KR100702448B1 - Remote control system of unmanned towing vessel for towing a target - Google Patents

Abstract

The present invention relates to a remote control device and a control method of an unmanned tugboat, to a target ship for the target ship during the shooting performance test of marine combat systems such as ships, the interceptor performance test of guns or missiles, to the desired position of the ocean The present invention relates to an unmanned tugboat remote control device and a control method remotely controlled from a mother ship or a land base without moving by a person to move or implement a desired maneuver. In the unmanned automatic control unit 20 of the mother ship or land base, the start command is input by inputting the position and starting characteristics (speed, azimuth, waypoint) of the point where the target start is required, and the unmanned automatic start based on the transmitted data (Ian) ) And an unmanned tugboat 10 to which a target ship 70 is automatically returned and arrives (eyepieces) after the target operation and the shooting and intercept test missions according to the target point automatic tracking are completed. Therefore, the present invention can secure the core technology of the remote control device of the unmanned target tugboat and the remote monitoring, unmanned navigation and remote control technology of the unmanned target tugboat, which can be mounted on a ship or operated at a land base. Instead, it prevents casualties and establishes a real-time target hitting criticism system, thus eliminating unnecessary processes such as retesting after returning, thus enabling efficient target towing work.

Unmanned Tugboat, Unmanned Automatic Control Unit, Remote Strike Evaluation System

Description

Remote Control System and Unmanned Towing Vessel For Towing A Target}

1 is a schematic diagram of a remote control device for an unmanned tug tug according to the present invention.

Figure 2 is a block diagram of a remote control device of the unmanned tugboat according to the present invention.

3 is a configuration diagram of the navigation module, the control module and the equipment module of FIG.

Figure 4 is a block diagram showing the process of information collection and information analysis according to the present invention.

5 is an embodiment of the equipment module provided in the unmanned tugboat according to the present invention.

Figure 6 is a flow chart showing a remote control method of the unmanned tugboat according to the present invention.

<Description of the symbols for the main parts of the drawings>

10: unmanned tugboat 11: towboat control console

12: communication module 13: navigation module

14: control module 15: equipment module

20: unmanned automatic control unit 21: monitoring console

22: transceiver 23: emergency manual mode

30: Wireless LAN 40: UHF / VHF Modem

50: communication satellite 60: GPS satellite

70: target line

The present invention relates to a remote control device and a control method of the unmanned tugboat, and more specifically, to target the enemy ship target ship during the shooting performance test of the maritime combat system, such as naval ships, interceptor performance test of guns or missiles, The present invention relates to a remote control device and a control method of an unmanned tugboat remotely controlled from a mother ship or a land base without moving by a person in order to move to a desired position of an ocean or to implement a desired maneuver.

Shipboard targets for interceptor performance tests, usually conducted at sea, will be moved to the mission position by a human towboat.

However, the above-mentioned manned tugboat receives a command of target point and target maneuver by voice communication with a mother ship or a land base by directly boarding a tugboat and performs target maneuver by hand, which may cause human injury during shooting or intercept test. After reviewing the recorded video screen to review the impact performance after the test, return to the mother ship or the land base, proceed with criticism, and if a retest is raised, there is a time and economic difficulty to start again and perform the retest. There is a problem.

In order to solve the problems described above, the present invention tow the target ship for the target ship during the shooting performance test of marine combat systems such as ships and interceptor performance test of guns or missiles while being mounted on a mother ship or operating in a land base. In order to move to a desired position of the ocean or to implement a desired maneuver, remote control from a mother ship or a land base without a person riding, and remote control device and control method of an unmanned tugboat to perform the desired purpose unattended. It aims to provide.

The unmanned tugboat automatically starts, unmanned automatic tracking operation of input target points, acquires and stores all navigation information, hitting information and video of the navigation process, and transmits the stored information to a mother ship or a land base in real time remotely. Enable monitoring. The whole system of the present invention is a remote control and remote monitoring console of a mother ship or a land base and a towing ship control console, a communication module (wireless LAN, UHF / VHF modem, communication satellite), a navigation module (magnetic compass, DGPS) , Gyro), control module (other controller, propeller controller), sensor module (hit detection sensor), camera system (still image and CCTV camera for video).

As such, there is a demand for the development of an unmanned tugboat for preventing the human damage of the manned target tugboat in advance and for real-time hit monitoring at a mother ship or a land base.

In the structure to achieve the purpose,

In the unmanned automatic control unit of the mother ship or land base, send the start command by inputting the position and maneuvering characteristics (speed, azimuth, waypoint) of the point where the target is needed to start, and unmanned automatic start (driving) by the transmitted data. This includes unmanned tugboats which are connected to the target ships that are automatically returned and arrive (eyepieces) after the target is triggered by the automatic tracking and the shooting and interceptor test missions.

As another feature of the present invention, the unmanned tugboat includes a tugboat control console for operating a target operation, a communication module for transmitting and receiving information, a navigation module for tracking and driving to a target position, and a control module and equipment for driving the unmanned tugboat. A module is provided, and a monitoring console is provided at the mother ship or the land base to monitor in real time all the navigation information of the unmanned tugboat and the hitting criticism and various images according to the hit result.

