WO2024029205A1

WO2024029205A1 - Mooring line tension monitoring system

Info

Publication number: WO2024029205A1
Application number: PCT/JP2023/021877
Authority: WO
Inventors: 英輝風間; 嵩野田; 啓司大江; 篤志森下
Original assignee: 川崎重工業株式会社
Priority date: 2022-08-04
Filing date: 2023-06-13
Publication date: 2024-02-08
Also published as: JP2024021895A

Abstract

A mooring line tension monitoring system (1) according to one embodiment monitors the tension of a mooring line (10), which is strung on at least one mooring fitting (22) on a vessel (21) and has been fastened, at the tip end thereof, to a mooring post (31) of a fixing structure (3), and includes a control device (9) and a mooring apparatus (4) including a drum on which the mooring line (10) is wound. The control device (9) calculates the drum-side tension P of the mooring line (10), determines the tension attenuation factor R due to the mooring line (10) being strung on the at least one mooring fitting (22), and calculates the mooring post-side tension P0 of the mooring line (10) by multiplying the tension attenuation factor R by the drum-side tension P, or by dividing the drum-side tension P by the tension attenuation factor R.

Description

Mooring line tension monitoring system

The present disclosure relates to a mooring line tension monitoring system.

When mooring a ship to a fixed structure such as a quay or a sea base, a mooring line is strung around at least one mooring hardware on the ship's hull, and the tip of the mooring line is anchored to a mooring post of the fixed structure. . The mooring line is wound up or unwound by a mooring machine (mooring winch) installed on the hull.

When mooring a ship, it is desirable to monitor the tension of the mooring line because it changes depending on the tide level, load, wind, current, etc. For example, Patent Document 1 discloses that a mooring machine includes a drum around which a mooring line is wound, and a band brake that can be switched between a restrained state that prohibits rotation of the drum and an open state that allows rotation of the drum. It is described that when the brake is in a restrained state, the tension in the mooring line is calculated from the detected value of a load cell provided in the band brake and the tension action radius on the drum.

Further, Patent Document 2 describes that a fiber rope is used as a mooring rope, an elongation rate sensor is twisted at the tip of the fiber rope, and the tension of the mooring rope is calculated from the detected value of the elongation rate sensor. There is.

Japanese Patent Application Publication No. 2002-211478 International Publication No. 2020/110902

As described in Patent Document 1, when the tension of the mooring line is calculated from the detected value of the load cell installed in the band brake and the radius of tension action on the drum, the calculated tension is based on the tension of the portion of the mooring line near the drum. It is tension. As described above, since the mooring line is wrapped around at least one mooring hardware on the hull, the tension of the mooring line is different before and after the mooring hardware. That is, with the configuration described in Patent Document 1, it is not possible to detect the most important tension on the mooring pole side, which is the tension in the portion of the mooring line between the mooring hardware and the mooring pole.

On the other hand, in the configuration described in Patent Document 2, it is possible to detect the tension of the mooring line on the mooring column side, but it is necessary to twist the elongation rate sensor into the fiber rope.

Therefore, an object of the present disclosure is to provide a mooring line tension monitoring system that can detect the mooring pole side tension of a mooring line without using an elongation rate sensor.

The present disclosure is a system for monitoring the tension of a mooring line that is stretched around at least one mooring hardware on a ship's hull and whose tip is moored to a mooring post of a fixed structure, the system comprising: a drum around which the mooring line is wound; and a drum-side tension that is the tension in a portion of the mooring line between the mooring machine and the at least one mooring hardware, and the mooring line is stretched over the at least one mooring hardware. determining a tension attenuation rate by multiplying the drum side tension by the tension attenuation rate or dividing the drum side tension by the tension attenuation rate to reduce the at least one mooring hardware in the mooring line and the mooring vessel. A mooring line tension monitoring system is provided, comprising: a control device that calculates a mooring column side tension that is a tension in a portion between the mooring line and the column.

According to the present disclosure, a mooring line tension monitoring system is provided that can detect the mooring pole side tension of a mooring line without using an elongation rate sensor.

FIG. 1 is a schematic configuration diagram of a mooring line tension monitoring system according to an embodiment. It is a front view of a mooring machine. It is a schematic block diagram of a band brake.

FIG. 1 shows a mooring line tension monitoring system 1 according to one embodiment. This mooring line tension monitoring system 1 monitors the tension of a mooring line 10 when a ship 2 is moored by the mooring line 10 to a fixed structure 3 such as a quay or a sea base.

