Submarine Berthing Underwater Alignment System

Abstract

A submarine underwater position monitoring system according to one embodiment of the present invention may include: a platform fixedly installed underwater to provide a reference position for the submarine to settle; a plurality of side sections formed protruding at predetermined intervals on the left and right sides of the platform and positioned opposite the side surface of the submarine; a plurality of lower sections formed protruding at predetermined intervals on the center side of the platform and positioned opposite the keel surface of the submarine; a plurality of steel sections provided on one side of the submarine and formed at positions corresponding to the side sections; a side alignment detection sensor unit each installed on one side of the side sections to detect the front-rear position alignment status of the submarine; and a lower alignment detection sensor unit installed between the lower sections and positioned to correspond to the bow and stern bottoms of the submarine, respectively, to detect the directional alignment status and central settling status of the submarine.

Description

Technology Field

[0001] The present invention relates to a submarine underwater position monitoring system, and more specifically, to a submarine underwater position monitoring system capable of detecting and monitoring in real time the submarine's fore-and-aft position alignment, rolling, pitching, and yawing attitudes, and whether it is centrally positioned, using a metal detection sensor and an ultrasonic sensor based on the side and bottom halves when the submarine is settled on an underwater dock. Background Technology

[0002] Submarines require precise mooring and anchoring in underwater environments, making positioning technology a critical factor. Due to limited underwater visibility, currents, and the submarine's large volume, accurately aligning and landing the submarine on a docking station presents technical challenges.

[0003] Previously, manual mooring methods relying on physical guide structures or operator experience were used; however, these methods suffered from low precision and required repetitive position adjustments, resulting in reduced work efficiency.

[0004] In addition, there was a lack of a systematic detection and monitoring system capable of detecting in real time whether a submarine is in the correct position and providing visual feedback on its status. In particular, a sensor-based system capable of determining yaw alignment and center alignment is required.

[0005] Therefore, research is required on a submarine underwater positioning monitoring system capable of guiding a submarine to be precisely positioned and settled on an underwater landing platform, and assessing and monitoring its status in real time. Prior art literature

[0007] Korean Registered Patent No. 10-2532171 The problem to be solved

[0008] The objective of the present invention is to provide a submarine underwater position monitoring system capable of accurately and reliably determining the position of a submarine even underwater by utilizing side and bottom half-sections as reference structures and multidimensionally detecting in real-time the submarine's fore-and-aft position alignment, directional alignment, and centering status through respective sensor units.

[0009] In addition, the invention provides a submarine underwater position monitoring system that enables the visual output, storage, and reuse of detected data through an integrated circuit and monitoring unit, thereby shortening the docking process of the same submarine and enhancing mooring safety. means of solving the problem

[0010] A submarine underwater position monitoring system according to one embodiment of the present invention may include: a platform fixedly installed underwater to provide a reference position for the submarine to settle; a plurality of side sections formed protruding at predetermined intervals on the left and right sides of the platform and positioned opposite the side surface of the submarine; a plurality of lower sections formed protruding at predetermined intervals on the center side of the platform and positioned opposite the keel surface of the submarine; a plurality of steel sections provided on one side of the submarine and formed at positions corresponding to the side sections; a side alignment detection sensor unit installed on each side of the side sections to detect the front-rear position alignment status of the submarine; and a lower alignment detection sensor unit installed between the lower sections and positioned to correspond to the bow and stern bottoms of the submarine, respectively, to detect the directional alignment status and central settling status of the submarine.

[0011] Additionally, the side alignment detection sensor unit may include a first side alignment sensor installed at a point on the side cross section and a second side alignment sensor positioned diagonally opposite to the first side alignment sensor, and may be characterized by determining the front-rear alignment state based on whether the steel section is simultaneously located within the detection range of the first and second side alignment sensors.

[0012] Additionally, the lower alignment detection sensor unit comprises a first lower alignment sensor installed at a preset position on a lower protrusion of the submarine to determine a minimum distance state by detecting the distance from the protrusion, a second lower alignment sensor installed at a preset position on an inclined surface of the submarine to determine an intermediate distance state by detecting the distance from the inclined surface, and a third lower alignment sensor installed at a preset position on a concave portion of the submarine to determine a maximum distance state by detecting the distance from the concave portion, wherein the first, second, and third lower alignment sensors each determine whether the submarine is aligned to the center and determine the directional error based on the detected distance information.

[0013] In addition, the lower alignment detection sensor unit may be characterized by being formed as an array structure in which a plurality of lower alignment sensors corresponding to the surface shape of the lower part of the submarine are arranged in multiple rows.

[0014] In addition, it may further include a monitoring unit that determines in real time the forward and backward position alignment status, direction alignment status, and centering status of the submarine based on detection data received from the side alignment detection sensor unit and the lower alignment detection sensor unit, and visualizes and outputs the determination result as a numerical or color signal. Effects of the invention

[0016] A submarine underwater position monitoring system according to one embodiment of the present invention can have the effect of accurately detecting whether the submarine is aligned forward and backward and the centrally settled state by measuring the positional relationship between the steel part of the submarine and the lower keel shape in real time through a metal detection sensor installed on the side keel and an ultrasonic sensor installed on the lower keel.

