WO2013089442A1 - 보행과 유영의 복합 이동 기능을 갖는 다관절 해저 로봇 및 이를 이용한 해저탐사시스템 - Google Patents
보행과 유영의 복합 이동 기능을 갖는 다관절 해저 로봇 및 이를 이용한 해저탐사시스템 Download PDFInfo
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- WO2013089442A1 WO2013089442A1 PCT/KR2012/010813 KR2012010813W WO2013089442A1 WO 2013089442 A1 WO2013089442 A1 WO 2013089442A1 KR 2012010813 W KR2012010813 W KR 2012010813W WO 2013089442 A1 WO2013089442 A1 WO 2013089442A1
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- robot
- joint
- subsea
- underwater
- walking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H19/00—Marine propulsion not otherwise provided for
- B63H19/08—Marine propulsion not otherwise provided for by direct engagement with water-bed or ground
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2221/00—Methods and means for joining members or elements
- B63B2221/20—Joining substantially rigid elements together by means that allow one or more degrees of freedom, e.g. hinges, articulations, pivots, universal joints, telescoping joints, elastic expansion joints, not otherwise provided for in this class
- B63B2221/22—Joining substantially rigid elements together by means that allow one or more degrees of freedom, e.g. hinges, articulations, pivots, universal joints, telescoping joints, elastic expansion joints, not otherwise provided for in this class by means that allow one or more degrees of angular freedom, e.g. hinges, articulations, pivots, universal joints, not otherwise provided for in this class
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
Definitions
- the present invention relates to a multi-joint subsea robot having a combined movement function of walking and swimming, and a subsea exploration system using the same. More specifically, unlike a conventional submarine robot that obtains thrust by a propeller method, a leg composed of several joints is provided.
- the present invention relates to a subsea exploration system using a multi-joint subsea robot that can move a walk and swim close to the sea floor.
- the average depth of the sea is 3800m, which occupies 99% of the space where life can live on Earth, and the deep sea occupies 85% of this space, but humans have not yet observed 1% of the deep sea.
- the number of species of life that has not yet been found on the earth is estimated at 10 million to 30 million, and only 1.4 million have been found to date.
- due to the depletion of terrestrial resources deep sea oil and gas drilling projects are increasing every year from 2% of total oil production in 2002 to 8% in 2009, and are expected to reach 15% in 2015.
- Underwater robots also known as unmanned underwater vehicles (UUVs) are largely divided into autonomous unmanned submersibles (AUVs) and remote unmanned submersibles (ROVs).
- Autonomous unmanned submersibles are mainly used for scientific investigations or exploration covering an area from hundreds of meters to hundreds of kilometers. Most AUVs developed to date are used for scientific research or military purposes.
- Remote unmanned submersibles are used for underwater surveys and precision work with positional precision of several tens of centimeters or less. Remote unmanned submersibles are used for various tasks such as submarine cable laying, subsea pipelines and maintenance of subsea structures.
- Submarine remote unmanned submersibles gain mobility in two main ways.
- the propeller method is effective in the molds such as AUV, but it is not easy to obtain control stability in ROV which requires precise work. This is because the fluid force acting on the ROV in water is nonlinear, and the thrust also has strong nonlinearity such as deadband, response delay, and saturation.
- it is difficult to secure posture stability and mobility when exposed to strong currents such as tidal currents on the west coast of Korea, which makes it difficult to obtain positional precision, operational precision, and clear ultrasound images.
- the direction of algae changes four times a day, and the maximum flow rate of algae in Korea is 3 to 7 knots.
- there are problems such as unstable maneuverability and high energy consumption in a strong algal environment.
- the caterpillar type propulsion method is difficult to travel irregular seabed terrain or obstacle area and has the disadvantage of disturbing the seabed due to the characteristics of the driving method.
- the seabed has difficulty in traveling in the caterpillar system because there are always various obstacles such as sunken ships, fishing grounds, ropes, and closed nets, and seabed topography such as reefs and soft ground.
- a propeller or caterpillar submarine robot inevitably disturbs the seabed.
- seabed surveys there are many surveys that must be conducted in an undisturbed environment.
- One object of the present invention is to provide a multi-joint subsea robot and a subsea exploration system using the same as a means for supplementing the problems of the conventional propeller method or the endless track method.
- Another object of the present invention is a multi-portable subsea robot having a swimming and walking function, and a seabed exploration system using the same, capable of performing the seabed work without disturbing the environment in the sedimentary soil of the seabed which is easily disturbed by the flow by the propeller. To provide.
