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JP7164935B2 - Control device, boat transport device, and method for driving carrier - Google Patents

Control device, boat transport device, and method for driving carrier Download PDF

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JP7164935B2
JP7164935B2 JP2017024916A JP2017024916A JP7164935B2 JP 7164935 B2 JP7164935 B2 JP 7164935B2 JP 2017024916 A JP2017024916 A JP 2017024916A JP 2017024916 A JP2017024916 A JP 2017024916A JP 7164935 B2 JP7164935 B2 JP 7164935B2
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carrier
water surface
water
rampway
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JP2018131016A (en
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祐之 右田
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Mitsubishi Heavy Industries Ltd
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Mitsubishi Heavy Industries Ltd
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Description

本発明は、制御装置、艇運搬装置及び搬器の駆動方法に関する。 TECHNICAL FIELD The present invention relates to a control device, a boat transport device, and a carrier driving method.

艇運搬装置としては、母船内部又は外部に突き出したランプウェー（傾斜路）を介して、ボートを投入揚収する方式がある。
艇運搬装置としては、母船上のダビットやクレーン等から揚収索を吊下し、ボートを直接、又はボートが乗り込んだ架台等を吊上げて投入揚収する方式がある。 As a boat transport device, there is a method of loading and unloading a boat via a rampway protruding inside or outside the mothership.
As a boat transport device, there is a method in which a hoisting rope is suspended from a davit or crane on a mother ship, and the boat is directly hoisted, or a frame or the like on which the boat is boarded is hoisted to load and hoist.

特開平１０－２７９２８２号公報JP-A-10-279282 特開２００７－０３８７０６号公報Japanese Patent Application Laid-Open No. 2007-038706

ところが、上記特許文献１及び特許文献２に記載の技術では、波浪が激しくなるにつれ、母艦や揚収する小型艇における横動揺、縦動揺、上下動等の動揺が増大し、それに伴い、母艦側におけるランプウェーや吊上げ架台の揚収用架台等も激しく上下動することとなる。その結果、小型艇を揚収する際にタイミングを誤れば揚収用架台と小型艇が激しくぶつかって揚収が困難になることがある。 However, with the techniques described in Patent Document 1 and Patent Document 2, as the waves become more intense, the mother ship and the small boats to be picked up increase in sway, such as horizontal sway, vertical sway, and vertical movement. The ramp way and the hoisting platform of the hoisting platform will also move up and down violently. As a result, if the timing is wrong when lifting a small boat, the platform for lifting and the small boat may collide violently, making it difficult to lift.

本発明は、上記課題を解決するためになされたものであって、航走体を安全に揚収することができる制御装置、艇運搬装置及び搬器の駆動方法を提供することを目的とする。 SUMMARY OF THE INVENTION It is an object of the present invention to provide a control device, a boat carrier, and a method of driving a carrier that can safely lift and hoist a boat.

上記課題を解決するために、本発明の一態様に係る制御装置は、水面の揺動に応じて変化する量を計測する計測装置から計測値を取得する取得部と、前記計測値に基づいて、水中または水上を航走する航走体が乗り上げ可能とされた搬器の前記水面に対する相対高さを算出する計算部と、前記計算部が算出した相対高さに基づいて、制御動作の実行中、前記相対高さの変化量が小さくなるように、かつ前記水面に対する前記搬器の相対的な速度が所定の昇降速度になるように、前記搬器を上下動させるアクチュエータの制御信号を生成する生成部とを備える。 In order to solve the above problems, a control device according to an aspect of the present invention includes an acquisition unit that acquires a measured value from a measuring device that measures an amount that changes according to the fluctuation of the water surface, and based on the measured value: , a calculation unit that calculates the relative height of a carrier that is allowed to run on water or on water with respect to the water surface; and a control operation is being performed based on the relative height calculated by the calculation unit. a generation unit for generating a control signal for an actuator that vertically moves the carrier so that the amount of change in the relative height is small and the relative speed of the carrier with respect to the water surface is a predetermined vertical speed; and

この構成によれば、航走体の揚収に際し、母艦の搬器に航走体が乗り上げるときに波浪等で母艦が動揺しているとしても、搬器が海面に対してほぼ一定の深度を保てるために、船底が搬器に衝突したり、搬器で叩かれたりすることなく航走体を安全に揚収することができる。 According to this configuration, even if the mother ship is shaken by waves or the like when the vehicle runs on the carrier of the mother ship, the carrier can maintain a substantially constant depth with respect to the sea surface when the vehicle is lifted and recovered. In addition, the cruising body can be safely lifted and recovered without the bottom of the ship colliding with the carrier or being hit by the carrier.

