KR101089263B1 - Berthing system, berthing equipment, and berthing method - Google Patents

Abstract

In the ship's eyepiece system of the present invention, the platform on which the vessel is to be docked, a recognition mark is provided on the side of the vessel, the vision recognition processor for measuring the relative position of the vessel and the eyepiece by receiving the recognition mark, and receives the relative position And a towing robot for towing the vessel to the eyepiece position.

Ship's eyepiece device of the present invention, by recognizing the recognition mark provided on the side of the ship to be docked on the platform to measure the relative position of the eyepiece surface of the ship and the platform, and receiving the relative position to pull the vessel to the eyepiece position It includes a towing robot.

In the ship's eyepiece method of the present invention, the vessel to be docked is guided to the eyepiece surface of the platform, the vision recognition processing unit recognizes the recognition mark provided in a predetermined position of the vessel to measure the relative position of the vessel and the eyepiece surface, the predetermined platform The towing robot coupled to the position receives the relative position and docks the vessel on the eyepiece.

Accordingly, by automating the use of mooring ships and the port docking of the ship in the ship docking, it is possible to minimize the cost and time, and to concentrate the work related to the ship docking in the docking facility to maximize the efficiency of the ship docking.

In addition, by dividing the stage of the ship's berthing into the long-range eyepiece using the mooring line and the short-range eyepiece using the traction robot, it is easy to change the eyepiece schedule, it is possible to build a system that can simultaneously dock multiple vessels.

Moreover, the use of automated towing robots allows the ship to berthing on the eyepiece flexibly and accurately.

In addition, there is an effect that does not require a separate work for the berthing of the ship by achieving a distant eyepiece using a mooring line and a near-eyepiece using a traction robot.

Eyepiece, Auto, Traction Robot, Mooring Line, Mark, Computer Vision

Description

Vessel Eyepiece System, Vessel Eyepiece, and Vessel Eyepiece Method {BERTHING SYSTEM, BERTHING EQUIPMENT, AND BERTHING METHOD}

The present invention relates to a ship's eyepiece system, a ship's eyepiece, and a ship's eyepiece method, and to a ship's eyepiece system, a ship's eyepiece, and a ship's eyepiece that automatically dock the vessel to a port or float using computer vision technology. It is about.

As a means of moving goods remotely, maritime transportation by ship uses less energy than other means of transportation and the transportation cost is low, so much of international trade relies on maritime transportation.

Such maritime transportation is accomplished by the vessel docking the cargo on the port or sea floating body, and then unloading the cargo by docking on the port or sea floating body of the destination. Here, the eyepiece of the ship is made by manually moving the ship from the far away from the position to be docked to the position to be docked by using a tugboat or mooring line, and then manually docked by the worker using a mooring line near the eyepiece position.

In recent years, however, large-scale ships are often used in marine transportation such as container ships to improve the economics of transportation. As the concept of a mobile port for loading and unloading cargo while anchored at the seashore becomes visible, the number of berths of the ship for cargo transfer between the mobile port and the port will increase two to three times. And there is a movement to reduce costs.

This movement led to the introduction of an automatic element into the ship's berth, whereby a technology was developed to allow the ship to berth itself on the eyepiece using a side thruster mounted on the ship or installed on the eyepiece. Ultrasonic sensors have also been developed to monitor the distance between the ship and the eyepiece.

However, these techniques are only part of the automation of the passive ship berthing, and the operator only provides auxiliary data in carrying out the berthing of the ship, and it still takes a long time to berth the ship, and is also limited in achieving the automation. There was.

In order to solve such a problem, the ship's eyepiece system, the ship's eyepiece device, and the ship's eyepiece method automate the entire process of the ship's eyepiece on the harbor or float, thereby reducing the time and cost of the vessel's eyepiece. It is aimed at minimizing the efficiency of ship berthing and improving its accuracy.

The ship eyepiece device according to the present invention recognizes the recognition mark provided on the side of the ship to be docked on the platform, and a vision recognition processing unit for measuring the relative position of the ship and the eyepiece surface of the platform, and receives the relative position to the ship to the eyepiece position And a towing robot for towing, wherein the vision recognition unit includes a vision photographing unit and a vision computing unit for recognizing the recognition mark from the image photographed by the vision photographing unit and measuring the relative position. A detachable part detachable from the ship, and one end is coupled to the platform and the other end is a robot arm connected to the detachable part.

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Here, the ship eyepiece device may further include a guide device for guiding the ship to a position where the traction robot can be coupled to the ship.

In addition, the guide device includes a winding device provided on the platform, a guide line extending from the winding device, and a mooring line for coupling one end of the guide line to the ship, and the ship is brought into contact with the ship by winding the guide line connected by the mooring line. It can be guided to the face and there can be more than one guide device.

In addition, the mooring line may be coupled to one end of the guide line to move to the ship to couple one end of the guide line to the ship.

Here, the mooring line may move to the ship by recognizing the recognition mark provided on the side of the ship.

Here, the mooring line and the ship is provided with a GPS device, the mooring line can move to the ship using the position information measured by the GPS device until the recognition mark can be recognized.

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In addition, two or more traction robots may be provided on the eyepiece. Here, the traction robot may further include a hydraulic damper to withstand the load transmitted by the shaking of the vessel.