- a subsea exploration system using a multi-movement subsea robot capable of a multi-movement multi-joint subsea robot, a buffer, and an underwater state transmitted from the subsea robot It includes a bus bar for storing data and monitoring and controlling the direction of movement of the submarine robot, the shock absorber is connected to the ground bus by a primary cable, the articulated submarine robot is connected to a depressor by a secondary cable, The resistance of the primary cable is up to the shock absorber and is not transmitted to the submarine robot.
- the articulated submarine robot Preferably, the articulated submarine robot
- a first switching hub for switching a plurality of signals
- An optical fiber converter for converting a received signal into an optical signal
- a computer coupled to the first switching hub to process input and output signals
- a second switching hub having one end connected to the first switching hub and another end connected to a plurality of network cameras
- a video encoder having one end connected to the first switching hub and another end connected to a plurality of analog cameras
- an ultrasound camera connected to the first switching hub and configured to photograph and transmit a front image.
- Switching hub for switching a plurality of signals
- An optical fiber converter connected to the switching hub and converting a received signal transmitted through the switching hub into an optical signal and transmitting the optical signal to a bus bar;
- a computer which processes input and output signals, one end of which is connected to the RS232 and the other end of which is connected to the switching hub;
- a video encoder connected at one end to a plurality of analog cameras and at the other end to the switching hub;
- bus bar is
- a plurality of computers are connected at one end, and first and second optical fiber converters at the other end for transmitting an optical signal.
- the first and second optical fiber transducers are connected to the optical fiber transducer of the subsea robot and the optical fiber transducer of the buffer, respectively.
- the articulated subsea robot is a streamlined body;
- a multi-jointed walking leg having a plurality of pairs mounted on the left and right sides of the body and composed of a plurality of joints;
- Control means mounted in the body;
- Walking leg driving means controlled by the control means and driving the articulated walking leg;
- Sensing means mounted in the body to sense a posture of the body and contact with an external object;
- Communication means for transmitting and receiving wired and wireless signals with an external device;
- control means for controlling the walking state and the swimming state in the water through the walking bridge.
- the buoyancy detection means is variable to adjust the weight of the subsea robot to -10kg to + 10kg, and the two walking legs on the front side of the articulated walking leg is provided with a gripper to selectively have a robot arm function desirable.
- a subsea robot moves in close contact with the sea floor by using a six-seabed robot with a completely different concept from propeller propulsion.
- the seabed exploration system using a multi-movement multi-sea subsea robot according to the present invention is equipped with the ultrasonic imaging equipment on the seabed robot can be searched in the turbidity of the water and the front two legs are also used as a robot arm And deep sea exploration is effective to perform effectively.
- FIG. 1A and 1B are schematic conceptual views of a seabed exploration system using a multi-joint seabed robot capable of moving in accordance with the present invention.
- Figure 2 is a perspective view schematically showing a multi-movement multi-sea subsea robot according to an embodiment of the present invention.
- Figure 3 is a block diagram of a multi-moveable multi-sea subsea robot according to the present invention.
- FIG. 4 is a view showing a simulation state of estimating the distribution of pressure acting on a subsea robot placed in a fluid having a flow rate by the CFD method using the conceptual design of the subsea robot according to the present invention.
- FIG. 5 shows a vector diagram and a link coordinate system of an underwater link of a multi-joint manual robot capable of complex movement according to the present invention.
- FIG. 6 is a view conceptually showing the compensation of the posture for the fluid flow, showing the low flow rate, high flow rate and the rear flow rate state, respectively.
- FIG. 7 is a conceptual diagram of a fluid force corresponding posture compensation of a multi-joint subsea robot according to the present invention.
- FIG. 8 is a detailed block diagram of a subsea exploration system using a multi-joint subsea robot according to a preferred embodiment of the present invention.
- FIG. 9 is a detailed view showing the joint portion of the robot leg of the articulated subsea robot according to a preferred embodiment of the present invention.
- FIG. 10 is a partial side cross-sectional view of a pressure-resistant waterproof joint structure consisting of an electric motor and a harmonic reducer of a multi-joint anatomical robot according to a preferred embodiment of the present invention.
- Figure 11 is a detailed view showing the joint portion of the robot arm combined leg according to a preferred embodiment of the present invention.
- FIG. 12 is a view showing the kinematic structure of the robot leg and robot arm combined leg according to a preferred embodiment of the present invention.
- FIG. 1A and 1B are schematic conceptual views of a seabed exploration system using a multi-joint seabed robot capable of moving in accordance with the present invention.
- the sea floor exploration system 1000 using the multi-joint seabed robot capable of complex movement shows a state in which the multi-joint seabed robot 100 capable of complex movement reaches and reaches 200 m below the sea floor.
- the articulated subsea robot 100 is connected to the depressor 200 by a secondary cable 240, and the shock absorber 200 is connected to the bus bar 300 by a primary cable 220.
