Mooring device and control method thereof

Abstract

To properly moor an object with elastic retention force.SOLUTION: A mooring device 1 includes an engagement portion 2 that engages with a door body 10, a hydraulic cylinder 5 connected to the engagement portion 2, an accumulator 6 connected to the hydraulic cylinder 5, a stroke sensor 77 that detects the stroke amount of the hydraulic cylinder 5, a pressure sensor 78 that detects the hydraulic pressure of the hydraulic cylinder 5, and a control device 8 that adjusts the amount of hydraulic oil in the hydraulic cylinder 5. The control device 8 determines an operating point of the hydraulic cylinder 5, which is specified by the stroke amount and hydraulic pressure of the hydraulic cylinder 5, based on the detection results of the stroke sensor 77 and the pressure sensor 78, and adjusts the amount of hydraulic oil in the hydraulic cylinder 5 so that the operating point moves toward a target operating area Z, if the operating point is not within a target operating area Z defined by the stroke amount of the hydraulic cylinder 5 and the hydraulic pressure of the hydraulic cylinder 5.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The technology disclosed herein relates to a mooring device and a control method thereof. [Background technology]

[0002] Mooring devices for mooring underwater objects have been known for some time. For example, Patent Document 1 discloses a mooring device for mooring a gate body underwater as an object. This mooring device allows the gate body to swing underwater by elastically holding the gate body. Specifically, the mooring device has a hook that engages with the gate body, a hydraulic cylinder connected to the hook, and an accumulator connected to the hydraulic cylinder. When the gate body swings, the hook swings accordingly. When the swing of the hook is transmitted to the hydraulic cylinder, the gas in the accumulator expands and compresses, causing the hydraulic cylinder to expand and contract. In other words, the swing of the gate body is allowed by the hydraulic cylinder expanding and contracting elastically. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-70595 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the mooring device as described above, the elastic holding force may vary due to hydraulic oil leaks in the hydraulic cylinder, fluctuations in the environmental temperature, etc. As a result, there is a risk that the object cannot be moored as ideally.

[0005] The technology disclosed herein has been made in consideration of the above points, and its purpose is to appropriately moor an object with an elastic holding force. [Means for solving the problem]

[0006] The technology disclosed herein is a mooring device for mooring an object, comprising an engagement portion for engaging with the object, a hydraulic cylinder connected to the engagement portion, an accumulator connected to the hydraulic cylinder, a stroke sensor for detecting the stroke amount of the hydraulic cylinder, a pressure sensor for detecting the hydraulic pressure of the hydraulic cylinder, and a control device for adjusting the amount of hydraulic oil in the hydraulic cylinder, wherein the control device determines an operating point of the hydraulic cylinder specified by the stroke amount of the hydraulic cylinder and the hydraulic pressure of the hydraulic cylinder based on the detection results of the stroke sensor and the pressure sensor, and if the operating point is not within a target operating area defined by the stroke amount of the hydraulic cylinder and the hydraulic pressure of the hydraulic cylinder, adjusts the amount of hydraulic oil in the hydraulic cylinder so that the operating point moves toward the target operating area.

[0007] The technology disclosed herein is a control method for a mooring device that moors an object and has an engagement portion that engages with an object, a hydraulic cylinder connected to the engagement portion, and an accumulator connected to the hydraulic cylinder, and includes detecting a stroke amount of the hydraulic cylinder, detecting the hydraulic pressure of the hydraulic cylinder, determining an operating point of the hydraulic cylinder specified by the detected stroke amount and the detected hydraulic pressure, and, if the operating point is not within a target operating area defined by the stroke amount and the hydraulic pressure, adjusting the amount of hydraulic oil in the hydraulic cylinder so that the operating point moves toward the target operating area. Effect of the Invention

[0008] According to the mooring device, an object can be appropriately moored with an elastic holding force.

[0009] According to the control method for the mooring device, the object can be appropriately moored with an elastic holding force. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of an undulating gate. [Diagram 2]FIG. 2 is a schematic diagram showing the configuration of a port in which undulating gates are installed. [Diagram 3] FIG. 3 is a schematic diagram showing the configuration of a mooring device. [Figure 4] FIG. 4 is a schematic diagram showing the configuration of a hydraulic cylinder and an accumulator. [Diagram 5] FIG. 5 is a circuit diagram of the hydraulic circuit. [Figure 6] FIG. 6 is a diagram illustrating a schematic hardware configuration of the control device. [Figure 7] FIG. 7 is a block diagram showing the configuration of a control system of the processor. [Figure 8] FIG. 8 is an example of an operating map. [Figure 9] FIG. 9 is an example of an operating map in which a number of accumulated operating points are plotted. [Figure 10] FIG. 10 is a graph plotting operating points defined by stroke amount and hydraulic deviation. [Figure 11] FIG. 11 is a flowchart of the oil amount adjustment control by the control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An exemplary embodiment will be described in detail below with reference to the drawings. FIG. 1 is a schematic diagram showing the configuration of a waving gate 100. In this example, a mooring device 1 is incorporated in the waving gate 100. The waving gate 100 includes a door body 10 that rotates around a predetermined rotation axis X between a lying down state in water and an upright state out of water, and a mooring device 1 that moors the door body 10 in the lying down state. The waving gate 100 is a facility for holding back water. The door body 10 is an example of an object to be moored.

[0012] FIG. 2 is a schematic diagram showing the configuration of a port in which a undulating gate 100 is arranged. For example, the undulating gate 100 is installed in the ocean, more specifically, in a port, as a measure against tsunamis and high tides. For example, the undulating gate 100 is arranged in an opening 91 formed in a bank body 9. The undulating gate 100, together with the bank body 9, constitutes a breakwater. In this example, the undulating gate 100 includes four gate bodies 10. The four gate bodies 10 are arranged in the opening 91 so that their respective rotation axes X are aligned in a straight line.

[0013] The door body 10 is formed in a substantially rectangular plate shape. The rotation axis X is located near one of the four sides of the door body 10 and is substantially parallel to that side. In the lying down state, the door body 10 is submerged in water. In the standing up state, the door body 10 partially protrudes above the water and closes the opening 91. An air chamber (not shown) is formed inside the door body 10. The door body 10 rotates from the lying down state to the standing up state due to the buoyancy applied to the door body 10.

[0014] An engagement portion 13 is provided on the portion of the gate body 10 opposite the rotation axis X (hereinafter referred to as the "tip"). The gate body 10 is moored in a lying down state by an engagement portion 2 of the mooring device 1, which will be described later, with the engagement portion 13. The gate body 10 is configured so that the tip portion swings up and down due to waves when lying down.

[0015] As shown in FIG. 1, the undulating gate 100 includes a box 15 having a storage space 16 for storing the door body 10 in a collapsed state. The box 15 is disposed in water. The box 15 is formed in a box shape that opens upward. The internal space of the box 15 is the storage space 16. The planar shape of the storage space 16 is substantially rectangular, and is slightly larger than the door body 10. In this example, one storage space 16 is provided common to the four door bodies 10. The storage space 16 is partitioned by a bottom wall 17 and four side walls 18. When the door body 10 is moored by the mooring device 1, there is a gap between the door body 10 and the bottom wall 17, and between the door body 10 and the side walls 18. These gaps are filled with water.