In the ship's eyepiece method according to the present invention, the vessel to be docked is guided to the eyepiece surface of the platform, the vision recognition unit recognizes a recognition mark provided in a predetermined position of the vessel to measure the relative position of the vessel and the eyepiece surface, A towing robot coupled to a predetermined position receives the relative position to berth the vessel on the eyepiece surface, and the vision recognition processor recognizes the recognition mark from the vision photographing unit and the image photographed by the vision photographing unit, and the relative position. It includes a non-computing unit for measuring, the traction robot includes a removable arm detachable to the vessel, one end is coupled to the platform and the other end is connected to the detachable robot arm.

Here, the vessel to be docked is guided to the eyepiece surface of the platform, that one end of the guide line extending from the winding device provided on the platform is coupled to the vessel by a mooring line, the ship is guided to the eyepiece surface by the winding of the winding device. Can be.

In addition, the winding device and the guide line is two or more, the mooring line is coupled to one end of the guide line can be moved to the ship to combine one end of the guide line with the ship.

In addition, the mooring ship can move to the ship by recognizing the recognition mark provided on the side of the ship.

Here, the mooring line and the ship is provided with a GPS device, the mooring line can move to the ship using the position information measured by the GPS device until the recognition mark can be recognized.

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The ship's eyepiece system, the ship's eyepiece device, and the ship's eyepiece method according to the present invention minimize the cost and time by automating the use of mooring lines and the ship's port eyepiece in the ship's berthing, and concentrate the tasks related to the ship's berthing in the berthing facility. It can be effective to maximize the efficiency of the ship's eyepiece.

In addition, by dividing the stage of the ship's berthing into the long-range eyepiece using the mooring line and the short-range eyepiece using the traction robot, it is easy to change the eyepiece schedule, it is possible to build a system that can simultaneously dock multiple vessels.

Moreover, there is an effect that the vessel can be docked to the eyepiece flexibly and accurately using an automated towing robot.

In addition, there is an effect of eliminating the need for additional work for the ship's eyepiece by achieving a long-range eyepiece using a mooring line and a short-range eyepiece using a traction robot.

Hereinafter, with reference to the accompanying drawings will be described in detail a ship eyepiece system, a ship eyepiece, and a ship eyepiece method according to embodiments of the present invention. The following specific embodiments merely illustrate the vessel eyepiece system, the vessel eyepiece device, and the vessel eyepiece method according to the present invention, but are not intended to limit the scope of the present invention.

1 is a schematic diagram of one embodiment according to the present invention, FIGS. 2 and 3 are partially enlarged views of one embodiment according to the present invention, FIG. 4 is an enlarged view of a traction robot according to an embodiment of the present invention, and FIG. 7 to 7 are step-by-step schematic diagrams of an embodiment according to the present invention, FIG. 8 is a state diagram in which a ship is docked at a platform according to an embodiment of the present invention, and FIG. 9 is a flowchart of a ship berth according to an embodiment of the present invention. to be. 10 is a schematic diagram of a recognition mark and a photographed recognition mark according to an embodiment of the present invention, and FIG. 11 is a conceptual diagram of coordinate system transformation according to an embodiment of the present invention.

As shown in FIG. 1, the ship's eyepiece system according to an embodiment of the present invention recognizes the platform 20 to which the ship 10 is to be docked and the recognition mark 12 provided on the side of the ship 10. Vision recognition processing unit 30 for measuring the relative position of the (10) and the eyepiece, and a traction robot 40 for receiving the relative position to tow the vessel 10 to the eyepiece position.

In addition, as shown in Figures 1 to 3, the ship eyepiece device according to an embodiment of the present invention recognizes the identification mark 12 provided on the side of the vessel 10 to be docked on the platform 20 vessel (10) ) And a vision recognition processor 30 for measuring the relative position of the eyepiece surface of the platform 20, and a traction robot 40 to receive the measured relative position to tow the vessel 10 to the eyepiece position.

Here, the platform 20 collectively refers to the position at which the vessel 10 is docked, and means, for example, a wharf facility provided in the harbor or a mobile harbor where the vessel is docked at sea, but is not limited thereto.

As shown in FIG. 1 or 3, a recognition mark 12 is provided at a predetermined position of the vessel 10 to be docked to the platform 20, and as shown in FIG. 10 (a), the recognition mark 12. ) Has a predetermined predetermined pattern. Here, the predetermined pattern may be a variety of shapes such as a polygon, such as a triangle, a square, a circular shape. However, in order to recognize the direction of the recognition mark 12 from the image photographed by the vision recognition processor 30, it has an asymmetrical shape left and right or up and down. As an example of a pattern, FIG. 10A illustrates a pattern of a rectangular border portion 12a having a character portion 12b therein. 10 (a) illustrates a case in which one character portion 12b is provided therein, of course, two or more character portions may be provided inside the edge portion 12a as necessary. Here, the letter portion 12b as being located inside the rectangular frame portion 12a is an example, but may be a specific shape or shape other than a letter, and the letter portion is used as a concept to collectively refer to it. In addition, in Fig. 10 (a), since the edge portion 12a has a symmetrical shape on a plane, the character portion 12b is deflected to one side in the edge portion 12a so as to be asymmetrical in the edge portion 12a. do. Due to the presence of the recognition mark 12, it is possible to measure the relative position between the vessel 10 and the platform 20 eyepiece surface by the vision recognition processing unit 30 to be described below. Here, the predetermined position of the vessel 10 refers to a position within a range in which the vision recognition processor 30 can recognize the recognition mark 12 at a position where the vision recognition processor 30 is coupled with the eyepiece surface of the platform 20. 10) may be a predetermined location. In FIG. 1 or FIG. 3, the recognition marks 12 arranged side by side are arranged in groups of three on the side of the vessel 10, but the present disclosure is not limited thereto, and the vision recognition processor 30 may recognize the recognition marks 12. It can be anywhere or any number of locations or numbers promised in the range. That is, one, two, or four or more may be arranged side by side in the side of the vessel 10, and in the same group is not arranged in the longitudinal direction of the vessel 10 in the depth direction of the vessel 10 It may be arranged as.