Specifically, the mooring line tension monitoring system 1 includes a plurality of mooring machines 4 provided on the hull 21 of the ship 2 and a control device 9 that controls these mooring machines 4. Each mooring machine 4 winds up and unwinds the corresponding mooring line 10. In this embodiment, four mooring machines 4 are arranged on the port and starboard sides of the bow side and the port and starboard sides of the stern side, but the number and position of the mooring machines 4 can be changed as appropriate.

A plurality of mooring hardware 22 are provided on the hull 21, and a plurality of mooring columns 31 are provided on the fixed structure 3. At the time of mooring, each mooring line 10 is wrapped around at least one mooring hardware 22, and the tip of the mooring line 10 is anchored to a mooring post 31. In FIG. 1, all the mooring lines 10 are strung around two mooring hardware 22, but the number of mooring hardware 22 over which each mooring line 10 is strung is one or three or more. Good too.

The mooring hardware 22 is, for example, a stand roller, a fairlead, a deck roller, a chock, etc. The mooring bollard 31 is, for example, a bit, a bollard, a quick release hook, or the like. The mooring line 10 may be a fiber rope or a metal wire. Examples of the material for the fiber rope include nylon and ultra-high molecular weight polyethylene (HMPE). The mooring line 10 may have a distal end portion made of a fiber rope, and a majority of the remaining portion made of wire.

As shown in FIG. 2, each mooring machine 4 includes a drum 7 around which the mooring line 10 is wound, and a motor 51 that rotates the drum 7. In addition, in FIG. 2, the drawing of the mooring line 10 is omitted for the sake of simplification of the drawing. The drum 7 is rotatably supported by a support base 25. In this embodiment, a reducer 52 is provided between the motor 51 and the drum 7, and a clutch 53 and a band brake 6 are provided between the reducer 52 and the drum 7. That is, the motor 51 rotates the drum 7 via the reducer 52 and the clutch 53.

The motor 51 rotates in a first direction in which the mooring line 10 is wound around the drum 7 and in a second direction in which the mooring line 10 is unwound from the drum 7. In this embodiment, the motor 51 is a hydraulic motor, and hydraulic oil is supplied to and discharged from the hydraulic motor via a control valve 55. By controlling the control valve 55 by the control device 9, the motor 51 is switched between stopping, rotating in the first direction, and rotating in the second direction. However, the motor 51 may be an electric motor and may be directly controlled by the control device 9.

Further, the motor 51 is provided with a torque detector 50 that detects the torque of the motor 51. In this embodiment, since the motor 51 is a hydraulic motor, a pressure sensor that measures the inflow pressure of hydraulic oil supplied to the hydraulic motor is used as the torque detector 50, and the inflow pressure measured by the pressure sensor is used as the torque detector 50. This is converted to a torque of 51. However, instead of the pressure sensor, a torque sensor that directly measures the torque of the motor 51 may be used. Alternatively, if the motor 51 is an electric motor, the current flowing through the electric motor may be converted into torque.

The clutch 53 is switched between a engaged state in which the drum 7 is connected to the reducer 52 and a disengaged state in which the drum 7 is separated from the reducer 52. In this embodiment, the clutch 53 includes a hydraulic cylinder. This hydraulic cylinder is connected to a solenoid valve 81, and when the solenoid valve 81 is controlled by the control device 9, the clutch 53 can be switched from the engaged state to the disengaged state or vice versa. However, the clutch 53 may include an electric cylinder instead of the hydraulic cylinder, and the electric cylinder may be directly controlled by the control device 9.

The band brake 6 is switched between a restrained state in which rotation of the drum 7 is prohibited and an open state in which rotation of the drum 7 is permitted. In this embodiment, the band brake 6 includes a hydraulic cylinder 66, as shown in FIG. This hydraulic cylinder 66 is connected to a solenoid valve 82 (see FIG. 2), and when the solenoid valve 82 is controlled by the control device 9, the band brake 6 is switched from the restrained state to the released state or vice versa. I can do it. However, the band brake 6 may include an electric cylinder instead of the hydraulic cylinder 66, and the electric cylinder may be directly controlled by the control device 9.

More specifically, the band brake 6 includes a brake drum 61 that rotates together with the drum 7, and a pair of

arcuate bands

62 and 63 that extend along the brake drum 61. One ends of the

bands

62 and 63 are connected to each other via a pin 64, and the other ends of the

bands

62 and 63 are connected to the above-mentioned hydraulic cylinder 66 via a link mechanism 65. When the hydraulic cylinder 66 moves the other ends of the

bands

62 and 63 away from each other via the link mechanism 65, a slight gap is formed between the

bands

62 and 63 and the brake drum 61, and the band brake 6 becomes in an open state. . Conversely, when the hydraulic cylinder 66 brings the other ends of the

bands

62, 63 closer to each other via the link mechanism 65, the

bands

62, 63 tighten the brake drum 61, and the band brake 6 becomes in a restrained state.

