KR20180124780A - Marine mobile lift system - Google Patents

Abstract

A marine mobile lift system is disclosed. The marine mobile lift system comprises: a marine mobile lift; a first lidar sensor mounted on a girder in an upper portion of the marine mobile lift, and measuring a distance between a sling belt adhering to a ship vertically moved by the marine mobile lift and a hook block to which a wire rope is connected; a controller driving the marine mobile lift, and transmitting the measured distance with the hook block through a wireless communication unit that is provided; and a wireless control unit transmitting a control signal for operation to the controller, receiving the measured distance with the hook block, and outputting distance information between the hook block and the girder, a collision warning sound, or a warning screen when the measured distance with the hook block is less than a predetermined reference value, wherein the distance is measured to prevent a collision between the ascending hook block and the girder.

Description

Marine mobile lift system

The present invention relates to a marine mobile lift, and more particularly, to a marine mobile lift system using a LIDAR sensor.

In general, Marine mobile lifts are installed on the docks, coasts, docks, and elections of fishing villages, and repair or repair fishing vessels by lifting the vessels to the sea or by transporting the marine vessels to breakwaters or land. Is also used to evacuate ships to safety zones to prevent breakage and sinking.

Figs. 1 and 2 are views showing an example of an accident occurring when a marine mobile lift lifts or lowers a ship.

Conventional marine mobile lifts are operated by using a cockpit (cabin) and a simple radio controller, so that a large number of people are required to use the car. As shown in FIGS. 1 and 2, a safety accident weak.

That is, when a conventional marine mobile lift moves into or out of a lift pier to move the ship up or down, the driver can steer in the cockpit or use a radio remote control to turn around the marine mobile lift . At this time, marine mobile lifts and ships have caused a problem of blind spots in various directions.

Therefore, when the driver uses the cockpit in preparation for a safety accident, he or she needs auxiliary personnel other than the driver. When using the radio controller, it is necessary to go around and control the marine mobile lift.

The present invention provides a marine mobile lift system using a LIDAR sensor and a radio controller for safe and efficient operation of a marine mobile lift.

According to an aspect of the invention, a marine mobile lift system is disclosed.

A marine mobile lift system according to an embodiment of the present invention includes a marine mobile lift, a hook block attached to a girder on the marine mobile lift and connected to a sling belt and a wire rope closely attached to a ship up and down by the marine mobile lift, (LIDAR) sensor for driving the marine mobile lift, and a controller for driving the marine mobile lift and transmitting the signal through a wireless communication unit having a distance to the measured hook block, And if the distance between the hook block and the measured hook block is less than a predetermined reference value to prevent the collision between the hook block and the girder from rising, And a radio remote controller for outputting a collision warning sound or a warning screen.

And a second LR sensor mounted on left and right front and right and left rear sides of the marine mobile lift for sensing an obstacle around the marine mobile lift and measuring a distance from the detected obstacle.

The radio remote controller outputs obstacle detection information and a collision warning sound or a warning screen when an obstacle is detected by the second RL sensor in the vicinity of the marine mobile lift.

The radio remote controller outputs obstacle detection information, a collision warning sound, or a warning screen when the obstacle is detected in the changing direction through the second LR sensor when the traveling direction of the marine mobile lift is changed.

The radio remote controller monitors the four sides of the marine mobile lift through the second Lada sensor when traveling on the marine mobile lift, and detects obstacle detection information and a collision warning sound or a warning screen Output.

The radio navigator acquires, accumulates, and manages the marine mobile lift peripheral sensing data generated by the second Lada sensor during movement of the marine mobile lift.

Further comprising an autonomous mobile device that autonomously travels the marine mobile lift, wherein the autonomous mobile device is operable to autonomously travel the marine mobile lift between the upper and lower portions of the marine mobile lift and the storage warehouse using the second Rather sensor .

