JPS6145981A - Confirming method of ship position - Google Patents

Abstract

PURPOSE:To calculate the accurate position of a ship on previously set coordinates from a specific calculation expression by measuring the distance between a constant point and a fixed point, elevation angle, horizontal angle, and angle between a constant line running on the constant point at the horizontal reference line. CONSTITUTION:The constant point A on the ship 1 and the constant straight line L running on it are set, and coodinates having a coordinate axis X at a specific angle sigma to the horizontal reference line N in a horizontal plane and the fixed point B are set at the side of the ground 2. Then, the distance l from th constant point A to the fixed point B, elevation angle theta of the straight line connecting the constant point A and fixed point B to the horizontal plane, and horizontal angle phi1 of said straight line to the constant straight line L are measured, and the angle phi2 of the constant straight line L to the horizontal reference line N is measured; and those measured values l, theta, phi1, and phi2 are substituted in the specific calculation expression to calculate the position of the ship 1 on the coordinates, obtaining the accurate position of the ship 1.

Description

DETAILED DESCRIPTION OF THE INVENTION FIELD OF INDUSTRIAL APPLICATION This invention relates to a method for confirming the position of a ship when it is berthing, l1i11, etc.

When maneuvering a ship, it is very important to accurately grasp the ship's position F, +, which changes every moment, in real time.

Prior art and its problems Conventional example 1 The first conventional example will be explained with reference to FIG. ) An ultrasonic pulse is emitted from the ultrasonic transducer (20) installed underwater toward the vessel (21) that is 14 inches away from the shore or away from the shore, and the time h1 until the emitted sword wave returns is measured. - The distance thus obtained is displayed on the electronic bulletin board (22) installed on the quay or pier (19), and this is displayed on the ship (2).
1) is read as ゎ.

This has the following problems. First, ships (
21) cannot be measured unless it enters in a direction directly facing the ultrasonic transducer (2o).

Second, unless the direction of the ship (1) is substantially parallel to the line of the quay or the crosspiece 1 (19), the reflected waves will not return to the ultrasonic transducer (20) and cannot be measured.

Thirdly, it is not possible to grasp the longitudinal position of the vessel (1). Fourth, if the vessel (1)
), it is difficult to read the electronic bulletin board (22).

Conventional Example 2 A second conventional example will be explained with reference to FIG. 9. This is, for example, as disclosed in Japanese Patent Publication No. 58-30525, in which a fixed reference base (23) is spaced at a predetermined interval. Automatic tracking light wave distance meter (24)
Reflector with light source telescope for automatic tracking (25)
2 or 3 points are placed on the platform (26), and automatic tracking light wave distance 11 is placed on the two points on the left and right ends and one point between these two dotted lines.
i1f 11 (24) is placed, and the two left automatic tracking light wave distances (24) are the left reflector (25).
One or two points are referenced, and one right automatic tracking light wave distance: I-(24) is set to the right reflecting mirror (25), and this measured distance data is stored in a predetermined separate calculation formula. The calculated value is input to the calculation m (27), and the position relative to the planned value is displayed on the display section (28), and based on this, the ship's platform (26) is maneuvered to the planned position. This is a method for positioning a ship's platform.

There are the following problems when this method is used to confirm the position of a ship when it approaches shore 14', 111, etc. First, if the reflecting mirror (25) and the optical distance meter (24) face each other directly, it is impossible to measure the distance. Second, it requires a large number of instruments, such as at least two reflectors (25) and three light wave distances 1t (24). Thirdly, if the installation heights of the reflector (Z5) and the light wave distance; t(24) are different, when the two come into contact, the difference between the measured value and the horizontal distance required for calculation will cause The accuracy of position confirmation deteriorates.

An object of the present invention is to provide a ship position confirmation method that eliminates all of the above problems.

Means for Solving the Problems ゛In the ship position confirmation method according to the present invention, a fixed point and a fixed straight line passing through the fixed point are set on the ship, and a predetermined angle is set on the ground side with respect to the horizontal reference line C in the horizontal plane. Set the coordinates and fixed points with coordinate axes, and then measure the distance from fixed point to fixed point, the elevation angle that the straight line connecting the fixed points and the fixed point makes with the horizontal plane, and the horizontal angle that the same line makes with the fixed straight line. At the same time, measure the angle at which the fixed line meets the horizontal reference line,
The position of the ship is confirmed by inputting these angle measurements (fl) into a predetermined calculation formula and calculating the position of the ship on the coordinates.

When you say above ground, do you mean only the ground/above it? 1" includes the area above the sea level and represents the earth in a broad sense.

