KR102461315B1 - Detecting system for tether cable - Google Patents

Abstract

Disclosed is a tether cable detection system which comprises: a sensor module having a plurality of measurement sensors spaced from each other and arranged along a circumference of a tether cable; and a calculation module receiving a plurality of measurement values generated by the measurement sensor according to movement of the tether cable, calculating a size value and an angle value by using each of the received measurement values, and calculating a movement degree of the tether cable by using the calculated size value and the calculated angle value.

Description

Tether cable detection system {DETECTING SYSTEM FOR TETHER CABLE}

The present technology relates to a system capable of detecting the position of a tether cable.

In particular, it relates to a tether cable detection system capable of detecting the position of a tether cable connected to a submarine working robot.

In the subsea pipeline burial construction, divers went in and did the work such as laying pipes, cleaning the seabed, and picking rocks. Difficult situations often occurred.

Therefore, submarine work robots that can be used even in strong currents and can easily overcome obstacles such as fishing gear and ship anchors are continuously being developed and improved, and the use of submarine work robots is increasing. Such a submarine work robot can enter the seabed, photograph the seabed situation with a camera, check the situation in the control room, and operate the robot to perform burial work.

Communication with the subsea working robot and power supply of the subsea working robot may be generally possible through a tether cable connected to the subsea working robot. In other words, the tether cable acts as a connecting string between the underwater robot and the operator who controls the robot. Therefore, the condition of the tether cable is very important.

However, the sea is a fluctuating environment, and depending on the waves, weather, currents, and the position of the ship, twisting, contacting, bending, cutting, and folding of the tether cable occur. Therefore, the operator detects the change of the tether cable and controls the undersea work robot to correct the position and tension of the tether cable.

It is considered that such operator's control of the underwater work robot is very difficult. Since the submarine work robot includes a camera as a component, it may not seem difficult to determine the location of the tether cable, but the tether cable may not be photographed properly due to floating objects that occur during the burial of the submarine work robot or the underwater environment itself. Because it is difficult to ascertain the location.

Domestic Patent Publication No. 10-2018-0001859 (2018.01.05.)

An object of the present invention according to an embodiment is to provide a tether cable detection system capable of precisely detecting the position of the tether cable without being affected by the environment.

The tether cable position detection system according to an embodiment may measure the position of the tether cable of the undersea work robot.

The tether cable according to an embodiment receives a sensor module including a plurality of measurement sensors spaced apart along the circumference of the tether cable and a plurality of measurement values generated by the measurement sensor according to the movement of the tether cable, and the It may include a calculation module for calculating the size value and the angle value using the measured value, and calculating the movement of the tether cable using the calculated size value and the angle value.

In addition, each of the plurality of measurement sensors is matched with preset identification data, and the identification data is pre-stored in the operation module, so that the operation module distinguishes and recognizes the measurement sensor that generated the measurement value can be characterized.

The measurement sensor may be characterized in that it is disposed at a set interval in a form surrounding the tether cable.

The operation module may receive the measurement values from the measurement sensors, and select a measurement value having a first largest size and a measurement value having a second largest magnitude among the received measurement values.

The calculation module may be characterized in that the first calculation value is calculated by using Equation 1 on the first measured value having the largest magnitude.

,

일 수 있다. Equation 1 is

,

can be

Here, A may be the first measurement value having the largest size, Idi may be the order of the first measurement value and the corresponding identification data, and n may be the total number of measurement sensors.

The calculation module may be characterized in that the second calculation value is calculated by using Equation 2 on the measured value having the second largest magnitude.

,

일 수 있다.Equation 2 is

,

can be

Here, B may be the measurement value having the second largest size, and Idi may be the order of the measurement value having the second largest size and corresponding identification data.

The arithmetic module may be characterized in that it calculates the position of the tether cable by using the size arithmetic equation in the first and second arithmetic equations.

일 수 있다. The size calculation formula

can be

The operation module may calculate the position of the tether cable by using the first operation value, the second operation value, and the angle operation expression.

일 수 있다. The angle calculation formula

can be

Here, c1 may be the x value of the first operation value + the x value of the second operation value, and c2 may be the y value of the first operation value + y value of the second operation value.

In the present invention according to an embodiment, since the operation module analyzes the measurement value measured by the sensor module and calculates the current position of the tether cable, it is possible to accurately determine the position of the tether cable without being affected by the environment.

Therefore, the present invention can reduce the fatigue of the operator, increase the efficiency of the work, and stably operate the submarine work robot.

1 illustrates a tether cable detection system according to an embodiment.
2 is a plan view of a sensor module according to an embodiment.
3 shows the configuration of an operation module according to an embodiment.
4 is a flowchart of an operation of an operation module according to an embodiment.
5 is a scene displayed on a display according to an exemplary embodiment.

Hereinafter, an embodiment of the present invention will be described in detail with reference to exemplary drawings. However, this is not intended to limit the scope of the present invention.

In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms specifically defined in consideration of the structure and operation of the present invention are only for describing the embodiments of the present invention, and do not limit the scope of the present invention.

1 illustrates a tether cable detection system according to an embodiment.

2 is a plan view of a sensor module according to an embodiment.

3 shows the configuration of an operation module according to an embodiment.

4 is a flowchart of an operation of an operation module according to an embodiment.

5 is a scene displayed on a display according to an exemplary embodiment.

The tether cable position detection system according to the present invention according to an embodiment includes a sensor module 100 and an operation module 200 .

The sensor module 100 transmits the measured value measured according to the change in the position of the tether cable to the arithmetic module 200, and the arithmetic module 200 calculates the position of the tether cable using the measured value, and the position of the tether cable can be accurately identified.

The sensor module 100 may include a frame 110 and a measurement sensor 120 .

The frame 110 may include a hollow hole in a set shape. The frame 110 may be disposed at a point (docking head) where the tether cable is connected to the undersea work robot. The tether cable is disposed through the hollow hole of the frame 110, and the end of the tether cable is connected to the submarine operation robot, and the tether cable may be connected to the submarine operation robot. That is, the frame 110 may be disposed to surround the tether cable. In addition, the frame 110 may be disposed so that one surface (lower surface) is in contact with the undersea work robot.

The measurement sensor 120 is composed of a plurality (n), and may be disposed along the circumference of the tether cable. Here, the measurement sensor 120 may have a set interval and be disposed around the tether cable. For example, when the measuring sensor 120 is composed of six, the tether cable becomes the center of the circle, and the measuring sensor 120 may be disposed along the circumference of the tether cable with an interval of 60 degrees.

The measurement sensor 120 may detect a change in movement of the tether cable. For example, the measurement sensor 120 may be a stainless gauge sensor. The measurement sensor 120 may generate a measurement value according to the movement of the tether cable.

Each of the measurement sensors 120 may have previously matched identification data and stored therein.

For example, the measurement sensor 120 located at 3 o'clock in FIG. 2 may match the first identification data, and the measurement sensor 120 located in the 11 o'clock direction may match the third identification data. .

Of course, the number and number of measurement sensors 120 may be changed according to the working environment and the operator. And the interval between the measurement sensors 120 does not need to be equal.

However, hereinafter, for convenience of explanation, it is assumed that the measuring sensors 120 are composed of six, and it is assumed that each measuring sensor 120 is disposed at an angle of 60 degrees. 120) in the counterclockwise direction, the first to sixth measurement sensors 120 are named, and the identification data matched with each measurement sensor 120 will also be named and described as first to sixth identification data.

The calculation module 200 receives the measurement value from the measurement sensor 120, and calculates the degree of movement and the movement direction of the tether cable by using each measurement value received.

That is, the operation module 200 may use the measurement value generated by the measurement sensor 120 according to the movement and movement of the tether cable to determine at what angle and to what extent the tether cable has moved based on the original position. This is possible due to the fact that each identification data is matched to each measurement sensor 120 .

The operation module 200 may include an identification unit 210 , a recognition unit 220 , and an operation unit 230 .

The identification unit 210 may identify from which sensor each measurement value is received when the measurement value is received from each measurement sensor 120 . For example, when the first measurement value is received, the identification unit 210 may determine that the first measurement value is transmitted by the first measurement sensor 120 corresponding to the first identification data.

The recognition unit 220 may list each measurement value according to a set standard. The criteria set by the recognition unit 220 may be in the order of size values. That is, when the tether cable is moved between 12 o'clock and 3 o'clock based on FIG. 2 , each of the first measurement sensor 120 to the sixth measurement sensor 120 may generate a first measurement value to a sixth measurement value have. Here, since the movement of the tether cable is biased in one direction, the first to sixth measured values may be different. The recognition unit 220 may sort the first to sixth measured values in order of magnitude.

For example, when the tether cable is moved between 12 o'clock and 3 o'clock, the first measured value and the second measured value are sequentially large, and each of the remaining measured values may be smaller than the first measured value and the second measured value. In this case, the recognition unit 220 may sort the first measured value, the second measured value, and the remaining measured values in order.

On the other hand, when the measured values are the same, a problem may occur in setting the priority. For example, when the tether cable moves between 12 o'clock and 3 o'clock, the first measured value may be the largest, and the second measured value and the sixth measured value may be equally large. In this case, the identification data matching the first measurement value and the measurement value matching the identification data close to the second measurement value and the sixth measurement value may be selected.

That is, in the case of the above embodiment, when the second measurement value matches the second identification data, and the sixth measurement value matches the sixth identification data, the recognition unit first identification data matched with the first measurement value The second measurement value matched with the second identification data close to can be sorted second.

In another example, the recognition unit may align the measured values through each of the measured values received at a set time period.

For example, when the tether cable moves as in the above-described embodiment, the second measured value and the sixth measured value are sequentially large at time t1, and the first measured value and the second measured value are sequentially large at time t2. is measured, and when the first measured value and the second measured value are sequentially significantly measured at time t3, the recognition unit considers all of t1, t2, and t3 and sets the first measured value the largest number of times as the largest value. It may be set as the measured value, and then the second measured value measured as the second largest number and the largest number may be set as the second measured value.

The recognition unit can prevent misalignment by aligning the measured values by introducing the concept of time as described above.

The calculation unit 230 selects some of the measurement values arranged by the recognition unit and calculates the calculation values through a preset calculation expression. For example, the operation unit 230 may calculate a calculated value by selecting a measurement value having a first largest magnitude and a measurement value having a second largest magnitude.

The operation unit 230 may calculate the first operation value by using Equation 1. In addition, the second operation value may be calculated using Equation 2. Hereinafter, in order to explain the formula, the measured value having the first largest size will be defined as A, and the measured value having the second largest size will be defined as B. And the rank of identification data matching this measurement value will be called IDi. It should be noted here that when i is 1, the value may be 0.

That is, the first identification data may correspond to 0, the second identification data may correspond to 1, and the sixth identification data may correspond to 5. (However, ID1 to ID6 correspond to 0 to 5)

That is, when the first measurement value is generated by the first measurement sensor 120 and matches the first identification data, the IDi of the first measurement value may be ID1, and ID1 may be a constant 0.

And n may be the number of measurement sensors 120 . As described above, the number of the measurement sensors 120 is six, and n may be six.

Equation 1 is as follows.

Expression 1

,

,

That is, the operation unit 230 may calculate the first operation value in x and y through Expression 1 .

And Equation 2 is as follows.

Expression 2

,

,

That is, through Equation 2, the operation unit 230 may calculate the second operation value as x and y values.

For example, when the first measurement value located at 3 o'clock is the largest

,

로 연산되어 A, 0일 수 있다.The first operation value is

,

It can be calculated as A, 0.

and if the second measure is the second largest

,

로 연산되어 B/2, B*

/2일 수 있다.The second operation value is

,

calculated as B/2, B*

It can be /2.

After calculating the first operation value and the second operation value in this way, the operation unit 230 may calculate the magnitude value by using the magnitude operation formula.

The size calculation formula is as follows.

That is, an operation is performed to obtain a single size by calculating the root on a value obtained by adding each of the first operation value and the second operation value.

In addition, the calculator 230 calculates an angle value through an angle calculation formula.

angle expression

c1 = x value of the first operation value + x value of the second operation value

c2 = y value of the first operation value + y value of the second operation value

As such, the calculating unit 230 may calculate the final specific position of the tether cable. Therefore, the present invention can calculate the position of the tether cable even when the floating object covers the camera.

On the other hand, the operation of the operation unit 230 as described above is derived from the selection of two measurement values. Even if the tether cable moves exactly in the 3 o'clock direction based on FIG. 2 , there may be a problem in whether two measurement values should be selected.

However, even in this case, the calculating unit 230 does not have any problem even if two measured values are selected. This is because, in this case, the measurement value having the first largest size is significantly larger than the measurement value having the second largest size. Therefore, there may be some error between the position calculated by the operation unit 230 and the actual position of the tether cable, but this error will be negligible.

On the other hand, the calculation unit 230 may consider that the tether cable is bent in the direction of the measurement sensor 120 that generated any one measurement value when the selected measurement values are out of a preset range based on the reference measurement value. have. Here, the reference measurement value may be the first largest measurement value.

As an example, the measurement sensor 120 located at 3 o'clock generates the first measurement value having the largest size based on FIG. 2 , and the measurement value having the second largest size is the measurement sensor located in the 9 o'clock direction When the 120 is generated, the calculating unit 230 may consider that the tether cable is moved toward the measurement sensor 120 located in the 3 o'clock direction.

That is, the calculation unit 230 performs the above-described calculation when the measurement sensor located within the range set based on the measurement sensor that generated the first large measurement value is the measurement sensor that generated the second largest measurement value, If it is out of the set range, it may not be so.

If the range exemplarily set here is described with reference to FIG. 2 , when the measurement sensor 120 located in the 3 o'clock direction is the reference, the measurement sensor 120 located in the 7 o'clock direction in the clockwise direction from 11 o'clock is one can However, it is natural that the set range may be changed according to an embodiment.

The position of the tether cable finally calculated by the operation unit 230 may be displayed at a position corresponding to the display. Therefore, since the operator can accurately know the current position of the tether cable, based on this, the movement, twisting, and bending of the tether cable can be checked, so that the robot can be operated accurately and comfortably.

Although the present invention has been shown and described in relation to specific embodiments, it is within the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

100: sensor module
110: frame
120: measurement sensor
200: operation module
210: identification unit
220: cognitive part
230: arithmetic unit

Claims (8)

In the tether cable position detection system that can measure the position of the tether cable of the submarine work robot,
a sensor module including a plurality of measurement sensors spaced apart along the circumference of the tether cable; and
A calculation module for receiving a plurality of measurement values generated by the measurement sensor according to the movement of the tether cable, and calculating the movement of the tether cable by using the measurement values
includes,
Each of the plurality of measurement sensors is matched with preset identification data,
The identification data is pre-stored in the operation module,
The arithmetic module distinguishes and recognizes the measurement sensor that generated the measurement value,
The calculation module is
receiving a measurement value from the measurement sensors, and selecting a measurement value having the first and second largest magnitude among the received measurement values,
The calculation module is
Calculating the first calculated value using Equation 1 on the first measured value with the largest size
Tether cable detection system, characterized in that.

Formula 1:

,

A = Measure with first largest magnitude
Idi = Order of identification data corresponding to the first measurement value having the largest size
n = total number of measuring sensors delete According to claim 1,
The measuring sensor is disposed at a set interval in a form surrounding the tether cable
Tether cable detection system, characterized in that. delete delete According to claim 1,
The calculation module is
Calculating the second calculated value using Equation 2 on the measured value having the second largest size
Tether cable detection system, characterized in that.

Equation 2:

,

B = Measure with second largest magnitude
Idi = Order of identification data corresponding to the measurement value having the second largest size
7. The method of claim 6,
The calculation module is
Calculating the position of the tether cable by using the size formula in the first and second formulas
Tether cable detection system, characterized in that.

Size formula:

According to claim 6,
The calculation module is
Calculating the position of the tether cable using the first operation value, the second operation value, and the angle operation expression
Tether cable detection system, characterized in that.

Angle expression:

c1 = x value of the first operation value + x value of the second operation value
c2 = y value of the first operation value + y value of the second operation value

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