KR20230148545A - Offshore boarding system with position maintenance function - Google Patents

Abstract

According to one embodiment of the present invention, it includes a gangway installed to access an external marine structure and an attitude maintenance device that supports the gangway and is driven to offset changes in the attitude of the gangway due to external force; , a marine embarkation and disembarkation system is disclosed, wherein the posture maintaining device includes a motion platform that drives at least two axes to maintain the posture of the gangway.

Description

Offshore embarkation and disembarkation system with posture maintenance function {OFFSHORE BOARDING SYSTEM WITH POSITION MAINTENANCE FUNCTION}

The present invention relates to a marine embarkation and disembarkation system having an attitude maintenance function.

The marine embarkation and disembarkation system is a system that allows workers, passengers, and crew members to move around a ship or marine structure using a ladder or bridge-type structure.

In general, marine embarkation and disembarkation systems include gangways that serve as bridges for people to move.

However, currently, when workers move between the ocean and a ship or board a small ship to a large ship, falls accidents frequently occur due to the influence of swells and waves, as well as the influence of climate such as bad weather, defective boarding ladder equipment, and boarding. Fall accidents also occur due to a variety of reasons, including operator error or operator error.

Accordingly, there is a need for technology that can control the gangway's posture to be maintained even if there is external influence.

The problem to be solved according to an embodiment of the present invention includes applying a posture maintenance function to an 8-axis motion platform for ships and marine structures so that the gangway of the marine embarkation and disembarkation system can maintain its posture even if there is external influence. .

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

In order to solve the above problem, a marine embarkation and disembarkation system having an attitude maintenance function according to an aspect of the present invention supports a gangway installed to access an external marine structure and the gangway, and the gangway is moved by an external force. It includes a posture maintaining device driven to offset changes in posture, and the posture maintaining device may include a motion platform that drives at least two axes to maintain the posture of the gangway.

Here, the posture maintaining device further includes a monitoring unit that monitors a change in the posture of the gangway due to the external force, and a control unit that generates a control message to control the operation of the motion platform based on the change in posture of the gangway. It can be included.

Here, the motion platform includes an upper plate supporting the lower part of the gangway, a lower plate located at the bottom of the motion platform, one end connected to the upper plate, the other end connected to the lower plate, and the control message. It may include a plurality of actuators that perform a translational motion based on and a joint located at both ends of the actuators so that the actuators can rotate while connected to the upper plate and the lower plate.

Here, the actuator includes an external cylinder formed outside the actuator, an internal cylinder that moves linearly along the inner wall of the external cylinder, a ball screw that moves the internal cylinder, and a ball screw located at the bottom of the external cylinder. It is located in an area of the external cylinder and a servomotor that transmits power to a screw to drive the internal cylinder, and includes a limit switch that starts or blocks the operation of the internal cylinder when the internal cylinder reaches the area. You can.

Here, the monitoring unit includes a servomotor detection module that detects the state of the servomotor, and the control unit determines whether an abnormal state is present based on the state of the servomotor and controls the operation of the motion platform. You can create a message.

Here, the control unit calculates the movement value of the axis of the actuator and includes at least one of roll, pitch, yaw, surge, sway, and heave. By generating a signal value, the operation of the motion platform can be controlled.

Here, the monitoring unit further includes a lower plate detection module that detects a change in the position of the center of the lower plate and the degree of inclination, and the control unit determines an abnormality based on the change in the position of the center of the lower plate and the degree of inclination. It is possible to determine the status and generate a control message to control the operation of the motion platform.

Here, the gangway includes a first frame connected to the upper plate, a second frame connected to the first frame and moving along the first frame, and located on one side of the second frame, and the second frame. It may include a frame driving unit that moves the frame forward or backward.

As described above, according to the embodiments and various aspects of the present invention, it is possible to prevent fall accidents and improve the safety of workers working at sea by controlling the gangway to maintain its posture even if there is external influence. .

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the description or claims of the present invention.

