KR20180076967A - Device and method for automatic installation of keel block using GPS signal - Google Patents

Abstract

The present invention relates to an apparatus to automatically install a keel block using a global positioning system (GPS) signal, which automatically calculates an installation position of a keel block used for building a vessel by using three-dimensional (3D) positioning technology, and automatically and correctly installs the keel block at a position on a drawing based on the calculated installation position by using a horizontal moving apparatus in a cart, and a method thereof. According to the present invention, the apparatus to automatically install a keel block using a GPS signal comprises: a GPS reception device to provide location information as a criterion; and a keel block installation unit to discriminate the position and the direction of the keel block based on the location information acquired through an embedded GPS receiver, and to unload the keel block at a fixed position based on discriminated position and direction information of the keel block, and the location information of the cart received through the GPS reception device.

Description

TECHNICAL FIELD [0001] The present invention relates to a device and a method for automatically installing an anti-

The present invention relates to an apparatus and a method for automatically installing a keel block using GPS (Global Positioning System) signals, and more particularly, The present invention relates to an apparatus and method for automatically installing an antilogarithm using a GPS signal in which a bogie is accurately installed automatically on a drawing by using a horizontal moving device in a bogie.

A keel block is a base that holds the lower end of a ship so that it can be centered when the ship is dried in a plane dock. When drying the ship, it is necessary to install several dozens or as many as several hundreds of coins depending on the size of the ship to facilitate shipbuilding work.

The position of the antagonist is determined by the weight of the ship in the design stage of the ship and the shape of the bottom of the ship. If the design of the installation site is ignored and the installation is arbitrary, it can cause a serious accident due to the weight of the ship which is several tens of thousands of tons. The installation of the antipodes must be correctly installed within tolerance (for example, 5cm).

The installation of antagonism, which is a necessary preliminary work for the ship building work, should be carried out jointly with the anti-surveillance surveyor and the assistant article, and when the assistant article is moved by the instruction of the surveyor, Has come. In order to accurately install the antagonism, it has been proceeded in the order of measuring / displaying the position of four corners per antagonist, and forklift driver moving the antagonist to the position previously indicated by the forklift.

Alternatively, a bogie (a dedicated device) for bogie movement is used to place the bogie in close proximity to the position indicated in the design drawing, and then the position of the bogie placed using a measuring device such as a Total Station is measured , The position is shifted by moving a small amount of the difference compared with the position on the drawing using a fork of a bogie or the like, and the process of moving again after the measurement is repeated to install a bump at a predetermined position.

On the other hand, the prior art for arranging the ship for ship building is disclosed in the following Patent Documents 1 to 4.

The prior art disclosed in Patent Document 1 is characterized in that, when arranging the antipode on the dock for drying the ship in the dock, after the demolition and reuse antifreeze are disposed on the bottom of the dock, It is possible to perform two kinds of shipbuilding operations on the dock with a single injection of water, thereby reducing the production cost and the processing time by reducing the step of taking seawater on the dock during the shipbuilding by one step .

The prior art disclosed in Patent Document 2 includes a step of calculating a concentrated load of a ship to select a concrete supporting portion to be installed on the ground of the poison, a steel supporting portion provided on the upper portion of the concrete supporting portion through a calculated concentrated load of the ship, Comprising the steps of: placing a concrete support and a steel support on a dock; joining a wooden support to the top of the steel support; and joining the plastic board to the top of the wood support, do.

Through this process, it is possible to prevent the cracking phenomenon on the ship's concentrated load by using the plastic board, to prevent the outer plate shape under the ship from being damaged or deformed, and by the semi-permanently reusable plastic board, The material cost can be reduced.