- the resistance of the primary cable 220 takes up to the shock absorber 200 and is not transmitted to the subsea robot 100.
- the subsea exploration system 1000 using the 200 m multi-role subsea robot 100 capable of moving complex is a depressor 200 to minimize the influence of the fluid force acting on the tether cable to the robot in the heavy current environment. It is a concept to put and operate).
- the subsea exploration system 1000 has two tasks as follows.
- Robotic arms are used to cut, grind and drill wires, which are necessary for the investigation and observation of subsea structures and sinking ships.
- FIG. 1B another embodiment of the present invention shows a state in which a deep sea submarine exploration system 1000-1 capable of exploring by complex movement reaches and swims and walks at 6000 m under the sea, and the articulated seafloor
- the robot 100-1 is connected by a cable to the depressor 200, and the shock absorber 200 is connected by a cable to the bus bar 300.
- the shock absorber 200 and the articulated subsea robot 100-1 are capable of wired communication or wireless communication.
- the subsea exploration system 1000 using the 6,000 m exploration articulated subsea robot 100 that is capable of combined movement was designed to assume a deep sea environment with little algae, but to minimize the effect of the weight of the tether cable on the robot. It is a concept of operating by operating a depressor (200). Deep articulated subsea robots have a buoyancy control function to minimize disturbance to deep sea sediment and prevent the robot's foot from falling into the sea soil.
- the subsea exploration system 1000 has two tasks as follows.
- Samples of organisms, soil, and seawater needed for scientific research are taken from up to 6,000 meters of seabed.
- the wireless autonomous control mode In the wireless autonomous control mode, it operates alone without a buffer and observes a long-term view of a fixed area with minimal energy.
- submarine robots are used instead of divers in environments where it is dangerous for divers to work directly.
- the diver's diving time limit is overcome by using a subsea robot.
- the robot overcomes the algae by maintaining a posture in which the grounding force is increased by being in close contact with the seabed, and by placing the buffer 200 between the subsea robot 100 and the mothership 300, the algae force applied to the cable is the subsea robot 100 Reduce the impact on
- the newly proposed submarine robot provides a new concept of submarine robot that moves and walks and walks close to the sea floor by using legs consisting of several joints.
- undersea robots The concept of undersea robots is similar to the way crabs and lobsters move and work on the bottom of the sea, so the robot is named 'Crabster'.
- the subsea robot according to the present invention performs a sunken ship exploration and marine science survey in the seabed up to 200m deep offshore in Korea (also performs marine science survey in the seabed up to 6000m depth). In particular, it can work in the environment of the west coast where the tidal current is strong and visibility is poor, and it has a swimming and walking function without disturbing the environment in the sedimented soil.
- Table 1 shows schematic specifications for FIGS. 1A and 1B, which are examples of the multi-joint seabed robot capable of moving in accordance with the present invention, respectively.
- the number of legs is four walking legs and two robot arm combined legs.
- the subsea robot according to the present invention is provided with a device capable of detecting a bad clock on the sea floor.
- the basic specifications (when the legs are folded) are 2.2m in length, 1m in width, 1.1m in height, maximum weight 300kg (including load), 0.5m above ground level, 4 feet of walking legs, 4 DOF legs, 6 DOF legs 2, the maximum specification is the maximum walking speed 0.5m / sec (1.8km / h), the maximum operating depth 200m, the maximum detonation speed 2 knots, the maximum power consumption 20kW or less.
- the ability to overcome sea conditions is the maximum working condition Sea state 3 and the maximum survival condition Sea state 4.
- the bad watch detection capability can be performed in two types, the detection distance of 100m or more and the 10m or more.
- a front scanning sonar that can scan the front from the sea floor with a maximum detection distance of 100m or more
- an ultrasonic camera that provides real-time sonar images with a maximum detection distance of 10m or more to secure a clock in a bad clock environment.
- the control method is wired remote control method, and the power supply uses a tether cable.
- -Launching can be lifted at sea level 3 or below
- the subsea robot 100 and its supporting devices are easy to disassemble, assemble and replace.
- the submarine robot 100 transmits its underwater position by ultrasonic wave using its own power for 3 days or more.
- the 6,000m exploration submarine robot according to the present invention is similar to the 200m exploration submarine robot but has little effect of algae and aims to conduct scientific research in a stable deep-sea environment with a good watch, and further has a built-in buoyancy control function. By having a swimming function, disturbance of sediment soil is minimized. In addition, wireless communication and autonomous control were added to expand the type and method of exploration.
- a low-speed, high-torque BDC motor is adopted, a heat dissipation structure is designed using sea water and filling oil, and a hole center type for joint position feedback.
