KR20060115242A - Docking distance detector and docking distance system - Google Patents

Abstract

A docking distance measuring apparatus and a system for guiding the docking distance using the apparatus are provided to reduce the error of the docking distance due to the size of a ship and the difference between the tides by constituting a reflection body so as to irradiate the laser beam. A docking distance measuring apparatus calculates the distance of a ship by measuring the time consumed for the laser beam irradiated from the ship to return to the ship. The docking distance measuring apparatus includes a laser sensor section(110), a prism(120), a reflection body, a stepping motor(140), an encoder(160), and a control unit. The encoder is connected to the stepping motor by a timing belt to calculate the position information of the reflection body by detecting the rotational speed of the stepping motor. The control unit includes an I/O board, a motor driver board, and an embedded system board.

Description

Vessel eyepiece distance measuring device and vessel eyepiece guide system using same {DOCKING DISTANCE DETECTOR AND DOCKING DISTANCE SYSTEM}

1 is a block diagram of a ship eyepiece measuring device according to the invention.

2 is a block diagram of a three-displacement mirror body according to the present invention.

Figure 3 is a block diagram of a ship eyepiece distance measuring apparatus according to another embodiment of the present invention.

Figures 4a to 4b are each a state diagram showing the operation of the ship eyepiece measuring device.

Figure 5 is a state diagram showing the operation of the ship eyepiece measuring device.

6 is a block diagram of a ship eye guidance system according to the invention.

Figures 7a to 7b are each a state diagram showing the operation of the conventional ship eyepiece measuring device.

* Explanation of symbols for main parts of drawings *

100: ship eyepiece distance measuring device 110: laser sensor unit

120: prism 140: stepping motor

150: timing belt 160: encoder

170: housing 180: protective glass

210: three-displacement mirror 220: reflection mirror

211: axis of rotation 300: embedded system board

310: I / O board 320: motor driver board

The present invention relates to a ship eyepiece distance measuring device and a ship eyepiece guidance system using the same, the sea level and horizontal to the ship eyepiece distance measuring device for calculating the distance to the ship by measuring the return time is reflected back to the laser beam irradiated to the ship A ship's eyepiece distance measuring device and a docking eyepiece guidance system using the same to reduce the error of the eyepiece measurement distance caused by various ship sizes or tidal wave difference by configuring the reflector to irradiate the laser beam to the left and right along one side To provide.

In general, in the case of large vessels of 500 tons or more, in order to dock at the dock, the tugboat is dragged or pushed to the dock at the side of the ship with the help of tugs and pilots to dock the ship at the dock, and the sensor device installed at the dock and dock is docked. It sends information to the pilot in real time, such as the distance between the ship and the pier, the speed of approach and the angle of the ship.

Thus, the pilots collect the information received from the tugboat and the sensor device installed in the docks to calculate and direct the best docking route to safely dock the vessel to the docks.

However, even if the pier is the same as the geographic characteristics according to the pier, accidents occurring during the berthing occurs frequently because weather conditions such as tidal currents, wind direction, etc. are not constant when docking at the pier, in particular, accidents of such large vessels are human In addition, additional damages such as marine pollution and damage to the pier facilities have occurred as well as physical damage.

Therefore, in order to reduce the risk of an accident at the time of berthing of the ship, an experienced banker and information necessary for berthing of the ship are required. In particular, the distance between the main ship (the berthing vessel) and the pier during berthing of the ship is required. There is a growing need for sensor devices to accurately measure.

Hereinafter, referring to the drawings, a detailed description of a conventional ship's eyepiece measurement device is as follows. FIGS. 7A to 7B are state diagrams illustrating operations of a conventional ship's eyepiece measurement device.

In general, the sensor device for measuring the distance of the ship is classified into three types, using sound waves, radio waves, and lasers, and the approach speed and distance of the ship are measured.

First, the docking distance and speed detection device of the ship using sound waves are installed in the water at the end of the pier using the sound waves (sonar). However, there is a problem in that regular cleaning is necessary due to deterioration of the performance of seaweeds and shellfishes, interference caused by fish, etc., and a short measurement distance and low accuracy.