The method for confirming the ship position is shown in Figure 1.J: Sea urchin, ship (1
), a fixed point (A) and a fixed straight line (l-) passing through it are set on the ground (2) side, and a coordinate axis ( X)
Set the coordinates and fixed point (B), then set the fixed point (A)
The distance (l) from the fixed point (B) to the fixed point (B), the elevation angle (θ) that the straight line connecting the fixed point (A> and the fixed point (B) makes with the horizontal plane,
The horizontal angle (φ1) that the same straight line makes with the fixed line (L) is measured, and the fixed line (l-) is measured with the horizontal reference line (
Measure the angle (φ2) formed with N) and calculate these angle measurements (
1) The position of the ship (1) is confirmed by inputting (θ) (φ1) (φ2) into the specified four formulas and calculating the position of the ship (1) on the coordinates. be.

The fixed point (A> is located on the longitudinal center line passing through the center point (P) of the ship (1) at a predetermined distance (a>) from the center point (0).The fixed straight line (L) is concentric. Go back to match the line.The coordinates are spatial coordinates whose origin is the ship berthing point (0) of the quay (2) on the ground -C, quay (2)
The horizontal line is the X-axis, and the Y-axis perpendicular to this is in the horizontal plane. The X-axis forms a predetermined angle (σ) with the north direction, which is the horizontal reference line (N).

The fixed point (B) is on the Y axis and is spaced a predetermined distance (b) from the origin (0). As shown in Figure 2, among the angle measurement values (1) (0) (φ1) (φ2), fixed points (△)
The distance (l) from the fixed point (P) to the fixed point (P), the angle of elevation (○) that the straight line connecting the fixed point (A) and the fixed point (B) makes with the horizontal plane, and the horizontal plane (φ1) that the same straight line makes with the anchoring line (L). ), a distance measuring device (3) is placed at a fixed point (A>), and a distance measuring reflective prism (4) and a tracking reflective prism (5) are placed at a fixed point (B). Also, the angle (φ2) between the anchoring line (C) and the horizontal reference line (N) is
The measurement is made by a gyro compass (6) placed at the center point (P). This gyro compass (
6) may be permanently stocked on the ship (1), and there is no need for additional equipment to implement this method. Furthermore, the ship (1) includes a computer (7) that stores calculation formulas to be described later, and a display device (7) for displaying the results of the calculation.
8) Equipped with.

As shown in FIGS. 3 and 4, the distance measuring device (3) is swingably supported by the ship (1) and is capable of measuring distance m1.
(9), a main body (11) having a tracking mechanism (10), and a 4-no-Ichibo mechanism (12) that controls the attitude of the main body (11).
and an angle detector (1) that detects the inclination angle of the main body (11).
3). The distance measuring device (9) has a distance measuring light beam generator (not shown), and emits a light beam from the light beam generator toward the distance measuring prism (4).
4) The device receives the light beam emitted from the sensor and calculates the distance based on the phase difference between the emitted light and the reflected light.This allows the distance from the fixed point (△) to the fixed point (B) to be measured (<1). be done. The optical axis of the emitted light and reflected light is the main body (11)
The center line (M) of Tracking mechanism (10
) is a tracking beam generator (1) as shown in detail in Figure 5.
4) and a light receiver (15). Ray generator (
14) is a convex lens (16) placed on the center line CM) of the main body (11), a light source (17) placed on the same center line (M)l, and immediately behind the convex lens (16). Consisting of In this way, the light source (17) is connected to the convex lens (16)
Since the light source is located at a position other than the focal point (F) of the main body (11), the light source that has passed through the convex lens (16) becomes a dispersed light source whose central axis coincides with the center line (M) of the main body (11). Its width is indicated by (α) in FIG. As shown in FIG. 6, the light receiver (15) consists of a four-part light receiving diode (18), and is arranged slightly behind the focal point (F) of the convex lens (16). When the reflected light image appears at the center of the light receiver (15) as shown by the solid line, the output of each diode (18) is the same, and when the reflected light image appears at a position shifted from the center as shown by the chain line. is each diode (18
) output becomes uneven. In the case described above, there is no deviation between the center line (M) of the main body (11), that is, the central axis of the emitted beam and the axis of the reflected beam, and in the case of getting off the vehicle, there is a deviation in both axes.

In addition, the light receiver (15) has a convex lens (16) as shown by the chain line.
) may be placed in front of the focal point (``).

As shown in FIGS. 3 and 4, three reflecting prisms (4) and (5) are arranged along a circumference having a predetermined radius in a horizontal plane at each upper and lower position.

Since the effective angle of incidence of light rays on one reflecting prism (4) (5) is about ±20 degrees, three reflecting prisms (4) (5)
), the total effective incidence angle (B) of the rays becomes approximately ±60 degrees.

