KR20150134648A - Auto tracking system of ice breaking model ship - Google Patents

Abstract

Disclosed are an automatic tracking system for an ice breaking model ship, and an operation method thereof. The present invention provides the automatic tracking system for the ice breaking model ship, capable of calculating a relation between a movement of the ice breaking model ship driving in an icy water tank and an ice load. The automatic tracking system for the ice breaking model ship comprises: a rail unit (120) formed in a longitudinal direction of the icy water tank; the ice breaking model ship (130) performing rectilinear free sailing or turning free sailing in the icy water tank; a free sailing tracking unit (140) moving along the rail unit (120), and calculating a moving distance in the icy water tank as a position coordinate and a movement of a bow unit of the ice breaking model ship (130) in accordance to the ice load based on a photographed image after photographing a movement of the ice breaking model ship (130) freely sailing in the icy water tank; a control unit (150) calculating a relation between data measured in the free sailing tracking unit (140) and the ice load applied to the ice breaking model ship (130), and controlling the movement of the free sailing tracking unit (140); and a display unit (160) displaying a result value calculated by the control unit (150) for a user.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [

More particularly, the present invention relates to an apparatus for tracking a freezing track of an ice crushing model line, and more particularly, to an ice crushing model line freely rolling by a model propeller, (Vx, Vy), and an automatic tracking system of an ice crushing model line for measuring a bow angle.

In recent years, oil prices have been on the rise for a long time. This high oil price trend has become a driving force for resource development in the polar regions that have been deteriorated due to economic difficulties since the oil prices were stabilized downward. In particular, the expansion of Russia's economic power due to high oil prices has led to the development of Siberia in the Arctic Ocean and the use of Arctic sea routes In the United States.

Since the existing method of ice sea transportation is not limited to the size of the icebreaker guided by the size of the vessel induced by induction icebreaks, the ship to be operated in the Arctic sea route will be larger than the previous one. Even nuclear icebreakers such as the class will become more difficult to serve as induction icebreakers.

Therefore, the current shortage of ice sheets for large icebreakers suggests that the design and construction of icebreakers, which can operate independently in the Arctic sea route, will be needed soon.

It is predicted that the shoji will be created for Russia's icebreaker blades, which occupy most of the vessels currently operating in the waters. According to the estimates of domestic shipbuilders, 50 oil tanks will be ordered by 2014 due to rising oil and natural gas prices.

This is a new market of over $ 5 billion, and the polar ship market is expected to expand to icebreaking LNG and icebreaking container ships in addition to icebreaking oil tankers. This situation will be a good opportunity for the domestic shipbuilding industry, which is based on high value added strategy. Approximately 25% of vessels currently purchased by Korean shipbuilders are ice class vessels that can be operated in the waters, and this ratio is continuously increasing.

On the other hand, it can be said that the method of accurately estimating the ice load required for the design of the icebreaker ship has not yet been established. However, through the analysis of the published literature and data, it is feasible to understand the problem of estimating glacier load and to grasp the theoretical basis of the classification of ice classification. Recently, a paper on the estimation of glaciers has been published in Korea (Choi and Lee 2004, Rim and Lee 2007).

Meanwhile, in the present invention, the position of the ice-breaking model line, the moving angle and the moving speed of the forefront portion are photographed through the vision camera while tracking the ice-breaking model line moving in the ice-water bath in real time, (X, y), velocity (Vx, Vy) of an ice crushing model line acting in an ice water bath, and an automatic tracking system of an ice crushing model line for calculating a bowing angle.

Korean Patent Laid-Open No. 10-2004-0041297 (entitled "Method for Tracking and Displaying Movement Object Position and Motion Using Multiple Camera Images)

(X, y), a moving speed (Vx, Vy), a bow angle, and a moving speed of an ice crating model line due to a glacier formed in an ice-water tank while tracking an ice crushing model line moving in the ice- The automatic tracking system of the ice crushing model line which can calculate the relation between the movement of the ice crushing model line moving in the ice water tank and the ice load is obtained by taking the route through the vision camera and calculating the plane coordinates through the captured images .