Here, the recognition mark 12 may be attached to the side of the vessel 10, it may be imprinted, of course. However, when the recognition mark 12 is attached to the side of the vessel 10, an appropriate bonding means, for example welding or the like between the recognition mark 12 and the side of the vessel 10 may be used. In addition, when the recognition mark 12 is imprinted on the side of the vessel 10, it may be considered from the construction stage of the vessel, or may be imprinted later.

The vision recognition processor 30 recognizes the recognition mark 12 provided on the vessel 10, and measures the relative position of the eyepiece surface of the platform 20 and the vessel 10 through a separate operation. Here, the vision recognition processing unit 30, as its name suggests, secures the vision information of the recognition mark 12, and the relative position of the eyepiece surface of the platform 20 and the vessel 10 through the processing of the secured information. Will be measured. Here, the vision information of the recognition mark 12 may be an image of the recognition mark 12.

In detail, as shown in FIG. 2, the vision recognition processor 30 recognizes the recognition mark 12 from the vision photographing unit 32 and the image photographed by the vision photographing unit 32 to determine the platform 20. It includes a non-computation unit (not shown) to measure by measuring the relative position between the eyepiece and the vessel 10. Here, the vision imaging unit 32 may be formed in a structure which partially or entirely protrudes from the eyepiece surface of the platform 20, or may be installed recessed inside the eyepiece surface of the platform 20.

In addition, the vision photographing unit 32 may be used as long as the configuration capable of capturing an image, for example, a camera, specifically, a CCD camera may be used.

In addition, although FIG. 2 illustrates that the vision imaging unit 32 is provided on both sides of the traction robots 40: 42, 44, and 46, respectively, the vision imaging unit 32 may be provided on one side of the traction robot 40, and the upper and lower sides of the traction robot 40 may be provided. Or three or more may be provided in both sides. This may be appropriately selected according to the situation of the platform 20 or the size and design conditions of the vessel 10 for the stable towing of the vessel 10.

The vision operation unit (not shown) performs image processing from the image photographed by the vision photographing unit 32, and as a result, measures the relative position between the eyepiece surface of the platform 20 and the ship 10. The vision operation unit may be provided by being coupled to the eyepiece surface of the platform 20 together with the vision imaging unit 32, or may be separately provided without being coupled to the eyepiece surface of the platform 20. Any location can receive and process the captured image.

The method for measuring the relative position between the eyepiece surface of the platform 20 and the vessel 10 in the vision operation unit in detail as follows.

As shown in FIG. 10B, the image photographed by the vision photographing unit 32 includes an image 100 in which the recognition mark 12 is photographed at an angle. The vision operation unit recognizes the recognition mark 12 from the image photographed by the vision photographing unit 32 and measures the relative position between the eyepiece surface of the platform 20 and the vessel 10 therefrom.

Specifically, as shown in FIG. 10 (a), for example, the recognition mark 12 is provided with a rectangular border portion 12a and a character portion 12b that is biased and positioned inside the edge portion 12a. When a pattern is used, when the image including the recognition mark 12 is photographed by the vision photographing unit 32, the photographed image 100 is a trapezoidal border image 102 and the border image 102. An internal character image 104 is included. The photographed image itself is a two-dimensional image, because the three-dimensional shape is projected onto the two-dimensional image. Thereafter, binarization of the image photographed by the vision photographing unit 32 compares the brightness of each pixel to form an outline, and then retrieves and matches the quadrangle of the used recognition mark 12, thereby photographing. The recognition mark 12 can be recognized from the captured image. Here, the specific shape of the recognition mark 12 matched and recognized in the recognition mark 12 may also function as an identification code of the ship 10, for example, the specific shape of the edge portion 12a or The specific shape of the character portion 12b inside the rim 12a may be an identification code of the vessel 10. Herein, the identification code of the ship 10 means a code that serves as a means of identification for expressing the type of ship, the size of the ship, the docking destination of the ship, the matters related to the handling of the ship's cargo, and the type of the ship's cargo. do.

Next, a comparison between the recognized recognition mark 12 image and the actual recognition mark 12 shape or a comparison between the recognized recognition mark 12 image and the recognition mark 12 shape at the fixed position of the vessel 10 is performed. Through this, the relative position between the eyepiece surface of the platform 20 and the vessel 10, that is, the three-dimensional position of the recognition mark 12 can be calculated and measured. Such calculation and measurement may be used in various ways. For example, as a technique used in the augmented reality technique, the image 100 of the recognition mark recognized from the image photographed by the vision imaging unit 32 may be used. By converting the coordinate system through the three-dimensional position of the recognition mark 12 can be calculated and measured.

