KR20180090570A - The apparatus and method for re-docking of the submarine - Google Patents

Abstract

Provided is a re-docking apparatus and re-docking method for a submarine. The re-docking apparatus for a submarine comprises: a launching barge having a storage space for entrance of the submarine; a service tower installed in the launching barge and guiding the submarine to move into the storage space; a distance measuring sensor installed in the service tower and sensing a distance between the submarine and the service tower; a sound sensor installed in the launching barge, installed in the lower portion of the submarine, and sensing a vertical height from the launching barge where the submarine is located roll information of the submarine; and a winch connected to the submarine and adjusting the position and the height of the submarine.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a re-docking apparatus and method for a submarine,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for shopping for a submarine. More particularly, the present invention relates to a submarine capable of guiding the submarine's movement through a service tower primarily for re-docking of a submarine, and for ascertaining the exact position and state of the submarine through an XY- And methods.

The submarine should perform re-docking when abnormal operation occurs, repair / repair the abnormal part, and perform re-docking for maintenance fee at regular intervals.

Conventionally, relatively small submarines (eg, 1,200 tonnes, 1,800 tonnes) were easy to build, but in the case of relatively large submarines (eg, 3000 tonnes) Cost and space constraints are increasing in building mall facilities.

Korean Patent Laid-Open No. 10-2016-0137889A (Publication Date: December 1, 2016)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a shopping mall for a submarine that reduces cost and space constraints in establishing mooring facilities for a relatively large submarine.

Another object of the present invention is to provide a submarine having a barge line and a saddle on a barge to provide a stable position of a submarine in a saddle position, And to provide a shopping mall for a submarine.

Another object of the present invention is to provide a shopping mall for a submarine capable of stably mounting a submarine in a mall facility using a laser sensor and a sound sensor.

It is to be understood, however, that the technical scope of the present invention is not limited to the above-described embodiments, but may be variously modified without departing from the technical spirit and scope of the present invention.

According to another aspect of the present invention, there is provided a shopping mall for a submarine including: a launching barge having a receiving space into which a submarine enters; a submarine installed in the submarine for submarine, A distance measuring sensor installed on the service tower for sensing a distance between the submarine and the service tower, a sensor installed on the submarine for launching, and installed at a lower portion of the submarine, A sound sensor for sensing the height of the submarine in the vertical direction from the float for submarine and the roll information of the submarine, and a winch connected to the submarine to adjust the position and height of the submarine. .

In an embodiment according to the present invention, a side bumper installed on one side of the service tower and installed in a direction of looking into a submarine entering into the accommodation space may be further included.

In the embodiment of the present invention, the service tower includes first to third service towers, and the first service tower is installed to look at a bow portion of the submarine to guide a position where the submarine enters, The second service tower may be installed to correspond to a side portion of the submarine to define a width direction area in which the submarine enters, and the third service tower may be installed to correspond to a stern portion of the submarine.

In an embodiment according to the present invention, the distance measuring sensor comprises a first sensor and a second sensor, the first sensor being installed in the first service tower, And the second sensor may be installed on the second service tower to sense the distance between the position of the upper region of the submarine and the second service tower.

In an embodiment according to the present invention, the sound sensor includes first to third sound sensors, the first sound sensor senses the height in the vertical direction, and the second and third sound sensors sense 1 sound sensor so as to sense the roll information.

In an embodiment of the present invention, the roll information may be sensed using the deviation values of the sensing values of the first to third sound sensors.

In an embodiment according to the present invention, the distance measurement sensor and the display unit for displaying sensed values in the sound sensor may be further included.

In the embodiment according to the present invention, the winch may be formed at each of four sides on the side of the float for launching power.

According to another aspect of the present invention, there is provided a method for upgrading a submarine according to an embodiment of the present invention includes the steps of entering a submarine into a receiving space formed in a launching barge, The method comprising the steps of: adjusting a position of the submarine through a sensor, raising the float for launching water, height of the submarine in the vertical direction from the float for launching the submarine, and roll information of the submarine, Adjusting the degree of elevation of the barge, and placing the submarine on the saddle of the barge for launching to complete the elevation of the barge for launching.

In the embodiment of the present invention, the step of adjusting the position of the submarine may use a winch which is installed on the side of the float for launching and is connected to the submarine to adjust the position and height of the submarine.

In the embodiment according to the present invention, the winch may be formed at each of four sides on the side of the float for launching power.