As another feature of the present invention, the unmanned tugboat and the unmanned automatic control unit communicate with a wireless LAN, a UHF / VHF modem and a triple communication method of a communication satellite, and can recover to another communication even if one communication is lost during use. Do.

As another feature of the present invention, it is possible to switch from the unmanned automatic control mode to the manual mode during the startup process of the unmanned target tug, and to change, add, or delete a target point during the startup process.

As another feature of the present invention, the navigation module is provided with a DGPS to operate normally when all the communication is disconnected to return the unmanned tugboat to the starting position, and in case of abnormal operation continuously transmits a rescue signal to the bus or land base. .

In order to achieve the purpose,

Transmitting data to unmanned tugboat by inputting location information and target start (speed, azimuth, waypoint) in the unmanned automatic control unit of a mother ship or land base, and the unmanned target tugboat receiving the data automatically starts the target position. And the target tracking (speed, bearing, waypoint) and monitoring of the unmanned tugboat moving to the target position, and the shooting and intercept test on the target line of the unmanned tugboat. And the step of automatically returning to the mother ship or the land base after the test of the unmanned tugboat.

1 is a schematic diagram of a remote control device of an unmanned tugboat according to the present invention, Figure 2 is a block diagram of a remote control device of an unmanned target tugboat according to the present invention, Figure 3 is a navigation module, control module and equipment module of FIG. 4 is a block diagram illustrating a process of collecting and analyzing information according to the present invention, FIG. 5 is an embodiment of an equipment module provided in an unmanned tugboat according to the present invention, and FIG. 6 is according to the present invention. Flowchart showing remote control method of unmanned tugboat.

Hereinafter, the components will be described with reference to the drawings.

1 and 2 are schematic and block diagrams of a remote control device of the unmanned tugboat 10, the unmanned automatic tugboat 10 and the unmanned automatic control unit 20 and a triple communication device installed in a base station or a wireless LAN ( 30), the UHF / VHF modem 40 and the communication satellite 50.

The unmanned tugboat 10 is composed of a tugboat control console 11 and the communication module 12, the navigation module 13, the control module 14 and the equipment module 15 is electrically and electronically connected, one side The target line 70 is connected by a cable (74).

The tugboat control console 11 is tracked and operated unattended by remote monitoring, and operates the target start (speed, azimuth, waypoint), the communication module 12 receives the data transmitted from the unmanned automatic control unit 20 In addition, the navigation information stored in the tugboat control console 11 and the state of the controller and the target starting result information is transmitted to the unmanned automatic control unit 20, the navigation module 13 as shown in Figure 3 (a) the communication module 12 The tracing operation to the target position by the magnetic compass 131, the DGPS 132 and the gyro 133 by the auto-navigation data received by the), the control module 14 is the navigation module 13 as shown in Figure 3 (b) ) In conjunction with the other controller 141 and the propulsion controller 142 to drive the unmanned target tug 10, the equipment module 15 to check the status of the navigation information and controller as shown in Figure 3 (c) It consists of a camera 151.

The unmanned automatic control unit 20 is composed of a monitoring console 21, the transceiver 22 and the emergency manual mode (23).

The monitoring console 21 checks every situation from the start of the unmanned tugboat 10 to the tracking operation and the target start (speed, direction, waypoint) control and return, and the target start result information in graphs and values in real time. Monitoring, the transmission and reception unit 22 transmits and receives data with the communication module 12, the emergency manual mode 23 is configured to switch from the automatic control method to the emergency manual method at all times.

1 and 2, the DGPS 132 is provided with a GPS satellite 60 to transmit the position signal of the unmanned target tug 10 to the unmanned automatic control unit 20, and operates normally when all communication is disconnected. The target tug 10 is returned to the original starting position, and in case of abnormal operation, the rescue signal is continuously transmitted to the mother ship or the land base.

In addition, the communication module 12 of the unmanned tugboat 10 and the transmission and reception unit 22 of the unmanned automatic control unit 20 is a wireless LAN 30, a UHF / VHF modem 40 and a communication satellite which is a triple communication device. Communicating to (50), even if any one of the communication is in use can be recovered to another communication, if all communication is disconnected the DGPS 132 operates to request the rescue.

4 is a diagram illustrating information collection and information analysis, wherein information collected from the camera 151 of the unmanned tugboat 10 is transferred to the wireless LAN 30 or the UHF / VHF modem 40 and the communication satellite 50. When transmitted to the unmanned automatic control unit 20, the information is analyzed in real time in the monitoring console 21 for monitoring.

5 is an embodiment in which the equipment module 15 is installed on the unmanned tugboat 10, and includes a camera 151 for checking the state of the navigation information and the control device, and on one side of the unmanned tugboat 10. The target line 70 provided with the target 72 and the hit detection sensor 73 on the catamaran hull 71 is connected by a cable 74.

