KR101236849B1

KR101236849B1 - System and method for remotely operated vehicle management

Info

Publication number: KR101236849B1
Application number: KR1020100129913A
Authority: KR
Inventors: 박영준; 최종웅; 이재용; 주성문; 이재상; 박귀홍; 정희용; 이동훈
Original assignee: 삼성중공업 주식회사
Priority date: 2010-12-17
Filing date: 2010-12-17
Publication date: 2013-02-25
Also published as: KR20120068330A

Abstract

A subsea robot operating system and method are disclosed.
The subsea robot system according to an embodiment of the present invention supplies an external power transmitted through a cable from a bus, and a hybrid power supply unit for supplying emergency power by connecting a built-in battery when an emergency situation in which the external power supply is stopped, When the emergency occurs, the tube is inflated by buoyancy to float the seabed robot to the surface by buoyancy, propulsion unit for moving the seabed robot through at least one propeller and the input to the surface using the GPS (Global Positioning System) It includes a control unit to identify and store the point and to control the propeller to return to the input point when the emergency occurs in the water.

Description

Submarine robot operation system and its method {SYSTEM AND METHOD FOR REMOTELY OPERATED VEHICLE MANAGEMENT}

The present invention relates to a subsea robot operation system and method thereof.

In general, the subsea robot is used for exploring the seabed resources, lifting the sunk ships, oil removal work, installation of submarine cables, repair of underwater structures, etc., and has been developed in various forms according to the purpose and operation method.

Undersea robots control remotely-operated vehicles (ROVs) connected to submarine robots according to the control method, and autonomous underwater vehicles, which move on their own power without cables. AUV) and intelligent robots.In the case of unmanned intelligent robots, the system determines the direction and distance to be investigated according to the terrain of the seabed and transmits the data from the seabed to the mothership.

On the other hand, Figure 1 is a conceptual diagram showing a conventional hybrid submarine submersible system.

Referring to FIG. 1, a remotely controlled submersible (ROV, currently referred to as a submarine robot) system, which is currently developed at home and abroad, has a mothership 10 for overall operation, and a mothership 10 and a subsea robot (ROV). There is a separate cable 30 for power supply and image information transmitted from the submarine robot 30 and various signal processing and control between the (30).

Recently, in order to overcome the limitations of the primary cable 31 of about 6000 meters or more, a hydrofoil 40 is placed at the end of the primary cable, which absorbs the influence of the movement of the bus bar 10, 20) is connected to the underwater launching device by the neutral buoyancy secondary cable (32) has been developed a technology that can work in deeper sea.

In FIG. 1, the power supply of the three-phase 60Hz power source to 400Hz and boosted to 2800V is applied to the submarine robot 20 after the bus line 10, and the submarine robot 20 is boosted to a 2800V voltage. It is a structure to use down to 200V.

However, since the conventional submarine robot 20 is a structure in which power supply and control are made through a cable, there is a disadvantage in that a cable for power supply is always connected. This is a problem that the cable to be supplied to the submarine robot 20 is cut off or other power supply problems due to the external environment, such as weather and current when the submarine robot 20 is in the water, there is a problem that is lost. . As an example, in the case of KAIKO, which was able to explore up to 11,000m depth developed by JAMSTEC in Japan in 2003, there was a case where the connection line was broken and sank to deep sea.

An embodiment of the present invention is to provide a submarine robot operation system and method for providing a hybrid power supply of the submarine robot and safe return in case of emergency.

According to an aspect of the present invention, a hybrid power supply unit for supplying the external power to the external power delivered through the cable from the bus, the emergency power supply by connecting the built-in battery when the emergency situation is stopped supplying the external power; Buoyancy portion to inflate the seabed robot to the surface by buoyancy by expanding the tube when the emergency occurs; Propulsion unit for moving the submarine robot through at least one propeller; And a control unit which grasps and stores an input point input to the water surface using a Global Positioning System (GPS) and controls the propeller to return to the input point when the emergency situation occurs in the water.