Next, the berth distance and speed detection of the vessel using the radar is to measure the position and orientation of the vessel by using radio waves, there is an advantage that can be used regardless of the size of the vessel, but there is a problem that the accuracy of the measurement is low .

Finally, the berth distance and speed detection of the ship using the laser is a device using the straightness of the laser, calculates the distance by measuring the time the irradiated laser beam is reflected back to the ship, compared to the device using the sound waves or radio waves Its high accuracy makes it the most widely used and can be divided into fixed and floating according to its installation method.

As shown in Figure 7a, the fixed detection device using a laser is configured to detect the approach speed and distance of the approaching vessel 30 by installing a laser distance sensor 10 at the end of the pier 20. However, this is suitable for large vessels of more than 30000t, there was a disadvantage that the detection of small and medium vessels lower than the height of the pier 20 is impossible.

As shown in FIG. 7B, the floating sensing device using the laser has a sensor rail at the end of the pier 20 so that the height of the laser distance sensor 10 is automatically adjusted according to the sea level, thereby approaching the speed of the approaching vessel 30. And distance are detected. Although there are advantages that can be detected for ships of various sizes, due to the difference between tides, the sensor may not be able to move due to the algae and shellfish inhabiting the sensor rails. There was a safety problem during maintenance because it is installed on the front of the pier (20).

On the other hand, in both the stationary sensing device (FIG. 7A) or the floating sensing device (FIG. 7B), in addition to the above-mentioned problems, the speed and distance according to the approach of the ship are possible with one sensor. In order to know the eyepiece angle, etc.), there is a problem that two or more sensor devices are required.

In order to solve the above problems, the present invention is to configure the reflector to irradiate the laser to the ship eyepiece distance measuring device using the laser to the left and right along the horizontal plane, the two or more ship eyepiece distance measuring device is required It is characterized in that it provides to solve the conventional disadvantages as a single device.

In particular, the reflector of the ship eyepiece distance measuring apparatus of the present invention is configured by any one selected from a reflection mirror or a triangular columnar three-dimensional mirror body having three mirror surfaces with different inclination angles, at least two ship eyepiece distances. It is characterized in that to provide a solution to solve the conventional disadvantage that the measuring device is required.

In addition, in the configuration of the ship eyepiece guidance system using the above-mentioned ship eyepiece distance measuring device, it is characterized by providing a ship eyepiece guidance system to receive and transmit more accurate and fast information and control signals to the wireless terminal.

In order to achieve the object as described above, the present invention, in the ship eyepiece distance measuring device for calculating the distance of the ship by measuring the return time of the laser beam irradiated to the ship, the laser for irradiating and detecting the laser beam A prism having a sensor unit, a reflecting surface, reflecting a laser beam radiated from the laser sensor unit and changing a direction of irradiation, and a reflector for rotating a rotation axis about the rotation axis and irradiating a laser beam reflected by the prism to a ship And a stepping motor connected to the rotating shaft of the reflector, the stepping motor driving the rotating body so that the laser beam is irradiated from side to side along a plane parallel to the sea surface, and connected to the stepping motor with a timing belt. An encoder for detecting the position information of the reflector by detecting a signal, and an I / O board for controlling the laser sensor unit. And a motor driver board for controlling the stepping motor, control information of each of the I / O board and the motor driver board, and position information of the reflector detected by the encoder, and measuring from the laser beam to the vessel measured. Provides a ship eyepiece distance measuring device comprising a control unit composed of an embedded system board having an operating system for calculating eyepiece information such as distance, eyepiece speed, eyepiece angle, and outputting the calculated eyepiece information by wire and wirelessly. .

In addition, the reflector is composed of a triangular columnar three-displaced mirror body having different inclination angles, the laser beam reflected by the prism is further irradiated to the ship three phases with respect to the sea surface and the vertical plane, characterized in that Provide ship berth measuring device.