In addition, the prior art disclosed in Patent Document 3 is arranged in a certain region of a dry dock, measures the current position, distance and displacement from the wall surface of the dock according to a control signal, transmits the measured measurement information wirelessly , Moves in a certain region of the dock, and transfers the antiparallel to the predetermined region. By automatically remotely controlling the moving object and automatically setting the antagonism at a predetermined position of the dry dock of the ship, the time required for the anticipation of the antagonistic arrangement is saved, and the manpower inputted when the antagonism is arranged is minimized.

In addition, the prior art disclosed in Patent Document 4 automatically calculates the installation position of the antipodule used in ship drying using the three-dimensional positioning technique and displays it easily, thereby facilitating the installation of the antipodal ship.

Korean Patent Laid-Open No. 10-2006-0079538 (Published on Jun. 2006) Korean Patent Publication No. 10-2013-0040389 (published on April 24, 2014) Korean Patent Publication No. 10-2016-0034693 (published on Mar. 30, 2016) Korean Patent Publication No. 10-2016-0044938 (published on April 26, 2016)

However, due to the limitations of the conventional manual surveying method, which is made up of collaboration between the surveyor and the assistant, the general antagonistic installation method as described above takes several minutes to several tens of minutes in order to determine the installation position of one antagonist. Therefore, it takes a relatively long time to set the antagonism position for one ship, which causes a disadvantage that the overall ship building time is long.

Also, in the related art, it is possible to display the position at which the antipodal material is installed by using the three-dimensional positioning technique. However, since the antipodal material position is displayed using a separate device and the antipodal material is moved to the installation position , And it is disadvantageous in that the implementation cost of the device is increased due to the implementation of the composite device.

Accordingly, the present invention has been proposed in order to solve the above-described problems of the conventional antitheft mounting method and the related art, and it is an object of the present invention to automatically calculate the installation position of a double- The present invention provides an apparatus and method for automatically installing an antilogarithm using a GPS signal in which a bogie is accurately installed automatically on a drawing by using a horizontal moving device in a bogie.

According to an aspect of the present invention, there is provided an apparatus for automatic placement of antilogs using GPS signals, comprising: a GPS receiver for providing reference position information; And a controller for determining a position and a direction of the antipodal based on the positional information obtained through the built-in GPS receiver, And an unloading unit for unloading the unloading unit.

Wherein the antiskid installing portion is provided in a bogie for moving the antifreeze.

The first and second GPS receivers receiving the GPS signals through GPS satellites and acquiring position information based on the received GPS signals; The position and orientation of the antilogs are determined based on the positional information obtained through the first and second GPS receivers, positional information of the car is obtained from the positional information obtained through the GPS receiver, An antagonistic control unit for calculating a antagonism error on the basis of the position and orientation information and the positional information of the received antarctic and controlling antagonistic movement and unloading based on the calculated error; And a horizontal moving unit for moving the double-sided double-sided tape in the horizontal direction under the control of the double sided tape control unit.

Wherein the antislice control unit comprises: a position calculator that calculates a position of the antiphase based on the position information acquired through the first and second GPS receivers; A direction discriminator for discriminating a direction of a bump on the basis of the positional information obtained through the first and second GPS receivers; An error calculator that obtains positional information of a bogie through position information obtained through the GPS receiver, calculates an antagonism error based on the determined position and direction information of the ant type and the positional information of the received bogie; And a movement controller for controlling the antagonistic movement and unloading based on the error calculated by the error calculator.

In order to achieve the above object, there is provided a method for automatically installing an antisubmarine using a GPS signal according to the present invention, comprising the steps of: (a) (b) obtaining antagonism position information by the built-in first and second GPS receivers after the step (a), and discriminating the antagonistic position and the direction based on the obtained first and second position information; (c) acquiring the vehicle position information through a GPS receiver installed at an arbitrary position; (d) determining a bogie posture based on the obtained bogie position information; (e) calculating an error between the antipodal position on the design plane and the current antiparallel position based on the obtained bump position information and the antiparallel position and direction information; And (f) controlling the horizontal movement device based on the calculated error to move the antiparallel to the position in the design drawing.