[0016] FIG. 3 is a schematic diagram showing the configuration of the mooring device 1. The mooring device 1 includes an engagement portion 2 that engages with a door body 10, a hydraulic cylinder 5 connected to the engagement portion 2, an accumulator 6 connected to the hydraulic cylinder 5, a stroke sensor 77 that detects the stroke amount of the hydraulic cylinder 5, a pressure sensor 78 that detects the hydraulic pressure of the hydraulic cylinder 5, and a control device 8 that adjusts the amount of hydraulic oil in the hydraulic cylinder 5. The hydraulic cylinder 5 is connected to the accumulator 6, so it can elastically advance and retreat due to the compressibility of the gas in the accumulator 6. The engagement portion 2 is connected to the hydraulic cylinder 5, so it elastically engages with the door body 10 due to the elastic advance and retreat of the hydraulic cylinder 5. When the door body 10 swings, the engagement portion 2 can elastically displace in accordance with the swing of the door body 10 while maintaining the engagement with the door body 10. In other words, the mooring device 1 moors the door body 10 while allowing the door body 10 to swing. In addition, the control device 8 adjusts the amount of hydraulic oil in the hydraulic cylinder 5 based on the detection results of the stroke sensor 77 and the pressure sensor 78, thereby appropriately adjusting the elastic characteristics of the hydraulic cylinder 5 and the accumulator 6.

[0017] The mooring device 1 may further include a connecting mechanism 4 that connects the engaging portion 2 and the hydraulic cylinder 5. That is, the hydraulic cylinder 5 is connected to the engaging portion 2 via the connecting mechanism 4. The elastic holding force of the hydraulic cylinder 5 and the accumulator 6 is transmitted to the engaging portion 2 via the connecting mechanism 4.

[0018] Furthermore, the mooring device 1 may further include an actuator 3 that generates a driving force to operate the engagement portion 2. The mooring device 1 is capable of switching between engagement and release of the engagement portion 2 with the door body 10. The actuator 3 generates a driving force for switching the engagement portion 2. The connecting mechanism 4 has a function of connecting the engagement portion 2 and the hydraulic cylinder 5, as well as a function of transmitting the driving force of the actuator 3 to the engagement portion 2. The driving force of the actuator 3 is transmitted to the engagement portion 2 via the connecting mechanism 4.

[0019] The undulating gate 100 is provided with the same number of mooring devices 1 as the number of door bodies 10. In this example, the undulating gate 100 is provided with four mooring devices 1. In other words, one mooring device 1 is provided for one door body 10.

[0020] The engagement portion 2 is disposed underwater near the door body 10 in the laid-down state. The engagement portion 2 is, for example, a hook. The engagement portion 2 is attached to the shaft 21 so as to be unable to rotate. The shaft 21 is supported so as to be rotatable about a predetermined rotation axis A. The engagement portion 2 extends from the shaft 21 in the radial direction of the rotation axis A. The engagement portion 2 is located on the engagement portion 13 of the door body 10 in the laid-down state at a predetermined rotation position about the rotation axis A. In this state, the engagement portion 2 engages with the engagement portion 13. This position is referred to as the "engagement position." The state in which the engagement portion 2 engages with the engagement portion 13 is referred to as the "engagement state."

[0021] A counterweight 23 is provided on the shaft 21 to rotate the engagement portion 2 in the circumferential direction around the rotation axis A. The counterweight 23 generates a moment that rotates the engagement portion 2 in a direction that moves the engagement portion 2 upward from the engagement position. In other words, the counterweight 23 generates a moment that rotates the engagement portion 2 in an engaged state in a direction that disengages the engagement portion 2.

[0022] 4 is a schematic diagram showing the configuration of the hydraulic cylinder 5 and the accumulator 6. The hydraulic cylinder 5 includes a cylinder tube 51, a piston rod 52 that advances and retreats relative to the cylinder tube 51, and a piston 53 that is connected to the piston rod 52 within the cylinder tube 51. In this example, the hydraulic cylinder 5 is disposed such that the piston rod 52 extends upward from the cylinder tube 51. The hydraulic cylinder 5 is housed, for example, in a machine room on land.

[0023] The inside of the cylinder tube 51 is divided into a first chamber 54 and a second chamber 55 by the piston 53. The first chamber 54 is located on the side of the piston rod 52 with respect to the piston 53, and the second chamber 55 is located on the opposite side of the piston rod 52 with respect to the piston 53. A first oil passage 71 is connected to the first chamber 54. A hydraulic circuit 7, which will be described later, is connected to the first oil passage 71. Hydraulic oil flows into and out of the first chamber 54 through the first oil passage 71. A second oil passage 72 is connected to the second chamber 55. The second oil passage 72 is connected to, for example, a tank. Hydraulic oil flows into and out of the second chamber 55 through the second oil passage 72. The piston 53 is displaced by an increase or decrease in the amount of hydraulic oil in the first chamber 54 and the second chamber 55, and the piston rod 52 advances and retreats.

[0024] The accumulator 6 stores compressible gas and hydraulic oil in a separated state. A diaphragm 61 is provided inside the accumulator 6. The inside of the accumulator 6 is divided by the diaphragm 61 into a gas chamber 62 in which a gas (e.g., nitrogen gas) is sealed and an oil chamber 63 in which hydraulic oil is stored. The hydraulic oil can flow in and out of the oil chamber 63. In the accumulator 6, the gas in the gas chamber 62 is compressed by the hydraulic oil flowing in, and hydraulic pressure is accumulated. On the other hand, the gas in the gas chamber 62 is expanded by the hydraulic oil flowing out of the accumulator 6, and hydraulic pressure is released. The oil chamber 63 of the accumulator 6 is connected to the hydraulic cylinder 5. Specifically, the oil chamber 63 is in communication with the first chamber 54 of the cylinder tube 51 via a first oil passage 71.

[0025] When an advancing force acts on the piston rod 52, the first chamber 54 contracts, and the hydraulic oil in the first chamber 54 flows out to the accumulator 6 through the first oil passage 71. In the accumulator 6, the oil chamber 63 expands, and the gas chamber 62 is compressed. On the other hand, when a retreating force acts on the piston rod 52, the first chamber 54 expands, and the hydraulic oil in the oil chamber 63 of the accumulator 6 flows into the first chamber 54 through the first oil passage 71. In the accumulator 6, the oil chamber 63 contracts, and the gas chamber 62 expands. In this way, the compression and expansion of the gas chamber 62 of the accumulator 6 causes the piston rod 52 to elastically advance and retreat.

[0026] 3, the connecting mechanism 4 includes a wire 41, a first link rod 42, a first rotating link 43, a second link rod 44, a second rotating link 45, and a third link rod 46. The wire 41 is connected to the hydraulic cylinder 5.

[0027] Specifically, the wire 41 is connected to the piston rod 52. Furthermore, the wire 41 is connected to one end of a first link rod 42. The other end of the first link rod 42 is rotatably connected to a first rotation link 43. The first link rod 42 extends generally in the vertical direction.

[0028] The first rotating link 43 is supported in water so as to be rotatable about a predetermined axis of rotation. For example, the first rotating link 43 is formed in a bell crank shape.

[0029] One end of the second link rod 44 is rotatably connected to the first rotating link 43. The other end of the second link rod 44 is rotatably connected to the second rotating link 45. The second link rod 44 extends generally laterally in the water. The second rotating link 45 is supported in the water so as to be rotatable about a predetermined rotation axis. For example, the second rotating link 45 is formed in a bell crank shape.

[0030] One end of the third link rod 46 is rotatably connected to the second rotating link 45. The other end of the third link rod 46 is connected to the engagement portion 2. Specifically, the engagement portion 2 has a pin 22. The third link rod 46 is connected to the pin 22. The third link rod 46 extends generally vertically in the water.

[0031] In this manner, the hydraulic cylinder 5, the wire 41, the first link rod 42, the first rotating link 43, the second link rod 44, the second rotating link 45, the third link rod 46, and the engagement portion 2 are connected in this order.