Here, the communication unit including at least one of a wireless communication module for communicating with the bus bar at the surface, a wired communication module for transmitting and receiving control signals and data through the cable and an ultrasonic communication module for communicating with the bus at hand; And an ultrasonic position tracking unit for measuring position information in the water through the ultrasonic position recognition sensor.

In addition, the hybrid power supply unit, an external power supply module connected to the end of the cable for supplying the external power provided from the bus bar into the system of the submarine robot; A charging module for charging the battery with the external power source connected to the external power supply unit; A battery which is switched in an abnormal state of external power supply to supply the emergency power; And a monitoring module configured to monitor a supply state of the external power supply and detect at least one emergency occurrence of supply interruption and power reduction below a predetermined reference value.

In addition, the monitoring module, and transmits the emergency situation event information indicating that the power supply is changed to the emergency power to the control unit, and checks whether the battery power is lowered below the set level reference level by checking the remaining amount of power. Can be.

The controller may be configured to check the remaining amount of the battery in water and to float to the surface using the propulsion unit when the residual amount of the battery is greater than the first reference value L1. The remaining amount of the battery is smaller than the first reference value L1. The surface may be floated to the water surface using the buoyancy portion.

The controller, when the remaining amount of the battery is greater than the set second reference value L2 at the water surface, moves to the input point using the propulsion unit, and when the remaining amount of the battery is smaller than the second reference value L2. The location information identified through the GPS may be controlled to be continuously transmitted to the bus bar.

On the other hand, according to an aspect of the present invention, the submarine robot operation method that is supplied with power from the bus,

a) supplying external power delivered through the cable and storing and identifying an input point; b) supplying emergency power by connecting a built-in battery when an emergency situation in which the external power supply is stopped is generated; c) checking the remaining capacity of the battery in water to rise to the surface using a propulsion unit provided in the subsea robot if it is larger than a first reference value; And d) returning to the input point using the propulsion unit when the remaining amount of the battery is greater than the set second reference value in the water surface.

Here, in step c), if the remaining amount of the battery in the water is smaller than the first reference value, the buoyancy portion of the tube provided in the subsea robot may be expanded to rise to the surface by buoyancy.

In addition, the step d) is to transmit the position information obtained through the Global Positioning System (GPS) to the busbar, the position at the injured position when the remaining amount of the battery in the water surface is less than the second reference value Information can be sent continuously.

The subsea robot according to an embodiment of the present invention detects an emergency state in which external power supply is stopped, and can operate and control the hybrid power supply even in an emergency state.

In addition, it is possible to store the input point of the submarine robot and to automatically recover the submarine robot even in a situation where external power interruption and control are impossible.

In addition, there is an effect that can prevent the loss of expensive seabed equipment.

1 is a conceptual view showing a conventional hybrid submarine submersible system.
2 is a structural diagram showing a subsea robot operation system according to an embodiment of the present invention.
Figure 3 is a block diagram schematically showing the configuration of a subsea robot according to an embodiment of the present invention.
4 is a configuration diagram illustrating an operation of a power supply unit in a normal state according to an exemplary embodiment of the present invention.
5 is a configuration diagram illustrating an operation of a power supply unit in an emergency state according to an exemplary embodiment of the present invention.
Figure 6 shows the external shape of the subsea robot according to an embodiment of the present invention.
7 is a flowchart illustrating a method of operating a subsea robot according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

Throughout the specification, it will be described on the assumption that the subsea robot is operated in the sea, but is not limited thereto.

Now, a subsea robot operating system and method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a block diagram showing a subsea robot operating system according to an embodiment of the present invention.

Referring to FIG. 2, the subsea robot operating system according to an embodiment of the present invention includes a mothership 100, a subsea robot 200, and a cable 300.

The bus bar 100 is a power supply means for supplying power to the seabed robot 200 connected through the cable 300 at sea, and communication means for receiving various data generated according to the location and operation of the seabed robot 200. And control means for controlling its operation.