Further, a method for automatically installing an antitheft apparatus using a GPS signal according to the present invention is characterized by further comprising the step of: (g) controlling the antitheft unloading station after the step (f) to unload the antiport to a location on the design drawing.

According to the present invention, it is possible to automatically determine the position and position of a bogie using a three-dimensional positioning method using GPS using only one bogie driver, and to install the bogie on a precise position on the design plane based on the position.

As a result, it is possible to save manpower because there is no need for a measurement process by a separate measurement company as in the past, and it is possible to calculate an error using an error calculation method using a GPS signal, There is an advantage that installation time can be shortened.

Brief Description of Drawings FIG. 1 is a block diagram of an automatic anti-parallel mounting apparatus using a GPS signal according to a preferred embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for automatically installing an antisubmarine using a GPS signal according to a preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and method for automatically installing an anti-parallel beam using a GPS signal according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of an automatic anti-parallel installation apparatus using a GPS signal according to a preferred embodiment of the present invention.

The apparatus for automatically installing an antisubmarine using GPS signals according to a preferred embodiment of the present invention includes a antisubmariner 100 and a GPS receiver 200.

Here, it is preferable that the antipodal mounting portion 100 is installed on a bogie for moving the antipodal, and it is preferable that the GPS receiving device 200 is installed at an arbitrary position for providing a reference point.

The GPS receiving apparatus 200 serves to provide the reference position information to the bipolar unit 100 using a GPS signal.

The biped mounting portion 100 determines the position and direction of the bifurcations based on the positional information obtained through the built-in GPS receiver, and receives the position and direction information of the determined bipedal and the received and received information through the GPS receiving device 200 And controls the horizontal moving unit based on the position information of a bogie to unload the antagonism at a predetermined position.

This antagonistic installation unit 100 includes first and second GPS receivers 110 and 120 for receiving GPS signals via GPS satellites and acquiring position information based on them, A communication unit 130 for acquiring position information, a position and a direction of the antiphase on the basis of the position information acquired through the first and second GPS receivers 110 and 120, The positional information of the bogie is obtained by using the positional information. The bogie mounting error is calculated based on the position and direction information of the determined bogie and the position information of the received bogie, and based on the calculated error, A horizontal movement unit 160 for moving the bones in the horizontal direction under the control of the bamboo installation control unit 150 and a control unit 150 for controlling the bones to move the bones to predetermined positions The unloading section 170, Under the control of the antagonism installation controller 150 jugeona display the installation location information corresponding to the antagonism design drawing includes a display unit 140 that displays an error (distance) between the current position and the antagonism design drawing position on the antagonism.

The antireflection control unit 150 includes a position calculator 151 for calculating the position of the antiparrique based on the positional information obtained through the first and second GPS receivers 110 and 120, A direction determiner 152 for determining the direction of the bump on the basis of the position information obtained through the GPS receivers 110 and 120, An error calculator 153 for calculating an antagonistic error on the basis of the position and direction information of the discriminated bifurcated object and the positional information of the received bogie on the basis of the error calculated by the error calculator 153, And a movement controller 154 for controlling antagonistic movement and unloading.

Here, a DGPS receiver can be used instead of the GPS receiver.

The operation of the automatic anti-symmetric mounting apparatus using the GPS signal according to the preferred embodiment of the present invention will be described in detail as follows.

First, the first and second GPS receivers 110 and 120 for acquiring position information are installed at appropriate positions in a bogie, which is a dedicated device for unloading and moving the antipodal to an installation position. In addition, The apparatus 200 is installed to acquire accurate position information from the satellite.

Next, when installing the antipodal, confirm the antipodal installation position on the design surface and move it close to the installation position on the design surface using a bogie (within about 100 mm).

