KR101408349B1 - Ship resetting method and coordinate measuring system for resetting ship - Google Patents

Abstract

A coordinate measuring system for a resetting vessel used for resetting a ship or block is disclosed. A plurality of reference targets having a prismatic structure and attached to a ship or a block resetting in the dock; And an automatic tracking type total station installed at a machine point corresponding to the plurality of reference targets and driven by a driving unit after the collimation of the reference target to automatically track the reference target.

Description

Technical Field [0001] The present invention relates to a ship resetting method and a coordinate measuring system for a ship,

The present invention relates to a vessel resetting method and a coordinate measuring system for a resetting vessel, and more particularly, to a technique for increasing the accuracy of vessel resetting by continuously measuring the coordinates of a resetting vessel in a dock .

In drying the vessel, it is required to reset the vessel in the dry dock or floating dock. In order to reset the vessel, a reference target is attached to a ship or a block, and workers manually position the reference target at a predetermined time interval using a three-dimensional measuring instrument of a manual spherical coordinate system, Perform setting operation.

There are the following problems or difficulties in performing such a resetting operation.

(1) Since the vessel moves on the water continuously, it is difficult to measure the reference target with the manual coordinate measuring device every time and to find the reference target with the telescope.

(2) Resetting It takes too much time to measure the coordinates of the ship, and it takes a lot of time to transmit the measured values.

(3) It is difficult to cope with the timing of draining the dock in an appropriate time.

(4) Because there is more than one year from the ship when the ship completed work to the mooring quay lead, making it difficult to identify due to the target based paint, etc., are required to reset the baseline.

(5) Accuracy of resetting is low, and there is a high possibility that ship paint will be damaged due to shipbuilding.

 Therefore, there is a need for a technique capable of performing the ship resetting operation more efficiently and quickly, and assuring the accuracy of the resetting operation.

It is an object of the present invention to overcome the above-mentioned problems by eliminating the inaccurate and time-consuming additional collimation work, which was performed periodically by the operator after the reference target collimation, through continuous tracking of the reference target and continuous coordinate measurement, And to provide an improved method of resetting a vessel that can more efficiently and quickly reset the vessel within the vessel.

Another problem to be solved by the present invention is to provide a resetting vessel coordinate measuring system capable of eliminating an inaccurate and time-consuming additional collimating operation periodically performed by an operator after a reference target collimating operation, .

According to an aspect of the invention there is provided a method of resetting a completed vessel or block in a dock, the method comprising: attaching a plurality of reference targets having a prism target structure to corresponding positions of a vessel or block; Measuring design value coordinates of each of the reference targets; Installing a self-tracking total station on each of the plurality of machine points; Each of the total stations collimating each of the reference targets and real time tracking of each of the reference targets by each of the total stations until the coordinates of each of the reference targets coincide with the reset coordinates, So as to continuously measure the coordinates of the reference targets.

According to one embodiment, the method includes the step of setting the mechanical points according to the position coordinate information to which the reset coordinate is assigned, and checking whether the mechanical points are in the correct position using the auxiliary points.

According to one embodiment, the resetting is performed in a dry dock.

According to one embodiment, the resetting is performed for a 10Y block in a floating dock, the method further comprising attaching the plurality of reference targets to attach the first and second reference targets for the 10Y block resetting And attaching one of the two reference targets for 10Y + 80Y block resetting.

According to one embodiment, the resetting is performed on an 80Y block in a floating dock, the method further comprising attaching the plurality of reference targets to attach first and second reference targets for the 80Y block resetting And attaching one of the two reference targets for 10 + 80Y block resetting.

According to one embodiment, a target for measurement of straightness in the height direction of 10Y + 80Y is attached in the process of attaching the plurality of reference targets.

According to one embodiment, the resetting is performed on the finished vessel in a floating dock or dry dock.

According to one embodiment, each of the reference targets has a prismatic structure of a retroreflector type.

According to one embodiment, each of the reference targets is attached to a ship or block with the magnet being coupled to a base on which a magnet is installed.

According to one embodiment, after installing the autotracking total station and prior to collimating the reference target with the autotracking total station, leveling the autotracking total station, setting the centripoint to the machine point, The total station is turned on, the auxiliary point is collimated, the height value of the mechanical point is calculated, the mechanical point coordinate value is input to the automatic tracking total station, the coordinate value of the mechanical point is input, And a process of confirming whether or not the auxiliary point coordinate values coincide with each other.

According to another aspect of the present invention there is provided a coordinate measuring system for a resetting vessel used for resetting a ship or a block, the system having a prism structure, comprising a plurality of reference targets and; And an automatic tracking type total station installed at a machine point corresponding to the plurality of reference targets and driven by a driving unit after the collimation of the reference target to automatically track the reference target.

