culvert wall 3^ and the right culvert wall 3B.
, the left channel wall 3C5, the bottom channel wall 3D, and the door ship 2. A keel board 4 is steeply cut in the center of the bottom channel wall 3D, and belly boards 5^ and 5B are provided on both sides of the keel board 4. 6A and 6B indicate hydraulic underboard members operated by hydraulic pressure; these keel board 4 and belly board 5A.

5B and hydraulic pressure 1! A pedestal is formed by blocks 6A and 6B.

7 shows the ship on its way to the dock.

The hull 7 is guided by a tugboat 8 to the entrance of the dock. With the bow of the hull 7 docked in the dock, a wire 9 is hung on the bow side, and the wire 9 is pulled by a winch 11 to guide the hull 7 into the dock.

In order to place the hull 7 on a predetermined position on the pedestal, the hull 7 is guided in advance to a position directly above the keel board 4 on the water surface, aligned with the keel board 4, and then drained. need to be done.

In addition, the bottom of the ship maintains a horizontal state without inclination with respect to the belly plates 5A and 5B, and in the process of seating, it is determined whether the bottom of the ship is on the port side or the bottom on the starboard side at the same time as on the side plates 5A.

Must be seated in contact with 5B.

Conventionally, the work of aligning the hull 7 floating on water so that it is at a predetermined position with respect to the pedestal is performed manually and visually. In other words, the bow enters the dock at the designated position,
Check whether the distance between the stern and the door ship 2 has reached a predetermined value. A diver visually checks whether the center of the bottom of the ship matches the center of the keel board 4 and whether the hull 7 is tilted.

``Problems to be solved by the invention'' In this way, in the past, observers were stationed at various parts of the dock, and they communicated with each other using communication means such as transceivers.
A winch 11 operates the wire 9 hung on the ship to guide the hull 7 to a predetermined position. In addition, a diver is required to go underwater, visually measure the gap between the bottom of the ship and the belly timbers 5A and 5B, and communicate the results to the ship to correct the inclination of the ship's hull 7, which is a complicated task.

For this reason, in the past, the position of the ship's body 7 was measured visually, in addition to requiring a lot of manpower, and its reliability depended on the skill level of the observer, which had the disadvantage of being dangerous.

"Means for Solving the Problem" In this invention, the position of each part of the hull of a docked ship is measured by a distance measuring device composed of an ultrasonic transducer, and the measured results are processed to determine the position of the hull. It is structured so that the plane, side and front shapes are displayed at relevant positions on the drawing using digital and analog display methods, allowing the positional relationship between the hull and the dock to be known at a glance.

The configuration for this purpose includes: A. An ultrasonic transducer for detecting the center of the hull on the bow side, which is installed on the port and starboard culvert walls in the dock to detect deviations in the port and starboard positions of the bow side of the hull in the dock; B. An ultrasonic transducer for detecting the stern side hull center installed on the left and right channel walls in the dock to detect the stern side port and starboard positions of the ship body in the dock and detect the deviation of the stern side hull center; C. An ultrasonic transducer for detecting hull depth installed at the bottom of the beam in the dock to measure the gap between the hull and the keel board in the dock; D. Measuring the bow position of the hull in the dock. For this purpose, an ultrasonic transducer for detecting the bow position is installed on the forward ditch wall in the dock, and an ultrasonic transducer is installed in the dock at an equal distance from the center line of the keel board at the bottom of the beam in the port and starboard directions. , an ultrasonic transducer for detecting inclination for measuring the amount of inclination of the hull; A calculation device that calculates the hull depth, the distance between the stern and the door ship, and the amount of tilt of the hull, and a calculation device that displays the shape of each part of the hull, G, plane, side, and front as a drawing, and the related information of each displayed drawing. A screen that displays the numerical value obtained by the arithmetic device at the position and displays the value and the direction of deviation in analog form;
The image display device constitutes a device for measuring the position of a docked ship.

With such a configuration, the positional relationship between the ship's hull and the dock can be measured without using human hands.

However, the measured results are displayed on the display, and the current position of the ship can be accurately known, and the ship can be accurately seated on the pedestal of the dock without any danger.

