KR20150144408A - Method for positioning of vessel supporter by LASER scaning - Google Patents

Abstract

The present invention relates to a method for positioning a vessel supporter using a laser scan including: a first step of calculating a first relative position vertical to a reference plane by irradiating the reference plane of a dock with a laser; a second step of calculating a distance between each of the protruded structures by irradiating a plurality of the protruded structures sequentially arranged to the reference plane of the dock with the laser; a third step of identifying a protruded structure adjacent to a distance value of the calculated protruded structure; a fourth step of calculating a second relative position regarding a plurality of the protruded structures from the information acquired from the third step; a fifth step of identifying a current location in the dock by converting the first relative position and the second relative position to a plane coordinate system; and a sixth step of setting a location of the vessel supporter based on the current location.

Description

Technical Field [0001] The present invention relates to a method for positioning a vessel by laser scanning,

The present invention relates to a method of positioning an antiparallel spot using laser scanning capable of precisely setting the position of a vessel supporter in a dock.

In general, a modern shipyard is a dry dock or a floating dock that has a huge surface area capable of drying large ships of tens to hundreds of thousands tons or more for the convenience of drying and launching of large ships or the sequential drying of multiple ships by tandem construction One or more docks are provided.

In particular, dry dock is the most commonly used docking method in shipbuilding. Its structure is a space where the seawater can flow in order to launch the ship, The dock gate is installed on the dock wall and the dock gate which controls the inflow and outflow of seawater on the side where the space and the sea surface are in contact with each other. Here, the dock wall is a fixed facility usually constructed with reinforced concrete, etc. Although there are many types of dock gates, the dock gate is normally moved up and down by the main and drainage of the ballast tanks, The post-injury movement is a moving facility that is moved by a moving means such as a turk boat.

The vessels that are to be dried in the dock are dried by being supported by half-life and half-life to maintain constant spacing between the ground and the hull at the bottom of the hull for the convenience of work during drying. For example, it is used to maintain a work space of 1.8 m, which is slightly higher than the adult standard key.

Half and double helixes are devices that prevent the hull from collapsing due to local stress by supporting the keel on the hull when it is under construction. These half-heights and double helixes have various shapes and sizes, He then supports the ship with several wagons fixed on it.

Among the various types of semi-regular and semi-regular types, there are stacked bones consisting of a large number of woods on half and half of the concrete structure to withstand the dry weight of the entire ship, fixed with wedges, and arranged with vinyl plywood There is. At this time, the position and height of the antagonist can be adjusted by subtracting or adding multiple antagonisms depending on the type of ship being dried. The wood used as the antagonistic material has a total thickness of approximately 300 to 600 mm, and the wood used as the antipodal material has its own cushion to uniformly maintain the load of the antipodal material according to the height difference.

Meanwhile, the half-period and the half-period must be installed within the range of ± 5 cm at a position to be installed on the bottom of the dock in accordance with the ship to be dried. The reason for this is that the position where the half-period and the half-sled are installed may deviate from the position of the keel of the ship to be supported at the upper portion, and the outer plate may be crushed by the ship load when supporting the outer plate.

In order to prevent this problem in advance, it is usually painted on the floor of the dock to measure the position of the half-period before the semi-period installation, and the semi-period is moved to that position.

However, the above-mentioned conventional semi-installed work is marked with paint on the floor of the dock, so that the paint position is not visible at night, which makes the work difficult. In addition, since the paint is concealed by the muddy water generated during the drainage of the dock at the time of launching twice a month, there is a problem that it is necessary to clean the bottom of the dock every time. In addition, when the painted area is fogged by sunlight or comes into contact with mud particles, a new painting operation is required. If the bottom of the dock is not dried enough to allow painting, it is necessary to wait until it is dried, There is a drawback that it is delayed.

As a method for solving such a problem, there is a method of installing a half period using a commercial GPS or an RFID device in a dock. This method is a method in which a GPS device or an RFID device is attached to a half-period or a semi-transportation means such as a forklift, and a half period is installed while confirming coordinates received on the GPS device on the display.

However, since the commercial GPS device does not have a precision of about ± 5 cm required for the half-time installation of the error range, there is a problem that a subsequent error correction operation is required for a sophisticated half-period installation work, This is not a realistic alternative.

