KR101762654B1 - Monitoring robot for mooring chain - Google Patents

Monitoring robot for mooring chain Download PDF

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Publication number
KR101762654B1
KR101762654B1 KR1020150127381A KR20150127381A KR101762654B1 KR 101762654 B1 KR101762654 B1 KR 101762654B1 KR 1020150127381 A KR1020150127381 A KR 1020150127381A KR 20150127381 A KR20150127381 A KR 20150127381A KR 101762654 B1 KR101762654 B1 KR 101762654B1
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KR
South Korea
Prior art keywords
unit
mooring chain
mooring
inspection
chain
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Application number
KR1020150127381A
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Korean (ko)
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KR20170030173A (en
Inventor
이주현
김종필
Original Assignee
삼성중공업 주식회사
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Priority to KR1020150127381A priority Critical patent/KR101762654B1/en
Publication of KR20170030173A publication Critical patent/KR20170030173A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a monitoring robot of a mooring chain, comprising: a body portion formed with a hollow portion through which a mooring chain can pass, the body portion being movable on the mooring chain; A spraying part for spraying a high-pressure fluid to remove foreign matters on the surface of the mooring chain according to the inspection result of the inspection part, and a pushing part for providing a thrust force to move the body part on the mooring chain A monitoring robot of a mooring chain is disclosed.

Description

{MONITORING ROBOT FOR MOORING CHAIN}

The present invention relates to a monitoring robot of a mooring chain, and it is possible to inspect not only a surface inspection of a mooring line such as a mooring chain but also an internal defect, and by removing foreign matter adhering to the surface of the mooring chain, To a monitoring robot of a mooring chain capable of extending the life of the ring chain.

As the development of the offshore oil field in the offshore area has gradually moved to the rough and deep waters, the scale of the conventional offshore plant has become inevitably large. Therefore, the technical and economic And the development of submarine oilfields has come to the limit.

The floating structure is developed to solve this problem. The floating structure has the advantage that it is not restricted by the depth of the water of the installation area, and it has the advantage of having a barge ship Pontoon structure, semi-submersible structure and ship-type structure (drill ship, FPSO, etc.), which are equipped with production facilities or storage facilities.

Among the floating structures described above, those for developing underground oil fields are mooring to predetermined positions over a long period of time, and for a short time of about 10 to 20 years, I will stay.

Mooring systems used in these floating structures typically use two or more mooring chains or wire rope to use multi-point mooring to prevent movement or turning of floating structures .

On the other hand, in the mooring line such as the mooring chain used in the mooring system described above, a large tensile force acts depending on the operating conditions of the marine environment and the floating structure, so that the mooring chain may be damaged due to tensile stress have.

In the case of deep sea offshore production facilities such as floating production storage and off-loading (FPSO), the production is generally carried out for more than 20 years and if the above mooring line breaks during the mooring period Pre-inspections of the mooring line are strictly in progress because it is practically very difficult to perform replacement work.

However, even in the case of a mooring line that has undergone such rigorous preliminary inspection, due to the generation of fatigue cracks due to tension and cyclic stress acting on the mooring line for a long time, mooring line breakage even below the ultimate strength of the material constituting the mooring line Which may cause corrosion and cracking.

Such breakage of the mooring line may lead to breakage of the riser connected to the seabed for the production of submarine oilfields, and such breakage of the riser may cause astronomical losses due to production interruptions and delays due to restoration And can cause enormous damage to the environment, as well as additional recovery costs.

Therefore, it is possible not only to check the condition of the mooring line in real time in order to prevent the breakage due to corrosion and cracking of the mooring line, but also to remove marine life and various foreign substances adhering to the surface of the mooring line, A monitoring device capable of simultaneously performing inspection and maintenance of a mooring line is required.

It is an object of the present invention to provide a mooring chain which can inspect not only a surface inspection of a mooring line such as a mooring chain but also an internal defect and remove foreign matter adhering to the surface of the mooring chain according to the inspection result, And to provide a monitoring robot of a mooring chain capable of simultaneous inspection and maintenance.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not to be construed as limiting the invention as defined by the artistic scope and spirit of the invention as disclosed in the accompanying claims. It will be possible.

