KR102218697B1 - Method for motion compensation of winch system for vessel - Google Patents

Abstract

The present invention relates to a fluctuation compensation method for a winch system of a vessel. The fluctuation of a vessel is compensated when the relative position of the vessel interlocked with a winch system to operate an underwater probe for exploring underwater, the seabed, and strata under the seabed is changed due to the fluctuation caused by waves in the sea. A measuring ball through which a wire rope of the winch system penetrates is positioned on the surface of the water, and the number of pixels in a diameter of the measuring ball is compared with the number of pixels in a reference diameter thereof through video information captured in real time through a measuring camera, thereby compensating the length of the wire rope for stabilization of the underwater probe depending on a change in a distance increased and decreased by the fluctuation of the vessel after the distance changed by the fluctuation of the vessel is calculated.

Description

Method for motion compensation of winch system for vessel}

The present invention relates to a vibration compensation method of a marine winch system, and more particularly, a vibration compensation method of a marine winch system for compensating the relative position of a vessel that fluctuates due to a wave height of a vessel operating an underwater probe. It is about.

In general, a winch system is a system in which a wire rope is wound on a cylindrical winch drum, and a system that lifts or pulls heavy objects while winding or unwinding a wire rope by rotating a winch drum. to be.

The winch drum of the winch system is equipped with a clutch or a brake to transmit or cut power from the prime mover.

On the other hand, the winch system is also used for various purposes in ships. Among them, the winch system used to connect and operate an underwater probe such as an unmanned undersea vehicle (UUV) is used to manage underwater probes. In addition to the recovery function to recover from, a compensation function for the distance and position between the underwater probe and the ship is required due to the fluctuation of the ship due to sea waves.

In other words, the ship connected by the wire rope of the underwater probe and the winch system changes its relative position with respect to the underwater probe due to the wave breaking at sea, and the physical wire rope for the underwater probe changes according to the position of the ship. Interference occurs, and if the physical interference of the wire rope to the underwater probe is severe, the underwater probe is moved and its position is changed, or the wire rope may be damaged or cut due to excessive tension. Compensation function is required for the fluctuation of the ship due to.

Here, as a method of compensating for the fluctuation of the ship due to sea wave breakage, a passive compensation method for compensating for the fluctuation of the ship by installing a damper device between the ship and the underwater probe, and a wire after measuring the fluctuation information of the ship There is an active compensation method that compensates for the fluctuation of the ship so that the position of the intersection of the wire rope and the water surface and the relative position of the underwater probe are kept constant by compensating the length of the rope.

At this time, the passive compensation method is to install a damper device capable of damping by a spring between the wire rope of the winch system installed on the ship and the underwater probe, but a damper device having a damping element by the spring is installed to It is to ensure the stability of the underwater probe that can be caused by the shaking of the ship.

That is, as shown in FIG. 1, the damper device 150 is installed on the wire rope 130 of the winch system 100 connecting the underwater probe 105 and the ship 103, so that the wave height of the sea is high. When the distance between the ship and the underwater probe increases, the spring 151 of the damper device 150 increases and compensates for the distance between the ship 103 and the underwater probe 105 to compensate for the physical properties of the wire rope 130. When the distance between the ship 103 and the underwater probe 105 becomes close due to the offset of the interference and the sea wave height is low, the spring 151 of the damper device 150 decreases, and the ship 103 and the underwater probe By compensating for the distance between 105 and canceling the physical interference of the wire rope 130, it is made to secure the stability of the underwater probe 105 against the fluctuation of the vessel 103 due to the wave breaking at sea.

On the other hand, the active compensation method is to measure the shaking information of the ship, measure the pulling angle of the wire rope, and secure the stability of the underwater probe that can be caused by the shaking of the ship by using the kinematic positional relationship with the intersection point.

That is, as shown in FIG. 2, by using a motion measurement sensor (not shown) installed in the ship 103, the vibration information of the ship 103 is measured, and the winch drum 110 of the winch system 100 Adjust the length of the wire rope 130 according to the position of the ship 103 and the underwater probe (not shown) by measuring the withdrawal angle of the wire rope 130, but at the position of the ship 103 and the underwater probe. Accordingly, the wire rope 130 is pulled out or recovered to secure the stability of the underwater probe which may be caused by the shaking of the ship 103.

At this time, it is calculated in the length direction of the wire rope through the change in the position of the wire rope lead-out part against the fluctuation of the ship, but SP (draw angle) = (△x)sin(θnom) + (△z)cos(θnom) Calculate and correct the length of the wire rope by the calculated length to maintain the position of the entry point.

