Underwater suspended load control system

Abstract

To control a suspended load in water without using a wire cable extending from a control room on a ship side.SOLUTION: Disclosed is an underwater suspended load control system including a suspended load control unit that transmits a control signal related to a direction of a suspended load suspended from a hook extending from a suspension device on a ship side or a land side and immersed in water, and an information processing unit that is located at a height level equal to or lower than the hook and equal to or higher than a water surface and transmits and receives the control signal in a processing device that moves up and down with the movement of the hook.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an underwater load control system. [Background technology]

[0002] There is known a technique for changing the orientation of a suspended load via a load direction control device equipped with a gyro mechanism that can change the orientation of the suspended load underwater. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-073387 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology described above, communication is carried out between the underwater lifting direction control device and a wired cable extending from a control room on the ship, which has the problem of making it difficult to route the wired cable, taking into account the possibility of the cable becoming tangled.

[0005] Therefore, an object of the present disclosure is to enable control of underwater suspended loads without using wired cables extending from a control room on the ship. [Means for solving the problem]

[0006] In one aspect, a load control unit that transmits a control signal regarding the orientation of a load that is suspended from a hook extending from a lifting device on the ship side or on land side and submerged in water; an information processing unit that transmits and receives the control signal in a processing device that is located at a height level below the hook and above the water surface and rises and falls as the hook rises and falls; An underwater load control system is provided, comprising: [Effects of the Invention]

[0007] According to the present disclosure, it is possible to control underwater suspended loads without using wired cables extending from a control room on the ship. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an overall view schematically illustrating an application example of the underwater load control system of this embodiment. [Figure 2] FIG. 2 is an enlarged view of part Q2 in FIG. [Figure 3] FIG. 2 is an explanatory diagram of a communication form within the underwater lifting control system. [Figure 4] FIG. 2 is a diagram illustrating an internal configuration of a load direction control device. [Figure 5] FIG. 2 is a diagram illustrating functions of a ship-side control device. DETAILED DESCRIPTION OF THE INVENTION

[0009] Each embodiment will be described in detail below with reference to the accompanying drawings. Note that the dimensional ratios in the drawings are merely examples and are not limiting. Furthermore, shapes and the like in the drawings may be partially exaggerated for the sake of explanation. Furthermore, in the drawings, for ease of viewing, reference symbols may be assigned only to some of the parts that exist with the same attribute.

[0010] FIG. 1 is an overall view that schematically shows an application example of the underwater load control system 1 of this embodiment. FIG. 2 is an enlarged view of part Q2 in FIG. 1. FIG. 3 is an explanatory diagram of the communication form within the underwater load control system 1. FIG. 4 is a diagram that schematically shows the internal configuration of the load direction control device 70. In FIG. 1 etc., the symbol WL represents the water surface.

[0011] The underwater load control system 1 controls a load 20 submerged in water. The load 20 is suspended by a wire W from a hook 10 extending from a lifting device 90 on a ship (e.g., a crane ship) 4 and submerged in water (e.g., underwater). The type of load 20 is arbitrary, but typically, its outer shape has a direction when viewed from above. In other words, the outer shape of the load 20 is different from shapes that have no direction when viewed from above, such as a circle. Note that while two wires W are illustrated, the number of wires is arbitrary. Furthermore, the wire W does not need to be continuous from the hook 10 to the load 20, and may be realized by a combination of multiple wires. The length of the wire W may be adjusted in advance so that the load 20 can be carried to the required depth.

[0012] The lifting device 90 is optional, but is typically a crane installed on the ship 4. In a modified example, a mobile crane brought on board the ship 4 may be used instead of a crane installed on the ship 4. The underwater load control system 1 may also be used to control underwater a load 20 suspended from a crane installed on land.

[0013] In the following description, unless otherwise specified, the orientation of the load 20 is the orientation when viewed from above, and represents an orientation that can change due to rotation around the vertical axis. This also applies to the orientation of the waterproof housing 78 of the load direction control device 70, which will be described later.

[0014] The underwater load control system 1 is used to place (install) a load 20 on the seabed or the like. However, in a modified example, the underwater load control system 1 may be used to lift the load from the seabed or the like.