[0017] In addition, during the process of the submarine settling onto the underwater platform, multi-axial attitude errors such as fore-and-aft alignment, rolling and pitching, and yawing can be precisely determined, thereby ensuring high precision and reliability.

[0018] In addition, the alignment status can be intuitively displayed as numerical and color signals through the monitoring unit and GUI-based software, allowing operators to immediately grasp the submarine's alignment status and respond quickly.

[0019] In addition, since data acquired during the alignment process can be stored and reused, it is possible to reduce the time required for subsequent mooring operations of the same submarine and enable efficient position management based on standardized data during repetitive operations. Brief explanation of the drawing

[0021] FIG. 1 is a drawing illustrating the overall configuration of a submarine underwater position monitoring system according to one embodiment of the present invention. FIG. 2 is a drawing illustrating the installation state of the side alignment and side alignment detection sensors of a submarine underwater position monitoring system according to an embodiment of the present invention. FIG. 3 is a drawing illustrating the installation state of the lower block and lower alignment detection sensors of a submarine underwater position monitoring system according to one embodiment of the present invention. FIG. 4 is a diagram illustrating the array structure arrangement of a lower alignment detection sensor of a submarine underwater position monitoring system according to another embodiment of the present invention. FIG. 5 is a drawing illustrating an example of detection by the lower alignment detection sensor unit of a submarine underwater position monitoring system according to an embodiment of the present invention. FIG. 6 is a drawing illustrating an example of the configuration of a monitoring unit of a submarine underwater position monitoring system according to one embodiment of the present invention. Specific details for implementing the invention

[0022] Specific embodiments of the present invention will be described in detail below with reference to the drawings. However, the concept of the present invention is not limited to the embodiments presented. Those skilled in the art who understand the concept of the present invention may easily propose other inventions that are inferior or other embodiments included within the scope of the concept of the present invention by adding, changing, or deleting other components within the same scope of the concept, and such are also to be considered to be included within the scope of the concept of the present invention.

[0023] Hereinafter, the submarine underwater position monitoring system (100) of the present invention will be described in detail with reference to the attached FIGS. 1 to 6.

[0025] Referring to FIG. 1, a submarine underwater position monitoring system (100) according to one embodiment of the present invention may include a platform (110) installed underwater, a plurality of side sections (120) formed on the left and right sides of the platform (110), a plurality of lower sections (130) formed on the lower side of the platform (110), a steel section (140) installed at the bottom of the submarine, a side alignment detection sensor section (150), and a lower alignment detection sensor section (160).

[0026] First, the landing platform (110) is a structure that provides a reference position for the submarine to land precisely, and can be fixedly installed underwater. This landing platform (110) must be kept sturdy and horizontal so that the submarine can approach and land on it, and can generally be fixed directly to the seabed or an underwater base structure or installed via anchoring technology. Structurally, it is made of a material resistant to corrosion and deformation in an underwater environment and can have sufficient strength and stability to withstand the load of the submarine.

[0027] After the platform (110) descends to 15m underwater, when the submarine is positioned on the platform (110), the platform (110) is slowly raised to settle the submarine. When the submarine is settled on the platform (110), the side support member (120) supporting the side of the submarine and the lower support member (130) supporting the bottom of the submarine come into contact with the submarine. At this time, the submarine must be settled on the platform (110) in the correct position and posture to prevent damage to the submarine.

[0028] The saddle (110) goes beyond the role of a simple structural support and is a core structure that physically provides alignment criteria through combination with the side half-section (120) and the lower half-section (130), induces accurate landing of the submarine, and serves as the basis for a sensor-based alignment detection system. Through this functional design, the saddle (110) serves as the basis for the submarine's underwater positioning operation and can play a decisive role in ensuring the precision and reliability of the entire system.

[0029] The side half-sections (120) may be formed protruding in multiple places at predetermined intervals along the length direction on the left and right sides of the commercial stand (110). The side half-sections (120) are arranged to face the side surface of the submarine and can function as reference structures for aligning the front and rear positions of the submarine.

[0030] The side half-section (120) is made of a material with durability and rigidity and may be based on a design that is corrosion-resistant and can withstand marine loads to maintain a stable shape even in a marine underwater environment. Additionally, it may be formed as an integral structure with the pedestal section (110) or may be firmly connected through a separate fixing bracket.

[0031] The side half-neck (120) must be supported to align with the center in the longitudinal direction of the submarine and the horizontal position during rolling / pitching rotation.

[0032] Specifically, a metal detection sensor is provided on one side of the side joint (120) to detect the position of the submarine and determine the alignment state. Since the metal detection sensor typically has a short detection distance of about 10 mm or less, a sensor fixing structure equipped with an elastic member may be additionally provided to ensure the detection reliability of the sensor.

[0033] The above elastic member maintains the sensor part so that it protrudes slightly outward from the surface of the side half-section (120) under normal conditions, and when a submarine enters, the sensor part is displaced by water pressure or contact force to come into close contact with the submarine, thereby positioning it within an accurate detection distance. This is a technical configuration that can compensate for the detection distance limit while maintaining a non-contact state with the submarine, thereby improving the detection precision of the sensor and minimizing the error rate.