In addition, the reflector is composed of a reflecting mirror, to provide a ship eyepiece measuring apparatus, characterized in that for irradiating the ship with the laser beam reflected by the prism.

On the other hand, it has a laser sensor unit for irradiating and detecting a laser beam, a reflective surface, a prism for changing the direction of irradiation by reflecting the laser beam irradiated from the laser sensor unit, and rotates around the rotation axis, the prism is A stepping motor connected to a reflector for irradiating a laser beam to a ship, a rotating shaft of the reflector, and for driving the rotating body so that the laser beam is irradiated from side to side along a plane parallel to the sea surface; An encoder that is connected to a timing belt and detects the rotational speed of the stepping motor to calculate position information of the reflector, an I / O board for controlling the laser sensor unit, a motor driver board for controlling the stepping motor, and the I The control information of each of the O / O board and the motor driver board and the position information of the reflector detected by the encoder are collected. And a control unit configured of an embedded system board having an operating system for calculating eyepiece information such as a measurement distance, eyepiece speed, and eyepiece angle measured from a laser beam to a vessel, and outputting the calculated eyepiece information by wire and wirelessly. A ship eyepiece distance measuring device, an electronic board for receiving the eyepiece information of the ship from the ship eyepiece distance measuring device and outputting the number and symbols of the ship, a laser sensor unit of the ship eyepiece distance measuring device, a reflector, a stepping motor, an encoder, A management server which transmits a control signal for controlling each of the control units, receives the ship's eyepiece information wirelessly from the ship's eyepiece distance measuring apparatus and makes a database, and processes and transmits the eyepiece information to correspond to a plurality of wireless terminals; The management server receives and displays the eyepiece information of the vessel and the pipe It provides a ship berthing induction system consisting of a wireless terminal for transmitting a control signal for controlling the server.

In addition, the reflector is composed of a triangular columnar three-displaced mirror body having different inclination angles, the laser beam reflected by the prism is further irradiated to the ship three phases with respect to the sea surface and the vertical plane, characterized in that Provide ship berthing guidance system.

In addition, the reflector is composed of a reflection mirror, to provide a ship eye guidance system, characterized in that for irradiating the ship with a laser beam reflected by the prism.

Hereinafter, with reference to the accompanying drawings, each preferred embodiment of the ship eyepiece distance measuring apparatus and the ship eyepiece guide system using the same according to the present invention will be described in detail, in the known art or configuration related to the present invention If it is determined that the detailed description may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

In addition, the terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to intention or custom of a user or an operator, and the definitions describe a vessel eyepiece measuring device and a vessel eyepiece guidance system using the same. It should be made based on the contents throughout the specification.

The present invention relates to a ship's eyepiece guiding system and a ship's eyepiece guiding system using the same. First, the vessel's eyepiece guiding system will be described in detail, and then the ship's eyepiece guiding system will be described.

1 and 3 are each a configuration diagram of a ship eyepiece measuring apparatus according to an embodiment of the present invention, Figure 2 is a configuration diagram of a three-displacement mirror body according to the present invention. 4A, 4B, and 5 are state diagrams showing the operation of the ship's eyepiece distance measuring device.

1 and 3, the ship eyepiece distance measuring apparatus according to the present invention is largely configured to adjust the beam irradiated from the laser by the combination of the laser sensor unit 110 and the prism 120, It comprises a reflector (reflecting mirror 220 or three-displacement mirror 210) for irradiating the ship to the ship the laser beam reflected by the prism 120 is composed of a rotating shaft 211 provided in the center of the bottom.

In addition, a stepping motor 140, a timing belt 150, and an encoder 160, which are connected to the rotation shafts 211 of the reflectors 210 and 220, rotate the reflectors 210 and 220, and are further configured. Instructs and detects rotation of the reflectors 210 and 220.

In addition, the laser sensor unit 110 and the stepping motor 140 may be configured to include a control unit 300 including an I / O board 310, a motor driver board 320, and an embedded system board 330. It is further configured to control and output the eyepiece information calculated in each of the boards by wire and wireless.