また、上記の制御装置は、前記計測装置が、前記搬器を備える艦の船体に設けられ、前記船体の揺動角を検出するモーションセンサを含んでもよい。 Further, in the control device described above, the measuring device may include a motion sensor provided on a hull of a ship having the carrier and detecting a swing angle of the hull.

この構成によれば、母艦の上下動を距離データに変換するためにモーションセンサにより母艦の上下動を感知することにより、搬器の先端部分が常に水面下にあるようにできる。 According to this configuration, the motion sensor senses the vertical movement of the mother ship in order to convert the vertical movement of the mother ship into distance data, so that the leading end of the carrier can always be kept under the water surface.

また、上記の制御装置は、前記計測装置が、前記搬器に設けられ、前記搬器と前記水面との高さを検出する水位センサを含んでもよい。 Further, in the above control device, the measuring device may include a water level sensor provided in the carrier and detecting a height between the carrier and the water surface.

この構成によれば、モーションセンサにより母艦の上下動を感知するとともに、水位センサにより搬器の先端部分が水面下に確実に配置されるようにできる。 According to this configuration, the motion sensor detects the vertical movement of the mother ship, and the water level sensor ensures that the tip of the carrier is placed under the water surface.

また、上記の制御装置は、前記搬器が揚収索に連結された天秤及び架台であってもよい。 Further, the above control device may be a balance and a frame in which the carrier is connected to a lifting cable.

この構成によれば、水面に対する架台の相対的な速度が所定の昇降速度になるように架台を駆動させることができる。 According to this configuration, the gantry can be driven so that the relative speed of the gantry with respect to the water surface becomes a predetermined lifting speed.

本発明の一態様に係る艇運搬装置は、水面の揺動に応じて変化する量を計測する計測装置と、水中または水上を航走する航走体が乗り上げ可能とされた搬器と、前記搬器を上下動させるアクチュエータと、上記の制御装置とを備える。 A boat transporting device according to an aspect of the present invention includes a measuring device that measures an amount that changes according to rocking of a water surface, a carrier that allows a cruising body that runs in or on water to run on, and the carrier. and an actuator for moving up and down, and the control device described above.

この構成によれば、航走体の揚収に際し、母艦の搬器に航走体が乗り上げるときに波浪等で母艦が動揺しているとしても、搬器が海面に対してほぼ一定の深度を保てるために、船底が搬器に衝突したり、搬器で叩かれたりすることなく航走体を安全に搬送することができる。 According to this configuration, even if the mother ship is shaken by waves or the like when the vehicle runs on the carrier of the mother ship, the carrier can maintain a substantially constant depth with respect to the sea surface when the vehicle is lifted and recovered. In addition, the cruising body can be safely transported without the bottom of the ship colliding with the carrier or being hit by the carrier.

本発明の一態様に係る搬器の駆動方法は、水面の揺動に応じて変化する量を計測する計測装置から計測値を取得し、前記計測値に基づいて、水中または水上を航走する航走体が乗り上げ可能とされた搬器の前記水面に対する相対高さを算出し、算出した前記相対高さに基づいて、制御動作の実行中、前記相対高さの変化量が小さくなるように、かつ前記水面に対する前記搬器の相対的な速度が所定の昇降速度になるように、前記搬器を上下動させる制御信号を生成する。
A method of driving a carrier according to an aspect of the present invention acquires measured values from a measuring device that measures an amount that changes according to fluctuations of a water surface, and based on the measured values, a vehicle that travels in or on the water. calculating the relative height of the carrier with respect to the water surface on which the running object can run, and based on the calculated relative height , reducing the amount of change in the relative height during execution of the control operation, and A control signal is generated for moving the carrier up and down so that the relative speed of the carrier with respect to the water surface becomes a predetermined ascending/descending speed.