[0034] Accordingly, the side cross-section (120) is a composite structure that integrates a physical guidance structure as an underwater alignment reference and an elastic structure-based sensor mechanism to ensure detection accuracy, and can perform a key function in determining the forward and backward alignment status of the submarine and safety guidance.

[0035] The lower half-section (130) can be formed with multiple protrusions at predetermined intervals on the lower center side of the upper section (110) and arranged to face the keel surface of the submarine, and can function as a structure for determining the directional alignment status and central seating status of the submarine.

[0036] The lower half-section (130) is arranged at uniform intervals over the entire lower area from the bow to the stern of the submarine and must be supported by centering in the width direction of the submarine and centering in yawing rotation. When the submarine approaches the hull section (110), it can provide a reference plane that can determine alignment accuracy and center alignment status based on the position of the keel.

[0037] Structurally, it is formed of a corrosion-resistant material so as to be maintained stably in a marine underwater environment, and can be designed as a fixed structure so as not to be affected by water pressure or vortices that may occur when a submarine approaches.

[0038] Consequently, the lower keel section (130) acts as an underwater reference structure for determining center alignment and directional error based on the alignment state with the lower keel of the submarine, and is a key structure that provides a precise detection basis together with the lower alignment detection sensor section (160) installed thereafter. This arrangement allows for continuous verification of the alignment state along the entire length, thereby playing an important role in ensuring the alignment stability of the entire hull as well as the bow and stern.

[0039] The steel section (140) is a detection target structure for determining the alignment status of the submarine through a metal detection sensor, and multiple steel sections may be installed at positions corresponding to the side sections (120) at the bottom of the submarine.

[0040] This steel part (140) is formed of a magnetic metal material and can serve as a physical target that can be detected in a non-contact manner by a metal detection sensor.

[0041] Each steel part (140) is positioned according to a pre-set positional precision, and in order to correspond to the short detection distance of the detection sensor, precise positional alignment is required so that the submarine and the sensor can enter the detection distance.

[0042] Most of the submarine's hull is made of GRP material to avoid radar, but since this has poor durability, steel parts (140) are located only in the parts that require support, and the side half-section (120) must be positioned precisely on the steel parts (140).

[0043] Since the metal detection sensor cannot detect GRP and only detects the steel part (140), when the submarine enters the raft (110) and deviates to the left or right or becomes misaligned, it moves out of the detection range of the steel part (140), thereby allowing real-time determination of the front-rear position alignment and whether the side centerline has deviated.

[0044] Structurally, the steel part (140) is formed of a metal material with excellent corrosion resistance and durability, such as stainless steel or rust-preventive steel, and surface processing and corrosion prevention treatment can be performed so that detection performance is maintained even when exposed to a seawater environment for a long period of time.

[0045] The steel section (140) acts as a key detection reference structure for detecting the front-rear and lateral alignment status of the submarine through positional alignment with the sensor installed on the side section (120), and can play an essential role in ensuring the accuracy and real-time responsiveness of the entire underwater positioning system.

[0046] The side alignment detection sensor unit (150) is configured to detect whether the forward or backward alignment state of the submarine, that is, whether the forward or backward position is accurately aligned with the target position, and may consist of metal detection sensors installed on one side of the side counterweight (120). This side alignment detection sensor unit (150) is positioned so that its detection position corresponds to the steel unit (140) installed on the lower outer side of the submarine, and can determine in real time whether the submarine is accurately entering the target position on the docking platform (110).

[0047] The side alignment detection sensor unit (150) is composed of one or more sensors per side cross section (120), and typically, two sensors are installed in each side cross section (120) to enable more precise detection and comparison.

[0048] More specifically, the side alignment detection sensor unit (150) may include two metal detection sensors, namely a first side alignment sensor (151) and a second side alignment sensor (152), positioned diagonally on each side cross section (120) to determine the front-to-back alignment status of the submarine. These sensors are positioned at different heights or lengthwise positions to double-determine whether the steel section (140) fixed to the bottom of the submarine enters the detection range simultaneously.

[0049] The first side alignment sensor (151) may be installed on the upper or front side of the side half-section (120), and the second side alignment sensor (152) may be positioned on the lower or rear side diagonally opposite it. At this time, if the submarine is properly aligned in the front-rear direction, the steel section (140) will be located simultaneously in the detection area of ​​both sensors, and detection signals may be output from both sensors.

[0050] On the other hand, if the submarine enters in an excessively forward or backward state, the steel part (140) moves out of the detection range of one of the sensors, and no detection signal is generated from the sensor. In this case, it is determined that the forward and backward alignment is out of the normal range, and an alignment failure signal may be output based on whether there is a mismatch between the sensor pairs.

[0051] In this way, the first and second side alignment sensors (151, 152) can operate in a structure that accurately determines the front-to-back alignment state based on whether they are simultaneously detected, rather than simply checking whether the steel part (140) is detected. This compensates for problems such as false detection, interference, or positional error that may occur in a single-sensor detection method, and can significantly improve the reliability and precision of the system by implementing a dual-verification-based alignment determination logic.