As described above, in the passive compensation method of compensating for the fluctuation of the ship due to wave height at sea, it is difficult to expect precise compensation performance because the damper device is converted to compensate the length of the wire rope. There is a problem that the application is limited due to the weight and volume of the device as additional devices are required, such as the installation of the device, and the active compensation method requires a separate device for measuring the ship's vibration information and the wire rope withdrawal angle. At this time, in order to measure the shaking motion information of the ship, the Heave information and Pitch information, which have relatively large changes in the relative position, are important, but the general motion measurement sensor is made to measure based on the relative position of the wave height, so that as drift occurs. There is a problem that an error may occur in the vertical position of the ship when measuring for a long time, and when the wire rope is measured in a way that contacts the rope when measuring the withdrawal angle, it is difficult to design and there is a disadvantage that a problem in stability may occur.

Therefore, by controlling the withdrawal and retrieval of the wire rope so as to compensate for the fluctuations in the relative position due to the ship's fluctuations caused by sea waves, etc., and to respond to the unintended position change of the underwater probe, the ship and the underwater probe There is a demand for a method of compensating for the shaking of a ship that can minimize the load on the tension of the wire rope linked to the wire rope and secure the stability of the underwater probe and the ship.

Korean Patent Registration No. 10-2013-0114513 Korean Patent Registration No. 10-2013-0114517

The present invention is to improve the above problems, and in order to operate an underwater probe that explores the underwater, sea floor and sea floor strata, a ship that is linked to a winch system changes its relative position due to fluctuations caused by wave height. While compensating for the oscillation, the measuring sphere through which the wire rope of the winch system is installed is placed on the water surface, and the number of pixels in the diameter of the measuring sphere is compared with the number of pixels in the reference diameter through image information photographed in real time through the measuring camera. It is to provide a method for compensating the vibration of the winch system for ships that can compensate for the length of the wire rope for stabilization of the underwater probe according to the change in distance increased or decreased by the fluctuation of the ship after calculating the distance changed by the fluctuation of the ship. The purpose.

In addition, the present invention controls the withdrawal and retrieval of the wire rope against the fluctuation of the ship, but by adjusting and compensating the length according to the change in the length of the wire rope, the physical interference of the wire rope interlocked with the underwater probe is excluded and underwater It minimizes the occurrence of position change of the probe, prevents wire rope breakage and cutting accidents due to excessive tension, reduces the risk of the ship, and simplifies the entire system to compensate for the fluctuation of the ship and secures stability. The purpose of this is to provide a method for compensating for the vibration of the winch system for ships.

In addition, the technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. Can be.

In order to achieve the object as described above, the present invention is a winch drum that is rotationally driven in a ship, a wire rope wound on a winch drum, one side of which is connected to an underwater probe, a measuring instrument through which the wire rope is installed, and measuring In the vibration compensation method of the winch system for ships for compensating for the vibration of the vessel that is shaken by the wave height of the sea including a measuring camera and a control unit for photographing a sphere, the initial length of a wire rope that sends an underwater probe down to the sea floor Measuring a; Setting a reference number of pixels by photographing a measurement sphere located at a reference distance with a measurement camera; Calculating a gradient value representing a rate of change of the number of pixels in the diameter of the measuring sphere according to the distance with a preset reference distance and the number of reference pixels; Calculating a distance between the measuring camera and the measuring sphere based on the number of pixels and the inclination value of the measuring sphere photographed through the measuring camera in real time or at a predetermined period, and the number of first reference pixels; Calculating a difference between the distance between the measurement camera and the measurement tool, which is photographed in real time or at regular intervals through the measurement camera, and the distance between the measurement camera and the measurement tool, which is measured before compensation for the vibration of the vessel; And adjusting the length of the wire rope drawn before the swing of the ship through the calculated distance difference to compensate for the swing of the ship. It characterized in that it comprises a.

Here, when setting the number of reference pixels by photographing the measurement sphere located at the reference distance with the measurement camera, calculating and setting the first reference pixel number from the image information of the measurement sphere photographed at the reference distance from the measurement camera to the measurement sphere ; And calculating and setting the number of second reference pixels from image information of the measurement tool taken before and after the reference distance from the measurement camera to the measurement tool. It includes more.

Preferably, when calculating a slope value representing the rate of change of the number of pixels in the diameter of the measuring sphere according to the distance with a preset reference distance and the number of reference pixels, the slope value is calculated by the following formula. Method of compensation.

K (slope value) = (Y1-Y) / (N1-N)

or

K(Slope value) = (Y-Y2) / (N1-N)

Y: The first reference distance from the center of the measuring camera to the measuring sphere

Y1 and Y2 are the second and third reference distances located before and after the first reference distance

N is the number of first reference pixels of the measurement sphere photographed through the measurement camera at the first reference distance

N1 and N2 are the number of second and third reference pixels of the measurement sphere photographed through the measurement camera at the second and third reference distances

Preferably, when calculating the distance between the measuring camera and the measuring sphere through the number of pixels and the slope value and the first reference pixel number of the measuring sphere photographed in real time or at a certain period through the measuring camera, the distance between the measuring camera and the measuring sphere is A method of compensating for shaking motion of a winch system for ships, characterized in that calculated by the formula of.