According to an aspect of the present invention, there is provided an automatic ice tracking system for tracking an ice crushing model line, the system comprising: a rail section 120 formed in a longitudinal direction of an ice storage tank; An ice-breaking model line (130) for performing straight-line free-floating or free-floating free-floating in the ice-making water tank; Moving along the rail part 120 and photographing the movement of the ice-breaking model line 130 which freely rotates in the ice-making water tank, and then, based on the photographed image, A free Hangul tracking unit 140 for calculating the position (xy), the moving speed (Vx, Vy), and the moving angle of the bow at position coordinates; A control unit 150 for calculating the relationship between the measured data of the free Hangul tracking unit 140 and the ice load applied to the ice-breaking model line 130 and controlling the movement of the free Hangul tracking unit 140; And a display unit 160 for displaying the resultant value calculated by the controller 150 to a user.

The automatic track system of the ice-breaking model line may further include a light source unit (101) for outputting light in the longitudinal direction of the ice-making water tank, and the ice-breaking model line (130) tracks the light to perform straight- do.

The freezing ice tracing unit 140 includes at least one light emitting member 131 disposed at the center of the ice making model line 130. The freezing ice tracking unit 140 moves while tracking light emitted from the light emitting member 131 do.

The free space tracking unit 140 includes a moving unit 141 that moves along the rail 120; A light sensing unit 142 coupled to the moving unit 141 and tracking light output from the light emitting member 131 in the ice making model line 130; A vision camera 143 for photographing the movement of the bow of the ice-breaking model line 130 in real time; A plane coordinate calculation module 144 for calculating the position (x, y) of the ice-breaking model line 130, the moving angle and the moving speed of the bow portion on the basis of the images photographed by the vision camera 143 as plane coordinates; And a communication module 145 for outputting the coordinates calculated by the plane coordinate calculation module 144 to the display unit 160. [

The ice-breaking model line 130 includes a glacier measurement panel 132 on the surface of the forefront. The glacier measurement panel 132 detects the glacier model line 130 on the ice surface of the glacier And the like.

The ice-breaking model line 130 further includes a communication module 133 for transmitting the ice load measured by the ice-making measurement panel 132 to the controller 150.

The control unit 160 calculates the speed, torque, and thrust information of the ice crushing model line in real time using the information provided from the free anti-theft tracker 140 and the ice load measurement panel 132.

The automatic tracking system of an ice crushing model line according to an embodiment of the present invention estimates a change in the movement angle of the forward portion due to the ice load applied to the forward portion during linear or swing freezing in the ice storage tank by using the ice crushing model line, Speed change, torque change, thrust change, and the like can be determined.

In addition, by converting the moving angle, the moving speed, and the moving distance of the icebreaking model line of the icebreaking model line into plane coordinates in real time through the vision camera provided in the free Hangzhou tracking unit of the present invention, It provides the advantage of observing the motion of the line.

In addition, in the experimental system for observing the driving of the icebreaking model line along the existing glacier, the movement of the icebreaking model line was controlled through the restraining device. However, there was a problem that it is not easy to observe the freezing behavior performance of the icebreaking model line.

Accordingly, the present invention provides an advantage that the icebreaking model line can be freely and freely suspended without a restraining device, and the movement of the icebreaking model line along the ice can be observed more precisely by tracking the movement of the freezingbreaking icebreaking model line in real time.

Therefore, the automatic track system of the ice crushing model line provided by the present invention has an advantage that the free Hangzhou ice water tank test and the ice operation test can be performed.

1 is a block diagram showing an automatic tracking system of an ice crushing model line according to an embodiment of the present invention.
FIG. 2 is an exemplary view showing a state in which a rail part and a free Hangul tracking part are bound.
FIG. 3 is an exemplary view showing a skid movement angle of an icebreaking model line which is free to turn freely in an ice bath.
FIG. 4 is a block diagram illustrating the free Hangul tracking unit shown in FIG. 1. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Embodiments in accordance with the concepts of the present invention can make various changes and have various forms, so that specific embodiments are illustrated in the drawings and described in detail in this specification or application. It is to be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms of disclosure, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises ",or" having ", or the like, specify that there is a stated feature, number, step, operation, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An automatic track system of an ice crushing model line according to an embodiment of the present invention will be described in detail with reference to the drawings.

1 is a block diagram showing an automatic tracking system of an ice crushing model line according to an embodiment of the present invention.

FIG. 2 is an exemplary view showing a state in which a rail part and a free Hangul tracking part are bound.

FIG. 3 is an exemplary view showing a skid movement angle of an icebreaking model line which is free to turn freely in an ice bath.

FIG. 4 is a block diagram illustrating the free Hangul tracking unit shown in FIG. 1. FIG.