[0052] The lower alignment detection sensor unit (160) may be positioned between the lower half-sections (130), that is, in the path where the keel is located when the submarine enters the raft section (110). The lower alignment detection sensor unit (160) is provided to correspond to the lower bow and stern of the submarine, respectively, and may be configured to consist of an ultrasonic sensor to detect the directional alignment status and centering status of the submarine in real time based on sensor spacing measurements.

[0053] In addition, the lower alignment detection sensor unit (160) can be positioned to correspond to structural shapes (e.g., protrusions, inclined surfaces, concave parts, etc.) formed on the lower bow and stern of the submarine, thereby enabling real-time detection of whether the submarine is aligned on the centerline as it enters the underwater dock and the yawing rotation status of the submarine based on the error between the bow and stern. In particular, the alignment state can be quantitatively determined by measuring the relative distance with the shape of the lower part of the submarine.

[0054] More specifically, a lower alignment detection sensor unit (160) according to one embodiment may be composed of a first lower alignment sensor (161), a second lower alignment sensor (162), and a third lower alignment sensor (163).

[0055] The first lower alignment sensor (161) is installed at a position corresponding to a protrusion on the lower part of the submarine (e.g., a keel center protrusion) and can form an alignment reference point by detecting the minimum gap state with this part.

[0056] The second lower alignment sensor (162) is positioned corresponding to the slope of the lower part of the submarine (e.g., the slope of the keel side) and can detect the intermediate distance state with respect to that position.

[0057] The third lower alignment sensor (163) is provided to correspond to a concave portion of the lower part of the submarine (e.g., the lowest contour of the keel) and can form a reference point by detecting the maximum distance from this portion.

[0058] The first to third lower alignment sensors (161, 162, 163) can each more precisely determine whether the submarine has rotated (YAW) to the left or right from the centerline of the raft (110) or entered a position deviating from the centerline based on the detected distance information.

[0059] Additionally, the lower alignment detection sensor unit (160) may be formed as an array structure in which a plurality of sensors are arranged in multiple rows to correspond to the surface shape of the lower part of the submarine.

[0060] This array structure enables a three-dimensional and detailed analysis of whether the submarine is precisely seated at the center of the docking platform and its directional alignment status, and can automatically extract alignment errors through comparative analysis of multiple sensor data. This allows for the detection of the entire contour of the submarine's lower hull, enabling the evaluation of not only partial alignment but also the alignment of the entire hull. Furthermore, the array configuration can be implemented in various ways to expand detection precision and coverage range.

[0061] According to one embodiment, the lower alignment detection sensor unit (160) has a sensor array formed of two rows, and three lower alignment detection sensors may be installed in each row. This configuration corresponds to the lower bow and stern of the submarine, respectively, and is applied equally to both the left and right sides, so that a total of 12 sensors may be placed. This array can efficiently determine the yaw state, partial center deviation, and longitudinal alignment state by detecting the gap at a representative reference position of the submarine's lower section. Therefore, it can provide a configuration that is advantageous in terms of space constraints and cost.

[0062] According to another embodiment, the lower alignment detection sensor unit (160) has a sensor array form consisting of three rows, and four lower alignment detection sensors are installed in each row, so that a total of 24 sensors can be arranged on both the left and right sides. This configuration can correspond to various heights and positional shapes of the submarine's lower section, allowing for precise tracking of even the continuous contours of the lower curved surface. Additionally, by comparing multiple sensor data, it can be utilized as a high-reliability structure capable of automatically correcting partial alignment deviations or compensating for sensor errors.

[0063] Both of the above embodiments are protected by a waterproof and corrosion-resistant structure suitable for an underwater environment, and can process detected data in real time and visually output the submarine alignment status in conjunction with a monitoring unit (170). This sensor array structure can be selectively applied depending on the operating environment, submarine shape, and required level of alignment precision, thereby ensuring design flexibility.

[0064] The monitoring unit (170) is configured to collect, analyze, and visualize data received from alignment detection sensors (150, 160) in real time, and is a core control device that supports intuitive determination of the submarine's forward and backward alignment status, directional alignment status, and centering status.

[0065] The monitoring unit (170) receives detection signals from the side alignment detection sensor unit (150) and the bottom alignment detection sensor unit (160), and these signals may consist of distance values, detection status, sensor response patterns, etc., which represent the front-to-back position alignment status, direction alignment, and center alignment status of the submarine, respectively. The received signals are quantitatively analyzed through a built-in microprocessor or control module, and the result can be converted into an output value by determining whether it is within or outside the error range relative to a reference value.

[0066] Additionally, signals detected by the side alignment detection sensor unit (150) mounted on the side half-section (120) and the lower alignment detection sensor unit (160) mounted on the lower half-section (130) can be aggregated from each sensor location to an integrated circuit installed in the commercial section (110). The integrated circuit is connected to the main system on land via a single cable, and after the commercial section is completed, the cable can be disconnected so that the commercial section (110) can be moved to the maintenance depot, and the circuit can be provided with a detachable structure.

[0067] Separate displays capable of monitoring the submarine's position status can be installed in the control room and on-site, and these are connected to the main system, allowing simultaneous verification at both locations.

