KR102424825B1 - Floating structure monitoring system and method using multi-smart inertial sensor unit - Google Patents

Abstract

The behavior analysis and integrated monitoring system of offshore structures using a wired/wireless network-based multi-convergence inertial sensor unit according to an embodiment of the present invention is installed for each offshore structure, and the number of measurements of the state or behavior of the offshore structure At least one sensor module having at least one sensor module, a wired/wired/wireless communication module capable of transmitting and receiving data measured by the sensor module in a wired or wireless manner, an external sensor module interworking through the sensor module or an external interface, and the wired/wireless/wireless communication module A multi-fusion inertial sensor unit including a sensor interface for interfacing a wired/wireless communication module in one housing, a gateway for wired/wireless communication with the wired/wired/wireless communication module of the multi-fusion inertial sensor unit, and wired/wireless communication with the gateway It is characterized in that it comprises a host PC, and a behavior analysis and integrated monitoring unit of the offshore structure that performs long-distance wireless communication with the host PC.

Description

Behavior analysis and integrated monitoring system and method of offshore structures using wired/wireless network-based multi-fusion inertial sensor unit {FLOATING STRUCTURE MONITORING SYSTEM AND METHOD USING MULTI-SMART INERTIAL SENSOR UNIT}

The present invention relates to a behavior analysis and integrated monitoring system and method of offshore structures using a wired/wireless network-based multi-fusion inertial sensor unit, and a multi-fusion inertial sensor unit easily installed in each offshore structure, wind speed/wind vane, CCD camera, etc. Through the sensor unit interface of the external sensor unit, the safety according to the movement of each offshore structure can be evaluated. It relates to a behavior analysis and integrated monitoring system and method of offshore structures using a wired/wireless network-based multi-fusion inertial sensor unit that can more accurately determine whether an offshore structure is abnormal in consideration of external force data such as wind direction, wind speed, and atmospheric pressure .

Recently, there is an increasing need for long-distance confirmation, maneuvering, and situation analysis of offshore structures such as shipments in ships at onshore management centers.

In particular, the need for real-time logistics tracking equipment for standardized cargo transport and a mobile-based monitoring system so that entities in the overall logistics such as transport companies, logistics base operators, and shippers applied to global logistics can monitor and utilize the status of cargo in real time is increasing, and in the case of the United States, safety and security regulations of cargo are being strengthened by the SAFE Port Act.

The current in-ship communication network is based on the standards established by Working Group 6 of the Technical Committee 80 of the International Electrotechnical Commission (ISO: International Standardization Organization) or the International Maritime Organization. (IMO: International Maritime Organization) recommends to follow.

IEC/TC80 was organized in 1980 to develop standards in line with the development of electronic navigation equipment, and in relation to wireless communication, the requirements of the International Electrical and Electronic Commission (ITU) were reflected as much as possible and applied to all types of ships and offshore structures. Technical standards are being developed to make this possible.

In particular, IEC/TC80-WG6 develops standards related to "Digital Interface", and IEC 61162 standard specifies "Digital interfaces for navigational equipment within a ship".

In addition, the IEC 61162 standard stipulates a communication protocol for connecting various sub-devices or systems in a ship to acquire ship operation information, and 4 for digital interface applied to ship navigation, wireless communication, and system integration It is divided into dog parts.

However, looking at the example of the actual communication network configuration in the ship, due to the limitation of wireless communication within the ship, the Korea Maritime Research Institute's "development of an intelligent autonomous navigation control system for ships" consists of power line communication, and port information technology (IT) ), "VNSI (Vessel Network System Integration)" developed by Suncom, "Ship Automation" based on "iSHIP" technology of ELECMEC in Australia, "Ship Integration Management System" by Net, a professional SI developer. It can be seen that the communication system for ) and control is composed of wired communication.

In order to establish a network between an offshore structure such as an in-ship shipment and a host PC through power line communication or wired communication, not only a cable of 100 meters or more is required depending on the distance, but the laying of the necessary line is very complicated due to the structure of the ship, and the There was a problem such as having to do a separate wiring work because there is a risk of corrosion, and there was a difficulty in supplying power to each sensor unit installed in each offshore structure.

In addition, since the ship and several shipments loaded on the ship move together with the ship, it is very complicated and difficult to separately measure the state or behavior of the various shipments loaded on the ship itself.

In addition, attaching the sensor unit to each of several shipments is not only limited as it may become a claim factor for the shipper, etc. In particular, in order to accurately determine the behavior of the shipment, the sensor unit should be placed at the center of gravity of the shipment as much as possible. It is difficult to wire to the center of gravity of the shipment because access is not possible and it is difficult to attach the sensor unit to the shipment.

On the other hand, recently, as the need for offshore development increases in order to overcome the limitations of land resources, etc., offshore floating bodies, for example, offshore solar power, wind power, tidal generators, etc. are being installed in the sea far away from the land.

The movement of these offshore floats, for example, offshore solar, wind, and tidal generators It is very important to conduct the safety evaluation on land, and as described above, to measure the movement of each of the turbines and buoys constituting them, monitoring as one system by connecting to a wired network or power line communication is the length of the cable. In addition to the problem, there is the problem of complicated wiring.