According to an aspect of the present invention, there is provided a monitoring robot for a mooring chain, comprising: a body portion having a hollow portion through which a mooring chain can pass and being movable on the mooring chain; An inspection unit for inspecting surface and internal defects of the mooring chain; A spraying unit for spraying a high-pressure fluid to remove foreign matters on the surface of the mooring chain according to the inspection result of the inspection unit; And a pushing portion for providing a thrust force to move the body portion on the mooring chain.

Here, the body may further include a ballast unit provided to receive or discharge seawater therein to provide variable buoyancy.

The body portion may further include a plurality of pressure sensor units provided on an inner surface of the hollow portion to sense contact between the body portion and the mooring chain to control the operation of the propelling portion, have.

Meanwhile, the inspection unit may include a URSS (Ultrasonic Ring Scan System), which is provided on the inner surface of the body or on the inner surface of the hollow to surround the mooring chain and measures a deformation amount and a crack of the mooring chain using ultrasonic waves .

In addition, the inspection unit may include: an image capturing unit capable of capturing an exterior of the mooring chain; And an image processing unit for separating and recognizing a foreign substance attached to the surface of the mooring chain and the mooring chain through image information photographed through the image capturing unit.

The inspection unit may further include: a 3D scanning unit for scanning the mooring chain in three dimensions by irradiating the mooring chain with a plurality of lasers; And an image processing unit for separating and recognizing foreign matter attached to the surface of the mooring chain and the mooring chain through image information scanned through the 3D scanning unit.

Further, the inspection unit may store at least one or more inspection results of the deformation amount, the crack, and the image information of the mooring chain obtained through the inspection unit at predetermined time intervals, and, based on the inspection result, And a mapping unit for tracking the change according to the change.

The jet unit includes a pump unit for receiving seawater in the water and compressing the seawater at a high pressure; And a nozzle unit for spraying the seawater compressed by the pump unit at a high pressure into the mooring chain.

The propelling unit may include a plurality of propeller units rotatably mounted on an outer surface of the body portion. The propeller unit may be configured such that the body portion is vertically movable along the mooring chain, And the rotation direction of the body portion can be controlled by being installed on the body portion so that the movement and the rotation can be simultaneously performed.

The main body further includes a main control unit provided at a separate space spatially separated from the main body to control the inspection unit, the ejector unit, and the pushing unit, and the main body transmits the inspection result of the inspection unit to the main control unit A communication unit capable of receiving a control signal of the jetting unit and a control signal of the propulsion unit from the main control unit; And a control unit for controlling operations of the inspection unit, the jetting unit, and the propulsion unit according to the control signal received from the communication unit.

In addition, the body part can identify an obstacle located on the mooring chain or underwater by using at least one of a sound wave and an ultrasonic wave when the moving part is moved by the propelling part, And an environment recognition unit for measuring the environment.

The monitoring robot of the mooring chain according to the present invention having the above-described configuration has the following effects.

It is possible to inspect not only the surface inspection of the mooring line such as the mooring chain but also the internal defect and remove the foreign matter adhered to the surface of the mooring chain according to the result of inspection so that the inspection and maintenance of the mooring chain can be simultaneously performed .

On the other hand, the effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 and 2 are views showing a monitoring robot of a mooring chain according to the present invention.
3 to 6 are views showing the inspection unit of the monitoring robot of the mooring chain according to the present invention.
FIG. 7 is a view showing the injection part of the monitoring robot of the mooring chain according to the present invention.
8 to 9 are views showing the propulsion unit of the monitoring robot of the mooring chain according to the present invention.
10 is a view showing a pressure sensor unit and a propelling unit of a monitoring robot of a mooring chain according to the present invention.
11 is a view showing a self-charging unit of the monitoring robot of the mooring chain according to the present invention.
12 is a view showing a communication unit, a control unit and an environment recognition unit which can be provided in the body of the monitoring robot of the mooring chain according to the present invention.
13 is a diagram showing a main control unit and a communication unit of the monitoring robot of the mooring chain according to the present invention.
FIG. 14 is a view schematically illustrating a process of checking the connection state of the mooring chain through the environment recognition unit of the monitoring robot of the mooring chain according to the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of the present invention in which the object of the present invention can be specifically realized will be described with reference to the accompanying drawings. In describing the present embodiment, the same names and the same reference numerals are used for the same components, and further description thereof will be omitted.

