System for controlling posture of connected floats and method for transporting floats

Abstract

This system for controlling the posture of connected floats comprises: a plurality of float bodies that can cause a structure to float on the surface of the water; connecting parts that connect the plurality of float bodies to each other so that the same are relatively displaceable; and posture control parts that are individually provided to the float bodies, and that, by being operated independently from each other, can adjust the separation distances between the plurality of float bodies.

Description

Connected floating body attitude control system and floating body transportation method

[0001] The present disclosure relates to a jointed floating body attitude control system and a method for transporting a floating body.

[0002] For example, when constructing a structure on the ocean, in a lake, a river, or the like, it is common to first assemble the structure on land, then transport the entire structure to the work site and install it there. For example, a vessel such as that described in Patent Document 1 below is used for such transportation. This vessel transports the structure on its deck, and then moves the deck up and down to detach the structure from the vessel and install it at the target location.

[0003] JP 2012-180088 A

[0004] However, when using the above-mentioned vessels, one vessel is required for each structure. This poses a problem of cost and time when transporting a large number of structures. Furthermore, even when multiple structures are towed and transported by a single vessel, there is a problem of interference between the structures. Thus, there has been a growing demand for technology to maintain spacing when transporting or placing multiple floating structures at intervals.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a linked floating body attitude control system that can stably maintain the spacing between floating bodies, and a method for transporting floating bodies using the same.

[0006] In order to solve the above problems, the linked floating body attitude control system of the present disclosure comprises a plurality of floating bodies capable of floating on the water surface, a connecting section that connects the plurality of floating bodies in a state in which they can be displaced relative to each other, and an attitude control section that is provided individually for each of the floating bodies and can operate independently of each other.

[0007] The method for transporting a floating body according to the present disclosure is a method for transporting a floating body using the above-mentioned linked floating body attitude control system, and includes the steps of attaching the attitude control device to the floating body, and towing the multiple floating bodies by a propulsion force generated by a propulsion device other than the attitude control device, which is provided on at least one of the multiple floating bodies.

[0008] According to the present disclosure, it is possible to provide a linked floating body attitude control system capable of stably maintaining the spacing between floating bodies, and a floating body transportation method using the same.

[0009] FIG. 1 is a top view showing the configuration of a linked floating body attitude control system according to a first embodiment of the present disclosure. FIG. 2 is a functional block diagram showing the configuration of a control device according to a first embodiment of the present disclosure. FIG. 3 is a flowchart showing the control flow of a control device according to a first embodiment of the present disclosure. FIG. 4 is a flowchart showing each step of a floating body transportation method according to a second embodiment of the present disclosure. FIG. 5 is a top view showing the state of a floating body during transportation using the transportation method according to a second embodiment of the present disclosure. FIG. 6 is a top view showing a modified example of a floating body transportation method according to the second embodiment of the present disclosure. FIG. 7 is a hardware configuration diagram of a control device according to each embodiment of the present disclosure.

[0010] First Embodiment A linked floating body attitude control system 1 according to a first embodiment of the present disclosure will be described below with reference to FIGS. 1 to 3 .

[0011] (Configuration of linked floating body attitude control system) The linked floating body attitude control system 1 according to this embodiment is used to connect a plurality of floating bodies 10 that can float on the water surface of the ocean, lakes, or rivers, and maintain a constant distance between these floating bodies 10. Note that the term "floating body 10" as used here includes not only an object that can float by its own buoyancy, but also a structure that is heavy enough not to have sufficient buoyancy and is mounted on an object that assists buoyancy.

[0012] As shown in FIG. 1 , the linked floating body attitude control system 1 includes a plurality of (for example, two) floating bodies 10 , a linking unit 20 , a tension sensor 30 , an attitude control unit 40 , and a control device 50 .