Therefore, the economic effects and reliability improvements resulting from labor savings are significant.

``Example'' FIG. 1 shows a layout of the ultrasonic transducers constituting the device for measuring the position of a docked ship according to the present invention. Ultrasonic transducers 12A, 12B, and 13A are omitted because there are some).

Install 13B, 14A, and 14B.

12A and 12B of these ultrasonic transducers are installed on the starboard wall 3B facing the port and starboard sides of the stern side of the hull 7 in the dock.
It is provided on the left channel wall 3c, and operates as an ultrasonic transducer for detecting the center of the stern side hull, which detects the stern side port side and starboard side positions of the hull 7, and detects the deviation of the stern side hull center.

When a small or medium-sized ship enters the dock, the ultrasonic transducers 13A and 13B installed on the left and right ditch walls 38 and 3c in the center of the dock face the port and starboard sides of the bow of the ship 7, and It operates as an ultrasonic transducer for detecting the center of the hull on the bow side, which detects the port side position and starboard side position, and detects the deviation of the bow side hull center.

Ultrasonic transducer 14A installed near front culvert wall 3A.

14B is provided on the left and right dock walls 3B and 30 so as to face the port and starboard sides of the bow side of the large ship when the large ship enters the dock. Therefore, in the case of a small or medium-sized ship, the ultrasonic transducers 14A and 14B do not operate, and operate in place of the ultrasonic transducers 13A and 13B only when a large ship enters the dock. It operates as an ultrasonic transducer for detecting the center of the hull on the bow side to detect center deviation.

These ultrasonic transducers 12A, 12B, 13A,
13B.

Similar ultrasonic transducer 12G below 14A and 14B,
12D, 13C, 13D, 14G, 14D are provided, and when the upper ultrasonic transducer 12A-14B rises above the water surface, these ultrasonic transducers 12C, 12D, 13C,
The structure is such that measurements can be continued at 130°, 14G, and 14D.

An ultrasonic transducer 15 is provided on the front culvert wall 3A at a position facing the bow of the hull 7. This ultrasonic transducer 15 measures the distance between the front culvert wall 3A and the bow, and operates as a bow position detecting ultrasonic transducer that detects the bow position.

The molded bottom 3D has ultrasonic transducers 16 A and 161 facing the widthwise center of the bottom on the stern and bow sides, respectively.
1 is provided. The ultrasonic transducers 16A and 16B measure the distance between the ship's bottom and the mold bottom 30, and detect the gap between the keel board 4 and the ship's bottom separately on the bow side and the stern side. In other words, the ultrasonic transducers 16A and 16B operate as hull depth detection ultrasonic transducers for detecting the depth of the hull.

There is also an ultrasonic transducer 16 near the front mold wall 3A of the mold bottom 3D.
C is provided. This ultrasonic transducer 16G operates in place of the ultrasonic transducer 16B when a large ship is docked, and operates as an ultrasonic transducer for detecting the depth on the bow side of the large ship.

On the other hand, in the center of the beam bottom 3D, an ultrasonic transducer 17 is placed at a position equal distance from the center line of the keel board 4 in the port and starboard directions.
A and 17B are provided. These ultrasonic transducers 17A and 17
B measures the difference in distance to the bottom of the ship and detects the inclination of the hull 7 in the roll direction. Therefore, these two ultrasonic transducers 17A and 17B operate as ultrasonic transducers for detecting the inclination of the hull.

These ultrasonic transducers 12A-120, 13A-1
30,14A~140.15.16A, 168.17
A and 17B are all connected to the terminal block 21 of the main body 19 of the docked ship position measuring device via the connection casing 1B, as shown in FIG. The docked ship position measuring device main body 19 includes an ultrasonic signal transmitting/receiving section 2 that transmits and receives ultrasonic signals outside the terminal block 21.
2, an arithmetic unit 23, and an image display 24.

Terminal block 21. Transmitting/receiving section 22. The arithmetic unit 232 and image display 24 are constructed as shown in FIG.