In addition, in order to evaluate the safety according to the movement of the structure of the floating body, there is a problem in that external data such as waves, wind direction, wind speed, and atmospheric pressure as well as the behavior of the floating body itself must be considered.

In addition, the sensor unit should be able to sense at all times without problems of reliable and stable data acquisition or power supply by preventing corrosion by seawater or dust-proof and moisture-proof.

<Prior art document number>
Laid-Open Patent Publication No. 10-2012-0017837 (2012.02.29.)
Laid-Open Patent Publication No. 10-2017-0127585 (2017.11.22)

The present invention has been devised to solve these problems, and an object of the present invention is to provide a multi-fusion inertial sensor unit easily installed in each offshore structure, a wind speed/wind vane, and a sensor unit interface of an external sensor unit such as a CCD camera. The safety level according to movement can be evaluated, and the safety level of offshore structures can be easily judged from a remote location using a wired/wireless interface. It is to provide a system and method for analyzing the behavior of offshore structures and an integrated monitoring system using a wired/wireless network-based multi-fusion inertial sensor unit that can more accurately determine whether a structure is abnormal.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned may be understood by the following description, and will be more clearly understood by the examples of the present invention.

It will also be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the appended claims.

The behavior analysis and integrated monitoring system of offshore structures using a wired/wireless network-based multi-convergence inertial sensor unit according to an embodiment of the present invention is installed for each offshore structure, and the number of measurements of the state or behavior of the offshore structure At least one sensor module having at least one sensor module, a wired/wired/wireless communication module capable of transmitting and receiving data measured by the sensor module in a wired or wireless manner, an external sensor module interworking through the sensor module or an external interface, and the wired/wireless/wireless communication module A multi-fusion inertial sensor unit including a sensor interface for interfacing a wired/wireless communication module in one housing, a gateway for wired/wireless communication with the wired/wired/wireless communication module of the multi-fusion inertial sensor unit, and wired/wireless communication with the gateway It includes a host PC, and a behavior analysis and integrated monitoring unit of an offshore structure that performs long-distance wireless communication with the host PC,
The sensor module includes a 3-axis gyroscope, 3-axis accelerometer, and 3-axis geomagnetism for measuring the state or behavior of the offshore structure. A barometer and a GPS receiver for providing information are integrally formed in one outer housing in a MEMS manner,
The multi-fusion inertial sensor unit includes an electrical corrosion control unit for electrically controlling the external housing to prevent corrosion/corrosion, a power supply that can be selectively charged by a constant power source or a battery, and a wind direction/ An A/D converter for converting analog data received from an anemometer and CCD camera into digital data, a memory unit for temporarily storing the digital data converted by the A/D converter, the method control unit, the power supply unit, and the A memory unit, the sensor unit module, and a control unit for controlling the wired / wireless communication module,
The control unit controls the sleep mode of the wired/wireless communication module using the data measured by the multi-fusion inertial sensor unit and the external sensor module, and the multi-fusion inertial sensor unit includes first to third multi-fusion inertial sensors. and comparing at least two of each of the first to third measured values of the unit to control to increase the accuracy of measuring the behavior of the offshore structure.

According to the behavior analysis and integrated monitoring system and method of an offshore structure using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention, the length of the cable or the difficulty of wiring, the risk of corrosion or power supply is considered The sensor unit can be freely installed in each offshore structure, and it is easy to establish a network between the offshore structure and the host PC, such as shipments in a ship.

According to the behavior analysis and integrated monitoring system and method of an offshore structure using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention, it is possible to measure the state or behavior of a ship and several shipments loaded on the ship. It is possible to monitor the condition of the shipment accurately as if the sensor unit is installed at the center of gravity of the shipment itself in the ship.

According to the behavior analysis and integrated monitoring system and method of an offshore structure using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention, an offshore floating body, for example, offshore solar power, wind power, tidal generator The safety evaluation according to the movement of the vehicle can be conducted from a distance considering external data such as waves, wind direction, wind speed, and atmospheric pressure without problems with cable length or wiring.

1A and 1B are block diagrams of a behavior analysis and integrated monitoring system of an offshore structure using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment and a modified embodiment of the present invention, respectively.
FIG. 2 is a block diagram illustrating the internal configuration of the multi-fusion inertial sensor unit of FIG. 1 .
3a and 3b are conceptual diagrams of the external housing and the mounting structure of the multi-fusion inertial sensor unit of the integrated monitoring system and behavior analysis of offshore structures using the wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention, respectively. .
4A and 4B are conceptual views of a mounting structure when the outer housing of the multi-fusion inertial sensor unit of FIG. 2 is spherical, respectively.
5 is a flowchart illustrating a behavior analysis and integrated monitoring method of a wired/wireless network-based offshore structure according to an embodiment of the present invention.
6 is a detailed flowchart of FIG. 5 .
7A and 7B are views illustrating the arrangement of at least one multi-fusion inertial sensor unit for comparison of measurement data of at least one multi-fusion inertial sensor unit of FIG. 6 .
7c and 7d are diagrams showing the arrangement of the multi-fusion inertial sensor unit in the case of measuring the state or behavior of a shipment loaded on a ship.
8 is a flowchart illustrating a method for analyzing the behavior of an offshore structure of a multi-fusion inertial sensor unit and improving integrated monitoring precision according to an embodiment of the present invention.
9A, 9B, and 9C are diagrams showing the 6 DOF motion of an offshore structure, the complementary relationship between the GPS receiver and the remaining inertial sensor units, and the correction concept when the multi-fusion inertial sensor unit cannot be placed at the center of gravity of the offshore structure; It is a drawing showing