[0032] The actuator 3 is a hydraulic cylinder. The actuator 3 includes a cylinder tube 31 and a piston rod 32 that advances and retreats relative to the cylinder tube 31. A pulley 33 is rotatably attached to the piston rod 32. In this example, the actuator 3 is disposed such that the piston rod 32 extends upward from the cylinder tube 31. As the piston rod 32 moves up and down, the pulley 33 also moves up and down. A hydraulic circuit is connected to the actuator 3, and oil is supplied to and discharged from the hydraulic circuit. The actuator 3 is housed, for example, in a machine room on land. The actuator 3 is disposed in the vicinity of the hydraulic cylinder 5.

[0033] The wire 41 of the connecting mechanism 4 is wound around the pulley 33. Specifically, the wire 41 extends upward from the hydraulic cylinder 5, is wound around the pulley 33, extends downward, and is connected to the first link rod 42. In other words, the first link rod 42 is suspended from the pulley 33 via the wire 41.

[0034] When the engaging portion 2 is engaged with the engaging portion 13 of the door body 10, the actuator 3 advances the piston rod 32. Before the engagement, the door body 10 is in a lying state and the engaging portion 2 is located above the engaging portion 13. When the piston rod 32 of the actuator 3 advances from the cylinder tube 31 from this state, the pulley 33 moves upward. As the pulley 33 moves upward, the first link rod 42 moves upward and the first rotating link 43 rotates. Due to this rotation, the second link rod 44 moves toward the first rotating link 43 and the second rotating link 45 rotates. Due to this rotation, the third link rod 46 moves downward. As a result, the engaging portion 2 rotates downward by the driving force of the actuator 3. The engaging portion 2 engages with the engaging portion 13 of the door body 10 from above (see the dashed arrow in FIG. 3).

[0035] On the other hand, when the engagement by the engagement part 2 is released, the actuator 3 releases the pressure in the cylinder tube 31. An upward pushing force acts on the engagement part 2 due to the buoyancy of the door body 10 and the load of the counterweight 23. When the pressure in the cylinder tube 31 is released, the piston rod 32 becomes movable. Therefore, the constraints on the first link rod 42, the first rotating link 43, the second link rod 44, the second rotating link 45, and the third link rod 46 are released. The engagement part 2 rotates upward due to the pushing force from the door body 10, etc., and in conjunction with this, the first link rod 42, the first rotating link 43, the second link rod 44, the second rotating link 45, and the third link rod 46 are displaced or rotated (see the solid arrow in FIG. 3). The wire 41 is pulled by the first link rod 42 moving downward, and the piston rod 32 retreats. The door body 10, whose engagement by the engagement part 2 is released, floats up due to buoyancy and finally reaches an upright state.

[0036] The door body 10 in the downed state is immersed in water and is therefore affected by waves. For example, when the water level drops due to waves, the door body 10 tries to swing upward. In that case, the force that the engaging part 2 receives from the door body 10 increases. On the other hand, when the water level rises due to waves, the door body 10 tries to swing downward. In that case, the force that the engaging part 2 receives from the door body 10 decreases. In this way, the force that the engaging part 2 receives from the door body 10 increases or decreases due to waves. In addition, the mooring device 1 only restrains the downed door body 10 from above when the door body 10 is moored. Therefore, the door body 10 is likely to swing. The force that the engaging part 2 receives from the door body 10 acts as tension on the connecting mechanism 4. Since the connecting mechanism 4 is connected to the hydraulic cylinder 5, the tension of the connecting mechanism 4 acts on the hydraulic cylinder 5. In other words, when the door body 10 swings, the tension acting on the hydraulic cylinder 5 fluctuates. This causes the piston rod 52 to elastically advance and retreat. As a result, when the door body 10 swings, the engagement portion 2 maintains its engagement with the door body 10 while being displaced in response to the swing of the door body 10 .

[0037] However, the elastic characteristics of the hydraulic cylinder 5 and the accumulator 6 may vary due to leakage of hydraulic oil in the hydraulic cylinder 5, fluctuations in the environmental temperature, etc. If the elastic characteristics vary greatly, it may become difficult to elastically hold the door body 10.

[0038] Therefore, the control device 8 adjusts the amount of hydraulic oil in the hydraulic cylinder 5. In this way, the control device 8 modifies the elastic properties, i.e., elastic modulus, of the hydraulic cylinder 5 and the accumulator 6. The hydraulic cylinder 5 and the accumulator 6 are connected to a hydraulic circuit 7 for adjusting the amount of hydraulic oil in the hydraulic cylinder 5. The control device 8 adjusts the amount of hydraulic oil in the hydraulic cylinder 5 by operating the hydraulic circuit 7. FIG. 5 is a circuit diagram of the hydraulic circuit 7. The first chamber 54 of the hydraulic cylinder 5 is connected to the oil chamber 63 of the accumulator 6 via a first oil passage 71. A pressure sensor 78 is provided in the first oil passage 71. The pressure sensor 78 detects the hydraulic pressure in the first oil passage 71, i.e., the hydraulic pressure in the hydraulic cylinder 5.

[0039] A third oil passage 73 is connected to the first oil passage 71. A switching valve 79 is connected to the third oil passage 73. The switching valve 79 is a 4-port 3-position solenoid switching valve. A fourth oil passage 74, a fifth oil passage 75, and a sixth oil passage 76 are further connected to the switching valve 79. A valve 713 is provided in the first oil passage 71 between the connection portion of the third oil passage 73 and the accumulator 6.

[0040] In the third oil passage 73, the side of the switching valve 79 is the upstream side, and the side of the first oil passage 71 is the downstream side. In the third oil passage 73, the direction from the switching valve 79 to the first oil passage 71 is the forward direction, and the direction from the first oil passage 71 to the switching valve 79 is the reverse direction. A pilot check valve 710 is provided in the third oil passage 73. The pilot check valve 710 basically allows the hydraulic oil to flow in the forward direction, while blocking the flow in the reverse direction. However, the pilot check valve 710 allows the hydraulic oil to flow in the reverse direction when pilot pressure acts on the external pilot line. A flow rate adjustment valve 711 is provided in the third oil passage 73 downstream of the pilot check valve 710. The flow rate of the hydraulic oil flowing through the third oil passage 73 is adjusted by the flow rate adjustment valve 711.

[0041] Hydraulic oil from a pump (not shown) is supplied to the fourth oil passage 74. A pressure reducing valve 712 is provided in the fourth oil passage 74. The pressure of the hydraulic oil from the pump is reduced by the pressure reducing valve 712.

[0042] The fifth oil passage 75 is connected to a tank (not shown). The sixth oil passage 76 is connected to an external pilot line of a pilot check valve 710.

[0043] When an excitation signal is input to the solenoid of the switching valve 79, the switching valve 79 switches between a first position, a second position, and a third position.

[0044] In the first position, the switching valve 79 connects the fourth oil passage 74 to the third oil passage 73, and connects the fifth oil passage 75 to the sixth oil passage 76. The hydraulic oil supplied to the fourth oil passage 74 flows into the first oil passage 71 via the third oil passage 73. The hydraulic oil is supplied to the first chamber 54 of the hydraulic cylinder 5 and the oil chamber 63 of the accumulator 6 via the first oil passage 71. That is, the amount of hydraulic oil in the hydraulic cylinder 5 and the accumulator 6 is increased.

[0045] In the second position, the switching valve 79 closes the fourth oil passage 74 and connects the third oil passage 73 to the fifth oil passage 75 and the sixth oil passage 76. Since the fourth oil passage 74 is closed, no hydraulic oil is supplied to the first oil passage 71. Since the sixth oil passage 76 is connected to the fifth oil passage 75, no pilot pressure acts on the external pilot line of the pilot check valve 710, and no backflow of hydraulic oil occurs in the third oil passage 73. In other words, the hydraulic oil in the hydraulic cylinder 5 and the accumulator 6 does not increase or decrease. Normally, that is, when the hydraulic oil in the hydraulic cylinder 5 is not being adjusted, the switching valve 79 is in the second position.