In the embodiment of the present invention, the step of adjusting the position of the submarine includes using a distance measuring sensor installed in the first to third service towers, wherein the first service tower is installed to look at the bow portion of the submarine The second service tower is installed to correspond to a side portion of the submarine, and the third service tower is installed to correspond to a stern portion of the submarine.

In an embodiment according to the present invention, the distance measuring sensor comprises a first sensor and a second sensor, the first sensor being installed in the first service tower, And the second sensor may be installed on the second service tower to sense the distance between the position of the upper region of the submarine and the second service tower.

In the embodiment of the present invention, the step of adjusting the elevation degree of the float for launching water may be performed by using first to third sound sensors, sensing the height in the vertical direction using the first sound sensor, And sensing the roll information using second and third sound sensors.

In the embodiment of the present invention, the step of adjusting the rising degree of the float for launching water may include sensing the roll information using deviation values of the sensing values of the first to third sound sensors.

Other specific details of the invention are included in the detailed description and drawings.

The submarine for submarines according to the present invention can be set so that the submarine can be seated at an accurate position with respect to the mooring facility and the competitiveness can be enhanced in drying and ordering of the mid-large submarine.

However, the effects of the present invention are not limited to the above effects, and can be variously extended without departing from the spirit and scope of the present invention.

1 and 2 are schematic plan views of a shopping mall for a submarine according to an embodiment of the present invention.
3 and 4 are schematic cross-sectional views of a shopping mall according to an embodiment of the present invention.
5 is a diagram showing the arrangement of a plurality of sound sensors.
6 and 7 are views schematically showing a sensing system used in a shopping mall according to the present invention.
Fig. 8 is a view schematically showing a display part included in the present invention.
9 and 10 are views for explaining a work using a winch in a shopping mall according to an embodiment of the present invention.
11 is a view for explaining an elevation of a barge in a shopping mall according to an embodiment of the present invention.
FIG. 12 is a flowchart sequentially illustrating an add-on method for a submarine according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

Although the first, second, etc. are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are used only to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical scope of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. In addition, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

According to the present invention, a barge line is used for a re-docking device, and a submarine can be set to the position of the lower saddle of the barge.

In particular, in the case of a submarine, since the position tolerance with the saddle is 500 mm, it is important to accurately set the contact point position of the submarine and saddle as the barge line rises.

According to the present invention, by guiding the submarine's movement through the service tower primarily for the shopping of the submarine and measuring the precise position and condition of the submarine through the XY direction laser sensor, The state can be grasped. In particular, the laser sensor is capable of injecting a laser onto the water surface by scanning the topside of the submarine.

The vertical height of the saddle and the submarine of the barge of the shopping mall is measured by using a sound sensor (echo sound sensor, for example) and the height of the echo sound sensor (left and right) ) Can be used to measure the roll information of a submarine, thereby providing angle information on the contact between the saddle and the submarine, so that a relatively accurate and stable upgrade process can be performed.

In addition, the operator can adjust the position of the submarine through a winch using the sensor information.

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

1 and 2 are schematic plan views of a shopping mall for a submarine according to an embodiment of the present invention. 3 and 4 are schematic cross-sectional views of a shopping mall according to an embodiment of the present invention. 5 is a diagram showing the arrangement of a plurality of sound sensors. 6 and 7 are views schematically showing a sensing system used in a shopping mall according to the present invention. Fig. 8 is a view schematically showing a display part included in the present invention. 9 and 10 are views for explaining a work using a winch in a shopping mall according to an embodiment of the present invention. 11 is a view for explaining an elevation of a barge in a shopping mall according to an embodiment of the present invention.

1 to 5, a shopping mall for a submarine according to an embodiment of the present invention includes a launching barge 100, first to third service towers ST1 to ST3, Third and fourth side bumpers SB1 to SB3, first and second sensors S1 and S2, and first to third sound sensors SS1 to SS3.

The float line 100 has a receiving space R into which the submarine 10 enters. The launch line 100 may be, for example, a barge line. The first to third service towers ST1 to ST3 are installed in the float for warship 100 and serve to guide the submarine 10 to move into the accommodation space R. [ The first to third side bumpers SB1 to SB3 are installed on one side of the first to third service towers ST1 to ST3 and are installed in a direction in which the submarine 10 entering into the accommodation space R is viewed And serves to mitigate the impact of the submarine 10. However, according to the embodiment, the first to third side bumpers SB1 to SB3 may be omitted and used.