Specifically, as shown in FIG. 11, the recognition mark coordinate system 200 (XM, YM, ZM), the ideal image coordinate system 202 (XC, YC, ZC), and the distortion coordinate system 204 (XD, YD) , The transformation matrix T between the recognition mark coordinate system 200 and the ideal image coordinate system 202 and the transformation matrix C between the ideal image coordinate system 202 and the distortion coordinate system 204, and the recognition mark The three-dimensional position of the recognition mark 12 may be calculated and applied to the image 100 of FIG. Here, the recognition mark coordinate system 200 is a coordinate system on the recognition mark 12, the ideal image coordinate system 202 is an ideal coordinate system without distortion of the image in the vision imaging unit 32, the distortion coordinate system is a vision imaging unit 32 Distortion according to the characteristics of

[XM, YM, ZM are recognition mark coordinate system 200, XC, YC, ZC are ideal image coordinate system 202, XD, YD are distortion coordinate system 204, T and C are transformation matrices]

Here, the transformation matrices T and C can be obtained by computer vision processing, for example, T is a value on the recognition marker coordinate system 200 and a value on the ideal image coordinate system 202 specified by a parameter. It can be obtained through a comparable cost function, and C can be obtained through mutual matching of images using a grid pattern plate having a known grid size.

As a result, the conversion between the recognition mark coordinate system 200 and the distortion coordinate system 204 is possible, which enables the relationship between the recognition mark 12 and the image 100 of the recognition mark.

Further, the three-dimensional position between the recognition mark 12 and the vision photographing unit 32 can be grasped through the relationship between the recognition mark 12 and the image 100 of the recognition mark, as shown in FIG. 3 or 4. Similarly, since the recognition mark 12 is attached to a predetermined position of the vessel 10, and the vision photographing portion 32 is also located at a predetermined position of the eyepiece surface of the platform 20, the platform (in consideration of such a predetermined position relationship) The eyepiece of 20) and the three-dimensional position of the vessel 10 can also be calculated and measured.

Next, as shown in FIG. 2 or 4, the traction robot 40 receives the relative position of the eyepiece surface of the platform 20 and the vessel 10 from the vision recognition processor 30 to platform the vessel 10. Towing to the eyepiece position (20). Here, the traction robot 40 is coupled to the vessel 10, the detachable portion 42 and one end is coupled to the eyepiece surface of the platform 20 and the other end is connected to the detachable portion 42 robot arm 44, 46).

The detachable part 42 may be used as long as it can be attached to or detached from the ship 10, and may be, for example, an adsorption part using pneumatic pressure or a magnet part for using magnetic force. In the case of using pneumatic pressure, a separate pneumatic means (not shown) for discharging air from the detachable portion 42 in contact with the vessel 10 may be provided, as well as an electromagnet included in the magnet portion in the case of using magnetic force. Electric supply means (not shown) for supplying electricity to the can be provided.

One end of the robot arm 44, 46 is coupled to the eyepiece surface of the platform 20, and the other end of the robot arm 44, 46 is connected to the robot arm 44, 46. For example, it may be a hinge or universal joint. Here, the robot arms (44, 46) is adjusted in a state that the detachable portion 42 is coupled to the vessel 10 serves to position the eyepiece in the correct position of the platform 20.

The robot arms 44 and 46 are based on the relative position of the ship 10 and the eyepiece of the platform 20 received from the vision recognition unit 30, the ship 10 is the exact position of the eyepiece surface of the platform 20 The traction robot 40 is coupled to the eyepiece surface of the platform 20, the position of the traction robot 40 relative to the vision recognition unit 30, and the separation of the antiglare device 22 in consideration of the contact of the platform 20. It will move your face. Here, the anti-glare device 22 means a device that serves to cushion the contact between the vessel 10 and the eyepiece surface of the platform 20 may be provided with a plurality of resilient materials.

Here, the robot arms (44, 46) can be used as long as the structure capable of towing the vessel 10, as shown in Figure 2 or 4, a plurality of arms 44 and a plurality of joints connecting them respectively. Including 46, it can be provided to enable six degrees of freedom towing of the eyepiece surface of the platform 20.

Here, the robot arms 44 and 46 collectively refer to a structure including a plurality of arms 44 and joints 46, as well as a structure capable of pulling a three-dimensional movement of the eyepiece surface of the platform 20. As a concept, for example, a cylinder includes a combination of one or two beams or the like. That is, the meaning of “arm” is to secure the freedom of movement of the eyepiece surface of the platform 20, and does not mean only the structure including the joint.

Furthermore, although not shown in the drawings, the towing robot 40 is transferred to the towing robot 40 due to the movement of the vessel 10 floating on the sea when towing the ship 10 by the towing robot 40. A device such as a hydraulic damper (not shown) may be attached to withstand the load, so that the load transmitted by the vessel may be distributed like the antiglare device 22 installed on the eyepiece surface of the platform 20. Here, the hydraulic damper may be provided on each of the arms 44 of the traction robot 40, the traction robot 40 may be provided between the portion that is coupled to the eyepiece surface of the platform 20.

