UA146570U - METHOD OF AUTOMATIC DIRECTION OF LASER OPTICAL SYSTEM OF DYNAMIC POSITIONING ON REFLECTOR - Google Patents

Abstract

The method of automatic guidance of the beam of the laser optical system of dynamic positioning on the reflector is to emit a laser module rotating in a plane parallel to the deck of the ship, the beam reflected from the reflector during its passage, receiving the laser module reflected from the reflector beam the received signal, the bearing on the reflector and the distance to the reflector, the use of the received information in the dynamic positioning system to maintain the specified position and the bearing of the vessel relative to the reflector. Additionally, determine the angle of elevation above the horizon of the optical axis directed to the center of the reflector, the measured distance to the reflector and the height of the reflector above the laser module. Determine the angle that determines the direction of the optical axis to the center of the reflector, taking into account the measured roll, the measured trim, the calculated elevation above the horizon of the optical axis and the measured bearing on the reflector. Move the optical axis to the position determined by the angle.

Description

The useful model belongs to the field of navigation, in particular to determining the bearing and distance to the reflector using a laser optical system of dynamic positioning in conditions of strong side and keel sway.

The NiPAR hydroacoustic positioning system is known (see, for example, Kopad5rega

Maiiiite AB "Asoiviis Rozyopipd Oregayug eiaiop Ipzigisiop Mapia!" - Nidy Rgesiviop Asoiviis

Rosyopippa, 2013, see /Llymlm.Kopdzbego.sot/diobaiavzzeiv/tatytelkt-rgodisiv/rgodisi-dosytepiv/319957 arob5 Tog Pirar sotrieiee tapia!|.rai), which allows measuring the position of the vessel using communication at hydroacoustic frequencies between the sensor, installed on the ship's hull, and by one or more defendants located on the seabed.

This system is: - limited by acoustic conditions in water. Noise from ship propellers and other sources, aeration and other factors negatively affect the efficiency of the system, it is also necessary to calibrate the system when working at different depths; - requires additional sensors to ensure positioning accuracy, ship's gyroscope and vertical support block; - does not allow positioning in shallow water, as the design significantly increases the draft of the vessel; - does not allow continuous positioning, as the respondents need to recharge the battery.

The well-known Nadabsap radar positioning system (see, for example, Ipiegpaiopai

Magipe Sopigasiog5 Av5osiayop "Nadabsap Misgojame Nadag bZepzog yoog Oupatis Rozyopipa

Oregaiiopv" IMSA M 209 Vemkh. 1, 2017,

Nerz / Lymly.diyidapse.ei.sot/azzeiv/ tapaded/st5/Pez/МСАМ20О9 (iraaieag 2017). ray, which uses a radar beam to determine the bearing and distance to the defendant.

The reflection of the defendant has a reflective character, that is, it is directed in the same direction as the received beam. The responder is also capable of encoding the display with an identification code used to recognize the display.

This system: - does not allow positioning the vessel at any angles relative to the defendant;

Zo - does not allow continuous positioning, as the defendant needs to recharge the battery.

The Rapreat laser optical positioning system is known (see, for example, Kopd5brega

Have "Bapreat 4.2, Oregaiiyop5 Mapiai!" MY, 2011,

Nperz /Lymly.tapiitesogpeg.ey/tedia/vpyCe/Rapreat 4.2 Oregayugv5 Mapiai!.rai), which uses a laser optical system to determine the distance to the reflector. The laser optical system emits light pulses with a frequency of 5000 Hz in the vertical and horizontal planes using an infrared semiconductor laser diode. Part of the pulses is reflected from the reflector and falls on the photodiode of the receiver. The time interval between the transmitted and received pulse is used to calculate the distance to the reflector.

This system: - has a small radius of action when working in fog, snowfall and heavy rain; - has degraded signal quality, or no signal when the lens is blinded by the sun; - requires careful selection of the location of the reflector, which must be located far from reflective surfaces, such as reflective tape on jackets, lifeboats, liferafts, etc.; - does not allow receiving a high-quality signal in conditions of strong lateral and keel sway.