The subsea robot 200 operates as a power supplied through a cable 300 connected to the bus bar 10 and performs a hybrid power supply function operated by a battery installed separately in an emergency. In addition, the subsea robot 200 automatically returns to the input point in consideration of the battery residual reference value that is set in advance in the event of abnormal power supply or abnormal events on the control. The hybrid power supply and automatic feedback method of the submarine robot 200 will be described in detail later.

The cable 300 connects the bus bar and the submarine robot 200 to supply control / signal processing and power. The cable 300 uses a special cable having a neutral buoyancy to be wound or unwound by a cable drum provided in the bus bar 10 and to minimize the influence on the buoyancy of the subsea robot 200.

Here, in FIG. 2 according to an embodiment of the present invention, for convenience of description, the bus bar 100 and the subsea robot 200 are illustrated as being directly connected through the cable 300, but the present invention is not limited thereto. At the end, it can also be configured as a system with more hydrographic devices.

On the other hand, Figure 3 is a block diagram schematically showing the configuration of a subsea robot according to an embodiment of the present invention.

Referring to FIG. 3, the subsea robot 200 according to an embodiment of the present invention includes a communication unit 210, a power supply unit 220, an ultrasonic position sensor unit 230, a buoyancy unit 240, and a propulsion unit 250. ), A storage unit 260 and a control unit 270.

The communication unit 210 is a wired communication module 212 for transmitting and receiving control signals and data through a wireless communication module 211 and a cable 300 for communicating with the bus 10 at the sea level and the bus 100 at hand. Ultrasonic communication module 213 for performing communication with.

The wireless communication module 211 may include a long-range RF (Radio Frequency) wireless modem, the current position information using the built-in GPS (Global Positioning System) module when the submarine robot 200 is injured on the sea surface in an emergency state (Coordinate) is identified, and the identified position information is transmitted to the bus bar 100.

The wired communication module 212 transmits information searched by the submarine robot 200 and collected image data.

The ultrasonic communication module 213 performs position information transmission, control signal, and data communication with the bus line 100 through the sound wave communication underwater. For example, the ultrasonic communication module 113 may include an ultrasonic underwater modem having a transmission radius of 4 km and capable of communicating at 4800bps. In addition, the ultrasonic communication module 213 may be applied to the sound wave communication technology with improved transmission area and transmission performance as research on sound wave communication is actively progressed.

The power supply unit 220 is a hybrid power supply unit, which normally connects external power transmitted from the outside through the cable 300 to supply the inside of the submarine robot 200, and an abnormal emergency occurs when the external power supply is abnormal. To supply emergency power.

The power supply unit 220 includes an external power supply module 221, a charging module 222, a battery module 223, and a monitoring module 224.

Meanwhile, the power supply configuration in the normal and emergency state of the subsea robot 200 will be described with reference to FIGS. 4 and 5 below.

4 is a configuration diagram illustrating an operation of a power supply unit in a normal state according to an exemplary embodiment of the present invention.

5 is a configuration diagram illustrating an operation of a power supply unit in an emergency state according to an exemplary embodiment of the present invention.

Referring to FIG. 4, the external power supply unit 220 according to an embodiment of the present invention is connected to the end of the cable 300 to supply the external power supplied from the bus line 100 to the inside.

The charging module 222 charges the battery module 223 with an external power source connected to and applied to the external power supply module 221.

The battery module 223 is connected to the power connection terminal of the subsea robot 200 in the abnormal state of external power supply to supply emergency power to the subsea robot 200.

At this time, according to an embodiment of the present invention, in order for the power supply unit 220 to securely switch from the external power supply module 221 to the battery module 223, the charging module 222 may be connected to the load of the subsea robot 200. Mounting between the external power supply unit 221 can prevent the power instability caused by the discontinuous section during switching.

The monitoring unit 240 monitors the supply state of the external power provided through the external power supply module 221 to identify abnormal power supply states such as supply interruption and power reduction below a predetermined reference value. The source of the power supply 220 is switched from the external power source to the battery module 223 so that power is always supplied to the submarine robot. On the other hand, the monitoring unit 240 may inform the control unit 270 by transmitting emergency event occurrence event information indicating that the power supply is changed to the emergency power.