- a proximity limit sensor and an electric absolute position encoder are applied.
- compliance controller design is applied.
- Figure 2 is a perspective view schematically showing a multi-joint subsea robot according to an embodiment of the present invention.
- the articulated subsea robot of FIG. 2 is merely an embodiment, and its appearance is deformable.
- the articulated subsea robot 100 is a streamlined body (110);
- a multi-jointed walking leg having a plurality of pairs mounted on the left and right sides of the body and composed of a plurality of joints;
- Control means mounted in the body and controlling a walking state and a swimming state in the water through the articulated walking leg;
- Walking leg driving means controlled by the control means for generating a driving signal for driving the articulated walking leg;
- Sensing means mounted in the body to sense a posture of the body and contact with an external object;
- a buoyancy sensing means for detecting buoyancy of the body and communication means for transmitting / receiving a wired / wireless signal with an external device mounted in the body.
- the buoyancy sensing means has a buoyancy sensor for providing a buoyancy sensing function, and provides a function to adjust the buoyancy of the body according to the sense signal detected by the buoyancy sensor.
- the sensing means is characterized in that it comprises a posture and motion measurement sensor 42, the underwater position tracking device 50, and a force / moment sensor 43 installed on the bottom of the body.
- the photographing means comprises an ultrasonic camera 20 and the pan / tilt function underwater camera 22 and the lighting device (22a, not shown) It is done.
- the communication means is characterized in that it comprises an optical communication modem (60).
- the communication means is characterized in that connected to the shock absorber through the optical fiber and the power cable built-in secondary cable 240.
- the body is characterized in that made of lightweight high strength composite fiber material.
- the sensing means is characterized in that it comprises a moment sensor is installed on the two front front legs of the subsea robot to perform the ground detection.
- a plurality of articulated walking legs 121, 122, 123 (not shown), 124, 125 (not shown), and 126 are provided on the side of the body portion 110 of the subsea robot 100, and two are provided on each side thereof. (123, 124, 125, 126), two (121, 122) are provided on the front side. Two articulated walking legs (121, 122) attached to the double front side is a robot arm combined legs to perform the functions of the legs and arms.
- Each articulated walking leg 121, 122, 123, 124, 125, 126 is composed of a plurality of joints (for example, 121a, 121b, 122a, 122b, etc.).
- the multi-joint subsea robot 100 can walk on the seabed in a group of 6 or 4, and two front legs can also be used as robot arms.
- the four legs 123, 124, 125 and 126 have four joint structures actively controlled by the electric motor, and the front two legs have six joints and one gripper.
- This concept is based on lobster robots, which focus on biomechanical simulation, and a technique in which each leg consists of a joint and a pedal [Christina, G., Meyer, N., Martin, B., "Simulation of an underwater hexapod robot," Ocean Engineering, Vol 36, pp 39-47, 2009.].
- it is a new submarine robot that actively controls posture in response to fluid force.
- leg of the articulated undersea robot When the submarine robot moves, it is possible to walk quickly while securing posture stability using six legs. When working or moving things using the robot arm combined legs, support the body or walk with four legs. When the submarine robot moves on four legs, walking stability and speed are relatively lower than when moving on six legs, but all the necessary work and moving functions can be achieved underwater.
- the multi-moveable multi-sea subsea robot 100 has a streamlined body 110 and a leg structure of a multi-joint structure so as to be suitable for working in a stressed environment, and detects disturbance due to fluid force and the like. It has the function of controlling body and leg posture to minimize the influence.
- Figure 3 is a block diagram of a multi-joint subsea robot capable of moving in accordance with the present invention.
- control system 10 for controlling the swimming and walking process of the multi-joint seabed robot 100 that can move complex
- Front-scanning sonar 20 to shoot up to 100m ahead with ultrasound
- Ultrasonic camera 20a for capturing a front image up to 10m with ultrasound in real time
- Data storage unit 30 for storing the sensed data and the captured image data during the swimming and walking process
- Posture and motion measurement sensor 42 for detecting the posture of the subsea robot and measuring the state of movement
- Force / moment sensor 43 for sensing the force and moment acting on the walking leg of the subsea robot
- Speed sensor 48 for sensing the speed and flow rate of the robot
- Underwater position tracking device for tracking and sensing the underwater position of the performing robot in real time (50),
- Optical communication modem 60 which handles the signal transmission and reception with the buffer
- Motor driving unit 70 for generating a drive signal of the electric motor
- a control system 10 for transmitting and receiving signals to and from a buffer and a ground bus through an optical communication modem, and controlling a function of transmitting data obtained when swimming and walking the submarine robot;
- Power supply unit 80 for supplying power
- Each other leg end is equipped with a force sensor or a sensing sensor for ground sensing (not shown).