Further, in describing the embodiments of the present invention, the configuration shown in the drawings is only an example for facilitating understanding of the detailed description, and the configuration thereof may be various without limitation, thereby indicating that the scope of the right is not limited .

1 and 2, in the present embodiment, the monitoring robot 1000 of the mooring chain includes a body 100, an inspection unit 200, a jetting unit 300, and a propelling unit 400 .

First, the body 100 is a body that forms a base on which other components of the monitoring robot 1000 of the mooring chain can be installed, and includes a hole having a predetermined inner diameter so that the mooring chain C can pass therethrough. And can be designed to have its own buoyancy and weight so that it can not only remain in the floating state in the water but can also move.

Here, in the case of the mooring chain (C), it is a kind of mooring line that connects and fixes the floating structure and the sea floor to moor the floating structure to the predetermined position on the sea.

In the following description of the present embodiment with reference to the drawings, it is assumed that such a mooring line is assumed to be a mooring chain (C), in order to facilitate understanding of the detailed description of the present invention, The application range of the monitoring robot 1000 is not limited to the mooring chain (C) but it is applicable to various mooring line facilities including wire rope.

Returning to the main point, the body 100 is provided with a pressure-resistant device capable of sufficiently holding water pressure and capable of maintaining watertightness so as to perform a monitoring operation in water while being bound to the mooring chain C through a hollow portion, A pressure regulating device adapted to control the pressure at each depth, and the like.

Also, as described above, it can be designed to have its own buoyancy and weight so that it can maintain and move in the floating state in the water. When such buoyancy and weight have a fixed value, various marine environments (water temperature and flow rate, etc.) It may be difficult to operate the monitoring robot 1000 of the mooring chain in accordance with the change.

Accordingly, the present embodiment may further include a ballast unit 110 provided to be capable of receiving and discharging seawater to provide variable buoyancy and weight to the body 100.

The ballast unit 110 includes a ballast tank having an empty interior. The ballast tank may receive buoyancy by receiving air or gas therein.

At this time, the amount of air or gas contained in the ballast tank can be controlled by introducing or discharging seawater into the ballast tank, thereby varying the degree of buoyancy that the ballast unit 110 provides to the body 100 .

One or more lighting units 120 are provided in the body part 100 so that the mooring chain C is irradiated with light so that the mission of the monitoring robot 1000 of the mooring chain can be smoothly performed even in a deep sea where light is insufficient Illumination can be provided.

The monitoring robot 1000 of the mooring chain according to the present invention can perform the monitoring operation of the mooring chain C while being bound to the mooring chain C through the body portion 100 constructed as described above Therefore, more stable maneuvering and precise inspection can be performed as compared with the unmanned underwater work device that depends on the conventional operator control capability.

Next, the inspection unit 200 is provided on the body 100 to check the surface corrosion state of the mooring chain C, the degree of foreign matter attached to the surface, the occurrence of notches and cracks, and the structure for inspecting various internal defects to be.

3, the inspection unit 200 is provided on the inner side of the body 100 or on the inner side of the hollow portion so as to surround the mooring chain C, And URSS 210 for measuring deformation and cracking.

The URSS (210, Ultrasonic ring scanning system) is used to measure the deformation amount and the elongation of the mooring chain (C) by using an ultrasonic wave emitted through an ultrasonic wave radiating device provided to surround the mooring chain (C) Since the internal state as well as the surface of the chain C can be measured, there is no dead angle in the measurement range.

In addition, as compared with the conventional method of inspecting and inspecting samples, the non-contact nondestructive inspection can be performed because the mooring chain (C) is not damaged as well as the accuracy is high.

In addition, the URSS 210 stores the shape of each short link of the mooring chain (C) during the inspection process. When the short link is re-examined after a lapse of time, the URSS (210) The degree of deformation of the short link can be grasped.

At this time, a chip having different information (for example, a serial number indicating the initial shape and position of each short link, etc.) is built in each short link constituting the mooring chain C, and the URSS 210 It is possible to acquire the information of the chip by using a radio frequency identification method, thereby facilitating the maintenance and management of the mooring chain (C).

On the other hand, as shown in FIG. 4, the inspection unit 200 may include an image capturing unit 230 capable of capturing an image of the exterior of the mooring chain C, and an image capturing unit 230, And an image processing unit 270 for separating and recognizing foreign matter adhering to the surfaces of the mooring chain C and the mooring chain C.