For reference, Patent Documents 1 and 2 disclose prior arts for confirming positions using a laser.

KR 2012-0034242 A KR 2009-0113988 A

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus and method for precisely setting a position at which a half-period will be set through a structure formed in a dock.

According to an aspect of the present invention, there is provided a method of positioning a half-period using laser scanning according to an embodiment of the present invention includes: a first step of calculating a first relative position in a vertical direction of a reference plane by irradiating a laser toward a reference plane of the dock; A second step of irradiating a plurality of protruding structures sequentially arranged on a reference plane of the dock to calculate distances to the respective protruding structures; A third step of grasping an adjacent protruding structure from a distance value with the calculated protruding structure; A fourth step of calculating a second relative position of the plurality of protruding structures from the information obtained from the third step; A fifth step of converting the first relative position and the second relative position into a plane coordinate system to grasp the current position in the dock; And a sixth step of setting a half-period position based on the current position.

In the semi-period positioning method using laser scanning according to an embodiment of the present invention, the first relative position according to the first step may take a minimum value among a plurality of distance values measured and irradiated on the reference surface.

In the semi-period positioning method using the laser scan according to the embodiment of the present invention, the arrangement position according to the third step may take the position information of the protruding structure corresponding to the minimum value among the distance values to the calculated protruding structure .

In the semi-period positioning method using laser scanning according to an exemplary embodiment of the present invention, the position of the protruding structure may be determined by a linear function formed by a plurality of scan points obtained by laser scanning the reference surface, Can be obtained by calculating the intersection points of the linear functions formed by the plurality of scan points obtained by laser scanning.

In the semi-period positioning method using the laser scan according to an embodiment of the present invention, the side surface of the protruding structure may be inclined with respect to the reference surface so that the protruding structure can be easily recognized by laser scanning.

Since the position of a half-period can be set accurately through a plurality of structures formed on a dock, it is possible to install a half-period using equipment such as an unmanned forklift.

In addition, since the present invention sets a half-period position by using a laser, a display operation such as paint is not required and night work is also possible.

FIG. 1 is a plan view of a dock for explaining a half-period positioning method using laser scanning according to an embodiment of the present invention,
FIG. 2 is a view illustrating an example of a coordinate transformation process according to an embodiment of the present invention.
3 is a view showing the shape of a protruding structure that a forklift having a laser scanning device recognizes according to a position in a dock,
FIG. 4 is a flowchart illustrating a half-period positioning method using a laser scan according to an exemplary embodiment of the present invention,
5 is a flowchart illustrating a method of setting a half-period position using a laser scan according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In describing the present invention, it is to be understood that the terminology used herein is for the purpose of describing the present invention only and is not intended to limit the technical scope of the present invention.

In addition, throughout the specification, a configuration is referred to as being 'connected' to another configuration, including not only when the configurations are directly connected but also when they are indirectly connected with each other . Also, to "include" an element means that it may include other elements, rather than excluding other elements, unless specifically stated otherwise.

FIG. 1 is a plan view of a dock for explaining a half-period positioning method using laser scanning according to an embodiment of the present invention, FIG. 2 is an exemplary view illustrating a coordinate transformation process according to an embodiment of the present invention, 3 is a view showing a form of a protruding structure that a forklift having a laser scanning device recognizes according to a position in a dock, FIG. 4 is a flowchart showing a half-period positioning method using a laser scan according to an embodiment of the present invention And FIG. 5 is a flowchart illustrating a method of setting a half-period position using a laser scan according to another embodiment of the present invention.

Referring to FIG. 1, a dock for implementing a half-period positioning method using laser scanning will be described.

The dock 20 has a size that allows the ship to dry. For example, the length of the dock 20 in the first direction (e.g., the X-axis direction) is greater than the width of the vessel to be dried and the length of the dock 20 in the second direction May be greater than the length of the vessel to be dried.