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

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. In addition, terms such as “…unit”, “…group”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. have

Throughout the specification, an offshore structure includes a ship, a cargo of a ship, an offshore platform, an offshore plant, etc., and is used to include a floating structure as well as a structure fixed to the seabed.

Now, the behavior analysis and integrated monitoring system of offshore structures using a wired/wireless network-based multi-inertial sensor unit according to an embodiment of the present invention will be described in detail with reference to the drawings.

1A and 1B are block diagrams of a behavior analysis and integrated monitoring system of an offshore structure using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment and a modified embodiment of the present invention, respectively.

As shown in Fig. 1a, the behavior analysis and integrated monitoring system 1 of offshore structures using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention is installed for each offshore structure. At least one sensor module 11 capable of measuring the state or behavior of A multi-fusion inertial sensor unit 10, a gateway 30 for wireless communication with the wired/wireless communication module 13 of the multi-fusion inertial sensor unit 10, and a host PC for wired communication with the gateway 30 (50) and the host PC (50) and the long-distance wireless communication may include a behavior analysis and integrated monitoring unit (70) of the offshore structure.

The host PC 50 can analyze the behavior of the offshore structure and process the integrated monitoring data, and the behavior analysis and the integrated monitoring unit 70 of the offshore structure may be physically integrated, and may be disposed at a long distance.

Here, the wired communication is Ethernet communication, which means a coaxial cable network adopted as a standard by the IEEE (American Institute of Electrical and Electronic Engineers) as a model of a network used in a local area network (LAN), which is an information communication network within a specific area. can

The behavior analysis and integrated monitoring system (1) of offshore structures using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention is located in the multi-fusion inertial sensor unit (10) with the host PC (50) and a short distance. Problem of cable installation between the nodes of the multi-fusion inertial sensor unit 10 and between the multi-fusion inertial sensor unit 10 and the host PC 50 by including a wired/wireless communication module 13 capable of wireless communication It is possible to freely install the multi-fusion inertial sensor unit 10 to the offshore structure without the need to supply power for data communication to each of the multi-fusion inertial sensor units 10, and power only for the gateway 30 , and since the gateway 30 and the host PC 50 are connected by a data cable, power can be supplied stably.

As shown in Fig. 1b, the behavior analysis and integrated monitoring system (1') of offshore structures using a wired/wireless network-based multiple fusion inertial sensor unit according to a modified embodiment of the present invention is installed for each offshore structure. At least one sensor module 11 ′ capable of measuring the state or behavior of a structure and a sensor unit interface 12 for interfacing transmission and reception of data measured by the at least one sensor module 11 ′ are provided in one housing ( A multi-fusion inertial sensor unit (10') included in 15'), a gateway 30' for wired communication with the sensor unit interface 12 of the multi-fusion inertial sensor unit 10' by cable, and the gateway ( 30') and a host PC 50' for wireless communication.

The sensor unit interface 12 may be connected to the wired/wireless communication module 15 .

Here, wireless communication is a wireless communication method and system in a wireless personal area network (WPAN) environment based on IEEE 80215, IEEE 802151 is Bluetooth technology, and IEEE 802152 is short-range wireless network and WLAN: Wireless Local Area Network), IEEE 802153 and IEEE 802153a relate to high-speed WPAN and UWB, and IEEE 802154 is a ZigBee technology.

IEEE 802154's ZigBee technology is showing rapid growth in the process of technology development and market formation compared to several wireless networking standards such as Bluetooth and Wi-Fi, which are competing for position in the market. The IEEE 802154 standard dealing with the (PHY) layer and the MAC (MAC) layer was completed in 2003, and the ZigBee standardization work for the upper layer related to the application was completed at the end of 2004 by the ZigBee Alliance.

The communication mode of the ZigBee network is based on the master-slave method, but supports a P2P (Point to Point) method called a mesh mode that allows multiple paths to be selected.

That is, power consumption can be minimized by designating one device as a coordinator in the network and changing the nodes in the dormant mode to the active state only when a transmission/reception function is required.

In addition, since coordinators of neighboring networks can communicate with each other, a large-scale network can be configured through network expansion. In the case of mesh mode where multi-path selection is possible, when a specific node is not recognized, the network can be changed by changing the path. It can be configured automatically.

