KR101802972B1 - Manned underwater construction robot system - Google Patents

Abstract

The present invention relates to a manned underwater construction robot system, allowing a worker to get on and perform underwater work. According to the present invention, the system comprises: a manned underwater construction robot body including a driving body, an upper rotary body wherein a worker riding part, which is a waterproof structure, is mounted and rotated, and a multi-joint type multi-arm installed in the upper rotary body to be operated in accordance with operation of a rider; an active sonar mounted on the robot body to forwardly eject an ultrasound wave and detecting a returned reflective wave to acquire a three-dimensional (3D) image of an external topology; an underwater camera mounted on the robot body to photograph a front image; a control unit extracting features from the 3D image of the external topology and the image photographed by the underwater camera to match 3D external topologic data with coordinates of the photographed image; and a display device to simultaneously output the photographed image and an external topology grid image representing the 3D external topologic data in a grid type on a screen.

Description

{MANNED UNDERWATER CONSTRUCTION ROBOT SYSTEM}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater construction robot, and more particularly, to an underwater underwater construction robot system in which an operator can ride and underwater.

Marine structures and structures are being constructed in various forms as the human activity space extends beyond the ground and into the marine area. Such marine buildings and structures are diverse in their types and forms, including bridges across the islands of the sea, submarine tunnels, coastal structures, and various energy-related structures such as wind power generation, tidal power generation and wave power generation. Therefore, equipment such as forklifts, bulldozers, etc., which are used for construction on the ground, became necessary in underwater construction work.

Underwater construction equipments are being developed to enable underwater operations such as forklifts and bulldozers on the ground. Manned underwater construction equipments are also being developed for people to directly ride and operate the equipments.

However, unlike the ground, underwater construction works have difficulty in securing visibility because they do not sink easily due to various characteristics such as floats and dirt that occurs during construction work. Therefore, it is an indispensable factor to ensure adequate visibility for efficient construction work on the manned underwater construction equipment on which the operator is boarded.

Therefore, it is an important issue to support a worker working in the water to secure a normal view. In addition, if a plurality of jobs can be combined with a single construction equipment without inputting a plurality of underwater construction equipment, It is possible to maximize the efficiency of this poor underwater construction work and to improve the efficiency of equipment operation.

Japanese Patent Laid-Open No. 2000-309941

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide an augmented reality-based manned underwater construction work robot system capable of efficiently securing a field of view during underwater construction work,

Still another object of the present invention is to provide a robot system for construction work underwater which can be operated by a worker on an underwater basis, and which has a multi-arm structure capable of performing various tasks without exchanging equipment underwater An augmented reality based manned underwater construction robot system.

According to an aspect of the present invention, there is provided an augmented reality-based manned underwater construction work robot system,

An underwater construction method, comprising: a traveling body; an upper revolving structure on which a worker aboarding portion as a waterproof structure is mounted and rotated on the traveling body; and a multi-armed multi-arm provided in the upper revolving structure and operated in accordance with an occupant operation, A work robot body;

An active sonar mounted on the robot body to emit an ultrasonic wave in a forward direction and to sense an external reflected wave to acquire an external terrain 3D image;

An underwater camera mounted on the robot body for capturing a forward image;

A control unit for extracting image feature points from the external terrain 3D image and the captured image of the underwater camera to match the external terrain 3D data and the captured image coordinates;

And a display device for simultaneously outputting the photographed image and the external terrain grid image representing the external terrain 3D data in a grid form.

The multi-joint type multi-arm of the above-described underwater underwater construction robot system,

A third joint rotated up and down by a motor in the robot body; a second joint rotated up and down by a motor in the first joint; a third joint rotated 360 degrees horizontally by a motor in the second joint; A sixth joint rotating up and down by a motor in the fifth joint, and a fourth joint rotating up and down by a motor in the third joint; And a first arm provided with a finger for taking a target by motor driving in the sixth joint,

The multi-joint type multi-arm further includes a second arm including a plurality of arms connected to be operated by a hydraulic pump and a hydraulic cylinder, and a bucket is coupled to one side of one of the plurality of arms It is another feature.