, 이때 K(기울기값) = (Y - Y2) / (N - N2) 이므로,d =

, At this time, because K (slope value) = (Y-Y2) / (N-N2),

= K(n-N) + a

= Kn-KN + a

or

d =

= K(n-N) + a

= Kn-KN + a

d: Distance between the measuring camera and the measuring instrument

n: The number of pixels of the measuring sphere photographed in real time or at regular intervals with the measuring camera

K: A slope value representing the rate of change in the number of pixels in the diameter of the measuring sphere according to the distance with the preset reference distance and the number of pixels

a: As a constant value, the first reference distance

Preferably, when calculating the changed length of the wire rope through the distance between the measuring camera and the measuring instrument, the distance between the measuring camera and the measuring instrument measured in real time or at regular intervals with the measuring camera and the measuring camera measured before compensation of the shaking of the vessel A method of compensating for shaking of a winch system for a ship, characterized in that the distance between the and the measuring tool is calculated by the following formula.

△L = d-L

△L: The distance between the measuring camera and the measuring instrument measured in real time or at regular intervals, and the distance between the measuring camera and the measuring instrument measured before vibration compensation

d: Distance between the measuring camera and the measuring instrument

L: The distance between the measuring camera and the measuring tool, measured before the vessel is shaken

Preferably, the length of the wire rope drawn before the swing of the ship is adjusted through the difference in the calculated distance to compensate for the swing of the ship, and the length of the wire rope after the compensation of the swing of the ship is calculated by the following formula. Compensation method for the vibration of the winch system for ships.

L_ref_sat = L_ref + △L

L_ref_sat: Length of wire rope after compensation of ship's vibration

L_ref: Length of wire rope before compensation for ship's vibration

On the other hand, the measuring instrument is given a color for easy identification, or is made of a luminescent material or a luminescent material including a phosphorescent material, or is coated with a luminescent material or a luminescent material including a phosphorescent material to be identified in bad weather and at night. This is done to facilitate.

As described above, the present invention having the configuration as described above, in order to operate the underwater probe for exploring the underwater, sea floor and seabed strata, when a ship interlocked with a winch system changes its relative position due to fluctuations due to wave height at sea. The fluctuation of the ship can be compensated by controlling the length of the wire rope to correspond to the changing distance by withdrawing and retrieving the wire rope, and the changed distance between the underwater probe and the ship is compensated by the extension of the length of the wire rope. Physical interference can be minimized, and there is an effect of stabilizing an underwater probe according to a change in distance that is increased or decreased by the shaking of a ship.

In addition, the present invention can compensate for the positional change of the ship due to fluctuations due to the sea wave height, and at the same time compensate for the positional change of the underwater probe that may be unintentionally generated due to the interference of the wire rope of the winch system, It prevents the wire rope of the winch system from being damaged and cut due to excessive tension, and at the same time, it blocks the risk that may be caused to the ship due to the breakage and cutting accident of the wire rope, and compensates for the fluctuation of the ship in real time. , It is possible to improve the accuracy of the ship's vibration compensation and position change, and does not require the ship's vibration information, which may cause errors due to drift, and a separate mechanical device for measuring the angle at which the wire rope is pulled out. No mechanical elements are required, and errors do not accumulate even when the vessel's oscillations are compensated for a long time, thereby simplifying the system and securing stability.

1 is a view schematically showing a passive compensation method of a ship according to the prior art;
2 is a diagram schematically showing an active compensation method for a ship according to the prior art;
3 is a view schematically showing a winch system for the vibration compensation method of the winch system for ships according to the present invention,
Figure 4 is a configuration diagram showing a control unit of the winch system for ships according to the present invention,
Figure 5 is a graph showing the distance measurement relationship measurement tool showing the vibration compensation method of the winch system for ships according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only "directly connected" but also "electrically connected" with another element interposed therebetween. . In addition, when a part "includes" a certain component, it means that other components may be further included, and one or more other features, not excluding other components, unless specifically stated to the contrary. It is to be understood that it does not preclude the presence or addition of any number, step, action, component, part, or combination thereof.

The terms "about", "substantially" and the like, as used throughout the specification, are used in or close to the numerical value when manufacturing and material tolerances specific to the stated meaning are presented, and are used in the sense of the present invention. To assist, accurate or absolute figures are used to prevent unfair use of the stated disclosure by unscrupulous infringers. As used throughout the specification of the present invention, the term "step (to)" or "step of" does not mean "step for".

In the present specification, the term "unit" includes a unit realized by hardware, a unit realized by software, and a unit realized using both. Further, one unit may be realized using two or more hardware, or two or more units may be realized using one hardware.

In this specification, some of the operations or functions described as being performed by the terminal, device, or device may be performed instead in a server connected to the terminal, device, or device. Likewise, some of the operations or functions described as being performed by the server may also be performed by a terminal, device, or device connected to the server.