According to one embodiment, the system further comprises a digital device for wired / wireless communication with the auto-tracking total station.

According to one embodiment, the reference target is coupled to a base having a magnet attached to the ship on its bottom surface.

According to embodiments of the present invention, by eliminating the inaccurate and time-consuming additional collimation work that was done periodically by the operator after the reference target collimation through continuous tracking of the reference target and continuous coordinate measurement, The resetting operation of the ship can be performed more efficiently and more rapidly. In addition, since the operator can measure the continuous coordinates of the reference target after the initial collimation of the reference target without the additional collimation operation, the fatigue of the operator can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram for explaining a dry dock resetting method. Fig.
FIG. 2 is a diagram for explaining a 10Y block reset as an example of resetting in a sub-style dock; FIG.
Fig. 3 is a view for explaining the measurement of the ship's degree of completion of the resetting operation; Fig.
4 is a conceptual diagram for explaining a coordinate measuring system of a resetting vessel;
5 is a side view showing a prism target structure of a retro-reflector type used for resetting of a ship or a block.
FIG. 6 is a bottom view of the prism target structure shown in FIG. 5; FIG.
7 is a diagram showing resetting coordinates used in a resetting operation using an automatic tracking total station.

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

It should be noted that, among the descriptions of the embodiments below, terms within batches, parts of ships, or blocks may be terms referred to for actual field work.

[Resetting the dry dock]

1 is a view for explaining a dry dock resetting method.

Referring to FIG. 1, the resetting method in the dry dock will be described as follows.

Two reference targets, that is, a first reference target Ta and a second reference target Tb are attached to a 129 batch 5201 block and the design value coordinates of the reference target Ta and Tb are measured.

As the first and second reference targets Ta and Tb, a retro-reflector type prism target capable of reducing irregular reflection of the laser beam is used. Also, the first and second reference targets Ta and Tb are developed for exclusive use in marine resets and are applied in combination with structures that do not slip easily in a painted vessel or block as described below.

Based on the dock arrangement, a target "A" is installed at the re-docking position of 130 arrangement 5201 and the machine points 2a and 2b are set. At this time, the resetting coordinates are set to the machine points 2a, 2b such that X = 0, Y = 0, Z = 0. At this time, the auxiliary points 4a and 4b are used to check whether the mechanical points 2a and 2b are in the correct positions.

After completing the next cycle, the dock gate (5) is opened and the completed ship is docked at the seaport. The re-docking vessel waits in the port, then docks in, closes the dock gate and pours water.

Next, an automatic tracking total station, which is an automatic spherical coordinate system, is installed on the machine points 2a and 2b set as above. Next, the reference target (Ta, Tb) is collimated using each of the total stations. Each of the autotracking total stations is configured to continuously track the first and second reference targets Ta and Tb made of a prism target, driven by a driving unit such as an electric motor system or a magnetic levitation system.

The total station installed in the machine points 2a and 2b automatically tracks the first and second reference targets Ta and Tb while adjusting the coordinates of the first and second reference targets Ta and Tb Measure in real time.

Then, according to the coordinate information measured in real time, the resetting operation is continuously performed until the coordinates of the first and second reference targets Ta and Tb coincide with the reset coordinates.

The block is reset to the correct position and the resetting operation is completed. It is a good idea to measure and confirm the resetting coordinates until the drainage is complete by the antipodes.

[Floating dock resetting]

Resetting the floating dock can be divided into 10Y block reset, 80Y block reset, 10Y + 80Y block reset, and re-dock resetting of the completed vessel.

(1) 10Y block reset

2 is a view for explaining a 10Y block resetting as an example of floating dock resetting.

The first and second reference targets Ta and Tb are attached to the rudder side and the side opposite to the rudder side for the 10Y block resetting, which is the engine room side block of the ship. As the first and second reference targets Ta and Tb, a retro-reflector type prism target capable of reducing irregular reflection of the laser beam is used. Also, the first and second reference targets Ta and Tb are detachable from the painted vessel or block and are connected to a structure that does not easily slip off when attached.

At this time, one reference target (Tc) of the reference targets for the 10Y + 80Y block resetting can be attached in advance. Further, the target Tz for measuring the straightness in the height direction of the 10Y + 80Y block can be attached in advance.

Next, set the machine points in the same or similar way as in the above-mentioned "Resetting in the dry dock".

Next, automatic tracer type total stations, which are automatic three-dimensional measuring system of the spherical coordinate system, are installed in the machine points set as above. Next, the reference coordinates (Ta, Tb) for the corresponding 10Y block resetting are collimated using each of the automatic tracking totalizations. The automatic tracking type total station is driven by a driving unit such as an electric motor system or a magnetic levitation system to continuously track the first and second reference targets Ta and Tb made of a prism target.