Also, the control unit may extract the protruding object protruding from the surrounding terrain from the external terrain 3D data, display the position of the protruding object on the display device, calculate the distance and size to the protruding object, And a distance and a size to the protruding object are displayed together,

The control unit classifies the type of the protruding object into rocks, hills, and mountains according to the size of the protruding object, and displays the type of the protruding object on the screen on the display device, thereby realizing an augmented reality.

In the underwater construction work robot system according to the embodiment of the present invention, by providing the multi-arm, it is possible to perform a plurality of operations in water, for example, excavation work, drilling work or cutting work, There is an advantage that can be performed with a robot,

Since the captured image obtained by the camera and the 3D image of the external terrain acquired by the active sonar can be superimposed and displayed on the grid, there is an advantage in that a safe view can be secured in the water, and the present position of the robot system It is possible to realize an augmented reality by displaying the information together.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating an example of a usage concept of a manned underwater construction work robot system according to an embodiment of the present invention; FIG.
2 is an external perspective view of a manned underwater construction work robot system according to an embodiment of the present invention;
3 is a block diagram illustrating an example of a block configuration for implementing an augmented reality of a manned underwater construction work robot system according to an embodiment of the present invention.
FIG. 4 is an illustration of an interior of a worker's occupant portion of a manned underwater construction work robot system according to an embodiment of the present invention; FIG.
FIG. 5A is an exemplary view of a photographed image photographed by a camera, and FIG. 5B is an exemplary view of a photographed image and an external terrain grid image simultaneously output to a screen.
6 is a view showing a screen showing a location of a robot underwater construction work system displayed on an undersea topographic image and an undersea topographic image.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. Furthermore, the suffix "" " module "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed in the present specification may be unnecessarily obscured. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

1 is an exemplary view for showing the concept of use of the underwater underwater construction robot system 20 according to the embodiment of the present invention, and FIG. 2 is a schematic view of the underwater under construction robot system 20 according to the embodiment of the present invention. FIG. 3 illustrates a block diagram for implementing an augmented reality of a manned underwater construction robot system according to an embodiment of the present invention. Referring to FIG.

As shown in FIG. 1, the manned underwater construction robot system 20 according to the embodiment of the present invention may be connected to the command line 11 floating on the water surface through the power supply and the oxygen supply tube 12. Of course, if there is a sufficient space for the oxygen supply device to be loaded in the worker boarding portion of the manned underwater construction robot system 20, the oxygen supply tube is unnecessary, and only the power supply tube 12 will be connected. Although not shown, the manned underwater construction robot system 20 should be connected through a lead line 11 or a salvage line and a cable for safe underwater deployment and salvage.

Referring to FIGS. 2 and 3, a manned underwater construction work robot system according to an embodiment of the present invention includes:

A traveling body 21 and a worker abseiling portion 23 as a waterproof structure are mounted on the traveling body 21 to rotate and an upper swivel body 25 is provided on the upper swivel body 25, A manned underwater construction work robot body 20 including multi-armed type multi-arms 27 and 29, respectively,

An active sonar 30 mounted on the robot body 20 to emit an ultrasonic wave forward and detecting an external reflected wave to acquire an external terrain 3D image,

An underwater camera 40 mounted on the robot body 20 for capturing a forward image,

A control unit (50) for extracting image feature points from the external terrain 3D image and the captured image of the underwater camera (40), respectively, to match the external terrain 3D data and the captured image coordinates;

And a display device (60) for simultaneously outputting the photographed image and the external terrain grid image in which the external terrain 3D data is expressed in a grid form.