[0013] (Configuration of Floating Body) The floating body 10 has a structure 11 and a floating body main body 12. The structure 11 may be, for example, a tower-like building such as a lighthouse, a windmill, or an oil field drilling rig. The floating body main body 12 supports the structure 11 from below while keeping it afloat on the water surface by buoyancy. Examples of the floating body main body 12 include a hollow container-shaped member that uses air buoyancy, a floating device made of foamed resin, or an unpowered barge. In either case, the configuration and dimensions of the floating body main body 12 are set appropriately depending on the weight and dimensions of the structure 11. As an example, in this embodiment, the floating body main body 12 has a circular or annular shape when viewed from the top and bottom.

[0014] In addition, when the structure 11 itself generates buoyancy, that is, when it can float on the water surface by itself, the structure 11 itself constitutes the floating body main body 12. An example of such a structure 11 is a hollow pillar member.

[0015] (Configuration of the connecting portion) The connecting portion 20 connects the floating bodies 10 to each other in a state where they can move relative to each other. Specific examples of the connecting portion 20 include rigging such as chains, wires, or ropes. In other words, the connecting portion 20 connects the floating bodies 10 to each other so that they do not separate, while having flexibility so as to allow slight movement of each floating body 10.

[0016] (Configuration of Tension Sensor) The tension sensor 30 measures the tension acting on the connecting portion 20 and transmits the measurement result as an electrical signal to the control device 50 (described later). One tension sensor 30 is provided for each floating body 10.

[0017] (Configuration of Attitude Control Unit) The attitude control unit 40 controls the attitude of each floating body 10 based on a signal generated by the control device 50 based on the measurement results of the tension sensor 30. In addition, an attitude control unit 40 is provided for each floating body 10, and can operate independently for each floating body 10. Specifically, the attitude control unit 40 has a thruster 41 and a spoiler 42.

[0018] The propeller 41 is provided below the water surface below or to the side of the float 10, and generates a propulsive force for the float 10 by pumping water underwater. It is desirable that the propeller 41 be capable of generating a propulsive force in all directions 360°. Specific examples of the propeller 41 include a device with a propeller and a device using jet propulsion. The propeller 41 is detachably attached to the float 10.

[0019] The spoilers 42 are provided to control the position of the float 10 by reducing or zeroing the movement speed while the float 10 is moving. For example, one spoiler 42 is provided on each side of the width of the float 10. Each spoiler 42 is attached so as to be able to transition between a deployed state and a stored state on the float 10 side. As an example, in the deployed state, the spoiler 42 itself is plate-shaped with a concave surface that is recessed toward the rear side in the movement direction. The spoiler 42 does not necessarily have a concave surface and may be flat. Furthermore, the number of spoilers 42 is not limited to two and may be increased or decreased as appropriate depending on the design, specifications, or dimensions and size of the float 10.

[0020] (Configuration of Control Device) As shown in FIG. 2 , the control device 50 includes a separation distance acquisition unit 51 , a comparison / determination unit 52 , a drive control unit 53 , and a storage unit 54 .

[0021] The separation distance acquisition unit 51 acquires the separation distance between the floating bodies 10 based on the measurement results of the above-mentioned tension sensor 30. For example, the separation distance between these floating bodies 10 is acquired by referring to a predetermined table according to the magnitude of the tension of the connecting part 20.

[0022] The comparison / determination unit 52 compares and determines whether the value of the separation distance acquired by the separation distance acquisition unit 51 is within a predetermined reference range. The storage unit 54 is provided for storing the value of this reference range, etc. If it is determined that the separation distance is outside the reference range, the comparison / determination unit 52 sends a command signal to the drive control unit 53, which will be described later.

[0023] The drive control unit 53 controls the operation of the attitude control unit 40 described above based on the determination result of the comparison and determination unit 52. In other words, when the comparison and determination unit 52 determines that the separation distance is outside the reference range, the drive control unit 53 operates to adjust the relative positions of the floating bodies 10 so that the separation distance falls within the reference range.