ZigBee nodes can operate as a coordinator or an end device, and by concentrating most of the load required for communication on the coordinator and reducing the functions of the end device relatively, resources and costs required for implementation can be reduced.

The most important characteristic of ZigBee communication is a low-power system that can withstand several months with a single battery, and the system structure is simple, so most of them are implemented with an 8-bit microcontroller (MCU).

ZigBee is wireless, so it can be installed without an expensive backbone or infrastructure and is easy to manage.

A basic star network type or a P2P (Peer to Peer) network type is naturally supported, and it is possible to form a complex network by supporting a mesh network type that other wireless standards similar to ZigBee cannot support.

And it is suitable for a sensor unit network that can interoperate various ZigBee devices according to the ZigBee standard.

It may further include a behavior analysis and integrated monitoring unit 70' of the offshore structure that performs long-distance wireless communication with the host PC 50'.

According to the modified embodiment of Fig. 1b, as in the embodiment of Fig. 1a, there is no need to supply power to each of the multi-fusion inertial sensor units 10 for data communication, only the gateway 30 is supplied with power. Since wireless communication is possible between the multiple fusion inertial sensor unit 10' and the gateway 30' after cable connection between the gateway 30' and the host PC 50', each There is an advantage in that data measured by the multi-fusion inertial sensor unit 10' can be reliably transmitted to the host PC 50' through the gateway 30'.

Now, with reference to FIG. 2, the internal configuration of the multi-fusion inertial sensor unit of the integrated monitoring system and behavior analysis of offshore structures using the wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention will be described in detail.

FIG. 2 is a block diagram illustrating the internal configuration of the multi-fusion inertial sensor unit of FIG. 1 .

As shown in FIG. 2, the multi-fusion inertial sensor unit 10 of the behavior analysis and integrated monitoring system 1 of an offshore structure using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention is a sensor module 11 , a sensor unit interface 12 , a wired/wireless communication module 13 , an A/D converter 16 , and a control module 17 .

The sensor module 11 includes an inertial sensor unit comprising a gyroscope 11a, an accelerometer 11b, and a geomagnetism 11c for measuring the self-movement of an offshore structure, and the inertial sensor unit 6 degrees of freedom motion precision It may include the barometer 11d and the GPS receiver 11e for providing location and altitude information of the offshore structure in order to increase the altitude.

The gyroscope 11a, the accelerometer 11b, and the geomagnetism 11c are made of a three-axis system, and are smartly formed in a compact size by the MEMS method together with the barometer 11d and the GPS receiver 11e 6 Degrees of freedom motion can be measured and provided.

Since the sensor module 11 can be connected to an external sensor unit such as the wind direction/anemometer 60 and the CCD camera 70 through a cable or short-distance communication through the physical external interface 18, the wind direction/anemometer 60 and the CCD The camera 70 is connected to the multi-fusion sensor unit 10 and the external interface 18 even without a separate communication module to convert analog data into digital data through the A/D converter 16, and the sensor It is connected to the unit interface 12 and can be connected to the gateway 30 by wire and wireless, so that external environmental data, for example, wind direction, wind speed, external image information, etc., can be linked with the data of the marine structure itself.

Therefore, the behavior data of the offshore structure itself and the multi-fusion inertial sensor unit (10) even if there is no configuration for a separate sensor unit network or communication wiring and power supply for the wind direction / anemometer 60 and the CCD camera 70 of the host PC (50) by connecting through the sensor unit interface 12 of ) in the data processing or wireless transmission from the host PC 50 to the monitoring unit 70, it is possible to increase the accuracy of safety evaluation for the movement of offshore structures even on land far from the sea.

On the other hand, the control module 17 of the multi-fusion inertial sensor unit 10 may be composed of a microprocessor or a microchip, and electrically prevent/corrode the outer housing 15 of the multi-fusion inertial sensor unit 10 . An electrical method control unit 17a for prevention control, a power supply unit 17b that can be selectively charged by a battery as well as a constant power supply, the sensor module 11 or the wind direction/anemometer 60 and a CCD camera 70 A memory unit 17c for temporarily storing analog data received from analog data into digital data by the A/D converter 16, and the method control unit 17a, power supply unit 17b, and memory unit 17c and a control unit 17d for controlling the sensor module 11 and the wired/wireless communication module 13 .

3A to 4B, the outer housing 15 and the outer housing 15 of the multi-fusion sensor unit 10 can be freely installed in multiple directions with respect to the offshore structure, and a battery can be supplied, and the An external housing mounting structure integrally including a transmission/reception antenna for supporting the wired/wireless communication module 13 will be described.

3a and 3b respectively show the external housing and the mounting structure of the multi-fusion inertial sensor unit of the behavior analysis and integrated monitoring system (1) of offshore structures using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention. is a conceptual diagram, and FIGS. 4A and 4B are conceptual diagrams of a mounting structure when the outer housing of the multi-fusion inertial sensor unit of FIG. 2 is spherical, respectively.