In the resetting process, the total station installed at the machine points automatically measures the coordinates of the first and second reference targets Ta and Tb in real time while automatically tracking the first and second reference targets Ta and Tb.

Then, according to the coordinate information measured in real time, the resetting operation is continuously performed until the coordinates of the first and second reference targets Ta and Tb coincide with the reset coordinates.

As a result, the 10Y block is reset to the correct position and the resetting operation is completed.

(2) 80Y block reset

10Y Performs the reset operation in the same way as the block reset.

In the 80Y block resetting operation, two reference coordinates are attached, and the rest of the reference coordinates for the 10Y + 80Y block resetting can be attached. Further, another target for the height direction straightness measurement of the 10Y + 80Y block can be attached to the 80Y block.

The resetting method or the coordinate measuring system used therein is the same as or similar to that used in the 10Y block resetting, so its description is omitted to avoid duplication.

(3) 10Y + 80Y block reset

First, the antagonism is set up to reflect the level of 10Y block and 80Y block drying stage.

Next, the resetting operation is performed using the reference target for two 10Y + 80Y block resetting attached to the 10Y block and the 80Y block, respectively.

The resetting operation is performed in the same manner as the resetting operation of each of the 10Y block and the 80Y block. In the same manner as the 10Y block and 80Y block resetting operations, automatic tracking total stations, which are automatic three- It is installed and used in dots.

FIG. 3 is a view for explaining the measurement of the ship's degree of completion of the resetting operation. When the resetting operation is completed, the auxiliary targets as shown in FIG. 3 are installed and used to measure the degree of the ship.

The auxiliary target is composed of two auxiliary targets (T1) on the player's side installed in the player BHD of the 80Y block and four auxiliary targets (10A and 10B) attached to the handrail of the 10Y block and the 80Y block at a position 5-7m away from the butt T2 and two auxiliary targets t3 attached to the handrail of the 10Y block.

However, according to the present invention, since the accuracy is guaranteed by the automatic tracking method using the automatic tracking type total station, it is also possible to omit the operation of measuring the above degree.

(4) Resetting of completed vessel

First, the antiphase is installed based on the floating dock arrangement.

In the completion stage of the ship, a plurality of reference targets are attached to the ship. The plurality of reference targets is a retro-reflector type prism target capable of reducing irregular reflection of the laser.

The machine points are set in the player and the stern direction, and the automatic points total system, which is an automatic spherical coordinate system, is installed on the machine points.

 The ship is reset while measuring the coordinates of the resetting vessel in real time while tracking the reference targets using the automatic tracking total stations.

The resetting of the finished vessel can also be carried out in the same or similar manner as the resetting method described above.

[Coordinate measurement system of resetting vessel]

FIG. 4 is a conceptual diagram for explaining a coordinate measuring system of a resetting vessel. Referring to FIG. 4, a coordinate measuring system for a resetting vessel includes a plurality of reference targets T attached to a ship or a block, And a plurality of total stations (10) installed at the machine points corresponding to the reference target (T). Further, the total station 10 is configured to continuously measure the coordinates of the reference target T while continuously tracking the reference target T made of a prism target, as a three-dimensional measuring apparatus of the spherical coordinate system. The coordinate information can be output to the digital device 20 connected to the digital device 20 for use in the resetting operation of the ship in a wired or wireless communication manner, Can provide real-time. The digital device 20 may include, for example, a personal computer (PC), a personal digital assistant (PDA), a notebook computer, or the like.

(1) automatic tracking total station

The total station 10 includes a coordinate transformation unit (not shown), and the coordinate transformation unit needs to know seven parameters in order to perform coordinate transformation. The seven parameters are scaling to fit two coordinate systems to the same dimension, rotation of each axis to rotate the three axes (X, Y, Z), parallel movement of each axis or a certain amount And the X, Y, and Z axes. The three-dimensional coordinate transformation is performed by the following equation (1).

- (X, Y, Z): design coordinate system (design coordinate)

- (x, y, z): Measured coordinate system (coordinates measured at T / S)

- (Tx, Ty, Tz): a translation element between two coordinate systems

- S: Scale (scale factor)

- M: rotation transformation matrix

If seven parameter values are not given, seven parameter values can be obtained based on the coordinate values before the coordinate conversion and after the coordinate conversion.

The quality control device 15 for implementing the resetting coordinate measurement and the quality control method may be mounted in the total station 10 or the quality control device 15 may be installed in the digital device 20. [

The total station 10 is vertically and horizontally driven by a driving unit such as an electric motor system or a magnetic levitation system and includes a receiver sensor for estimating a distance to a target. The position coordinates of the reference target are measured according to the distance information measured by the receiver sensor and the angle information of the vertical and horizontal driving units, the movement amount of the target moving by the position detection sensor in the measuring unit is calculated, And is configured to continuously track.