1, an automatic ice tracking system line tracking system 1000 according to an embodiment of the present invention includes a rail part 120, an ice crushing model line 130, a free Hangzhou tracking part 140, a controller 150, And a display unit 160.

In addition, the ice-breaking model line may further include a light source unit for presenting a virtual course direction as light so that the ice-breaking model line can move in a straight line in order to perform the straight-line free Hangul, The ice-breaking model line may include a photo-sensing sensor for tracking the light output from the light source unit.

The rails 120 are located on the upper part of the ice-making water tank, and at least one or more of them are formed in the longitudinal direction of the ice-making water tank.

The ice-breaking model line 130 may be a model line that performs straight-line free-floating or free-floating free-floating in the ice-making water tank.

More specifically, the ice-breaking model line 130 is equipped with at least one light-emitting member 131 that outputs light to the center of the ice-breaker model line 130, and the free- And moves along the direction of the icebreaking model line. A more detailed description of the free Hangul tracking unit 140 will be described later.

The ice block model line 130 may be provided with a glacier measurement panel 132 on the surface of the forefront portion and the glacier measurement panel 132 may be provided on the ice block model line 130, And performs the function of measuring the ice load (for example, the size and distribution of ice in the ice) applied at the time of the movement.

For example, the glacier measurement panel 132 includes a load cell 132a for measuring the size and distribution of the glacier applied in a unit of surface, and a size and a distribution diagram of the glacier applied in units of points A strain gage is provided to measure the ice load applied to the forefront of the ice making model line.

The ice crushing model line 130 further includes a communication module 133. The communication module 133 detects the ice load measured at the point or the face measured by the ice- To the control unit 150.

Next, the free-Hangzhou tracking unit 140 moves along the rail 120, captures the motion of the ice-breaking model line 130 freely hanging in the ice-making water tank, The movement of the forefront of the ice-breaking model line 130 along the glacier and the movement distance in the ice-making water tank are calculated as position coordinates.

More specifically, the free Hangul tracking unit 140 includes a moving unit 141, a light sensing unit 142, a vision camera 143, a plane coordinate calculation module 144, and a communication module 145.

The moving unit 141 moves along the length direction of the rail 120.

The light sensing unit 142 is coupled to the lower end of the moving unit 141 and tracks the light output from the light emitting member 131 provided in the ice making model line 130.

When the light sensing unit 142 is driven, the vision camera 143 performs a function of photographing a change in movement (movement angle) of the bow or hull of the ice-breaking model line 130 in real time.

The plane coordinate calculation module 144 calculates the plane coordinate calculation module 144 based on the position (x, y) of the ice crating model line 130, the moving angle (x, y) (Vx, Vy) and the moving distance of the hull by plane coordinates.

The communication module 145 outputs the plane coordinate value calculated by the plane coordinate calculation module 144 to the display unit 150.

The control unit 150 calculates a correlation between the data measured by the free hangover tracking unit 140 and the ice load applied to the ice crating model line 130, As shown in FIG.

In addition, the controller 160 may calculate the ice-breaker thin-wall behavior to calculate the speed, torque, and thrust information of the ice-breaking model line in real time using the information provided by the free-hangzhou tracking unit 140 and the ice- The program has more memory installed.

The memory (not shown) may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) , A random access memory (SRAM), a read only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM) And may be one type of storage medium.

The ice-breaker thin-film-behavior calculating program may be a computer-readable program recorded on a computer-readable recording medium. Here, the computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, hard disk, floppy disk, flash memory, optical data storage, And the like. The computer readable recording medium may also be distributed over a networked computer system and stored and executed as computer readable code in a distributed manner.

The control unit 160 may be a PDC (Personal Digital Cellular) phone, a PCS (Personal Communication Service) phone, a PHS (Personal Handyphone System) phone, a CDMA- CDMA) phone, a dual band / dual mode phone, a GSM (Global Standard for Mobile) phone, a MBS (Mobile Broadband System) phone, a DMB (Digital Multimedia Broadcasting) Such as portable devices, personal digital assistants (PDAs), hand-held PCs, notebook computers, laptop computers, WiBro terminals, MP3 players, MD players, And an IMT-2000 (International Mobile Telecommunication-2000) terminal that provides an international roaming service and an extended mobile communication service. The portable electronic device includes: CDMA (Code Division Such as a wireless communication device equipped with a GPS chip, in order to enable position tracking through a wireless communication module, a Bluetooth module, a Bluetooth module, an Infrared Data Association, a wired and wireless LAN card and a GPS (Global Positioning System) And can be interpreted as a concept collectively referred to as a terminal capable of performing a certain computation operation by mounting a microprocessor.