At this time, the traction robot 40 may include a traction robot controller (not shown), the traction robot controller is a relative position of the eyepiece surface and the vessel 10 of the platform 20 from the vision recognition processing unit 30 Received and received, in consideration of the position and the like in the eyepiece surface of the platform 20 of the vision recognition processing unit 30 and the traction robot 40, the eyepiece for the platform 20 is coupled to the vessel 10 It calculates the three-dimensional separation that is shifted from the position, converts the calculation result to the movement and rotation signal of the robot arm (44, 46), platform 20 of the vessel 10 by the robot arm (44, 46) The control signal for eyepiece towing is transmitted to the robot arms 44 and 46.

By such a control signal, the robot arms 44 and 46 are towed the vessel 10 to the eyepiece surface of the platform 20, as shown in FIG.

Here, the traction robot control may be provided not only inside the eyepiece surface of the platform 20, but also outside. However, the traction robot controller should be located on the wired / wireless network that can receive the relative position between the eyepiece surface of the platform 20 and the ship 10 from the vision recognition processor 30, and control the traction robot 40 as well. It should be located on a wired or wireless network that can carry signals.

Here, the traction robot 40 may be provided in plurality for the stable ship 10 traction to the platform 20 eyepiece, for example, as shown in Figure 1, the eyepiece of the platform 20 Can be arranged in a line. However, the number of the traction robot 40 is not limited thereto, and this may be appropriately selected according to the size of the platform 20, and the traction robot 40 provided on the platform 20 to tow the vessel 10. Of course, the number of uses may be selected according to the scale of the vessel 10 without being used in all. In this case, in each of the towing robot 40, the towing distance or angle of the ship 10 to be towed may be different, and the same purpose of moving the ship 10 to the correct position of the eyepiece surface of the platform 20 Can tow by different towing distance or angle.

In addition, when the traction robot 40 is provided in a line along the eyepiece surface of the platform 20, two or more traction robot 40 may be provided in each position.

The towing robot 40 serves to tow the ship 10 of the relatively near to the eyepiece surface of the platform 20, the towing robot 40 is attached to the ship 10 is relatively close to the ship 10 Meaning the distance that can be towed This may vary depending on the length of the towing robot (40).

In addition, as shown in Figure 1 or 2, the ship's eyepiece system or the ship's eyepiece device according to an embodiment of the present invention may further include a guide device (50). Induction apparatus 50 includes all of the apparatus for guiding the vessel 10 to the platform 20 at a relatively long distance, but to the extent that the towing robot 40 can be coupled to the vessel 10. Can be derived at close range. The induction device 50 is coupled to the ship 10 with the winding device 52 provided on the platform 20, the induction line 54 extending from the winding device 52, and one end of the induction line 54. The mooring line 56 may be included.

The winding device 52 serves to wind or unwind the induction line 54 and may be, for example, a winch. In addition, the induction line 54 may be a line having a strength sufficient to induce the vessel 10 to be docked at a relatively long distance, and may be formed of a metal material such as iron.

The mooring line 56 refers to a ship that serves to connect the platform 20 and the ship 10 and is connected to one end of the guide line 54 extending from the winding device 52, and then the ship 10 to be docked. After moving to the side, serves to couple one end of the induction line 54 to the vessel (10). Mooring line 56 may be a manned ship or an unmanned ship. After the one end of the ship 10 and the guide line 54 is coupled, the winding line 52 is wound or retracted by the winding device 52, so that the ship 10 to be docked is relatively close to the platform 20. Induced, where the relatively basis may mean a position where the robot arm 40 can be coupled to the side of the vessel (10).

Looking at the mooring line 56 in more detail to couple the induction line 54 to the ship 10 as follows.

First, the induction line 54 is initially wound around the winding device 52, for example, a winch, so that one end of the induction line 54 is located at a predetermined position of the eyepiece surface of the platform 20. Here, one end of the induction line 54 may be coupled to a magnet (not shown) provided at a predetermined position of the eyepiece surface of the platform 20. Here, the predetermined position is a predetermined position, which means a position where the mooring line 56 can approach and be coupled to one end of the induction line 54, and guide line by manual operation according to the approach of the mooring line 56. Although one end of the 54 may be coupled to the mooring line 56, the mooring line 56 may be automatically coupled.

Here, although not shown in the drawings, when the mooring line 56 is automatically coupled to one end of the induction line 54 may be similar to the vision recognition processing unit 30. That is, a recognition mark (not shown) such as that provided on the side of the vessel 10 is provided on one surface of the mooring line 56, and the vision recognition processing unit 30 recognizes the mooring line 56 and the guide line 54. By measuring the relative position of the location of one end of the moor, and transmitting the result of the measurement to the mooring line 56, by allowing the mooring line 56 to move to where the one end of the guide line 54 is located, the mooring line 56 ) May be smoothly coupled to one end of the induction line (54). Further, the detailed movement of the mooring line 56 to the place where one end of the induction line 54 is located may likewise be by the traction robot 40. Of course, in this case, the relative position of the mooring line 56 and one end of the guide line 54 measured by the vision recognition processor 30 is transmitted to the traction robot 40. Here, the vision recognition unit 30 and the traction robot 40 for towing the vessel 10 to be docked may be similarly used for coupling with the guide line 54 of the mooring line 56, but not illustrated in the drawings. You can also use a separate vision recognition unit and towing robot. In addition, only one of the vision recognition unit or the traction robot may be provided separately.