(2) Targeting structure for resetting

FIG. 5 is a side view showing a retro-reflector type prism target structure used for resetting a ship or a block, and FIG. 6 is a bottom view of the prism target structure shown in FIG.

5, the prism target structure 100 is mainly used as a reference target in a ship or block resetting operation. The prism target structure 100 includes a base 110 under the target, a prism 110 disposed on the top surface of the base 110, (T). In addition, a plurality of magnets 130 are attached to the bottom surface of the base 110 to prevent slippage due to vessel coating. The base 110 may have a structure in which a plurality of stages are stacked, and the number of stages may be adjusted to control the thickness.

In this embodiment, the diameter of the prism target T is 65 mm, and the size of the base 110 is 150 mm x 150 mm.

A. Resetting procedure

The resetting operation using the automatic tracking or tracking total station is performed according to the following procedure according to the resetting coordinates shown in Fig.

- Install an automatic tracking total station at the set point.

- Level the total station.

- Set the center point correctly.

- Turn on the total station.

- Collimate the auxiliary point with a telescope.

- Measure.

- Calculate the height value (Z) of the machine point.

- Enter the coordinate value of the machine point.

- Enter the coordinate value of the machine point.

- Collimate the auxiliary point with a telescope.

- Enter a value.

- Measure the auxiliary point and check whether the auxiliary point coordinate values match.

- Use a measuring instrument to collimate the prism reference target (Ta, Tb, or Tc) attached to the vessel.

- Adjust to measure with automatic tracking mode.

The coordinate measuring system according to the present invention used for ship resetting can be applied to the degree inspection of cutting equipment for shipbuilding, the position tracking of a robot used for shipbuilding such as a coating robot, and the tracking of an object during moving in the shipbuilding field.

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

Claims (13)

A method for resetting a finished vessel or block in a dock,
Attaching a plurality of reference targets having a prism target structure to corresponding positions of the ship or block;
Measuring design value coordinates of each of the reference targets;
Installing a self-tracking total station on each of the plurality of machine points;
Collimating each of the reference targets with each of the total stations,
Each of the total stations successively measuring the coordinates of the reference targets while real time tracking each of the reference targets until the coordinates of each of the reference targets coincide with the reset coordinates,
Wherein the resetting is performed on the aft block in the sub dock, wherein attaching the plurality of reference targets comprises attaching first and second reference targets for the aft block resetting, And attaching a reference target of one of the two reference targets for the vessel. The method according to claim 1, further comprising the step of determining whether the mechanical points are set according to the position coordinate information of the reset coordinate and checking whether the mechanical points are in the correct position using the auxiliary points . The method of claim 1, wherein the resetting is performed in a dry dock. delete A method for resetting a finished vessel or block in a dock,
Attaching a plurality of reference targets having a prism target structure to corresponding positions of the ship or block;
Measuring design value coordinates of each of the reference targets;
Installing a self-tracking total station on each of the plurality of machine points;
Collimating each of the reference targets with each of the total stations,
Each of the total stations successively measuring the coordinates of the reference targets while real time tracking each of the reference targets until the coordinates of each of the reference targets coincide with the reset coordinates,
Wherein the resetting is performed on the forehead block in the submersible dock, wherein attaching the plurality of reference targets comprises attaching first and second reference targets for the forehead block resetting, Further comprising attaching a reference target of one of the two reference targets. The method of claim 1 or claim 5, wherein a target for measuring the straightness of the finished vessel in the height direction is attached in the process of attaching the plurality of reference targets. The method of claim 1, wherein the resetting is performed on the finished ship in the sub-form dock or dry dock. The method of claim 1, wherein each of the reference targets has a prismatic structure of a retroreflector type. [4] The method of claim 1, wherein each of the reference targets is attached to a ship or block with the magnet being coupled to a base on which a magnet is installed. The method of claim 1, further comprising: leveling the autotracking total station after installation of the autotracking total station and prior to collimating the reference target with the autotracking total station, setting the centripoint to the machine point, The power of the total station is turned on, the auxiliary point is collimated, the height value of the mechanical point is calculated, the mechanical point coordinate value is input to the automatic tracking total station, the coordinate value of the mechanical point is input, And a step of checking whether or not the coordinate values of the point coincide with each other are performed. A coordinate measuring system for a resetting vessel used for resetting a ship or a block,
A plurality of reference targets having a prismatic structure and attached to a vessel or a block resetting in the dock; And
A total station installed at the machine point corresponding to the plurality of reference targets and driven by a driving unit after the collimation of the reference target to automatically track the reference target,
Wherein the reference target is coupled to a base having a magnet attached to the ship on a bottom surface thereof.    12. The system of claim 11, further comprising a digital device in wired and wireless communication with the automated tracking total station. delete

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