JPH06344975A - Equipment for piloting ship to pier - Google Patents

Abstract

PURPOSE:To pilot simply a ship coming alongside the pier by giving forced water current to the ship. CONSTITUTION:A forced water current generator 1 capable of adjusting the water current direction and output is provided on a pier 2. A damper 3 for making a ship come alongside the pier is disposed such that the base end on the front of the pier 2 can be rotated around a pivot shaft 3a. A forced water current generator 1 gives water current in the direction of arrow A to a ship 10a entering with low speed to come alongside the damper 3 to increase the relative water speed to the ship and improve the maneuvering performance and directional stability of the ship so that the ship can be guided simply to the damper 3. Further, after the ship comes alongside the damper 3, the damper 3 is rotated together with the ship in the direction B and adapted to come alongside the pier 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device applied to a ship berthing work, and more particularly to a ship berthing system in which a forced water flow generator is used to easily guide the ship at the time of berthing. Regarding induction device. It can also be used as attitude / position control for underwater / underwater working devices.

[0002]

2. Description of the Related Art Conventionally, when a ship is docked, the work of docking the ship is performed by a ship-land cooperative work.
That is, in the case of a small boat, the boat sails by itself near the pier (quay), throws a rope (mooring line) from the boat to the land, and a person receives it on land, winds it around a bollard, etc., and then uses a mooring winch. The mooring line is wound and the ship is moored. For large ships, the same mooring as above is carried out with the help of tugs.

[0003]

As described above, the conventional docking work is largely divided into (a) the work of bringing the ship closer to the mooring place in the required posture (b) the work of mooring, and the unberthing work. Is the reverse process. By the way, in the work of the above (a), the maneuvering motion performance and the direction / posture stability performance of the ship are functions of the water speed, and when the water speed decreases, the maneuvering performance of the ship deteriorates. Generally, it is said that there is no performance guarantee for large tankers below 5 kt. For this reason, it is difficult to satisfy the condition by oneself, and there is a problem that complicated ship operation and external force (tag etc.) are required.

Further, in the work of (b), there is a problem that automation and labor saving cannot be performed because the posture of the ship is not sufficiently stabilized when the water speed decreases as described above. It should be noted that if it is attempted to improve the problem of the above (a) work on the ship side by some kind of device (for example, side thruster), the cost will increase, and considering the condition of the existing ship, the ship side's response (investment) ) Is not realistic. The present invention is intended to solve such problems,
By using the forced water flow generator to increase the water-to-water speed of the ship, the maneuvering performance and directional stability of the ship at the time of landing are improved, and the landing attitude of the ship necessary for landing can be controlled. An object is to provide a cross guide device.

[0005]

In order to achieve the above-mentioned object, a ship berthing guide device of the present invention is a mooring part of a ship, and a forced water flow generator installed in the mooring part and the forced water flow generation device. A control device for controlling the water flow direction and output of the device, and a ship docking damper that is rotatably arranged on the mooring part and to which a docking device is attached. It is characterized in that a ship-land synchronous control device for operating the propulsion device synchronously by operating either or both of the ship and the mooring section is provided.

[0006]

In the ship berthing guide device of the present invention described above, the water flow speed of the ship is increased by the high-speed flow discharged from the forced water flow generator, and the steering efficiency is poor and the direction is stable due to the low-speed navigation at the time of landing. It is possible to avoid a decrease in sex.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A ship berthing guidance device as an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic plan view thereof, FIG.
Is a graph showing the relationship between the steering angle and the turning angular velocity, and FIG. 5 is a schematic diagram illustrating the relationship between the direction of the water flow and the attitude of the ship.
In FIG. 1, reference numeral 1 denotes a water flow generator installed below the water surface in front of the quay 2, and the water flow generator 1 is installed so that its output and water flow direction can be adjusted.

On the front surface of the quay 2, a ship docking damper 3 made of a floating structure is mounted with its base end attached to a pivot 3a standing upright from the seabed. Axis 3a
A rotating device (not shown) is connected to. Reference numeral 10 indicates a ship. For convenience of explanation, reference numeral 10 is an auxiliary code a.
~ C is added. Generally, when the steering angle is δ and the turning angular velocity is φ, the relationship between δ and φ becomes as shown in FIG. 3 when the ship speed is high, and as the ship speed decreases,
Approach. Note that x in FIGS. 3 and 4 represents a dead zone (or a non-linear portion). In other words, the lower the ship speed,
This is the so-called "bad steering effect".

