KR102024385B1

KR102024385B1 - a remotely-operated vehicle under the water

Info

Publication number: KR102024385B1
Application number: KR1020130013817A
Authority: KR
Inventors: 이병혁
Original assignee: 한국조선해양 주식회사
Priority date: 2013-02-07
Filing date: 2013-02-07
Publication date: 2019-09-24
Also published as: KR20140101040A

Abstract

Underwater teleworking apparatus according to the present invention is a leg portion consisting of a first rotating portion rotatably fixed to the body portion, extending from the rotating portion and consisting of at least two arms and joints connecting the respective arms, the end of the leg portion Located in and fixed to the workpiece, and a second rotating portion for rotating the leg portion around the fixing portion, to fix the fixing portion to the workpiece, the rotation of the first and second rotating parts and Through the folding of the joint is precisely moved relative to the workpiece, by providing a plurality of magnetic spots on the bottom of the fixing portion to minimize damage to the workpiece so that the fixing portion can be seated and fixed to the workpiece, A horizontal holding means is provided to offset the change in the center of gravity due to the drawing of the working pressure.

Description

A remotely-operated vehicle under the water

The present invention relates to an underwater teleworking apparatus, and more particularly, to an underwater teleworking apparatus capable of relatively precise movement with respect to a workpiece and capable of effective horizontal posture control.

ROV means a remotely-operated vehicle, which means a vehicle that is driven by remote control with its own propulsion power. And, the underwater ROV means an underwater remote working device that is moved by a remote control for unmanned work in the water. Underwater ROV is hereinafter referred to as underwater teleworking device.

1 is a schematic diagram showing a working environment of an underwater teleworking device.

As shown in Figure 1, the underwater remote working device is connected to the cable (3) for power supply and remote control, etc. from the vessel (2) is lowered to the seabed (6) working position. In general, underwater teleworking devices are designed to counterbalance buoyancy and gravity and operate under waterless gravity in water. Therefore, it is greatly affected by the algae and is lowered to the working position in a direction biased toward the algae as shown in FIG. 1, and is moved to the work position adjacent to the work piece 1 by using a self-propelled device. In the case of a severe tidal current, the position of the ship is moved in the opposite direction in consideration of the tidal current. In addition, the influence of the algae is not limited to the cable 3 is biased to one side, the left and right movement is generated by the vortex induced vibration (VIV). Then, the cable 3 is moved in the vertical direction in real time by the movement of the vessel interacting with the blue.

In addition, in the case of a propulsion device using the action and reaction with water, such as a propeller, there is no big problem in approaching the object (1), but there is a great difficulty in setting the correct work position based on the object (1). Follow. This is because the effects of tidal current and blue can not be ignored, because the resistance to water is not large when moving by the propulsion device is affected by inertia a lot.

In addition, when the work arm is extended with respect to the work object 1, the entire center of gravity of the device is changed to cause the entire device to be tilted to the lower side of the work arm. As a result, precise control for accurate work position setting becomes more difficult. . Conventionally, it has been attempted to control the posture horizontally using a propulsion device, but as described above, there was a difficulty in the horizontal control due to the effects of algae and inertia.

In addition, it is common for an operator to remotely control the underwater remote work device by checking and controlling an image transmitted through a camera installed in the underwater remote work device with a monitor. However, since the deep sea working environment has almost no light and floats are floating, there is a problem that accurate control is impossible because it is difficult to secure the field of view even if a light is installed in the remote remote work device.

The present invention, in order to solve the above-mentioned problems, the underwater remote working device can be precisely moved to the correct working position in the vicinity of the workpiece, and at the same time can eliminate the inclination according to the withdrawal of the working arm, dark work It is an object of the present invention to provide an underwater remote working device that can precisely locate precise work even in an environment and automatically perform precise underwater work.

The underwater remote operation apparatus according to the present invention devised to solve the above problems is a first rotating part which is rotatably fixed to a body part, extending from the first rotating part and connecting at least two arms and the respective arms. A leg part consisting of a joint, a fixing part positioned at an end of the leg part and fixed to a workpiece, a second rotating part rotating the leg part about the fixing part, and fixing the fixing part to a workpiece, Through the rotation of the first and second rotary parts and the folding of the joint is characterized in that the precise movement relative to the workpiece.