この構成によれば、航走体の揚収に際し、母艦の搬器に航走体が乗り上げるときに波浪等で母艦が動揺しているとしても、搬器が海面に対してほぼ一定の深度を保てるために、船底が搬器に衝突したり、搬器で叩かれたりすることなく航走体を安全に搬送することができる搬器の駆動方法を提供できる。 According to this configuration, even if the mother ship is shaken by waves or the like when the vehicle runs on the carrier of the mother ship, the carrier can maintain a substantially constant depth with respect to the sea surface when the vehicle is lifted and recovered. In addition, it is possible to provide a method of driving a carriage that can safely transport the cruising body without the bottom of the ship colliding with the carriage or being hit by the carriage.

上記何れかの態様に係る制御装置によれば、航走体の揚収に際し、母艦の搬器に航走体が乗り上げるときに波浪等で母艦が動揺しているとしても、搬器が海面に対してほぼ一定の深度を保てるために、船底が搬器に衝突したり、搬器で叩かれたりすることなく航走体を安全に揚収することができる。 According to the control device according to any one of the above aspects, when the cruising body is lifted up and recovered, even if the cruising body is shaken by waves or the like when the cruising body runs on the carrier of the mother ship, Since a substantially constant depth can be maintained, the cruising body can be lifted and recovered safely without the bottom of the ship colliding with the carrier or being hit by the carrier.

第１実施形態に係る制御装置のブロック図である。1 is a block diagram of a control device according to a first embodiment; FIG. 図１に示した制御装置の模式図である。FIG. 2 is a schematic diagram of the control device shown in FIG. 1; 図１に示した制御装置の制御動作を説明するフローチャートである。FIG. 2 is a flowchart for explaining the control operation of the control device shown in FIG. 1; FIG. 第２実施形態に係る制御装置のブロック図である。It is a block diagram of a control device according to a second embodiment. 図４に示した制御装置の模式図である。FIG. 5 is a schematic diagram of the control device shown in FIG. 4; 図４に示した制御装置の制御動作を説明するフローチャートである。FIG. 5 is a flowchart for explaining the control operation of the control device shown in FIG. 4; FIG.

以下、本発明の実施の形態について、図面を参照して説明する。
〈第１実施形態〉
《全体構成》
図１、図２に示すように、第１実施形態に係る艇運搬装置１は、制御装置１０と、モーションセンサ１１と、水位センサ１２と、ランプウェー１４と、ランプウェー駆動装置１６とを備える。艇運搬装置１は、航走体５０を母艦５１の艫（船尾）５２から揚収する。
制御装置１０は、取得部１３と、計算部１５と、出力部１７とを備える。 BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
"overall structure"
As shown in FIGS. 1 and 2, the boat transport device 1 according to the first embodiment includes a control device 10, a motion sensor 11, a water level sensor 12, a rampway 14, and a rampway driving device 16. . The watercraft carrier 1 lifts the watercraft 50 from the stern (stern) 52 of the mothership 51 .
The control device 10 includes an acquisition unit 13 , a calculation unit 15 and an output unit 17 .

モーションセンサ１１は、母艦５１の艫５２に設けられている。モーションセンサ１１は、水面の揺動に応じて変化する船体の揺動角を計測する計測装置の一例である。モーションセンサ１１が計測する揺動角は、水面の揺動に応じて変化する量である。 The motion sensor 11 is provided on the stern 52 of the mother ship 51 . The motion sensor 11 is an example of a measuring device that measures the rocking angle of the hull that changes according to the rocking of the water surface. The swing angle measured by the motion sensor 11 is an amount that changes according to the swing of the water surface.

水位センサ１２は、後述するランプウェー１４の先端部に配置されている。水位センサ１２は、水面の揺動に応じて変化する水位を計測する計測装置の一例である。水位センサ１２が計測する水位は、水面の揺動に応じて変化するランプウェー１４と水面ＷＬとの高さである。 The water level sensor 12 is arranged at the tip of a rampway 14, which will be described later. The water level sensor 12 is an example of a measuring device that measures the water level that changes according to the fluctuation of the water surface. The water level measured by the water level sensor 12 is the height between the rampway 14 and the water surface WL, which changes according to the fluctuation of the water surface.