Further, as shown in FIG.
When a directional water flow acts, the ship 10 turns in the direction of the arrow b to improve the directional stability, which is also said to be high as the ship speed increases. INDUSTRIAL APPLICABILITY According to the present invention, the forced water flow generator 1 enhances the water speed of the ship 10 to improve the poor steering effectiveness due to low speed navigation at the time of landing, and at the same time,
The boat 10 is rotated in the direction of the forced water flow to stabilize the direction, and is attempted to approach the damper 3 at a slow speed to berth. In order to do this by operation from the boat and / or the quay, In addition to the above device, the following equipment shown in FIG. 2 is provided as a ship-land synchronization control device.

That is, on the quay 2, a transmitter / receiver 4 to and from the ship 10, an output of the water flow generator 1 and a controller 5 for the water flow direction are provided. On the other hand, on the ship 10, there are provided a transmitter / receiver 6, a steering 8 and a controller 7 for the propulsion device 9 for communicating with the transmitter / receiver 4 on the quay 2. In the above configuration, the ship 10 approaches the damper 3 while reducing the ground speed (ship speed) in order to land on the damper 3 (state 10a in FIG. 1). At this time, the forced water flow generator 1
Is driven to generate a water flow in the direction of arrow A (direction parallel to the damper 3).

As a result, the water speed of the ship speed 10 increases, and the ship turns in the water flow direction (direction of arrow A) (state shown by reference numeral 10b), and further at a slight speed to the position shown by reference numeral 10c parallel to the damper 3. Self-propelled. At this time, it is desirable to steer the rudder 8 on the ship 10 to quickly turn the ship 10. Since the forced water flow of the forced water flow generator 1 acts on the ship 10 from the position indicated by the reference numeral 10a to the position indicated by the reference numeral 10c, the water speed of the ship 10 is low although the ground speed is low. Get higher Therefore, the directional stability and the steering performance of the ship 10 are improved, and the ship 10 can be easily moved to the position of the reference numeral 10c.

Then, the boat 10 is caught by the damper 3 by an automatic berthing device (not shown) such as a suction device and pierces, but since the ground speed of the boat 10 is low, this capture is easy. It can be performed by the device. In addition, the control of each device described above is performed by the transceivers 4 on the quay 2 and the ship 10.
6 can be carried out synchronously by the operation of the operator on the quay 2 or the ship 10. It is also possible to carry out by automatic piloting based on the signal outputs of both transceivers 4.6. Then, after the boat 10 is docked on the damper 3, the damper is rotated in the direction of arrow B to bring the boat 10 together with the damper 3 into berth 2. The detachment is performed in the reverse procedure.

[0013]

As described in detail above, according to the ship landing guide apparatus of the present invention, the following effects and advantages are obtained. (1) By giving a forced water flow to the ship, it is possible to avoid the deterioration of the maneuvering performance of the ship and the deterioration of the directional stability, which are particularly problematic at the time of landing. It is possible to significantly reduce the number of berthing operations by minimizing the number of difficult marine vessel maneuvering operations and the mooring lines between the land and the ship. Furthermore, when the automatic landing gear is adopted as the landing gear, the number of workers can be significantly reduced. In addition, almost the same effect can be obtained even when the ship is separated. (2) A third party (external force) such as a tugboat becomes unnecessary. (3) It can be applied to existing ships, and especially when applied to high speed ships such as catamaran, the docking time can be greatly reduced and the advantages of high speed ships can be fully exhibited.

[Brief description of drawings]

FIG. 1 is a schematic plan view of a ship landing guide device as one embodiment of the present invention.

FIG. 2 is a schematic diagram of the ship-land synchronization control device.

FIG. 3 is a graph showing a relationship between a steering angle and a turning speed.

FIG. 4 is a graph showing a relationship between a steering angle and a turning speed.

FIG. 5 is a schematic diagram illustrating the relationship between the direction of water flow and the attitude of a ship.

[Explanation of symbols]

 1 Forced Water Flow Generator 2 Wharf 3 Ship Docking Damper 3a Axis 4,6 Transceiver 5,7 Controller 8 Steering Machine 9 Propulsor 10,10a, 10b, 10c Ship

Claims (1)

[Claims] 1. A mooring portion of a ship, a forced water flow generator installed in the mooring portion, a water flow direction and output control device of the forced water flow generator, and a rotatably disposed mooring portion. And a ship berthing damper to which a pier device is attached, and the control device and the steering and propulsion device of the ship are operated synchronously by operating either or both of the ship and the mooring section. A ship-land synchronous control device for controlling is provided,
Ship berthing guidance device.