KR20150012922A - System for tracking position of transporter for ship block and method thereof - Google Patents

System for tracking position of transporter for ship block and method thereof Download PDF

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Publication number
KR20150012922A
KR20150012922A KR1020130089116A KR20130089116A KR20150012922A KR 20150012922 A KR20150012922 A KR 20150012922A KR 1020130089116 A KR1020130089116 A KR 1020130089116A KR 20130089116 A KR20130089116 A KR 20130089116A KR 20150012922 A KR20150012922 A KR 20150012922A
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South Korea
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transporter
information
block
sensor
tracking
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KR1020130089116A
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Korean (ko)
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정문영
이상협
김지온
문형순
권용섭
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현대중공업 주식회사
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Priority to KR1020130089116A priority Critical patent/KR20150012922A/en
Publication of KR20150012922A publication Critical patent/KR20150012922A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a position tracking system and method for a transporter for transporting a ship block, the system for tracking a position of a transporter for transporting a ship block comprises a reference position sensing device installed in an open space and acquiring current position information of the transporter, ; A trajectory tracing device installed in a part of the transporter for acquiring trajectory information and position information of the transporter; And a server for resetting the current position of the transporter using the current position information and tracking the position of a block disposed in the yard using the traveling orbit information and the position information.
The system and method for tracking a transporter for transporting a ship block according to the present invention use a reference position sensing device installed in an open space and a trajectory tracking device installed in a transporter in parallel, It is possible to precisely and efficiently track the positions of the ship blocks, efficiently utilize the yard space where the ship blocks are disposed, and reduce manpower and time for block management You can save.

Description

Technical Field [0001] The present invention relates to a position tracking system for a ship block transporting transporter,

The present invention relates to a system and method for tracking a position of a ship block transporting transporter.

A ship is composed of a number of ship blocks. That is, partial blocks of the ship are manufactured and the manufactured blocks are assembled to manufacture the ship. Generally, since several ships are manufactured at the same time, various blocks are arranged in large quantities in a yard that is previously partitioned before the ship is assembled in the dock of the shipyard. Therefore, in order to efficiently arrange the yard space and track the block, it is first necessary to precisely locate the transporter that carries the block.

Conventionally, a line such as an automobile parking lot is drawn on a yard, and a lot number is assigned there to manually manage the position of the block by a person. This has drawbacks in terms of block diversity and space efficiency.

As a supplement to passive management by such a person, a technique of conventionally mounting a GPS (Global Positioning System) or DGPS (Differential GPS) for precise position tracking on a transponder loaded with a block, Has been proposed.

However, GPS signal reception is disconnected in the steel structure or ship block of the shipyard, so that it is impossible to precisely track the position of the transporter and track the trajectory, such as a position error of about 5 m or more, The operator can not accurately know the position of the ship block, and there is a problem that the worker wastes manpower and wastes time, for example, the operator must directly check the position of the ship block.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the conventional art, and it is an object of the present invention to provide a navigation system capable of efficiently tracking a position of a ship block even when a GPS signal reception is disconnected, And to provide a system and method for tracking a position of a transporter for transporting a ship block which can effectively use the space for a yard space to be disposed.

A position tracking system for a ship block transporting transporter according to an aspect of the present invention includes: a reference position sensing device installed in an open space, the reference position sensing device acquiring current position information of a transporter; A trajectory tracing device installed in a part of the transporter for acquiring trajectory information and position information of the transporter; And a server for resetting the current position of the transporter using the current position information and tracking the position of a block disposed in the yard using the traveling orbit information and the position information.

Specifically, the open space may include the yard entry road of the transporter.

Specifically, the reference position sensing device may include a first laser distance sensor and a second laser distance sensor that are spaced apart from each other so that the transporter can pass therethrough.

Specifically, the reflection plates for the first and second laser sensors, which reflect the laser beams emitted from the first and second laser distance sensors toward the transporter, may be further provided on both sides of the transporter .