The band brake 6 is provided with a load cell 60 that detects the band tension F acting on the

bands

62 and 63 in a restrained state. In this embodiment, a pin-type load cell 60 is employed. The link mechanism 65 includes a tension bar 67, and the tension bar 67 is connected to the bracket 23 provided on the hull 21 via the load cell 60.

An operation signal is input to the control device 9 for each mooring machine 4. The control device 9 controls the control valve 55 and

solenoid valves

81 and 82 of the corresponding mooring machine 4 based on the input operation signal. For example, since the control valve 55 includes an operating lever so that a sailor can manually operate the mooring machine 4, when the operating lever is tilted, an operating signal corresponding to the tilting direction is input to the control device 9. Alternatively, when automatic ship maneuvering is performed, the control device 9 may generate the operation signal by itself.

With respect to the control device 9, the functionality of the elements disclosed herein may include general purpose processors, special purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits configured or programmed to perform the disclosed functions, and/or a combination thereof. Processors are considered processing circuits or circuits because they include transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or is hardware that is programmed to perform the recited functions. The hardware may be the hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. If the hardware is a processor, which is considered a type of circuit, the circuit, means or unit is a combination of hardware and software, and the software is used to configure the hardware and/or the processor.

Furthermore, the control device 9 is electrically connected to the torque detector 50 and load cell 60 described above. In this embodiment, the control device 9 is also electrically connected to the winding layer number detector 70 and two cameras 91 (see FIG. 1). The winding layer number detector 70 detects the winding layer number of the mooring line 10 on the drum 7 . For example, the winding layer number detector 70 converts the position of the outermost circumferential surface of the mooring line 10 wound around the drum 7 into the winding layer number.

One camera 91 among the two cameras 91 is an area that includes two mooring machines 4 arranged on the bow side and all the mooring hardware 22 over which the mooring lines 10 extending from these mooring machines 4 may be strung. The other camera 91 photographs an area including the two mooring machines 4 arranged on the stern side and all the mooring hardware 22 over which the mooring lines 10 extending from these mooring machines 4 may be strung. do.

The control device 9 determines the portion of each mooring line 10 between the mooring hardware 22 and the mooring post 31 based on the detection results of the torque detector 50, load cell 60, winding layer number detector 70, and the image of the camera 91. Mooring pillar side tension P0, which is tension, is calculated.

First, the control device 9 calculates the drum-side tension P, which is the tension in the portion of each mooring line 10 between the mooring machine 4 and the mooring hardware 22. Specifically, when the band brake 6 is in the open state, the control device 9 operates based on the torque T of the motor 51 detected by the torque detector 50 and the number N of winding layers detected by the winding layer number detector 70. Calculate the drum side tension P. For example, the control device 9 calculates the drum side tension P using the following equation (1).

r: Reduction ratio of reducer 52 [-]
ηW: Mechanical efficiency of mooring machine 4 [-]
dR: Diameter of mooring line 10 “mm”
dD: Diameter of drum 7 [mm]

Conversely, when the band brake 6 is in a restrained state, the control device 9 adjusts the drum side tension P based on the band tension F detected by the load cell 60 and the number N of winding layers detected by the winding layer number detector 70. Calculate. For example, the control device 9 calculates the drum side tension P using the following equation (2).

L: Horizontal distance from the center of the drum 7 to the load cell 60 [mm]

Next, the control device 9 determines, for each mooring line 10, the tension attenuation rate R due to the mooring line 10 being stretched over the mooring hardware 22. The image of the camera 91 is used to determine this tension attenuation rate R.

The control device 9 determines which mooring hardware 22 each mooring line 10 is wrapped around and the winding angle of the mooring line 10 around each mooring hardware 22 from the image taken by the camera 91. Then, the control device 9 calculates an individual attenuation rate Ri for each of the mooring hardware 22 around which each mooring line 10 is stretched. In addition, "i" refers to the number of the mooring hardware 22 around which one mooring line 10 is stretched. For example, the control device 9 calculates the individual attenuation rate Ri using the following equation (3).

μi: Friction coefficient regarding the i-th mooring hardware 22 θi: Wrapping angle of the mooring line 10 around the i-th mooring hardware 22, that is, the individual damping rate Ri of the i-th mooring hardware 22 uses the friction coefficient μi and the wrapping angle θi It is calculated as follows.