[0068] The output of the monitoring unit (170) can be implemented in two main forms. First, it is a structure that enables precise judgment by displaying the detection distance, alignment coordinate values, error rate, etc., for each sensor as numerical values ​​in real time. This information allows an operator to numerically monitor the alignment status or interface with a system-linked automation device.

[0069] Next, depending on the detection results, it can be configured to visualize the alignment status with colors such as green (alignment complete), yellow (warning), or red (misalignment), or to graphically output the position of the submarine relative to the centerline of the docking platform, allowing the operator to make an intuitive judgment.

[0070] As illustrated in FIG. 5, the lower alignment detection sensor unit (160) may include a first lower alignment sensor (161), a second lower alignment sensor (162), and a third lower alignment sensor (163) designed to detect three distance states (minimum, medium, and maximum) corresponding to the uneven structure of the submarine's lower keel shape.

[0071] The first lower alignment sensor (161) (red) is installed at a position corresponding to the keel center protrusion and can form a reference alignment point by detecting the minimum distance from the bottom of the submarine. When this sensor is activated, it can be determined that the keel center is nearly aligned with the sensor reference.

[0072] The second lower alignment sensor (162) (yellow) is positioned to correspond to the sloping side of the keel and can detect the intermediate distance to the bottom of the submarine. When this sensor detects the center, it can be determined that the submarine keel is entering slightly off from the reference line.

[0073] The third lower alignment sensor (163) (green) is provided to correspond to the concave portion of the keel's lower portion and can detect the maximum distance to the lower portion of the submarine. When this sensor is primarily detected, it can be determined that the keel is entering a state significantly deviated from the sensor baseline.

[0074] Accordingly, by comparing the distance values ​​measured by the first to third lower alignment sensors (161, 162, 163), the relative difference between the left and right center positions of the submarine keel and the sensor reference line can be precisely tracked. For example, if symmetric detection of minimum, middle, and maximum occurs at the left and right sensors, it can be determined that the submarine keel is accurately located on the center line; conversely, if the minimum sensor detects on only one side and the middle or maximum sensor detects on the opposite side, it is determined to be in a deviated state from the center line, and a correction signal can be generated.

[0075] The above detection result is automatically interpreted by a built-in algorithm, and the direction and degree requiring alignment correction can be output in real time in the form of a numerical or visual signal through the monitoring unit (170).

[0076] The monitoring unit (170) can be linked with a LabVIEW-based interface program and may include sensor status monitoring, alarm output, log data storage, and history tracking functions. Additionally, it may support a communication port to be linked with a remote control system or an automatic alignment correction device as needed.

[0077] In addition, sensor data generated during the positioning process can be managed through a save and recall function, and can be referenced during the subsequent docking of the same submarine to reduce the time required for the docking process.

[0078] Additionally, the monitoring unit (170) may include an alignment determination algorithm based on data detected by the side alignment detection sensor unit (150) and the bottom alignment detection sensor unit (160) to quantitatively determine whether the submarine is accurately aligned with the center of the docking station and settled in the correct position.

[0079] This alignment determination algorithm can evaluate the alignment status of a submarine based on three key elements: front-to-back alignment, directional alignment, and center alignment.

[0080] By comprehensively considering these factors, it is possible to finally determine whether the alignment has been successfully performed.

[0081] First, to determine whether the submarine is accurately aligned in the forward and backward directions at the reference position of the platform, a forward and backward alignment determination mathematical formula based on the detection signal of the side alignment detection sensor unit (150) can be applied.

[0082] In this system, a plurality of steel parts (140) fixed to the bottom of the submarine can be detected by a side alignment detection sensor part (150) installed on one side of a side crossbar (120) provided on the left and right sides of the boarding platform. This detection serves as a basis for indirectly determining how far the submarine has advanced forward or backward, and based on this, whether the forward and backward alignment is complete can be expressed by the following mathematical conditional formula.

[0083] [Mathematical Formula 1]

[0084]

[0085] (Here, P side : Binary variable indicating whether front-to-back alignment is established (1: aligned, 0: unaligned), N: total number of sensor pairs installed on both sides of the side crossbar (120), k: index number of each sensor pair, S L,k : Detection status of the first side alignment sensor among the k-th sensor pair (Detected: 1, Not detected: 0), S R,k: Detection status of the second-side alignment sensor among the k-th sensor pair (Detected: 1, Not detected: 0), M: Represents the threshold value for the minimum number of detected sensor pairs to determine that front-back alignment is complete.)

[0086] In [Mathematical Equation 1], P side is a binary output variable indicating whether the submarine is aligned forward and backward, outputting a value of 1 if the entire alignment is complete and a value of 0 otherwise. The side alignment detection sensor unit (150) used to determine the alignment status is installed in multiple units on each side cross-section (120), and each sensor can be configured to correspond one-to-one with a plurality of steel sections (140) fixed to the bottom of the submarine.

[0087] The sensor pair corresponding to each steel part (140) consists of a first side alignment sensor (151) and a second side alignment sensor (152) arranged diagonally on one side half-section (120), and the total number of sensor pairs can be set to N pairs.