The marine mobile lift includes a main frame including a pair of lower beams spaced apart from each other in parallel to each other, vertical beams installed at both ends of each of the pair of lower beams, and a girder installed at an upper end of the vertical beams, At least two of the wheels and a steering unit connected to the main frame for controlling the rotational direction of the wheels and a pair of the pair of upper and lower gears disposed on the upper portion of the girders arranged in parallel, A pair of sling belts connected at both ends to the hook block and supporting the lower portion of the boat, a pair of sling belts connected to the hoisting winch at both ends thereof, The hook block and the trolley, and the other end is fixed to the girder so that the hoist winch A trolley guide roller which is installed between a wire rope that is wound up or unwound when it is rotated and which lifts the hook block, and a trolley guide roller which is installed between the trolleys on both sides of the upper surface of the girder and guides the wire rope passed through the rotation guide roller by the trolley Wherein the hoist winch is installed in the main frame, and is connected to the hook block to elevate the hook block.

The marine mobile lift system according to the embodiment of the present invention can prevent a safety accident because the risk factors that can not be checked by the operator during the marine mobile lift operation (up and down and running) can be grasped in advance through the Lada sensor, As the operator moves and the risk factors can be easily confirmed through the radio controller, the ease of use can be improved.

Figs. 1 and 2 are diagrams showing an example of an accident occurring when a marine mobile lift lifts or lowers a ship. Fig.
3 is a schematic illustration of a configuration of a marine mobile lift system according to an embodiment of the present invention.
4 to 7 are views for explaining a method of operating a marine mobile lift system according to an embodiment of the present invention.

As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. In this specification, the terms " comprising ", or " comprising " and the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps. Also, the terms " part, " " module, " and the like described in the specification mean units for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software .

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

FIG. 3 is a schematic view illustrating a configuration of a marine mobile lift system according to an embodiment of the present invention, and FIGS. 4 to 7 are views for explaining a method of operating a marine mobile lift system according to an embodiment of the present invention. to be.

Referring to FIG. 1, a marine mobile lift system according to an embodiment of the present invention includes a marine mobile lift 100, a first LIDAR sensor 110, a second Lidar sensor 120, a controller 130, And a radio controller 200.

Here, the marine mobile lift 100 includes a main frame 10, a wheel 20, a trolley 30, a hook block 40, a sling belt 50, a hoist winch 60, , A wire rope (70), a rotation guide roller (80), and a trolley guide roller (90).

The main frame 10 includes a pair of lower beams 11 spaced apart from each other in parallel to each other, vertical beams 12 installed on both ends of a pair of lower beams 11, (13).

For example, a trolley-dedicated rail (not shown) is provided on the upper surface of the girder 13 along its longitudinal direction, and a trolley 30 to be described later is seated on the trolley-dedicated rail. .

The wheels 20 are installed at both ends of the lower beams 11.

For example, the wheel 20 may include a steering wheel installed at a lower end of one end of the lower beams 11 and a traveling wheel installed at a lower end of the lower ends of the lower beams 11.

A pair of steering wheels can be installed to rotate on the steering shaft, two steering wheels are provided independently, and a tie rod is not provided. In a typical steering mechanism (eccentric mechanism), a pair of steering wheels are connected by a tie rod. When the steering wheel is rotated, the tie rod rotates the steering wheel on the inner side more than the steering wheel on the outer side of the pair of steering wheels . The marine mobile lift according to the embodiment of the present invention requires a space for lifting the boat between the pair of steering wheels, and thus the tie rods can not be connected to the two steering wheels. Therefore, the marine mobile lift according to the embodiment of the present invention can have a structure in which, when the manual handle is rotated, the pair of steering wheels are rotated by the steering portion, and the inner steering wheel is rotated more than the outer steering wheel. Here, the steering unit may be connected to the main frame 10 and the steering wheel to control the rotational direction of the steering wheel.

The pair of running wheels are driven wheels and can be rotated while being moved along the steering direction or the running direction of the steering wheel.

The trolleys 30 are each provided on the upper portion of the girders 13 arranged in parallel so that the pair of trolleys 30 are simultaneously transported to the center of the girder 13 or both ends of the girder 13 .