Specifically, the traveling trajectory tracking device detects the passing of the transporter by the reference position sensing device and acquires the azimuth information of the transporter in real time from the reset current position as a reference point to a position where the block is disposed An azimuth measurement sensor; A speed measuring sensor that detects the passage of the transporter by the reference position sensing device and acquires speed information of the transporter in real time from the reset current position to a point at which the block is disposed at a reference point; And an angle measurement sensor that detects the passage of the transporter by the reference position sensing device and acquires rotation angle information of the transporter in real time from the reset current position to a point at which the block is disposed at a reference point have.

Specifically, the azimuth measurement sensor includes a three-axis gyro sensor and may include measuring the azimuths of north, south, east, and west.

Specifically, the angle measurement sensor may include a gyro sensor or a rotation angle sensor.

Specifically, the server may be configured such that the transporter moves the azimuth measurement sensor, the velocity measurement sensor, and the angle measurement sensor of the trajectory tracking device while the transporter moves to the point where the block is to be disposed, Speed and rotation angle information from the azimuth angle, and calculates the position value in real time, and displaying the calculated position value on the map in association with the map information.

In another aspect of the present invention, there is provided a method for tracking a position of a transporter for transporting a ship block, comprising the steps of: locating a ship block transporting transporter using a position tracking system of a ship block transporting transporter including a reference position sensing device, The tracking method according to claim 1, wherein the server obtains current position information of a transporter from the reference position sensing device; Resetting the reference position of the transporter according to the current position information; Obtaining trajectory information and position information of the transporter from the trajectory tracking device; And tracking the movement position of the transporter using the obtained information.

Specifically, the step of acquiring the current position information of the transporter from the reference position sensing device includes: installing a first laser distance sensor and a second laser distance sensor of the reference position sensing device in an open space; Installing reflective plates for the first and second laser sensors on both sides of the transporter; Determining a position value of each of the first and second laser distance sensors; Determining a distance between the first and second laser distance sensors; Obtaining distance information measured by the first and second laser distance sensors and calculating a width and a center value of the transporter; And acquiring the distance information measured by the first and second laser distance sensors and calculating the X and Y axis position values of the transporter.

In more detail, the step of resetting the reference position of the transporter according to the current position information may include obtaining the distance information measured by the first and second laser distance sensors of the reference position sensing device, To a reference point for tracking the location of the block.

Specifically, the step of acquiring the trajectory information and the position information of the transporter from the trajectory tracking device may include the step of installing the azimuth angle measuring sensor, the speed measuring sensor and the angle measuring sensor of the traveling trajectory tracking device in a part of the transporter ; Velocity information and rotation angle information of the transporter measured in real time by the azimuth measurement sensor, the velocity measurement sensor, and the angle measurement sensor from the reset current position to a point at which the block is disposed, ; And calculating the position value in real time using the obtained azimuth angle information, velocity information, and the rotation angle information.

Specifically, the step of tracking the movement position of the transporter using the acquired information may include: comparing the current position information of the transporter acquired by the reference position sensing device with the current position information of the transporter acquired by the travel trajectory tracking device, Calculating the position value in real time using the position information and the traveling orbit information, and displaying the calculated position value on the map in cooperation with the map information.

The system and method for tracking a transporter for transporting a ship block according to the present invention use a reference position sensing device installed in an open space and a trajectory tracking device installed in a transporter in parallel, It is possible to precisely and efficiently track the positions of the ship blocks, efficiently utilize the yard space where the ship blocks are disposed, and reduce manpower and time for block management You can save.

1 is a conceptual diagram of a position tracking system for a ship block transporting transporter according to an embodiment of the present invention.
2 is a block diagram of a position tracking system for a ship block transporting transporter according to an embodiment of the present invention.
3 is a flowchart illustrating a method of tracking a position of a ship block transporting transporter according to an embodiment of the present invention.
4 is a detailed flowchart of step S410 of FIG.
5 is a detailed flowchart of step S430 of FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The objects, particular advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a conceptual view of a position tracking system for a ship block transporting transporter according to an embodiment of the present invention, and FIG. 2 is a block diagram of a position tracking system for a ship block transporting transporter according to an embodiment of the present invention.