[0024] (Control Flow of the Control Device) Next, the control flow of the control device 50 will be described with reference to FIG. 3 . As shown in the figure, first, in step S1, the separation distance acquisition unit 51 acquires the separation distance between the floating bodies 10. In the following step S2, the comparison / determination unit 52 determines whether the value of the separation distance is outside the reference range. If the determination in step S2 is No, the process returns to step S1. If the determination in step S2 is Yes, the process proceeds to step S3. In step S3, the drive control unit 53 drives the attitude control unit 40 to adjust the separation distance between the floating bodies 10. Specifically, measures are taken, such as operating the propellers 41 to move the floating bodies 10 relative to each other in the forward / backward and left / right directions, or deploying the spoilers 42 to reduce the speed of the relative movement and adjust the position of the floating bodies 10 in the forward / backward and left / right directions. Thereafter, steps S1 and S2 are repeatedly executed to determine whether the separation distance has been corrected to be within the reference range. Alternatively, the control flow ends after step S3. As a result of the above, the separation distance between the floating bodies 10 falls within the standard range.

[0025] (Effects) According to the above configuration, an attitude control unit 40 is provided for each floating body 12, and they can operate independently of each other. When a change occurs in the distance between the floating bodies 12, the attitude control unit 40 of at least one of the floating bodies 10 is operated to move the floating bodies 12 relative to each other. This allows one floating body 10 to move away from the other floating body 10, or conversely, move closer to an appropriate distance, while maintaining the connection via the connecting unit 20. As a result, it is possible to maintain a constant distance between these floating bodies 12. As an example, when multiple offshore wind turbines are placed at intervals, it is possible to ensure and maintain the distance between these wind turbines.

[0026] According to the above configuration, after the separation distance acquisition unit 51 of the control device 50 acquires the separation distance, the comparison / determination unit 52 compares the separation distance with the reference distance. This determines whether the distance between the floating body bodies 12 deviates from the reference range. If it deviates from the reference range, the drive control unit 53 drives the attitude control unit 40 to adjust the separation distance as described above. Thereafter, the distance between the floating body bodies 12 can be autonomously corrected until the separation distance falls within the reference range.

[0027] Furthermore, with the above configuration, the separation distance acquisition unit 51 acquires the separation distance based on the measurement results of the tension sensor 30. Therefore, the separation distance between the floating body main bodies 12 can be acquired more directly and accurately based on the tension acting on the connecting part 20. This makes it possible to control and maintain the spacing between the floating body main bodies 12 more stably and precisely.

[0028] Furthermore, with the above configuration, it is possible to move the floating bodies 12 relative to each other by any distance in any direction by driving the propellers 41 serving as the attitude control units 40. This makes it possible to easily and stably maintain the separation distance between the floating bodies 12.

[0029] In addition, with the above configuration, the movement speed of the floating body 12 can be adjusted by deploying the spoilers 42. As a result, for example, in a situation where one floating body 12 is rapidly approaching the other floating body 12 and the separation distance is shortened, it is possible to reduce the movement speed of the one floating body 12 and optimize the separation distance between these floating bodies 12.

[0030] The first embodiment of the present disclosure has been described above. Various modifications and alterations can be made to the above configuration without departing from the spirit and scope of the present disclosure. For example, a radar device can be used instead of the tension sensor 30 described in the first embodiment. In this case, the separation distance between the floating bodies 10 can be accurately obtained based on the measurement and search results of the radar device. Alternatively, a configuration can be adopted in which a beacon marker is attached to one floating body 12 and a monitor device is provided to the other floating body 12 to obtain the separation distance. These configurations can accurately and precisely obtain the separation distance, particularly when the separation distance between the floating bodies 10 is set relatively long. Furthermore, instead of using the thrusters 41 of the attitude control unit 40, attitude control (ensuring the separation distance) can be performed by applying magnetic force between the floating bodies 12. In other words, the floating bodies 12 are separated from each other by magnetic repulsion, maintaining a certain separation distance or greater. Of course, it is also possible to provide buffering materials or fenders on the outer surfaces of the floating bodies 12. Furthermore, the above-mentioned control device 50 and tension sensor 30 do not necessarily need to be provided. In this case, an operator can visually determine the size of the separation distance and operate the attitude control unit 40 as appropriate to ensure and maintain the separation distance. It is also possible to adopt a configuration in which the distance between the floating body bodies 12 is obtained by a position sensor or a GPS (Global Positioning System). Furthermore, it is also possible to adopt a configuration in which only one of the above-mentioned propulsors 41 and spoilers 42 is provided.

