KR20120010627A

KR20120010627A - Simulation system for controlling unloading arm and method thereof

Info

Publication number: KR20120010627A
Application number: KR1020100070807A
Authority: KR
Inventors: 양진실
Original assignee: 한국가스공사
Priority date: 2010-07-22
Filing date: 2010-07-22
Publication date: 2012-02-06

Abstract

The present invention relates to an unloading arm manipulation practice apparatus, and inputs a control signal of any one of an outboard arm unfolding, an outboard arm folding, an inboard arm raising, and an inboard arm lowering control signal for unloading arm manipulation practice from a user. Receiving input unit; A simulation image of a loading arm having an outboard arm and an inboard arm, and a plurality of targets arranged to have different heights on the left or right side of the loading arm and generating a loading image according to a control signal input through an input unit. A simulation processor configured to change the simulation image of the outboard arm or the inboard arm of the arm to simulate the unloading arm manipulation practice; A display unit which outputs a simulation result from the simulation processing unit to a user; And a control unit for determining success or failure according to the practice of unloading arm operation and processing the determination result to be displayed through the display unit.

Description

Device for practicing unloading arm and its method {Simulation system for controlling unloading arm and method

The present invention relates to an unloading arm manipulation practice apparatus and method thereof. More specifically, the present invention relates to an apparatus and a method for improving the skill of handling an unloading rock used at the time of LNG carrier entry / departure.

Methane-based natural gas is converted into a liquid state for long-haul transport after a series of purification processes. Liquid natural gas is called LNG (Liquefied Natural Gas) and its volume is reduced to one-sixth of that of natural gas, with a temperature of approximately -162 ° C.

LNG is transported at saturation pressure by LNG-only vessels containing cryogenic cold storage tanks and docked at offshore unloading plants. After arriving at the offshore plant, LNG is stored in onshore LNG tanks through unloading arms and offshore piping.

LNG handling processes of Tongyeong, Pyeongtaek and Incheon takeover bases currently in operation in Korea are operated in a consistent form of LNG unloading, storage, recirculation, boil-off gas treatment and vaporization. At this time, the unloading is made through a plurality of unloading arms using a pump of the LNG vessel. The unloading rock is connected to the delivery pump pipe line of the LNG vessel, and the LNG unloaded from the ship through the unloading arm is transferred to a storage tank on land through a plurality of offshore piping and headers.

1 to 4 are diagrams for explaining the operation of the loading arm actually used when unloading LNG to the land.

1 and 2 are views for explaining the 'outboard arm unfolding' operation and the 'outboard arm folding' operation of the unloading arm 10, Figures 3 and 4 are unloading arm FIG. 10 is a view for explaining an 'inboard arm lowering' operation and an 'inboard arm raising operation'.

First, referring to FIG. 1, the unloading arm 10 is fixed around a support point 1 fixed to a land (unloading plate) and connected to an inboard arm 2 and a connection point connected to the support 1. Inboard arm (2) performing angular rotational movement, outboard arm (4) connected to inboard arm (2) and performing constant angular rotational movement about connection point connected to inboard arm (2), LNG The connection part 6 connected to the gas discharge part of the tank, and the gas pipe which is installed inside the connection part 6, the outboard arm 4 and the inboard arm 2 to unload the natural gas discharged from the LNG tank to the land (Not shown).

The 'outboard arm unfolding' operation shown in FIG. 1 is mainly used when flanging, and the 'outboard arm folding' operation shown in FIG. 2 is mainly used when unflanging. Here, 'flanging' refers to the operation of connecting the connecting portion 6 of the unloading arm 10 to the LNG tank located in the LNG vessel, on the contrary, the 'unflanging' refers to the unloading arm 10 connected to the LNG tank. Means the operation of separating the connecting portion 6 from the LNG tank. 'Outboard arm 4 unfolding' operation of Figure 1 shows the unloading arm 10 is a forward upward movement, the 'outboard arm (4) folding' operation of Figure 2 the unloading arm 10 is the reverse descending Appears as a movement. In this case, the connection part 6 may be a reference for determining the up / down / forward / reverse movement of the loading arm 10.