[0046] In the third position, the switching valve 79 connects the fourth oil passage 74 to the sixth oil passage 76, and connects the fifth oil passage 75 to the third oil passage 73 (upstream portion thereof). By connecting the fourth oil passage 74 to the sixth oil passage 76, the hydraulic oil is supplied to the sixth oil passage 76, and pilot pressure acts on the external pilot line of the pilot check valve 710. As a result, the pilot check valve 710 allows backflow. Since the third oil passage 73 (downstream portion thereof) is connected to the fifth oil passage 75, the hydraulic oil in the first oil passage 71 flows out to the fifth oil passage 75 via the third oil passage 73. That is, the hydraulic oil in the hydraulic cylinder 5 and the accumulator 6 is reduced.

[0047] 6 is a diagram showing a schematic hardware configuration of the control device 8. The detection results of the stroke sensor 77 and the pressure sensor 78 are input to the control device 8. The control device 8 controls the amount of hydraulic oil in the hydraulic cylinder 5 by operating the hydraulic circuit 7, specifically, a switching valve 79. The control device 8 has a processor 81, a storage device 82, and a memory 83. For example, the control device 8 is a PLC (Programmable Logic Controller).

[0048] The processor 81 controls the entire control device 8. The processor 81 performs various types of arithmetic processing. For example, the processor 81 is formed of a processor such as a CPU (Central Processing Unit). The processor 81 may be formed of an MCU (Micro Controller Unit), an MPU (Micro Processor Unit), an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), a system LSI, or the like.

[0049] The storage unit 82 stores programs and various data executed by the processor 81. The storage unit 82 is formed of a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), etc. The memory 83 temporarily stores data, etc. For example, the memory 83 is formed of a volatile memory.

[0050] 7 is a block diagram showing the configuration of a control system of the processor 81. The processor 81 realizes various functions by reading a program from a storage unit 82 into a memory 83 and expanding the program. In detail, the processor 81 functions as an acquirer 84, a first determiner 85, an adjuster 86, a deriver 87, a second determiner 88, and a warning unit 89.

[0051] The acquirer 84 obtains an operating point of the hydraulic cylinder 5 specified by the stroke amount and hydraulic pressure of the hydraulic cylinder 5. Specifically, the acquirer 84 obtains the detection results of the stroke sensor 77 and the pressure sensor 78 at approximately the same timing, and obtains the stroke amount and hydraulic pressure of the hydraulic cylinder 5 based on the detection results. The acquirer 84 repeatedly obtains the stroke amount and hydraulic pressure of the hydraulic cylinder 5. The acquirer 84 accumulates the acquired stroke amount and hydraulic pressure in the memory 82. For example, when the first determiner 85 determines that the operating point is not within the target operating region, the acquirer 84 accumulates the stroke amount and hydraulic pressure in the memory 82. Note that the acquirer 84 may accumulate the stroke amount and hydraulic pressure in the memory 82 every time it obtains the stroke amount and hydraulic pressure.

[0052] The first determiner 85 determines whether or not the operating point of the hydraulic cylinder 5 is within a target operating region defined by the stroke amount and hydraulic pressure of the hydraulic cylinder 5. For example, the memory 82 stores an operating map defined by the stroke amount and hydraulic pressure of the hydraulic cylinder 5. The hydraulic cylinder 5 and the accumulator 6 have elastic characteristics in which the hydraulic pressure changes according to the stroke amount. In this example, since the accumulator 6 is connected to the first chamber 54, the hydraulic cylinder 5 and the accumulator 6 have elastic characteristics in which the hydraulic pressure increases as the stroke amount increases.

[0053] 8 is an example of an actuation map. The horizontal axis of the actuation map represents the stroke amount of the hydraulic cylinder 5, and the vertical axis of the actuation map represents the hydraulic pressure of the hydraulic cylinder 5. A target actuation region Z is set in the actuation map.

[0054] Specifically, the target operating region Z is set based on the target stroke amount and hydraulic pressure characteristic (hereinafter, this characteristic will be referred to as the "target characteristic"). For example, the target characteristic p(s) is expressed by the following formula (1).

[0055]

number

[0056] The target operating region Z is a region that includes the target characteristic p(s). The target operating region Z is a region between an upper limit characteristic set on the higher pressure side of the target characteristic p(s), i.e., on the small stroke side, and a lower limit characteristic set on the lower pressure side of the target characteristic p(s), i.e., on the large stroke side. The region on the higher pressure side of the upper limit characteristic, i.e., on the small stroke side, is called the high elasticity region, and the region on the lower pressure side of the lower limit characteristic, i.e., on the large stroke side, is called the low elasticity region.

[0057] For example, the upper limit characteristic p H (s) is defined by the following formula (2), and the lower limit characteristic p L (s) is defined by the following equation (3).

[0058]

number

[0059] In the target operating region Z, the hydraulic pressure of the hydraulic cylinder 5 is appropriate, and the hydraulic cylinder 5 and the accumulator 6 hold the engagement portion 2 with an appropriate elastic force. In the high elasticity region H, the hydraulic pressure of the hydraulic cylinder 5 is too high, and the elastic modulus of the hydraulic cylinder 5 and the accumulator 6 is high. In the low elasticity region L, the hydraulic pressure of the hydraulic cylinder 5 is too low, and the elastic modulus of the hydraulic cylinder 5 and the accumulator 6 is low.

[0060] The regulator 86 adjusts the amount of hydraulic oil in the hydraulic cylinder 5. More specifically, the regulator 86 adjusts the amount of hydraulic oil in the hydraulic cylinder 5 when the operating point of the hydraulic cylinder 5 is not within the target operating region Z. The regulator 86 outputs an operation command to the switching valve 79. The operation command is input to a relay or switch connected to the solenoid of the switching valve 79. The relay or switch is switched based on the operation signal to switch between application and interruption of excitation current to the solenoid. Note that when the operating point of the hydraulic cylinder 5 (for example, operating point Q1 in FIG. 8) is within the target operating region Z, the regulator 86 does not adjust the amount of hydraulic oil in the hydraulic cylinder 5.

[0061] Specifically, when the operating point of the hydraulic cylinder 5 (for example, the operating point Q2 in FIG. 8) is within the high elasticity region H, the regulator 86 outputs a reduction command (which may be called a pressure reduction command). The reduction command is a command to reduce the hydraulic oil in the hydraulic cylinder 5. The control device 8 outputs an excitation signal to the switching valve 79 to switch the switching valve 79 to the third position in accordance with the reduction command. When the hydraulic oil in the hydraulic cylinder 5 decreases, the hydraulic pressure decreases, and the elasticity of the hydraulic cylinder 5 and the accumulator 6 decreases. The tension of the connecting mechanism 4 acts on the piston rod 52. If the tension during the adjustment of the hydraulic oil remains almost the same, the stroke amount increases according to the decrease in the elasticity. As a result, the operating point Q2 moves in the direction of decreasing hydraulic pressure and increasing stroke amount, that is, toward the target operating region Z, as shown by the arrow.

[0062] When the operating point of the hydraulic cylinder 5 (for example, the operating point Q3 in FIG. 8) is within the low elasticity region L, the regulator 86 outputs an increase command (which may also be called an increase / decrease command). The increase command is a command to increase the hydraulic oil in the hydraulic cylinder 5. The control device 8 outputs an excitation signal to the switching valve 79 to switch the switching valve 79 to the first position in accordance with the increase command. When the hydraulic oil in the hydraulic cylinder 5 increases, the hydraulic pressure increases and the elasticity of the hydraulic cylinder 5 and the accumulator 6 increases. If the tension during the adjustment of the hydraulic oil remains almost the same, the stroke amount decreases according to the increase in the elasticity. As a result, the operating point Q3 moves in the direction of increasing hydraulic pressure and decreasing stroke amount, that is, toward the target operating region Z, as shown by the arrow.