[0031] Second Embodiment Next, as a second embodiment of the present disclosure, a method for transporting a floating body 10 using the above-described linked floating body attitude control system 1 will be described with reference to Figures 4 and 5. Note that the same components as those in the above-described first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0032] As shown in Figure 4, this transportation method includes step S11 of attaching the attitude control unit 40 to the floating body main body 12, step S12 of attaching the propulsion device 60 to at least one floating body main body 12, step S13 of driving the propulsion device 60, and step S14 of controlling the attitude of the floating bodies 10 together.

[0033] In step S11, the attitude control unit 40 including the propellers 41 and spoilers 42 described in the first embodiment is attached to each floating body main body 12. In step S12, a propulsion device 60 different from the propellers 41 is attached to or connected to at least one floating body main body 12. Specifically, as shown in Fig. 5, a towing vessel 61 may be used as the propulsion device 60, or a thrust generating source different from the propellers 41 may be directly attached to the floating body main body 12. The floating body main body 12 may also be an object that can float under its own power, such as a tower-like structure.

[0034] In step S13, the propulsion devices 60 are driven to tow (transport) the plurality of floating bodies 10. While the floating bodies 10 reach the target location, the distance between the floating bodies 10 is appropriately maintained and controlled by the linked floating body attitude control system 1 described in the first embodiment above (step S14). Through the above steps, the transportation of the floating bodies 10 is completed.

[0035] (Effects) According to the above method, the floating bodies 12 and the structures 11 can be transported while maintaining a constant distance between the floating bodies 12. This reduces the possibility of interference between the floating bodies 12 or the structures 11, resulting in damage or fouling. Conventionally, it has been common to tow each floating body 10 using a single towing vessel 61. This method has the drawback of reducing transportation efficiency and increasing costs. Furthermore, when multiple floating bodies 10 are connected to a single towing vessel 61, there is a risk of the floating bodies 10 colliding or coming into contact with each other. However, according to the above method, multiple floating bodies 10 can be transported smoothly using a single propulsion device 60 without interfering with each other. This improves transportation efficiency and significantly reduces costs.

[0036] The second embodiment of the present disclosure has been described above. Various changes and modifications can be made to the above-described method and configuration without departing from the spirit and scope of the present disclosure. For example, as a modified example, as shown in FIG. 6 , a single propulsion device 60 (tow ship 61) can tow multiple rows of connected floating bodies 10. In this case, it is desirable to ensure a certain distance between the floating bodies 10 in the same row, as well as between the floating bodies 10 in different rows. In this case, the tension sensor 30, attitude control unit 40, and control device 50 can be used in the same manner.

[0037] It should be noted that the order of the processes performed by the control device 50 in the embodiment of the present disclosure may be changed as long as the processes are performed appropriately.

[0038] The storage unit 54 and other storage devices in the embodiments of the present disclosure may be provided anywhere within a range where appropriate information can be transmitted and received. Furthermore, multiple storage units 54 and other storage devices may exist within a range where appropriate information can be transmitted and received, and data may be stored in a distributed manner.

[0039] The above-described processing steps performed by the control device 50 are stored in the form of a program on a recording medium that can be read by the computer 100, and the above processing is performed by the computer 100 reading and executing this program. A specific example of the computer 100 is shown below.

[0040] 7, the computer 100 includes a CPU 101, a main memory 102, a storage 103, and an interface 104. For example, the above-described control device 50 is implemented in the computer 100. The operations of the above-described processing units are stored in the storage 103 in the form of a program. The CPU 101 reads the program from the storage 103, loads it into the main memory 102, and executes the above-described processing in accordance with the program. The CPU 101 also allocates a storage area in the main memory 102 corresponding to the above-described storage unit 54 in accordance with the program.