As shown in Fig. 3a, Toshiba, the external housing ( 15) may be configured in a rectangular box shape, a surface antenna 15a may be installed on the surface of the box shape, and a waterproofing unit 15b may be formed along an outer surface other than the outer housing 15, and , The wind direction/anemometer 60 and the CCD camera 70 and the external interface 18 connected with a cable are protected by an external interface waterproof protection part 15c that protrudes by a predetermined length with respect to the external housing 15, When the cables of the wind direction/anemometer 60 and the CCD camera 70 are charged from the outside, a predetermined length is waterproof, so that the inside of the outer housing 15 is completely covered with an external waterproofing material, so that it can be completely airtight and waterproof.

In addition, the mounting structure 20 to which the box-shaped outer housing 15 is mounted has an E-shaped tray-shaped one-shaped pillar 21 and a vertical lower portion with respect to the L-shaped pillar 21 . An adhesive support part 23 including an adhesive tape 23a that is extended to cross each other and supported on the plane of the marine structure and is detachably attachable by a predetermined force, and the I-shaped pillar part 21 protrudes from the center A fitting portion 25 formed to increase the measurement precision by being formed, the outer housing 15 is fitted and protected by being blocked from the outside, and maintaining the multi-fusion inertial sensor unit 10 in a suspended state, and the I-shaped pillar When the external housing 15 is fitted to the antenna part 27 extending vertically intersecting from the upper part of the part 21 and the fitting part 25, power is supplied to the power supply part 17b. A charging unit 29 capable of charging a constant power or a battery may be further included.

As shown in FIG. 3B , the modified mounting structure 30 coupled to the box-shaped outer housing 15 includes a plate-shaped seating part 31 on which the external housing 15 is mounted and the seating part 31 . A multiple degree of freedom joint hinge part 33 that can be disposed at a predetermined angle, and the multiple degree of freedom joint hinge part 33 is connected to the surface of the marine structure and is detachably attached by a predetermined force. The directionality can be freely installed with respect to the offshore structure, which is difficult to install, including the adhesive support part 35 including the adhesive tape 35a as possible.

On the other hand, as shown in Figures 4a and 4b, the multi-fusion inertial sensor unit ( The outer housing 15 of 10) may have a spherical shape so that an omnidirectional surface antenna 41 can be formed with respect to the outer surface, and the spherical outer housing 15 is connected to the flexible band part 43 to form a columnar shape. It can also be easily installed by banding for offshore structures of

When the external housing 15 of the multi-fusion inertial sensor unit 10 of the integrated monitoring system 1 and the behavior analysis of offshore structures using the wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention is made of a spherical shape A battery/control unit wireless module/antenna may be disposed on the mounting structure 40 for receiving and supporting the outer housing 15 , and may be easily installed on a pole or the like using the flexible band unit 43 .

When the outer housing 15 of the multi-fusion inertial sensor unit 10 is made in a spherical shape, the durability is good, the omnidirectional antenna can be provided on the surface, the antenna can be arranged adjacently, and the point adhesive part 51 is used to By fixing the multi-fusion inertial sensor unit 10 is attached to the marine structure like a pendulum, it can move freely and measure accurately.

Now, with reference to FIGS. 5 to 9C, the behavior analysis and integrated monitoring method of an offshore structure using a wired/wireless network-based multi-fusion inertial sensor unit according to an embodiment of the present invention will be described in detail.

5 is a flowchart illustrating a behavior analysis and integrated monitoring method of an offshore structure based on a wired/wireless network according to an embodiment of the present invention, and FIG. 6 is a detailed flowchart of FIG. 5 .

5 and 6, in the behavior analysis and integrated monitoring method of a wired/wireless network-based offshore structure according to an embodiment of the present invention, the multi-fusion inertial sensor unit 10 installed in the offshore structure, respectively, is By measuring the state or behavior data of the structure itself (S11a), it is determined whether the condition or behavior data of the offshore structure itself is provided when the wave height is 3 m or more, the same as the standard of the storm warning (S11b), and the sea when the wave height is 3 m or more When the state or behavior data of the structure itself is provided, measurement data is collected, and the wind direction/anemometer 60 measures the external environment data (12a), and determines whether the wind speed is 14 m/s or more as in the standard of the storm warning. If the wind speed is 14 m/s or more as in the standard of the storm warning, measurement data is collected in the multi-fusion inertial sensor unit 10 through the sensor unit interface 12 (S10).

The multi-fusion inertial sensor unit 10 stores the measured state or behavior data of the offshore structure itself and the external environment data measured from an external sensor unit such as the wind direction/anemometer 60 or CCD camera 70 in the internal memory, and (S20), the multi-fusion inertial sensor unit 10 provides the state or behavior data of the offshore structure itself when the measured state or behavior data of the offshore structure itself is a predetermined value, that is, when the wave height is 3 m or more, and at the same time the wind direction / It is primarily determined whether the external environment data measured by the anemometer 60 is a predetermined value, that is, the wind speed is 14 m/s or more (S30), and releases the sleep mode of the wired/wireless communication module 13 (S40) , data can be transmitted and alarmed to the host PC 50 through the gateway 30 (S50).