The subsea robot 200 is driven by the external power supplied through the cable 300 as the main power in the deep seabed, so the emergency situation that is arbitrarily separated from the cable 300 is cut off the power in the subsea robot 200 to drive itself. Is impossible and can be lost. Therefore, the external power supply module 221 monitors the external power supply state and operates independently when an emergency situation occurs in which supply is interrupted, and preferentially switches to emergency power, and then reports the event situation to the controller 270.

In addition, the monitoring unit 240 periodically checks the state of charge (charge amount) of the battery module 223 to maintain a buffer state, and in particular, by checking the remaining amount when using the power of the battery module 223 for each preset level. Monitor if it falls below the reference value (eg L1 / L2).

The ultrasonic position tracking unit 230 measures the position information value of the subsea robot 200 in the water through the ultrasonic based position recognition sensor. At this time, the ultrasonic location tracking unit 230 may use any one or more of the position recognition method of the Ultra Short Base Line (USBL) and Long Base Line (LBL).

Here, in the USBL method, the transmission sensor is positioned close to the bottom of the bus line 100, and the position information is calculated by exchanging an ultrasonic signal with the submarine robot 200. The USBL method has an advantage in that it does not need to install a separate transmission device on the seabed in order to calculate the position of the seabed robot 200.

In the LBL method, a plurality of transmission sensors are positioned in advance on the sea floor, and the position information is calculated by exchanging ultrasonic signals with the seabed robot 200. In this case, since the transmitting sensor is disposed far away, there is an advantage that the accuracy of the location information value is higher than that of the USBL method.

The ultrasonic location tracking unit 230 may be applied according to the working environment in consideration of advantages and disadvantages of the USBL and LBL methods.

The buoyancy unit 240 includes an air compression tank 241 that is opened through a valve and at least one tube 242 that expands through the air discharged from the air compression tank 241.

The buoyancy unit 240 expands the tube 242 in an emergency state when the power supply is interrupted or the power supply is not smooth, or when a control error occurs, the subsea robot 200 is buoyant by the buoyancy. Float above sea level.

The propulsion unit 250 includes a main propulsion module 251 configured as a swimming 3-way thruster (Thruster) behind the hull of the subsea robot 200 and a plurality of sub-propulsion modules 251 for freely controlling the X, Y, and Z directions. ). For example, the sub-propulsion module 251 may be configured using an electric propulsion, and at least six propellers may be configured to control each of the front, rear, left, and right directions.

The storage unit 260 stores various programs and data for the operation of the subsea robot 200, and stores various data generated according to the operation of the subsea robot 200.

The control unit 270 controls the overall operation of each part for the operation of the subsea robot 200, and stores the input point (GPS position information) to which the subsea robot 200 is input for the subsea operation, and emergency or work Control to return to input point automatically when finished.

At this time, the control unit 270 checks the power supply state of the submarine robot 200 to control the return operation, in case of emergency using the emergency power of the battery module 223 by checking the remaining amount of the battery module 223 Adaptive control is performed according to the preset remaining level.

For example, the controller 270 sets the residual amount reference value L1 of the battery module 223 which satisfies to rise above the water surface when the subsea robot 200 returns to the feed point from the water, and the feed point at the water surface. The remaining reference value L2 of the battery module 223 is satisfied to move to. At this time, the residual amount reference value L1 is larger than the reference value L2 (L1> L2), and the reference values L1 and L2 may be set step by step according to the depth where the submarine robot 200 is located.

The control unit 270 checks the remaining amount of the battery module 223 in the water and if it is larger than the reference value (L1) using the propulsion unit 250 to quickly move to the sea level. Then, if the remaining amount of the battery module 223 after moving to the sea level is greater than the reference value (L2) and controls to move to the bus bar 100 using the propulsion unit 250.