Figure 1 is a diagram showing a marine embarkation and disembarkation system according to an embodiment of the present invention.
Figure 2 is a diagram showing a motion platform of a maritime embarkation and disembarkation system according to an embodiment of the present invention.
3 and 4 are diagrams showing an actuator of a motion platform according to an embodiment of the present invention.
Figure 5 is a diagram showing a frame driving unit of a marine embarkation and disembarkation system according to an embodiment of the present invention.
Figure 6 is a block diagram showing the control unit of the marine embarkation and disembarkation system according to an embodiment of the present invention.
Figure 7 is a diagram for explaining a method of controlling the operation of a motion platform in a marine embarkation and disembarkation system according to an embodiment of the present invention.
Figure 8 is a diagram illustrating the results output on the display through the control unit of the marine embarkation and disembarkation system according to an embodiment of the present invention as an example.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and, therefore, is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this means not only "directly connected" but also "indirectly connected" with another member in between. "Includes cases where it is. Additionally, when a part is said to “include” a certain component, this does not mean that other components are excluded, but that other components can be added, unless specifically stated to the contrary.

The terms used herein are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

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

One embodiment of the present invention relates to a marine embarkation and disembarkation system with a posture maintenance function.

Figure 1 is a diagram showing a marine embarkation and disembarkation system according to an embodiment of the present invention.

Referring to Figure 1, the marine embarkation and disembarkation system 1 according to an embodiment of the present invention includes an attitude maintenance device 10 and a gangway 20.

The marine boarding and disembarking system 1 according to an embodiment of the present invention is a system provided to enable workers, passengers, and sailors to move around a ship or marine structure using a ladder or bridge-type structure.

Specifically, it is a boarding and disembarking system for marine work that applies a posture maintenance function to an 8-axis motion platform. It responds to external forces (waves, swells, etc.) to ensure that the gangway installed on the top of the motion platform maintains equilibrium and responds to changes caused by waves. The gangway can be safely maintained by operating the motion platform to vary its height and front/rear spacing.

The posture maintaining device 10 supports the gangway 20 and is driven to offset changes in the gangway's posture due to external forces.

When the ship is shaken by an external force given from outside, the same or greater shake is generated in the gangway installed on the upper part of the motion platform according to the shake generated by the ship. The way is kept stable.

Here, the external force refers to the force that causes the gangway 20 to move due to the swells and waves of the sea, and the posture maintenance device 10 is driven to minimize the change in posture due to the movement of the gangway 20.

The posture maintenance device 10 according to an embodiment of the present invention includes a motion platform 100, a monitoring unit 200, and a control unit 300.

The motion platform 100 maintains the posture of the gangway by driving at least two axes.

Specifically, the motion platform 100 includes at least eight actuators and can maintain equilibrium according to waves and swells with eight degrees of freedom of motion.

As the motion platform 100 includes at least eight actuators, when driven to offset a change in the posture of the gangway 20, at least two actuator axes are driven to maintain the posture of the gangway.

Referring to FIG. 1, the motion platform 100 includes an upper plate 110, an actuator 120, and a lower plate 130.

The top plate 110 supports the lower part of the gangway 20.

Specifically, the upper plate 110 includes a connection part 111 connected to one side of the gangway 20 and a support part 112 for supporting the gangway 20, to secure the lower part of the gangway 20. You can.

The connection portion 111 may be provided so that the gangway 20 rotates at a predetermined angle while connected to one side of the gangway 20.

A plurality of actuators 120 are provided, one end of which is connected to the upper plate 110 and the other end of which is connected to the lower plate 130, and a translational movement is performed based on a control message.

The lower plate 130 is located at the bottom of the motion platform 100.

The lower plate 130 serves as a foothold on which the posture maintenance device 10 is placed externally, and is provided to fix the externally placed position.

The specific structure and operation of the motion platform 100 will be described in detail in FIG. 2 below.

The monitoring unit 200 monitors changes in the gangway's posture due to external force.

In order for the attitude maintenance device 10 to maintain the gangway stably by canceling out the sway, it is necessary to sense the sway occurring in the ship in real time and transmit it to each driving part of the motion platform 100 to operate.