In this specification, some of the operations or functions described as mapping or matching with the terminal means mapping or matching the unique number of the terminal or the identification information of the individual, which is the identification information of the terminal. Can be interpreted as.

In the present specification, the word "at least one" is defined as a term that can refer to the singular and plural. In addition, the term “at least one” may be used, but may be omitted, and the meaning is as described above.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. 3 is a view schematically showing a winch system for the vibration compensation method of the winch system for ships according to the present invention, Figure 4 is a configuration diagram showing the control unit of the winch system for ships according to the present invention, Figure 5 This is a graph of the distance measurement relationship between the measuring tool and the method of compensating for the vibration of the winch system for ships.

As shown in the drawing, the winch system (Winch System: 1) for the vibration compensation method of the winch system for ships according to the present invention includes a winch drum 10, a wire rope 30, a measuring tool 50, and a measuring camera. It is configured to include 70 and the control unit 90.

The winch drum 10 has a cylindrical shape, is made to be driven to rotate, and is installed on the ship 3, and further includes a clutch (not shown) and a brake (not shown) to transmit or block the power supplied from the prime mover. Included.

The wire rope 30 is wound on the winch drum 10, one end is connected to the underwater probe 5 located in the water, and the other end is connected to the winch drum 10.

In addition, by the drive of the winch drum 10, the wire rope 30 is retrieved while being wound or pulled out while being unwound to lift the underwater probe 5 to the sea or to send it down to the seabed.

Here, a rope take-out stand 31 is provided at the rear of the winch drum 10, the rope take-out stand 31 is provided to be inclined at a certain angle toward the rear, and a fixed pulley at the upper end of the rope take-out stand 31 (33) is provided.

According to the structure as described above, the wire rope 30 is wound on the winch drum 10, but one side thereof is drawn out of the ship 3 through the fixed pulley 33 of the rope take-off table 31. It is connected to the underwater probe (5).

The measuring tool 50 is a spherical body, has buoyancy to float on the water surface, and a rope hole 51 for installing through the wire rope 30 is penetrated in the center thereof, and the rope hole 51 Is formed slightly larger than the diameter of the wire rope 30.

In addition, the measuring tool 50 is formed of a very light mass compared to the wire rope 30 so as not to interfere with the wire rope 30 due to wave height at sea, thereby changing the position of the underwater probe 5 It is made not to be.

Here, it is preferable that the measuring tool 50 is given a color to facilitate identification when floating on the water surface by buoyancy.

In one embodiment of the present invention, the measuring instrument 50 is made to be given a color to facilitate identification, but the measuring instrument 50 is made of a luminous material or a phosphorescent material to facilitate identification in weather conditions such as bad weather and at night. It is preferably made of a light-emitting material including, and it is possible to coat a light-emitting material including a luminescent material or a phosphorescent material on the surface of the measuring instrument 50, and various other modifications are possible.

The measuring camera 70 is disposed above the fixed pulley 33 of the rope take-out table 31, and the wire rope 30 is pulled out or recovered through the fixed pulley 33 by driving the winch drum 10. ) And placed in the same direction.

To this end, a camera support 71 for installing the measurement camera 70 is provided, and the camera support 71 is provided between the rope take-out table 31 and the winch drum 10, and the upper end thereof is a winch It is formed bent toward the rear of the drum 10, the bent end is positioned above the fixed pulley 33 of the rope take-out table 31, and a measurement camera 70 is installed at the end thereof.

According to the structure as described above, the measurement camera 70 photographs the lengthwise direction of the wire rope 30 pulled out or recovered from the rope take-out stand 31, and the wire rope 30 is installed through the water surface. It is for photographing the floating measurement tool 50, the center of the lead-out part (A) of the wire rope 30 drawn out from the rope take-off table 31 by photographing the measurement tool 50 and the measurement tool 50 It is for calculating and calculating the distance (L) between the diameter portions (B).

At this time, the measuring camera 70 is preferably made of a general optical camera, but it is also possible to be made of an infrared camera for shooting at night and weather conditions such as bad weather.

In addition, the measurement camera 70 may be further provided with a separate flash or strobe light, and other various modifications are possible.

The controller 90 acquires image information captured through the measurement camera 70 and compensates for the length of the wire rope 30 according to the shaking of the ship 3 through the acquired image information.

To this end, the control unit 90 includes a receiving unit 91 receiving an image photographed through the measuring camera 70 and a calculating unit 92 calculating the number of pixels through image information received through the receiving unit 91. ) And the number of pixels calculated through the calculation unit 92, the wire rope through the calculation unit 93 that calculates the distance value changed by the shaking of the ship 3 and the distance value calculated through the calculation unit 93 It includes a compensation unit 94 for compensating the length of 30.

The receiving unit 91 receives an image photographed through the measuring camera 70, and receives an image photographed by the measuring instrument 50 located on the water surface.

Here, the receiving unit 91 is connected to the measurement camera 70 by wire/wireless connection to receive an image photographed through the measurement camera 70.

