JPS6329278A - Detecting device for ship body motion - Google Patents

Abstract

PURPOSE:To secure the stability at the time of coming alongside the pier by finding the speeds in the longitude and latitude direction at a position where an antenna for a worldwide position measurement system reception system is provided by a moving speed measuring means, and extracting a bow and the speed component in the perpendicular direction by a speed component extracting means. CONSTITUTION:A ship body motion detecting device consists of an arithmetic controller 11, a GPS receiver 12 for the worldwide position measurement system, a magnetic compass 13, a display control circuit 14 which drives a display device 15, a display data storage device 16, and a bow thruster controller 17. In this constitution, receivers 12 are positioned at the bow 2 and stern 3 of the ship 1 respectively to find the latitudal speed VN1 and longitudinal speed VE1 at the position 2, thereby detecting the moving speed V1 of the ship 1. Further, the moving speed V2 of the ship 1 is also detected similarly at the position 3. Thus, the moving speeds of the bow and stern are know to know the momentary position of the ship 1 to allow, specially, a large ship to turn the bow or to come alongside the pier in safety.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a ship motion detection device for detecting the state of motion of a ship in a relatively large ship.

(b) Summary of the Invention The hull interlocking detection device according to the present invention is a device using the global positioning system (NAVSTAR/GPS). This global positioning system will ultimately consist of eight navigation satellites placed in three circular orbits each with an orbit of Gaoling 1 (198H), an inclination angle of 63° to the equator, and an orbital spacing of 120°.
It is a system that can determine the three-dimensional position and speed of movement at every point on the earth, and N A in g.
V S TAR/GPS or 1 forest has GPS and ■゛ hinge 51.

This invention uses such a positioning system to ensure the safety of large ships by detecting in which direction the ship is moving, for example, when berthing. It is something.

(C1 Conventional technology When a large ship approaches the berth, it is necessary to move in a predetermined direction and at a predetermined speed using a tug hoard or a house raster. ) A measuring device is used.

Conventionally, as a general instrument, 1. Pura sonar is used.

Problems to be Solved by the FD1 Invention: Berthing needles using Doppler sonar are expensive and require a lot of effort when equipped on ships.

(e) Means for Solving the Problems This invention provides a ship motion detection device that is inexpensive and can be easily installed on a ship to measure how the ship is moving when berthed. The ship is equipped with global positioning system receiving antennas at the bow and stern, a moving speed measuring means for determining the speed in the latitude and longitude directions at each antenna installation position, and y- The present invention is characterized in that a velocity component extraction means is provided for extracting a velocity component in the bow direction and a velocity component in a direction perpendicular to the bow direction at each antenna installation position.

(f) Function With the above configuration, the moving speed measuring means can perform the following tasks: 1) Determine the speed in the latitude and longitude directions at the position where the field positioning system receiving antenna is installed.

The velocity component extracting means extracts a velocity component in the bow direction and a velocity component in a direction perpendicular to the bow direction at each antenna installation position from the velocity data in the latitude and longitude directions obtained by the moving speed measuring means.

This makes it possible to determine the moving speed of the ship in the bow direction from the speed component in the bow direction, and the rotation (turning) speed of the ship from the speed component in the direction perpendicular to the forward direction.

The first M is an example representing the data measured by the moving speed measuring means and the speed component extracted by the speed component extracting means. In this figure, the speed in the latitude direction at the bow antenna installation position 2 is 8 degrees, and the speed in the longitude direction is VEI. That is, the bow antenna installation value W2 indicates that the ship is moving in the direction indicated by the vector in ■1.

Further, at the stern antenna installation position 3, the speed in the latitude direction is ■8□, and the speed in the longitude direction is the speed ■E2, that is, the ship is moving in the direction expressed as a vector by v2.

Such speeds in the latitude and longitude directions are determined by a moving speed measuring means. From these data, the speed component extracting means extracts the VFI speed as the speed in the bow direction with respect to the bow antenna installation position 2, and the velocity component (1) 1 in the direction perpendicular to the bow direction. Also, at the stern antenna installation position 3, a velocity component VF2 in the bow direction and a velocity component VF2 in the direction perpendicular to the bow direction are extracted.