Here, the image capturing unit 230 is a high-resolution camera for capturing the appearance of the mooring chain (C), and can transmit a high-quality image even on the deep sea, and it is equipped with a self- So that it can be photographed.

As shown in FIG. 4, the image capturing unit 230 may include a plurality of image capturing units 230, and even if the image capturing unit 230 is configured alone, the body part 100 according to the present invention may be provided by a propulsion unit 400 Since it is rotatable around the mooring chain C, it is possible to photograph the mooring chain C so that there is no rectangular area.

In the case of the image processing unit 270, the shape information and the state information of the mooring chain C previously input at the time of designing, or the image of the mooring chain C photographed previously through the image pickup unit 230 Information on the mooring chain (C) and the image information of the mooring chain (C) captured in real time can be distinguished from foreign substances attached to the surface of the mooring chain (C).

At this time, the foreign matter adhering to the surface of the mooring chain (C) adheres to the surface of the mooring chain (C), causing various marine organisms and algae which adversely affect the life of the mooring chain (C) C), and the like.

5, the inspection unit 200 includes a 3D scanning unit 250 for scanning the mooring chain C three-dimensionally by irradiating a plurality of laser beams of the mooring chain (C) .

The 3D scanning unit 250 can measure the distance between the 3D scanning unit 250 and the mooring chain C by irradiating a laser beam or infrared rays toward the surface of the mooring chain C.

Thus, the 3D scanning unit 250 continuously irradiates a laser beam or infrared rays along the surface of the mooring chain C and continuously combines the series of measured distance values measured at each point, The overall surface shape can be measured.

In the case of the above-described 3D scanning unit, the image processing unit 270 may be configured beforehand. The image processing unit 270 may include shape information and state information of the mooring chain C, Or by comparing the image information of the mooring chain (C) measured through the 3D scanning unit (250) with the image information of the mooring chain (C) measured in real time by attaching the mooring chain (C) It is possible to separate and recognize foreign matter.

In addition, as shown in FIG. 6, the checking unit 200 may further include a mapping unit 290 in this embodiment.

The mapping unit 290 is configured to detect a deformation amount of the mooring chain C obtained through the inspection unit 200 including the URSS 210, the image capturing unit 230 and the 3D scanning unit 250, At least one or more inspection results TR may be stored at predetermined time intervals and a change over time of the mooring chain C may be tracked based on the inspection result TR.

In this embodiment, the amount of change and the degree of defect of the mooring chain C over time can be tracked through the mapping unit 290 as described above, and the life of the mooring chain (C) It is possible to maintain maintenance by pre-repairing and reinforcing the mooring chain (C) by analogizing the expected points.

Further, in designing the mooring chain C in the future, it can also have a long-term advantage in that it can be designed to reinforce the weak portion of the mooring chain C based on the data accumulated through the mapping unit 290.

Then, the jetting unit 300 is configured to remove foreign substances on the surface of the mooring chain C according to the inspection result of the above-described inspection unit.

7, the jetting unit 300 includes a pump unit 320 for receiving seawater in the water and compressing the seawater to a high pressure, and a pump unit 320 for supplying the seawater compressed at a high pressure to a mooring chain C of the nozzle unit 310. As shown in Fig.

The nozzle unit 310 is an injector capable of injecting high-pressure seawater. The injector 310 injects high-pressure seawater into the foreign substance attached to the surface of the mooring chain C based on the image information photographed through the inspection unit 200, So that the foreign matter can be removed.

The plurality of nozzle units 310 may be provided in the body 100 as shown in FIG. 7, and at least one of the plurality of nozzle units 310 may be selectively operated as needed.

Further, the nozzle unit 310 can be rotated and tilted on the body 100 to adjust the spraying direction.

In the meantime, although the nozzle unit 310 according to the present embodiment is constituted independently of a plurality of nozzles, the body 100 according to the present invention can be rotated around the mooring chain C by the propelling unit 400 So that the removing operation can be carried out without removing a rectangular area in removing the foreign matter on the surface of the mooring chain (C).

Next, the propelling unit 400 is configured to provide thrust to the body 100 so that the body 100 described above can be moved on the mooring chain C.

As shown in FIG. 8, the propelling unit 400 may include a plurality of propeller units 410 provided on the outer surface of the body 100.