The first service tower ST1 is installed so as to face the bow portion of the submarine 10 and guides the submarine 10 to enter the first service tower ST1 and the second service tower ST2 is installed to correspond to the side portion of the submarine 10 And the third service tower ST3 may be provided so as to correspond to the aft portion of the submarine 10. [

The present invention serves as a guide for the approximate area where the submarine 10 enters through the first to third service towers ST1 to ST3. Then, the first service tower ST1 serves as a guide to prevent the submarine 10 from entering further forward. The first to third side bumpers SB1 to SB3 serve to prevent a load from being transmitted to the first to third service towers ST1 to ST3 due to an unexpected collision.

The first and second sensors S1 and S2 are respectively installed in the first and second service towers ST1 and ST2 and the distance between the submarine 10 and the first or second service towers ST1 and ST2 is Sensing. The first sensor S1 is installed in the first service tower ST1 to sense the distance between the bow portion of the submarine 10 and the first service tower ST1 and the second sensor S2 senses the distance between the second service tower ST1, (ST2) to sense the position of the topside area of the submarine 10 and the distance between the second service tower ST2.

The first to third sound sensors SS1 to SS3 are provided in the submarine 10 and are disposed in the vertical direction from the submarine 10 for the launching where the submarine 10 is located And the roll information of the submarine. 5, the first sound sensor SS1 senses the distance between the submarine 10 and the saddle of the float line 100, that is, the height in the vertical direction, 3 sound sensors SS2 and SS3 may be installed on the side of the first sound sensor SS1 to sense the roll information of the submarine 10, respectively. The roll information of the submarine 10 means information about the degree to which the submarine 10 is tilted to the left or right direction.

The roll information of the submarine 10 may be sensed using the deviation values of the sensing values of the first to third sound sensors SS1 to SS3.

In the present invention, three laser distance measuring sensors are provided on the service tower to sense the position of the topside area of the submarine 10, receive the setting absolute position and current position information, And posture can be set. Provides the position information when setting the left and right position through the laser distance measuring sensor installed on the service tower and provides the distance between the submarine 10 and the service tower in front in real time through the laser distance measuring sensor installed on the front service tower can do.

Referring to FIG. 7, in the sensing system used in the shopping mall according to the present invention, the position of the submarine 10 and the distance information from the service tower can be sensed through the first sensor S1 and the second sensor S2, , Which can be controlled and sensed by the controller (CT).

The height of the submarine 10 in the vertical direction from the launch line 100 and the roll information of the submarine 10 can be sensed through the first to third sound sensors SS1 to SS3, It can be controlled and detected by the controller (CT).

This sensing information can be displayed on the display unit DP and the display unit DP can display the sensing information of the laser distance measuring sensor (i.e., the first sensor and the second sensor S1 and S2) And an interface for displaying the sensing information of the third sound sensors SS1 to SS3 together (see FIG. 8).

9 and 10, the first to eighth winchs W1 to W8 may be installed on the side portion 100a or 100b of the float 100 for launching water. The first to eighth winch W1 to W8 may be formed in each of the side portions 100a and 100b of the float for launching water 100, respectively. The first to eighth winch W1 to W8 may be connected to the submarine 10 to control the position and height of the submarine 10.

In the present invention, the first to eighth winch W1 to W8 are disposed on the side portion 100a or 100b of the helicopter strand 100, but this is merely an example, Can be changed and used.

In the present invention, the operator can adjust the position and height of the submarine 10 through the winch when the operator confirms the sensing information of the display unit DP and appropriately instructs the operator. The winch can be operated in a direction in which various sensors are operated. This can be confirmed through the display information of the display unit DP. Then, the submarine 10 is predetermined in the position to be set. This is because the position of the saddle of the float wire 100 is fixed.

Referring to FIG. 11, the submarine 10 is seated on the saddle of the warship 100 using the first to eighth winches W1 to W8.

FIG. 12 is a flowchart sequentially illustrating an add-on method for a submarine according to an embodiment of the present invention.

Referring to FIG. 12, a method for submerging a submarine according to an embodiment of the present invention includes a submarine entering a receiving space formed in a barge for launching water (S100), a distance measuring sensor for a service tower installed on the barge for launching water (S120), the height of the submarine in the vertical direction from which the submarine is located, and the roll information of the submarine are used (S110) A step S140 of adjusting the rising degree of the float for launching the water, and a step S140 for the submarine to be placed on the saddle of the float for flood control to complete the float for the flood control flood.

More specifically, the step of adjusting the position of the submarine (S110) may use a winch installed at the side of the float for the safe water and connected to the submarine to adjust the position and height of the submarine. For example, the winch may be formed at each of the four side portions of the float for launching power.