The position information is acquired by the first and second GPS receivers 110 and 120 while the vehicle is moved close to the mounting position on the design plane using a bogie. The position calculator 151 of the antislick controller 150 calculates the position of the antisymmetric based on the positional information obtained from the first and second GPS receivers 110 and 120, Determines the direction of the antiphonal on the basis of the two pieces of positional information obtained by the position calculator 151. [ Here, when comparing two pieces of position information, directions and angles can be confirmed.

Next, the communication unit 130 transmits the position information received through the GPS receiving apparatus 200 to the antislick controller 150, and the error calculator 153 in the antislip controller 150 controls the communication unit 130 to confirm the exact position of the bogie. Then, the posture of the bogie is determined based on the direction information and the bogie position information. Next, in order to install the antipodal at the correct position on the design plane, the error is calculated using the position information of the antiparallel and the bump position information. Here, the error means a distance away from the moving direction.

For example, an error value is calculated by comparing the position and direction of the antipodal positioned on the current truck with the antipodal position information and the antipodal mounting position information on the design plane to determine the direction in which the antipodal on the antipodal should move.

The calculated error value is transmitted to the movement controller 154. The movement controller 154 moves the horizontal movement unit 160, which is a horizontal movement device, in the horizontal direction (X, Y axis) based on the error value, To a position on the design plane.

In a state where the bobbin is moved to a position on the design plane through the horizontal movement unit 160, the movement controller 154 controls the bobbin unloader 170 to lower the bobbin. The horizontal moving unit 160 and the unloading / unloading unit 170 may be referred to as lifting devices.

In this way, the position information is confirmed using the GPS information in the bogie, and the bogie is moved to the bogie installation position using the horizontal movement device based on the confirmed position information. It can be installed at the installation location, and it is not necessary to use a measuring device such as Total Station which is a conventional position measuring device, and a measurement for measuring the position is not required, so that manpower can be saved and the time for setting antagonism can be shortened.

FIG. 2 is a flowchart illustrating a method for automatically installing an antisubmarine using a GPS signal according to an embodiment of the present invention. Referring to FIG. 2, (S12, S13), (S12, S13), (S12, S13) of obtaining the antagonism position information with the built-in first and second GPS receivers 110, 120 and discriminating the antiparallel position and the direction based on the obtained first and second position information c) obtaining the vehicle position information through the GPS receiver 200 installed at an arbitrary position (S14), (d) determining a vehicle posture based on the obtained vehicle position information (S15), (S16) calculating an error between a current antialiasing position and a current antialiasing position on the design plane based on the obtained current position information, the antiparallel position and the direction information, (f) To move the antagonist in the horizontal direction so that the antagonism (G) a step (S18) of controlling the antiskid unloader after the step (f) to unload the antifreeze to a position in the design drawing.

A method for automatically installing an antagonistic map using the GPS signal according to the present invention will now be described in detail.

First, the first and second GPS receivers 110 and 120 for acquiring position information are installed at appropriate positions in a bogie, which is a dedicated device for unloading and moving the antipodal to an installation position. In addition, The apparatus 200 is installed to acquire accurate position information from the satellite.

Next, in step S11, when installing the antipodal, check the antipodal mounting position on the design surface and move it close to the mounting position on the design surface using a bogie (within about 100 mm).

In step S12, positional information is acquired to the first and second GPS receivers 110 and 120 while the vehicle is moved close to the mounting position on the design plane using the bogie. Next, in step S13, the position calculator 151 of the bump controller 150 calculates the positions of the bumps on the basis of the position information obtained from the first and second GPS receivers 110 and 120, The device 152 determines the direction of the antiphonal based on the two pieces of positional information obtained by the position calculator 151. [ Here, when comparing two pieces of position information, directions and angles can be confirmed.

Next, the communication unit 130 transmits the positional information received via the GPS receiver 200 to the blanket installation control unit 150, and the error calculator 153 in the blanket placement control unit 150, at step S14, And confirms the exact position of the bogie on the basis of the position information obtained through the communication unit 130. In step S15, the direction determiner 152 determines the posture of the truck based on the direction information and the truck position information.