As described above, in the behavior analysis and integrated monitoring method of a wired/wireless network-based offshore structure according to an embodiment of the present invention, not only the primarily measured state or behavior data of the offshore structure itself but also the external environment data are simultaneously determined. By releasing the sleep mode of the wired/wireless communication module 13, it is possible not only to provide the data measured by the multi-fusion inertial sensor unit 10 in near real time, but also to increase the accuracy of data processing, and Power consumption can also be reduced.

On the other hand, the host PC 50 may compare the node data measured by at least one or more multi-fusion inertial sensor units 10 installed in each offshore structure to make a secondary determination about the posture and movement of the offshore structure ( S60).

7A and 7B are diagrams illustrating the arrangement of the multi-fusion inertial sensor unit when the difference in the state or behavior dimension of the offshore structure to be measured is large in two dimensions and one dimension, respectively.

As shown in Figure 7a, a large ship is a structure with a large difference in dimensions in the horizontal direction and the vertical direction.

In this case, in order to compare the measurement data between at least one or more multi-fusion inertial sensor units 10, the first multi-fusion inertial sensor unit 10 is placed on a high part of a ship with a large movement, and a high part for wind direction/wind speed measurement It is possible to facilitate wired/wireless connection through the external interface 18 with the wind direction / anemometer 60 installed in the The first multi-fusion inertial sensor unit 10 is disposed at the forefront of the large moving ship, and the third multi-fusion inertial sensor unit 10" is disposed at the part closest to the center of gravity of the ship, 1 In the difference determination step (S30), when the measured data value exceeds a predetermined value simultaneously, the sleep mode of the wired/wireless communication module 13 is released (S40), and the host PC through the gateway 30 In wired/wireless data communication with 50, the host PC 50 compares the measured values of the first and second multi-fusion inertial sensor units 10 and 10' and the third multi-fusion inertial sensor unit 10" to each other. can be compared.

When the measured value of the third multi-fusion inertial sensor unit 10" provides a reference value, the measured values of the first and second multi-fusion inertial sensor units 10 and 10' are compared to the reference value. It can be determined secondarily whether or not the predetermined value or more (S60).

As shown in FIG. 7B , offshore structures such as buoys, cranes, and offshore wind turbines are structures with a large dimension difference in the vertical direction.

In this case, the first and second multi-fusion inertial sensor units 10 and 10' are installed in the upper part of the offshore structure, such as buoys, cranes, and offshore wind turbines, with the greatest movement and the lower structure with the least movement, respectively, and they are measured values can be compared with each other.

When the measured value of the second multi-fusion inertial sensor unit 10 ′ provides a reference value, compared to the reference value, the measured value of the first multi-fusion inertial sensor unit 10 becomes a comparison value and is equal to or greater than a predetermined value A secondary determination may be made (S60).

In this way, by placing at least one multi-fusion inertial sensor unit 10 for comparison of measurement data of at least one or more multi-fusion inertial sensor units at a position where the comparison value compared to the reference value is the largest based on the difference in motion, the reference value compared to the measured value When the difference is equal to or greater than a predetermined value, the CCD camera 70 may take a video image (S65).

The host PC 50 may check the on-site situation from the CCD camera 70 to make a third determination of whether to respond to the on-site (S70).

Accordingly, the multi-fusion inertial sensor unit 10 collects and stores unnecessary photo taking or unnecessary large-capacity image data from the CCD camera 70 and transmits it to the host PC 50 through the gateway 30 . It is possible to prevent data processing and use of a large amount of power, and it is possible to respond to the field through the first, second, and third judgments (S80), thereby minimizing access to hazardous work environments such as offshore structures. .

7c and 7d are diagrams showing the arrangement of the multi-fusion inertial sensor unit in the case of measuring the state or behavior of a shipment loaded on a ship.

7c and 7d, in order to measure the state or behavior of the shipment, it is necessary to place the multi-fusion inertial sensor unit 10 at the center of gravity of the shipment. It is desirable to obtain, but in the case of most shipments, internal access is not possible, so if the sensor unit can be installed on top of the shipment, on top of the shipment, or on the top of the shipment if it cannot be installed on top of the shipment, close to the shipment It is possible to install the multi-fusion inertial sensor unit (10).

At this time, as in FIG. 7A , the first multi-fusion inertial sensor unit 10 is disposed on a high part of a moving ship to measure the wind direction/wind speed, and the wind direction/anemometer 60 installed in the high part and to secure the field of view. It is possible to facilitate wired and wireless connection through the external interface 18 with the CCD camera 70 installed high, and the second multi-fusion inertial sensor unit 10 ′ is the most from the first multi-fusion inertial sensor unit 10 . The measurement data in the first determination step (S30) is compared with the measured value of the third multi-fusion inertial sensor unit (10") arranged near the center of gravity of the shipment by placing it on the forefront of a ship with a large movement far away. When the value simultaneously exceeds a predetermined value, the sleep mode of the wired/wireless communication module 13 is released (S40), and wired/wireless data communication is performed with the host PC 50 through the gateway 30, and the host PC Reference numeral 50 compares the measured values of the first and second multi-fusion inertial sensor units 10 and 10' and the multi-fusion inertial sensor unit 10 ″ near the center of gravity.