In addition, an automatic check hook (not shown) may be provided for the automatic check of the mooring line 56 and one end of the guide line 54.

After the mooring line 56 is combined with the induction line 54, the mooring line 56 goes to the berthing vessel 10 which is relatively far away by self-propulsion, and when the mooring line 56 is a manned ship, It may be operated by the vessel 10 to be docked by the adjustment, in the case of an unmanned vessel may be operated by an automatic flight system (not shown). The mooring line 56 recognizes the identification mark 12 provided on the vessel 10 to be docked, may approach the vessel 10 to be docked, or may be provided by a GPS device provided separately.

In the case of approaching the ship 10 by recognizing the recognition mark 12 provided on the vessel 10 to be docked, a separate vision recognition processing unit (not shown) for recognizing the recognition mark 12 is attached to the mooring line 56. The vision recognition processor may be designed to recognize a relatively long distance image. That is, the recognition mark 12 provided on the ship 10 is recognized by the vision recognition processor provided separately in the mooring line 56, and the relative position between the mooring line 56 and the ship 10 is measured, and the result of such measurement Based on the mooring line 56 approaches the ship 10, the specific method is the same as described above, so a detailed description thereof will be omitted.

In addition, in the case of using the GPS device, the mooring line 56 may be provided with a receiver for receiving position information of the GPS device provided in the vessel 10 to be docked.

Here, in the vision recognition processing unit (not shown) for recognizing the recognition mark 12 provided on the vessel in the mooring vessel 56, the mooring vessel 56 is a predetermined position of the vessel 10 for the recognition of the recognition mark 12 In the case of approaching, the GPS device is used to reach a predetermined distance at which the vision recognition processor can recognize the recognition mark 12 provided on the vessel, and then recognizes the recognition mark 12 to approach the vessel 10 to be docked. You may.

In addition, the mooring line 56 approaching the vessel 10 to be docked couples the induction line 54 to the induction line 54 coupling portion (not shown) provided on the side of the vessel. As a method of coupling, the source of the vessel 10 to be docked may couple the guideline 54 and the vessel 10 to be docked, and when the mooring line 56 is a manned ship, the source of the mooring line 56 is guided. Line 54 and docked vessel 10 may be coupled. However, when coupled by the seaman of the vessel 10 to be docked, means for transmitting the guideline 54 to the seaman in the mooring line 56, specifically, the guideline 54 toward the deck of the ship 10 One end of can be delivered using a gun or gun.

Here, in the case where the mooring line 56 is an unmanned ship, it is also possible to automatically couple the induction line 54 to the side of the vessel (10). That is, the recognition mark 12 provided on the side of the ship 10 is recognized by the vision recognition processor (not shown) provided separately to the mooring line 56, and the guide line of the ship 10 from the recognition mark 12. In view of the predetermined relative position of the coupling unit (not shown), the mooring line 56 may couple the induction line 54 to the induction line coupling unit. Here, although not shown in the drawings, the guide line coupling portion may be formed of a hook or the like.

Next, after the guide line 54 and the ship are coupled, the ship 10 is guided to the vicinity of the platform 20 by the winding of the winding device 52.

As such, after the vessel 10 to be docked is docked at a short distance to the eyepiece surface of the platform 20, the guide line 54 is separated from the vessel 10, and this separation may be performed manually by an operator. In the case of the automatic operation of the induction line coupling portion of the ship, for example, the induction line 54 coupling portion is formed by a hook, it can be automatically separated by a method such as the downside down of the hook.

In addition, after the guide line 54 is separated from the guided ship, it may return to the initial position of the state before the guide line 54 is coupled to the mooring line 56 by adjusting the winding degree of the winding device 52. have. Of course, such a return may be performed by a separate manual operation by an operator. In the initial position, the induction line 54 is moved by winding of the winding device 52 by a separate attachment means such as a magnet. The magnetic force may be returned to the initial position.

Two or more such induction apparatus 50 may be provided for the stable induction of the vessel 10 to be docked, these induction apparatus 50 side by side along the eyepiece surface of the platform 20 to which the vessel 10 is docked. Of course, it can be arranged.

As described above, the ship eyepiece system and the ship eyepiece device according to an embodiment of the present invention has been described above, the vessel 10 by the traction robot 40 according to an embodiment of the present invention the contact of the platform 20 It may be moored together with the eyepiece on the face, and the vessel 10 is docked to the platform 20 using a separate general mooring device after the vessel 10 is docked to the eyepiece surface of the platform 20 or during the process of the eyepiece. It may be moored at the same time.

Referring to Figs. 5 to 9 the vessel eyepiece method according to an embodiment of the present invention as follows. In the ship's eyepiece method according to the present invention, the vessel 10 to be docked is guided to the eyepiece surface of the platform 20 (S1), the recognition mark 30 is provided at the predetermined position of the vessel 10, the recognition mark (Fig. Recognizing reference numeral 12 of 4 and measuring the relative position of the vessel 10 and the eyepiece (S2, S3), and the relative position measured by the traction robot 40 coupled to a predetermined position of the platform 20 The ship 10 is docked to the eyepiece (S4).