One side of the dock 20 can be a reference surface serving as a reference for all operations. For example, a wall having a predetermined height may be formed on one side of the dock 20 so as to extend in a second direction (Y-axis direction). One end of this wall can be used as a reference point (0, 0) having a coordinate system of the plane of the dock 20. [

On the reference surface of the dock 20, a plurality of protruding structures 10 are formed. For example, the plurality of protruding structures 10 are formed at predetermined intervals along the length direction of the reference surface. Preferably, the protruding structures 10 are formed at different intervals along the longitudinal direction of the reference surface. In one example, the size of the gap between the protruding structures 10 can be increased or decreased in the form of isosceles water. In other words, the distance between the protruding structures 10 formed at the coordinates (0, 100) and the protruded structures 10 formed at the coordinates (0, 110) is 10 m and the protruded structures 10 formed at the coordinates (0, The distance between the formed protruding structures 10 is 20 m and the distance between the protruded structures 10 formed at the coordinates 0 and 130 and the protruded structures 10 formed at the coordinates 0 and 170 may be 40 m.

The plurality of protruding structures thus formed can be used as reference coordinates with respect to the Y-axis direction of the dock 20 (the longitudinal direction of the reference plane). For example, if the distance between the protruding structure 10 closest to the current position and the adjacent protruding structure is known, coordinates in the Y-axis direction can be obtained.

The shape of the protruding structure is one of the important factors enabling precise position recognition with a laser scanner. Providing inclination on both side surfaces of the protruding structure can provide information on the side surface of the protruding structure at any position in the dock. For this purpose, the protruding structure 10 may have a generally quadrangular cross-sectional shape. For example, the projecting structure 10 may have a trapezoidal cross section. This type of protruding structure 10 can be easily recognized by laser scanning at any position in the dock 20. [

The protruding structure 10 is made of a material having good laser reflectivity. For example, the protruding structure may be a rigid concrete structure or a steel structure. For reference, four protruding structures 10 are formed on the reference surface of the dock 20 in Fig. The first protruding structure is formed at a distance of 100 m from the reference point (0, 0) and has coordinates of (0, 100). The second protruding structure is formed at a position 110 m away from the reference point (0, 0) and has coordinates (0, 110). The third protruding structure is formed at a distance of 130 m from the reference point (0, 0) and has coordinates (0, 130). The fourth protruding structure is formed at a position 170 m away from the reference point (0, 0) and has coordinates (0, 170). Although not shown in FIG. 1, fifth and sixth protruding structures and further protruding structures may be formed at 230 m and 310 m from the reference point (0, 0) in the above-described manner.

On the other hand, a forklift 40 for carrying a half-period can be prepared in the dock 20. [ The forklift 40 has a laser scanner 30. The laser scanner 30 continuously or discontinuously scans the reference surface of the dock 20 and transmits the scanned information. The forklift 40 has a controller 50. The controller 50 is connected to the laser scanner 30 and can recognize the position of the forklift 40 based on the measured value of the laser scanner 30. [ For example, the controller 50 can recognize the current position of the forklift 30 by comparing the coordinate information of the protruded structure input through the laser scanner 30 with the coordinate information of the protruded structure obtained through the measurement of the laser scanner 30. In addition, the controller 50 has position information for a half-period to be installed in the dock 20, so that the forklift 40 can control the moving direction of the forklift 40 so that the forklift 40 is installed at the correct position.

For example, the controller 50 obtains the current position of the forklift, and then calculates a target position at which a half of the current position is to be installed. Here, the installation positions (coordinates) for half a year are provided in the form of X, Y coordinates from the dock coordinate zero point. The controller 50 displays this information as a virtual figure on the display (screen) through the augmented reality technology, and informs the operator of the position where the half-period should be installed. Then, the operator should install a half-circle at the point where this virtual rectangle matches with the half-period on the forklift. Alternatively, the controller 50 may perform an additional function to inform the operator whether the position of the forklift and the semi-annular installation position coincide with each other. Such an additional function may be a method of visually displaying a mark corresponding to a coordinate value number or a coordinate value on the display, or informing the user of the matching sound through a sound device equipped on the display.

2 to 4, a process of obtaining transformed coordinate values at the point where the forklift is located by the laser scanning of the present invention, that is, the point where the laser scanner is irradiated will be described.

(Step 1: S100)

This step is a step of recognizing coordinates installed in the dock. For example, as shown in FIG. 2, it is stored in the storage device in the controller that the coordinate values of the protruding structures provided at the points A and B are (0, 110), (0, 130). In this storage device, the coordinate value in the dock and the coordinate value to which the half period is to be installed are stored.