The calculation unit 92 calculates the number of pixels of the measurement tool 50 through image information received through the reception unit 91.

Preferably, the calculation unit 92 calculates the number of pixels in the diameter of the measuring sphere 50 formed in a spherical body through image information received through the reception unit 91.

Here, since the measuring sphere 50 is formed in a spherical body, the cross section of the sphere to be photographed is constant regardless of the angle when photographed through the measuring camera 70, so that the measuring sphere 50 is formed in a spherical body regardless of the distance. It is preferable to first identify the outside of the photographed measuring sphere 50 and then calculate the number of pixels in the diameter of the identified measuring sphere 50.

The calculation unit 93 calculates the linear distance changed between the measurement camera 70 and the measurement tool 50 through the number of pixels calculated through the calculation unit 92, and calculates the number of reference pixels according to a preset reference distance. The changed distance between the measuring camera 70 and the measuring tool 50 is calculated by using.

Here, the number of reference pixels is a preset value, and the number of pixels calculated from the image information of the measurement tool 50 taken at the first reference distance Y from the center of the measurement camera 70 to the measurement tool 50 Is set as the first reference number of pixels (N), and the image of the measuring sphere 50 taken at the second and third reference distances (Y1, Y2) from the center of the measuring camera 70 to the measuring sphere 50 The number of pixels calculated from the information is set as the number of second and third reference pixels N1 and N2.

As described above, through a preset reference distance and the number of reference pixels, a slope value representing the rate of change of the number of pixels in the diameter of the measurement sphere 50 according to the distance is calculated, and the calculated slope value and the measured measurement sphere 50 ) To calculate the changed distance between the measuring camera 70 and the measuring tool 50 with the number of pixels and the number of reference pixels.

That is, as shown in FIG. 5, the slope value K can be expressed as a distance value with respect to the measured number of pixels N, which can be expressed by the following equation.

K (slope value) = (Y1-Y) / (N1-N)

Or

or

K(Slope value) = (Y-Y2) / (N-N2)

or

K(Slope value) = (Y1-Y2) / (N1-N2)

It can be calculated by any one of the formulas.

Where Y is the first reference distance from the center of the measuring camera to the measuring sphere,

Y1 and Y2 are second and third reference distances located before and after the first reference distance,

N is the number of first reference pixels of the measurement sphere photographed through the measurement camera at the first reference distance,

N1 and N2 are the number of second and third reference pixels of the measurement sphere photographed through the measurement camera at the second and third reference distances.

As described above, after calculating and setting the slope value, the number of pixels of the measuring sphere 50 photographed through the measuring camera 70, the slope value, and the number of first reference pixels are used to determine the measurement camera 70 and the measuring sphere. Calculate the changed distance between (50) as in the following equation.

, 이때 K(기울기값) = (Y - Y2) / (N - N2) 이므로,d =

, At this time, because K (slope value) = (Y-Y2) / (N-N2),

= K(n-N) + a

= Kn-KN + a

Or

or,

, 이때 K(기울기값) = (Y1 - Y) / (N1 - N) 이므로,d =

, At this time, K (slope value) = (Y1-Y) / (N1-N), so

= K(n-N) + a

= Kn-KN + a

Or

, 이때 K(기울기값) = (Y1 - Y2) / (N1 - N2) 이므로,d =

, At this time, because K (slope value) = (Y1-Y2) / (N1-N2),

= K(n-N) + a

= Kn-KN + a

Can be calculated with

In this case, d is the distance between the measuring camera and the measuring instrument,

n is the number of pixels of the measurement sphere photographed in real time or at regular intervals with the measurement camera,

a is a constant value and represents the first reference distance.

Here, the first reference number of pixels (N) is a measuring sphere 50 photographing a first reference distance Y from the center of the measuring camera 70 to the measuring sphere 50 as a linear distance of 1 m. It is preferable that the value is set as the number of pixels calculated in the image of, and thus the constant value a is made of 1.

That is, in order to represent the calculated reference distance Y for the measured reference pixel number N, in a linear function connecting (x1, y1) and (x2, y2),

Is,

If the first reference number of pixels (N) measured at 1m, which is the first reference distance, is opposed to the above equation,

ego,

Substituting N for x1 and 1 for y1 in the above function,

Is calculated as

Therefore, the distance between the measuring camera 70 and the measuring instrument 50,

It can be calculated as d = Kn-KN + 1.

At this time, when the setting of the first reference distance Y from the center of the measurement camera 70 to the measurement tool 50 for measuring the first reference pixel number N is changed, a constant value a is also set. 1 It can be changed according to the reference distance (Y).

Meanwhile, the second and third reference distances (Y1, Y2) from the center of the measurement camera 70 to the measurement tool 50 are 1m set as the first reference distance Y of the first reference number of pixels N It is preferable to set the distance before and after, but is not limited thereto.