At this time, some of the plurality of propeller units 410 may be installed so that the body 100 can move up and down along the mooring chain C.

That is, the body 100 may be fixed at a predetermined angle so as to provide a thrust in accordance with the direction in which the body 100 is bound and moved on the mooring chain C.

Meanwhile, the remaining part of the plurality of propeller units 410 may provide a thrust so that the body 100 can rotate about the mooring chain C.

That is, the propeller units 410, which provide the thrust in accordance with the direction in which the body 100 is moved, cross the thrust direction with the propeller units 410 so that the body 100 rotates about the mooring chain C The thrust can be provided.

Accordingly, the monitoring robot of the mooring chain according to the present invention is not only movable on the mooring chain (C) but also can be rotated around the mooring chain (C).

Thus, even if the image capturing unit 210, the 3D scanning unit 230, the nozzle unit 310 of the jetting unit 300, etc. of the inspection unit 200 described above are constituted independently of a plurality of nozzles, It is possible to perform the corresponding operation throughout the mooring chain (C).

9, the propelling unit 400 includes a plurality of propeller units 410 provided on the outer surface of the body 100, and the propeller unit 410 includes a plurality of propeller units 410, (Not shown).

That is, the plurality of propeller units 410 can adjust the propelling direction through rotation, so that the body 100 can move up and down along the mooring chain C, Or both the movement and the rotation start can be made possible at the same time.

As described above, the plurality of propeller units 410 include the effects obtained when the thrust direction of the propeller unit 410 is set so as to cross the propeller unit 410 by constructing the thrust vector control system capable of rotating individually There is an advantage that the thrust releasing direction can be optimized in accordance with the starting purpose of the body portion 100. [

That is, when the body 100 moves along the mooring chain C, all of the propeller units 410 can provide a thrust in the thrust direction optimized in accordance with the moving direction of the body 100, When the rotor 100 rotates about the mooring chain C, the plurality of propeller units 410 can similarly provide a thrust in the thrust direction optimized for the rotational direction.

In addition, since the plurality of propeller units 410 can independently adjust the thrust direction, various maneuvering of the monitoring robot of the mooring chain according to the present invention can be performed.

10, in the present embodiment, when the body part 100 is started by the above-described pushing part 400, the body part 100 can smoothly move on the mooring chain C And a plurality of pressure sensor units 130 provided on the inner surface of the hollow portion of the body portion 100. [

The pressure sensor unit 130 senses the pressure change due to the contact with the mooring chain C when the body 100 is started by the propelling unit 400 and signals the pressure change to the propulsion unit 400 ) Of the propeller unit and the thrust direction of the thrust can be controlled.

That is, when a signal due to the contact of the mooring chain C is generated in the pressure sensor unit 130, contact with the mooring chain C of the plurality of pressure sensor units 130 occurs The output of the propeller unit of the propelling unit 400 which applies thrust to the pressure sensor unit 130 side can be reduced or stopped.

This control process can be continuously and organically performed so that the body 100 can smoothly move on the mooring chain C without jamming when the body 100 is started through the propelling unit 400 have.

Meanwhile, in the present embodiment, a power supply source for supplying power necessary for operating the inspection unit 200, the spray unit 300, and the propulsion unit 400 may be required.

Although not shown in the drawing, such a power source may use a battery built in the body 100, and may include a self-charging unit 140 capable of generating and charging electric power using sunlight as shown in FIG. 11 .

As the monitoring robot of the mooring chain according to the present invention performs the monitoring operation, it travels on the mooring chain (C), and thus it travels between the deep sea and the deep sea.

At this time, the self-charging unit 140 is provided on the body 100, and when the monitoring robot of the mooring chain is positioned on the ground, the electric power necessary for the monitoring operation of the mooring chain C is charged using sunlight .

12, the inspection unit 200 is provided in a separate space spatially separated from the body 100 (for example, a control room of a floating vessel or floating structure) The main body 100 may further include a communication unit 150 and a control unit 170. The control unit 170 controls the operation of the driving unit 300 and the driving unit 400. [

Here, the communication unit 150 transmits the inspection result of the inspection unit 200 to the main control unit 500 and receives the control signal of the jet unit 300 and the control signal of the propulsion unit 400 from the main control unit 500 .