It is sufficient that the laser sensor unit 110 for irradiating the laser beam receives the laser beam that is irradiated by the irradiated laser beam back to the ship, and the prism 120 has a reflective surface to change the direction of light. The prism used is enough.

In particular, the prism 120 is preferably installed to move the optical path to the reflectors (210, 220) by changing the direction of irradiation by reflecting the laser beam irradiated from the laser sensor unit 110, the shape In this case, a rectangular prism with a right-sided isosceles triangular cut-off surface enters at right angles or inclined planes at 45 ° to the other side, exceeding the critical angle of the glass (about 42 °), and totally reflecting the direction forward 90 ° or 180 ° It is enough to change the total reflection prism.

The reflector is preferably composed of any one selected from the three-displacement mirror 210 or the reflection mirror 220 including the rotation axis 211, the first is characterized in that the reflector is composed of three-displacement mirror (210) After that, look at the features consisting of a reflective mirror 220.

First, as shown in Figure 1, the reflector may be composed of a three-displacement mirror body 210 including a rotation axis 211.

As shown in Figs. 1 and 2, the three-displacement mirror body 210 is installed to send the laser beam reflected from the prism to the berthing vessel, and three displacements to the vessel-three "sea level and horizontal". It is configured as follows so that the laser beam can be sent by selecting from left / right "-(see FIG. 4A or FIG. 4B) to the phosphorus surface.

As shown in FIG. 2, the three-displacement mirror body 210 is composed of a triangular columnar polyhedron having three mirror surfaces a, b, and c having different inclination angles, as shown in FIG. 4A, The laser reflected from the prism is incident on one of three mirror surfaces (a, b, c) having different inclination angles, and is selected among three vertical phases and reflected back to the ship.

In addition, as shown in Figure 4b, the three-displacement mirror 210 is rotated 360 degrees by the stepping motor 140 connected to the rotation axis 211 of the three-displacement mirror 210, three-displacement mirror Each surface a, b, and c of 210 has a light source emission angle of 120 degrees, respectively. Therefore, in one rotation of the stepping motor 140, it is configured to collect data for three detection regions.

Then, the operation principle of the three-displacement mirror body 210 will be described in more detail.

Next, as shown in FIG. 3, the reflector may be composed of a reflecting mirror 220 including a rotating shaft 211, the reflecting mirror 220 is sufficient if a general disc shape, the rotating shaft 211 is stepping It is preferable to rotate the reflective mirror 220 to the left / right by being connected to the motor 140.

In more detail, the rotating shaft 211 and the stepping motor 140 are installed by changing the rotation shaft by the connection of the helical gear, the worm gear, the bevel gear, or the like, or the stepping motor 140 directly under the vertical axis of the rotating shaft 211. Of course you can connect.

The reflective mirror 220 installed as described above is preferably configured to irradiate the laser beam irradiated from the prism 120 to the thin film to the left / right along the surface parallel to the sea surface as shown in FIG. 4.

On the other hand, the stepping motor 140 is generally referred to as a STEP MOTOR is preferably composed of a motor for controlling the rotation phase with a digital signal.

In addition, the encoder 160 connected to the stepping motor 140 by the timing belt 150 to detect the rotational speed of the stepping motor 140 in order to calculate the position information of the reflector (reflective mirror or three displacement mirror). It is composed.

Meanwhile, the controller 110 includes an I / O board 310 for controlling the laser sensor unit 110, a motor driver board 320 and an embedded system board 330 for controlling the stepping motor 140. It is composed.

In particular, the embedded system board 330 collects and analyzes the control information of each of the I / O board 310 and the motor driver board 320 and the position information of the reflectors 210 and 220 detected by the encoder 160. Calculate eyepiece information.

The eyepiece information is preferably generated by calculating a measurement distance, eyepiece speed, eyepiece angle, and the like, measured from the laser beam to the vessel.

In particular, the embedded system board 330 is preferably configured to include an operating system for outputting the eyepiece information by wire and wireless.