For example, the trolley 30 includes a trolley bracket that is mounted on a trolley-dedicated rail and is reciprocally transported along the trolley bracket, a rotation block installed to rotate on one side of the trolley bracket, and a plurality of A vertical roller may be provided. The rotating block has a top coupled to the trolley bracket as a block hinge axis. Thus, the rotating block is rotated about the block hinge axis by the tilted angle of the sling belt 50 when the sling belt 50 is pulled along the streamlined shape while closely adhering to the lower portion of the boat. That is, when the sling belt 50 is pulled obliquely along the streamline of the boat, the hook block 40 is pulled together so that the wire rope 70 connected to the hook block 40 is tilted The angle of inclination is pulled. At this time, the rotating block is also rotated about the block hinge axis by the pulling force of the wire rope 70, so that the vertical rollers installed on the rotating block are inclined according to the inclination angle of the wire rope 70. Therefore, if the sling belt 50 is tilted while closely adhering to the boat, the rotation block and the vertical rollers are also inclined at the same angle, so that the warp deformation of the wire rope 70 and the abnormal wear of the roller can be prevented.

The hook block 40 is connected to the trolley 30 and is transported together with the trolley 30. The hook block 40 is provided with hook block rollers, and the wire rope 70 via the rollers of the trolley 30 is passed through the hook block rollers.

The lower end of the sling belt 50 is connected to the hook block 40 and has a U-shape. When the lower end of the sling belt 50 is locked in the seawater, when the sail enters the dock, both ends of the sling belt 50 are pulled upward, Is brought into close contact with the wired part under the yacht.

The hoist winches 60 are installed in the main frame 10 and connected to the hook blocks 40 to lift and lower the hook blocks 40.

For example, the hoist winches (60) may be arranged in the lower beam (11) of the main frame (10). A pressure sensor (not shown) may be installed inside the hoist winch 60 to sense the tension applied to the wire rope 70. This pressure sensor is installed inside the hoist winch 60 and detects the tensile force of the wire rope 70 when it is transmitted to the hoist winch 60. When the tensile force of the measured wire rope 70 is larger than the set value, the hoisting operation of the hoist winch 60 can be stopped.

The wire rope 70 is wound around one end of the hoist winch 60 and passes through the hook block 40 and the trolley 30 and the other end is fixed to the girder 13 so that the hoist winch 60 is rotated The hook block 40 is lifted or lowered while being wound or unwound.

For example, the wire rope 70 may have four rows, as shown in FIG.

That is, the first wire rope 70 on the left side of the four wire ropes 70 is wound around the first hoist winch 60 on the left side of the four hoist winches 60, After passing through the vertical roller of the trolley 30 and the hook block roller of the hook block 40 disposed on the rear right side of the upper surface of the girder 13 via the roller 80 and the trolley guide roller 90, 13).

The second wire rope 70 of the four-row wire rope 70 is wound around the second hoist winch 60 from the left one of the four hoist winches 60, Via the vertical roller of the trolley 30 disposed on the rear left side of the upper surface of the girder 13 and the hook block roller of the hook block 40 via the roller 14 and the trolley guide roller 90 And can be fixed to the upper surface of the girder 13.

The third wire rope 70 of the four-row wire rope 70 is wound around the third hoist winch 60 from the left one of the four hoist winches 60 at one end, 80 and the trolley guide roller 90 and passes through the vertical roller of the trolley 30 disposed on the front right side of the upper surface of the girder 13 and the hook block roller of the hook block 40, As shown in FIG.

The fourth wire rope 70 of the four-row wire rope 70 is wound around the fourth hoist winch 60 from the left one of the four hoist winches 60 at one end, The vertical roller of the trolley 30 disposed on the front left side of the upper surface of the girder 13 and the hook block roller of the hook block 40 via the roller 14 and the trolley guide roller 90 Can be fixed to the upper surface of the back girder (13).