[0041] Examples of storage 103 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), and a semiconductor memory. Storage 103 may be an internal medium directly connected to the bus of computer 100, or an external medium connected to computer 100 via interface 104 or a communication line. Furthermore, when this program is distributed to computer 100 via a communication line, computer 100 that receives the program may load the program into main memory 102 and execute the above-described processing. Storage 103 is a non-transitory tangible storage medium.

[0042] The program may also implement some of the functions described above. Furthermore, the program may be a file that can implement the functions described above in combination with a program already stored in computer 100, that is, a differential file (differential program).

[0043] In addition to or instead of the above configuration, a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device), an ASIC (Application Specific Integrated Circuit), a GPU (Graphics Processing Unit), or a processing device similar thereto may be provided. Examples of PLDs include programmable array logic (PAL), generic array logic (GAL), complex programmable logic device (CPLD), and field programmable gate array (FPGA). In this case, some or all of the functions realized by a processor may be realized by the integrated circuit.

[0044] <Additional Notes> The method of transporting the linked floating body attitude control system 1 and the floating body 10 described in each embodiment can be understood, for example, as follows.

[0045] (1) The linked floating body attitude control system 1 relating to the first aspect comprises a plurality of floating body bodies 12 capable of floating a structure 11 on the water surface, a connecting unit 20 connecting the plurality of floating body bodies 12 in a state in which the floating body bodies 12 can be displaced relative to each other, and an attitude control unit 40 provided individually for each of the floating body bodies 12 and operating independently of each other, thereby being able to adjust the separation distance between the plurality of floating body bodies 12.

[0046] According to the above configuration, an attitude control unit 40 is provided for each floating body 12, and they can operate independently of each other. Therefore, if a change occurs in the distance between the floating bodies 12, the attitude control unit 40 of at least one of the floating bodies 10 can be operated to move the floating body 12 relative to the other, thereby making it possible to maintain a constant distance between the floating bodies 12.

[0047] (2) The linked floating body attitude control system 1 according to the second aspect is the linked floating body attitude control system 1 of (1), further comprising a control device 50 having a separation distance acquisition unit 51 that acquires the separation distance between the floating body bodies 12, a comparison and judgment unit 52 that compares the separation distance acquired by the separation distance acquisition unit 51 with a predetermined reference range, and a drive control unit 53 that controls the operation of the attitude control unit 40 based on the judgment result of the comparison and judgment unit 52.

[0048] According to the above configuration, by comparing the separation distance with the reference distance, it is determined whether the interval between the floating bodies 12 deviates from the reference range. If it deviates from the reference range, the attitude control unit 40 is driven by the drive control unit 53, and the interval between the floating bodies 12 can be autonomously corrected.

[0049] (3) The third aspect of the connected floating body attitude control system 1 is the connected floating body attitude control system 1 of (2), in which the separation distance acquisition unit 51 acquires the separation distance based on the measurement results of a tension sensor 30 that measures the tension acting on the connecting part 20.

[0050] According to the above configuration, the separation distance between the floating bodies 12 can be obtained more directly and accurately based on the measurement results of the tension sensor 30. This makes it possible to maintain the distance between the floating bodies 12 more stably.

[0051] (4) The fourth aspect of the linked floating body attitude control system 1 is the linked floating body attitude control system 1 of (2), in which the separation distance acquisition unit 51 acquires the separation distance based on the measurement results of a radar device provided for each floating body 12.

[0052] According to the above configuration, since the measurement results of the radar device are used, even if the distance between the floating bodies 12 is relatively long, the separation distance between these floating bodies 12 can be accurately obtained. This makes it possible to maintain the distance between the floating bodies 12 more stably.

[0053] (5) The fifth aspect of the linked floating body attitude control system 1 is a linked floating body attitude control system 1 according to any one of aspects (1) to (4), in which the attitude control unit 40 has a propeller 41 that generates propulsion force in water.

[0054] According to the above configuration, it is possible to move the floating bodies 12 relative to each other by any distance in any direction by driving the propellers 41. This makes it possible to easily and stably maintain the separation distance between the floating bodies 12.