On the other hand, the housing 170 which is fixed to the laser sensor unit 110, the prism 120, the reflectors 210, 220, the stepping motor 140, the encoder 160, the control unit 300, etc. are accommodated therein. It is desirable to protect the components by constructing ().

In addition, the housing 170 is further configured so that the protective glass 180 is installed in the portion where the laser beam is irradiated, reflected, or received, it is preferable that the installation is a horizontal type seated on the bottom of the pier.

In the ship's eyepiece distance measuring apparatus including the three-displacement mirror body 210 as described above, the three mirror surfaces (a, b, c) shown in Figure 2 is named Section 1,2,3, An example of measuring the three displacement mirror body 210 in each mirror surface with reference to each of the following Figures 1 to 2 is as follows.

(Figure 1)

(Figure 2)

The first detection zone (Section 1 in Figure 1) is used to recognize the distance to the ship located in front of it, and the second detection zone (Section 2 in Fig. 1) is for the vessel detected in the first detection zone or not. Perceive the distance. If the detection distances of these two areas are different from each other when the average value of each detection area is different, the third detection area (Section 2 of Figure 1) reduces the error of the measured distance first or calculates the average distance. It is used as a supplement.

As shown in Figure 2, by identifying the ship by each displacement, and send this information to the control unit 300 to calculate the distance and the moving speed of each ship.

As shown in Fig. 2, when the size of each ship is different, more than one ship can be detected in each detection area, and more than one ship can be detected even in one detection area. On the basis of the information measured by the three-displacement mirror 210, the control unit 300 assigns each unique ID to the currently detected vessel, calculates the distance and the moving speed of the vessel for each ID, and at the same time each vessel It may be configured to manage the movement path of.

As described above with reference to FIGS. 1 and 2, the three-displacement mirror body 210 is configured to detect three vertical regions.

On the other hand, it will be described in detail with respect to the ship eyepiece guidance system using the ship eyepiece distance measuring apparatus 100, Figure 6 is a block diagram of the ship eyepiece guidance system according to the present invention.

As shown in Figure 6, the ship eyepiece guidance system is largely the ship eyepiece distance measuring device 100, the electronic board board 200 connected to the ship eyepiece distance measuring device 100, and the ship eyepiece distance measuring device 100 And a management server 300 configured to enable transmission and reception, and a plurality of wireless terminals 400.

The ship eyepiece distance measuring device 100 is connected to the electronic board 200, and further comprises an antenna for communication, the electronic board plate 200 is the eyepiece of the ship from the ship eyepiece distance measuring device 100 It is configured to receive information and output in numbers and symbols, and the output means is preferably composed of general display means such as LED, FND, LCD.

The eyepiece information output to the electronic board 200 is preferably configured in consideration of its size and installation position so that the pilot, the auxiliary navigator located on the wharf or the tugboat can be referred to.

The management server 300 controls the laser sensor unit 110, the reflectors 210 and 220, the stepping motor 140, the encoder 160, and the controller 300 of the ship eyepiece distance measuring apparatus 100. It is configured to transmit a control signal, and also receives the ship's eyepiece information wirelessly from the vessel eyepiece distance measuring apparatus 100 to make a database, and process and transmit the eyepiece information to correspond to a plurality of wireless terminals 400 It is preferably configured to.

In particular, the wireless terminal 400 is configured to receive and display the eyepiece information of the vessel in the management server 300 and to transmit a control signal for controlling the management server 300, in the kind of PDA, mobile phone, pager It is preferable to configure alternatively among a wireless computer and the like.

The wireless terminal 400 is preferably configured to bring the user instructing the eyepiece, such as the pilot wire, to eliminate the inconvenience caused by the movement.

On the other hand, as shown in Figure 6, the ship eyepiece guidance system according to the present invention can be configured to include only one ship eyepiece distance measuring device 100 to dock the vessel of the ship, to find out the conventional eyepiece angle This is a great advantage compared to having to configure more than one ship eyepiece measuring device.