The monitoring unit 200 includes a servomotor detection module 210 and a lower plate detection module 220.

The servo motor detection module 210 detects the status of each servo motor. Specifically, the actuator 120 is located in each servomotor, so that the status of each servomotor of the motion platform can be monitored.

The state of the servomotor may include the rotation state and driving state of the servomotor, and the change state of each actuator can be calculated based on the rotation state and driving state of the servomotor.

The lower plate detection module 220 is located in the center of the lower plate 130 and detects the change in position and the degree of inclination of the center of the lower plate.

For example, the lower plate detection module 220 may use an IMU sensor and may monitor the inclination value of the motion platform in real time.

In addition, the gyro sensor value of the IMU sensor can be converted into attitude value in the control unit and used as a command value for the 8-axis servo motor to ensure that the upper frame is maintained horizontal.

The control unit 300 generates a control message that controls the operation of the motion platform based on the change in posture of the gangway.

Specifically, the control unit 300 determines whether an abnormal state is present based on the state of each servomotor and generates a control message to control the operation of the motion platform.

Additionally, the control unit 300 determines whether an abnormal state is present based on the change in position and degree of inclination of the center of the lower plate and generates a control message to control the operation of the motion platform.

Additionally, in case of an abnormal state, the control unit 300 may generate an alarm message and transmit it to an external user.

The gangway 20 is installed to access external marine structures and serves as a bridge for people to move.

The gangway 20 according to an embodiment of the present invention includes a first frame 21 and a second frame 22.

The first frame 21 is connected to the upper plate 110.

The second frame 22 is connected to the first frame and moves along the first frame.

If the length of the gangway connecting a ship to a ship or a gangway connecting a marine structure to a ship is fixed, there is a risk of damage to the gangway due to external force. However, according to an embodiment of the present invention, the gangway (20 ) can change the length of the gangway according to waves or swells as the second frame 22 moves along the first frame.

The structure for driving the gangway is explained in detail in FIG. 5 below.

In addition, in this specification, Figure 1 shows a jig 30 for verifying the posture maintaining function at the bottom of the posture maintaining device 10 according to an embodiment of the present invention, and the jig for verifying the posture maintaining function (30) produces a crank rod-type 6-axis motion so that the motion values can be applied to the implementation of the marine environment, so that the sensor data values can be confirmed and self-performance evaluation can be performed.

Figure 2 is a diagram showing a motion platform of a maritime embarkation and disembarkation system according to an embodiment of the present invention.

Referring to Figure 2, the motion platform 100 includes an upper plate 110, an actuator 120, a lower plate 130, and joints 140 and 150.

The motion platform 100 according to an embodiment of the present invention is a structure capable of responding to external forces at sea through automated motion platform structural design during maritime work.

The motion platform 100 drives at least two axes to maintain the posture of the gangway.

Specifically, the motion platform 100 includes at least eight actuators and can maintain equilibrium according to waves and swells with eight degrees of freedom of motion.

As the motion platform 100 includes at least eight actuators, when driven to offset a change in the posture of the gangway 20, at least two actuator axes are driven to maintain the posture of the gangway.

The top plate 110 supports the lower part of the gangway 20.

The upper plate 110 may be shaped as a combination of a plurality of square plates 113 and 114, as shown in FIG. 2, or may be implemented as a polygonal plate.

Each of the actuators 120 has one end connected to the upper plate 110 and the other end connected to the lower plate 130, and performs a translational operation based on a control message.

Actuator 120 may include eight linear actuators 120a, 120b, 120c, 120d, 120e, 120f, 120g, and 120h, as shown in FIG. 2.

The actuator 120 according to an embodiment of the present invention may be implemented with an electric cylinder, a servomotor for precision control, and a drive.

As the actuator 120 is implemented as an electric cylinder, the control unit 300 processes the sensing information in real time to determine the operation required for the driving part of the posture maintenance device, and then the 2 to 3 second delay that occurs when using a conventional hydraulic cylinder is performed. The operation time gap can be reduced.