A dispersion beam is emitted from a tracking beam generator (14). The emitted beam is reflected by the angular tracking brism (5). Among the reflected lights, the anti-Q=1 light from one of the prisms (5) is received by the light receiver (15). At J, a signal corresponding to the deviation between the center axis of the emitted light beam and the axis of the reflected light beam is outputted to the photoreceiver (15). This output signal is input to the Rivo+ffi structure (12), and the attitude of the main body (11) is feedback-controlled so that the output becomes zero. This prevents the central axis of the emitted light beam from being coincident with the axis of the reflected light beam. The central axis of the emitted light beam coincides with the center k (M) of the main body (one), and the center line (M) coincides with the optical axis of the emitted light and reflected light of the distance measuring structure (9). Therefore, the axis of the emitted light beam is connected to a reflective prism for distance measurement (4
). In this way, since the emission beam axis of the distance measuring mechanism (9) is always tracking the distance measuring foul prism (4), by detecting the inclination angle of the main body (11) with the angle detector (13), , fixed point (A) and fixed point (
It is possible to measure the angle of elevation (θ) that the straight line connecting B) makes with the horizontal plane, and the horizontal angle (φ1) that the straight line makes with the fixed straight line (SH).

, The position of the ship (1) is represented by the center point (P). In Figure 1, the coordinates (X, Y) of the center point (P)
It is expressed by Haggi's formula.

X=-/cos e-cos(φ+ -1, +a)+
a cos(φ2 Q'l = (1)Y-/
cosθ-5in(φ1~φ2+σ)+a 5in(
φ2 (7) b = (2> Also, the fixed straight line (L
) is the X-axis dimension, and the angle at which it forms a line with the quay (2) is φ
Then, it is expressed as φ=φ2−σ (3). In addition, in the above equations (1) to (3), the X axis is positive on the bow side, Y'110.i is positive on the sea side, φ, θ
, and θ correct the counter direction. Furthermore, the above (1
) ~ (3) By dividing the time deviations of ejected X, Y, and φ, the speed of the ship (1) and the angular velocity around the center point (P, ) can be calculated. .

FIG. 7 is a block diagram of equipment for confirming the ship's position, and shows the angle measurement values (1) (θ) (φ1) (φ
From the process of inputting the input information obtained by adding geographical information such as fixed point (A> and fixed point (B) to 2) into the computer (7), the ship (7) calculated by the combi coater (7)
1) Output information such as position and speed is displayed on a display device 8)
The process of displaying the image on the screen is shown below. When displaying the output information on the display device (8), the outer shape of the ship (1), etc. may be added to the position and speed of the ship (1).

Effects of the Invention According to the present invention, the problems of the prior art described at the beginning can be completely solved. In other words, the information used to calculate the ship's position on preset coordinates includes the range, elevation angle, and horizontal angle measured between fixed points, as well as a fixed straight line passing through the fixed points. The angle that the identified straight line makes with the horizontal reference line is measured, and the angle that the identified straight line makes with the horizontal reference line is the 11
This corresponds to the angle of the road, and can be measured using a gyro compass installed on a Tsutomi ship, so in order to obtain the above angle information, four measuring devices at fixed points are required. The number of measuring instruments can be reduced because one reflective prism or the like can be placed at each fixed point.

Furthermore, since each of the above-mentioned information is acquired as the ship moves away, it is possible to confirm the ship's position even if the ship is far away from the quay, but the information does not include straight lines connecting fixed points. Because it includes the angle of elevation with respect to the horizontal plane,
The position of the ship can be accurately calculated on the coordinates.

[Brief explanation of the drawing]

1 to 7 show embodiments of the present invention, FIG. 1 is a graph showing the positional relationship of ships, and FIG. 2 is a graph showing the arrangement of measuring instruments.
3 is a schematic side view showing the arrangement of the distance-1 measuring device, FIG. 4 is a plan view of the same, FIG. 5 is a schematic orientation configuration diagram of the tracking mechanism of the device, and FIG. is the front view of the receiver,
FIG. 7 is a block diagram. 8 and 9 are plan views corresponding to FIG. 2, respectively, showing a conventional example. (1)...Ship, (2)...Ground (quay), (A)
... Fixed point, (L) ... Fixed straight line, (N) ... Horizontal reference line, (X) ... Coordinate axis, (σ) ... Angle (direction of quay), (f3) ...・Fixed point, (θ)...Angle of elevation,
(φI)...Horizontal angle, (φ2)...Angle (ship course). Figure 2 Figure 8 Figure 4 Figure 5 Figure 6

Claims (1)

[Claims] Set a fixed point (A) and a fixed straight line (L) passing through the fixed point (A) on the ship (1), and make a predetermined angle (σ) with respect to the horizontal reference line (N) in the horizontal plane on the ground (2) side. Set the coordinates with the coordinate axis (X) and the fixed point (B), then set the distance (l) from the fixed point (A) to the fixed point (B) and the fixed point (A).
) and the fixed point (B), the angle of elevation (Θ
) and the horizontal angle (φ_1) that the same line makes with the fixed line (L), and also measure the angle (φ_2) that the fixed line (L) makes with the horizontal reference line (N), and calculate these angles. The position of the ship (1) can be confirmed by inputting the measured values (l) (Θ) (φ_1) (φ_2) into a predetermined calculation formula and calculating the position of the ship (1) on the coordinates. How to confirm ship position.