And, by providing a plurality of magnetic spots on the bottom surface of the fixing portion to minimize damage to the workpiece to be characterized in that the fixing portion can be seated and fixed to the workpiece.

In addition, it is characterized by providing a horizontal holding means to offset the change in the center of gravity in accordance with the withdrawal of the working pressure.

In addition, it is characterized in that to control the work position using a Position Reference System (PRS) installed around the work object.

Underwater teleworking apparatus according to the present invention is more than using a propulsion device by implementing the relative movement with respect to the workpiece by using the folding of the leg portion fixed to the workpiece and the rotation of the first and second rotational portion fixed to the workpiece. Precise working position can be set so as not to be sensitive to algae and inertia. As a result, the work time can be greatly shortened, and in general, large ships and a large number of manpower are required for underwater work, thereby greatly reducing the cost of underwater work according to the time shortening.

In addition, by providing a horizontal holding means inside the body portion can prevent the tilt phenomenon due to the withdrawal of the work arm, it is possible to prevent the tilting site due to the withdrawal of the leg portion. Compared to the control of the posture again using a conventional propulsion device, it is possible to increase the precision and reduce the time required. Thus, this also greatly reduces the cost of underwater work.

On the other hand, by providing a plurality of magnetic spots and by causing the magnetic force to be selectively or sequentially generated there is an effect that can prevent damage to the workpiece during the mounting of the fixing portion.

In addition, by using the Position Reference System (PRS) installed around the work object, by setting the work position of the underwater remote work device, it is possible to set the exact work position without depending on the operator's manual operation according to the camera image in the dark working environment In addition, there is an effect that can automatically perform precision work through the sensor installed in the work arm.

1 is a conceptual diagram showing an underwater teleworking device descended into the deep sea.
Figure 2 corresponds to the main configuration diagram showing the underwater work apparatus according to an embodiment of the present invention.
Figure 3 shows the magnetic portion formed of the fixed portion 30 and the circular spot of the underwater work device according to an embodiment of the present invention, (a) is a bottom view and (b) corresponds to a side view.
Figure 4 is a bottom view showing a magnetic portion made of a fan-shaped spot according to an embodiment of the present invention.
5 is a schematic diagram illustrating a telescopic arm in accordance with one embodiment of the present invention.
6 is a schematic diagram illustrating a folding arm according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 corresponds to a perspective view showing the main configuration of the underwater teleworking apparatus according to an embodiment of the present invention.

As shown in FIG. 2, the underwater work apparatus according to the present invention includes a body part 10 to which the work arm 40 is connected, and a leg part 20 to fix the body part 10 and the work object to each other. It is composed. In FIG. 2, the body part is illustrated in a box shape, but may be formed in various shapes, and may be made of only a frame constituting a skeleton of the device.

On the other hand, the leg portion 20 of the present invention is fixed to the rotatable body portion 10 and at least two or more arms (22a, 22b, 22c, 22d) and the arms (22a, 22b, 22c, 22d) It consists of at least one joint (23a, 23b, 23c) connecting the. As shown in Figure 1, by using the folding of the joint (23a, 23b, 23c) to close the fixed portion 30 provided at the end of the leg portion 20 to the workpiece. As such, the fixing part 30 proximate to the workpiece is fixed to the workpiece by using the magnetic force of the magnetic parts 31a and 31b. If the workpiece is a conductor, it may be attached directly to the surface of the workpiece. If the workpiece is a non-conductor, the conductive member may be installed at the point where underwater work is expected.

In some cases, the fixing part 30 may be fixed to the workpiece by grasping a part of the workpiece or a member prepared in advance on the workpiece.

In addition, in the fixing part of the tongs shape, it may also be considered to include a magnetic part on the inner surface of the tongs. The details will be explained later.