Next, the operation of lowering the inboard arm 2 shown in FIG. 3 is mainly used in flanging, and the operation of raising the inboard arm 2 shown in FIG. 4 is mainly used in unplanking. The 'inboard arm lowering' operation of Figure 3 is shown as the downward movement of the unloading arm 10, the 'inboard arm raising' operation of Figure 4 is shown as the upward movement of the unloading arm (10).

On the other hand, the height of the target (that is, the gas outlet of the LNG carrier) to which the connection portion 6 of the unloading arm 10 is connected due to the rise or fall of sea level during the actual operation of the unloading arm 10 changes, thereby the unloading arm (10) The final position of the distal end 6 should depend on the position of the target. That is, when flanging / unflanging, the unloading arm operator uses a manipulation key for controlling the operation of the unloading arm 10 to the position of the target to which the connection part 6 of the unloading arm 10 is connected. Finely adjust the movement of the unloading arm 10 according to.

If the unloading rock 10 is not operated correctly, it may cause physical and human damage due to the unloading of the unloading rock 10 and the LNG carrier. In particular, the unloading rock 10 is a heavy heavy equipment 15 to 18 MPa. Because of its high pressure, most accidents that occur during unloading operations often lead to large-scale accidents. Thus, LNG unloading sites require skilled unloading rock operators.

However, not only is it almost impossible to practice loading and unloading operations, but due to shifts and the arrival and departure time of flexible LNG vessels, there are not many opportunities to practice loading and unloading.

Therefore, not only are there many skilled unloading rock operators capable of skillfully manipulating the unloading rock during actual LNG unloading work, but there is a problem that a lot of time and money must be put into training a skilled unloading rock operator.

The present invention has been proposed to solve the above problems,

The training cost of training the unloading rock manipulator can be improved by allowing the manipulator practicing the unloading rock maneuver repeatedly to safely carry out the unloading rock maneuver practice using the unloading rock simulation image displayed through the display means. And to save time and the like, and to improve the efficiency and safety of unloading rock work with high difficulty to provide a natural gas to the consumer in a stable and economical way.

The unloading arm manipulation practice apparatus according to an embodiment of the present invention, the user controls the control signal of any one of the outboard arm unfolding, outboard arm folding, inboard arm raising, and inboard arm lowering control signal for the unloading arm manipulation practice. An input unit to receive from the input unit; A loading image having an outboard arm and an inboard arm, and a simulation image for a plurality of targets arranged to have different heights on the left or right side of the loading arm and generating a simulation image for the control signal input through the input unit; A simulation processor configured to change the simulation image of the outboard arm or the inboard arm of the loading arm to simulate the loading arm manipulation; A display unit which outputs a simulation result from the simulation processing unit to a user; And a controller configured to determine success or failure according to the unloading arm manipulation practice and to display the determination result through the display unit.

In particular, the simulation processor, in generating a simulation image for the plurality of targets, characterized in that for generating the simulation image so that the plurality of targets are arranged side by side with different heights.

The control unit may track a change history of the simulation image when a trace tracking request for the unloading arm manipulation exercise is received through the input unit, and display the change history of the simulation as one continuous line through the display unit. It is characterized by processing.

The controller may be further configured to initialize the simulation image for the loading arm to a preset simulation image when an initialization request for the loading arm manipulation exercise is received through the input unit.

In addition, when the outboard arm spreading control signal is input through the input unit, the simulation processing unit changes a simulation image of the outboard arm of the unloading arm to move forward step by step, and controls the outboard arm folding through the input unit. When a signal is input, the simulation image of the outboard arm of the unloading arm is changed to fall backward step by step.