The terminal block 21 includes a multi-pin connector 21A, a line filter 21B, and a switching element 2 such as a bidirectional cyrisk.
It is composed of an IC and a commercial power outlet 21D. The multi-pin connector 21A is provided with a plug M for connecting an ultrasonic transducer and a power plug N for receiving commercial power voltage. Line filter 2 is installed on the commercial power connector N.
1B is connected to the commercial power outlet 21D through the line filter 21B and the switch element 21G. The switch element 2IC is remotely controlled to turn on and off by turning on and off a power switch 23A provided on the front panel of the computing device 23.
The commercial power supply voltage applied to 1D is controlled intermittently.

The plug 25 is inserted into the outlet 21D.
The commercial power supply voltage is transmitted through the transmitter/receiver unit 22 and the arithmetic unit 23.
Power is supplied to the 1-image display 24.

A multi-core cable 26 is connected to the ultrasonic transducer plug M of the multi-pin connector 21A, and this cable 26 is connected to the connector 27 of the transceiver section 22.

The transmitting/receiving unit 22 operates a transmitter group 22A containing built-in ultrasonic transmitters in a number equal to the number of ultrasonic transducers, and a receiver group 22B containing built-in reception amplifiers in the same number as the transducers. Power supply unit 22C and no fuse breaker 2
2D is provided. One ultrasonic transmitter in the transmitter group 22A and one receiving amplifier in the receiver group 22B are connected to one of the ultrasonic transducers described above, and each ultrasonic transducer The transfer signal obtained by exciting the wave and receiving the reflected wave is amplified by a receiving amplifier, and the amplified transfer signal is sent to the arithmetic unit 23.

In addition to the power switch 23A, the arithmetic device 23 includes a microcomputer 23B, a numerical setting switch 1123C,
Input push button switch group 23D, power supply unit 23E,
The microcomputer 23B determines the order in which the transmitters in the transmitter group 22A are activated, and the transmitters in the transmitter group 22A sequentially output ultrasonic signals in a time-sharing manner. This transmission control signal is sent from the microcomputer 23B through the cable 2B (sent to the 8-device group 22A).

FIG. 4 shows the panel panel of the calculation unit 23. The panel panel includes a power switch 23A and a small and medium-sized ship setting switch 23C-
1, Large ship setting switch 723C-2, Data averaging number setting switch 23C-3, Hull length setting switch 23C-
4. A hull width setting switch 23C-5 is provided.

The output sides of the receiving amplifiers of the receiver group 22B are commonly connected,
Each received signal is sent to the computing device 23 through a pair of conductors in the cable 28.

The arithmetic unit 23 determines which ultrasonic transducer the received signal came from depending on which transmitter the transmission control signal was sent to, and measures the distance between each part by measuring the time from transmission to reception. do.

The excitation order of the ultrasonic transducers is determined by selecting an ultrasonic transducer as far away as possible from the ultrasonic transducer where the previous measurement was performed so that the reflected residual waves of the ultrasound do not interfere with the next measurement system. do. An example thereof will be explained with reference to the flowchart shown in FIG. In the flowchart shown in Figure 5, Routine A shows the excitation order of the ultrasonic transducer when docking a small or medium-sized ship, and Routine B shows the excitation order of the ultrasonic transducer when docking a large ship. arithmetic device 2 shown
When a setting is made to guide a small or medium-sized ship using the push button 23G-1 or 23C-2 provided on the panel panel No. 3, the setting is stored in the microcomputer 23B. Based on this memory, it is determined in step 29 in the flowchart shown in FIG. 5 whether or not the ship is a large ship, and if the ship is set to be a small ship, routine A is executed. In the case of a large ship, routine B is executed. As explained earlier, the difference between routines A and B is that the ultrasonic transducers 13A to 13D
and 16B or ultrasonic transducer 14A-14D
The difference is whether or not 16C is used. Also, as is clear from this flowchart, the ultrasonic transducers 12A, 12B, 13A, 13B (or 14A, 1
4B) and the ultrasonic transducer 12C, L2 placed on the lower side.
D, 13C, 13D (or 14c, 14D) are included in the constant operation sequence, and constantly perform measurement operations regardless of the position of the water surface.