The lower plate 130 is located at the bottom of the motion platform 100.

As shown in FIG. 2, the lower plate 130 may be a combination of a plurality of square plates 133, 134, and 135, and may also be implemented as a polygonal plate.

The lower plate 130 serves as a foothold on which the posture maintenance device 10 is placed externally, and is provided to fix the externally placed position.

The joints 140 and 150 are located at both ends of each of the plurality of actuators 120 and are assembled to be rotatable while being connected to the upper plate 110 and the lower plate 130.

Specifically, it may include an upper joint 150 coupled to the upper plate 110 and a lower joint 140 coupled to the lower plate 130, and is connected to each actuator to enable natural movement. It can be prepared by:

In one embodiment of the present invention, the joints 140 and 150 coupled to the actuator have a structure capable of rotating 360° and may be an integrated structure that is resistant to vibration and shock.

For example, loosening can be prevented in advance by including a double bearing structure and a knock nut (not shown), and the area connected to the upper hole of the actuator is combined with a bushing to minimize friction to prevent vibration, noise, and heat generation during operation. This can be minimized.

In addition, materials with strong durability and robustness can be used, additional grease injection holes are included inside, and grease injection is performed regularly into the grease injection holes to increase the durability of the drive.

In addition, in one embodiment of the present invention, a frame module that serves as a support for the motion platform may be further included, and the frame module may be designed by considering the points of the triangle structure with square pipes and steel in consideration of sturdiness and durability. .

The motion platform 100 according to an embodiment of the present invention has a structure that minimizes interference between actuators and can apply a shock absorption mechanism that takes vibration and shock into account.

3 and 4 are diagrams showing an actuator of a motion platform according to an embodiment of the present invention.

Figure 3(a) shows the length of the actuator 120 being adjusted, and Figure 3(b) shows the internal structure of the actuator 120.

3 and 4, the actuator 120 includes an external cylinder 121, an internal cylinder 122, a ball screw 123, a servomotor 124, and a limit switch 125.

The external cylinder 121 is formed outside the actuator.

The inner cylinder 122 moves in a straight line along the inner wall of the outer cylinder 121, moves in direct connection with the ball screw 123, and may be made of a high-strength material.

At this time, while the inner cylinder 122 moves linearly along the wall of the outer cylinder 121, the air in the space between the outer cylinder and the inner cylinder may compress or expand, causing an overload on the motor drive.

In particular, since the maximum compression of air occurs at the top and bottom dead centers of the actuator and the overload is the most severe, air discharge and through holes (not shown) may be included to prevent the air from being compressed due to the movement of the internal cylinder at these positions.

The ball screw 123 moves the inner cylinder 122.

The servomotor 124 is located at the bottom of the external cylinder 121 and transmits power to the ball screw 123 to drive the internal cylinder. Specifically, the rotary motion of the servomotor 124 may be transmitted through a coupling to convert the rotary motion of the nut of the ball screw into a linear motion.

Considering that the servo motor 124 according to an embodiment of the present invention is used at sea, the case material uses coated AL to increase corrosion resistance, and the motor outer case is designed and manufactured separately to prevent waterproofing. You can make it happen.

The limit switch 125 is located in one area of the outer cylinder 121, and when the inner cylinder reaches this area, it starts or blocks the operation of the inner cylinder.

Specifically, the limit switch 125 may include a first limit switch 125a and a second limit switch 125b.

As shown in Figures 3 and 4, the first limit switch 125a is located at the point where the inner cylinder 122 starts driving on the servomotor 124 side, and the inner cylinder 122 is the first limit switch. When the area (125a) is reached, operation can be started.

The second limit switch 125b is located at a point where the inner cylinder 122 reaches one end of the outer cylinder 122 and stops driving, so that the inner cylinder 122 reaches the area of the second limit switch 125b. In this case, operation may be stopped.

Accordingly, the Min position where the first limit switch 125a is located and the Max position where the second limit switch 125b is located are determined, and the Min-Max section is set so that the actuator is driven in the Min-Max section. Stability can be considered.