- the multi-movement multi-joint subsea robot according to the present invention is installed on the sea floor and is connected to the buffer medium and connected through the ground bus and the shock absorber.
- the ground bus receives and stores the photographed image information of the seabed topography through the seabed robot, and transmits a movement command signal to search for a specific area.
- Submarine robots move along the sea floor to a specific area and can walk or swim when moving.
- the posture is deformed through the posture sensor which is a sensing means according to the current (see FIGS. 6 and 7).
- the posture sensor which is a sensing means according to the current (see FIGS. 6 and 7).
- it waits by moving or stopping along the sea floor while checking the grounding state of the legs through the moment sensor, which is a sensing means installed on the articulated walking leg.
- the exploration area is photographed through an ultrasonic camera, a pan / tilting underwater camera (optical camera), and a multi-beam illumination device moves forward brightly.
- the multi-joint seabed robot 100 has a structure that actively performs subsea walking with 28 joints on 6 legs. Each joint is driven by the first to Nth electric motors 74-1, ..., 74-N.
- the technique of mechanically and electrically designing and controlling the joints of the submarine robot is defined as the underwater mechanism technology.
- the articulation mechanisms applied on land have been extended or redesigned to apply in seawater where water pressure exists.
- the joint mechanism refers to a joint mechanism composed of each of the six legs of the articulated link subsea robot according to the present invention, as shown in Figure 2, each leg is connected to four joints, the front two legs are 6 Connected to the joints of the dog. Joints connected to the two anterior legs each serve as a robot arm.
- Each joint mechanism consists of a joint drive motor, harmonic reducer, joint angle sensor, and joint limit sensor.
- the joint drive motor was designed and mounted in a pressure resistant waterproof housing using a frameless BLDC motor to obtain a small, lightweight, low speed, high torque.
- the pressure-resistant waterproof housing was watertight using an O-ring.
- the harmonic drive reducer is adopted to minimize the backlash of the joint and to obtain the proper reduction ratio.
- the absolute angle of the joint can be obtained by attaching an absolute encoder to the joint to the reducer output.
- the joint angle limit is equipped with a magnetic proximity switch.
- Figure 10 shows such a joint structure.
- FIG. 4 is a view showing a simulation state of estimating the distribution of pressure acting on a subsea robot placed in a fluid having a flow rate by the CFD method using the conceptual design of the subsea robot according to the present invention.
- the fluid force acting on the seabed robot can be calculated and analyzed according to the attitude and the direction of the fluid.
- the robot arm combined legs 121a, 121b, 122a and 122b, and the remaining right walking legs 124a, 124b, 126a and 126b, and the left walking legs 123a, 123b, 125a and 125b among the walking legs. It is composed.
- FIG. 5 shows a vector diagram and a link coordinate system of an underwater link of a multi-joint manual robot capable of complex movement according to the present invention.
- the underwater robot arm kinematic equation can be expressed as Equation (1) by adding a fluid force to the robot arm kinematic equation of the land.
- M is the inertia matrix with added mass
- C Coriolis and centrifugal force
- D is fluid resistance and lift
- G is buoyancy and gravity
- the fluid resistance and lift are functions of the fluid force coefficient according to the joint angle, joint angular velocity, fluid velocity, and link shape.
- the link is divided into thin disks and the fluid forces acting on the disks are approximated to approximate the fluid forces acting on the links by their integration. If the coordinates, velocity and force vector of the link of the submarine robot are defined as shown in FIG. 5, the fluid resistance force acting on the j- th link can be expressed approximately as in Equation (2) with respect to the i- th coordinate.
- C Dj is the two-dimensional fluid resistance coefficient of the j th link
- d pj is the original The length projected on the vector perpendicular to. Is the translational velocity component of the disc perpendicular to the longitudinal direction of the j th link. From this, the fluid force torque acting on the i- th joint can be expressed by Equation 3 considering the position vector i r j of the disc.
- Velocity vector to determine these fluid forces and torques Is expressed as a joint angular velocity vector, and a generalized torque can be obtained, and the fluid resistivity term D of Equation (1) can be approximately obtained.
- the core technology is to improve the efficiency of the system by optimizing the fluid force because it receives 1000 times as much fluid force in water than in air.
- the degree of freedom is taken into account in the planning of the step, and the angle and speed of the joint are planned to maximize the propulsion of the body acting by the fluid force acting on the joint.
- This problem of fluid force optimum walking path planning can be formulated as follows. That is, a joint that satisfies the following inequality conditions given by Equation (4) below and satisfies the joint constraint given according to the step, and minimizes the fluid force objective function g as shown in Equation 5 acting on the legs moving underwater. Get the path parameters.