On the other hand, in the behavior analysis and integrated monitoring method of a wired/wireless network-based offshore structure according to an embodiment of the present invention through FIGS. 8, 9A, 9B, and 9C, the multi-fusion inertial sensor unit 10 of A method to increase the precision of the behavior analysis and integrated monitoring of offshore structures will be described.

8 is a flowchart illustrating a method for analyzing the behavior of an offshore structure and improving integrated monitoring precision of a multi-fusion inertial sensor unit according to an embodiment of the present invention, and FIGS. 9a, 9b, and 9c are 6 DOF of an offshore structure A diagram showing the motion, the complementary relationship between the GPS receiver 11e and the rest of the inertial sensor units, that is, the gyroscope 11a, the accelerometer 11b, and the geomagnetism 11c, and the weight of the multi-fusion inertial sensor unit of the offshore structure It is a diagram showing the concept of correction in the case where it cannot be arranged in the center.

As shown in FIG. 8 , in the method for improving the behavior analysis and integrated monitoring precision of an offshore structure of the multi-fusion inertial sensor unit according to an embodiment of the present invention, the multi-fusion inertial sensor unit 10 measures the behavior of the offshore structure. step (S110), and mathematically measuring the altitude and speed using the acceleration and air pressure measured using the accelerometer (11b) and the barometer (11d) of the multi-fusion inertial sensor unit (10) (S120) and measuring the position of the offshore structure with the GPS receiver 11e (S130), measuring the altitude and speed of the offshore structure (S120), and measuring the position of the offshore structure (S130) Correcting the translational motion and direction data of the offshore structure using the altitude, speed, and position of the offshore structure obtained through the step (S140) and the step of the multi-fusion inertial sensor unit 10 calculating a precision 6-degree-of-freedom motion value (S150) may be included.

As shown in Fig. 9a, even if an object floating on the sea is a marine structure that does not move like a ship, it continues forward and backward reciprocating motion, forward and backward gangrene motion, horizontal axis left and right reciprocating motion, up and down reciprocating motion, up and down axis rotational motion, That is, it can be seen that the motion is 6 degrees of freedom.

Accordingly, since the position change continuously occurs, the change in the direction and movement of the marine structure can be more precisely measured using the position change measured through the GPS signal received by the GPS receiver 11e.

As shown in FIG. 9B , for example, if the remaining inertial sensor units, namely, the gyroscope 11a, the accelerometer 11b, and the geomagnetism 11c can measure only the angular change of the offshore structure, the remaining inertial sensor units In the case of the multi-fusion inertial sensor unit 10 to which the GPS receiver 11e is coupled, the distance value actually moved through the change in position between the two antennas of the multi-fusion inertial sensor unit 10 is also measured and moves more precisely can be measured.

In addition, as shown in FIG. 9C, the center of gravity is a point where three components connecting one vertex and the midpoint of the opposite side meet in a triangle, so the first to second 3 When the multi-fusion inertial sensor unit (10, 10', 10") is arranged, the midpoint of the side BC of the triangle ABC is M, and the center of gravity G(x, y) is the division of the line segment AM by 2:1. Since it is a point, it can be obtained by calculating the average of the coordinates of the three points by Equation 1.

(Equation 1)

Therefore, the multi-fusion inertial sensor unit 10 finds the center of gravity using the altitude and speed measured using the accelerometer 11b and the barometer 11d, and the location information obtained through the GPS receiver 11e, and the Changes in the direction and movement of offshore structures can be measured more precisely.

10: multi-fusion inertial sensor unit 11: sensor module
13: wired/wireless communication module 12: sensor interface
30: gateway 50: host PC
70: Behavior analysis of offshore structures and integrated monitoring unit

Claims (10)