After the fixing part 30 is fixed to the workpiece, the body part 10 may be moved by adjusting the folding of the joints 23a, 23b, and 23c, and between the leg part 20 and the body part 10. The first rotating part 21 is provided in the upper part, or the second rotating part 26 is provided between the leg part 20 and the fixing part 30 so that the body part 10 is centered around the fixing part 30. In some cases, both the first and second rotating parts 21 and 26 may be provided.

On the other hand, the arms (22a, 22b, 22c, 22d) is to minimize the resistance when moving from the ship to the workpiece, and the leg portion 20 and the fixing portion 30 to fix the center of gravity to the body portion ( 10) It is desirable to be drawn in.

On the other hand, as shown in Figures 5 and 6, it is preferable to fold the arm (22a, 22b, 22c, 22d) or to provide a telescope to minimize the overall length when moving. 5 shows a telescopic arm 24 and FIG. 6 shows a folding arm 25.

On the other hand, it is also conceivable to minimize the length of the leg portion 20 by fully folding each of the joints 23a, 23b, 23c.

On the other hand, the fixing part 30 may be formed in various shapes such as a disk shape, a polygonal plate shape. The magnetic parts 31a and 31b are located at the bottom of the fixing part 30.

3 and 4 illustrate a fixing part 30 and a magnetic part installed in the fixing part 30 according to an embodiment of the present invention. It shows the case consisting of the circular spot 31a of Figure 3, (a) is a bottom view, (b) corresponds to a side view. 4 corresponds to a bottom view showing a magnetic part formed of a fan-shaped spot.

As shown in FIGS. 3 and 4, the magnetic parts 31a and 31b may include a plurality of magnetic spots. The purpose of providing the magnetic parts 31a and 31b as a plurality of spots is to minimize damage to the workpiece surface when the fixing part 30 is attached to the workpiece. By providing a plurality of magnetic spots to generate a magnetic force selectively or sequentially, it can be seated with a small manpower during the initial approach and attachment, and the fixed portion 30 is seated by gradually increasing the magnetic force after being seated on the workpiece surface This is to make it more firmly fixed to the workpiece.

In addition, when the fixing part 30 approaches and contacts the workpiece, when the magnetic force is pressed by a predetermined number or more, the magnetic part is regarded as being in contact with the workpiece. The magnetic force is selectively generated to induce settling. This is to prevent the work in a state where the adhesive strength is small in contact with the sharp part of the workpiece.

The attachment method may be automatically attached using the above-described method, or may be manually attached by the operator through the camera 60 attached to the body part.

The plurality of magnetic spots may be formed as circular spots 31a as shown in FIG. 3. In addition, the circular spots 31a may be arranged at regular intervals to form concentric circles with the center of the disc at the bottom of the fixing part 30 so that the fixing part 30 may be fixed to the work object with a uniform force. Do.

On the other hand, the magnetic spot may be formed as a fan-shaped spot 31b. Here, the fan spot 31b means a magnetic spot formed in a fan shape. In this case, the fan spot 31b is formed by dividing the bottom surface of the disk-shaped fixing part 30 into a plurality of sectors of a predetermined size. It is preferable. Like the circular spot 31a, the fan-shaped spot 31b is also preferably generated with a selective or sequential magnetic force, and preferably formed at a predetermined interval and a predetermined size. The reason is the same as that described for the circular spot 31a.

As described above, it may be considered to provide a magnetic spot on the inner surface of the tong portion. When the magnetic spot is provided on the inner side of the tongs, when the tongs are flat, the inner side may be contacted with the workpiece to be fixed to the workpiece by using the magnetic force of the magnetic spot. The rat is fixed to the workpiece in a way. In the case of grabbing the workpiece, it is also possible to consider using the magnetic force of the magnetic spot to more firmly fix. The magnetic spot may be formed in various shapes such as a circle, a polygon, and a plurality of magnetic spots are provided on the inner side of the forceps, and it is preferable to generate magnetic force sequentially and selectively.

