KR20170104081A - Management system for mooring line - Google Patents

Abstract

A mooring line management system is disclosed. The mooring line management system according to an embodiment of the present invention includes a container and a container provided to be mountable on the floating structure and accommodated inside the container. The mooring line management system includes: Cleaning and observing the mooring line cleaning robot provided in the container and cleaning the mooring line cleaning and recovering the mooring line cleaning robot to revive the mooring line and control the operation of the mooring line cleaning mooring line, And an operation unit for transmitting and receiving cleaning information and observation information of the ring line.

Description

{MANAGEMENT SYSTEM FOR MOORING LINE}

The present invention relates to a mooring line management system, and more particularly, to a mooring line management system capable of collectively performing maintenance and maintenance such as cleaning of a mooring line and observing installation conditions.

In general, various floating marine structures floating on a ship or sea are required to have an anchor for anchoring at a certain position. In order to moor the vessel, the anchor is lowered to the sea floor, . The anchor can be formed in a structure that can easily be fixed to the sea floor with sufficient weight so that the hull of the ship or the floating sea structure stably maintains a constant position even in a storm or an algae for its use purpose.

A ship or a floating marine structure is supported by an anchor fixed to the sea floor through a mooring line connected to the hull so that it does not flow according to a storm or current and is moored at a fixed position so that a ship or floating marine structure The difficulty of the maritime work, the collision of the hull or the stranding can be prevented. The mooring line can be connected to the anchor to generate and maintain the holding force of the hull with the anchor.

This mooring line is stored in the hull when the ship or the floating marine structure is operated, and when the mooring line is to be moored at a certain position, the mooring line installation device such as an underwater fairlead chain stopper And the installation process is performed.

However, when an external force due to waves or gusts is applied to the mooring line or the mooring line installation device during the installation process of the mooring line, there is a danger that the mooring chain or the anchor will be damaged as well as the interference between the mooring line and the mooring line installation device There is a possibility that the mooring line or the mooring line installation device may be damaged. Conventionally, in order to stably perform the mooring line installation process, a method of observing the mooring line by diving near the mooring line installation device has been used. However, when the mooring line is strong, There is a danger that a separate vessel for supporting the work of the diver is needed, which leads to an increase in cost and a decrease in the efficiency of the operation.

In addition, since the mooring line is operated for a long time in a submerged state, aquatic life such as moss, barn, etc. can be attached to the outer surface of the mooring line. These foreign substances interfere with checking whether the mooring line is damaged or broken, and there is a risk of affecting the life of the mooring line. Therefore, it is necessary to remove the foreign matter through periodic cleaning. In order to clean the mooring line, it is necessary to perform a cleaning operation by submerging the mooring line close to the mooring line. However, as described above, the danger of the safety accident, There is a problem such as a decrease in efficiency.

Therefore, there is a need for a method that effectively performs maintenance and maintenance such as cleaning of the muirering line and observation of the installation state, and efficient operation in terms of cost and workability.

Korean Patent Publication No. 10-2015-00072700 (published on June 30, 2015)

Embodiments of the present invention provide a mooring line management system capable of effectively performing maintenance and management such as cleaning and observation of mooring lines.

An embodiment of the present invention is to provide a mooring line management system capable of collectively executing the launching, retrieving and operation of a mooring line cleaning robot.

Embodiments of the present invention provide a mooring line management system that can reduce labor and work fatigue required for cleaning and observation of a mooring line.

An embodiment of the present invention is to provide a mooring line management system that can reduce the cost of cleaning and observing the mooring line.

An embodiment of the present invention seeks to provide a mooring line management system capable of easily performing overall maintenance and management of mooring lines.

According to an aspect of the present invention, there is provided a method of cleaning a mooring line, the method comprising: a container mounted to be mountable on a floating marine structure; And a controller for controlling the operation of the mooring line cleaning robot and the engine returning unit, wherein the mooring line cleaning robot controls the operation of the mooring line cleaning robot and the mooring line cleaning robot, And an operation unit for transmitting and receiving the cleaning information and the observation information of the moire ring line.

The mooring line cleaning robot includes a body, a moving unit that moves the body along the mooring line, a cleaning unit that performs cleaning of the mooring line, and an observation unit that performs imaging and measurement of the mooring line. May be provided.