In addition, the controller 270 controls to move to the sea level using the buoyancy unit 240 when the remaining amount of the battery module 223 is smaller than the reference value L1 in the water. If the remaining amount of the battery module 223 after moving to the sea level is smaller than the reference value L2, the controller 270 controls to transmit the position information, which is determined through GPS, to the mother bus 100.

On the other hand, Figure 6 shows the external shape of the subsea robot 200 according to an embodiment of the present invention.

Referring to FIG. 6, the subsea robot 200 of (A) is in an extended state for standing or walking, and the subsea robot of (B) shows a folded state for swimming.

The subsea robot 200 has a multi-arm arm / leg for walking on the seabed in addition to the configuration described with reference to FIG. 3, an environmental sensor system for recognizing an object in front of it, a swimming pin, a lighting unit that brightly illuminates the surroundings, and a surrounding area. It may further include a camera for photographing, various sensors for measuring the depth and posture.

At this time, the controller 270 can minimize the resistance of the water by folding the arms and legs of the seabed robot 200 during swimming.

On the other hand, based on the system configuration described above with reference to Figure 7 describes a subsea robot operating method for providing a hybrid power supply and a safe return in the emergency according to the embodiment of the present invention.

7 is a flowchart illustrating a method of operating a subsea robot according to an embodiment of the present invention.

Referring to FIG. 7, when the submarine robot 200 according to an embodiment of the present invention is connected to the sea surface in a state in which the cable 300 for supplying external power is connected and the external power is supplied (S101), GPS Determine and store the input point through (S102). At this time, the mother ship 100 also stores the input point of the subsea robot 200.

The subsea robot 200 monitors abnormal power supply conditions such as interruption of external power supply due to weather conditions and external environmental conditions, and power reduction below a predetermined reference value (S103). When the subsea robot 200 detects an abnormal power supply state due to the interruption of the external power supply (S104; yes), the submarine robot 200 switches to the internal battery module 223 from the external power supply and supplies emergency power (S105).

The subsea robot 200 may be driven by an emergency power source for a predetermined time in consideration of the charging capacity of the battery module 223, and the arm / robot may be operated in the auto return mode according to the feedback command from the bus 10 or the emergency state. Fold the legs to switch to the swimming position (S106).

The subsea robot 200 measures the remaining amount of the battery module 223 in the water and if it is determined that the remaining amount of the battery module 223 to be measured is greater than the set reference value (L1) (S107; Yes), the pushing unit 250 Use to quickly move to the surface (S108). At this time, the subsea robot 200 may detect the current position through the ultrasonic position sensor unit 230 while moving to the surface and continuously transmit to the mothership 100.

When the submarine robot 200 is determined to be greater than the set reference value L2 after remaining on the sea level (S109; yes), it grasps its current location information through GPS (S110). ), The driving unit 250 moves to the stored input point (S111). At this time, the seabed robot 200 continuously transmits the position information grasped through the GPS to the mothership 100 (S112). Therefore, the mothership 100 can safely recover the subsea robot 200 returned to the input point.

On the other hand, if it is determined that the remaining amount of the battery module 223 measured in the step S107 is smaller than the set reference value (L1) (S107; no), the buoyancy unit 240 moves to the surface by buoyancy generated. (S113). At this time, when it is difficult to move above the water surface by only the buoyancy of the buoyancy unit 240 may assist with the propulsion force of the propulsion unit 250 may help to rise to the surface.

In addition, if it is determined that the remaining amount of the battery module 223 is smaller than the set reference value (L2) after the subsea robot 200 emerges to the sea level in step S107 (S109; No), its current position through GPS Grasp the information, and transmits the identified position information to the bus line 100 (S112). Therefore, the mothership 100 can safely recover the floating point (the current position) of the subsea robot 200 by moving.

As described above, according to the embodiment of the present invention, the subsea robot 200 detects an emergency state in which the cable 300 is cut off and the external power supply is interrupted, thereby adaptively supplying emergency power using the battery module 223 to provide an emergency state. In addition, there is an effect that can be driven and controlled by the hybrid power supply.