On the other hand, one embodiment of the present invention is configured to include a horizontal holding means for canceling the change in the center of gravity according to the work arm 40 is drawn out from the body portion (10). Since it is floating in water rather than fixed on the ground, the posture can be easily inclined due to the change in the center of gravity. Conventionally, this is controlled using a propulsion device, but as described above, there are many difficulties in precise posture control due to the effects of algae and inertia. In order to compensate for this, to provide a horizontal maintenance means that can adjust the center of gravity in the body portion 10.

The horizontal holding means is to adjust the center of gravity of the entire device by moving the weight portion 50, which may be made of a weight, etc. inside the body portion 10 as shown in FIG. When the working arm 40 is pulled out to the front of the device, the weight 50 is moved to the rear of the device, and when moved to the front left of the device, the weight is moved to the rear of the device to the right to offset the center of gravity movement. will be.

In other words, the horizontal holding means by moving the weight portion 50 provided in the body portion 10 in the opposite direction to the withdrawal direction of the work arm 40, the weight according to the withdrawal of the work arm 40 To offset central changes. The horizontal holding means may be installed at various positions of the body portion 10, but is preferably located at the bottom of the body portion 10 in terms of utilization and stability of the internal space.

More specifically, the horizontal holding means includes a first rail 51 for moving the weight portion 50 in the front-rear direction of the front of the body portion 10 in which the working arm 40 is installed.

Herein, the front of the body part 10 is provided with the working arm 40 based on FIGS. 1 and 2, and means a surface facing the work object. That is, the first rail 51 is movable in the front-rear direction when viewed from the front of the device.

In FIG. 2, the first rail 51 and the first driving unit 52 are formed as a pair, but one first rail 51 is installed at the center of the bottom of the body part 10, and the first rail 51 is disposed on the first rail 51. One first driving unit 52 may be provided, and the weight unit 50 may be fixed to the first driving unit 52 to move the weight unit 50 in the front and rear direction of the main body.

In addition, the horizontal holding means includes a second rail 53 for moving the weight portion 50 in the front-left direction of the body portion 10.

The first rail 51 and the second rail 53 may be separately provided in some cases, and the first rail 51 and the second rail 53 may be simultaneously provided.

When the first rail 51 and the second rail 53 are provided at the same time, the second rail 53 is placed on the first rail 51 so that the entire second rail 53 is the body portion 10. The weight portion 50 is moved in the front and rear directions, and the weight portion 50 is placed on the second rail 53 and moved in the front left and right directions of the body portion 10. Alternatively, on the contrary, the first rail 51 is placed on the second rail 53 so that the entire first rail 51 is moved in the front-left direction of the body portion 10, and the weight part 50 is It may be considered to be placed on the first rail 51 and moved in the front-back direction of the body portion 10.

As illustrated in FIG. 2, the first rail 51 is provided with a first driving part 52 to move the second rail 53 as a whole, and the second rail 53 is provided with a second driving part 54. It is provided to move the weight portion 50.

The first rail, the second rail, the first driving part and the second driving part may be implemented in various shapes and manners, which are not limited to the shapes and methods shown in FIG.

On the other hand, it is preferable to further include a tilt sensor for measuring the inclination of the body portion 10 for faster and more precise horizontal control. By receiving the inclination information of the body portion 10 from the inclination sensor in real time to keep the inclination of the body portion 10 horizontally by moving the weight portion 50.

Underwater teleworking apparatus according to an embodiment of the present invention is characterized in that the position setting using the Position Reference System (PRS). The float makes it possible to control the position of the underwater teleworking device even in difficult visibility.

More specifically, to install the workpiece, a position reference system (PRS) such as a high-acoustic position reference (HPR) and a high precision acoustic positioning (HIPP) is installed around the workpiece, and the position sensor is placed on the workpiece and the underwater remote work device. 3D scan by installing the position sensor as well as the body portion, the fixed part 30, the working arm 40, etc., by attaching a position sensor, it is possible to scan the movement of each drive element of the underwater remote working device. Depending on the operator's settings, not only the attachment of the fixture, but also the performance of the underwater task through the work arm to the workpiece after attachment of the fixture can be automated.