[0015] As shown in Figure 2, the underwater load control system 1 is preferably a system that can control the orientation of the suspended load 20 using a load direction control device 70. The load direction control device 70 has a built-in electric motor 71, a gyro mechanism 72 (Figure 4), a battery (not shown), etc., and by controlling the electric motor 71, it is possible to change the orientation of its waterproof casing 78 and thereby change the orientation of the suspended load 20. The gyro mechanism 72 may be configured with a gimbal or a flywheel, and the details are optional.

[0016] The load direction control device 70 includes a waterproof housing 78 in the form of a pressure-resistant container, and includes an electric motor 71 and a gyro mechanism 72 inside the waterproof housing 78. The electric motor 71 is connected to the load-side processing device 30, which will be described later, via a wired cable 79 that is taken out from the waterproof housing 78. The wired cable 79 may include a signal line for transmitting various signals and data, and / or a power line for supplying a power supply voltage (current).

[0017] In this embodiment, the underwater load control system 1 includes a load-side processing device 30. As shown in FIG. 2, the load-side processing device 30 is provided below the hook 10. Specifically, the load-side processing device 30 is provided on a hoisting balance 50 that is suspended from the hook 10. In this embodiment, the load 20 is suspended from the hook 10 via the hoisting balance 50. However, in a modified example, the load-side processing device 30 may be attached to the hook 10 itself.

[0018] The lifting balance 50 and the load-side processing device 30 rise and fall together with the hook 10 according to the position of the jib 92 of the lifting device 90.

[0019] 2 and 3, the load-side processing device 30 includes a computer 31, a gyro sensor 32, a GNSS (Global Navigation Satellite System) antenna 33 (shown in FIG. 2), a wireless communication device 34, a wired communication device 35, and a power supply 36. These components are connected via a wired and / or wireless communication network (not shown).

[0020] The computer 31 includes a CPU (Central Processing Unit) and performs processing to realize the various functions described below. The computer 31 is optional, but may be, for example, a single-board computer equipped with a CPU based on a RISC (Reduced Instruction Set Computer) architecture.

[0021] The gyro sensor 32 uses the Coriolis force to generate an electric signal corresponding to the speed of change (angular velocity) in the orientation of the hanging balance 50. The gyro sensor 32 may be formed of, for example, a MEMS (Micro Electro Mechanical System).

[0022] The GNSS antenna 33 receives satellite signals from satellites based on the GNSS. Two or more GNSS antennas 33 may be installed, and in this case, positioning may be achieved using, for example, interferometric positioning based on the satellite signals received by the two GNSS antennas 33.

[0023] The wireless communication device 34 communicates with the outside world using a wireless communication network. The wireless communication network may be any network, but in this embodiment, as an example, it is a wireless communication network based on Wi-Fi (registered trademark).

[0024] The wired communication device 35 forms an interface for wired communication. In this embodiment, the wired communication device 35 is connected to the load direction control device 70 via a wired cable 79.

[0025] The power supply 36 is a power source for operating the load side processing device 30. The power supply 36 may be any battery.

[0026] In this embodiment, the computer 31 transmits sensor information and reception results obtained from the gyro sensor 32 and the GNSS antenna 33 to a ship-side control device 60 on the ship 4 via the wireless communication device 34. The ship-side control device 60 may be a terminal such as a tablet or smartphone carried by a user on the ship 4, as shown in Fig. 3, for example, or may be a fixed terminal. Further details of the ship-side control device 60 will be described later with reference to Fig. 5.

[0027] In this embodiment, the lifting device 90 is controlled so that the load-side processing device 30 is positioned below the hook 10 but does not enter the water. For this reason, all or some of the components of the load-side processing device 30 may preferably be housed in a non-waterproof housing 39 (see FIG. 3 ). In this case, costs can be reduced compared to when a waterproof housing is used. For example, the components of the load-side processing device 30 other than the GNSS antenna 33, namely the computer 31, gyro sensor 32, wireless communication device 34, and power supply 36, may be housed in the housing 39. In this case, the GNSS antennas 33 may be arranged in pairs near both ends of the lifting beam 50 in the longitudinal direction.