The ship eyepiece measuring device according to the present invention is configured by the reflector so that the laser beam to be irradiated along the plane parallel to the sea surface to reduce the error of the eyepiece measurement distance due to the difference between the size of the various vessels or tidal tide There is an advantage that can provide the eyepiece information of.

In addition, the ship's eyepiece guide system according to the present invention can be configured to a plurality of wireless eyepiece distance measuring device to be configured to a plurality of conventional berthing, and a plurality of wireless terminals to configure the accurate eyepiece information wirelessly It has the advantage of being able to identify and direct.

Claims (6)

In the ship eyepiece distance measuring device for calculating the distance of the ship by measuring the return time of the laser beam irradiated to the ship, A laser sensor unit for irradiating and detecting a laser beam; A prism having a reflecting surface and reflecting the laser beam irradiated from the laser sensor unit to change the irradiated direction; A reflector rotating about a rotation axis and irradiating a laser beam reflected by the prism to the ship; A stepping motor connected to the rotating shaft of the reflector and driving the rotating body so that the laser beam is irradiated from side to side along a plane parallel to the sea surface; An encoder connected to the stepping motor with a timing belt, the encoder detecting a rotational speed of the stepping motor and calculating position information of the reflector; An I / O board for controlling the laser sensor unit, a motor driver board for controlling the stepping motor, control information of each of the I / O board and the motor driver board, and position information of the reflector detected by the encoder And a control unit configured of an embedded system board having an operating system for calculating eyepiece information such as a measurement distance, eyepiece speed, and eyepiece angle measured from the laser beam to a vessel, and outputting the calculated eyepiece information in a wired or wireless manner. Vessel eyepiece distance measuring device. The method of claim 1, The reflector is composed of a triangular pole-shaped three-displacement mirror body having different inclination angles, the laser beam reflected by the prism to the ship three phases further irradiated to the sea surface and the vertical plane irradiated to the ship Distance measuring device. The method of claim 1, The reflector is composed of a reflection mirror, the ship eyepiece distance measuring apparatus, characterized in that for irradiating the laser beam reflected by the prism to the ship. A laser sensor unit for irradiating and detecting a laser beam, a reflecting surface, and a prism for changing a direction of irradiation by reflecting the laser beam irradiated from the laser sensor unit, rotating about an axis of rotation, and reflecting by the prism A reflector for irradiating a laser beam to a ship, a stepping motor connected to a rotating shaft of the reflector, for driving the rotor so that the laser beam is irradiated from side to side along a plane parallel to the sea surface, and a timing belt to the stepping motor. An encoder that detects rotational speed of a stepping motor and calculates position information of the reflector, an I / O board for controlling the laser sensor unit, a motor driver board for controlling the stepping motor, and the I / O board And the control information of each of the motor driver boards and the position information of the reflector detected by the encoder. And a control unit configured of an embedded system board having an operating system that calculates eyepiece information such as a measurement distance, eyepiece speed, and eyepiece angle from a low beam to a vessel, and outputs the calculated eyepiece information by wire and wirelessly. A ship eyepiece distance measuring device; An electronic board board receiving the eyepiece information of the ship from the ship eyepiece distance measuring device and outputting it in numbers and symbols; Transmits a control signal for controlling each of the laser sensor unit, the reflector, the stepping motor, the encoder, and the control unit of the ship's eyepiece distance measuring device, and wirelessly receives the ship's eyepiece information from the ship's eyepiece distance measuring device and makes a database. A management server which processes and transmits the eyepiece information so as to correspond to a wireless terminal of the mobile station; And a wireless terminal configured to receive and display eyepiece information of the ship at the management server and to transmit a control signal for controlling the management server. The method of claim 4, wherein The reflector is composed of a triangular pole-shaped three-displacement mirror body having different inclination angles, the laser beam reflected by the prism to the ship three phases further irradiated to the sea surface and the vertical plane irradiated to the ship Induction system. The method of claim 4, wherein The reflector is composed of a reflection mirror, the ship eye guidance system, characterized in that for irradiating the ship with the laser beam reflected by the prism.

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