6 shows a flowchart illustrating a remote control method of the unmanned tugboat 10. First, position information and a target start are inputted from a mother ship or a land base to give a start command of the unmanned tugboat 10 (S10). According to the input information, the unmanned tugboat 10 departs from the mother ship or the land base through the auto-eye to a certain position, and the departure process starts automatically, and after the auto-eye (departure), the position information is initially commanded by the base. As a result, the unmanned target tug 10 is automatically tracked to the target point using the current position information and the target angle (difference between the unmanned line moving direction angle and the target point direction angle) by the DGPS 132 (S20). During the movement, the avoidance operation for obstacles such as other ships or reefs is included, and the target positions become target points in the order of input sequentially, and the number of target points can be input as desired by the user. When the unmanned tugboat 10 reaches the target position, the target maneuver (speed, azimuth, waypoints) is implemented at the target position or at the target position, and the control for each maneuver is automatically controlled at the mother ship or the land base. It is performed through manual control, and during operation, the target situation information and video are transmitted to the mother ship or the land base in real time using the camera 151 mounted on the unmanned ship (S30). While implementing the maneuver as described above, the shooting performance test and the interceptor performance test of guns and missiles are carried out (S40). After the test of the unmanned tugboat 10 is returned to within a certain range of the mother ship or land base (S50).

As described above, the navigation information and video of the unmanned tugboat 10 can be remotely monitored at a mother ship or a land base during the course of each target point tracking process, the target starting process, and the return process after departure, and all the information is unmanned tugboat 10 ) And at the mothership or onshore base.

In addition, in a mother ship or a land base, only after inputting information of target target positions and target starting characteristics, and pressing the start button, it is possible to control and monitor tracking operation and starting characteristics (speed, azimuth, and waypoint) in the dual eye (departure). All navigation information including the position information of the tugboat 10 and the state of the controller can be checked, and the characteristic information of the maneuver can be monitored in real time through the monitoring console 21 in graphs and numerical values.

The present invention uses the simultaneous multiplexing of the wireless LAN 30, UHF / VHF modem 40 and the communication satellite 50 between the unmanned tugboat 10 and the mother ship or the land base in real time of the navigation information and the target starting data. It can carry out transmission and real-time video transmission, restore to other communication method even if one communication line is cut off, and can switch from unmanned automatic control mode to emergency manual mode at any time by using real-time control program technique. It is possible to change or add the positions of all control parameters and target points during operation, and if all communication with the bus or land base is interrupted, the DGPS 132 returns to its original starting position in normal operation, and abnormal operation The city will stop and continue to send rescue signals to the base.

As described above, the present invention can secure the core technology of the remote control device of the unmanned target tugboat and the remote monitoring, unmanned navigation and remote control technology of the unmanned target tugboat, which can be mounted on a ship or operated at a land base. It replaces the target tugboat to prevent human injury, and establishes a real-time target hitting criticism system, eliminating unnecessary processes such as retesting after returning, thus enabling efficient target towing service.

Claims (6)

delete In order to tow the ship's target ship at sea, the unmanned automatic control unit 20 of the mother ship or land station inputs the position and maneuvering characteristics (speed, azimuth, waypoints) where the target is required to start, and transmits a start command. The unmanned tugboat 10 is connected to a target ship 70 which automatically returns and arrives (eyepieces) after the target operation and the shooting and interceptor test mission according to the target point automatic tracking are completed by the unmanned automatic start based on the transmitted data. In the control device of), The unmanned tugboat 10 includes a towing vessel control console 11 for operating target operation, a communication module 12 for transmitting and receiving information, a navigation module 13 for tracking and operating to a target position, and an unmanned tugboat 10 The control module 14 and the equipment module 15 for driving the monitoring console 21 to monitor in real time the hitting criterion and various images according to all the navigation information and the hit result of the unmanned tugboat 10 ) Is a remote control device for an unmanned target tugboat, characterized in that provided on the mother ship or land base. The method of claim 2, The unmanned tugboat 10 and the unmanned automatic control unit 20 communicate in a triple communication method of the wireless LAN 30, the UHF / VHF modem 40 and the communication satellite 50, any one of the communication during use Remote control device of the unmanned tugboat, characterized in that recoverable by another communication even if disconnected. The method of claim 2, A remote control device for an unmanned tugboat, which can be switched from an unmanned automatic control mode to a manual mode during a startup process of the unmanned tugboat 10 and can change, add, or delete a target point during a startup process. The method of claim 2, The navigation module 13 is provided with a DGPS 132 to operate normally when all the communication is disconnected to return the unmanned tug 10 to the starting position, and in case of abnormal operation continuously transmits a rescue signal to the mother ship or land base Remote control device of the unmanned tugboat. In the remote control method of the unmanned tugboat, Step (S10) and transmitting the data to the unmanned target tugboat 10 by inputting the position information and the target start (speed, azimuth, waypoints) in the unmanned automatic control unit 20 of the mother ship or land base: Step S20 of automatically starting the unmanned target tugboat 10 having received the data and automatically moving to a target position; The target unmanned tug 10 moving to the target position at a corresponding position (speed, azimuth, waypoint) and monitoring (S30); Performing a shooting and intercept test on the target line 70 of the unmanned tugboat 10 (S40); And remotely returning to the mother ship or land base after the test of the unmanned tugboat (10) (S50).

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