If it is outside the Min-Max range, the control power can be cut off to prevent electrical or operational malfunctions.

In addition, it may further include a settle switch 125c, and the settle switch 125c is located in the area where the initial position proximity sensor is located in FIG. 4, and when the inner cylinder 122 reaches the initial position , you can decide whether to run it or not.

In addition, the actuator 120 according to an embodiment of the present invention may further include a piston 126, a coupler 127, bearing supports 128a and 128b, and a piston guide 129, and the inner cylinder 122 It may further include a sliding contact device (not shown) to enable linear movement along the inner wall of the outer cylinder 121.

The coupler 127 connects the shaft of the ball screw 123 and the servomotor 124, and calculates and applies rotation and torque values.

Meanwhile, the lower joint 140 may be connected to the servomotor 124 side, the upper joint 150 may be connected to the piston 126 side, and the upper joint 150 may be connected to the coupling joint 151 and the rotation joint 152. ) may include.

Figure 5 is a diagram showing a frame driving unit of a marine embarkation and disembarkation system according to an embodiment of the present invention.

Referring to FIG. 5, the gangway 20 according to an embodiment of the present invention includes a first frame 21, a second frame 22, and a frame driver 23.

It is connected to the upper plate of the first frame (21).

The second frame 22 is connected to the first frame and moves along the first frame.

If the length of the gangway connecting a ship to a ship or a gangway connecting a marine structure to a ship is fixed, there is a risk of damage to the gangway due to external force. However, according to an embodiment of the present invention, the gangway (20 ) can change the length of the gangway according to waves or swells as the second frame 22 moves along the first frame.

The frame driving unit 23 is located on one side of the second frame and moves the second frame forward or backward.

Specifically, the second frame 22 includes a rail portion 410 connected to the first frame, and moves along the first frame while driving the rail portion 410 using a drive motor 420.

Here, the drive motor 420 includes a drive gear 421 at one end, and a frame gear 430 that meshes with the drive gear 421 is connected to the second frame 22 to drive the drive motor 420. The second frame is moved by .

Figure 6 is a block diagram showing the control unit of the marine embarkation and disembarkation system according to an embodiment of the present invention.

Referring to FIG. 6, the control unit 300 includes an input unit 310, a processor 320, and a memory 330.

The control unit 300 receives sensing information from the monitoring unit 200, generates a control message for controlling the operation of the motion platform based on the change in posture of the gangway, and transmits it to the driving unit of the motion platform 100.

Additionally, the operating state of the motion platform 100 can be transmitted to the external display 40 so that the user can check the operating state.

The input unit 310 can receive measured status and monitoring data from the monitoring unit 200, and can receive control commands from an external user.

The input unit 310 includes a Bluetooth and Wi-Fi wireless communication gateway so that it can be linked with the monitoring unit 200, and can apply transmission and reception data packets and protocols to prevent wireless data collisions.

The processor 320 determines whether an abnormal state is present based on the state of each servomotor received from the servomotor detection module 210 of the monitoring unit 200 and generates a control message to control the operation of the motion platform.

Specifically, the processor 320 calculates the movement value of each axis of the plurality of actuators and calculates roll, pitch, yaw, surge, sway, and heave. ) to control the operation of the motion platform by generating a signal value containing at least one of the following.

In addition, the processor 320 determines whether an abnormal state is present based on the change in position and degree of inclination of the center of the lower plate received from the lower plate detection module 220 of the monitoring unit 200, and controls the operation of the motion platform. Generates a control message.

The processor 320 according to an embodiment of the present invention detects the motion of a safety device for maritime work based on an intelligent control and automatic operation method precision control algorithm and enables automatic control of the system in a customized manner.

In addition, by applying a risk prediction-based solution, it is possible to eliminate risk factors early through a preemptive safety management system.

The memory 330 may store the motion platform state posture value, drive time, and total drive time.