[0063] At this time, the regulator 86 increases or decreases the hydraulic oil by a certain amount. Specifically, the regulator 86 switches the switching valve 79 from the second position to the first position or the third position for a certain period of time. The certain period of time is relatively short, and a small amount of hydraulic oil is increased or decreased. The operating point of the hydraulic cylinder 5 can always vary depending on the swing of the door body 10. Even if it is confirmed whether the operating point is within the target operating region Z after the adjustment of the amount of oil, the force that the engagement part 2 receives from the door body 10 varies between the operating point before the adjustment and the operating point after the adjustment, so it is not possible to determine whether the adjustment of the amount of oil is appropriate. Therefore, the regulator 86 stops adjusting the hydraulic oil without confirming the change in the operating point of the hydraulic cylinder 5 due to the adjustment of the hydraulic oil. That is, the regulator 86 operates the amount of hydraulic oil in the hydraulic cylinder 5 to feedforward control the operating point of the hydraulic cylinder 5. The regulator 86 then repeats the adjustment of a certain amount of hydraulic oil until the operating point is within the target operating region Z.

[0064] The deriving device 87 obtains the characteristics of the hydraulic pressure with respect to the stroke amount in the hydraulic cylinder 5 (hereinafter also referred to as "stroke-hydraulic pressure characteristics") from a plurality of operating points. For example, the stroke-hydraulic pressure characteristics are the magnitude of change in the hydraulic pressure with respect to the stroke amount, that is, the degree of change. Since the operating points of the hydraulic cylinder 5 are continuously acquired and accumulated, the deriving device 87 obtains the stroke-hydraulic pressure characteristics from the accumulated plurality of operating points.

[0065] FIG. 9 is an example of an operation map in which a plurality of accumulated operating points are plotted. FIG. 10 is a graph in which operating points specified by a stroke amount and a hydraulic deviation are plotted. For example, the deriving device 87 determines the stroke-hydraulic characteristic by using an operating point outside the target operating region Z among the plurality of operating points. The deriving device 87 determines the stroke-hydraulic characteristic by using a predetermined number of operating points immediately before when the stroke-hydraulic characteristic is determined. Specifically, the deriving device 87 determines the hydraulic deviation of each operating point with respect to the target characteristic p(s). As shown in FIG. 10, the deriving device 87 converts the operating point determined by the stroke amount and the hydraulic pressure into an operating point determined by the stroke amount and the hydraulic deviation. The deriving device 87 determines an approximate equation that represents the relationship between the stroke amount and the hydraulic deviation. For example, the deriving device 87 determines an approximate straight line by the least squares method for the plurality of operating points determined by the stroke amount and the hydraulic deviation. The deriving device 87 determines the rate of change of the approximate equation, that is, the rate of change of the hydraulic deviation with respect to the stroke amount. The rate of change of the hydraulic pressure deviation with respect to the stroke amount is an example of the magnitude of the change in hydraulic pressure with respect to the stroke amount. For example, if the approximation equation is a linear equation, the slope of the approximation equation is the rate of change of the hydraulic pressure deviation with respect to the stroke amount.

[0066] The second determiner 88 determines whether or not there is an abnormality in the accumulator 6 based on the stroke-hydraulic pressure characteristics. The abnormality in the accumulator 6 is, for example, an abnormality in the gas pressure of the accumulator 6. Specifically, the second determiner 88 determines that there is an abnormality in the accumulator 6 when the rate of change in the hydraulic pressure deviation relative to the stroke amount obtained by the deriver 87 exceeds a predetermined allowable range. For example, the allowable range is expressed by the following formula (4).

[0067] T1 ≦ rate of change α ≦ T2 (4) Here, T1 is a negative value and T2 is a positive value.

[0068] The second determiner 88 determines that the accumulator 6 is normal when the rate of change α is within the allowable range, i.e., when the formula (4) is satisfied. On the other hand, the second determiner 88 determines that the amount of gas in the accumulator 6 is abnormal when the rate of change α is outside the allowable range, i.e., when the rate of change α does not satisfy the formula (4). When the rate of change α is positive, the hydraulic deviation becomes larger on the positive side (i.e., the actual hydraulic pressure becomes larger than the hydraulic pressure of the target characteristic) as the stroke amount increases. The hydraulic deviation is the deviation between the actual hydraulic pressure of the hydraulic cylinder 5 and the hydraulic pressure of the target characteristic. In other words, a positive rate of change α means that the actual elastic modulus is higher than the target elastic modulus, i.e., the amount of gas in the gas chamber 62 of the accumulator 6 is small. On the other hand, when the rate of change α is negative, the hydraulic deviation becomes larger on the negative side (i.e., the actual hydraulic pressure becomes smaller than the hydraulic pressure of the target characteristic) as the stroke amount increases. In other words, a negative rate of change α means that the actual elastic modulus is lower than the target elastic modulus, i.e., the amount of gas in the gas chamber 62 of the accumulator 6 is large.

[0069] In this way, when the absolute value of the rate of change α is small, the accumulator 6 is determined to be normal. On the other hand, when the absolute value of the rate of change α is large, the amount of gas in the accumulator 6 is determined to be too large or too small, causing an abnormality.

[0070] The alarm device 89 issues an alarm. The alarm device 89 issues an alarm of an abnormality in the hydraulic cylinder 5 and an abnormality in the accumulator 6. Specifically, when the operating point of the hydraulic cylinder 5 does not enter the target operating region even if the regulator 86 adjusts the amount of hydraulic oil a predetermined number of times in succession, the alarm device 89 issues an alarm that the hydraulic cylinder 5 is abnormal. When the second determiner 88 determines that the accumulator 6 is abnormal, the alarm device 89 issues an alarm that the accumulator 6 is abnormal. The alarm device 89 may notify the content of the abnormality. For example, the alarm device 89 may clearly indicate whether the amount of gas in the accumulator 6 is large or small. The alarm device 89 issues an alarm by any method. For example, the alarm device 89 may issue an alarm. The alarm device 89 may turn on a warning light. The alarm device 89 may display a warning on a display.

[0071] Next, the operation of the control device 8 will be described with reference to a flowchart. Fig. 11 is a flowchart of the oil amount adjustment control by the control device 8. The control device 8 executes the oil amount adjustment control when the engagement portion 2 is mooring the door body 10. The switching valve 79 is in the second position.

[0072] The control device 8 resets the counter for the number of adjustments at the start of the oil amount adjustment control. When a predetermined detection period arrives, the acquirer 84 acquires the detection results of the stroke sensor 77 and the pressure sensor 78 (step S101). The acquirer 84 obtains the stroke amount and oil pressure of the hydraulic cylinder 5 based on the detection results of the stroke sensor 77 and the pressure sensor 78.

[0073] Next, in step S102, the first determiner 85 determines whether or not the operating point of the hydraulic cylinder 5, which is specified by the stroke amount and the hydraulic pressure, is within the high elasticity region H. If the operating point is within the high elasticity region H, the first determiner 85 determines in step S103 whether or not the number of times the oil amount has been adjusted has reached an upper limit.