(Steps 2 to 4: S200 to S400)

Steps 2 to 4 are the steps to obtain the local coordinates of the forklift. Here, the local coordinate values are obtained by laser scanning. Laser scanning is done by a 2D laser scanner. The laser scanner irradiates the laser in one direction of the dock to provide the controller 50 with information about the dock. For reference, it is preferable to use a laser scanner having a scan range of about 190 degrees and an error range of +/- 5 cm.

The laser scanner can calculate the distance of the forklift with respect to the reference plane of the dock 20 by irradiating the laser toward the reference plane of the dock 20. [ The laser scanner also scans the protruding structures to obtain information about the spacing between the protruding structures. Then, the controller 50 can determine the local coordinate value by detecting the relative position and direction of the forklift through the information.

(Step 5: S500)

Step 5 is a step of acquiring the converted coordinate value. The laser scanner calculates the coordinate value of the protruding structure obtained by taking the Y-axis direction of laser irradiation in the forward direction of the wall surface of the dock where the protruding structure is installed as the Y coordinate of the long side of the dock coordinate And then the coordinate value is obtained.

(Step 6: S600)

In step 6, the controller obtains a converted coordinate value, which is a current position of the forklift, and calculates a target position at which a half cycle is to be installed around the current position. That is, since the half-time installation position (coordinate) is provided in the form of X, Y coordinates from the dock coordinate zero, based on this information, a virtual quadrangle is displayed on the display (screen) Let the operator know where to do this.

The operator can install a half-period at the point where the half-period shot taken on the forklift is matched with the half-period of this imaginary square. For this purpose, a camera capable of photographing the near-frontal state (half-lifted on the fork-lift fork and the surrounding area on the forklift) installed at a certain distance from the scanner is installed, and the angle of the camera and the ground, the angle of view of the camera, , The controller uses the augmented reality technology that displays the target point set in the actual three-dimensional space in a three-dimensional form on the screen shot by the camera, so that the controller sets the target position of the half- It is implemented as a virtual reality so that it can be confirmed. When the forklift is moved in this manner, the target position shown on the screen will be relatively changed as the forklift moves (refer to the position A and B position change screens in FIG. 3), and the forklift driver or the operator, And the target point on the semi-circular figure indicated by the augmented reality, can be visually confirmed, and half the period can be set to the exact coordinates.

All of these situations are visible on the display and can be visually confirmed, and their accuracy can be achieved within ± 5 cm, which is the error range of half-day installation, because of the use of a laser scanner.

The operation of the system and method according to the present invention will be described below.

A laser scanner 30 equipped with a fork lift truck 40 having a half period for supporting the lower keel part of the hull being dried on the fog is mounted on the bottom of the dock 20 to irradiate a laser beam onto one side wall of the dock. The laser scanner 30 detects information about the relative position and direction of the forklift by detecting the distance between the wall surface of the dock, the protruding structure and the forklift with the information of the irradiated laser beam, and calculates local coordinates based on the information.

Then, the controller installed in the forklift converts the local coordinates into transformed coordinates based on the dock map previously stored in the storage device, the coordinates of each protruding structure, and the dock coordinates including the coordinate information to be installed for half a year. When such converted coordinates are derived, the position of the forklift in the dock is accurately calculated and displayed on the display mounted on the forklift.

After that, the controller is installed at a certain distance from the scanner so that it can take a picture of the near-front state (semi-period around the forklift forklift at the top of the forklift) and halfway Distortion, and so on, using the Augmented Reality technology that displays the target point set in the actual 3D space on the screen shot by the camera in 3D form. And a half period is set at a point where the target point indicated by the augmented reality coincides with the half period displayed on the front side.

In order to check the position of the half-period placed on the bottom of the dock, it is necessary to irradiate the half-mounted side with a laser to obtain the half-period setting coordinate information.

Another embodiment of the half-period positioning method using laser scanning will be described with reference to FIG.

The half-period positioning method according to this embodiment includes a first relative position calculation step S110, a distance calculation step S210 with respect to the protruding structures, a protruding structure grasping step with the shortest distance S310, (S410), a current position determination step (S510), and a half turn position setting step (S610).

1) First step (S110)

This step is a step of calculating a first position of a device (for example, a forklift) that carries and installs a half period to the reference plane of the dock. For example, in this step, the position of the forklift in the X-axis direction relative to the plane coordinates of the dock 20 can be calculated. For this purpose, the laser scanner irradiates the laser to the reference surface of the dock 20 and measures the distance from the forklift 40 to a plurality of points on the reference surface. The controller 50 can recognize the minimum value from the measured plurality of distance information as X-axis coordinates (40 on the basis of FIGS. 1 and 2) of the forklift 40 with respect to the reference plane.