The friction coefficient μi is a coefficient depending on the type of the i-th mooring hardware 22 and the type of the mooring line 10 stretched over the i-th mooring hardware 22. The control device 9 stores in advance a friction coefficient table that defines the correspondence between the type of mooring hardware 22 and the type (material and diameter) of the mooring line 10 and the coefficient of friction. Based on the type of mooring line 10 and the image taken by the camera 91, the friction coefficient μi of the i-th mooring hardware 22 is determined using the friction coefficient table. For example, Table 1 shows a friction coefficient table when the mooring hardware 22 is a chock.

When there is only one mooring hardware 22 over which the mooring line 10 is stretched, the control device 9 determines the individual attenuation rate Ri of the mooring hardware 22 based on the tension attenuation due to the mooring rope 10 being stretched over the mooring hardware 22. The rate is determined as R. When there are a plurality of mooring hardware 22 to which the mooring line 10 is stretched, the control device 9 multiplies the individual attenuation rates Ri of those mooring hardware 22 and causes the mooring line 10 to multiply those mooring hardware 22 by the multiplication value. It is determined as the tension attenuation rate R due to passing. That is, the control device 9 determines the tension attenuation rate R of the entire mooring line 10 using the following equation (4).

n: Total number of mooring hardware 22 over which one mooring line 10 is stretched

Thereafter, when winding the mooring line 10 onto the drum 7, the control device 9 calculates the mooring pillar side tension P0 by multiplying the drum side tension P by the tension attenuation rate R (P0=P×R), When the mooring line 10 is unwound from the mooring line 10 from the mooring line 10 and when the drum 7 is stopped, the mooring column side tension P0 is calculated by dividing the drum side tension P by the tension attenuation rate R (P0=P÷R). Therefore, by simply switching whether to multiply or divide the drum side tension P by the tension attenuation rate R, it is possible to change the mooring column side tension P0 when winding the mooring rope and the mooring column when the mooring rope is unwinding and when the drum is stopped. Side tension P0 can be calculated.

As explained above, in the mooring line tension monitoring system 1 of this embodiment, the drum side tension P is converted into the mooring column side tension P0 using the tension attenuation rate R, so the mooring line tension monitoring system 1 of the present embodiment converts the drum side tension P into the mooring column side tension P0 without using an elongation rate sensor. The mooring column side tension P0 of the cable 10 can be detected.

Moreover, in this embodiment, the tension attenuation rate R is determined using equation (4), so the tension attenuation rate R of the entire mooring line 10 can be calculated by simply calculating the individual attenuation rate Ri of each mooring hardware 22. be able to.

Furthermore, since the individual damping rate Ri of each mooring hardware 22 is calculated using the friction coefficient μi and the wrapping angle θi, the individual damping rate Ri can be calculated using the same formula.

(Modified example)
The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the gist of the present invention.

For example, instead of using the winding layer number detector 70, a split drum including a storage drum and a tension drum is used as the drum 7, and when mooring a ship, the mooring line 10 is wound around the tension drum, and the line of action of tension is applied from the center of the drum 7. The radius may be constant. However, in this case, it is necessary to wind the mooring line 10 around the tension drum when mooring the vessel. On the other hand, if the number of winding layers of the mooring line 10 on the drum 7 is detected by the winding layer number detector 70, there is no need for special work at the time of mooring, which is required when a split drum is used.

Further, depending on the ship 2, the mooring hardware 22 over which the mooring line 10 is stretched may be determined in advance. In this case, the camera 91 is not necessary, and the winding angle of the mooring line 10 around each mooring hardware 22 other than the mooring hardware 22 located near the outline of the ship 2 may be stored in advance in the control device 9.

Also, regarding the winding angle of the mooring line 10 on the mooring hardware 22 located near the outline of the vessel 2, in other words, the mooring hardware 22 located closest to the mooring post 31 among the mooring hardware 22 around which the mooring line 10 is wrapped. In this case, the control device 9 determines whether the ship is moored based on the GPS information (latitude and longitude) of the ship 2 and the topographic information of the fixed structure 3 (including the latitude and longitude of the mooring pier 31) stored in the control device 9 in advance. The angle at which the mooring line 10 is wrapped around the mooring hardware 22 located closest to the pillar 31 may be calculated.

(summary)
As a first aspect, the present disclosure is a system for monitoring the tension of a mooring line that is stretched over at least one mooring hardware on a ship's hull and whose tip is moored to a mooring post of a fixed structure, A mooring machine including a drum around which a rope is wound, and a drum-side tension that is a tension in a portion of the mooring line between the mooring machine and the at least one mooring hardware, The at least one of the mooring ropes is determined by determining the tension attenuation rate due to the mooring rope being stretched over two mooring hardware, and multiplying the drum side tension by the tension attenuation rate or dividing the drum side tension by the tension attenuation rate. A mooring line tension monitoring system is provided, comprising: a control device that calculates a mooring pole side tension that is a tension in a portion between two mooring hardware and the mooring pole.