As described above, the calculation unit 93 calculates a gradient value representing the rate of change of the number of pixels in the diameter of the measuring tool 50 according to the distance through the number of reference pixels according to a preset reference distance, and the calculated gradient value and measurement The changed distance between the measuring camera 70 and the measuring sphere 50 is calculated based on the number of pixels of the measuring sphere 50 photographed through the camera 70 and the number of first reference pixels.

The compensation unit 94 is calculated through the calculation unit 93, and compensates the length of the wire rope 30 through the changed distance between the measurement camera 70 and the measurement tool 50.

That is, the compensation unit 94 drives the winch drum 10 of the winch system 1 to change the length of the initial wire rope 30 to the length of the wire rope 30 compensated for the shaking of the ship 3 Compensation, but the movement of the ship 3 by adding or subtracting the length of the wire rope 30 by the changed distance between the measuring camera 70 and the measuring tool 50 by recovering while winding the wire rope 30 or pulling out while unwinding. Compensates.

To this end, the compensating unit 94 measures the number of pixels of the measurement tool 50 through the measurement camera 70 before shaking occurs in the vessel 3, and calculates the measured number of pixels to the first reference pixel number. The comparison is performed, and the distance between the measurement camera 70 and the measurement tool 50 measured before shaking motion compensation is calculated by adding or subtracting the distance from the reference distance of the first reference pixel according to the compared number of pixels.

Then, as shown in the following equation, the difference between the distance between the measuring camera 70 and the measuring instrument 50 measured in real time or at a fixed period, and the distance between the measuring camera 70 and the measuring instrument 50 measured before vibration compensation Calculate

△L = d-L

Here, △L is the difference between the distance between the measuring camera and the measuring instrument measured in real time or at regular intervals, and the distance between the measuring camera and the measuring instrument measured before vibration compensation,

L is the distance between the measuring camera and the measuring tool, measured before the vessel is shaken.

In this way, after calculating the distance difference (△L) between the measuring camera 70 and the measuring tool 50 before and after the ship 3 is oscillated, the winch drum using the following equation through the distance difference (△L) By driving (10), the length of the wire rope 30 drawn out before the swing of the ship 30 is adjusted and controlled to compensate for the swing of the ship 3.

L_ref_sat = L_ref + △L

Here, L_ref_sat is the length of the wire rope drawn out by driving the winch drum,

L_ref is the length of the wire rope drawn before compensation for the ship's vibration.

As described above, the compensation unit 94 drives the winch drum 10 according to the fluctuation of the ship 3 caused by the wave height at sea to draw the wire rope 30 to the seabed or recover it to the sea. The fluctuation of the vessel 3 can be compensated by adjusting and compensating the entire length of the back wire rope 30.

Meanwhile, the control unit 90 may further include a storage unit 95 and a display unit 96.

The storage unit 95 is received through the receiving unit 91, the number of pixels of the measuring tool 50 whose distance changes in real time due to the sea wave height, the preset reference distance and the number of reference pixels, and the calculation unit 93 The distance between the measuring camera 70 and the measuring tool 50 calculated through, and the length of the wire rope 30 compensated through the compensation unit 94 may be stored.

To this end, the storage unit 95 may be formed of a storage module capable of input/output of information such as a flash memory, a compact flash card, and a secure digital card (SD card).

The display unit 96 includes the number of pixels of the measuring sphere 50 whose distance varies due to the sea wave height, a preset reference distance and the number of reference pixels, and the measuring camera 70 and the measuring sphere calculated through the calculation unit 93. The distance between the 50 and the length of the wire rope 30 compensated through the compensation unit 94 is displayed, but is formed in the form of a touch to perform the role of the operation unit.

On the other hand, in order to compensate for the shaking of the ship 3 caused by the wave height of the sea, the measuring camera 70 is configured to photograph the measuring instrument 50 located on the surface of the water in real time or at regular intervals. It is also possible to further include a timer (not shown), and the control unit 90 preferably controls the measurement camera 70 to photograph the measurement tool 50 at regular intervals through a timer, but is not limited thereto.

Hereinafter, a method of compensating for the shaking motion of a marine winch system according to the present invention will be described with reference to FIGS. 3 to 5.

First, connect the underwater probe 5 with the wire rope 30 of the winch system 1 provided in the ship 3, but insert the wire rope 30 into the rope hole 51 of the measuring tool 50 After installing through the wire rope 30, the underwater probe 5 linked to the wire rope 30 is sent down to the seabed and operated to explore the underwater, seabed, or sea stratum.

Here, the wire rope 30 is wound on the winch drum 10, one end of which is drawn out to sea through the fixed pulley 33 of the rope take-out table 31, and the measuring camera 70 is a camera support The lengthwise direction of the wire rope 30, which is installed on the upper end of the 71 and is drawn out to sea through the fixed pulley 33, is photographed, and the measuring instrument 50 in contact with the water surface is photographed.