- Maintaining stable posture in algae is a key concept of posture compensation control technology to cope with external force such as algae.
- FIG. 6 is a view conceptually showing the compensation of the posture for the fluid flow, showing the low flow rate, high flow rate and the rear flow rate state, respectively.
- FIG. 7 is a conceptual diagram of a fluid force corresponding posture compensation of a multi-joint subsea robot according to the present invention.
- the attitude compensation method of the crawfish is introduced as shown in FIG.
- Lobsters adjust their grip by varying their posture depending on the size and direction of the flow rate. If the lift and the resistance obtained by the body posture can be obtained through the above-mentioned computational fluid dynamics analysis method, it is possible to derive the conditions to work on the seabed.
- the condition that the robot will not be blown by the current is that the frictional force of the ground tip generated by the weight and lift of the robot is greater than the fluid resistance. That is, the relationship with the following equation (6) can be obtained from FIG.
- f D and f E are functions of flow velocity and robot posture, so the tide can be overcome by compensating the attitude so that the inequality of Equation (6) is satisfied.
- a flow velocity sensor or speed sensor
- force / torque sensor or posture and motion measurement sensor
- ground force sensor or moment sensor
- the multi-joint subsea robot according to the present invention has six legs, and both front legs also function as robot arms.
- it is a seabed robot of the concept of moving in close contact with the seabed to overcome the disturbance caused by birds by using the shape and posture of the body and perform the subsea work in a stable posture.
- the core technologies of the subsea robot according to the present invention are four such as underwater joint mechanism, fluid force analysis and modeling, fluid force optimal walking path planning, and external force response attitude compensation control.
- FIG. 8 is a detailed block diagram of a subsea exploration system using a multi-joint subsea robot according to a preferred embodiment of the present invention.
- the subsea robot 100 includes a switching hub 150 for switching a plurality of signals and an optical fiber converter 152 for transmitting an optical signal, in addition to the configuration shown in FIG. 3.
- a forward looking sonar (FLS) 20 or a forward scanning sonar or ultrasound camera 20a is connected.
- FLS forward looking sonar
- the buffer 200 includes a switching hub 210 for switching a plurality of signals, an optical fiber converter 222 for transmitting an optical signal, a computer 230 for processing input and output signals and an RS232 connection, and a plurality of analog cameras 242, 243, 244, 245. Is connected to the video encoder 240, and a plurality of network cameras (252, 254) are connected.
- the bus bar 300 includes a switching hub 310 to which a plurality of computers 331 to 339 are connected and to which the optical fiber converters 322 and 324 are connected.
- the optical fiber converter 322 is connected to the optical fiber converter 222 of the buffer 200
- the optical fiber converter 324 is connected to the optical fiber converter 152 of the subsea robot 100-1.
- the plurality of computers include a submarine robot computer 331, a buffer computer 332, a video computer 333, a sonar computer 334, a Hypack computer 335, a USBL computer 336, a multibeam computer ( 337), UC computer 338 and spare computer 339 are shown.
- FIG. 9 is a detailed view showing the joint portion of the robot leg of the articulated subsea robot according to a preferred embodiment of the present invention
- Figure 10 is an electric motor and a harmonic reducer of the articulated sea robot according to a preferred embodiment of the present invention
- Figure 11 is a detailed view showing the joint portion of the robot arm combined leg according to a preferred embodiment of the present invention
- Figure 12 is a robot leg and robot arm according to a preferred embodiment of the present invention It is a figure which shows the kinematic structure of a combined leg.
- the joint portion of the robot leg of the articulated subsea robot is the first joint (125a), the second joint (125b), the third joint (125c) and the fourth joint ( 125d).
- the robot leg 124a is connected to the end of the fourth joint 125d, and the robot leg 124b is connected between the third joint 125c and the fourth joint 125d.
- the first joint 125a, the second joint 125b, and the third joint 125c are waterproof assembled by the pressure-resistant waterproof joint structure (see FIG. 10).
- the first joint 125a, the second joint 125b, and the third joint 125c are waterproof-assembled by the pressure-resistant waterproof joint structure, specifically, the first waterproof body 410.
- the second waterproof body 420 and the third waterproof body 430, and the first waterproof body 410 is frameless BLDC motor 72-1 is wrapped by the waterproof O-ring 414, pressure-resistant waterproof housing Inscribed to 418 is mounted via the bearing 412.
- the speed reducer 74-1 for reducing the driving force of the frameless BLDC motor 72-1 is rotatably connected to the waterproof housing 418 through a bearing 412.
- the joint portion of the robot arm combined leg is the first joint 125a, the second joint 125b, the third joint 125c, the fourth joint 124d, It consists of the 5th joint 125e and the 6th joint 125f.