By extracting such velocity components, it can be determined that the ship is moving at a speed of VFI or VF2 in the bow direction.
Also, the moving speed in the direction perpendicular to the bow direction is ■H1 for the bow, and Vl for the stern! It can be seen that the ship is approaching the quay at a speed of 2.

+g) Embodiment FIG. 2 is a block diagram of a control section of a ship motion detection device according to an embodiment of the present invention.

The overall control is performed by the arithmetic control of the arithmetic and control unit 1). The GPS receiver 12 is a receiver used in the global positioning system, and as shown in Fig. 1, receiving antennas are provided at the bow and stern of the ship, and the GPS receiver 12 receives signals based on the signals received by these antennas. The velocity in the latitude and longitude directions at the antenna installation position is determined and output to the arithmetic and control unit 1).

A 6ft air compass 13 is used to measure the heading direction of the ship, and the arithmetic and control unit 1) is connected to a CPS receiver 12.
The azimuth data is used to extract the speed component in the bow direction and the velocity component in the direction perpendicular to the bow direction from the speed data in the latitude and longitude directions output from the ship.

The display control circuit 14 is a circuit that drives the display bag Ml 5 based on display data stored in the display data storage device 16 and data output from the arithmetic control device 1),
Based on the ship position data output from the arithmetic and control unit 1), the current position of the ship is visualized and displayed.

The house rusk control device 17 is a device that controls the movement of the ship when the ship is berthing, and it moves the ship by controlling the direction and speed of water flow based on the ship movement detection data output from the calculation device '1F1). The ship motion detecting device is configured with the above 3L, but the arithmetic and control device 1) performs the following calculations to detect the CPS receiver 1, which is the movement speed control means.
From the velocities in the latitude and longitude directions obtained from step 2, the velocity component in the bow direction and the velocity component in the direction perpendicular to the bow direction are extracted.

That is, the following relational expressions hold true for the velocity components in the various directions shown in FIG.

However, the above relational expression is expressed in common regardless of the bow or stern, and the subscripts are omitted.

In this way, 65 calculations are performed based on the azimuth θ in the bow direction and the speeds in the latitude and longitude directions at the bow and stern.

Figure 3 (A+, (Bl is the display device 15 shown in Figure 2)
FIG.

The example shown in FIG. 3A is an example in which the velocity component in the direction perpendicular to the bow direction is such that the bow is moving in the starboard direction VH, and the stern is moving in the port direction at a velocity VH2. Therefore, it is displayed that the hull is rotating around a specific point (0 in the figure) on the hull.

Further, f8 in the figure is an example in which the velocity component in the direction perpendicular to the bow direction is in the starboard direction for both the bow and the stern. In this case, it is displayed that the hull is rotating around a specific point (0 in the figure) outside the hull.

By checking such a display, the movement of the ship can be safely controlled.

In the embodiment, the ship's heading was measured using a magnetic compass, but it can also be determined from latitude and longitude data at the antenna installation position at the ship's base and stern obtained from a GPS receiver.

That is, if the distance between the two points in the latitude direction is ΔL AT and the distance in the longitude direction is ΔLON, the heading θ can be determined as θ,−jan−′ (ΔLON/Δ1.AT).

In addition, although the example was an example of use as a berthing gauge, for example, by measuring which direction the ship is moving in with respect to the bow direction, it is possible to correct drifting current to the hull side, or to determine the speed at which the ship is moving. It can also be used for the turning speed side, which measures whether the head is turning.

(1)) Effects of the Invention - According to this invention, as described in L, the receiver of the global positioning system can obtain data regarding the current moving speed of the bow and stern at short time intervals, so The motion state of the ship can be detected. This makes it possible to ensure safety especially when turning a large ship.

[Brief explanation of drawings]

FIG. 1 is a diagram for explaining the present invention in detail, FIG. 2 is a block diagram of a control section of a ship motion detection device according to an embodiment of the present invention, and FIG. A display example of the provided display device is shown.

Claims (1)

[Claims] (1) Global positioning system receiving antennas are installed at the bow and stern of the ship, and a moving speed measuring means that determines the speed in the latitude and longitude directions at each antenna installation position, and from the data obtained by this moving speed measuring means. . A ship motion detecting device comprising a speed component extracting means for extracting a speed component in the bow direction and a speed component in a direction perpendicular to the bow direction at each of the antenna installation positions.