At this time, the initial length (L_ref) of the wire rope 30 that is pulled out while being released from the winch drum 10 when the winch drum 10 of the winch system 1 is driven to send the underwater probe 5 down to the seabed Is measured in advance (S10).

In addition, a slope value representing a rate of change in the number of pixels in the diameter of the measuring sphere 50 according to the distance to the measuring sphere 50 photographed by the measuring camera 70 is calculated (S30).

To this end, the measuring sphere 50 is photographed through the measuring camera 70, and the number of reference pixels according to the reference distance is first set (S20).

For example, after setting the first reference distance (Y) from the center of the measuring camera 70 to the measuring sphere 50 to 1m, the first reference through image information of the measuring sphere 50 taken at 1m After setting the number of pixels (N), and setting the third reference distance (Y2) from the center of the measuring camera 70 to the measuring sphere 50 to 2m, the image information of the measuring sphere 50 taken at 2m The third reference pixel number N2 is set through.

Here, according to the distance between the measuring camera 70 and the measuring instrument 50, the size of the measuring instrument 50 photographed at a close distance is photographed larger than the size of the measuring instrument 50 photographed at a distant distance, The number of pixels calculated by the measurement tool 50 photographed at a close distance is greater than the number of pixels calculated by the measurement tool 50 photographed at a distant distance.

In this case, when the first reference pixel number N according to the reference distance between the measurement camera 70 and the measurement tool 50 is calculated as 100, and the third reference pixel number N2 is calculated as 50,

K(Slope value) = (Y-Y2) / (N-N2)

= (1-2) / (100-50)

= -0.02

to be.

After calculating the inclination value in this way, the fluctuation of the ship 3 caused by the wave height at sea is compensated.

To this end, the measuring camera 70 photographs the measuring instrument 50 located on the surface of the water in real time or at regular intervals, and transmits the photographed image information to the control unit 90, and through the measuring camera 70 Alternatively, the changed distance between the measurement camera 70 and the measurement tool 50 is calculated (S40) based on the number of pixels and the slope value of the measurement tool 50 photographed at a certain period, and the number of first reference pixels, and the measurement camera ( When the number of pixels (n) calculated from the image information of the measuring sphere 50 photographed by 70) is 120, the distance (d) between the measuring camera 70 and the measuring sphere 50 is,

, 이때 K(기울기값) = (Y1 - Y) / (N1- N) 이므로,d =

, At this time, K (slope value) = (Y1-Y) / (N1- N), so

= K(n-N) + a, where a (constant value) is 1m, which is the first reference distance,

= Kn-KN + 1

= (-0.02 × 120)-(-0.02 × 100) + 1

= 0.6[m]

Is calculated as

As described above, the distance (d) between the measuring camera 70 and the measuring instrument 50 is 0.6 [m], which is calculated through the operation unit 93, and the measuring camera 70 measured in real time or at a fixed period The distance between the and the measuring instrument 50 and the distance difference (ΔL) between the measuring camera 70 and the measuring instrument 50 measured before shaking motion compensation is calculated (S50).

At this time, if the distance (L) between the measuring camera 70 and the measuring instrument 50 measured before the shaking occurs in the vessel 3 is 2 [m],

△L = d-L

= 0.6-2

= -1.4[m]

Is calculated as

Therefore, the distance between the measuring camera 70 and the measuring instrument 50 measured in real time or at a certain period, and the distance difference (ΔL) between the measuring camera 70 and the measuring instrument 50 measured before shaking motion compensation is -1.4 becomes [m].

As described above, the distance between the measuring camera 70 and the measuring instrument 50 measured in real time or at a fixed period, and the distance difference (ΔL) between the measuring camera 70 and the measuring instrument 50 measured before vibration compensation By driving the winch drum 10 through the control and controlling the length of the wire rope 30 pulled out before the rocking of the ship 30 to compensate for the fluctuation of the ship (3) (S60).

That is, if the initial length (L_ref) of the wire rope 30 measured in advance is 50 [m] while the underwater probe 5 is lowered to the seabed before compensation for the vibration of the ship 3, the winch drum 10 is After compensating for the vibration of the ship 3 by driving, the length (L_ref_sat) of the wire rope 30 is calculated.

At this time, the length (L_ref_sat) of the wire rope 30 after compensation for the vibration of the ship 3 is,

L_ref_sat = L_ref + △L

= 50 + (-1.4)

= 48.6[m]

Is calculated as

Therefore, by driving the winch drum 10 to wind or unwind the wire rope 3 to adjust and control the length of the wire rope 30 to be 48.6 [m] to prevent the fluctuation of the ship 3 It can be compensated for with a length of 30.

Above, the present invention is illustrated and described in connection with specific embodiments, but it is common knowledge in the art that various modifications and changes are possible without departing from the spirit and scope of the invention shown in the appended claims. Anyone who has it will be easy to know.