In addition, when the inboard arm lowering control signal is input through the input unit, the simulation processor changes a simulation image of the inboard arm of the unloading arm to descend in stages, and controls the inboard arm raising through the input unit. When the signal is input, the simulation image for the inboard arm of the unloading arm is characterized in that it changes stepwise backward.

On the other hand, the unloading arm operation method according to the present invention, the input unit, the control signal of any one of the outboard arm unfolding, outboard arm folding, raising the inboard arm, and inboard arm lowering control signal for the unloading arm operation exercises Receiving an input from a user; Generating, by the simulation processor, an unloading arm having an outboard arm and an inboard arm and a plurality of targets arranged to have different heights on the left or right side of the unloading arm; Simulating, by the simulation processing unit, an unloading arm manipulation practice by changing an outboard arm or an inboard arm image of the unloading arm according to a control signal input through the input unit; And a display unit outputting a simulation result from the simulation processing unit to a user.

In particular, the control unit, characterized in that it further comprises the step of determining whether the success according to the unloading arm operation exercises, and the determination result is displayed through the display unit.

The control unit may include determining whether a trajectory tracking request for the unloading arm manipulation exercise is received through the input unit; Tracking a change history of the simulation image when a trajectory tracking request for the unloading arm manipulation exercise is received; And processing the simulation change history to be displayed as one continuous line through the display unit.

The control unit may determine whether an initialization request for the unloading arm manipulation exercise is received through the input unit. And when an initialization request for the loading arm manipulation exercise is received, initializing the simulation image for the loading arm into a preset simulation image.

The generating of the images of the plurality of targets may include generating a simulation image such that the plurality of targets are arranged side by side with different heights.

According to the present invention, the following effects can be expected.

The training cost of training the unloading rock manipulator can be improved by allowing the manipulator practicing the unloading rock maneuver repeatedly to safely carry out the unloading rock maneuver practice using the unloading rock simulation image displayed through the display means. And it can save time, etc., it is possible to supply natural gas to consumers stably and economically by improving the efficiency and safety of unloading rock work with high difficulty.

1 is a view for explaining the outboard arm unfolding operation of the loading arm used when unloading LNG.
2 is a view for explaining the outboard arm folding operation of the loading arm used when unloading LNG.
3 is a view for explaining the inboard arm lowering operation of the unloading arm used when the LNG unloading.
4 is a view for explaining the outboard arm raising operation of the loading arm used when unloading LNG.
5 is a view for explaining the configuration of the unloading arm operation practice apparatus according to the present invention.
FIG. 6 is a diagram for describing an exemplary embodiment of the input unit illustrated in FIG. 5.
7 is a view for explaining the dynamic form of the loading and unloading arm outboard arm displayed on the display unit of the loading and unloading arm manipulation practice apparatus according to the present invention.
8 is a view for explaining the dynamic form of the inboard arm displayed on the display unit of the loading and unloading arm operation training apparatus according to the present invention.
9 is an example of a screen displayed on the display unit of the loading and unloading arm operation training apparatus according to the present invention.
10 to 13 show an example of a screen displayed on the display unit of the loading and unloading arm operation training apparatus according to the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. Here, the repeated description, well-known functions and configurations that may unnecessarily obscure the subject matter of the present invention, and detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more completely describe the present invention to those skilled in the art. Accordingly, the shape and size of elements in the drawings may be exaggerated for clarity.

5 is a view for explaining the configuration of the unloading arm operation practice apparatus according to the present invention. 6 is a diagram for describing an exemplary embodiment of the input unit illustrated in FIG. 5.

First, referring to FIG. 5, the loading and unloading arm training apparatus 100 according to the present invention includes an input unit 110, a control unit 120, a simulation processing unit 130, a display unit 140, and a storage unit 150. do.