The underwater underwater construction robot system 20 having the above-described configuration can perform the construction work while moving on the submarine topography by the traveling body 21. [ It is preferable that a sensor unit capable of measuring temperature, pressure and oxygen concentration inside the boarding section 23 is provided as a means for securing workers in the worker boarding section 23 of the manned underwater construction robot main body 20 And the measured values measured by the sensor unit are displayed on the display device 60 in real time under the control of the controller 50. [ The upper revolving structure 25 is provided with an electric and mechanical construction necessary for driving a hydraulic pump for driving the multi-armed type multi-arcs 27 and 29, an operating oil tank, a voltage converter, Are mounted and mounted in the waterproof structure.

The multi-arm type multi-arm (27, 29) has a first arm (27) and a second arm (27) so that the manned underwater construction work lobe system (20) (29).

2, the first arm 27 includes a first joint 27-1 which is vertically rotated by a motor in the robot body 20 and a second joint 27-1 which is rotated up and down by a motor in the first joint 27-1. A third joint 27-3 horizontally pivoted 360 degrees by the motor in the second joint 27-2 and a third joint 27-3 which is rotated by the motor in the third joint 27-2, A fifth joint 27-5 which is rotated 360 degrees horizontally by a motor in the fourth joint 27-4 and a fourth joint 27-4 which is rotated up and down in the fifth joint 27-5, A sixth joint 27-6 that is rotated up and down by a motor and a finger 27-7 that is provided at one end of the sixth joint 27-6 to pick up the target by motor driving in the sixth joint 27-6, 8) and is used to collect the target. The fingers 27-8 of this first arm 27 may be exchanged for other construction equipment and used for other applications, such as cutting, drilling, rock punching applications.

The second arm (29) constituting the multi-joint type multi-arm includes a plurality of arms (29-1, 29-2) connected to be operated by a hydraulic pump and a hydraulic cylinder, and one of the plurality of arms And a bucket 29-3 is coupled to one side of the bottom surface 29-2 and used to dig the bottom surface.

Meanwhile, the controller 50 may extract the feature points from the external terrain 3D data and the camera images, respectively, and match the coordinates of the external terrain 3D data and the captured image. A feature point is a point where it is distinguished from the surrounding background by a numerical difference such as an angle, brightness, and saturation when an object is tracked or recognized in the image, and the feature point corresponds to the corner (vertex) of the object. That is, the controller 50 extracts feature points from the external terrain 3D data obtained by the active sonar 30 and the captured image obtained by the underwater camera 40, and matches the extracted feature points with the external terrain 3D data, The coordinates of the image can be matched.

On the other hand, the display device 60 is installed in the worker's boarding part 23, and simultaneously displays and displays the photographed image and the external terrain grid image representing the external terrain 3D image in a grid form under the control of the controller 50 . 5 (b) is an exemplary screen in which the photographed image and the external terrain type 3D image are displayed simultaneously in a grid form.

Furthermore, the controller 50 can extract the protruding object protruding from the surrounding terrain from the external terrain 3D data, and calculate the distance and size to the protruding object. For example, when the diameter is less than 2 m, the control unit 50 may classify the type. For example, when the diameter is more than 2 m and less than 20 m, the hill may be used. When the diameter is more than 20 m, .

In this case, the position of the protruding object can be displayed on the screen as shown in FIG. 5 (b) under the control of the control unit 50, and the distance and size to the protruding object, The types can be displayed together.

This enables the operator to accurately grasp the external terrain, and also to know the distance, position, and size to the protruding objects such as rocks, hills, mountains, etc. located at the front, The safety of the apparatus can be enhanced.

The control unit 50 can generate a virtual image of the robot body 20 and display the virtual image on the display device 60. The controller 50 senses the motion of the traveling body 21 and displays the virtual image of the robot body 20, The augmented reality can be implemented by moving the virtual image so that the motion of the main body 20 matches. Through the augmented reality screen displayed on the display device 60, the worker can secure a view more efficiently than by the naked eye, thereby improving the accuracy and efficiency of the construction work.