The centrifugal recovery unit may include a conveying unit for moving the mooring line cleaning robot to the inside or outside of the container, and a lifting unit for lifting the mooring line cleaning robot.

The conveyance unit may be provided with a plurality of conveyance frames provided to be stretchable and a conveyance drive device for stretching and operating the plurality of conveyance frames.

The elevating unit may be provided with a wire connected to the mooring line cleaning robot and a winch provided on the plurality of conveying frames for winding and drawing the wire.

Wherein the operation unit comprises a control device for controlling the operation of the mooring line cleaning robot and the engine returning unit, a display device for displaying information acquired by the observation unit, and a central processing unit for executing the programs of the control device and the display device Device. ≪ / RTI >

The observation unit may be provided with a camera for photographing an outer surface of the moire ring line, an illumination device for irradiating the moire ring line, and a measurement device for detecting damage or thickness of the moire ring line.

The measuring apparatus includes an ACFM for detecting an impairment of the mooring line by sensing an external magnetic field change corresponding to an amount of current changed by the damage of the mooring line, (Alternating Current Field Measurement) meter.

The mooring line management system according to the embodiment of the present invention has the effect of effectively performing maintenance and management such as cleaning and observation of the mooring line.

The mooring line management system according to the embodiment of the present invention has the effect of enabling the mooring line cleaning robots to execute, recover and operate in a lump and easily.

The mooring line management system according to the embodiment of the present invention has an effect of performing efficient operation by reducing labor and cost required for cleaning and observing the mooring line.

The mooring line management system according to the embodiment of the present invention has the effect of shortening the time required for cleaning and observation of the mooring line.

The mooring line management system according to the embodiment of the present invention has an effect of easily performing overall maintenance and management of the mooring line.

1 is a side view showing a state in which a mooring line management system according to an embodiment of the present invention is operated.
2 is a perspective view showing a mooring line management system according to an embodiment of the present invention.
3 is a side view of another direction showing a mooring line management system according to an embodiment of the present invention.
4 is a perspective view showing an operating unit according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

FIG. 1 is a side view showing a state in which a mooring line management system 100 according to an embodiment of the present invention is mounted on a floating marine structure 1 and operated. 2 and 3 are a perspective view and a side view respectively showing a mooring line management system 100 according to an embodiment of the present invention.

The floating marine structure 1 described below should be understood as a concept including both marine vessels and floating structures that moor or anchor at a certain position in the sea using the mooring line 10.

Referring to FIG. 1, the mooring line 10 may be provided with an anchor (not shown) at an end thereof so that the floating structure 1 can be anchored at a predetermined position. The mooring line 10 is installed and supplied to the seabed along with the anchor by means of a mooring line 10 installation device (not shown) installed in the floating marine structure 1. The mooring line 10 and the anchor, which are supplied and installed to the sea floor by the installation device of the mooring line 10, are anchored to the sea floor and exhibit a gripping force so that the floating structure 1 can be moored at a predetermined position .

The mooring line 10 is constantly subjected to a load due to waves or storms, and is operated by being immersed in water for a long time, so that the mooring line 10 may be damaged due to breakage, deformation or corrosion. , A barnacle, and the like may adhere to the mooring line 10, which may interfere with the operation of the mooring line 10. Therefore, there is a need to periodically perform maintenance and management, such as observing the installation state of the muirering line 10 and removing foreign matter adhering to the outer surface of the muirring line 10 through cleaning. Accordingly, the mooring line management system 100 according to an embodiment of the present invention observes and cleans the mooring line 10 and provides information to the operator to maintain and manage the mooring line 10 in a stable manner. .

1 to 3, a mooring line management system 100 according to an embodiment of the present invention includes a container 110 installed to load various equipments and an operator, The mooring line cleaning robot 120 and the mooring line cleaning robot 120 which are provided and perform cleaning and observation of the mooring line 10 of the floating marine structure 1 are installed in the container 110, The cleaning information of the mooring line 10 by the mooring line cleaning robot 120 and the cleaning information of the mooring line cleaning robot 120 are controlled by controlling the operation of the recovery recovery unit 130, the mooring line cleaning robot 120, And an operation unit 140 for transmitting and receiving information and the like.