As shown in Fig. 1, after a line is drawn on the yard 2 where the ship block 3 is to be disposed, a lot number is assigned to each section formed by the line. The GPS sensor 212 can receive the GPS signal when the block 3 is not moved up in the open space 1 or the block 3 is smaller than the transporter 200. However, The GPS signal reception is unstable and disconnected when moving between blocks 3 larger than the block 3 and the blocks 3 located in the yard 2. In this case, Therefore, the reference position sensing apparatus 100 is installed in the open space 1 regardless of the GPS signal so that the transporter 200 passes through the reference position sensing apparatus 100 and the current position is reset. The trajectory track 4 and the position of the transporter 200 are tracked to the point at which the block 3 is disposed at the reference point which is the reset current position by using the trajectory tracking device 210 installed in the transporter 200 . The position of the block 3 is tracked based on the positional information of the transporter 200 at the position where the block 3 is to be placed. The location of the tracked block 3 is finally displayed by the server 300 on the lot number based map.

Various sensors may be installed in the reference position sensing device 100 and the trajectory tracking device 210 for tracking the position of the block 3. The reference position sensing apparatus 100 includes first and second laser distance sensors 110 and 120. The trajectory tracking apparatus 210 includes a GPS sensor 212 and an azimuth measurement sensor 213, A speed measuring sensor 214, and an angle measuring sensor 216. [ A system configuration for estimating the position of a block using information measured by the various sensors 110, 120, 212, 213, 214, and 216 will be described in detail with reference to FIG. 1 and FIG.

1 and 2, a position tracking system of a transporter for transporting a ship block according to an embodiment of the present invention includes a reference position sensing device (not shown) installed in an open space 1 as an entrance road of a transporter 200, A traveling trajectory tracking device 210 installed in the transporter 200, and a server 300. [

The reference position sensing apparatus 100 may be installed in the open space 1 and senses the passage of the transporter 200 to reset the current position of the transporter 200 by the server 300, The first and second laser distance sensors 110 and 120 may be included.

The open space 1 here is a space in which reception of the GPS signal is favorable, for example, an entrance side road of the yard 2 or a free space in which the block 3 is not disposed in the yard 2, Means a space on the road where the transporter 200 must pass through the block 3 in order to carry out the uphill and downhill operations and means a space in which movement is easy and GPS signal reception becomes good, May be preferred. The open space 1 may be a space in which GPS signal reception is unstable.

The first laser distance sensor 110 and the second laser distance sensor 120 may be installed at a distance enough for the transporter 200 to pass therethrough. For example, when installed on a road, And can measure the current position of the transporter 200 when the transporter 200 passes and can reset the current position of the transporter 200 to the reference position in the server 300 to be described later do.

The reference position setting method using the first and second laser distance sensors 110 and 120 includes determining the position of each of the first and second laser distance sensors 110 and 120, The first and second laser distance sensors 110 and 120 determine the width and center value of the transporter 200 and the first and second laser distance sensors 110 and 120 determine the distance between the X axis And the Y-axis position value.

Each of the reflectors 130 and 140 for the first and second laser sensors may be provided at a predetermined position on both sides of the transporter 200 and the first and second laser distance sensors 110 and 120 may be installed in the transporter 200, The laser beam emitted toward the reflection plate 200 is reflected from the portion where the reflection plate 130 is present and the portion where the reflection plate 130 is not present, thereby filtering the returned laser so that the current position of the transporter 200 can be set more accurately.

The trajectory tracking device 210 may be installed in a part of the transporter 200 and may be connected to the server 300 when the current position of the transporter 200 is reset in the server 300 by the reference position sensing device 100. [ A GPS sensor 212, an azimuth measuring sensor 213, a speed measuring sensor 214, an angle measuring sensor 214, and an angle measuring sensor 214. The GPS measuring device 200 includes a GPS sensor 212, an azimuth measuring sensor 213, a speed measuring sensor 214, (216). The azimuth measurement sensor 213 has a built-in three-axis gyro sensor and is capable of measuring the azimuth angles of north, south, east and west. The angle measurement sensor 216 may be a gyro sensor or a rotation angle sensor.