The input unit 110 receives an outboard arm unfolding, an outboard arm folding, an inboard arm raising, an inboard arm lowering control signal, and the like for unloading arm manipulation exercises. As shown in FIG. 6, the input unit 110 may be provided with a plurality of input buttons. Reference numeral '112' denotes a button for inputting an outboard arm unfolding control signal, reference numeral '113' denotes a button for inputting an outboard arm folding control signal, and reference numeral '115' denotes an inboard arm raising control signal. The reference numeral '116' is a button for inputting an inboard arm lowering control signal, and the reference numeral '117' is a preset simulation of the simulation image for the unloading arm displayed through the display unit 140. A button for inputting a signal (reset) for initializing to an image, and reference numeral 118 denotes a button for requesting tracking of the change history of the simulation image.

Meanwhile, when the display unit 140 is implemented as a device capable of performing both display and input such as a touch panel, the input unit 110 may be integrated into the display unit 140.

The controller 120 determines success or failure according to the unloading arm manipulation practice using the unloading arm manipulation practice apparatus 100, and processes the determination result to be displayed through the display unit 140.

In addition, the control unit 120 tracks the change history of the simulation image processed by the simulation processing unit 130 when the trajectory tracking request for the unloading rock manipulation is received through the input unit 110, and the simulation change history is displayed on the display unit ( 140 to be displayed as a single line (see reference numeral '35' in FIG. 9).

That is, the controller 120 analyzes the dynamic shape of the simulation image and provides the user to the user during the unloading arm manipulation practice. Accordingly, the user may prevent unnecessary manipulation during handling of the loading arm based on the change history of the simulation image displayed through the display unit 120, and efficiently perform the loading arm manipulation.

The simulation processor 130 generates a loading image having an outboard arm and an inboard arm, and a simulation image for a plurality of targets arranged to have different heights from the left or right side of the loading arm, and the input unit 110. According to the control signal input through the change out the simulation image of the outboard arm or inboard arm of the loading arm to simulate the loading arm manipulation practice (simulation).

In this case, the simulation processor 130 generates a simulation image such that the plurality of targets are arranged side by side with different heights in generating a simulation image against the plurality of targets.

In addition, when the outboard arm straightening control signal is input through the input unit 110, the simulation processor 130 changes the simulation image of the outboard arm of the unloading arm so as to move forward step by step, and out through the input unit 110. When the board arm folding control signal is inputted, the simulation image of the outboard arm of the unloading arm is changed to descend backward step by step.

In addition, when the inboard arm lowering control signal is input through the input unit 110, the simulation processing unit 120 changes the simulation image of the inboard arm of the unloading arm so as to descend forward step by step, and the invoking unit through the input unit 110. When the de-arm raising control signal is input, the simulation image of the inboard arm of the unloading arm is changed to step backward.

That is, the simulation processor 130 changes the position of the corresponding arm (outboard arm or inboard arm) according to the control signal input through the input unit 110.

A dynamic form of the simulation image generated by the simulation processor 130 will be described in more detail with reference to FIGS. 7 and 8.

7 is a view for explaining the dynamic form of the loading and unloading arm outboard arm displayed on the display unit 140 of the loading and unloading arm operation training apparatus according to the present invention. Here, the outboard arm 4 performs a certain angle rotational movement around the connection point connected to the inboard arm (2).

For example, when the outboard arm spreading control signal is input to the simulation processor 130 once, the simulation processor 130 rotates the outboard arm 4 by a predetermined angle (for example, 5 °) (that is, advances). Rise). When the outboard arm folding control signal is input to the simulation processor 130 once, the simulation processor 130 rotates the outboard arm 4 downward by a predetermined angle (for example, 5 °). .

On the other hand, assuming that the outboard arm 4 is rotated up by 10 ° in the same manner in position A and position B, the outboard arm 4 exhibits a dynamic shape close to vertical motion in position A, and out in position B. The board arm 4 exhibits a dynamic shape close to horizontal motion. That is, the movement of the outboard arm 4 at position A is relatively smaller than the movement of the outboard arm 4 at position B, while the ascending angle is greater. In contrast, the movement of the outboard arm 4 at position B is relatively smaller while the ascending angle is relatively smaller than the movement of the outboard arm 4 at position A, while the forward distance is greater.