The rotation guide roller 80 is installed on one side of the upper surface of the girder 13 and serves to guide the wire rope 70 wound or unrolled to the hoist winch 60. For example, four rotation guide rollers 80 may be installed on the upper surface of the girder 13 corresponding to the position of each hoist winch 60 installed on the lower beam 11, as shown in Fig. have.

At this time, the rotation guide roller 80 moves in accordance with the change in the number of layers of the wire rope 70 wound on the hoist winch 60 while the wire rope 70 wound in multiple layers on the hoist winch 60 is wound or unwound The wire rope 70 can be guided while rotating at a predetermined angle in accordance with the moving direction of the wire rope 70. [

The first LIDAR sensor 110 is mounted on one side of the trolley 30 and measures the distance from the hook block 40. [

The first LIDAR sensor 110 may be installed on one of the four trolleys 30 as shown in FIG. Distance may be measured.

As shown in FIG. 1, four second Lidar sensors 120 are mounted on the left and right front and left and right rear sides of the marine mobile lift 100 to detect obstacles around the marine mobile lift 100, Can be measured.

The first LIDAR sensor 110 and the second Lada sensor 120 may be connected to the controller 130 to transmit a measured distance to the controller 130.

The controller 130 includes a wireless communication unit and is wirelessly communicatively connected to the wireless remote controller 200. The controller 130 drives the hoist winch 60, the wheels 20 and the steering unit according to a control signal received from the wireless remote controller 200, can do.

The controller 130 may also transmit signals received from the first RL sensor 110 and the second RL sensor 120 to the radio remote controller 200 through the wireless communication unit.

The radio controller 200 transmits a control signal according to the user's operation to the controller 130. The user can control the traveling of the marine mobile lift 100 and the operation of the hoist winch 60 using the radio remote controller 200. [

In particular, the radio navigator 200 uses the signals received from the first and second Lidar sensors 110 and 120 during up and down the ship of the marine mobile lift 100 and during travel, Guide and warn.

For this purpose, the radio remote controller 200 may have an output including a display and / or a speaker. For example, the radio remote controller 200 may be configured to include a processor, a memory, an input unit, an output unit, a wireless communication unit, and the like.

4 and 5, the hook block 40 to which the sling belt 50 and the wire rope 70 are connected elevates the marine mobile lift 100 when the marine mobile lift 100 is lifted or when the sling belt 50 is lifted. There is a risk of collision with the girder 13.

The radio remote controller 200 is thus configured such that the distance from the hook block 40 measured from the first LIDAR sensor 110 to the collision between the ascending hook block 40 and the girder 13 is preset The distance information between the hook block 40 and the girder 13 and the collision warning sound can be output.

The radio remote controller 200 can then operate as a safe operation assistance system (ADAS) for the marine mobile lift 100.

Referring to FIG. 6, the radio remote controller 200 detects obstacles in the vicinity of the marine mobile lift 100 by means of the second LR sensors 120 mounted on the left, right, front and rear sides of the marine mobile lift 100 If detected, the obstacle detection information and the collision warning sound can be output. Here, the obstacle detection information may include an obstacle detection position and a distance between the obstacle detection position and the detected obstacle.

For example, when the navigation direction of the marine mobile lift 100 is changed and the obstacle is detected in the changing direction through the second Lydia sensor 120, the radio remote controller 200 outputs the obstacle detection information and the collision warning sound .

The radio remote controller 200 also monitors the four sides of the marine mobile lift 100 through the second Lidar sensor 120 when the marine mobile lift 100 is traveling and detects obstacles from the rear and the sides outside the marine direction , It is possible to output the obstacle detection information and the collision warning sound.

The radio remote controller 200 is connected to the marine mobile lift 100 generated by the second LR sensor 120 mounted on the left and right front and right and rear of the marine mobile lift 100 during the movement of the marine mobile lift 100, And acquires and stores the surrounding sensing data. This allows the latest map of the place where the marine mobile lift 100 is used to be created.