取得部１３は、水面ＷＬの揺動に応じて変化する量を計測するモーションセンサ１１及び水位センサ１２から計測値を取得する取得部の一例である。取得部１３は、モーションセンサ１１が計測した計測値を取得する入力部１８と、水位センサ１２が計測した計測値を取得する入力部１９とを備える。各入力部１８，１９によって取得された計測値は計算部１５にそれぞれ与えられる。 The acquisition unit 13 is an example of an acquisition unit that acquires measured values from the motion sensor 11 and the water level sensor 12 that measure the amount of change according to the swing of the water surface WL. The acquisition unit 13 includes an input unit 18 that acquires the measured value measured by the motion sensor 11 and an input unit 19 that acquires the measured value measured by the water level sensor 12 . The measurement values obtained by the input units 18 and 19 are supplied to the calculation unit 15, respectively.

ランプウェー１４は、水中または水上を航走する航走体５０が乗り上げ可能とされた搬器の一例である。ランプウェー１４は、母艦５１の艫５２にヒンジ部２０を介して回動自在に設けられている。 The rampway 14 is an example of a carrier on which a vehicle 50 traveling in or on water can run on. The rampway 14 is rotatably provided on the stern 52 of the mother ship 51 via the hinge portion 20 .

計算部１５は、モーションセンサ１１及び水位センサ１２の計測値に基づいて、ランプウェー１４の先端部の水面ＷＬに対する相対高さを算出する計算部の一例である。計算部１５は、不図示の中央集積回路を内蔵しており、中央集積回路によってランプウェー１４の先端部の水面ＷＬに対する相対高さを算出する。計算部１５は、モーションセンサ１１の計測値と、水位センサ１２の計測値のそれぞれに基づいてランプウェー１４の先端部の水面ＷＬに対する相対高さを求め、その平均値を以てランプウェー１４の制御に用いる相対高さとする。
例えば、計算部１５は、モーションセンサ１１が計測した母艦５１のピッチ角θと、鉛直情報から見たときにおける母艦５１の重心からランプウェー１４の基部までの長さＬと、ランプウェー１４の長さｌと、ランプウェー１４の傾斜角φと、喫水線に対するランプウェー１４の基部の相対高さｈとを用いて、以下に示す式（１）により、ランプウェー１４の先端部の水面ＷＬに対する相対高さＨ１を求める。
Ｈ１＝Ｌｓｉｎθ＋ｌｓｉｎ（θ＋φ）＋ｈｃｏｓθ …（１）
また例えば、計算部１５は、水位センサ１２が計測した過去所定回数分の水位の平均値により、ランプウェー１４の先端部の水面ＷＬに対する相対高さＨ２を求める。 The calculation unit 15 is an example of a calculation unit that calculates the relative height of the tip of the rampway 14 with respect to the water surface WL based on the measurement values of the motion sensor 11 and the water level sensor 12 . The calculation unit 15 incorporates a central integrated circuit (not shown), and calculates the relative height of the tip of the rampway 14 with respect to the water surface WL by the central integrated circuit. The calculation unit 15 obtains the relative height of the tip of the rampway 14 with respect to the water surface WL based on the measured value of the motion sensor 11 and the measured value of the water level sensor 12, and uses the average value to control the rampway 14. be the relative height to be used.
For example, the calculation unit 15 calculates the pitch angle θ of the mother ship 51 measured by the motion sensor 11, the length L from the center of gravity of the mother ship 51 to the base of the rampway 14 when viewed from the vertical information, and the length of the rampway 14. of the rampway 14, the inclination angle φ of the rampway 14, and the relative height h of the base of the rampway 14 with respect to the waterline, the relative height of the tip of the rampway 14 with respect to the water surface WL is calculated by the following equation (1). Find the height H1.
H1=L sin θ+lsin(θ+φ)+h cos θ (1)
Further, for example, the calculator 15 obtains the relative height H2 of the tip of the rampway 14 with respect to the water surface WL from the average value of the water levels measured by the water level sensor 12 for a predetermined number of times in the past.

ランプウェー駆動装置１６は、ランプウェー１４を上下動させるアクチュエータの一例である。ランプウェー駆動装置１６は、ランプウェー１４の先端部に例えばワイヤ２１によって連結されている。 The rampway driving device 16 is an example of an actuator that vertically moves the rampway 14 . The rampway driving device 16 is connected to the tip of the rampway 14 by a wire 21, for example.

出力部１７は、ランプウェー駆動装置１６に対する制御信号を生成する生成部の一例である。出力部１７は、ランプウェー駆動装置１６に制御信号を与えることにより、ランプウェー１４を上方に揺動あるいは下方に揺動させる。 The output section 17 is an example of a generation section that generates a control signal for the rampway driving device 16 . The output unit 17 supplies a control signal to the rampway driving device 16 to swing the rampway 14 upward or downward.