[0074] If the number of adjustments has not reached the upper limit, the regulator 86 reduces the hydraulic oil in the hydraulic cylinder 5 in step S104. Specifically, the regulator 86 starts the pump of the hydraulic circuit 7 and switches the switching valve 79 to the third position for a certain period of time. When the switching valve 79 switches to the third position, the fourth oil passage 74 is connected to the sixth oil passage 76, and the fifth oil passage 75 is connected to the third oil passage 73. When the pilot pressure acts on the pilot check valve 710, the hydraulic oil in the first oil passage 71 flows out to the fifth oil passage 75 via the third oil passage 73. That is, the hydraulic cylinder 5, specifically, the hydraulic oil in the first chamber 54 and the hydraulic oil in the accumulator 6 flows out to the tank. After the certain period of time has passed, the regulator 86 switches the switching valve 79 to the second position. As a result, a small amount of hydraulic oil is reduced from the hydraulic cylinder 5 and the accumulator 6. By reducing the amount of hydraulic oil, the operating point of the hydraulic cylinder 5 moves toward the target operating region Z.

[0075] Thereafter, the adjuster 86 counts up the number of adjustments in step S105.

[0076] Next, in step S106, the second determiner 88 performs an abnormality determination for the accumulator 6. First, the deriving unit 87 determines the magnitude of change in hydraulic pressure relative to the stroke amount of the hydraulic cylinder 5, i.e., the rate of change in hydraulic pressure deviation, using a predetermined number of operating points outside the target operating region Z. The second determiner 88 determines whether the magnitude of the determined change exceeds a predetermined allowable range. Note that if a predetermined number of operating points outside the target operating region Z have not been accumulated, the deriving unit 87 does not determine the magnitude of change, and the second determiner 88 does not perform an abnormality determination for the accumulator 6.

[0077] If the magnitude of the change is within the allowable range, the second determiner 88 determines that there is no abnormality in the accumulator 6. This ends the processing in this cycle, and the acquirer 84 waits for the arrival of the next detection cycle in step S101.

[0078] If the rate of change exceeds the allowable range, the second determiner 88 determines that the accumulator 6 is abnormal. In this case, the warning device 89 issues a warning in step S107. The user is notified of the abnormality in the accumulator 6 by the warning, and is prompted to perform maintenance on the accumulator 6, specifically, to adjust the amount of gas. After the warning regarding the accumulator 6 is issued, the processing in this cycle ends, and the acquirer 84 waits for the arrival of the next detection cycle in step S101.

[0079] On the other hand, if the operating point is not within the high elasticity region H in step S102, the first determiner 85 determines in step S108 whether or not the operating point is within the low elasticity region L. If the operating point is within the low elasticity region L, the first determiner 85 determines in step S109 whether or not the number of adjustments has reached an upper limit.

[0080] If the number of adjustments has not reached the upper limit, the regulator 86 increases the amount of hydraulic oil in the hydraulic cylinder 5 in step S110. Specifically, the regulator 86 starts the pump of the hydraulic circuit 7 and switches the switching valve 79 to the first position for a certain period of time. When the switching valve 79 switches to the first position, the fourth oil passage 74 is connected to the third oil passage 73, and the fifth oil passage 75 is connected to the sixth oil passage 76. As a result, hydraulic oil from the pump is supplied to the hydraulic cylinder 5, specifically, to the first chamber 54 and the accumulator 6. After the certain period has elapsed, the regulator 86 switches the switching valve 79 to the second position. As a result, a small amount of hydraulic oil is increased to the hydraulic cylinder 5 and the accumulator 6. Due to the increase in the amount of hydraulic oil, the operating point of the hydraulic cylinder 5 moves toward the target operating region Z.

[0081] Thereafter, the adjuster 86 counts up the number of adjustments in step S111.

[0082] Next, in step S112, the second decision unit 88 performs an abnormality decision for the accumulator 6. The process of step S112 is the same as that of step S106.

[0083] If the magnitude of the change is within the allowable range, the second determiner 88 determines that there is no abnormality in the accumulator 6. This ends the processing for this period, and the acquirer 84 waits for the arrival of the next detection period in step S101.

[0084] If the magnitude of the change exceeds the allowable range, the second determiner 88 determines that the accumulator 6 is abnormal. In this case, the warning unit 89 issues a warning in step S113. The process in step S113 is the same as step S107. After the warning regarding the accumulator 6, the process in this cycle ends, and the acquirer 84 waits for the arrival of the next detection cycle in step S101.

[0085] If the operating point is not within the low elasticity region L in step S108, the first determiner 85 resets the number of adjustments in step S115. That is, since the operating point is neither within the high elasticity region H nor the low elasticity region L, it is within the target operating region Z. In this case, since the amount of oil in the hydraulic cylinder 5 is appropriate, no adjustment of the amount of oil in the hydraulic cylinder 5 is performed. This ends the processing in this cycle, and the acquirer 84 waits for the arrival of the next detection cycle in step S101.

[0086] After the hydraulic oil in the hydraulic cylinder 5 is increased or decreased, the process from step S101 is repeated. When the operating point enters the target operating region Z from outside the target operating region Z, the adjustment count is reset. However, if the operating point does not enter the target operating region Z even after the oil amount is adjusted, the adjustment of the oil amount is repeated, and the adjustment count increases. Eventually, the adjustment count may reach an upper limit. If the operating point does not enter the target operating region Z even after the adjustment count reaches the upper limit, it means that the elastic modulus of the hydraulic cylinder 5 and the accumulator 6 cannot be corrected even if the oil amount is adjusted. If it is determined in step S103 or step S109 that the adjustment count has reached the upper limit, the alarm 89 issues a warning in step S114. The user is notified of the abnormality of the hydraulic cylinder 5 by the warning, and maintenance of the hydraulic cylinder 5 is urged. After the warning regarding the hydraulic cylinder 5, the oil amount adjustment control ends.

[0087] According to such a mooring device 1, the engagement part 2 is connected to the hydraulic cylinder 5, and the accumulator 6 is connected to the hydraulic cylinder 5, so that the hydraulic cylinder 5 and the accumulator 6 elastically hold the engagement part 2 engaged with the door body 10. The engagement part 2 can maintain engagement with the door body 10 while allowing the door body 10 to swing. In such a configuration, if a hydraulic oil leak or a change in the environmental temperature occurs, there is a risk that the elastic modulus, i.e., elastic characteristics, of the hydraulic cylinder 5 and the accumulator 6 may change. The control device 8 monitors whether the operating point of the hydraulic cylinder 5, which is characterized by the stroke amount and the hydraulic pressure, is within the target operating region Z, and adjusts the amount of hydraulic oil in the hydraulic cylinder 5 if the operating point is outside the target operating region Z. This corrects the elastic characteristics of the hydraulic cylinder 5 and the accumulator 6. As a result, the mooring device 1 can moor the door body 10 with an appropriate elastic holding force.

[0088] Specifically, when the operating point is on the lower pressure side of the target operating region Z, the amount of hydraulic oil in the hydraulic cylinder 5 is increased. On the other hand, when the operating point is on the higher pressure side of the target operating region Z, the amount of hydraulic oil in the hydraulic cylinder 5 is decreased. This moves the operating point toward the target operating region Z.

[0089] At this time, the adjustment amount of the hydraulic oil is constant. If the operating point does not fall within the target operating region Z by adjusting the amount of oil once, the amount of oil is adjusted again. This allows the operating point to eventually fall within the target operating region Z.

[0090] However, if the number of oil volume adjustments reaches the upper limit and the operating point does not fall within the target operating region Z, a warning is issued. This makes it possible to prompt the user to perform maintenance, etc., if the elastic characteristics of the hydraulic cylinder 5 and the accumulator 6 are not properly corrected even after adjusting the oil volume many times.