The GPS sensor 212 can be installed in a part of the transporter 200 and receives signals transmitted from the GPS satellites to acquire the current position information of the transporter 200 in real time and transmit it to the server 300 Thereby tracking the position of the transporter 200. [ The GPS sensor 212 can receive the GPS signal well in the open space 1 but may be installed in a state where the block 3 is larger than the transporter 200 or the steel structure of the shipyard or the ship block (4) of the transporter (200) can not be accurately tracked, for example, a position error of about 5 m or more may occur in the yard (2) There are disadvantages.

The azimuth measurement sensor 213, the velocity measurement sensor 214 and the angle measurement sensor 216 may be installed in a part of the transporter 200 and the reference position sensing device 100 may be mounted on the transporter 200, Speed and rotation angle of the transporter 200 in real time from the reset current position to the point at which the block 3 is disposed at the reference point, and transmits the azimuth, the velocity, and the rotation angle of the transporter 200 to the transporter 200, (4) and position of the vehicle. The azimuth measurement sensor 213, the velocity measurement sensor 214 and the angle measurement sensor 216 are configured to monitor the position of the transporter 200 and track the trajectory 4 of the transporter 200 when there is an obstacle in the vicinity Can not be accurately corrected.

The server 300 receives reference position information of the transporter 200 acquired by the reference position sensing apparatus 100 and real-time position information of the transporter 200 acquired by the trajectory tracking apparatus 210, real- To precisely track the position of the block (3) disposed in the yard (2).

Specifically, the server 300 receives the distance information measured by the first and second laser distance sensors 110 and 120 of the reference position sensing apparatus 100, and outputs the current position of the transporter 200 to the block 3 And transmits an operation signal to the trajectory tracking device 210. While the transporter 200 is moving from the reference point to the position where the block 3 is to be disposed, Speed and rotation angle information from the azimuth measurement sensor 213, the speed measurement sensor 114 and the angle measurement sensor 116 of the controller 210, calculates the position value in real time, and outputs the calculated position value to the map information So that the position of the block 3 disposed in the yard 2 can be accurately tracked. The server 300 compares and analyzes the position value calculated by the azimuth measurement sensor 213, the velocity measurement sensor 114 and the angle measurement sensor 116 with the position value received by the GPS sensor 212, So that the position of the block 3 disposed in the yard 2 can be accurately tracked.

The server 300 includes a server 300 including a correction module, a distance tracking module, a block width tracking module, a database, a location tracking module, a coordinate calculation module, and a map DB, Therefore, a detailed description will be omitted here.

FIG. 3 is a flowchart illustrating a method of tracking a position of a ship block transporting transporter according to an embodiment of the present invention. FIG. 4 is a detailed flowchart of step S410 of FIG. 3, and FIG. 5 is a detailed flowchart of step S430 of FIG.

3, a method for tracking a position of a transporter for transporting a ship block according to an embodiment of the present invention includes the steps of receiving, from the reference position sensing apparatus 100, the current position information of the transporter 200 (S410), the server 300 resets the reference position of the transporter 200 according to the current position information (S420). When the server 300 receives the traverse from the trajectory tracking device 210, (S430) of obtaining trajectory information and position information of the porter 200, and the server 300 tracks the movement position of the transporter 200 using the obtained information (S440).

In step S410, the server 300 acquires the current position information of the transporter 200 from the reference position sensing apparatus 100. [

When the transporter 200 passes between the first laser distance sensor 110 and the second laser distance sensor 120 of the reference position sensing apparatus 100, the laser is emitted to both sides of the transporter 200, The server 300 acquires the current position information of the transporter 200 according to the returned laser distance information, which will be described in detail with reference to FIG.