[0088] S L,k is a binary variable indicating whether the first side alignment sensor (151) among the k-th sensor pair is detected (1 when detected, 0 when not detected), and S R,k indicates whether the second side alignment sensor (152) within the same sensor pair is detected. S only when each sensor pair simultaneously detects the steel part (140). L,k ·S R,k The product of the two is evaluated as 1, and if either one is not detected, the corresponding term may be 0. This is because when the submarine reaches the correct position, both the first and second side alignment sensors (151, 152) must be able to simultaneously detect the corresponding steel part (140) at the correct position.

[0089] This multiplication operation is summed for all sensor pairs k=1 through N, thereby calculating the total sum of sensor pairs detected in the current alignment state. Subsequently, if this sum is greater than or equal to a preset threshold value M, it is determined that front-to-back alignment is sufficiently achieved, and P side Set to =1, otherwise determine that the sorting is incomplete and P side It can be set to =0.

[0090] Here, the reference value M is defined as a certain ratio of the total number of sensor pairs N, or can be set separately according to the alignment accuracy required during system operation. For example, if N=14 and M=12, at least 12 pairs of sensors must be detected simultaneously to be considered aligned.

[0091] This configuration can reduce the possibility of misjudgment due to temporary sensor detection errors or environmental noise, and can evaluate the alignment status more stably and reliably based on integrated detection results obtained from multiple sensor pairs. In addition, by linking with the monitoring unit (170), the alignment status and whether movement is required can be quantified and output in real time.

[0092] Next, the forward and backward alignment of the submarine was completed according to the above [Equation 1] (P side If =1) is confirmed, a direction and center alignment determination algorithm as shown in [Equation 2] can be applied to quantitatively determine whether the submarine is entering the underwater docking platform accurately facing forward without twisting left or right and whether the hull is accurately aligned with the centerline of the docking platform.

[0093] [Mathematical Formula 2]

[0094]

[0095] (D transverse (t): Amount of left-right alignment deviation calculated at time t, n L ,nR : Total number of sensors installed in the left and right lower alignment detection sensor sections, respectively, i,j: Index numbers of the left and right lower alignment detection sensors, dL,i(t),dR,j(t): Distance values ​​measured from the left i-th lower alignment detection sensor and the right j-th lower alignment detection sensor, respectively, at time t, w i ,w j : Refers to the weights assigned to the left and right bottom alignment detection sensors, respectively (sum of all weights = 1).

[0097] In [Mathematical Equation 2], the reason each sensor output value is expressed as a function of time t is that the process of the submarine approaching and aligning with the rigging unit (110) is not a static state but a dynamic process that changes in real time. Therefore, the distance measurement values ​​obtained from the left and right lower alignment detection sensor unit (160) must be compared with values ​​at the same point in time, and to clarify this mathematically, time functions such as dL, i(t), dR, j(t) can be attached and defined. By doing so, the reference point for left and right comparison is aligned, thereby preventing judgment errors caused by disturbances or phase differences.

[0098] In addition, the introduction of the sigma (Σ) operation into the mathematical formula is because the lower alignment detection sensor unit (160) is arranged as a multiple sensor array structure rather than a single sensor. Since each sensor detects only partial distance values, they must be summed to obtain a representative value in order to quantify the overall left-right center deviation. Therefore, the left side is n L Dog sensors, the right side is n R A sigma symbol is applied to aggregate all distance values ​​obtained from the sensors, and the aggregated average can compensate for noise or errors from individual sensors and improve reliability.

[0099] Meanwhile, the weight w multiplied to each term i ,w jThis is a value set to reflect the fact that not all sensors have the same performance and reliability. For example, by assigning a larger weight to sensors with smaller variance during repeated measurements and relatively greater importance to sensors closer to the centerline in terms of installation location, the overall left-right average is made to more accurately reflect the actual alignment state. All weights can be normalized so that their sum is 1, and sensors with specific anomalies can be excluded from the calculation by setting their weight to 0.

[0100] The operation between the left average value and the right average value is defined as subtraction because the change in distance that occurs when the submarine deviates to the left or right from the centerline of the saddle (110) appears in opposite directions. That is, when the submarine deviates to the left from the centerline, the distance value measured by the left lower alignment detection sensors decreases, and at the same time, the distance value measured by the right lower alignment detection sensors increases. Conversely, when it deviates to the right, the distance value of the left sensor increases, and the distance value of the right sensor decreases. Since the changes in the two directions have opposite signs, calculating the difference between the left average value and the right average value results in a monotonically reflective result of the submarine's lateral deviation.

[0101] Since the sign of the difference between the left average and the right average changes depending on the direction when the submarine deviates to the left or right from the centerline, magnitude becomes a more important factor than direction when determining alignment quality simply as pass or fail. Therefore, by applying the absolute value symbol |·| and taking only the magnitude of the difference in the left and right average distances, the extent to which the submarine has deviated from the centerline can be quantitatively defined. If the control system requires a correction direction as well, the sign can be stored separately internally and used in control commands.