[0091] Furthermore, the control device 8 monitors the state of the accumulator 6 while monitoring the elastic characteristics of the hydraulic cylinder 5 and the accumulator 6. Specifically, the control device 8 repeatedly acquires operating points to monitor the elastic characteristics, and monitors the state of the accumulator 6 using the multiple operating points accumulated at that time. The control device 8 can obtain the hydraulic characteristics relative to the stroke amount in the hydraulic cylinder 5 by using the multiple operating points. The hydraulic characteristics relative to the stroke amount change depending on the gas amount in the accumulator 6. The control device 8 can determine whether the gas amount in the accumulator 6 is appropriate by obtaining the hydraulic characteristics relative to the stroke amount.

[0092] At this time, the control device 8 obtains the hydraulic pressure characteristics with respect to the stroke amount using operating points outside the target operating region Z among the multiple operating points. Operating points within the target operating region Z mean that the elastic characteristics of the hydraulic cylinder 5 and the accumulator 6 are appropriate, and naturally mean that the amount of gas in the accumulator 6 is appropriate. In other words, operating points within the target operating region Z are not useful for determining whether the amount of gas in the accumulator 6 is appropriate. When the hydraulic pressure characteristics with respect to the stroke amount are obtained using a predetermined number of operating points, the number of operating points useful for determining whether the amount of gas in the accumulator 6 is appropriate can be increased by excluding operating points within the target operating region Z.

[0093] Other Embodiments As described above, the above embodiment has been described as an example of the technology disclosed in this application. However, the technology in this disclosure is not limited to this, and can be applied to embodiments in which modifications, replacements, additions, omissions, etc. are appropriately performed. In addition, it is also possible to combine the components described in the above embodiment to form a new embodiment. In addition, among the components described in the attached drawings and detailed description, not only components essential for solving the problem but also components that are not essential for solving the problem in order to exemplify the technology may be included. Therefore, the fact that these non-essential components are described in the attached drawings and detailed description should not immediately be taken to mean that these non-essential components are essential.

[0094] For example, the undulating gate 100 is not limited to being installed in a port. The gate may be installed in a river or an estuary, etc. Furthermore, the undulating gate 100 does not have to form a gate-type breakwater together with the embankment 9. In other words, the undulating gate 100 may be installed not in an opening in the embankment, but in an opening defined by opposing side walls, such as a first side wall and a second side wall, in a river or estuary.

[0095] The undulating gate 100 has four door bodies 10, but the number of the door bodies 10 is not limited to this. The number of the door bodies 10 may be 1, 2, 3, or 5 or more.

[0096] The mooring device 1 is incorporated in the undulating gate 100 and moored the door body 10. However, the application of the mooring device 1 is not limited to this. The mooring device 1 may moor an object other than the door body 10. For example, a structure floating on or in the water (e.g., a float or a buoy, etc.) may be moored.

[0097] Furthermore, the engaging portion 2 is switchable between engaging and disengaging with the object, but is not limited to this. In other words, the mooring device 1 only needs to moor the object by engaging the engaging portion 2 with the object. The mooring device 1 does not need to be able to disengage the engaging portion 2 from the object. In that case, the mooring device 1 does not include the actuator 3.

[0098] Any configuration may be adopted for the actuator 3 as long as it generates a driving force for the engagement portion 2. For example, the actuator 3 may be an electric motor or an air cylinder.

[0099] The connecting mechanism 4 is not limited to the above-mentioned configuration. For example, the connecting mechanism 4 may include a transmission element other than a link. For example, the connecting mechanism 4 may include various transmission elements such as a belt, a chain, a lead screw, and a rack and pinion. The configuration, arrangement, number, etc. of the multiple links included in the connecting mechanism 4 may be set arbitrarily.

[0100] The flowchart of the oil amount adjustment control is merely an example. Steps in the flowchart may be changed, replaced, added, omitted, etc. as appropriate. The order of steps in the flowchart may be changed, and serial processing may be performed in parallel. For example, the abnormality determination of the accumulator 6 in steps S106 and S112 may be omitted. In that case, the processing of step S101 is performed after the number of adjustments is counted up in steps S105 and S111. Alternatively, the oil amount adjustment may be repeated regardless of the number of adjustments. After the warning regarding the accumulator 6 in steps S107 and S113, the oil amount adjustment control may end.

[0101] The functions performed by the components described herein may be implemented in circuitry or processing circuitry, including general purpose processors, application specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), a CPU (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to perform the functions described. Processors include transistors and other circuits and are considered to be circuits or processing circuitry. A processor may be a programmable processor that executes a program stored in a memory.

[0102] In this specification, a circuit, unit, or means is hardware that is programmed to realize or performs the described functions, which may be any hardware disclosed in this specification or any hardware known to be programmed to realize or perform the described functions.

[0103] If the hardware is a processor considered to be a type of circuitry, the circuit, means, or unit is a combination of the hardware and software used to configure the hardware and / or processor.

[0104] This embodiment is a specific example of the following aspect.

[0105] [Mode 1] A mooring device 1 for mooring a door body 10 (object) comprises an engagement portion 2 for engaging with the door body 10, a hydraulic cylinder 5 connected to the engagement portion 2, an accumulator 6 connected to the hydraulic cylinder 5, a stroke sensor 77 for detecting the stroke amount of the hydraulic cylinder 5, a pressure sensor 78 for detecting the hydraulic pressure of the hydraulic cylinder 5, and a control device 8 for adjusting the amount of hydraulic oil in the hydraulic cylinder 5. The control device 8 determines the operating point of the hydraulic cylinder 5, which is specified by the stroke amount of the hydraulic cylinder 5 and the hydraulic pressure of the hydraulic cylinder 5, based on the detection results of the stroke sensor 77 and the pressure sensor 78, and, if the operating point is not within a target operating area Z defined by the stroke amount of the hydraulic cylinder 5 and the hydraulic pressure of the hydraulic cylinder 5, adjusts the amount of hydraulic oil in the hydraulic cylinder 5 so that the operating point moves toward the target operating area Z.

[0106] According to this configuration, the hydraulic cylinder 5 and the accumulator 6 elastically hold the engagement portion 2 that engages with the door body 10. The elastic holding force of the hydraulic cylinder 5 and the accumulator 6 may vary due to hydraulic oil leakage, fluctuations in environmental temperature, etc. The control device 8 adjusts the amount of hydraulic oil in the hydraulic cylinder 5 so that the operating point of the hydraulic cylinder 5 specified by the stroke amount and hydraulic pressure, i.e., the operating state, falls within the target operating region Z. This causes the elastic holding force of the hydraulic cylinder 5 and the accumulator 6 to be corrected to an appropriate range. As a result, the mooring device 1 can appropriately moor the door body 10 with the elastic holding force.

[0107] [Aspect 2] In the mooring device 1 described in aspect 1, the control device 8 increases the hydraulic oil in the hydraulic cylinder 5 when the operating point is on the lower pressure side of the target operating area Z, and decreases the hydraulic oil in the hydraulic cylinder 5 when the operating point is on the higher pressure side of the target operating area Z.

[0108] According to this configuration, when the operating point of the hydraulic cylinder 5 is on the lower pressure side of the target operational region Z, the hydraulic oil in the hydraulic cylinder 5 is increased. This increases the hydraulic pressure in the hydraulic cylinder 5, and the operating point of the hydraulic cylinder 5 moves toward the target operational region Z. On the other hand, when the operating point of the hydraulic cylinder 5 is on the higher pressure side of the target operational region Z, the hydraulic oil in the hydraulic cylinder 5 is reduced. This decreases the hydraulic pressure in the hydraulic cylinder 5, and the operating point of the hydraulic cylinder 5 moves toward the target operational region Z.