Meanwhile, the control unit 170 may control the operation of the inspection unit 200, the spray unit 300, and the propulsion unit 400 according to the control signal received from the communication unit 150 in advance.

13, the communication unit 150 may include a wireless communication module 152 capable of short-distance communication with the main control unit 500 via the wireless network, or a cable (not shown) connected to the main control unit 500, And a wired communication module 154 that can communicate with the main control unit 500 in a wired manner and perform long-distance communication.

In the case of a cable used for constructing the wired communication module 154 at this time, in order to cover a power source which may be insufficient only by the above-mentioned self-charging unit (140 in FIG. 11) It can also be used to send out the power required to perform the monitoring work of the monitoring robot.

12, in addition to the communication unit 150, the environment recognition unit 160 may be further provided in the body 100, as shown in FIG.

The environmental recognition unit 160 identifies an obstacle located on the mooring chain C or underwater by using at least one of a sound wave and an ultrasonic wave when the body 100 is moved by the propelling unit 400 And the moving speed and position of the body part 100 can be measured.

The environment recognition unit 160 includes an ultrasonic sensor and is capable of measuring the velocity and position of the body 100 using the Doppler effect obtained by the relative movement of the main controller 500 and the ultrasonic sensor have.

The environment recognition unit 160 may also include an underwater sonar (SONAR) that identifies underwater locations and obstacles in the body 100 and the mooring chain (C).

The environment recognizing unit 160 further includes a flow rate measuring sensor for measuring the flow rate of water in the body 100 in which the body 100 floats, a depth measurement sensor for measuring the depth of water in which the body 100 is located, And a temperature measuring sensor for measuring the temperature.

14, the connection state of the mooring chain C can be grasped through the environment recognizing unit 160. In this case, the body part 100 moves on the mooring chain C The environment recognizing unit 160 stores the movement path of the body part 100 in units of a predetermined time and tracks the movement path of the body part 100 with a lapse of time, It is possible to grasp the connection state of the mooring chain (C) connecting the seabed surface (SB).

Here, the connection state of the mooring chain C refers to a form and a state in which a plurality of mooring chains C connecting the floating wand 10 and the sea floor SB are respectively stretched in water.

As described above, as a method of mooring the floating structure 10, a multi-point mooring method using a plurality of mooring lines is used as mentioned in the Background of the Invention.

On the other hand, the floating structure 10 is caused to flow to a certain degree even when it is moored through a plurality of mooring lines according to the change of marine environment such as ocean currents, thereby changing the position of the sea floor.

Accordingly, the shape of the mooring chain (C) that forms the mooring line in the water and the tension applied to each mooring chain (C) can be differentiated to one side.

The monitoring robot 1000 of the mooring chain according to the present invention is installed in each mooring chain C constituting the mooring line and includes the environment recognition unit 160 so that the mooring chain C is stretched in water And the degree of deviation of the applied tension can be individually grasped.

Thus, it is possible to grasp the connection state and degree of change of the mooring chain (C) according to the change of the marine environment, and serious defects such as the maintenance and replacement of the mooring chain (C) are generated through the monitoring robot of the mooring chain , It is possible to quickly input the work force to the defect occurrence point of the mooring chain (C).

1000: Monitoring robot of mooring chain
100: body part 200:
110: ballast unit 210: URSS
120: lighting unit 230: image capturing unit
130: Pressure sensor unit 250: 3D scanning unit
140: self-charging unit 270: image processing unit
150: communication unit 290: mapping unit
160: environment recognition unit
170: control unit
300: jetting part 400: propelling part
310: nozzle unit 410: propeller unit
320: pump unit
500: main control section C: mooring chain

Claims (11)