2) In the second step S210,

In this step, the distance between the plurality of protruding structures 10 formed on the reference surface and the forklift 40 is measured. For example, in this step, the controller 50 determines the position of the protruding structure 10 from the scan information acquired by the laser scanner, and calculates the distance between each of the protruding structures 10 from the forklift 40 .

On the other hand, the position of the protruding structure 10 is determined by a linear function formed by a plurality of scan points obtained by laser scanning the entire area of the reference surface, and a linear function formed by a plurality of scan points obtained by laser scanning the side surface of the protruded structure It can be recognized as an intersection point.

3) In the third step S310,

This step is to grasp the protruding structure 10 closest to the forklift 40 at the current position through the distance information calculated in the second step. For reference, the protruding structure 10 closest to the forklift 40 is a protruding structure having the smallest distance value.

4) In a fourth step S410,

This step is a step of calculating the second relative position of the forklift 40. For this, in this step, it is possible to perform the step of determining the coordinates of the protruding structure 10 which is close to the forklift 40. For example, in this step, the distance between the adjacent protruding structure 10 and the adjacent protruding structure 10 is calculated, and the coordinates of the adjacent protruding structure 10 can be obtained by comparing with the coordinate information of the previously inputted protruding structures have. Here, the Y axis coordinate (130 on the basis of FIG. 1) of the protruding structure 10 can be used as the Y axis coordinate of the forklift 40. On the other hand, this step can correct the Y axis coordinates found in the above procedure for precise position analysis. For example, the Y-axis coordinate can be corrected using triangulation (for example, the Y-axis coordinate corrected by this method is 120).

5) In the fifth step S510,

In this step, the current position of the forklift 40 is grasped. For example, in this step, the X-axis coordinate 40 obtained in the first step and the Y-axis coordinate 120 obtained in the fourth step can be determined as the current coordinates 40 and 120 of the difference difference 40.

6) Step 6 (S610)

This step is a step of setting a half-period (installation) position based on the current position of the forklift 40. [ In this step, the semi-period installation position is determined based on the current position of the forklift 40, and the forklift 40 is moved so that the half-period can be installed at the correct position.

Hereinafter, the other steps are the same as or similar to the steps according to the above-described other embodiments, or detailed descriptions of these steps are omitted.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions And various modifications may be made. For example, various features described in the foregoing embodiments can be applied in combination with other embodiments unless the description to the contrary is explicitly stated.

10 protruding structure
20 docks
30 Laser Scanner
40 Forklifts
50 controller unit
60 display unit
70 storage unit

Claims (5)

A first step of irradiating a laser toward a reference plane of the dock to calculate a first relative position in a direction perpendicular to the reference plane;
A second step of irradiating a plurality of protruding structures sequentially arranged on a reference plane of the dock to calculate distances to the respective protruding structures;
A third step of grasping an adjacent protruding structure from a distance value with the calculated protruding structure;
A fourth step of calculating a second relative position of the plurality of protruding structures from the information obtained from the third step;
A fifth step of converting the first relative position and the second relative position into a plane coordinate system to grasp the current position in the dock; And
A sixth step of setting a half-period position based on the current position;
Wherein the half-period position setting method comprises using a laser scanning method. The method according to claim 1,
Wherein the first relative position according to the first step comprises:
A method for positioning a half-period using laser scanning which takes a minimum value among a plurality of distance values measured and irradiated on a reference plane. The method according to claim 1,
Wherein the arrangement position according to the third step includes:
And position information of the protruding structure corresponding to the minimum value among the distance values with respect to the calculated protruding structure is obtained. The method according to claim 1,
The position of the protruding structure,
A linear function formed by a plurality of scan points obtained by laser scanning the reference plane and a half period position using laser scanning obtained by calculating an intersection point of a straight line function formed by a plurality of scan points obtained by laser scanning the side surface of the protruding structure How to set it up. The method according to claim 1,
Wherein a side surface of the protruding structure is inclined with respect to a reference plane so that the protruding structure can be easily recognized by laser scanning.

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