In addition, the memory 330 stores the data monitored by the monitoring unit 200, and can be divided into flash memory type, hard disk type, multimedia card micro type, and card. Types of memory (e.g. SD or Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic disk, and optical disk may include at least one type of computer-readable storage medium.

Figure 7 is a diagram for explaining a method of controlling the operation of a motion platform in a marine embarkation and disembarkation system according to an embodiment of the present invention.

Referring to FIG. 7, when the external user 2 transmits a drive command to the posture maintenance device 10 in step S310, the control unit 300 of the posture maintenance device 10 receives the status of the actuator from the monitoring unit in step S321. Receive information.

Afterwards, in step S322, the Inverse Kinematics algorithm is performed to calculate posture transformation information for each actuator.

Since the motion platform according to an embodiment of the present invention includes an 8-axis actuator, a process of converting angle into distance is performed using the Inverse Kinematics algorithm.

If there are 6 axes, the movement command can be used on one selected axis, but if it is expanded to 8 axes, the movement command must be used on at least 2 axes.

Additionally, to increase the accuracy of control software, the precision of control values can be increased by using not only the Inverse Kinematics algorithm but also the plane equation.

Thereafter, the control unit 300 generates position information using the posture conversion information of the actuator in step S323, and calculates the movement value of each axis using the driving 3D rotation conversion algorithm of the 8-axis motion platform in step S324. Here, the washout algorithm can be used.

In step S325, motion data is generated to offset the change in posture. Specifically, a total of six signal values - Roll, Pitch, Yaw, Surge, Sway, and Heave - are generated using the amplitude and frequency of the signal. Can control 8 actuators.

In step S330, the control unit 300 transmits a control message including the generated signal value to the driving unit of the actuator of the motion platform 100, and the length and angle of the actuator may be adjusted based on the control message.

In step S340, the motion platform 100 transmits the changed driving information to the control unit 300, and in step S350, the control unit 300 analyzes data on the shaking that occurs in the ship for a certain period of time during the gangway use phase. By predicting the turbulence that will occur in the ship, the attitude control device performs the necessary operations, and by comparing and analyzing the predicted turbulence and the actual turbulence, the errors that occur can be reflected back in the existing data.

Additionally, the driving state of the actuator can be displayed to the user 2 in step S360.

Specifically, the driving status of the actuator is provided in a UI as shown in Figure 8 below, and the status of each axis, drive status, threshold, error event, and operation method can be provided in numerical and alarm form, and the user can easily check the status. You can check it.

Figure 8 is a diagram illustrating the results output on the display through the control unit of the marine embarkation and disembarkation system according to an embodiment of the present invention as an example.

Referring to FIG. 8, the display 40 may display a window indicating the operating state of the motion platform 100 and a button for receiving a user's control command on one screen.

For example, on the user's screen, the administrator settings button (41), program status window (42), administrator manual adjustment window (43), drive status window (44), motion manual control window (45), and axis status window (46) ) can be displayed.

Here, the administrator settings button 41 is a button that can be clicked to enable the equipment manager to input and calculate hardware details required for mechanical calculations, such as coordinates and actuator leads required for the motion platform.

The program status window 42 displays the driving status of the controlled master board, the administrator's manual control mode selection, each required status window, and the control status of the Stuart platform.

The administrator manual adjustment window 43 is a manual control window for the administrator to control the motor driver. It is possible to select the function to be used, enter necessary parameters, and manually control the actuator.

The drive status window 44 displays the current actuator drive speed and drive values of 6 degrees of freedom.

The motion manual control window 45 allows the user to select position and jog speed control for speed and position values as needed, and drive or perform stop and emergency stop, position initialization, etc.

The axis status window 46 can check the current operation and stop of controllable slaves, current command position and speed values, status alarms, etc.

The marine embarkation and disembarkation system (1) according to an embodiment of the present invention improves the safety of marine workers and improves the safety of marine workers by implementing a high-safety, high-precision, intelligent maritime work safety system that can increase safety and preemptive automatic control functions. It can prevent disasters and disasters such as falls while boarding or moving.