A body portion formed to be movable on the mooring chain by forming a hollow portion through which a mooring chain can pass;
An inspection unit for inspecting surface and internal defects of the mooring chain;
A spraying unit for spraying a high-pressure fluid to remove foreign matters on the surface of the mooring chain according to the inspection result of the inspection unit; And
And a pushing portion for providing a thrust force to move the body portion on the mooring chain,
[0027]
And a plurality of propeller units rotatably provided on an outer surface of the body portion so that the body portion is bound on the mooring chain and can simultaneously move, rotate, move, and rotate along the mooring chain,
The propeller unit includes:
And a thrust vector control system that individually rotates in accordance with the purpose of starting the body to control the direction of thrust force release, when the body part moves along the mooring chain, all the propeller units provide thrust in accordance with the direction of movement of the body part When the body part rotates about the mooring chain, all the propeller units provide thrust in accordance with the rotational direction of the body part, and when the body part is simultaneously moved and rotated, And the other propeller units provide a thrust in accordance with the rotational direction of the body portion. The method according to claim 1,
The body portion
Further comprising a ballast unit adapted to receive and discharge seawater therein to provide variable buoyancy. The method according to claim 1,
The body portion
Further comprising a plurality of pressure sensor units provided on an inner side surface of the hollow portion to sense contact between the body portion and the mooring chain and to control the operation of the propulsion unit, the propulsion direction and the velocity. The method according to claim 1,
Wherein,
And a URSS (Ultrasonic Ring Scan System) provided on the inner surface of the hollow portion or inside the body to surround the mooring chain and measuring a deformation amount and a crack of the mooring chain using ultrasonic waves Monitoring robot. The method according to claim 1,
Wherein,
An image photographing unit capable of photographing an appearance of the mooring chain; And
And an image processing unit for separating and recognizing foreign matter attached to the surface of the mooring chain and the mooring chain through image information photographed through the image capturing unit. The method according to claim 1,
Wherein,
A 3D scanning unit for scanning the mooring chain in three dimensions by irradiating the mooring chain with a plurality of lasers; And
And an image processing unit for separating and recognizing foreign matter attached to the surface of the mooring chain and the mooring chain through image information scanned through the 3D scanning unit. 7. The method according to any one of claims 4 to 6,
Wherein,
At least one or more inspection results of the deformation amount, crack, and image information of the mooring chain obtained through the inspection unit are stored at predetermined time intervals, and a mapping for tracking changes over time of the mooring chain based on the inspection results A monitoring robot of a mooring chain further comprising a unit. The method according to claim 1,
The injection unit
A pump unit for receiving seawater in the water and compressing the seawater at a high pressure; And
And a nozzle unit for spraying the seawater compressed at a high pressure by the pump unit to the mooring chain. delete The method according to claim 1,
Further comprising a main control unit provided at a separate space spatially separated from the body unit and controlling the inspection unit, the jetting unit, and the propulsion unit,
The body portion
A communication unit capable of transmitting the inspection result of the inspection unit to the main control unit and receiving a control signal of the jet unit and a control signal of the propulsion unit from the main control unit; And
Further comprising a control unit for controlling operations of said inspection unit, said jetting unit, and said propulsion unit in accordance with said control signal received from said communication unit. The method according to claim 1,
The body portion
An environmental recognition unit which can identify an obstacle located on the mooring chain or underwater by using at least one of sound waves and ultrasonic waves when moving by the propulsion unit and measures the moving speed and position of the body part Monitoring robots of mooring chains included.
KR1020150127381A 2015-09-09 2015-09-09 Monitoring robot for mooring chain KR101762654B1 (en)

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CN110055482A (en) * 2019-04-29 2019-07-26 亚星（镇江）系泊链有限公司 Chain link lifts rotating device and method
KR102099056B1 (en) * 2019-10-14 2020-05-22 서울특별시 System for safety inspecton about underwater facility by using drones

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KR101225691B1 (en) * 2011-09-02 2013-01-23 삼성중공업 주식회사 Maintenance robot for wind power generator
KR101313545B1 (en) * 2011-09-02 2013-10-01 (주)컨벡스 Self power generating robot of buoy type
JP5718776B2 (en) * 2011-09-27 2015-05-13 ヤンマー株式会社 Underwater cleaning robot

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KR200326719Y1 (en) * 2003-06-03 2003-09-19 인태환 A robot for inspecting a cable
KR101225691B1 (en) * 2011-09-02 2013-01-23 삼성중공업 주식회사 Maintenance robot for wind power generator
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CN110055482A (en) * 2019-04-29 2019-07-26 亚星（镇江）系泊链有限公司 Chain link lifts rotating device and method
CN110055482B (en) * 2019-04-29 2021-01-26 亚星（镇江）系泊链有限公司 Chain ring lifting and rotating device and method
KR102099056B1 (en) * 2019-10-14 2020-05-22 서울특별시 System for safety inspecton about underwater facility by using drones

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