And, even when the external power is interrupted and the control is impossible, by storing the input point of the subsea robot 200 and automatically return to the input point using the emergency power of the battery module 223 to recover the submarine robot in an emergency situation automatically. It can be effective.

In addition, there is an effect that can prevent expensive submarine equipment loss by continuously transmitting the position information on the sea and the position information on the sea surface during the movement of the subsea robot 200.

The embodiments of the present invention are not limited to the above-described apparatuses and / or methods, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

100: Mothership
200: submarine robot
300: cable
210:
220: power supply
221: external power supply
222: charging module
223: battery module
224: monitoring module
230: ultrasonic location tracking unit
240: buoyancy
250: propulsion unit
260: storage unit
270:

Claims

A hybrid power supply unit for supplying external power transmitted from a bus via a cable, and supplying emergency power by connecting a built-in battery when an emergency situation in which the external power supply is interrupted occurs;
Buoyancy portion to inflate the seabed robot to the surface by buoyancy by expanding the tube when the emergency occurs;
Propulsion unit for moving the submarine robot through at least one propeller; And
A control unit for controlling the propeller to grasp and store the input point to the water surface using the GPS (Global Positioning System) and to return to the input point when the emergency situation in the water,
The controller may be configured to check the remaining amount of the battery in water and, if greater than the set first reference value L1, to rise to the surface using the propulsion unit, and if the remaining amount of the battery is smaller than the first reference value L1. Using the buoyancy part to rise to the surface,
If the remaining amount of the battery is greater than the set second reference value (L2) in the water surface to move to the input point using the driving unit, if the remaining amount of the battery is smaller than the second reference value (L2) through the GPS Submarine robot operation system characterized in that the control to continuously transmit the identified position information to the mother ship.

The method of claim 1,
A communication unit including at least one of a wireless communication module communicating with the bus bar at the surface, a wired communication module transmitting and receiving a control signal and data through the cable, and an ultrasonic communication module communicating with the bus at hand; And
Ultrasonic location tracking unit that measures location information underwater through ultrasonic location sensor
Submarine robot operating system further comprising a.

3. The method according to claim 1 or 2,
The hybrid power supply unit,
An external power supply module connected to an end of the cable to supply the external power provided from the bus bar into the system of the submarine robot;
A charging module for charging the battery with the external power source connected to the external power supply unit;
A battery which is switched in an abnormal state of external power supply to supply the emergency power; And
Monitoring module for monitoring the supply status of the external power supply to detect the occurrence of at least one emergency situation of supply interruption and power reduction below a set reference value
Submarine robot operating system comprising a.

The method of claim 3, wherein
The monitoring module includes:
Undersea robot operation characterized in that the emergency event occurrence event information indicating that the power supply has been changed to the emergency power supply to the control unit, and checks the remaining amount when the battery power is used, and monitors whether the power supply is lower than the reference value for each level system.

delete

In the method of operation of the submarine robot, which is powered by the cable from the bus bar,
a) supplying external power delivered through the cable and storing and identifying an input point;
b) supplying emergency power by connecting a built-in battery when an emergency situation in which the external power supply is stopped is generated;
c) checking the remaining capacity of the battery in water to rise to the surface using a propulsion unit provided in the subsea robot if it is larger than a first reference value; And
d) returning to the input point using the propulsion unit when the remaining amount of the battery is greater than the set second reference value in the water surface;
Submarine robot operation method comprising a.

The method of claim 7, wherein
The step c)
When the remaining amount of the battery in the water is less than the first reference value, the submarine robot operating method characterized in that the buoyancy of the buoyancy portion of the submarine robot is expanded to rise to the surface by buoyancy.

9. The method according to claim 7 or 8,
Step d),
While transmitting the position information to the mother bus through the GPS (Global Positioning System),
And when the remaining amount of the battery is less than the second reference value in the water surface, continuously transmitting the position information from the injured position.