The container 110 can be mounted on the deck of the floating type floating structure 1, and can be provided in a hollow hexagonal shape so as to be capable of loading various structures and operators to be described below. One side of the side surface of the container 110 may be openable and closable so that the mooring line cleaning robot 120 and the worker can lift and lower the mooring line cleaning robot 120. Although not shown in the drawing, A drain port (not shown) may be provided to prevent water from accumulating inside the container 110 due to the lifting and lowering of the ring line cleaning robot 120. The upper surface of the container 110 may be hinged to one side of the container 110 to facilitate installation and removal of various devices.

The mooring line cleaning robot 120 is advanced to the mooring line 10 side by a later-described water recovery unit 130 and moves along the mooring line 10 to clean and observe the mooring line 10 . The mooring line cleaning robot 120 includes a body 121, a moving unit 122 for moving the body 121 along the mooring line 10, a cleaning unit 122 for cleaning the mooring line 10, And an observation unit 124 that performs imaging and measurement of the mooring line 123 and the mooring line 10.

The body 121 may have an inner hollow shape to allow the mooring line 10 to pass therethrough and may be coupled to and separated from the mooring line 10 with one side thereof being openable . The body 121 may be made of a material such as stainless steel having high corrosion resistance due to seawater, but is not limited thereto.

The mobile unit 122 is provided to move the body 121 along the mooring line 10. As shown in FIG. 2, the mobile unit 122 may be provided with a plurality of thruster units each having a small propeller for moving the body 121 through underwater swim. However, the present invention is not limited to this, and may include a plurality of driving wheels to move the body 121 by rolling in contact with the outer surface of the mooring line 10 It is possible. Alternatively, the body 121 may include a first body and a second body, and the first body and the second body may be disposed so as to be close to and away from each other, 10), and a second binding apparatus for binding the first body to the mooring line (10) by the first binding apparatus, (2) the first body and the second body (3) restraining the second body by the second binding device to the moire ring line (10), (4) releasing the restraint from the moire ring line (10) of the first body by the first binding device, (5) The body 121 may be provided to move along the mooring line 10 by continuously performing an operation of approaching the mooring line 10. However, as described above, the present invention is not limited to any one method, and if the body 121 can be stably moved along the mooring line 10, even if the mobile unit 122 is made of various methods and structures, .

The cleaning unit 123 is provided on the body 121 to clean foreign matter such as water moss, barnacle, etc. attached to the outer surface of the mooring line 10. The cleaning unit 123 is provided with a cleaning brush for removing foreign substances by contacting the outer surface of the mooring line 10 and a cleaning motor for rotating the cleaning brush or a nozzle for removing foreign matter by spraying high pressure water . Or a cavitation gun 123a for removing foreign matter by cavitation as shown in Fig. The cavitation gun 123a may jet a high velocity fluid to the outer surface of the mooring line 10 or may emit a strong ultrasonic wave to cause a local pressure drop. At this time, the gas dissolved in the seawater flows into the mooring line 10, the local pressure is greatly increased as the volume of the cavity is sharply reduced at the time of the destruction of the cavity, so that the foreign matter attached to the outer surface of the mooring line 10 can be removed and cleaned by erosion have. However, the cleaning unit 123 is not limited to any one type and structure, and includes cleaning the foreign matter by various methods and structures if the outer surface of the mooring line 10 can be effectively cleaned.

Observation unit 124 may be provided in body 121 to perform imaging and measurement of moire ring 10. The observation unit 124 includes a camera for photographing the outer surface of the moire ring line 10 and a moire ring line 10 for acquiring images of stable illuminance and image quality when photographing the moire ring line 10 of the camera 10, and a measuring device for detecting the damage or thickness of the mooring line 10.

The camera captures the outer surface of the mooring line 10 and transmits the image to the display device 142 of the operation unit 140 to be described later so that the operator can visually confirm the installation state or the cleaning state of the mooring line 10 do. The illumination device is provided to irradiate the mooring line 10 with light so that an operator can acquire a certain quality image in case the light can not be stably irradiated according to the operating environment of the camera. The camera may be composed of a small camera module (CCM) or the like for miniaturization of the equipment. The illumination device may include, but is not limited to, a light emitting diode (LED) for reducing power consumption and lightening.

The measuring device is arranged to detect the damage or thickness of the mooring line (10). The measuring device may be built in the camera or installed in the body 121 separately from the camera so as to detect damage or thickness of the mooring line 10. The measuring device may be provided with a laser scanner and the laser scanner may measure and detect the outer surface of the mooring line 10 to sense damage and thickness of the mooring line 10.