- a gripper 122a-1 is connected to an end of the sixth joint 125f
- a robot leg 121c is connected between the third joint 125c and the fourth joint 125d
- a fourth joint 125d is connected.
- a robot leg 121b is connected between the fifth joint 125e and a robot leg 121a is connected between the fifth joint 125e and the sixth joint 125f.
- the first joint 125a, the second joint 125b, and the third joint 125c are waterproof assembled by the pressure-resistant waterproof joint structure (see FIG. 10). Other joints are also assembled in a pressure-resistant waterproof structure. Feedback of each joint may be detected through a limit sensor installed in the joint, and the limit sensor may be a hall sensor (not shown).
- the articulated subsea robot 100-1 has a structure that actively performs subsea walking with 28 joints on a total of six legs. Each joint is driven by the first to Nth electric motors 74-1, ..., 74-N.
- the technique of mechanically and electrically designing and controlling the joints of the subsea robot 100-1 is defined as an underwater mechanism technology.
- the articulation mechanisms applied on land have been extended or redesigned to be applied in seawater with hydraulic pressure.
- the joint mechanism refers to a joint mechanism composed of each of the six legs of the articulated link subsea robot according to the present invention, as shown in Figure 2, each leg is connected to four joints, the front two legs are 6 Connected to the joints of the dog. Joints connected to the two anterior legs each serve as a robot arm.
- Each joint mechanism is a joint drive motor (72-1, ..., 72-N), harmonic reducer (74-1, .... 74-N), joint angle sensor (76-1, ... .76-N), and joint limit sensors (78-1, .., 78-N).
- the joint drive motor was designed and mounted in a pressure resistant waterproof housing using a frameless BLDC motor to obtain a small, light weight, low speed and high torque.
- the pressure-resistant waterproof housing was watertight using an O-ring.
- the harmonic drive reducer is adopted to minimize the backlash of the joint and to obtain the proper reduction ratio.
- the absolute angle of the joint can be obtained by installing an electric encoder that provides an absolute angle, that is, a joint angle sensor on the reducer output side of the joint.
- the joint angle limit sensor consists of a magnetic proximity switch.
- the electric motor of the sixth joint 125f installed in the robot arm combined leg part is for operating the gripper.
- control system control means
- a subsea robot moves in close contact with the sea floor by using a six-seabed robot with a completely different concept from propeller propulsion.
- the seabed exploration system using a multi-movement multi-sea subsea robot according to the present invention is equipped with the ultrasonic imaging equipment on the seabed robot can be searched in the turbidity of the water and the front two legs are also used as a robot arm And deep sea exploration is effective to perform effectively.
Abstract
Description
Claims (16)
- 유선형의 몸체;상기 몸체 좌우측 및 전방에 복수개가 장착되며 다수개의 관절로 구성된 다관절 보행다리;상기 몸체내에 장착되고, 상기 다관절 보행다리를 통해 보행상태 및 유영상태를 제어하는 제어수단;상기 제어수단에 의해 제어되며 상기 다관절 보행다리를 구동시키는 구동신호를 발생하는 보행다리 구동수단;상기 몸체내에 장착되어 몸체의 자세 및 외부 물체와의 접촉을 감지하는 감지수단;상기 몸체내에 장착되어 몸체의 부력을 감지하는 부력감지수단; 및외부장치와 유무선신호를 송수신하는 통신수단;을 포함하는 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 몸체 전면에는 초음파 카메라가 장착된 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 감지수단은 자세 센서 및 운동 계측센서를 포함하는 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 감지수단은 수중위치추적장치를 포함하는 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 몸체 전면에 장착되어 수중 영상을 촬영하는 촬영수단을 포함하며, 상기 촬영수단은 팬/틸팅 기능 수중카메라 및 조명장치인 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 통신수단은 광통신모뎀인 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 통신수단은 광섬유 및 전원선 내장 2차케이블을 통해 완충기와 연결되는 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 몸체는 경량 고강도 복합 섬유소재로 제작된 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 감지수단은 해저 로봇의 몸체와 다리 사이에 설치된 힘/모멘트 센서와 발끝에 설치된 접지력 센서를 포함하는 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 감지수단은 해저 로봇의 앞쪽 전방 두 개의 다리에 설치되어 접지감지를 수행하는 모멘트센서를 포함하는 것을 특징으로 하는 복합이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 보행다리 구동수단은모터구동신호를 발생하는 모터구동부;모터구동부의 신호에 따라 동작하는 제1 내지 제N전동모터, 및상기 전동모터에 따라 동작되고 상기 다관절 보행다리 및 로봇팔겸용 보행다리의 링크 연결되어 각각의 모터의 동작을 전달하는 제1 내지 제N 감속기;를 포함하는 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 있어서,상기 부력감지수단은 상기 해저 로봇의 중량을 -10kg 내지 +10kg 로 가변 조절하고,상기 다관절 보행다리 중, 전방측의 두 개의 보행 다리는 로봇팔 기능을 선택적으로 갖도록 그리퍼를 구비하는 것을 특징으로 하는 복합 이동이 가능한 다관절 해저 로봇.