8 is a view for explaining the dynamic form for each position of the inboard arm displayed on the display unit 140 of the unloading arm manipulation practice apparatus according to the present invention. Here, the inboard arm 2 performs a certain angle rotation movement around the connection point connected to the support (1).

For example, when the inboard arm lowering control signal is input to the simulation processor 130 once, the simulation processor 130 rotates the inboard arm 2 by a predetermined angle (eg, 5 °) (that is, Forward downward). When the inboard arm raising control signal is input to the simulation processor 130 once, the simulation processor 130 rotates the inboard arm 2 by a predetermined angle (for example, 5 °) (that is, backwards upward). Let's do it.

On the other hand, assuming that the inboard arm 2 is rotated up by the same 10 ° at position C and position D, the position inboard arm 2 exhibits a dynamic shape close to horizontal motion at position C and at position D The de arm 2 exhibits a dynamic shape close to the vertical motion. That is, the movement of the inboard arm 2 at position D is relatively smaller than the movement of the inboard arm 2 at position C, while the ascending angle is greater. Conversely, the movement of the inboard arm 2 at position C is relatively smaller as compared to the movement of the inboard arm 2 at position D, while the forward distance is greater.

Referring to FIG. 9, therefore, for effective operation of the loading arm, the loading arm 30 is moved close to the gas discharge part 43 installed in the LNG tank 42 of the LNG vessel 40 and then provided at the input part. Recognizing the directionality of the unloading arm 30 movement by pressing the buttons once, drawing and adjusting a virtual line according to the movement is the know-how of unloading arm manipulation. At this time, it is important that the handrail 41 installed on the LNG vessel 40 does not come into contact with the unloading arm.

The display unit 140 outputs the simulation result from the simulation processing unit 130 to the user.

The storage unit 150 stores the simulation program and data necessary for implementing the unloading operation practice apparatus according to the present invention, and provides the controller 120 with necessary data at the request of the controller 120.

10 to 13 are examples of screens displayed on the display unit of the loading and unloading arm manipulation practice apparatus according to the present invention, and FIG. 10 shows a preset simulated image.

As shown in Fig. 10, three targets 43a, 43b, 43c having different heights and arranged side by side are displayed on the screen, and the support 20, the inboard arm 22, the outboard arm A loading arm 30 having a 24 and a connecting portion 26 is displayed on the screen. At this time, the plurality of targets are disposed in the LNG tank 42 on the virtual LNG vessel 40 to experience an environment similar to the actual working environment. In addition, in the present invention, by displaying a plurality of targets with different heights, it was possible to practice in response to the change in the position of the target in accordance with the change of the sea level in the actual loading rock working environment. That is, it provides a loading arm operation practice environment similar to the actual work environment. Of course, the number of targets to be displayed is not limited to the above-mentioned number, and may be set differently in consideration of the change of the sea level in the actual working environment.

11 to 13, the user may manipulate the movement of the inboard arm 22 and the outboard arm 24 of the unloading arm 30 displayed on the screen using the input unit of FIG. 6. At this time, when the connection unit 26 of the loading arm 30 is successfully contacted (connected) to a specific target according to a user manipulation, messages 102, 104, and 106 are displayed on the screen indicating that the target and the loading arm are successfully connected. However, if the user incorrectly manipulates and the connection portion 26 of the unloading arm incorrectly contacts a specific target, a warning message is output on the screen to warn the wrong operation.

According to the present invention as described above, the operator practicing the loading and unloading operation can repeatedly and safely perform the loading and unloading operation virtually using the unloading arm simulation image displayed through the display means.

Therefore, it is possible to save a lot of training costs, time, etc. required to train a skilled unloading cancer operator.

In addition, it is possible to supply natural gas to consumers reliably and economically by improving the efficiency and safety of highly difficult unloading rock works.