For example, as shown in FIG. 7, the radio remote controller 200 can acquire and store radial sensing data in the marina and the port in which the marine mobile lift 100 is moving, thereby displaying the latest map of the marina and the port Can be created.

In addition, the marine mobile lift system according to the embodiment of the present invention may further include an autonomous traveling device (not shown). Therefore, the autonomous mobile device can autonomously run the marine mobile lift 100 between the lift pier in the marina, which is the upper and lower places, and the dry stack, which is the storage warehouse, by using the second Rather sensor 120.

It will be apparent to those skilled in the art that various modifications, additions and substitutions are possible, without departing from the spirit and scope of the invention as defined by the appended claims. Should be regarded as belonging to the following claims.

10: Main frame
20: Wheels
30: Trolley
40: hook block
50: Sling belt
60: Hoist winch
70: Wire rope
80: rotation guide roller
90: Trolley guide roller
100: Marine Mobile Lift
110: First LIDAR sensor
120: second Lada sensor
130: controller
200: Radio remote control

Claims (8)

Marine mobile lift;
(LIDAR) sensor mounted on a girder on the marine mobile lift to measure a distance between a sling belt and a hook block to which a wire rope is connected in close contact with a ship being moved up and down by the marine mobile lift;
A controller for driving the marine mobile lift and transmitting the distance through the wireless communication unit having a distance to the measured hook block; And
A distance between the hook block and the measured hook block is set to a predetermined reference value to prevent the collision between the hook block and the girder from rising, The distance between the hook block and the girder, and a radio remote controller for outputting a collision warning sound or warning screen.
The method according to claim 1,
And a second LR sensor mounted on left and right front and left and right rear sides of the marine mobile lift for sensing obstacles around the marine mobile lift and measuring distances to the detected obstacles.
3. The method of claim 2,
Wherein the radio remote controller outputs obstacle detection information, a collision warning sound, or a warning screen when an obstacle is detected by the second RL sensor in the vicinity of the marine mobile lift.
The method of claim 3,
Wherein the radio remote controller outputs obstacle detection information, a collision warning sound, or a warning screen when detecting an obstacle in the changing direction through the second RLayer sensor when the traveling direction of the marine mobile lift is changed. system.
The method of claim 3,
The radio remote controller monitors the four sides of the marine mobile lift through the second Lada sensor when traveling on the marine mobile lift, and detects obstacle detection information and a collision warning sound or a warning screen And outputs the generated signal to the mobile mobile lift system.
3. The method of claim 2,
Wherein the radio navigator acquires, accumulates and manages the marine mobile lift peripheral sensing data generated by the second Lada sensor during movement of the marine mobile lift.
3. The method of claim 2,
Further comprising an autonomous traveling device that autonomously travels the marine mobile lift,
Wherein the autonomous travel device autonomously travels the marine mobile lift between the upper and lower places of the marine mobile lift and the storage warehouse using the second RID sensor.
The method according to claim 1,
The marine mobile lift,
A main frame including a pair of lower beams spaced apart from each other in parallel to each other, vertical beams installed at both ends of each of the pair of lower beams, and a girder installed at an upper end of the vertical beams;
Wheels mounted on both lower ends of the lower beams;
At least two of the wheels and a steering unit connected to the main frame to control a rotating direction of the wheels;
A trolley provided on each of upper and lower portions of the girders arranged in parallel and installed to be transferred to the center side and both ends of the girder;
A hook block connected to the trolley and conveyed together with the trolley;
A pair of sling belts, both ends of which are connected to the hook block and which support the lower portion of the boat;
A wire rope wound around the hoist winch, routed through the hook block and the trolley, and the other end fixed to the girder so that the hoist winch is wound or unwound when the hoist winch rotates; And
And a trolley guide roller installed between the trolleys on both sides of the upper surface of the girder and guiding the wire rope passed through the rotation guide roller by the trolley,
Wherein the hoist winch is installed on the main frame and is connected to the hook block to elevate the hook block.

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