4, the server 300 acquires the current position information of the transporter 200 from the reference position sensing apparatus 100 (S410) (Step S411) of installing the laser distance sensor 110 and the second laser distance sensor 120 in the open space 1 and attaching the reflectors 130 and 130 for the first and second laser sensors to both sides of the transporter 200, (Step S413) of determining a position value of each of the first and second laser distance sensors 110 and 120 and a step S413 of determining a position value of each of the first and second laser distance sensors 110 and 120 The first and second laser distance sensors 110 and 120 obtain the distance information measured by using the first and second laser sensor reflectors 130 and 140 and transmit the measured distance information to the transporter 200 and the distance information measured by the first and second laser distance sensors 110 and 120 are acquired to calculate the width and the center value of the X and Y axes of the transporter 200 And calculating an axial position value (S416).

In step S420, the server 300 resets the reference position of the transporter 200 according to the current position information.

The server 300 obtains the distance information measured by the first and second laser distance sensors 110 and 120 of the reference position sensing apparatus 100 to determine the current position of the transporter 200 at the position of the block 3 And the trajectory tracking device 210 measures the azimuth angle, the velocity and the rotation angle while the transporter 200 moves from the reference point to the point at which the block 3 is disposed, May send an activation signal to the device 210.

In step S430, the server 300 acquires the traveling orbit information and the position information of the transporter 200 from the trajectory tracking device 210. [

The azimuth measurement sensor 213, the velocity measurement sensor 214 and the angle measurement sensor 216 of the trajectory tracking device 210 are measured while the transporter 200 is moving from the reference point to the point at which the block 3 is disposed The server 300 acquires the trajectory information and the position information according to the speed information and the rotation angle information, which will be described in detail with reference to FIG.

5, the server 300 acquires the traveling orbit information and the position information of the transporter 200 from the traveling trajectory tracking device 210 (S430). The traveling trajectory tracking device 210, (S431) of installing the azimuth measurement sensor 213, the velocity measurement sensor 214 and the angle measurement sensor 216 of the transporter 200 on the basis of the reset current position as a reference point, (S432) the velocity information and the rotation angle information of the transporter 200 measured in real time by the azimuth measurement sensor 213, the velocity measurement sensor 214 and the angle measurement sensor 216 until the point And calculating the position value in real time using the azimuth angle, velocity information, and rotation angle information (S433).

In step S440, the server 300 tracks the movement position of the transporter 200 using the acquired information.

The server 300 receives reference position information of the transporter 200 acquired by the reference position sensing apparatus 100 and real-time position information of the transporter 200 acquired by the trajectory tracking apparatus 210, real- The position of the block 3 arranged in the yard 2 can be accurately tracked by calculating the position value in real time and displaying the calculated position value on the map in conjunction with the map information.

As described above, according to the present embodiment, when the reference position sensing device 100 installed in the open space 1 and the trajectory tracking device 210 installed in the transporter 200 are used in parallel, It is possible to effectively track the position of the ship blocks 3 and to efficiently use the space of the yard 2 where the ship block 3 is disposed by making it possible to track the trajectory 4 of the transporter even when the ship block 3 is generated. And can save manpower and time for block management.

Therefore, in the present embodiment, the GPS signal reception is disconnected in the steel structure or the ship block of the shipyard, so that the position error of the transponder can not be accurately tracked and the trajectory of the trajectory can not be accurately tracked The position of the block disposed in the yard can not be precisely known, so that it is possible to solve all of the conventional problems such as wasteful manpower and waste of time, for example, the operator must directly check the position of the ship block.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification and the modification are possible.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1: open space 2: yard
3: Block 4: Running track
100: reference position sensing device 110: first laser distance sensor
120: second laser distance sensor 130: reflector for the first laser sensor
140: reflector for second laser sensor 200: transporter
210: a trajectory tracking device 212: a GPS sensor
213: azimuth measuring sensor 214: speed measuring sensor
216: Angle measuring sensor 300: Server

Claims (13)