First, it will be described that the ship 10 to be docked is guided to the eyepiece surface of the platform 20 (S1).

First, as shown in FIG. 5, one end of the induction line 54 extending from the winding device 52 provided in the platform 20 is coupled to the mooring line 56, and the mooring line 56 is the induction line 54. In combination with the relatively close to the ship 10 is approaching. Here, since the mooring line 56 is initially coupled to one end of the induction line 54, as described above, a detailed description thereof will be omitted.

Next, as shown in FIG. 6, mooring line 56 couples induction line 54 to vessel 10. Here, the specific means or method for the mooring line 56 to couple the induction line 54 to the vessel 10 is the same as described above, so a detailed description thereof will be omitted.

Thereafter, the winding device 52 is wound up to recover the extended guide line 54, the ship 10 is moved to the eyepiece side of the platform 20 in accordance with this recovery, thereby showing in FIG. As can be seen, relatively close to the eyepiece surface of platform 20 is reached.

Here, of course, the winding device 52 and the guide line 54 may be provided more than one for the towing of the stable ship.

In addition, although not shown in the drawings, one mooring line 56 may be coupled to two or more induction lines 54 to couple the induction line 54 to the ship 10, or less than the number of induction lines 54. A number of mooring lines 56 may couple the induction line 54 to the vessel 10. In this case, however, a guide line coupling part (not shown) to which two or more guide lines 54 may be coupled to the mooring line 56 should be provided.

In addition, the moving of the mooring line 56 to the vessel 10 to be docked is achieved by recognizing the recognition mark 12 provided on the vessel 10 by a separate vision recognition processing unit (not shown) provided on the mooring line 56. It may be achieved by comparing the position information of the GPS device provided on the vessel 10 by using the GPS device provided on the mooring line 56.

Here, in the vision recognition processing unit (not shown) for recognizing the recognition mark 12 provided on the ship in the mooring line 56, a GPS device is used to a predetermined position necessary for recognition of the recognition mark 12, and then The recognition mark 12 may be recognized to approach the vessel 10 to be docked. In this regard, specific details are as described above, and thus will be omitted.

As shown in FIG. 7, when the ship 10 reaches the short distance of the platform 20, the vision recognition processor 30 captures a predetermined range of images (S2). By the captured image, the vision recognition unit 30 recognizes the recognition mark 12 provided at a predetermined position of the vessel 10, and measures the relative position of the eyepiece surface of the platform 20 and the vessel 10 ( S3). Here, the vision recognition processor 30 includes a vision photographing unit 32, binarizes the image photographed by the vision photographing unit 32, and then compares the brightness of each pixel to determine the recognition mark 12. Recognition by matching a predetermined pattern, and by measuring the relative position of the eyepiece surface of the platform 20 and the vessel 10 by the transformation of the coordinate system. The specific method of recognizing the recognition mark 12 or measuring the relative position is the same as that described above, and thus the detailed method will be omitted.

When the relative position of the eyepiece surface and the vessel 10 of the platform 20 is calculated by the vision recognition processing unit 30, the traction robot 40 receives the control signal according to the relative position or relative position vessel 10 To the eyepiece surface of the platform 20 is fixed to the eyepiece (S4).

Specifically, the traction robot 40 includes a detachable part 42 and robot arms 44 and 46 having one end coupled to the eyepiece surface of the platform 20 and the other end connected to the detachable part 42. Arms 44 and 46 extend so that the detachable portion 42 is coupled to a predetermined portion of the vessel 10 and fixed, and the vessel 10 is moved by the robot arms 44 and 46 based on the detachable portion 42. The eyepiece side of the platform 20 is towed to position.

Specifically, as the robot arms 44 and 46 extend, the detachable part 42 is coupled to a predetermined portion of the vessel 10. Herein, the predetermined portion refers to a portion of one surface of the vessel 10 in which the detachable portion 42 is easily coupled. Such a portion may be set to a predetermined region in advance, and the detachable portion 42 may be configured as such a vessel 10. To the side of the Here, the detachable part 42 may be an adsorption part or a magnet part.

Next, the detachable portion 42 is moved to the fixed position of the eyepiece surface of the platform 20 by the robot arms 44, 46 in a state of being coupled or attached to the side of the vessel 10 (see Fig. 4). In this case, two or more towing robots 40 are provided, and the towing distances or angles of the ships 10 to be towed for each towing robot 40 may be different from each other, and the ship 10 may be the platform 20. It is possible to tow by different traction distances or angles for the same purpose of moving the eyepiece in position.

The robot arms 44 and 46 may have a configuration of an articulated arm, and may include a plurality of arms 44 and a plurality of joints 46 connecting the arms 44, respectively. Detailed configurations of the robot arms 44 and 46 are the same as described above, and thus will be omitted.

The state in which the vessel 10 is docked to the eyepiece surface of the platform 20 is as shown in FIG. Here, the vessel 10 may be moored together with the eyepiece of the platform 20 by the traction robot 40 in the vessel eyepiece system and the vessel eyepiece device according to an embodiment of the present invention, the vessel ( The vessel 10 may be moored at the same time as the vessel 10 is moored to the platform 20 by using a separate general mooring device after 10) is docked to the eyepiece surface of the platform 20 or during the eyepiece process.