The positional relationship used to describe the present invention has been described with reference to the accompanying drawings, and the positional relationship may vary according to specific embodiments within the scope of not impairing the nature of the present invention.

Also, unless otherwise defined, all terms used in the present invention, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. will be. Moreover, unless expressly defined in this application, it should not be interpreted in an ideal or excessively formal sense.

In the above, the preferred embodiment of the present invention has been described and described, but, of course, the present embodiment is simply incorporated into the existing known technology or the present invention is simply modified. You will have to look.

1: workpiece 2: ship
3: cable 5: sleep
6: subsea 10: body part
20: leg portion 21: first rotating part
22a, 22b, 22c, 22d: arm 23a, 23b, 23c: joint
24: telescopic arm 25: folding arm
26: second rotating portion 30: fixed portion
31a: circular spot 31b: sector spot
40: working arm 50: weight part
51: first rail 52: the first driving unit
53: second rail 54: second driving part
60: camera

Claims

A first rotating part fixed to the body to be rotatable in a horizontal direction;
A leg part extending from the first rotation part and configured of at least two arms and a joint connecting the respective arms; And
A fixing part positioned at an end of the leg part and fixed to a workpiece;
Including,
Fixing the fixing part to the workpiece, and to be precisely moved relative to the workpiece through the rotation of the first rotary part and the folding of the joint,
The work position is controlled using a Position Reference System (PRS) installed around the work object,
The fixing unit includes a fixing unit position sensor interlocked with the Position Reference System (PRS) to control the position where the fixing unit is attached to the workpiece.

The method of claim 1,
The fixing part includes a magnetic part for fixing the fixing part to the workpiece by using a magnetic force.

The method of claim 2,
The fixing part is formed in a disc shape,
The magnetic part is located on the bottom of the disc, the underwater remote working device, characterized in that it comprises a plurality of magnetic spots.

The method of claim 3,
The plurality of magnetic spots are underwater teleworking device, characterized in that the magnetic force is generated selectively or sequentially in each of the magnetic spots so that they can be seated without damaging the workpiece.

The method of claim 4, wherein
The magnetic spot is formed as a circular spot, the underwater remote working device, characterized in that arranged on the bottom of the disc-shaped fixing portion at regular intervals concentric with the center of the disc.

The method of claim 4, wherein
The magnetic spot is formed as a fan-shaped spot, the fan-shaped spot is a water remote operation device, characterized in that the bottom surface of the disc-shaped fixing portion is divided into a plurality of sectors of a predetermined size.

The method of claim 1,
Underwater remote operation device, characterized in that the fixing portion is made of tongs.

delete

A work arm withdrawn from the body to perform work on the workpiece;
Underwater remote working device comprising a; horizontal holding means for canceling the change in the center of gravity according to the withdrawal of the working arm.

The method of claim 15,
The horizontal holding means is to move the weight provided in the body in the direction opposite to the drawing direction of the working arm to cancel the change in the center of gravity according to the withdrawal of the working arm.

The method of claim 16,
And said horizontal holding means comprises a first rail for moving said weight portion in the front and rear direction of the front of the body portion on which said work arm is installed.

The method of claim 17,
The horizontal holding means further comprises a second rail for moving the weight portion in the front-left direction of the body portion.

The method of claim 18,
The second rail is placed on the first rail so that the entire second rail moves in the front and rear direction of the body portion.
And the weight portion is placed on the second rail and moved in the front-left direction of the body portion.

The method of claim 16,
Further comprising a tilt sensor for measuring the inclination of the body portion,
Underwater remote operation apparatus, characterized in that for maintaining the inclination of the body portion by moving the weight portion receives the inclination information of the body portion from the inclination sensor.

The method of claim 15,
Underwater remote operation apparatus, characterized in that the horizontal holding means is provided on the inner bottom of the body portion.

delete

The method of claim 1,
The body unit includes a body position sensor interlocked with the Position Reference System (PRS) to control the work position underwater, characterized in that for controlling the work position.

delete

The method of claim 1,
The Position Reference System (PRS) is a hydroacoustic position reference (HPR) or high precision acoustic positioning (HIPP).