Furthermore, the robot main body 20 can be used to secure a field of view in front of the robot main body 20 by mounting an illuminating part. If necessary, the robot main body 20 can be used to secure a turbid underwater field of view using a water jet or the like.

As an alternative embodiment, the manned underwater construction robot system 20 according to the embodiment of the present invention may further include a wireless communication unit. For example, the command line 11 shown in FIG. 1 may have a multi-beam sonar 11a at the bottom. The multi-beam sonar 11a radiates a plurality of ultrasonic waves downward to a predetermined area, It is possible to detect the submarine topography.

Therefore, the control unit 50 can receive the data of the undersurface shape acquired by the multi-beam sonar 11a of the command line 11 through the wireless communication unit, and display the imaged data on the display unit 60. In some cases, the controller 50 may extract feature points from the submarine topographic data and then match the submarine topographic data, the external terrain 3D data, and the captured image. The position of the robot body 20 can be displayed on the undersurface topographic image. 6 is an exemplary screen showing the location of the underwater construction robot system 20 on the undersea topography image and the undersea topography image thereof.

Accordingly, the operator can accurately recognize the current position of the manned underwater construction work robot system 20, and if there are several manned underwater construction work robot systems 20, the nearby robot system 100 can also be located Efficient underwater construction work is possible.

As described above, the manned underwater construction work robot system 20 according to the embodiment of the present invention is equipped with the multi-arm so that a plurality of operations in water, for example, excavation work and drilling work Cutting operation can be performed by a single underwater construction robot,

Since the captured image obtained by the camera and the 3D image of the external terrain acquired by the active sonar can be superimposed and displayed on the grid, there is an advantage in that a safe view can be secured in the water, and the present position of the robot system It is possible to realize an augmented reality by displaying the information together.

While the invention has been shown and described with reference to certain embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. For example, in the embodiment of the present invention, a multi-joint type robot system having two arms is exemplified. However, the number of multi-arms can be designed to be three or more, It may be fitted to the number of bankruptcies. Accordingly, the true scope of the present invention should be determined only by the appended claims.

Claims (6)

An underwater construction method, comprising: a traveling body; an upper revolving structure on which a worker aboarding portion as a waterproof structure is mounted and rotated on the traveling body; and a multi-armed multi-arm provided on the upper revolving structure, A work robot body;
An active sonar mounted on the robot body to emit an ultrasonic wave in a forward direction and to sense an external reflected wave to acquire an external terrain 3D image;
An underwater camera mounted on the robot body for capturing a forward image;
A control unit for extracting image feature points from the external terrain 3D image and the captured image of the underwater camera to match the external terrain 3D data and the captured image coordinates;
And a display device for simultaneously outputting the photographed image and the external terrain grid image representing the external terrain 3D data in a grid form,
Extracting a protruding object protruding from the surrounding terrain from the external terrain 3D data, and displaying the position of the protruding object on the display device.
The multi-armed type multi-arm according to claim 1,
A third joint rotated up and down by a motor in the robot body; a second joint rotated up and down by a motor in the first joint; a third joint rotated 360 degrees horizontally by a motor in the second joint; A sixth joint rotating up and down by a motor in the fifth joint, and a fourth joint rotating up and down by a motor in the third joint; And a first arm provided with a finger for collecting the target by motor driving in the sixth joint.
3. The multi-armed type multi-arm according to claim 2,
And a second arm including a plurality of arms connected to be operated by a hydraulic pump and a hydraulic cylinder, wherein a bucket is coupled to one side of the plurality of arms. .
delete The robot system according to claim 1, wherein the controller calculates the distance and size to the protruding object, and displays the distance and the size to the protruding object on the display device.
6. The underwater construction work robot system according to claim 5, wherein the control unit classifies types into rock, hill and mountain depending on the size of the protruding object, and displays the type of the protruding object on the screen on the display device .

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