《動作》
次に、図３を参照して艇運搬装置１の制御方法について説明する。
図３に示すように、母艦５１の航行中に母艦５１に揚収される航走体５０が接近してきた際に、制御動作が開始される。 "motion"
Next, a method of controlling the boat transporting device 1 will be described with reference to FIG.
As shown in FIG. 3, the control operation is started when the vehicle 50 to be lifted up by the mother ship 51 approaches while the mother ship 51 is sailing.

まず、モーションセンサ１１は母艦５１の揺動角を計測し、水位センサ１２はランプウェー１４の先端部を基準とした水位を計測する（ステップＳ１０１）。このとき、モーションセンサ１１及び水位センサ１２が計測した計測値は取得部１３（入力部１８および入力部１９）に取り込まれる。 First, the motion sensor 11 measures the rocking angle of the mother ship 51, and the water level sensor 12 measures the water level with reference to the tip of the rampway 14 (step S101). At this time, the measurement values measured by the motion sensor 11 and the water level sensor 12 are captured by the acquisition unit 13 (input unit 18 and input unit 19).

次に、計算部１５は、モーションセンサ１１及び水位センサ１２の計測値に基づいて、ランプウェー１４の水面ＷＬに対する相対高さを算出する（ステップＳ１０２）。 Next, the calculation unit 15 calculates the relative height of the rampway 14 with respect to the water surface WL based on the measurement values of the motion sensor 11 and the water level sensor 12 (step S102).

そして、計算部１５は、ランプウェー１４の水面ＷＬに対する相対高さが目標高さより高いか否かを判定する（ステップＳ１０３）。ランプウェー１４の水面ＷＬに対する相対高さが目標高さより高い場合（ステップＳ１０３：ＹＥＳ）、計算部１５は、ランプウェー１４を下方に揺動させる制御信号を算出する。出力部１７は、当該制御信号をランプウェー駆動装置１６に出力する（ステップＳ１０４）。 Then, the calculation unit 15 determines whether or not the relative height of the rampway 14 with respect to the water surface WL is higher than the target height (step S103). If the relative height of the rampway 14 with respect to the water surface WL is higher than the target height (step S103: YES), the calculator 15 calculates a control signal for swinging the rampway 14 downward. The output unit 17 outputs the control signal to the rampway driving device 16 (step S104).

これに対し、ランプウェー１４の水面ＷＬに対する相対高さが目標高さより低い場合（ステップＳ１０３：ＮＯ）、計算部１５は、ランプウェー１４を上方に揺動させる制御信号を算出する。出力部１７は、当該制御信号をランプウェー駆動装置１６に出力する（ステップＳ１０５）。 On the other hand, if the height of the rampway 14 relative to the water surface WL is lower than the target height (step S103: NO), the calculator 15 calculates a control signal for swinging the rampway 14 upward. The output unit 17 outputs the control signal to the rampway driving device 16 (step S105).

《作用・効果》
このように、制御装置１０は、ランプウェー１４の水面ＷＬに対する相対高さが目標高さに一致するような制御信号をランプウェー駆動装置１６に出力する。つまり、制御装置１０は、水面ＷＬに対する相対高さの変化量が０になるようにランプウェー１４を駆動させる。これにより、航走体５０は、母艦５１の動揺による影響を受けずにランプウェー１４に乗り上げられることになる。 《Action and effect》
In this way, the control device 10 outputs to the rampway driving device 16 a control signal that makes the relative height of the rampway 14 to the water surface WL match the target height. That is, the controller 10 drives the rampway 14 so that the amount of change in height relative to the water surface WL is zero. As a result, the cruising vehicle 50 can run on the rampway 14 without being affected by the shaking of the mother ship 51 .