Combinations of each block of the block diagram and each step of the flow diagram attached to this specification may be performed by computer program instructions. Since these computer program instructions can be mounted on the processor of a general-purpose computer, special-purpose computer, or other programmable data processing equipment, the instructions performed through the processor of the computer or other programmable data processing equipment are shown in each block of the block diagram or flow diagram. Each step creates the means to perform the functions described. These computer program instructions may also be stored in computer-usable or computer-readable memory that can be directed to a computer or other programmable data processing equipment to implement a function in a particular manner, so that the computer-usable or computer-readable memory The instructions stored in can also produce manufactured items containing instruction means that perform the functions described in each block of the block diagram or each step of the flow diagram. Computer program instructions can also be mounted on a computer or other programmable data processing equipment, so that a series of operational steps are performed on the computer or other programmable data processing equipment to create a process that is executed by the computer, thereby generating a process that is executed by the computer or other programmable data processing equipment. Instructions that perform processing equipment may also provide steps for executing functions described in each block of the block diagram and each step of the flow diagram.

Additionally, each block or each step may represent a module, segment, or portion of code that includes one or more executable instructions for executing specified logical function(s). Additionally, it should be noted that in some alternative embodiments it is possible for the functions mentioned in the blocks or steps to occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially simultaneously, or the blocks or steps may sometimes be performed in reverse order depending on the corresponding function.

The description of the present invention described above is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims described below, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

1: Maritime embarkation and disembarkation system
10: Posture maintenance device
20: Gangway
100: Motion Platform
110: upper plate
120: actuator
130: lower plate
200: Monitoring unit
300: Control unit

Claims (8)

Gangways installed to provide access to external offshore structures; and
It includes a posture maintaining device that supports the gangway and is driven to offset a change in posture of the gangway due to an external force,
The posture maintaining device is a marine embarkation and disembarkation system including a motion platform that drives at least two axes to maintain the posture of the gangway. According to paragraph 1,
The posture maintenance device,
a monitoring unit that monitors a change in posture of the gangway due to the external force; and
A marine embarkation and disembarkation system further comprising a control unit that generates a control message for controlling the operation of the motion platform based on a change in the posture of the gangway. According to paragraph 2,
The motion platform is,
an upper plate supporting the lower part of the gangway;
a lower plate located at the bottom of the motion platform;
a plurality of actuators, one end of which is connected to the upper plate and the other end of which is connected to the lower plate, and which perform a translational motion based on the control message; and
A marine embarkation and disembarkation system including a joint located at both ends of the actuator and assembled so that the actuator can rotate while connected to the upper plate and the lower plate. According to paragraph 3,
The actuator is,
an external cylinder formed outside the actuator;
an inner cylinder that moves linearly along the inner wall of the outer cylinder;
a ball screw that moves the inner cylinder;
a servomotor located at the bottom of the outer cylinder and transmitting power to the ball screw to drive the inner cylinder; and
A marine embarkation and disembarkation system located in an area of the external cylinder and including a limit switch that starts or blocks operation of the internal cylinder when the internal cylinder reaches the area. According to paragraph 4,
The monitoring unit includes a servo motor detection module that detects the state of the servomotor,
The control unit determines whether an abnormal state is present based on the state of the servomotor and generates a control message to control the operation of the motion platform. According to clause 5,
The control unit,
Calculate the movement value of the axis of the actuator and generate a signal value including at least one of roll, pitch, yaw, surge, sway, and heave. , Marine embarkation and disembarkation system, characterized in that controlling the operation of the motion platform. According to paragraph 4,
The monitoring unit further includes a lower plate detection module that detects a change in the position of the center of the lower plate and a degree of tilt,
The control unit determines whether an abnormal state is present based on the change in position of the center of the lower plate and the degree of inclination, and generates a control message to control the operation of the motion platform. According to paragraph 3,
The gangway is,
a first frame connected to the upper plate;
a second frame connected to the first frame and moving along the first frame; and
A marine boarding and disembarking system located on one side of the second frame and including a frame driving unit that moves the second frame forward or backward.

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