In addition, the measuring apparatus may be provided with an ACFM (Alternating Current Field Measurement) measuring device. The ACFM meter may include an AC current source for supplying an AC current to the mooring line 10 and a magnetic sensor for sensing a change in the magnetic field of the outer surface of the mooring line 10. The ACFM measuring device measures the magnetic field change of the outer surface of the mooring line 10 corresponding to the amount of current changed by the damage of the mooring line 10 after the AC current flows through the mooring line 10 by the AC current meter And detect whether the mooring line 10 is damaged. This ACFM measuring device can effectively detect whether the mooring line 10 is damaged even if paint, rust, and foreign matter exist on the outer surface of the mooring line 10. In particular, a crack generated in the mooring line 10 The length and the depth of the workpiece can be continuously measured and provided to the operator. Accordingly, the ACFM measuring device can quickly provide the operator with specific information on whether the mooring line 10 is damaged or not. However, as an example, the measuring apparatus may be constructed as a facility having various methods and structures, and is not limited to any one method and structure.

The moving unit 122, the cleaning unit 123 and the observation unit 124 of the mooring line cleaning robot 120 are supplied with power through a portable battery (not shown) or provided inside a wire 132a And the information acquired by the observation unit 124 may be transmitted by wire through a wireless transceiver (not shown) or a power cable.

The centrifugal recovery unit 130 is provided to recover the mooring line cleaning robot 120 from the container 110 to the mooring line 10 side and from the mooring line 10 to the container 110 side.

The centrifugal recovery unit 130 transfers the mooring line cleaning robot 120 and the mooring line cleaning robot 120 between the inside and the outside of the container 110 to the container 110 and the mooring line cleaning robot 120, And an elevating unit 132 for elevating the elevating unit 132 between the lines 10.

The transfer unit 131 is provided to horizontally move the mooring line cleaning robot 120 from the inside of the container 110 to the outside or from the outside to the inside of the container 110. The conveying unit 131 includes a plurality of conveying frames 131a provided on the upper side of the container 110 so as to be stretchable and a conveying drive unit 131b for extending and retracting the plurality of conveying frames 131a .

The plurality of conveying frames 131a may be formed of a telescopic type in which one conveying frame 131a is provided to be able to enter and protrude from the other conveying frame 131a on the other side in consideration of the storage capacity and space utilization of the container 110 Telescopic structure. Specifically, in order to move the mooring line cleaning robot 120 inside the container 110 to the outside of the container 110 for launching the mooring line cleaning robot 120, the conveying drive device 131b A plurality of conveyance frames 131a that receive the driving force from the support frames 131a and 131b can extend and extend the conveyance frame 131a by projecting the support frames on the other side protruded to the inside of one support frame. Conversely, when the mooring line cleaning robot 120 disposed outside the container 110 is to be moved to the inside of the container 110 for loading the mooring line cleaning robot 120, the conveying driving device 131b A plurality of conveying frames 131a receiving the driving force from the supporting frames 131a can draw in and support the other supporting frame to the inside of the supporting frames.

The conveyance drive device 131b is provided to provide a driving force for the expansion and contraction operation of the plurality of conveyance frames 131a. The conveying drive unit 131b may include a driving motor, a hydraulic cylinder, and the like. However, the conveying driving unit 131b is not limited to any one structure, and may have various structures as long as it can implement a stretching operation of the plurality of conveying frames 131a .

The elevating unit 132 is provided to descend the muirring line cleaning robot 120 toward the muirring line 10 or to raise it to the container 110 side and recover it. The lifting unit 132 is provided with a wire 132a connected to the mooring line cleaning robot 120 and a winch 132b provided on the plurality of transportation frames 131a for winding and unwinding the wire 132a .

The wire 132a is provided at one end to the mooring line cleaning robot 120 while the other end is wound around the drum of the winch 132b and the winch 132b is supported by a plurality of the carrying frames 131a, 132a can be realized. As described above, the wire 132a may be provided with a power cable embedded therein. The winch 132b receives power from a driving motor (not shown) and is supported by the carrying frame 131a. 132a of the mooring line cleaning robot 120 are wound and unwound, the mooring line cleaning robot 120 can be raised and lowered.