上記構成の制御装置１０によれば、航走体５０の揚収に際し、母艦５１のランプウェー１４に航走体５０が乗り上げるときに波浪等で母艦５１が動揺しているとしても、ランプウェー１４が海面に対してほぼ一定の深度を保てるために、船底がランプウェー１４に衝突したり、ランプウェー１４で叩かれたりすることなく航走体５０を安全に揚収することができる。 According to the control device 10 configured as described above, when the vehicle 50 is lifted and recovered, even if the vehicle 50 runs on the rampway 14 of the mothership 51 and the mothership 51 is swayed by waves or the like, the rampway 14 can be operated. can maintain a substantially constant depth with respect to the sea surface, the boat 50 can be safely lifted up without the bottom of the ship colliding with the rampway 14 or being hit by the rampway 14.例文帳に追加

上記構成の制御装置１０によれば、母艦５１の上下動を距離データに変換するためにモーションセンサ１１により母艦５１の上下動を感知することにより、ランプウェー１４の先端部分が常に水面下にあるようにできる。 According to the control device 10 configured as described above, the motion sensor 11 senses the vertical movement of the mother ship 51 in order to convert the vertical movement of the mother ship 51 into distance data, so that the tip of the rampway 14 is always under the water surface. can be done.

上記構成の制御装置１０によれば、モーションセンサ１１により母艦５１の上下動を感知するとともに、水位センサ１２によりランプウェー１４の先端部分が水面下に確実に配置されるようにできる。 According to the control device 10 configured as described above, the motion sensor 11 can sense the vertical movement of the mother ship 51, and the water level sensor 12 can ensure that the tip of the rampway 14 is placed under the water surface.

上記構成の制御装置１０によれば、水面ＷＬに対する相対高さの変化量が０になるようにランプウェー１４を駆動させることができる。 According to the controller 10 configured as described above, the rampway 14 can be driven so that the amount of change in height relative to the water surface WL is zero.

なお、第１実施形態に係る艇運搬装置１は、航走体５０を母艦５１の艫５２から揚収するが、これに限られない。例えば、他の実施形態に係る艇運搬装置１は、航走体５０を母艦５１の舷から揚収してもよい。この場合、制御装置１０は、モーションセンサ１１が計測したロール角に基づいてランプウェー１４の先端部分の水面ＷＬに対する相対高さを算出することができる。 In addition, although the boat transport device 1 according to the first embodiment lifts the cruising body 50 from the stern 52 of the mother ship 51, it is not limited to this. For example, the boat transport device 1 according to another embodiment may lift the cruising body 50 from the side of the mother ship 51 . In this case, the control device 10 can calculate the relative height of the tip portion of the rampway 14 with respect to the water surface WL based on the roll angle measured by the motion sensor 11 .

〈第２実施形態〉
次に、第２実施形態について図を参照しながら説明するが、第１実施形態と同一の部位には同一の符号を付してその説明は省略し、異なる点についてのみ説明する。 <Second embodiment>
Next, the second embodiment will be described with reference to the drawings. The same parts as in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted, and only the points of difference will be described.

図４、図５に示すように、第２実施形態に係る艇運搬装置２は、制御装置３０を備えており、揚収索３１に連結された天秤３２及び架台３３と、電動ウインチである揚収索駆動装置３４を設けた点が第１実施形態と異なる。 As shown in FIGS. 4 and 5, the boat transporting device 2 according to the second embodiment includes a control device 30, a balance 32 and a frame 33 connected to a lifting and retracting cable 31, and a lifting device which is an electric winch. It differs from the first embodiment in that a convergence driving device 34 is provided.

天秤３２及び架台３３は、水中または水上を航走する航走体５０が乗り上げ可能とされた搬器の一例である。また水位センサ１２は天秤３２に設けられる。
揚収索駆動装置３４は、揚収索３１を上下動させるアクチュエータの一例である。 The balance 32 and the frame 33 are an example of a carrier on which the cruising body 50 that cruising in or on the water can run on. Also, the water level sensor 12 is provided on the balance 32 .
The lifting/storing cable driving device 34 is an example of an actuator that moves the lifting/storing cable 31 up and down.

制御装置３０において、出力部１７は、水面ＷＬに対する架台３３の相対的な速度が所定の昇降速度になるように制御信号を生成する。 In the control device 30, the output unit 17 generates a control signal so that the relative speed of the gantry 33 with respect to the water surface WL becomes a predetermined vertical speed.

《動作》
次に、図６を参照して艇運搬装置２の制御方法について説明する。
図６に示すように、母艦５１の航行中に母艦５１に揚収される航走体５０が接近してきた際に、制御動作が開始される。 "motion"
Next, a method for controlling the boat transport device 2 will be described with reference to FIG.
As shown in FIG. 6, the control operation is started when the vehicle 50 to be lifted up by the mother ship 51 approaches while the mother ship 51 is sailing.