Although the embodiments of the ship eyepiece system, the ship eyepiece, and the ship eyepiece method according to the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited thereto. It should be construed as having the broadest range to follow. Those skilled in the art can change the material, size, etc. of each component according to the application field, it is possible to implement a pattern of the shape not shown by combining / replacing the disclosed embodiments, which is also not departing from the scope of the present invention. In addition, those skilled in the art can easily change or modify the disclosed embodiments based on the present specification, it is apparent that such changes or modifications are included in the scope of the present invention.

1 is a schematic diagram of one embodiment according to the present invention,

2 and 3 are partially enlarged views of one embodiment according to the present invention;

4 is an enlarged view of a traction robot according to an embodiment of the present invention;

5 to 7 is a step-by-step schematic diagram of an embodiment according to the present invention,

8 is a state in which the vessel is docked on the platform according to an embodiment of the present invention,

9 is a flowchart of a ship's eyepiece according to an embodiment of the present invention;

10 is a schematic diagram of a recognition mark and a photographed recognition mark according to an embodiment of the present invention;

11 is a conceptual diagram of coordinate system transformation according to an embodiment of the present invention.

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

10: ship 20: platform

22: antiglare 30: vision recognition processing unit

40: towing robot 50: guided device

Claims (38)

delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete A vision recognition processor for recognizing a recognition mark provided on a side of a ship to be docked to a platform and measuring a relative position of the ship and the eyepiece of the platform; Receiving the relative position includes a traction robot for towing the vessel to the eyepiece position, The vision recognition processing unit With the vision camera, A vision calculation unit for recognizing the recognition mark from the image photographed by the vision photographing unit and measuring the relative position; The tow robot A detachable part detachable from the ship, One end is coupled to the platform and the other end includes a robot arm connected to the removable portion Ship eyepiece. The method of claim 16, The vessel eyepiece device, And a guidance device for guiding the vessel to a position where the traction robot can be coupled to the vessel. The method of claim 17, The induction device, A winding device provided on the platform; Induction lines extending from the winding device, Including a mooring line for coupling one end of the guide line with the vessel, Guide the ship to the eyepiece through the winding of the guideline connected by the mooring line Ship eyepiece. The method of claim 18, The induction device is two or more, The mooring line is coupled to one end of the guide line to move to the ship to couple one end of the guide line with the ship Ship eyepiece. The method of claim 19, The mooring line recognizes the recognition mark provided on the side of the ship and moves to the ship Ship eyepiece. The method of claim 20, The mooring vessel and the vessel is provided with a GPS device, The mooring line is moved to the ship by using the position information measured by the GPS device until the recognition mark can be recognized Ship eyepiece. delete delete Claim 24 is abandoned in setting registration fee. The method of claim 16, The traction robot further includes a hydraulic damper for receiving a load transmitted by the shaking of the vessel. Claim 25 is abandoned in setting registration fee. The method of claim 16, Two or more traction robots are provided on the eyepiece surface. Ship eyepiece. The vessel to be docked is guided to the platform's eyepiece, The vision recognition processor recognizes a recognition mark provided at a predetermined position of the vessel to measure the relative position of the vessel and the eyepiece, A towing robot coupled to a predetermined position of the platform receives the relative position to berth the vessel on the eyepiece surface, The vision recognition processing unit With the vision camera, A vision calculation unit for recognizing the recognition mark from the image photographed by the vision photographing unit and measuring the relative position; The tow robot A detachable part detachable from the ship, One end is coupled to the platform and the other end includes a robot arm connected to the removable portion Vessel docking method. The method of claim 26, The ship to be docked is guided to the eyepiece surface of the platform, One end of the induction line extending from the winding device provided on the platform is coupled to the vessel by mooring lines, The ship is guided to the eyepiece by the winding of the winding device Vessel docking method. 28. The method of claim 27, The winding device and the guide line is two or more, The mooring line is coupled to one end of the guide line to move to the ship to couple one end of the guide line with the ship Vessel docking method. 28. The method of claim 27, The mooring line recognizes the recognition mark provided on the side of the ship and moves to the ship Vessel docking method. 30. The method of claim 29, The mooring vessel and the vessel is provided with a GPS device, The mooring line is moved to the vessel by using the position information measured by the GPS device until the recognition mark can be recognized Vessel docking method. delete delete Claim 33 was abandoned upon payment of a registration fee. Two or more traction robots are provided on the eyepiece surface. Vessel docking method. Claim 34 was abandoned upon payment of a registration fee. The method according to any one of claims 18 to 21. The mooring line is an unmanned ship Ship eyepiece. Claim 35 was abandoned upon payment of a registration fee. The method of claim 16, The detachable part is an adsorption part or a magnet part Ship eyepiece. Claim 36 is abandoned in setting registration fee. The method of claim 16, The traction robot is coupled to the eyepiece Ship eyepiece. Claim 37 is abandoned in setting registration fee. The method of claim 16, The recognition mark further comprises an identification code of the vessel Ship eyepiece. Claim 38 was abandoned upon payment of a registration fee. The method of claim 16, The relative position is a three-dimensional relative position of the vessel and the eyepiece. Ship eyepiece.

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