The operation unit 140 is provided inside the container 110 to control the operation of the mooring line cleaning robot 120 and the return recovery unit 130 and controls the operation of the mooring line 10 by the mooring line cleaning robot 120. [ Reception and analysis of the cleaning information and the observation information.

4 is a perspective view illustrating an operation unit 140 included in the mooring line management system 100 according to an embodiment of the present invention. Referring to FIG. 4, the operation unit 140 includes a mooring line cleaning robot 120, A display device 142 for displaying information acquired by the observation unit 124 of the mooring line cleaning robot 120, and a controller (not shown) And a central processing unit 143 for executing and analyzing programs of the display device 142 and the programs of the display device 142.

The steering device 141 may include a steering wheel, a keyboard, and the like to adjust the posture, the moving direction, the moving speed and the like of the mooring line cleaning robot 120 and to control and control the operation of the spinning rewinder 130 have. The display device 142 can display information such as the position, posture, moving direction, moving speed and depth of the moire ring cleaning robot 120, Information such as the cleaning state, damage and thickness of the obtained mooring line 10 can be displayed to the operator. The display device 142 may also display information on whether the mooring line 10 analyzed by the central processing unit 143 is damaged or not, and whether the maintenance is performed. The central processing unit 143 executes programs of the control unit 141 and the display unit 142 and determines whether the mooring line 10 is damaged or not based on the information acquired by the observation unit 124 And displays the analyzed information on the display device 142. [

The mooring line management system 100 according to an embodiment of the present invention having such a configuration can effectively perform maintenance and management such as cleaning and observation of the mooring line 10, Recovery, and operation of the image forming apparatus can be performed in a simple and easy manner.

In addition, unnecessary labor and cost for cleaning and observation of the mooring line 10 can be reduced, and efficient operation of the equipment can be achieved. In addition, it is possible to perform overall maintenance and management of the mooring line 10 with a single system So that the ease and efficiency of the operation are improved.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, You will understand. Accordingly, the true scope of the invention should be determined only by the appended claims.

100: Mooring line management system 110: Container
120: Moirring line cleaning robot 121: Body
122: mobile unit 123: cleaning unit
123a: Cavitation Gun 124: Observation Unit
130: Reverse rotation recovery unit 131: Transport unit
131a: Transport frame 131b: Transport drive device
132: lifting unit 132a: wire
132b: Winch 140: Operation part
141: Steering device 142: Display device
143: Central processing unit

Claims (8)

A container mountable on a floating marine structure;
A mooring line cleaning robot which is accommodated inside the container and moves along the mooring line of the floating structure to perform cleaning and observation of the mooring line;
A spinning recovery unit provided in the container for launching and recovering the mooring line cleaning robot; And
And an operation unit for controlling the operation of the mooring line cleaning robot and the engine returning unit and transmitting and receiving cleaning information and observation information of the mooring line by the mooring line cleaning robot. The method according to claim 1,
The mooring line cleaning robot
A mooring line management system comprising a body, a mobile unit for moving the body along the mooring line, a cleaning unit for cleaning the mooring line, and an observation unit for performing the imaging and measurement of the mooring line system. 3. The method of claim 2,
The centrifugal number-
A conveying unit for moving the mooring line cleaning robot to the inside or outside of the container, and an elevating unit for moving the mooring line cleaning robot. The method of claim 3,
The conveying unit
A plurality of conveyance frames provided so as to be capable of being retracted, and a conveyance drive device for retracting and operating the plurality of conveyance frames. 5. The method of claim 4,
The elevating unit
A wire connected to the mooring line cleaning robot, and a winch provided on the plurality of conveyance frames for winding and drawing the wire. 6. The method of claim 5,
The operating unit
A control device for controlling operations of the moire ring line cleaning robot and the centrifugal recovery part, a display device for displaying information acquired by the observation unit, and a central processing unit for executing the programs of the control device and the display device Mooring line management system. 3. The method of claim 2,
The observation unit
A camera for taking an image of an outer surface of the moire ring line; an illumination device for irradiating the moire ring line; and a measurement device for detecting damage or thickness of the moire ring line. 8. The method of claim 7,
The measuring device
An alternating current field (ACFM) for detecting the damage of the mooring line by sensing a change in the magnetic field of the outer surface of the mooring line corresponding to the amount of current changed by the damage of the mooring line, Measurement Metering Line Management System.

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