The microcomputer 23B is equipped with a direct memory in addition to the main memory, and uses this direct memory to convert the time for the ultrasonic waves to travel back and forth into distance, thereby directly obtaining distance data. In other words, at the same time as giving a transmission command to each ultrasonic transmitter in the transmitter group 22A, the address in the direct memory is incremented by 1, and when a reflected wave is detected, a signal is written to the address being accessed at that time. By reading the address location where is written, the time from transmission to reception, that is, the distance between each part is determined. The method for measuring distance will be explained in detail later.

Once the distances of each part to the hull 7 are determined, the distance values are arithmetic processed to determine, for example, the amount of deviation of the center of the hull, etc., and the data is sent to the image display/device 24. A specific method for determining the distance to the hull 7 and arithmetic processing performed based on the distance value will be described in detail later.

The image display 24 includes an image display unit 24A, a power supply unit 24B that supplies power to the display unit 24A, and a no-fuse breaker 24C. The display unit 1-24A can use, for example, a cathode ray tube, and is equipped with a refresh memory 24D.

A pixel signal is written to the refresh memo 1724D by illuminating the cable 31 from the microcomputer 23B, and displays an image as shown in FIG. 6, for example. In the image shown in FIG. 6, 32 is a plan view of the hull, and 33 is a Side view,
34 shows a front view, and the computing device 2 is shown in each drawing.
Display the numerical value obtained in step 3 at the relevant position.

At the same time, the direction and amount of the numerical value are directly displayed using an analog method such as a bar graph or an arrow.

In the figure, 35A is a numerical display field representing the value of the deviation of the center of the hull on the bow side, 36A is a numerical display field representing the value of the deviation of the hull center on the stern side, and 37A is a numerical display field representing the distance between the stern and the door ship 2. The display column 38A is a display column that displays a numerical value representing the depth of the hull on the bow side, 39A is a display column that displays a numerical value representing the depth of the hull on the stern side, and 41A is a display column that displays a numerical value representing the inclination of the hull in the roll direction. show.

On the other hand, 35B shows an analog display type graph showing the amount and direction of deviation of the center of the bow side of the hull.You can directly see the direction and amount of deviation of the center of the bow side of the ship by the direction and length indicated by this graph. I can do it. Graphs 36B and 38B are shown in other numerical display columns 36A, 38A, 39A, and 41A, respectively, representing the amount of deviation.

39B, 41B, 41G are displayed. Note that the graphs 41B and 41C representing the inclination of the lead body 7 are displayed only on the inclined side.

In this way, each drawing 32, 33, and 34 shows the amount of deviation of the center of the hull and the distance between the tail of PLJ and the door ship.

Numerical values and graphs representing the depth and inclination of the hull are displayed, and it is possible to judge whether the current position of the hull 7 is correct by checking the minus eye.

Drawings 32, 33, and 34 displayed on the display 24 are, for example, when the microcomputer 23B transfers pixel data stored in a ROM or the like to the refresh memory 24D, reads the pixel data from the refresh memory 24D, and displays the data. . Each time the microcomputer 23B completes arithmetic processing, the numerical display and graph data is transferred to the refresh memory 24D and displayed.

(Description of distance measurement method) The propagation speed of ultrasonic waves in water is 1500 m/sec. When using the reflection of sound waves, the relationship between distance and time T is L
150Qx T / 2-750+*/s -T.

This corresponds to the speed of Im- in 1.33 seconds. Therefore, if you increment the address in the direct memory at a clock rate of 1.33 μs at the same time as the ultrasonic wave is transmitted, and when a received signal arrives, you can write the received signal to the address that is being accessed at that time. By reading the number of addresses, the distance i! with an accuracy of 1w11 per address! i1t L
can be known.

Here, when the address of the direct memory is incremented by a clock of an integral multiple (N) of 1.33 μsec, it is converted to a distance #1llL with N cranes per address. Accordingly, the measurement accuracy can be changed by changing the frequency of the clock given to the direct memory.

For this reason, in this embodiment, the distance is initially measured with an accuracy of, for example, 128 u per address until the approximate distance to the hull is determined, and when the approximate distance value is determined, it is operated in the enlargement mode and the distance is measured, for example, for one address. It was configured to perform measurements with an accuracy of 2 cm per hit.