[0055] (6) The sixth aspect of the linked floating body attitude control system 1 is a linked floating body attitude control system 1 according to any one of aspects (1) to (5), in which the attitude control unit 40 has a spoiler 42 that can transition between a state deployed in water and a state stored in the floating body main body 12.

[0056] According to the above configuration, the movement speed of the floating body 12 can be adjusted by deploying the spoilers 42. As a result, for example, in a situation where one floating body 12 is rapidly approaching the other floating body 12 and the separation distance is shortened, the movement speed of the one floating body 12 can be reduced, and the separation distance between these floating bodies 12 can be optimized.

[0057] (7) A method for transporting a floating body 10 according to a seventh aspect is a method for transporting a floating body 10 using a linked floating body attitude control system 1 according to any one of aspects (1) to (6), and includes the steps of attaching the attitude control unit 40 to the floating body main body 12, and towing the floating body main bodies 12 and the structure 11 by a propulsion force generated by another propulsion device 60 provided on at least one of the floating body main bodies 12 and different from the attitude control unit 40.

[0058] According to the above method, the plurality of floating bodies 12 and the structures 11 can be transported while maintaining a constant distance between the floating bodies 12. This reduces the possibility of the floating bodies 12 or the structures 11 interfering with each other, causing damage or fouling.

[0059] According to the above-mentioned linked floating body attitude control system and floating body transportation method, it is possible to stably maintain the spacing between the floating bodies and to transport multiple floating bodies while maintaining that spacing.

[0060] DESCRIPTION OF SYMBOLS 1...Connected floating body attitude control system 10...Floating body 11...Structure 12...Floating body main body 20...Connecting section 30...Tension sensor 40...Attitude control section 41...Propulsion device 42...Spoiler 50...Control device 51...Separation distance acquisition section 52...Comparison and determination section 53...Drive control section 54...Memory section 60...Propulsion device 61...Towed vessel 100...Computer 101...CPU 102...Main memory 103...Storage 104...Interface

Claims

1. a plurality of floating bodies capable of floating a structure on the water surface; a connecting portion that connects the plurality of floating body bodies to each other in a state in which the floating body bodies can be displaced relative to each other; an attitude control unit provided for each floating body and operating independently of each other to adjust the separation distance between the plurality of floating bodies; a control device; The control unit a separation distance acquisition unit that acquires a separation distance between the floating body bodies; a comparison / determination unit that compares the separation distance acquired by the separation distance acquisition unit with a predetermined reference range; a drive control unit that controls the operation of the attitude control unit based on the determination result of the comparison and determination unit, The separation distance acquisition unit acquires the separation distance based on a measurement result of a tension sensor that measures a tension acting on the connecting portion. Linked floating body attitude control system.

2. A plurality of floating bodies capable of floating a structure on the water surface; a connecting portion that connects the plurality of floating body bodies to each other in a state in which the floating body bodies can be displaced relative to each other; an attitude control unit provided for each floating body and operating independently of each other to adjust the separation distance between the plurality of floating bodies; a control device; The control unit a separation distance acquisition unit that acquires a separation distance between the floating body bodies; a comparison / determination unit that compares the separation distance acquired by the separation distance acquisition unit with a predetermined reference range; a drive control unit that controls the operation of the attitude control unit based on the determination result of the comparison and determination unit, The separation distance acquisition unit acquires the separation distance based on the measurement results of a radar device provided for each floating body.

3. The linked floating body attitude control system according to claim 1 or 2, wherein the attitude control unit has a propulsion device that generates a propulsive force in water.

4. 3. The linked floating body attitude control system according to claim 1, wherein the attitude control unit has a spoiler that can transition between a state deployed in water and a state stored in the floating body.

5. A method for transporting a floating body using the linked floating body attitude control system according to claim 1 or 2, Attaching the attitude control unit to the floating body; towing the plurality of floating bodies and the structure by a propulsive force generated by a propulsion device other than the attitude control unit, the propulsion device being provided on at least one of the plurality of floating bodies; A method for transporting a floating body, comprising: