KR102180234B1 - Underwater Construction System - Google Patents

Abstract

Provided is an underwater construction system which comprises: a hull which floats on water, and has a first DGPS receiver; work equipment which is mounted on the hull to perform underwater construction by using work tools mounted on one end; a 3D sonar placed on a lower side of the hull to transmit ultrasonic waves into the water, to detect reflected waves, which are made by the transmitted ultrasonic wave being reflected and returning, and to acquire underwater topography 3D data; a camera which is placed on a lower side of the hull to photograph the underwater region and to acquire a photographed image; and a display unit which outputs the photographed image acquired through the camera, the underwater topography 3D data acquired through the sonar, and the position information measured through the first GDPS on a screen. The underwater construction system is able to use the visual information displayed on the display unit, to operate the work equipment, and to perform underwater construction, to visualize and output the underwater topography information and operation information of the work equipment through the display unit, to allow a worker to check the work status in real time, and to perform efficient and precise underwater construction.

Description

Underwater Construction System

The present invention relates to an underwater work system, and more particularly, to an underwater work system that enables efficient and accurate underwater work by enabling an operator to visually grasp the work situation in real time by a display unit.

In order to mount the caissons and blocks, which are port structures, in the water, the foundation stone is dropped and the structure is installed on it. In addition, the stones that are piled on the surface to protect these rubbles are called cladding stones.

Since these sandstones and cladding stones are the basis for supporting offshore structures, the size, specific gravity, weight, shape, and number of sandstones must be uniform and dense, so it is said that the selection of riprap/cover stone plays an important part in the construction of offshore structures.

On the other hand, a dredger is a vessel that performs dredging work, and the dredging work is an earthwork excavation work under water, and is performed for the purpose of expanding a river channel, increasing the depth of a port, reclamation or collecting soil for festivals.

In addition, in addition to such dredging work, dredgers are widely used for underwater work at sea, including work of excavating the foundation of a structure underwater.

In order to proceed with the above-described serpentine/covered stone selection work or underwater work using a dredger, it is difficult to grasp the work situation in the water, so that a diver is used to check the work situation.

Accordingly, since it is essential to secure the safety of the diver, there is a problem that the work efficiency is deteriorated, and the risk of safety accidents by the diver also exists.

In addition, since it is inefficient in terms of work efficiency because it may be difficult to input a diver depending on weather conditions, an underwater work system is required to solve this problem.

Registered Utility Model No. 20-0191599 (2000.05.26)

The present invention is to solve the above-described problem, it is an object of the present invention to provide an underwater work system capable of efficient and accurate underwater work by allowing an operator to visually check the underwater work situation in real time without introducing a diver.

The underwater work system according to the present invention includes: a ship that floats on the water and has a first DGPS receiver; A work equipment mounted on the hull and capable of performing underwater work using a work tool mounted at one end; A 3D sonar provided under the hull to transmit ultrasonic waves into the water, and to acquire 3D underwater terrain data by sensing a reflected wave that is reflected and returned by the transmitted ultrasonic waves; A camera provided under the hull to photograph underwater to obtain a photographed image; Including, a display unit for outputting the photographed image obtained through the camera, the underwater terrain 3D data obtained through the sonar, and the position information of the hull measured through the first GPS, on a screen; including, displayed on the display unit Using visual information, the work equipment can be manipulated to perform underwater work.

The underwater work system according to the present invention may further include a control unit for controlling the work equipment, the 3D sonar, the camera, and the display unit.

In the underwater work system according to the present invention, the control unit simultaneously outputs the captured image acquired through the camera and the underwater terrain grid image in which the underwater terrain 3D data acquired through the 3D sonar is expressed in a grid form to the display unit. can do.

In the underwater operation system according to the present invention, the camera may acquire a photographed image by photographing underwater in the same direction as the direction in which the 3D sonar transmits ultrasonic waves.

In the underwater work system according to the present invention, the camera may be mounted close to the position where the 3D sonar is mounted.

In the underwater work system according to the present invention, the control unit controls the operation of the work equipment and obtains operation information of the work equipment at the same time, and visually displays the movement of the work equipment on the display unit using the operation information. It can be expressed as

In the underwater work system according to the present invention, the control unit may output operation information of the work equipment to the display unit in the form of augmented reality.

The underwater work system according to the present invention further includes an acoustic camera mounted on the lower part of the hull to sense sound generated in the water to obtain underwater sound information including a location of the underwater sound and a noise level, wherein the control unit, The acoustic camera can be controlled.

In the underwater work system according to the present invention, the acoustic camera is directed toward the same direction as the 3D sonar and the camera, and the 3D sonar and an area in which underwater 3D data and photographed images obtained by the camera are respectively acquired. It is possible to obtain underwater sound information of the same area.

In the underwater work system according to the present invention, the control unit is configured to visually display the captured image, the underwater terrain grid image in which the underwater terrain 3D data is expressed in a grid form, and underwater sound information obtained by the acoustic camera. I can.

In the underwater work system according to the present invention, the underwater sound information may be expressed and output in different colors according to the loudness of the sound, so that the distribution of sound may be expressed in color so that the location of the noise source can be identified.

In the underwater work system according to the present invention, the display unit may display a map around the hull and a topographic map of the seabed on a screen, and display the location information of the hull obtained by the first DGPS together.

In the underwater work system according to the present invention, the work equipment may detach a work tool at one end according to a work purpose, and a second DGPS receiver is provided at one end to which the work tool is detached, and the display unit includes the 2DGPS It is possible to display together the position information of the group of the work equipment obtained by.

According to the underwater work system of the present invention, by visualizing and outputting the underwater terrain information and operation information of the work equipment through the display unit, the operator can check the work situation in real time, thereby enabling efficient and accurate underwater work.

1 and 2 are conceptual diagrams of an underwater work system according to an embodiment of the present invention.
3 is an example of underwater terrain 3D data obtained by 3D Sona.
4A is an example of a photographed image captured by a camera.
4B is an example in which the photographed image, the underwater terrain grid image, and operation information of the work equipment are visualized and simultaneously output to the display unit.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention can add, change, or delete other elements within the scope of the same idea. Other embodiments included within the scope of the inventive concept may be easily proposed, but this will also be said to be included within the scope of the inventive concept.

In addition, components having the same function within the scope of the same idea shown in the drawings of the embodiments will be described using the same reference numerals.

1 and 2 are conceptual diagrams of an underwater work system 100 according to an embodiment of the present invention. 1 and 2, the underwater work system 100 according to an embodiment of the present invention includes a hull 110 that can float and move on the water surface, and a work tool 121 mounted on the hull and mounted at one end. Working equipment 120 capable of performing underwater work using, a 3D sonar 130 mounted on the hull 110 to determine the underwater terrain using ultrasonic waves, and mounted on the hull 110 to photograph the underwater A camera 140, an acoustic camera 150 mounted on the hull 110 to determine the location and size of the sound generated underwater, the 3D sonar 130, the camera 140, and the acoustic camera ( A display unit 160 for displaying information obtained from 150 on a screen, and the work equipment 120 and the 3D sonar 130 and the camera 140 and the acoustic camera 150 and the display unit 160 ) May include a control unit 170 to control.

The hull 110 may be provided as a ship floating on the water or a sea, may be provided in the form of a non-powered barge, or may be provided in the form of a power ship.

The hull 110 may be provided with a first DGPS receiver (not shown), and location information of the hull 110 may be identified through the first DGPS receiver (not shown).

Here, the first DGPS receiver (not shown) may be a receiver for determining location information using a differential GPS (DGPS) method.

In this way, the first DGPS receiver (not shown) measures the location information of the hull 110 in a DGPS (Differential GPS) method, thereby correcting an error of information transmitted from a satellite to a GPS receiver. , You can get more precise location information.

The working equipment 120 is a construction equipment that can be used for dredging work, soil excavation, soil loading, and slope excavation in water, and the working tool 121 may be detached at one end according to the purpose of the work.

At this time, the work tool 121 may be a bucket, a rock graoole, a vibratory hammer, etc., depending on the work purpose, and can be replaced and detached according to the change of work use. .

On the other hand, the work equipment 120 may be provided with a second DGPS receiver 122 at one end of the work tool 121 is detached.

At this time, the 2DGPS receiver 122 measures the location information in a DGP (Differntial GPS) method similarly to the first DGPS receiver (not shown), so that the location information of the work tool 121 can be accurately obtained.

The 3D sonar 130 may be mounted on the lower part of the hull 110 and transmits ultrasonic waves underwater, and detects the reflected waves returned by the transmitted ultrasonic waves reflected by an external object to recognize the external terrain. Through this, the 3D sonar 130 may acquire underwater terrain 3D data.

On the other hand, the 3D sonar 130 may transmit ultrasonic waves toward the position where the working tool 121 works underwater, and through this, the underwater terrain around the work tool 121 including the position where the work tool 121 works. 3D data can be acquired.

3 is an example of underwater terrain 3D data obtained by the 3D sonar 130.

The camera 140 may be mounted under the hull 110 to take a picture underwater, thereby obtaining a photographed image.

In this case, the camera 140 may acquire a photographed image by photographing underwater in the same direction as the direction in which the 3D sonar 130 transmits ultrasonic waves.

To this end, the camera 140 may be mounted close to a position where the 3D sonar 130 is mounted.

The acoustic camera 150 is mounted on the lower part of the hull and detects a sound generated underwater to obtain underwater sound information including a location of the underwater sound and a noise level.

At this time, the acoustic camera 150 may face the same direction as the 3D sonar 130 and the camera 140, through which the 3D sonar 130 and the camera 140 are respectively acquired. Underwater terrain 3D data and underwater acoustic information of the same area as the area in which the photographed image is acquired may be acquired.

In other words, the 3D sonar 130, the camera 140, and the acoustic camera 150 may respectively acquire underwater terrain type 3D data, a photographed image, and underwater sound information of the same area.

The display unit 160 may display underwater terrain type 3D data, photographed images, and underwater sound information obtained by the 3D sonar 130, the camera 140, and the acoustic camera 150, respectively. .

In addition, the display unit 160 may display a map and a submarine topographic map around the hull 110 on a screen, and the location information of the hull 110 obtained by the first DGPS (not shown) and the The location information of one end of the working equipment 120 obtained by the 2DGPS 122 may be displayed together.

Meanwhile, a control unit (not shown) may control the work equipment 120, the 3D sonar 130, the camera 140, the acoustic camera 150, and the display unit 160.

The controller (not shown) may control the operation of the working equipment 120 and obtain operation information of the working equipment 120 at the same time.

In addition, the controller (not shown) controls the display unit 160 to output the captured image acquired by the camera 140 and the underwater 3D data acquired by the 3D sonar 130 on the same screen. I can.

In other words, the controller (not shown) may simultaneously output the captured image and the underwater terrain grid image in which the underwater terrain 3D data is expressed in a grid form to the display unit 160.

4A is an example of the captured image, and FIG. 4B is an example of simultaneously outputting the captured image and the underwater terrain grid image to the display unit 160.

Here, the control unit (not shown) may visually express the movement of the work equipment on the display unit 160 by using the operation information of the work equipment 120.

In other words, the controller (not shown) may output operation information of the work equipment 120 to the display unit 160 in the form of augmented reality, as shown in FIG. 4B. .

Through this, the operator can accurately obtain information on the underwater work situation through the display unit 160, even without checking through a diver, etc., thereby enabling efficient and accurate underwater work.

In addition, the control unit (not shown) may visually display the underwater acoustic information acquired by the acoustic camera 150 on the display unit 160 simultaneously outputting the captured image and the underwater terrain grid image. .

In other words, the control unit (not shown) allows the underwater sound information to be displayed and output in different colors according to the volume of the sound on the screen on which the captured image and the underwater terrain grid image are simultaneously output. The distribution can be expressed in colors so that the location of the noise source can be identified.

Accordingly, the operator can visually check the size and location of the noise generated by the working equipment 120 during underwater work through a screen output from the display unit 160.

Through this, the operator can grasp the location of the covering stone falling on the seabed when the working equipment 120 drops the covering stone, the location of the noise generated during selecting the covering stone and sandstone, so that more efficient and accurate underwater work may be possible. have.

Meanwhile, the display unit 160 may be divided into two or more screens, and one screen includes an underwater terrain type obtained by the 3D sonar 130, the camera 140, and the acoustic camera 150, respectively. 3D data, photographed image, underwater sound information, and operation information of the working equipment 120 are output together, and the position information of the hull 110 obtained by the first DGPS receiver (not shown) on the other screen And the location information of one end of the work equipment 120 obtained by the 2DGPS receiver 122 may be output together.

Through this, the operator can visually grasp in real time information on the underwater terrain, as well as the location information of the hull 110 and the work equipment 120 through the display unit 160. So, efficient and accurate underwater work is possible.

In the above, although one embodiment of the present invention has been described in detail, the scope of the present invention is not limited thereto, and various modifications and variations are possible within the scope not departing from the technical spirit of the present invention described in the claims. This will be apparent to those of ordinary skill in the art.

100: underwater work system according to an embodiment of the present invention
110: hull 120: work equipment
121: work tool 122: 2DGPS receiver
130: 3D Sonar 140: camera
150: acoustic camera 160: display unit

Claims (13)

A hull floating on the water and having a first DGPS receiver;
Working equipment mounted on the hull and capable of performing underwater work using a work tool mounted at one end;
A 3D sonar provided under the hull to transmit ultrasonic waves into the water, and to acquire 3D underwater terrain data by sensing a reflected wave that is reflected and returned by the transmitted ultrasonic waves;
A camera provided under the hull to photograph underwater to acquire a photographed image;
A display unit for outputting a photographed image acquired through the camera, underwater terrain 3D data acquired through the 3D sonar, and position information of the hull measured through a first GPS;
An acoustic camera mounted on the lower part of the hull to detect underwater sound and acquire underwater sound information including a location and noise level of the underwater sound; And
Including; a control unit for controlling the work equipment, the 3D sonar, the camera, the display unit, and the acoustic camera,
An underwater work system, characterized in that the underwater work is performed by manipulating the work equipment using the visual information displayed on the display unit.
delete The method of claim 1,
Wherein the control unit simultaneously outputs the captured image acquired through the camera and an underwater terrain grid image in which the underwater terrain 3D data obtained through the 3D sonar is expressed in a grid form to the display unit.
The method of claim 3,
The camera is an underwater operation system, characterized in that for obtaining a photographed image by photographing underwater in the same direction as the direction in which the 3D sonar transmits ultrasonic waves.
The method of claim 4,
The camera is an underwater work system, characterized in that mounted close to the position where the 3D sonar is mounted.
The method of claim 3,
The control unit controls the operation of the working equipment and obtains operation information of the working equipment at the same time, and visually expresses the movement of the working equipment on the display unit using the operation information. system.
The method of claim 6,
The control unit is an underwater work system, characterized in that outputting the operation information of the work equipment to the display unit in the form of augmented reality.
delete The method of claim 1,
The acoustic camera faces the 3D sonar and the same direction as the camera is facing, and acquires underwater acoustic information of the same area as the 3D sonar and the underwater terrain type 3D data obtained by the camera and the area where the photographed image is obtained. Underwater work system, characterized in that.
The method of claim 9,
The control unit is an underwater work system, characterized in that to simultaneously visually display the captured image, the underwater terrain grid image in which the underwater terrain 3D data is expressed in a grid form, and underwater sound information obtained by the acoustic camera.
The method of claim 10,
The underwater work system, characterized in that the underwater sound information is expressed and output in different colors according to the loudness of the sound so that the distribution of the sound is expressed in color so that the location of the noise source can be identified.
The method of claim 1,
The display unit displays a map and a topographic map around the hull on a screen, and displays the location information of the hull obtained by the first DGPS together.
The method of claim 12,
The working equipment may have a work tool detachable at one end according to the work purpose, and has a 2DGPS receiver at one end to which the work tool is detached,
The display unit, the underwater work system, characterized in that to together display the position information of the end of the work equipment obtained by the second DGPS.

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