[0109] [Aspect 3] In the mooring device 1 described in aspect 1 or aspect 2, the control device 8 issues a warning if the operating point remains outside the target operating region Z even after the number of times the hydraulic oil in the hydraulic cylinder 5 has been adjusted reaches a predetermined upper limit value.

[0110] According to this configuration, if the operating point does not fall within the target operating region Z even after repeated adjustments of the hydraulic oil in the hydraulic cylinder 5, it is highly likely that the elastic holding force of the hydraulic cylinder 5 and the accumulator 6 cannot be corrected by adjusting the amount of oil. In such a case, a warning is issued, urging the user to perform maintenance.

[0111] [Aspect 4] In the mooring device 1 described in any one of Aspects 1 to 3, the control device 8 accumulates the operating points of the hydraulic cylinder 5, determines the hydraulic pressure characteristics relative to the stroke amount in the hydraulic cylinder 5 from the multiple operating points, and determines an abnormality in the accumulator 6 based on the characteristics.

[0112] According to this configuration, the amount of gas in the accumulator 6 affects the elasticity of the hydraulic cylinder 5 and the accumulator 6. The stroke amount and oil pressure of the hydraulic cylinder 5 have a certain relationship corresponding to the elasticity of the hydraulic cylinder 5 and the accumulator 6. In other words, the characteristics of the oil pressure with respect to the stroke amount reflect the state of the accumulator 6. The control device 8 can determine an abnormality in the accumulator 6 by determining the characteristics of the oil pressure with respect to the stroke amount based on a plurality of operating points.

[0113] [Aspect 5] In the mooring device 1 described in any one of aspects 1 to 4, the characteristic is the magnitude of change in hydraulic pressure relative to the stroke amount in the hydraulic cylinder 5, and the control device 8 determines that the accumulator 6 is abnormal when the magnitude of the change exceeds a predetermined tolerance range.

[0114] According to this configuration, the characteristic of the hydraulic pressure relative to the stroke amount is the magnitude of change in hydraulic pressure relative to the stroke amount. That is, the hydraulic pressure of the hydraulic cylinder 5 changes according to the stroke amount. When the elastic characteristics of the hydraulic cylinder 5 and the accumulator 6 are appropriate, the hydraulic pressure of the hydraulic cylinder 5 changes at an appropriate magnitude relative to the stroke amount. However, when the elastic modulus of the hydraulic cylinder 5 and the accumulator 6 is not appropriate, the change in hydraulic pressure relative to the stroke amount is too large or too small. That is, when the degree of change in hydraulic pressure relative to the stroke amount exceeds a predetermined allowable range, an abnormality in the accumulator 6 can be determined.

[0115] [Aspect 6] In the mooring device 1 according to any one of aspects 1 to 5, the control device 8 obtains the characteristics by using the operating points outside the target operating region Z among the plurality of accumulated operating points.

[0116] According to this configuration, a plurality of operating points are accumulated while continuing to adjust the amount of oil in the hydraulic cylinder 5. The control device 8 can determine an abnormality in the accumulator 6 by using the plurality of operating points thus accumulated. In other words, the adjustment of the hydraulic pressure in the hydraulic cylinder 5 and the monitoring of the state of the accumulator 6 are performed in parallel.

[0117] [Embodiment 7] A control method for a mooring device 1 that moorings a door body 10 (object) and has an engagement portion 2 that engages with the door body 10 (object), a hydraulic cylinder 5 connected to the engagement portion 2, and an accumulator 6 connected to the hydraulic cylinder 5 includes detecting the stroke amount of the hydraulic cylinder 5, detecting the hydraulic pressure of the hydraulic cylinder 5, determining an operating point of the hydraulic cylinder 5 specified by the detected stroke amount and the detected hydraulic pressure, and, when the operating point is not within a target operating area Z defined by the stroke amount and the hydraulic pressure, adjusting the amount of hydraulic oil in the hydraulic cylinder 5 so that the operating point moves toward the target operating area Z.

[0118] According to this configuration, the hydraulic cylinder 5 and the accumulator 6 elastically hold the engagement portion 2 that engages with the door body 10. The elastic holding force of the hydraulic cylinder 5 and the accumulator 6 may vary due to hydraulic oil leakage, fluctuations in environmental temperature, etc. When the operating point of the hydraulic cylinder 5, i.e., the operating state, specified by the stroke amount and hydraulic pressure, is not within the target operating region Z, the amount of hydraulic oil in the hydraulic cylinder 5 is adjusted so that the operating point moves toward the target operating region Z. This causes the elastic holding force of the hydraulic cylinder 5 and the accumulator 6 to be corrected to an appropriate range. As a result, the mooring device 1 can appropriately moor the door body 10 with the elastic holding force. [Explanation of symbols]

[0119] 1 Mooring equipment 2 Engagement part 5 Hydraulic Cylinders 6 Accumulator 77 Stroke Sensor 78 Pressure Sensor 8 Control device 10 Door body (object) Z target operating area

Claims

1. A mooring device for mooring an object, comprising: An engagement portion that engages with an object; A hydraulic cylinder connected to the engagement portion; an accumulator connected to the hydraulic cylinder; a stroke sensor for detecting a stroke amount of the hydraulic cylinder; A pressure sensor for detecting the hydraulic pressure of the hydraulic cylinder; a control device for adjusting the amount of hydraulic oil in the hydraulic cylinder; The control device includes: An operating point of the hydraulic cylinder, which is specified by a stroke amount of the hydraulic cylinder and a hydraulic pressure of the hydraulic cylinder, is obtained based on detection results of the stroke sensor and the pressure sensor; A mooring device that adjusts the amount of hydraulic oil in the hydraulic cylinder so that the operating point moves toward a target operating area defined by the stroke amount of the hydraulic cylinder and the hydraulic pressure of the hydraulic cylinder when the operating point is not within the target operating area defined by the stroke amount of the hydraulic cylinder and the hydraulic pressure of the hydraulic cylinder.

2. 2. The mooring device according to claim 1, The control device includes: When the operating point is on the lower pressure side than the target operating region, the hydraulic oil in the hydraulic cylinder is increased, A mooring device that reduces hydraulic oil in the hydraulic cylinder when the operating point is on the higher pressure side than the target operating region.

3. 2. The mooring device according to claim 1, The control device of the mooring device issues a warning if the operating point continues to be outside the target operating range even when the number of times the hydraulic oil in the hydraulic cylinder has been adjusted reaches a predetermined upper limit value.

4. 2. The mooring device according to claim 1, The control device includes: storing the operating point of the hydraulic cylinder; A mooring device that determines a characteristic of hydraulic pressure relative to the stroke amount in the hydraulic cylinder from a plurality of the operating points and determines an abnormality in the accumulator based on the characteristic.

5. 5. The mooring device according to claim 4, the characteristic is a magnitude of change in hydraulic pressure relative to a stroke amount in the hydraulic cylinder, The control device determines that the accumulator is abnormal when the magnitude of the change exceeds a predetermined allowable range.

6. The mooring device according to claim 4 or 5, The control device determines the characteristics of the mooring device by using an operating point outside the target operating region among the plurality of operating points stored.

7. A method for controlling a mooring device for mooring an object, the mooring device comprising an engagement portion that engages with an object, a hydraulic cylinder connected to the engagement portion, and an accumulator connected to the hydraulic cylinder, the method comprising the steps of: Detecting a stroke amount of the hydraulic cylinder; Detecting the hydraulic pressure of the hydraulic cylinder; determining an operating point of the hydraulic cylinder specified by the detected stroke amount and the detected hydraulic pressure; A method for controlling a mooring device, comprising: when the operating point is not within a target operating area defined by the stroke amount and the hydraulic pressure, adjusting the amount of hydraulic oil in the hydraulic cylinder so that the operating point moves toward the target operating area.

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