Next, in step S16, the error calculator 153 calculates an error using the position information of the antiskid and the position information of the antiskid to install the antiparallel to the correct position on the design plane. Here, the error means a distance away from the moving direction.

For example, the position and direction of the antipodal positioned on the current bogie, the bogie position information, and the anti-symmetric mounting position information on the design plane are compared with each other to calculate an error value as to which direction the antipodal on the bogie must travel.

The calculated error value is transmitted to the motion controller 154. In step S17, the motion controller 154 calculates the error value based on the error value transmitted in the horizontal direction (X, Y axis) Move the antagonist to the position on the design plane.

In a state in which the bobbin is moved to a position on the design plane through the horizontal movement unit 160, the movement controller 154 controls the bobbin unloading unit 170 to control the bobbin to be lowered in step S18. The horizontal moving unit 160 and the unloading / unloading unit 170 may be referred to as lifting devices.

In this way, the position information is confirmed using the GPS information in the bogie, and the bogie is moved to the bogie installation position using the horizontal movement device based on the confirmed position information. It can be installed at the installation location, and it is not necessary to use a measuring device such as Total Station which is a conventional position measuring device, and a measurement for measuring the position is not required, so that manpower can be saved and the time for setting antagonism can be shortened.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It is obvious to those who have.

The present invention is effectively applied to a technology for automatically installing antagonism using a three-dimensional positioning technique using a GPS signal.

100:
110, 120: first and second GPS receivers
130:
140:
150:
151: Position calculator
152: direction discriminator
153: error calculator
154:
160: Horizontal moving part
170: antagonist unloader
200: GPS receiving device

Claims (6)

An apparatus for automatically setting up a ship's shipwreck using GPS signals,
A GPS receiving device for providing position information as a reference;
And a controller for determining a position and a direction of the antipodal based on the positional information obtained through the built-in GPS receiver, And an unbalanced mounting part for unloading the GPS signal.
The apparatus according to claim 1, wherein the antiskid mounting part is installed on a bogie for moving the antipodal.
The bipolar unit determines the position and direction of the antiphonal base on the basis of the positional information obtained through the first and second GPS receivers and acquires the positional information of the bug with the positional information acquired through the GPS receiver An antislocation control unit for calculating a antislocation error on the basis of the position and direction information of the anticipated antislope and the positional information of the received antislot and controlling antagonistic movement and unloading based on the calculated error; And a horizontal shifting unit for shifting the bones in a horizontal direction under the control of the bump control unit.
[Claim 3] The system of claim 3, wherein the anticipation control unit comprises: a position calculator for calculating a position of the antiphase based on the position information obtained through the first and second GPS receivers; A direction discriminator for discriminating a direction of a bump on the basis of the positional information obtained through the first and second GPS receivers; An error calculator that obtains positional information of a bogie through position information obtained through the GPS receiver, calculates an antagonism error based on the determined position and direction information of the ant type and the positional information of the received bogie; And a motion controller for controlling the antagonistic movement and unloading based on the error calculated by the error calculator.
CLAIMS 1. A method of automatically setting up an antagonism using a GPS signal,
(a) moving the antics through a bogie to a mounting position on the drawing;
(b) obtaining antagonism position information by the built-in first and second GPS receivers after the step (a), and discriminating the antagonistic position and the direction based on the obtained first and second position information;
(c) acquiring the vehicle position information through a GPS receiver installed at an arbitrary position;
(d) determining a bogie posture based on the obtained bogie position information;
(e) calculating an error between the antipodal position on the design plane and the current antiparallel position based on the obtained bump position information and the antiparallel position and direction information; And
(f) moving the bones in a horizontal direction by controlling the horizontal movement device based on the calculated error, and moving the bones to positions in the design drawing.
The method of claim 5, further comprising the step of: (g) unloading the antipodal to a position in the design drawing by controlling the antipodal unloader after the step (f).

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