まず、モーションセンサ１１は母艦５１の揺動角を計測し、水位センサ１２は天秤３２を基準とした水位を計測する（ステップＳ２０１）。このとき、モーションセンサ１１及び水位センサ１２が計測した計測値は取得部１３に取り込まれる。 First, the motion sensor 11 measures the rocking angle of the mothership 51, and the water level sensor 12 measures the water level with respect to the balance 32 (step S201). At this time, the measurement values measured by the motion sensor 11 and the water level sensor 12 are captured by the acquisition unit 13 .

次に、計算部１５は、モーションセンサ１１及び水位センサ１２の計測値に基づいて、天秤３２の水面ＷＬに対する相対的な速度を算出する（ステップＳ２０２）。 Next, the calculator 15 calculates the relative speed of the balance 32 to the water surface WL based on the measured values of the motion sensor 11 and the water level sensor 12 (step S202).

そして、計算部１５は、天秤３２の水面ＷＬに対する相対速度が目標速度より大きいか否かを判定する（ステップＳ２０３）。天秤３２の水面ＷＬに対する相対速度が目標速度より大きい場合（ステップＳ２０３：ＹＥＳ）、計算部１５は、天秤３２の移動速度を減速させる制御信号を算出する。出力部１７は、当該制御信号を揚収索駆動装置３４に出力する（ステップＳ２０４）。 Then, the calculator 15 determines whether or not the speed of the balance 32 relative to the water surface WL is greater than the target speed (step S203). If the speed of the balance 32 relative to the water surface WL is greater than the target speed (step S203: YES), the calculation unit 15 calculates a control signal for slowing down the moving speed of the balance 32 . The output unit 17 outputs the control signal to the lifting/storage cable driving device 34 (step S204).

これに対して、天秤３２の水面ＷＬに対する相対速度が目標速度より小さい場合（ステップＳ２０３：ＮＯ）、計算部１５は、天秤３２の移動速度を加速させる制御信号を算出する。出力部１７は、当該制御信号を揚収索駆動装置３４に出力する（ステップＳ２０５）。 On the other hand, if the speed of the balance 32 relative to the water surface WL is smaller than the target speed (step S203: NO), the calculation unit 15 calculates a control signal for accelerating the moving speed of the balance 32 . The output unit 17 outputs the control signal to the lifting/storage cable driving device 34 (step S205).

《作用・効果》
このように、制御装置３０は、天秤３２の水面ＷＬに対する相対速度が目標速度に一致するような制御信号をランプウェー駆動装置１６に出力する。つまり、制御装置３０は、水面ＷＬに対する相対高さの変化量が一定になるように天秤３２を駆動させる。これにより、航走体５０は、母艦５１の動揺による影響を受けずに揚収されることになる。 《Action and effect》
Thus, the control device 30 outputs to the rampway driving device 16 a control signal that makes the relative speed of the balance 32 with respect to the water surface WL match the target speed. That is, the control device 30 drives the balance 32 so that the amount of change in height relative to the water surface WL is constant. As a result, the cruising body 50 is lifted up without being affected by the rocking of the mother ship 51 .

上記構成の制御装置３０によれば、水面ＷＬに対する架台３３の相対的な速度が所定の昇降速度になるように架台３３を駆動させることができる。したがって、航走体５０を安全に揚収することができる。 According to the control device 30 configured as described above, the gantry 33 can be driven so that the relative speed of the gantry 33 with respect to the water surface WL becomes a predetermined elevation speed. Therefore, the cruising vehicle 50 can be lifted and recovered safely.

以上、実施の形態について図面を参照して詳述したが、具体的な構成はこの実施の形態に限られるものではなく、本発明の要旨を逸脱しない範囲の設計変更等も含まれる。
例えば、航走体５０としては、図示した水上タイプに代えて潜水タイプでもよく、また、有人タイプに代えて無人タイプであってもよい。 As described above, the embodiment has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope of the present invention.
For example, the cruising body 50 may be of a submersible type instead of the illustrated water type, or may be of an unmanned type instead of a manned type.