According to the above configuration, since the drum side tension is converted to the mooring column side tension using the tension attenuation rate, the mooring column side tension of the mooring line can be detected without using an elongation rate sensor.

As a second aspect, in the first aspect, the at least one mooring hardware includes a plurality of mooring hardware, and the control device calculates an individual attenuation rate for each of the plurality of mooring hardware, and The tension attenuation rate due to the mooring line being stretched across the plurality of mooring hardware may be determined by multiplying the individual attenuation rates of the mooring hardware. According to this configuration, the tension attenuation rate of the entire mooring line can be calculated by simply calculating the individual attenuation rate of each mooring hardware.

As a third aspect, in the second aspect, the control device uses a friction coefficient depending on the type of the mooring line and the mooring hardware, and a winding angle of the mooring line with respect to the mooring hardware to perform the individual damping. A rate may also be calculated. According to this configuration, the individual attenuation rates can be calculated using the same formula.

As a fourth aspect, in any one of the first to third aspects, when the mooring line is wound around the drum, the control device multiplies the drum side tension by the tension attenuation rate. The mooring post side tension may be calculated by calculating the mooring post side tension, and dividing the drum side tension by the tension attenuation rate when the mooring line is unwound from the drum and when the drum is stopped. good. According to this configuration, by simply switching whether to multiply or divide the drum side tension by the tension attenuation rate, the mooring pole side tension when winding the mooring rope and the mooring pole side tension when the mooring rope is unwinding and when the drum is stopped can be changed. Side tension can be calculated.

As a fifth aspect, in any of the first to fourth aspects, for example, the mooring machine includes a motor that rotates the drum, a restraint state that prohibits rotation of the drum, and a restraint state that prohibits rotation of the drum, and a state that allows rotation of the drum. The control device includes a band brake that is switched between an open state and a band brake, and the control device calculates the drum side tension based on the torque of the motor when the band brake is in the open state, and when the band brake is in the open state, the control device calculates the drum side tension based on the torque of the motor. When in a restrained state, the drum side tension may be calculated based on the band tension of the band brake.

Claims

A system for monitoring the tension of a mooring line that is stretched over at least one mooring hardware on a ship's hull and whose tip is moored to a mooring post of a fixed structure, the system comprising:
a mooring machine including a drum around which the mooring line is wound;
Calculating the drum side tension, which is the tension in the portion of the mooring line between the mooring machine and the at least one mooring hardware, and the tension attenuation rate due to the mooring line being stretched over the at least one mooring hardware. and multiplying the drum side tension by the tension attenuation rate or dividing the drum side tension by the tension attenuation rate to determine the part of the mooring line between the at least one mooring hardware and the mooring post. a control device that calculates the mooring column side tension, which is the tension of the
A mooring line tension monitoring system equipped with:
the at least one mooring hardware includes a plurality of mooring hardware;
The control device calculates an individual attenuation rate for each of the plurality of mooring hardware, and multiplies it by the individual attenuation rate of the plurality of mooring hardware, so that the mooring line is stretched over the plurality of mooring hardware. 2. The mooring line tension monitoring system according to claim 1, wherein the mooring line tension monitoring system determines the tension decay rate due to a change in tension.
The mooring vessel according to claim 2, wherein the control device calculates the individual attenuation rate using a friction coefficient depending on the type of the mooring line and the mooring hardware, and a winding angle of the mooring line with respect to the mooring hardware. Cable tension monitoring system.
The control device calculates the mooring pole side tension by multiplying the drum side tension by the tension attenuation rate when winding the mooring line onto the drum, and calculates the mooring pole side tension by multiplying the drum side tension by the tension attenuation rate, and unwinds the mooring line from the drum. The mooring line tension monitoring system according to any one of claims 1 to 3, wherein the mooring pole side tension is calculated by dividing the drum side tension by the tension attenuation rate when the drum is stopped.
The mooring machine includes a motor that rotates the drum, and a band brake that can be switched between a restrained state that prohibits rotation of the drum and an open state that allows rotation of the drum,
The control device calculates the drum side tension based on the torque of the motor when the band brake is in the open state, and calculates the band tension of the band brake when the band brake is in the restrained state. The mooring line tension monitoring system according to any one of claims 1 to 3, wherein the drum side tension is calculated based on.