[0028] Next, the underwater load control system 1 of this embodiment will be further described with reference to FIG. 4 and also with reference to FIG.

[0029] FIG. 5 is a diagram schematically illustrating the functions of the ship-side control device 60. As shown in FIG.

[0030] In this embodiment, the ship-side control device 60 also functions as a control device that executes control related to the hoisted load 20 via the hoisting direction control device 70. However, in a modified example, the ship-side control device 60 may be communicatively connected to a control device (not shown) on the ship 4 or on land. In this case, the control device on the ship 4 or on land may implement some or all of the various functions of the ship-side control device 60 described below. In this case, the land-side control device may also be in the form of a server computer.

[0031] As shown in FIG. 5, the ship-side control device 60 includes an input unit 61, a satellite signal processing unit 62, a gyro signal processing unit 63, and a load control unit 65.

[0032] The input unit 61 receives various inputs from a user. The various inputs from the user may include the target orientation of the suspended load 20, instructions to change the orientation of the suspended load 20, etc. The user who provides input to the input unit 61 is typically a user who remotely controls the suspended load 20. However, in a modified example, control of the suspended load 20 may be automatically performed based on the position and orientation of the suspended load and drawing information (the installation position and orientation of the suspended load). In this case, artificial intelligence may be used that uses the position and orientation of the suspended load as input to generate a control signal (an input that replaces the various inputs from the user).

[0033] The satellite signal processing unit 62 acquires the reception results (an example of orientation information) from the GNSS antenna 33 of the load-side processing device 30, and calculates the orientation of the hoisting balance 50 and the orientation of the load 20. The orientation of the hoisting balance 50 correlates with the orientation of the load direction control device 70 (and the orientation of the load 20). In this case, the orientation of the load 20 may be derived assuming that the orientation of the hoisting balance 50 and the orientation of the load direction control device 70 (and the orientation of the load 20) are the same.

[0034] The gyro signal processing unit 63 acquires the reception results from the gyro sensor 32 of the load-side processing device 30 and calculates the values ​​of parameters related to the angular velocity of the lifting balance 50 and the like.

[0035] The load control unit 65 executes control of the suspended load 20 based on the processing results of the satellite signal processing unit 62 and the gyro signal processing unit 63. For example, the load control unit 65 may control the orientation of the suspended load 20 via the load direction control device 70. For example, the load control unit 65 may control the orientation of the suspended load 20 via the load direction control device 70 so that the orientation of the suspended load 20 calculated by the satellite signal processing unit 62 becomes a target orientation (e.g., a target value based on user input input via the input unit 61). At this time, the load control unit 65 may control the orientation of the suspended load 20 via the load direction control device 70 in consideration of the angular velocity calculated by the gyro signal processing unit 63 so that the orientation of the suspended load 20 becomes the target orientation.

[0036] In this embodiment, the control signal from the load control unit 65 is transmitted to the load side processing device 30 via wireless communication, and may be transmitted (transferred) from the load side processing device 30 to the load direction control device 70 via a wired cable 79.

[0037] Incidentally, when determining the condition of the suspended load 20 underwater, there are methods to use the eyes of a person such as a diver, or to use an underwater drone equipped with a camera.

[0038] However, methods that rely on divers have the problem of placing a heavy burden on the divers. Furthermore, methods that use underwater drones equipped with cameras have the problem of requiring the operation of the underwater drone, which places a heavy burden on the operator. Furthermore, images captured by the underwater drone are taken from the underwater drone's own position, and in situations where the position of the underwater drone relative to the suspended load 20 is unstable, it is difficult to immediately grasp the status of the suspended load 20 from the images.

[0039] In contrast, according to this embodiment, it is possible to determine the orientation of the load 20 based on information from the load-side processing device 30 (results received from the GNSS antenna 33). This reduces the burden on the diver, or makes it possible to eliminate the need for a diver and / or an underwater drone.