The closest in technical essence to the method that is claimed is the method of measuring the bearing and the distance to the reflector using the Subsap laser optical dynamic positioning system, which is used on offshore vessels serving offshore gas and oil platforms (see, for example, Spcidapse Magipe " Subsap Oregayugv5 Sspciae",

Ehrep Rosyopipd Tesppoiodu, 2015, prototype, Er /lummu. didydapse ei.sot/azzeiv/tapaded/st5/PShevz/skidapseuo2OMagipezo202015/Mapia!5/94-0353-4- rusgoSuzsapos2O0Oregayog52go0sticide. paradise.

This method consists in emitting a beam reflected from the Reflector during its passage by the Laser module rotating in a plane parallel to the ship's deck, receiving the beam reflected from the Reflector by the Laser module, processing the reflected beam to determine the quality of the received signal, the bearing "to the Reflector and distances "to

Reflector, using the received information in the Dynamic Positioning System to maintain the given position and bearing of the vessel relative to the Reflector.

The disadvantage of the known method of measuring the bearing and distance to the Reflector using the Subsap laser optical system of dynamic positioning is the reduction of the quality of the signal reflected from the Reflector and even the loss of the signal in the event of a strong keel and/or side roll, which can lead to loss of ship controllability, collision with the platform, environmental disaster and even to human sacrifices.

The task of a useful model is to create a method that would allow, using standard equipment of a laser optical system of dynamic positioning: Laser block,

Reflector, Electronic information processing unit, Reflector installation height selector, ship's standard equipment: Roll sensor, Trim sensor, additional equipment:

The electronic control unit of the radiation direction ensures automatic guidance of the optical axis of the laser optical dynamic positioning system to the center of the Reflector, including in conditions of strong keel and side rocking, thereby increasing the quality of the reflected signal and the reliability of the dynamic positioning system as a whole.

The problem is solved by the fact that in the proposed method of automatically directing the beam of the laser optical system of dynamic positioning to the reflector, which consists in the emission by the Laser module rotating in a plane parallel to the ship's deck of a beam that is reflected from the Reflector during its passage, reception of the reflected by the Laser from the Reflector beam, processing the reflected beam by determining the quality of the received signal, the bearing "to the Reflector and the distance" to the Reflector, using the received information in the Dynamic Positioning System to maintain the given position and bearing of the vessel from the Reflector, according to the useful model, 9 - ag) additionally determine the elevation angle t above the horizon of the optical axis, . that p. still directed to the center of the Reflector, according to the measured distance "to the Reflector and the height of installation in" the reflector and the laser module, denote the angle -агв5щ(вты собОд, soya, sov (5шщтФ, 5 V -с0509, 59, сО5 direction of the optical axis to the center of the Reflector, taking into account the measured roll Fa, measured

With b. trim ", calculated elevation above the horizon of the optical axis 9 and measured

In . about the bearing " on the Reflector, move the optical axis to the position determined by the angle 9,

Revealing the cause-and-effect relationships between the set of essential features of the claimed method and the technical result, it is necessary to note, dr: и В - agovits y ) - a feature of the formula "... additionally determine the angle t of elevation above the . о, р by the horizon of the optical axis directed to the center of the Reflector along the measured distance " to

Reflector and the height of installation of the Reflector l above the Laser Module..." allows

Also take into account the influence of the distance to the Reflector on the elevation 9 above the horizon of the optical axis directed to the center of the Reflector; 0-7 25 zhkh sign "formulas. ";.. determine the angle 0 -agsvipts(vip9U sov F,,co59,--co50 (vipF, vip B, -co5F, 5 so5 B, U. which specifies the direction of the optical axis in the center of the Reflector, taking into account the measured roll Fa, measured

With b. trim ", calculated elevation above the horizon of the optical axis 9 and measured

In the village bearing "to the Reflector ..." allows you to take into account the angular deviations of the ship in roll, bearing and trim in determining the direction of the optical axis of the laser system to the Reflector; o - the sign of the formula "...move the optical axis to the position determined by the angle 9 2" provides automatic directing the optical axis of the laser system to the center of the Reflector, including in conditions of strong keel and side sway, allows you to improve, due to this, the quality of the reflected signal, avoid signal loss in case of strong keel and/or side sway, and improve the reliability of the dynamic positioning system as a whole .