The display unit 160 displays a resultant value calculated by the controller 150 in a plane coordinate state to a user.

The automatic tracking system of an ice crushing model line according to an embodiment of the present invention estimates a change in the movement angle of the forward portion due to the ice load applied to the forward portion during linear or swing freezing in the ice storage tank by using the ice crushing model line, Speed change, torque change, thrust change, and the like can be determined.

In addition, it is possible to observe the movement of the icebreaking model line due to the ice load more easily by converting the moving angle of the forefather of the icebreaking model line and the moving distance of the icebreaking model line into plane coordinates in real time through the vision camera provided in the free- .

In addition, in the experimental system for observing the driving of the icebreaking model line along the existing ice, the movement of the icebreaking model line was controlled through the constraining device. However, in the present invention, the ice-breaking model line can freely and freely rotate without restraint, and the movement of the freezing ice-breaking model line can be tracked in real time, It is possible to more precisely observe the movement of the ice-breaking model line.

Therefore, the automatic track system of the ice crushing model line provided by the present invention has an advantage that the free Hangzhou ice water tank test and the ice operation test can be performed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications, and variations will readily occur to those skilled in the art without departing from the spirit and scope of the invention. Therefore, it should be understood that the disclosed embodiments are to be considered in an illustrative rather than a restrictive sense, and that the true scope of the invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof, .

100: Automatic Tracking System of icebreaking model line
120: Le Mans
130: Ice-breaking model line 131: Light-
140: Free Hangzhou tracking section 141: Moving section
142: Light sensing unit 143: Vision camera
144: Plane coordinate calculation module 145: Communication module
150: control unit 160:

Claims (7)

A rail part 120 formed in the longitudinal direction of the ice storage tank;
An ice-breaking model line (130) for performing straight-line free-floating or free-floating free-floating in the ice-making water tank;
Moving along the rail part 120 and photographing the movement of the ice-breaking model line 130 which freely rotates in the ice-making water tank, and then, based on the photographed image, A free Hangul tracking unit 140 for calculating the position (xy), the moving speed (Vx, Vy), and the moving angle of the bow at position coordinates;
A control unit 150 for calculating the relationship between the measured data of the free Hangul tracking unit 140 and the ice load applied to the ice-breaking model line 130 and controlling the movement of the free Hangul tracking unit 140; And
And a display unit (160) for displaying the resultant value calculated by the controller (150) to a user.
The method according to claim 1,
Further comprising a light source unit (101) for outputting light in a longitudinal direction of the ice-making water tank, wherein the ice-breaking model line (130) tracks the light to perform straight-line freezing.
3. The method according to claim 1 or 2,
The ice-breaking model line (130)
Wherein at least one light emitting member (131) is provided at the center of the inner part, and the free hanging trace unit (140) moves while tracking light emitted from the light emitting member (131).
The method of claim 3,
The free Hangul tracking unit 140,
A moving part 141 moving along the rail part 120;
A light sensing unit 142 coupled to the moving unit 141 and tracking light output from the light emitting member 131 in the ice making model line 130;
A vision camera 143 for photographing the movement of the ice-breaking model line 130 in real time;
The position (x, y) of the ice crating model line 130, the movement angle (x, y) of the bow, the moving velocity Vx, Vy of the hull, A plane coordinate calculation module 144 for calculating the moving distance of the ship by plane coordinates; And
And a communication module (145) for outputting the coordinates calculated by the plane coordinate calculation module (144) to the display unit (160).
The method according to claim 1,
The ice-breaking model line (130)
And a glacier measurement panel 132 is provided on the surface of the forefront portion so that the glacier measurement panel 132 measures the ice load applied to the ice crating model line 130 during the movement in the ice- Automatic Tracking System of Icebreaking Model Line.
6. The method of claim 5,
The ice-breaking model line (130)
Further comprising a communication module (133) for transmitting the ice load measured by the glacier measurement panel (132) to the controller (150).
The method according to claim 6,
The control unit 150,
Wherein the speed, torque, and thrust information of the ice-breaking model line are calculated in real time using the information provided by the free-hanging circle tracking unit (140) and the ice load measurement panel (132).

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