As described above, the best embodiment has been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not used to limit the scope of the present invention as defined in the meaning or claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

100: loading arm operation practice apparatus 110: input unit
120: control unit 130: simulation processing unit
140: display unit 150: storage unit
20: support 30: loading rock
22: Inboard arm 24: Outboard arm

Claims

As about loading arm operation exercise apparatus,
An input unit for receiving a control signal from any one of an outboard arm unfolding, an outboard arm folding up, an inboard arm raising, and an inboard arm lowering control signal for unloading arm manipulation practice;
A loading image having an outboard arm and an inboard arm, and a simulation image for a plurality of targets arranged to have different heights on the left or right side of the loading arm and generating a simulation image for the control signal input through the input unit; A simulation processor configured to change the simulation image of the outboard arm or the inboard arm of the loading arm to simulate the loading arm manipulation;
A display unit which outputs a simulation result from the simulation processing unit to a user; And
And a control unit for determining success or failure according to the unloading arm manipulation exercise and processing the determination result to be displayed through the display unit.

The method according to claim 1,
The simulation processing unit,
In generating a simulation image for the plurality of targets,
And generating a simulation image such that the plurality of targets are arranged side by side at different heights.

The method according to claim 1,
The control unit,
When the trajectory tracking request for the unloading arm manipulation exercise is received through the input unit, a change history of the simulation image is tracked, and the simulation change history is processed to be displayed as a continuous line through the display unit. , Unloading arm manipulation practice device.

The method according to claim 1,
The control unit,
When the initialization request for the unloading arm manipulation practice is received through the input unit, characterized in that for initializing the simulation image for the unloading arm to a preset simulation image, unloading arm operation practice apparatus.

The method according to claim 1,
The simulation processing unit,
When the outboard arm spreading control signal is input through the input unit, the simulation image of the outboard arm of the unloading arm is changed to be advanced in steps, and
When the outboard arm folding control signal is input through the input unit, characterized in that for changing the simulation image of the outboard arm of the loading arm to descend backward step, loading arm operation practice apparatus.

The method according to claim 1,
The simulation processing unit,
When the inboard arm lowering control signal is input through the input unit, the simulation image of the inboard arm of the unloading arm is changed to descend in advance, and
When the inboard arm raising control signal is input through the input unit, characterized in that for changing the simulation image of the inboard arm of the unloading arm to move backward step by step, unloading arm operation practice apparatus.

The input unit receives a control signal of any one of the outboard arm unfolding, the outboard arm folding, the inboard arm raising, and the inboard arm lowering control signal for the unloading arm operation exercises from the user;
Generating, by the simulation processor, an unloading arm having an outboard arm and an inboard arm and a plurality of targets arranged to have different heights on the left or right side of the unloading arm;
Simulating, by the simulation processing unit, an unloading arm manipulation practice by changing an outboard arm or an inboard arm image of the unloading arm according to a control signal input through the input unit; And
And a display unit outputting a simulation result from the simulation processing unit to a user.

The method according to claim 7,
The control unit, and further comprising the step of determining whether the success according to the unloading arm operation exercises, the processing so that the determination result is displayed through the display unit, unloading arm operation method.

The method according to claim 8,
Determining, by the controller, whether a trajectory tracking request for the unloading arm manipulation exercise is received through the input unit;
Tracking a change history of the simulation image when a trajectory tracking request for the unloading arm manipulation exercise is received; And
And processing the simulation change history to be displayed as one continuous line through the display unit.

The method according to claim 8,
Determining, by the controller, whether an initialization request for the unloading arm manipulation exercise is received through the input unit; And
And receiving an initialization request for the loading and unloading operation, further comprising initializing the simulation image for the loading and unloading arm into a preset simulation image.

The method according to claim 7,
Generating an image for the plurality of targets may include:
And generating a simulation image such that the plurality of targets are arranged side by side at different heights.