FIG. 7 is a timing diagram for measuring the approximate distance of A.
FIG. 7B shows a timing diagram in the expansion mode. The transmission trigger width T^ in FIG. .

The shift range TB is a period of time during which the gain of the receiver group 22B is reduced and the receiver group 22B is rendered unreceivable between the time when ultrasonic waves are being transmitted and the time immediately after.

The reception time TC is the time during which a clock is applied to the direct memory to check whether or not a reception signal is received.

The reception clock PC indicates a clock pulse for incrementing the address of the direct memory. When calculating the approximate distance to the hull 7, the time interval TO of this clock pulse PC is selected to be 128 x 1.33 μsec as an example. did.

Pulse P [! is a pulse commanding the end of reception.

Once the approximate distance to the hull 7 is determined, the system will operate in the enlargement mode from the next time onwards.

In the expansion mode, the reception time TC is expanded to a range of ±2 m around the previously captured distance value. In other words, the increment of the address in the direct memory is started from a time corresponding to -2 m before the target distance. At this time, the pulse interval TEt-2X of the clock pulse PC was selected to be 1.33 μsec. Therefore, in the enlarged mode, measurements are made with an accuracy of 2 dragons per via.

The distance data determined by the direct memory is taken into the main memory of the microcomputer 23B. A file is prepared for each ultrasonic transducer in the main memory,
Measurement data of a plurality of past measurements, for example nine measurements, is stored. An arbitrary number of pieces of data are traced back from the latest data among the past data, and the average is calculated and used as distance data for each part. The number of data to be averaged is determined by the averaging number setting switch 23C-3 (in the numerical setting switch group 23C).
(see FIG. 4), any number from 1 to 9 can be set.

(About calculation processing) Based on the average data of distance values of each part, deviation amount XA of bow side hull center, deviation amount χB of stern side hull center, distance xc from stern to door ship, bow side hull depth XD, stern side Hull depth XH
, Vessel inclination I! tXF is determined as follows.

In the case of a small ship, bow side hull center deviation it x A
+ is the distance measured by ultrasonic transducer 13A and 13B,
and Lt, and a correction value for correcting the deviation of the center position of the keel board 4. Moreover, the distances 1, 1 . . . measured by the lower ultrasonic transducers 13C and 13D It can be determined by the following equation using L o and the correction value 11.

XA+ =L+ -Lt±M1 XAz = Ls L4 ±L Normally ultrasonic wave transmission and reception! XA obtained from 513A and 13B,
is displayed with priority, and after the ultrasonic transducers 13A and 13B emerge from the water surface, XA is displayed on the display 24.

Similarly, the amount of deviation XB of the center of the stern hull is determined by ultrasonic transducer 1.
The distance Ls measured by 2A and 12B and 12C and 12D, L& and Lt, L@ and correction value gate, is the following formula % The distance from the stern to the door ship MxC is the ultrasonic transducer 15 for detecting the bow position. Distance L measured by ? It is determined by the following equation using the hull a L + o, the dock length L II+ and the dock length correction value H1.

XC=L++-(Lq+Lto)±M.

The bow side hull depth XD is the distance to the bottom of the ship measured by the bow side hull depth detection ultrasonic transducer 16B.

, the height Lt3 of the keel board 4 at that position, and the keel board height correction value H1.
11 Lt3 ± M4 The stern hull depth XB is the distance Lli to the bottom measured by the stern hull depth detection ultrasonic transducer 16A, the height LIS of the keel board tree 4 at that position, and the keel board height correction value It is calculated by the following formula.

XE=LIS LtsfMs The inclination IXF of the hull is determined by the following equation using the distances LI6 and Lt to the bottom of the ship measured by the ultrasonic transducers 17A and 17B and the correction value H1.

XF=L+i Leff± Mh Correction value Mffi+ Ms+ M4. Ms+gate can be respectively set by the switches in the numerical setting switch group 23C, as explained in the section regarding the correction value 1'11.

The numerical data of each part obtained by these calculation processes is written into the refresh memory 24D of the display 24 and added to the drawings 32, 33, and 34 for display.