At least one sensor module installed for each offshore structure and capable of measuring the state or behavior of the offshore structure, and a wired/wireless communication module capable of transmitting and receiving data measured by the sensor module in a wired or wireless manner; a multi-convergence inertial sensor unit including, in one housing, a sensor interface for interfacing an external sensor module interworking with the sensor module or an external interface and the wired/wireless communication module;
a gateway for wired/wireless communication with the wired/wireless communication module of the multi-fusion inertial sensor unit;
a host PC performing wired/wireless communication with the gateway; and
It includes a behavior analysis and integrated monitoring unit of offshore structures that perform long-distance wireless communication with the host PC,
The sensor module includes a 3-axis gyroscope, 3-axis accelerometer, and 3-axis geomagnetism for measuring the state or behavior of the offshore structure. A barometer and a GPS receiver for providing information are integrally formed in one outer housing in a MEMS manner,
The multi-fusion inertial sensor unit includes an electrical corrosion control unit for electrically controlling the external housing to prevent corrosion/corrosion, a power supply that can be selectively charged by a constant power source or a battery, and a wind direction/ An A/D converter for converting analog data received from an anemometer and CCD camera into digital data, a memory unit for temporarily storing the digital data converted by the A/D converter, the method control unit, the power supply unit, and the A memory unit, the sensor module, and a control unit for controlling the wired / wireless communication module,
The control unit controls the sleep mode of the wired/wireless communication module using the data measured by the multi-fusion inertial sensor unit and the external sensor module, and the multi-fusion inertial sensor unit includes first to third multi-fusion inertial sensors. Behavior analysis of an offshore structure using a wired/wireless network-based multi-fusion inertial sensor unit that controls to increase the accuracy of the behavior measurement of the offshore structure by comparing at least two of the first to third measured values of each unit; and Integrated monitoring system. delete delete The method of claim 1,
The outer housing of the multi-fusion inertial sensor unit has a rectangular box shape or a spherical shape, a waterproof part is formed on the outer periphery, and further includes a mounting structure for accommodating the outer housing,
At least a part of the mounting structure includes a battery, an antenna, and a wired/wireless communication module, and the mounting structure further comprises an adhesive support to which an adhesive tape is attached, which is detachably coupled to the marine structure by a predetermined force. Behavior analysis and integrated monitoring system of offshore structures using multiple fusion inertial sensor units based on wired/wireless network. 5. The method of claim 4,
In the mounting structure, a flexible band is formed to facilitate mounting to the offshore structure, and the mounting structure is provided with a multiple degree of freedom articulation hinge that can freely install the outer housing at a predetermined angle with respect to the adhesive support portion. Behavior analysis and integrated monitoring system of offshore structures using multiple fusion inertial sensor units based on wired/wireless network. At least one or more multi-fusion inertial sensor units and wind direction / anemometer respectively installed in the offshore structure measure a first value and external environment data for the state or behavior of the offshore structure, respectively, and the first value is predetermined If the value is greater than the value, the multi-fusion inertial sensor unit collects through a sensor interface and stores the collected in a memory unit;
First determining whether the first value for the state or behavior of the offshore structure and the first value of the external environment data are both greater than or equal to a predetermined value;
When both the first value for the state or behavior of the offshore structure and the first value of the external environment data are above a predetermined value, the sleep mode of the wired/wireless communication module is released, and data is transmitted and alarmed to the host PC through the gateway. Behavior analysis and integrated monitoring method of offshore structures using a wired/wireless network-based multi-fusion inertial sensor unit comprising the steps of: 7. The method of claim 6,
Comparing, by the host PC, at least one or more node data values measured by at least one or more multi-fusion inertial sensor units installed in each of the offshore structures, secondarily determining the posture and movement of the offshore structures;
allowing a CCD camera installed on the offshore structure to photograph the offshore structure when the difference between the at least one node data value is greater than or equal to a predetermined value;
Behavior analysis and integration of offshore structures using a wired/wireless network-based multi-convergence inertial sensor unit comprising the step of the host PC tertiarily determining whether to respond on-site in response to the video image of the offshore structure received from the CCD camera monitoring method. 8. The method of claim 7,
The multi-fusion inertial sensor unit installs first to third multi-fusion inertial sensor units with the largest difference in measured values at the same time point,
The first multi-fusion inertial sensor unit is disposed on a high part of an offshore structure with large movement and is connected to the wind direction/anemometer and the CCD camera through an external interface via wired/wireless connection, and the second multi-fusion inertial sensor unit is the first multi-fusion inertial sensor unit. It is placed at the forefront of the offshore structure that is farthest from the sensor unit and moves the most,
The third multi-fusion inertial sensor unit is disposed at the nearest part to the center of gravity of the offshore structure, or
The first multi-fusion inertial sensor unit is installed at the upper end of the offshore structure with the greatest movement, and the second multi-fusion inertial sensor unit is installed on the lower structure with the smallest movement of the offshore structure. Wired/wireless network-based multi-fusion Behavior analysis and integrated monitoring method of offshore structures using an inertial sensor unit. 8. The method of claim 7,
measuring, by the multi-fusion inertial sensor unit, the behavior of the offshore structure;
calculating altitude and speed using the accelerometer and barometer of the multi-fusion inertial sensor unit;
measuring the position of the marine structure with a GPS receiver;
correcting the translational motion and direction data of the offshore structure using the altitude, speed, and position of the offshore structure obtained in the step of measuring the altitude and speed of the offshore structure and the step of measuring the position of the offshore structure;
Behavior analysis and integrated monitoring method of offshore structures using a wired/wireless network-based multi-fusion inertial sensor unit, comprising the step of precisely correcting, by the multi-fusion inertial sensor unit, a motion value of 6 degrees of freedom. 10. The method of claim 9,
When the multi-fusion inertial sensor unit cannot be arranged at the center of gravity of the offshore structure, the multi-fusion inertial sensor unit is disposed around the center of gravity of the offshore structure at least two or more, and the first and second measured values between them Behavior analysis and integrated monitoring method of offshore structures using a wired/wireless network-based multi-fusion inertial sensor unit that corrects that the multi-fusion inertial sensor unit is virtually placed at the center of gravity through comparison.

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