In addition, the step of adjusting the position of the submarine (S110) may include using a distance measuring sensor installed in the first to third service towers, wherein the first service tower is installed to look at the bow portion of the submarine, The service tower may be installed to correspond to a side portion of the submarine, and the third service tower may be installed to correspond to a stern portion of the submarine. Wherein the distance sensor comprises a first sensor and a second sensor, the first sensor being mounted on the first service tower to sense a distance between a bow portion of the submarine and the first service tower, The sensor may be installed on the second service tower to sense the distance between the location of the upper region of the submarine and the second service tower.

The step S130 of adjusting the rising degree of the float for launching water uses the first to third sound sensors, wherein the height of the vertical direction is sensed using the first sound sensor, and the second and third sounds Sensing the roll information using a sensor, and sensing the roll information using a deviation value of sensing values of the first through third sound sensors.

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. And can be modified and changed by those skilled in the art.

100: Barge for launching
ST1 to ST3: First to third service towers
SB1 to SB3: First to third side bumpers
S1, S2: first sensor, second sensor
SS1 to SS3: First to third sound sensors
W1 to W8: first to eighth winch

Claims (15)

A launching barge having a receiving space into which the submarine enters;
A service tower installed on the barge for launching the power and guiding the submarine to move into the receiving space;
A distance measuring sensor installed in the service tower for sensing a distance between the submarine and the service tower;
A sound sensor installed at the lower end of the submarine for sensing the height of the submarine in the vertical direction and the roll information of the submarine; And
And a winch connected to the submarine to adjust the position and height of the submarine. The method according to claim 1,
Further comprising a side bumper installed on one side of the service tower, the side bumper facing the submarine entering into the containment space. The method according to claim 1,
The service tower includes first to third service towers,
The first service tower is installed to look at a bow portion of the submarine, guides a position where the submarine enters,
Wherein the second service tower is provided to correspond to a side portion of the submarine to define a width direction area in which the submarine enters,
And the third service tower is installed to correspond to a stern portion of the submarine. The method of claim 3,
Wherein the distance measuring sensor includes a first sensor and a second sensor,
Wherein the first sensor is installed in the first service tower to sense a distance between a bow portion of the submarine and the first service tower,
And the second sensor is installed in the second service tower to sense the distance between the position of the upper region of the submarine and the second service tower. The method according to claim 1,
Wherein the sound sensor includes first to third sound sensors,
Wherein the first sound sensor senses the height in the vertical direction,
And the second and third sound sensors are respectively installed on the side of the first sound sensor to sense the roll information. 6. The method of claim 5,
Wherein the roll information is sensed using a deviation value of sensing values of the first to third sound sensors. The method according to claim 1,
Further comprising a display for displaying the distance values of the distance sensor and the sensed values in the sound sensor. The method according to claim 1,
Wherein the winch is formed at each of the four sides of the barge for launching power. Entering a submarine into a containment space formed in a launching barge;
Adjusting a position of the submarine through a distance measuring sensor of a service tower installed on the barge for launching the escape route;
The float for the launching water rises;
Adjusting a degree of elevation of the barge for the launch using the height of the submarine in the vertical direction from the barge for launching and the roll information of the submarine; And
Wherein the submarine is seated on a saddle of the float barge to complete the elevation of the barge for the float barge. 10. The method of claim 9,
The step of adjusting the position of the submarine may include a re-docking method for a submarine, which is installed at a side of the barge for launching and is connected to the submarine and uses a winch to adjust the position and height of the submarine. . 11. The method of claim 10,
Wherein the winch is formed at each of four sides of the barge for launching the reed. 10. The method of claim 9,
The step of adjusting the position of the submarine may include using a distance measuring sensor installed in the first to third service towers,
Wherein the first service tower is installed to face a bow portion of the submarine, the second service tower is installed to correspond to a side portion of the submarine, and the third service tower is installed to correspond to a stern portion of the submarine, A re-docking method for a submarine. 13. The method of claim 12,
Wherein the distance measuring sensor includes a first sensor and a second sensor,
Wherein the first sensor is installed on the first service tower to sense a distance between the bow portion of the submarine and the first service tower and the second sensor is installed on the second service tower, Location of said first service tower and said second service tower. ≪ Desc / Clms Page number 17 > 10. The method of claim 9,
Wherein the step of adjusting the elevation degree of the float for launching water comprises the steps of using first to third sound sensors, sensing the height in the vertical direction using the first sound sensor, And sensing the roll information using the re-docking method. 15. The method of claim 14,
Wherein the step of adjusting the rising degree of the float for launching comprises sensing the roll information using a deviation value of the sensing values of the first to third sound sensors, .

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