(Explanation of operation of microcomputer) The sequence operation and arithmetic processing of each section described above are executed by the microcomputer 23B.

FIG. 8 shows an outline of a program for operating the microcomputer 23B.

Upon startup, execute the initial setting mode in step ■. This initial setting mode checks the memory relations such as ROM and RAM added to the microcomputer 23B, and also initializes the human power and output boat, initializes the display 24, and transfers the drawing data to the refresh memo 1J24D. Displaying drawings 32, 33, 34, initializing the ultrasonic transmitter group 22A and the receiver group 22B, etc.

After initialization is executed, each set value of the numerical value setting switch group 23C is read in step (3).

In step (2), a data file regarding the ultrasonic transducer to be excited is read out.

In step (2), the transmission time TA, the time TB for reducing the gain of the receiver group, the reception time TC, the pulse interval TO of the clock PC, etc. shown in FIG. 7 are set in the controller of the direct memory.

In step (2), an ultrasonic signal transmission command signal is given to the transmitter of the ultrasonic transducer selected in step (2).

When a clock is started to be applied to the direct memory in step (3) and a received wave is detected, the received signal is written to the direct memory.

In step (2), a reception end pulse PE is output to perform reception end processing.

The address position of the received signal written in the direct memory in step (2) is read and taken into the microcomputer 23D as distance data.

In step (2), select the ultrasonic transmitter to be excited next and set the time 15 to 1.

It is compared whether the data taken into the microcomputer 23B in step 0 is significantly different from the previous data, and it is determined whether the data is a valid value.

In step (2), if the distance data just taken in is a valid value, the data is written to the file assigned to that ultrasonic transducer.

In step @, the data imported into each file is read out while being averaged, and calculations are performed to obtain the above-mentioned deviation amount and distance values of each part XA+, XA! , XB+, XBt,
XC.

Calculate XD, XE, and XF.

In step (2), these calculation results are transferred to the display 24 and displayed.

Return from step 0 to step (2) and perform the next measurement.

In this example, the distance is measured multiple times, the distance data is averaged, and the averaged distance data is used to calculate the displacement of the ship. If the average number of times is set to a large value when the speed increases, there is a risk that a discrepancy will occur between the displayed value and the actual position of the hull.

In other words, as shown in Figure 9, is the movement of the ship as shown by curve A? , suddenly becomes far away from Tt, and if the operation is continued with the average number of times remaining large, the displayed value will change only slowly as shown by curve B. This causes a large discrepancy between the position of the ship and the displayed value.

For this reason, this embodiment monitors the difference between the displayed value and the current distance measurement (corresponding to the ship's current position) and reduces the averaging number if the difference exceeds a set value. ing. In reality, the difference between the previous displayed value and the measured distance value is 1.
, and the difference between the previous display value and the current distance measurement value, the average value S of is Kl +! S = □ is calculated, and when this average value exceeds a certain value, for example, 50cI11 or more, the number of times of averaging is changed to, for example, one time.
As a result, the displayed value changes as shown by curve C in FIG. 9, and the correct value is displayed following the movement of the ship.

"Effects of the Invention" As described above, according to the present invention, the position of the ship is monitored using an ultrasonic transducer, and the relative positional relationship between the ship and the dock is determined by calculating the distance measurement results. Since the structure is such that the values of the positional deviation, etc. are displayed on the drawing displaying the figure of the ship, the position of the ship can be seen at a glance. Therefore, there is no need to station people at various locations to monitor the distance between the ship's hull and the dock wall, so the ship can be docked with a small number of people. In addition, since the distance between the ship's hull and the dock wall is measured using an ultrasonic transducer, it is a positive value, and it is possible to see the position of the ship's hull, which changes from moment to moment, so it can be accurately located at a predetermined position in the dock and quickly. I can guide you. In this respect, labor savings can be achieved, and the economic effect is large.

In addition, since the distance is measured using ultrasonic waves, the reliability of the measured value is high, and therefore the ship can be guided with good accuracy, which can lead to accidents where the ship is seated at an angle, causing damage to the ship. This can be prevented.