１ 艇運搬装置
１０ 制御装置
１１ モーションセンサ（計測装置）
１２ 水位センサ（計測装置）
１３ 取得部
１４ ランプウェー（搬器）
１５ 計算部
１６ ランプウェー駆動装置（アクチュエータ）
１７ 出力部（生成部）
３０ 制御装置
３１ 揚収索
３２ 天秤（搬器）
３３ 架台（搬器）
３４ 揚収索駆動装置（アクチュエータ）
５０ 航走体
５１ 母艦（艦）
５２ 艫（船尾）
ＷＬ 水面 1 boat transport device 10 control device 11 motion sensor (measurement device)
12 Water level sensor (measuring device)
13 Acquisition unit 14 Rampway (conveyor)
15 Calculation unit 16 Rampway drive device (actuator)
17 Output unit (Generation unit)
30 control device 31 hoisting cable 32 balance (conveyor)
33 pedestal (conveyor)
34 Lifting retraction drive device (actuator)
50 Vessel 51 Mother ship (ship)
52 stern (stern)
WL Water surface

Claims (6)

水面の揺動に応じて変化する量を計測する計測装置から計測値を取得する取得部と、
前記計測値に基づいて、水中または水上を航走する航走体が乗り上げ可能とされた搬器の前記水面に対する相対高さを算出する計算部と、
前記計算部が算出した相対高さに基づいて、制御動作の実行中、前記相対高さの変化量が小さくなるように、かつ前記水面に対する前記搬器の相対的な速度が所定の昇降速度になるように、前記搬器を上下動させるアクチュエータの制御信号を生成する生成部と
を備える制御装置。 an acquisition unit that acquires a measured value from a measuring device that measures an amount that changes according to fluctuations of the water surface;
a calculation unit that calculates, based on the measured values, the relative height of a carriage with respect to the water surface on which a cruising object running in or on the water can run;
Based on the relative height calculated by the calculation unit, during execution of the control operation, the relative speed of the carrier with respect to the water surface becomes a predetermined lifting speed so that the amount of change in the relative height becomes small. and a generator that generates a control signal for an actuator that vertically moves the carrier. 前記計測装置が、前記搬器を備える艦の船体に設けられ、前記船体の揺動角を検出するモーションセンサを含む請求項１に記載の制御装置。 2. The control device according to claim 1, wherein said measuring device includes a motion sensor provided on a hull of a ship having said carrier and detecting a swing angle of said hull. 前記計測装置が、前記搬器に設けられ、前記搬器と前記水面との高さを検出する水位センサを含む請求項１又は２に記載の制御装置。 3. The control device according to claim 1, wherein the measuring device includes a water level sensor provided on the carrier and detecting a height between the carrier and the water surface. 前記搬器が揚収索に連結された天秤及び架台である
前記制御信号を生成する請求項１に記載の制御装置。 2. The controller of claim 1, wherein the carriage is a balance and cradle coupled to a hoisting line to generate the control signal. 水面の揺動に応じて変化する量を計測する計測装置と、
水中または水上を航走する航走体が乗り上げ可能とされた搬器と、
前記搬器を上下動させるアクチュエータと、
請求項１から請求項４の何れか１項に記載の制御装置と
を備える艇運搬装置。 a measuring device that measures the amount that changes according to the fluctuation of the water surface;
a carriage on which a cruising object traveling in or on water can run on;
an actuator for moving the carrier up and down;
A boat transport device comprising the control device according to any one of claims 1 to 4. 水面の揺動に応じて変化する量を計測する計測装置から計測値を取得することと、
前記計測値に基づいて、水中または水上を航走する航走体が乗り上げ可能とされた搬器の前記水面に対する相対高さを算出することと、
算出した前記相対高さに基づいて、制御動作の実行中、前記相対高さの変化量が小さくなるように、かつ前記水面に対する前記搬器の相対的な速度が所定の昇降速度になるように、前記搬器を上下動させるアクチュエータの制御信号を生成することと
を有する搬器の駆動方法。 Acquiring a measured value from a measuring device that measures an amount that changes according to fluctuations of the water surface;
calculating, based on the measured values, a relative height of a carrier with respect to the water surface on which a vehicle running in or on the water can run;
Based on the calculated relative height, during execution of the control operation, so that the amount of change in the relative height becomes small and the relative speed of the carrier with respect to the water surface becomes a predetermined lifting speed. A method for driving a carrier, comprising: generating a control signal for an actuator that vertically moves the carrier.
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