[0040] Furthermore, according to this embodiment, the sensor information and reception results from the gyro sensor 32 and the GNSS antenna 33 are transmitted to the ship-side control device 60 via the load-side processing device 30, thereby avoiding the inconvenience that may occur in a comparative example (not shown) in which the load direction control device 70 transmits information to the ship-side control device 60 using only a wired cable. That is, in a comparative example in which the load direction control device 70 includes a compass and the detection results of the compass are transmitted to the ship-side control device 60 using only a wired cable, the wired cable becomes long, making it difficult to handle and more susceptible to problems such as tangling. In contrast, according to this embodiment, the length of the wired cable 79 can be minimized, effectively preventing problems such as tangling of the wired cable 79. However, in a modified example, the load direction control device 70 may include a compass and transmit the detection results of the compass to the load-side processing device 30 using the wired cable 79. In this case, the load-side processing device 30 may transmit the detection results of the compass to the ship-side control device 60 via wireless communication. In this case, problems such as tangling of the wired cable 79 can also be effectively prevented.

[0041] In this embodiment, among the various functions of the ship-side control device 60 described above, the satellite signal processing unit 62 and / or the gyro signal processing unit 63 may be implemented by the load-side processing device 30. In this case, the load-side processing device 30 may transmit, for example, the calculation results of the orientation of the hoist balance 50 and / or the calculation results of the orientation of the load 20 to the ship-side control device 60 via the wireless communication device 34.

[0042] Although each embodiment has been described in detail above, it is not limited to the specific embodiment, and various modifications and changes are possible within the scope of the claims. It is also possible to combine all or a plurality of components of the above-described embodiments.

[0043] For example, in the embodiment described above, the load-side processing device 30 is disposed outside the waterproof housing 78 of the load direction control device 70, but one or more components (e.g., the gyro sensor 32, etc.) that are part of the load-side processing device 30 and are other than the wireless communication device 34 may be provided inside the waterproof housing 78. In this case, for example, sensor information from the gyro sensor 32 may be transmitted to the wireless communication device 34 via a wired cable 79, and then transmitted to the ship-side control device 60 via the wireless communication device 34.

[0044] Furthermore, in the above-described embodiment, the orientation of the load 20 is calculated (estimated) based on the orientation of the hoisting balance 50 correlated therewith, based on information from the GNSS receiving antenna 33 provided on the hoisting balance 50, but this is not limitative. For example, by applying markings or the like to the hoisting balance 50, the orientation of the hoisting balance 50 (and the orientation of the load 20 correlated therewith) may be determined visually. [Explanation of symbols]

[0045] 1 Underwater load control system 4 ships 10 Hooks 20 Hanging load 30 Load-side processing equipment (example of processing equipment) 31 Computer 32 Gyro sensor (an example of an electronic device) 33 GNSS receiving antenna (an example of an electronic device) 34 Wireless communication devices 35 Wired communication devices 36 Power supply 39 Case 50 Hanging balance 60 Ship-side control device 61 Input section 62 Satellite signal processing unit (an example of a direction information acquisition unit) 63 Gyro signal processing section 65 Lifting load control section 70 Load direction control device 71 Electric Motor 72 Gyro mechanism 78 Waterproof housing 79 Wired Cable 90 Lifting device 92 Jib W Wire

Claims

1. a load control unit that transmits a control signal related to the orientation of a load that is suspended from a hook extending from a lifting device on the ship side or on land side and submerged in water; a processing device that is located at a height level below the hook and above the water surface and rises and falls as the hook rises and falls, and that transmits and receives the control signal; An underwater load control system comprising:

2. The underwater load control system according to claim 1 , wherein the processing device is disposed on a lifting scale provided between the hook and the load.

3. The underwater lifting control system according to claim 2 , wherein the processing device includes an electronic device that generates an electric signal according to the orientation of the lifting balance.

4. The processing device further includes a direction information acquisition unit that acquires direction information of the suspended load. The underwater load control system according to claim 2.

5. the load control unit executes control of the load based on the control signal via a load direction control device that is provided between the lifting scale and the load and that is capable of changing the direction of the load in water; The processing device relays communication between the load direction control device and the load control unit, The underwater load control system according to claim 2 , wherein the communication includes transmission of the control signal from the load control unit to the load direction control device.

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