[Brief explanation of drawings]

FIG. 1 is a perspective view for explaining an example of the arrangement of ultrasonic transducers used in the docked ship position measuring device according to the present invention;
The figure is a block diagram for explaining the overall outline of the apparatus according to the present invention, FIG. 3 is a block diagram for explaining the configuration of each part of the apparatus according to the present invention, and FIG. 4 is a block diagram for explaining the configuration of each part of the apparatus according to the present invention. Front view for explaining the condition, No. 5
The figure is a flowchart for explaining the operating order of the ultrasonic transducer of the device according to the present invention, FIG. 6 is a front view for explaining the display state of the display of the device according to the present invention, and FIG. 7 is the present invention. FIG. 8 is a flow chart for explaining the operation order of the microcomputer used in the device of this invention. FIG. 9 is a timing chart for explaining the operation of the ultrasonic distance measuring device used in the device of this invention. A graph for explaining the operation of the device, and FIG. 10 is a plan view of a dock for explaining the conventional docking procedure. l: quay, 2: door ship, 3A = front culvert wall, 3B: right culvert wall,
3C: Left channel wall, 311m bottom, 4: Keel board wood, 5A, 5
8: Ill board, 6^, 6B: Hydraulic belly board, 7: Hull,
8: Tugboat, 9: Wire, 11: Winch, 12A
~12D; Ultrasonic transducer for detecting hull displacement on the stern side, 13
A-13D: Ultrasonic transducer for bow side hull position detection for small ships, 15: Ultrasonic transducer for bow position detection, 16
A to 16C: Ultrasonic transducer for hull depth detection, 17A,
17B: Ultrasonic transducer for detecting the amount of hull inclination, 18:
Connection case, 19: Hull guidance device main body, 21: Terminal block, 22
: Ultrasonic transmitter/receiver section, 22A: Transmitter group, 22B: Receiver group, 22C: No-fuse play force, 22D: Source unit, 23: Arithmetic section, 23A: Power switch, 23B 2 microcomputer, 23C: Numerical setting switch group,
23D = input push switch, 23E: power supply unit, 23F two fuse breaker, 24: image display,
24A: Display unit, 24B: Power supply unit, 24C
: No fuse play force, 24D: IJ fresh memory, 32: Hull plan view, 33: Hull side view, 34:
Front view of the hull, 35A: Bow side hull center deviation display column,
35B: Graph showing bow side hull center deviation amount and direction, 3
6A: Stern side hull center deviation amount display column, 36B: Graph showing the stern side hull center deviation amount and direction, 37A: Column displaying the distance from the stern to the door ship, 38A: Fore side hull depth display column, 38B: Graph displaying the amount of hull depth on the bow side, 3
9A: Stern side hull depth display field, 39B = Graph displaying the stern side hull depth, 41A: Hull tilt amount display field, 41B
, 41C: Graph indicating the amount and direction of the hull 1. Patent applicant: Koden Seisakusho Co., Ltd. Representative: Takusada Kusano 5
Fig.'yr78 Σ LILI -E--OJ^ -II Embryo Fig. 10

Claims (1)

[Claims] (1) A. An ultrasonic transducer for detecting the center of the hull on the bow side installed on the port and starboard walls in the dock to detect deviations in the port and starboard positions of the bow side of the hull in the dock, and B. Inside the dock. An ultrasonic transducer for detecting the center of the stern hull installed on the left and right culvert walls in the dock to detect the port and starboard positions on the stern side of the hull and to detect the deviation of the center of the stern hull; An ultrasonic transducer for detecting hull depth is installed at the bottom of the ditch in the dock to measure the gap between the hull and the keel board; An ultrasonic transducer for detecting the position of the ship's bow is installed on the forward dock wall, and an ultrasonic transducer is installed at equal distances from the center line of the keel board at the bottom of the beam in the dock in the port and starboard directions to detect the inclination of the ship. An ultrasonic transducer for inclination detection to measure the amount; and a calculation device that calculates the distance to the door ship and the amount of inclination of the hull, and displays the shape of each part of the plane, side, and front of the hull as a drawing, and the calculation device calculates the distance to the ship, A device for measuring the position of a docked ship, comprising: an image display that displays the obtained numerical value and also displays the value and the direction of deviation in analog form.