1: winch system, 3: ship,
5: underwater probe, 10: winch drum,
30: wire rope, 31: rope drawer,
33: fixed pulley, 50: measuring tool,
51: rope hole, 70: measuring camera,
71: camera support, 90: control unit,
91: receiving unit, 92: calculating unit,
93: operation unit, 94: compensation unit
95: storage unit, 96: display unit.

Claims (7)

A winch drum that is rotationally driven in a ship, a wire rope wound on the winch drum, one side connected to an underwater probe, a measuring instrument through which the wire rope is installed, a measuring camera for photographing the measuring instrument, and a control unit Including, and in the vibration compensation method of the winch system for ships for compensating for the vibration of the vessel that fluctuates by the sea wave height,
Measuring the initial length of the wire rope for sending the underwater probe down to the seabed (S10);
Setting the number of reference pixels by photographing a measurement sphere positioned at a preset reference distance with the measurement camera (S20);
Calculating a gradient value representing a rate of change of the number of pixels in the diameter of the measuring sphere according to the distance using the preset reference distance and the number of reference pixels (S30);
Calculating a distance between the measuring camera and the measuring sphere based on the number of pixels and the slope value and the number of first reference pixels of the measuring sphere photographed in real time or at a predetermined period through the measuring camera (S40);
Calculating a difference between the distance between the measurement camera and the measurement tool, which is photographed in real time or at regular intervals through the measurement camera, and the distance between the measurement camera and the measurement tool, which is measured before compensation of the shaking of the ship (S50); And
Compensating for the shaking of the ship by adjusting the length of the wire rope drawn before the shaking of the ship through the difference in the calculated distance (S60);
Including,
When calculating a slope value representing the rate of change of the number of pixels in the diameter of the measuring sphere according to the distance with the preset reference distance and the number of reference pixels,
The inclination value is calculated by the following formula, the vibration compensation method of the winch system for ships, characterized in that.

K (slope value) = (Y1-Y) / (N1-N)

or

K(Slope value) = (Y-Y2) / (N1-N)

Y: The first reference distance from the center of the measuring camera to the measuring sphere
Y1 and Y2 are the second and third reference distances located before and after the first reference distance
N is the number of first reference pixels of the measurement sphere photographed through the measurement camera at the first reference distance
N1 and N2 are the number of second and third reference pixels of the measurement sphere photographed through the measurement camera at the second and third reference distances
The method according to claim 1,
When setting the number of reference pixels by photographing a measurement sphere located at a reference distance with the measurement camera,
Calculating and setting the number of first reference pixels from the image information of the measuring instrument taken at a reference distance from the measuring camera to the measuring instrument; And
Calculating and setting the number of second reference pixels from image information of the measurement tool taken before and after the reference distance from the measurement camera to the measurement tool;
The vibration compensation method of the winch system for ships, characterized in that it further comprises.
delete The method according to claim 1,
When calculating the distance between the measuring camera and the measuring sphere through the number of pixels and the slope value and the first reference pixel number of the measuring sphere photographed in real time or at a certain period through the measuring camera,
The vibration compensation method of a winch system for ships, characterized in that the distance between the measuring camera and the measuring tool is calculated by the following formula.

d =

, At this time, because K (slope value) = (Y-Y2) / (N-N2),
= K(n-N) + a
= Kn-KN + a

or

d =

= K(n-N) + a
= Kn-KN + a

d: Distance between the measuring camera and the measuring instrument
n: The number of pixels of the measuring sphere photographed in real time or at regular intervals with the measuring camera
K: A slope value representing the rate of change in the number of pixels in the diameter of the measuring sphere according to the distance with the preset reference distance and the number of pixels
a: As a constant value, the first reference distance
The method of claim 4,
When calculating the changed length of the wire rope through the distance between the measuring camera and the measuring tool,
The distance between the measurement camera and the measurement tool measured by the measurement camera in real time or at regular intervals, and the distance between the measurement camera and the measurement tool measured before compensation for the shaking of the ship are calculated by the following formula: Method of compensation.

△L = d-L

△L: The distance between the measuring camera and the measuring instrument measured in real time or at regular intervals, and the distance between the measuring camera and the measuring instrument measured before vibration compensation
d: Distance between the measuring camera and the measuring instrument
L: The distance between the measuring camera and the measuring tool, measured before the vessel is shaken
The method of claim 5,
When compensating for the fluctuation of the ship by adjusting the length of the wire rope drawn before the fluctuation of the ship through the difference in the calculated distance,
After compensation for the vibration of the vessel, the length of the wire rope is calculated by the following formula.

L_ref_sat = L_ref + △L

L_ref_sat: Length of wire rope after compensation of ship's vibration
L_ref: Length of wire rope before compensation for ship's vibration
The method according to claim 1,
The measuring instrument is given a color for easy identification, or is made of a luminescent material or a luminescent material including a phosphorescent material, or is coated with a luminescent material or a luminescent material including a phosphor, so that it is easy to identify in bad weather and at night A method for compensating for shaking of a winch system for ships, characterized in that made to be performed.

Images