[0102] In short, [Equation 2] can provide a means to stably and quantitatively evaluate how much a submarine has deviated from the centerline of the cradle (110) by correcting and weighting the distance values ​​obtained from the group of left and right lower alignment detection sensors (160) at time t, and then calculating the absolute value of the difference. This can be applied stepwise in conjunction with [Equation 1] which determines whether there is front-to-back alignment, thereby greatly improving the reliability and accuracy of the overall alignment state.

[0103] Next, the monitoring unit (170) may include a function to calculate a Weighted Alignment Confidence Index (WACI) in real time to quantitatively evaluate the alignment status of the submarine based on data received from each alignment detection sensor. The WACI is an indicator that quantitatively evaluates the overall alignment quality by simultaneously considering whether the alignment is in the front-rear direction and the amount of alignment deviation in the left-right direction, and can be defined as shown in [Equation 3] below.

[0104] [Mathematical Formula 3]

[0105]

[0106] (Here, N: total number of sensor pairs installed on both sides of the side half-section (120), k: index number of each sensor pair, S L,k : Detection status of the first side alignment sensor among the k-th sensor pair (Detected: 1, Not detected: 0), S R,k : Detection status of the 2nd side alignment sensor among the k-th sensor pair (Detected: 1, Not detected: 0), D transverse(t) : Left and right alignment deviation amount calculated from the lower alignment detection sensor unit (160) at the same time point t, D max : Refers to the maximum allowable deviation threshold.)

[0108] The alignment quality calculation method quantifies alignment quality by integrating the front-to-back alignment success rate and left-to-right alignment deviation of multiple sensor pairs, thereby enabling the evaluation of alignment quality as a continuous numerical value and facilitating safe docking or mooring control through the application of conservative judgment criteria. Furthermore, since dynamic control is possible through the real-time detection and normalization of alignment deviations, it can provide high reliability and technical utility in automated offshore platform operation environments.

[0110] Here, This term serves as an indicator for quantitatively determining the alignment status in the front-rear direction, and can be designed with a structure for calculating the ratio of sensor pairs in which the alignment status is actually confirmed simultaneously from the left and right among a plurality of alignment detection sensor pairs.

[0111] S L,k is the detection status of the first side alignment sensor among the k-th sensor pair (1 if detected, 0 if not detected), S R,k represents whether the second side alignment sensor among the k-th sensor pair is detected (1 if detected, 0 if not detected), and 1 × 1 = 1 only when both sensors are detected → the corresponding sensor pair is determined to be aligned successfully, and 0 if neither is detected → alignment failed.

[0112] Therefore, the multiplication operation serves as a logical AND to determine the success of sensor pair alignment in a binary manner.

[0113] The sigma (∑) operation calculates the total number of pairs detected simultaneously for all N sensor pairs. In other words, it represents the number of pairs that successfully achieved forward and backward alignment.

[0114] The reason for dividing by the total number of sensor pairs N is to convert the total number of successful alignment pairs into a ratio (%). As a result, this term allows the alignment accuracy (success rate) to be expressed as a real value between 0 and 1, and enables it to be continuously reflected in the Total Alignment Quality Index (WACI).

[0115] This configuration offers the advantage of statistically evaluating overall alignment quality while minimizing the impact of detection errors or transient malfunctions in some sensors on the overall alignment judgment. In particular, by calculating the alignment ratio based on detection data obtained from multiple sensor pairs, dependence on individual sensors can be reduced and the robustness and reliability of the system can be enhanced; this can be utilized as a core element of alignment judgment algorithms in automated mooring systems.

[0116] This term is an element for quantitatively reflecting the left-right alignment status of a submarine, and can be configured to be reflected in the alignment quality index using the ratio between the amount of left-right deviation measured in real time and the reference allowable deviation value.

[0117] Here, D transverse(t) θ is the amount of left-right alignment deviation of the submarine calculated through the lower alignment detection sensor unit (160) at time t, and can indicate how much it deviates to the left or right relative to the centerline of the docking target structure. In addition, D max is a predefined maximum allowable alignment deviation value in the system, which is a threshold value that may require alignment failure or a retry if the deviation exceeds this value.

[0118] D in the above paragraph transverse(t) ul D max Dividing by is an operation to normalize the real-time deviation amount and convert it into a ratio between 0 and 1; by subtracting this from 1, the structure can be designed so that the value approaches 1 as the deviation decreases and converges to 0 as the deviation increases. This method allows for the quantitative reflection of the intuitive judgment that the smaller the alignment deviation, the better the alignment quality.

[0119] Consequently, by expressing the left-right alignment status as a continuous real value, this term can enhance the sensitivity and reliability of the Alignment Quality Index (WACI) and can be utilized as an automated judgment criterion to determine alignment is appropriate below a specific threshold and to induce correction control or alignment retries when the standard is exceeded.

[0120] Meanwhile, the aforementioned front-to-back alignment ratio term and left-to-right alignment correction term can be designed to be combined via a multiplication operation to form the Alignment Quality Index (WACI). This configuration reflects the technical intent that if either of the two alignment conditions is not satisfied, the overall alignment quality should be deemed unreliable.