- 제 1 항에 따른 복합이동이 가능한 다관절 해저로봇과,완충기와,상기 해저로봇으로부터 송신된 수중 상태 데이터를 저장하고 해저로봇의 이동방향을 모니터링하고 제어하는 모선을 포함하고,상기 완충기는 지상 모선에 1차 케이블로 연결되고, 상기 다관절 해저로봇은 완충기(depressor)에 2차 케이블로 연결되어, 1차 케이블의 저항력은 완충기까지 걸리며 해저로봇으로 전달되지 않는 것을 특징으로 하는 복합이동이 가능한 다관절 해저로봇을 이용한 해저탐사시스템.
- 제 13 항에 있어서,상기 다관절 해저로봇은복수개의 신호를 스위칭하는 제1 스위칭허브;수신신호를 광신호로 변환하는 광파이버 컨버터;상기 제1 스위칭 허브에 연결되어 입력 및 출력신호를 처리하는 컴퓨터;상기 컴퓨터에 연결된 RS232, RS485, USB 및 CAN장치;상기 제1 스위칭허브에 일단이 연결되며, 타단에는 복수개의 네트워크 카메라가 연결된 제2 스위칭허브;상기 제1 스위칭허브에 일단이 연결되며, 타단에는 복수개의 아날로그 카메라가 연결된 비디오엔코더;상기 제1 스위칭허브에 연결되며, 전방을 스캐닝하여 영상신호를 촬영하고 전송하는 전방주시소나(Forward Looking Sonar: FLS, 20) 혹은 전방스캐닝 소나; 및상기 제1 스위칭허브에 연결되며 전방영상을 촬영하고 전송하는 초음파카메라;를 포함하는 복합이동이 가능한 다관절 해저로봇을 이용한 해저탐사시스템.
- 제 13 항에 있어서,상기 완충기는복수개의 신호를 스위칭하는 스위칭허브,상기 스위칭허브에 연결되어 스위칭허브를 통해 전송된 수신신호를 광신호로 변환하여 모선으로 전송하는 광파이버 컨버터;입력 및 출력신호를 처리하고 일단에는 RS232가 연결되고 타단은 상기 스위칭허브에 연결된 컴퓨터;일단에는 복수개의 아날로그 카메라가 연결되고 타단은 상기 스위칭허브에 연결된 비디오엔코더; 및상기 스위칭허브에 연결된 복수개의 네트워크 카메라;를 포함하는 것을 특징으로 하는 다관절 해저로봇을 이용한 해저탐사시스템.
- 제 13 항에 있어서,상기 모선은일단에는 복수개의 컴퓨터가 연결되며, 타단에는 광신호를 전송하는 제1 및 제2 광파이버 변환기;를 포함하고상기 제1 및 제2 광파이버 변환기는 상기 해저로봇의 광파이버 변환기 및 상기 완충기의 광파이버 변환기와 각각 연결된 것을 특징으로 하는 다관절 해저로봇을 이용한 해저탐사시스템.
Priority Applications (3)
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JP2014547100A JP6001085B2 (ja) | 2011-12-15 | 2012-12-13 | 歩行と遊泳の複合移動機能を有する多関節海底ロボット及びこれを用いた海底探査システム |
US14/364,659 US9498883B2 (en) | 2011-12-15 | 2012-12-13 | Multi-joint underwater robot having complex movement functions of walking and swimming and underwater exploration system using same |
CN201280061961.2A CN103998186B (zh) | 2011-12-15 | 2012-12-13 | 具有复合移动功能的多关节海底机器人及海底探测系统 |
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KR1020110135580A KR101283417B1 (ko) | 2011-12-15 | 2011-12-15 | 수중유영이 가능한 다관절 해저 유영로봇 |
KR10-2011-0135194 | 2011-12-15 | ||
KR10-2011-0135580 | 2011-12-15 | ||
KR1020110135194A KR101283415B1 (ko) | 2011-12-15 | 2011-12-15 | 복합이동이 가능한 다관절 해저로봇을 이용한 해저탐사시스템 |
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US (1) | US9498883B2 (ko) |
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US9498883B2 (en) | 2016-11-22 |
JP2015505278A (ja) | 2015-02-19 |
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US20140343728A1 (en) | 2014-11-20 |
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