A reference position sensing device installed in the open space and acquiring current position information of the transporter;
A trajectory tracing device installed in a part of the transporter for acquiring trajectory information and position information of the transporter; And
And a server for tracking the position of the block disposed in the yard with the use of the traveling orbit information and the position information, and for re-setting the current position of the transporter using the current position information, Porter's location tracking system. 2. The apparatus of claim 1,
Wherein the yard entry point of the transporter is a yard entry road of the transporter. The apparatus as claimed in claim 1 or 2,
Wherein the first laser distance sensor and the second laser distance sensor are spaced apart from each other by a distance allowing the transporter to pass therethrough. The method of claim 3,
And a reflection plate for first and second laser sensors for reflecting the laser beams emitted from the first and second laser distance sensors toward the transporter are further provided on both sides of the transporter. Porter's location tracking system. The traveling trajectory tracking device according to claim 1,
An azimuth angle measuring sensor for sensing the passage of the transporter by the reference position sensing device and acquiring azimuth information of the transporter in real time from the reset current position as a reference point to a position where the block is disposed;
A speed measuring sensor that detects the passage of the transporter by the reference position sensing device and acquires speed information of the transporter in real time from the reset current position to a point at which the block is disposed at a reference point; And
And an angle measurement sensor that detects the passage of the transporter by the reference position sensing device and acquires rotation angle information of the transporter in real time from the reset current position to a point at which the block is disposed at a reference point, Location tracking system for block transport transporters. 6. The apparatus of claim 5, wherein the azimuth measurement sensor comprises:
A position tracking system for a ship block transporter, comprising a three-axis gyro sensor and measuring the azimuths of north, south, east and west. 6. The apparatus according to claim 5,
Wherein the gyro sensor or the rotation angle sensor is a gyro sensor or a rotation angle sensor. 6. The server according to claim 5,
Velocity and rotation angle from the azimuth measurement sensor, the velocity measurement sensor, and the angle measurement sensor of the trajectory tracking device while the transporter moves to the point where the block is to be disposed with the reset current position as a reference point Wherein the location information is received in real time, and the calculated position value is displayed on the map in conjunction with the map information. A method for tracking a position of a ship block transporting transporter using a position tracking system of a ship block transporting transporter including a reference position detecting device, a traveling tracker, and a server,
The server,
Obtaining current position information of the transporter from the reference position sensing device;
Resetting the reference position of the transporter according to the current position information;
Obtaining trajectory information and position information of the transporter from the trajectory tracking device; And
And tracking the movement position of the transporter using the obtained information. ≪ RTI ID = 0.0 > [10] < / RTI > 10. The method of claim 9, wherein obtaining the current position information of the transporter from the reference position sensing device comprises:
Installing a first laser distance sensor and a second laser distance sensor of the reference position sensing device in an open space;
Installing reflective plates for the first and second laser sensors on both sides of the transporter;
Determining a position value of each of the first and second laser distance sensors;
Determining a distance between the first and second laser distance sensors;
Obtaining distance information measured by the first and second laser distance sensors and calculating a width and a center value of the transporter; And
And obtaining the distance information measured by the first and second laser distance sensors and calculating the X and Y axis position values of the transporter. The method as claimed in claim 10, wherein the step of resetting the reference position of the transporter according to the current position information comprises:
Wherein the controller receives the distance information measured by the first and second laser distance sensors of the reference position sensing device and resets the current position of the transporter to a reference point for tracking the position of the block. / RTI > 10. The method according to claim 9, wherein the step of acquiring the trajectory information and the position information of the transporter from the trajectory tracking device comprises:
Installing an azimuth measurement sensor, a velocity measurement sensor and an angle measurement sensor of the trajectory tracking device in a part of the transporter;
Velocity information and rotation angle information of the transporter measured in real time by the azimuth measurement sensor, the velocity measurement sensor, and the angle measurement sensor from the reset current position to a point at which the block is disposed, ; And
And calculating a position value in real time using the obtained azimuth information, velocity information, and rotation angle information. 10. The method of claim 9, wherein tracking the movement position of the transporter using the obtained information comprises:
A position value is calculated in real time using the current position information of the transporter acquired by the reference position sensing device, the position information of the transporter acquired by the travel trajectory tracking device, and the travel trajectory information, Wherein the position information is displayed on the map in association with the map information.
KR1020130089116A 2013-07-26 2013-07-26 System for tracking position of transporter for ship block and method thereof KR20150012922A (en)

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