The essence of a useful model is explained by drawings.

The method is carried out using the control scheme shown in Fig. 1.

The drive of the Laser module 8 rotates the Laser module 7 in a plane parallel to the ship's deck, the Laser module 7 continuously emits a laser beam from the output 1, which is reflected from the Reflector 2 during its passage and returns to the first input of the Laser module 7. From the second output of the Laser module 7, a signal is transmitted to the input of the Electronic information processing unit 6 to determine the quality of the received signal ?, the bearing "and the distance r V . m t to Reflector 2. The bearing o" from the first output of the Electronic information processing unit 6 is fed to the first input of the Dynamic Positioning System 1 and the fourth n Block 10 for determining the direction of the beam to the center of the reflector, the quality of the received signal 77" from the second output of the Electronic information processing unit b is fed to the second input of the Dynamic Positioning System 1, and the distance " from the third output of the Electronic Information Processing Unit 6 is fed to the third input of the Dynamic Positioning System 1 and the first entrance

Unit 9 for calculation of elevation above the horizon of the optical axis, the second input of Unit 9 for calculation of elevation above the horizon of the optical axis is supplied with the height of the SHIELD for installing the Reflector above

Laser module from the Setter From the height of the Reflector installation, Block 9 of the calculation

The elevation above the horizon of the optical axis determines the elevation 9 above the horizon of the optical axis 9 - agovi (see Fig. 2 a), b), c)) t, which is fed to the first input of Block 10 for determining the direction of the beam in the center of the reflector. The second input of Block 10 determining the direction of the beam to the center of the reflector is fed the angle of roll of the FO measured by Sensor 4 of roll, the third input of Block 10 determining the direction of beam to the center of the reflector is fed the angle of trim measured by Sensor 5 of the trim. Block 10 determining the direction of the beam to the center of reflector 6? -agswip(vip 9 со5ф, со85.9 --со56 (vipf vip B. -sovf, vip9. со5 B determines the angle ( b t (vip fu t b t t)) 0. . f From the direction of the optical axis to the center of the Reflector taking into account the measured roll 7", trim "

In - and the bearing ", which is supplied to the input of the Electronic unit 11 for controlling the direction of radiation. The electronic unit 11 changes the radiation angle of the Laser module 7 to 9, which ensures that the beam hits the center of the Reflector.

The use of this method ensures automatic pointing of the optical axis of the laser optical system of dynamic positioning to the center of the Reflector, including in conditions of strong keel and side sway, thereby increasing the quality of the reflected signal and the reliability of the dynamic positioning system as a whole.

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Claims (2)

USEFUL MODEL FORMULA The method of automatically directing the beam of the laser optical system of dynamic positioning to the reflector, which consists in emitting a beam reflected from the reflector during its passage by a laser module rotating in a plane parallel to the ship's deck, receiving the beam reflected from the reflector by a laser beam, processing of the reflected beam to determine the quality of the 7" received signal, the bearing "to the reflector and the distance t to the reflector, using the received information in the dynamic positioning system to maintain the given position and bearing of the vessel relative to the reflector, which 9 - and 7 differs in that it additionally determines the angle t rising above the horizon 2. PD that) . of the optical axis directed to the center of the reflector, according to the measured distance "to the reflector and the height І Installation of the reflector above the laser module, determine the angle y, sov B, )) that sets the direction of the optical axis to the center of the reflector, taking into account the measured roll Fa, measured