[0121] For example, even if front-to-back alignment is perfectly achieved, if the left-to-right alignment deviation exceeds a threshold value, safe docking or mooring is impossible, and the overall quality index must be lowered. Conversely, even if left-to-right alignment is adequate, docking may also be deemed unsafe if there is a significant detection discrepancy between the front-to-back aligned sensor pairs.

[0122] The multiplication operation is a method to mathematically reflect this logic, so that if either of the two terms converges to zero, the total exponent also approaches zero, allowing for the derivation of a judgment result that corresponds to actual operating conditions.

[0123] In conclusion, the monitoring unit (170) may include a visual output interface to intuitively check the alignment status of the submarine based on the alignment quality index value. The monitoring unit (170) may process data collected from the side alignment detection sensor unit (150) and the bottom alignment detection sensor unit (160) to determine the alignment status in real time, and then provide a visualized result in the following manner.

[0124] If the alignment status is good, a green indicator light, "OK" text, or a "Docking Alignment OK" message may be displayed to inform the operator that the alignment has been successfully completed. Conversely, if either the front-to-back alignment or the center alignment status deviates from the reference range, a yellow or red signal may be displayed on the monitoring screen along with a warning message to indicate an alignment error.

[0125] At this time, the system can distinguish and output whether the cause of the error is a misalignment of front and rear positions or a deviation from the centerline. For example, if a deviation in left-right distance is detected while the center is aligned, a correction direction guidance message such as “Centerline deviation - leftward movement required” or “Rightward movement required” may be displayed. This visual output system intuitively conveys real-time alignment judgment results to the operator, enabling them to quickly recognize positional errors during the submarine docking process and take appropriate correction measures. When linked with an automation system, it automatically generates docking control signals based on the alignment data, thereby enabling precise and stable mooring operations.

[0126] In addition, warning levels are differentiated based on the magnitude of the detected error value; if the deviation approaches the allowable limit, only a caution signal is output, while if it exceeds the threshold, an error warning recommending a halt to docking may be displayed. This visual output system intuitively conveys real-time alignment judgment results to the operator, enabling the rapid recognition of positional errors during the submarine docking process and the implementation of appropriate corrective measures. Furthermore, when integrated with an automation system, docking control signals are automatically generated based on the alignment data, allowing for precise and stable mooring operations.

[0128] As described above, although an embodiment of the present invention has been explained by limited embodiments and drawings, the embodiment of the present invention is not limited to the described embodiment, and various modifications and variations are possible from this description by those skilled in the art to which the present invention pertains. Accordingly, an embodiment of the present invention should be understood only by the claims described below, and all equivalent or analogous variations thereof shall be considered to be within the scope of the inventive concept. Explanation of the symbols

[0130] 100: Submarine Underwater Positioning Monitoring System 110: Commercial property loan 120: Side half-neck 130: Lower half-section 140: Steelbu 150: Side alignment detection sensor unit 151: 1st side alignment sensor 152: Second side alignment sensor 160: Lower alignment detection sensor unit 161: 1st lower alignment sensor 162: Second lower alignment sensor 163: Third lower alignment sensor 170: Monitoring Department

Claims

Claim 1 A docking platform fixedly installed underwater to provide a reference position for the submarine to settle; multiple side sections formed protruding at predetermined intervals on the left and right sides of the docking platform and positioned opposite the side surface of the submarine; multiple lower sections formed protruding at predetermined intervals on the center side of the docking platform and positioned opposite the keel surface of the submarine; multiple steel sections provided on one side of the submarine and formed at positions corresponding to each of the side sections; side alignment detection sensor sections installed on each side of the side sections to detect the fore-and-aft position alignment status of the submarine; and lower alignment detection sensor sections installed between the lower sections and positioned to correspond to the bow and stern bottoms of the submarine, respectively, to detect the directional alignment status and central settling status of the submarine. A submarine underwater position monitoring system comprising: a monitoring unit that determines in real time whether the submarine is centrally aligned, directionally aligned, and centrally settled based on detection data received from the side alignment detection sensor unit and the lower alignment detection sensor unit, and visualizes and outputs the determination result as a numerical or color signal; wherein the lower alignment detection sensor unit is formed in an array structure in which a plurality of lower alignment sensors corresponding to the surface shape of the submarine's lower surface are arranged in multiple rows, and includes: a first lower alignment sensor installed at a preset position on a protrusion on the submarine's lower surface to determine a minimum distance state by detecting the distance from the protrusion; a second lower alignment sensor installed at a preset position on an inclined surface on the submarine's lower surface to determine an intermediate distance state by detecting the distance from the inclined surface; and a third lower alignment sensor installed at a preset position on a concave portion on the submarine's lower surface to determine a maximum distance state by detecting the distance from the concave portion; wherein the first, second, and third lower alignment sensors each determine whether the submarine is centrally aligned and the directional error based on the detected distance information. Claim 2 A submarine underwater position monitoring system according to claim 1, wherein the side alignment detection sensor unit comprises: a first side alignment sensor installed at a point on the side cross section; and a second side alignment sensor positioned diagonally opposite to the first side alignment sensor, and is characterized by determining a front-rear alignment state based on whether the steel section is simultaneously located within the detection range of the first and second side alignment sensors. Claim 3 delete

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