KR102552667B1 - Autonomous Mobile Robot for Vibration Visualization of Structures - Google Patents

Abstract

The present invention provides measurement sensors for all vibration structures that require vibration measurement or monitoring in structures located in difficult-to-access areas such as nuclear power laboratories where there is a risk of radiation exposure and/or structures in various technical fields including various vibration sources. It relates to an autonomous mobile robot for vibration visualization configured to periodically grasp vibration characteristics using a high-speed camera without being attached.

Description

Autonomous Mobile Robot for Vibration Visualization of Structures}

The present invention relates to an autonomous mobile robot (AMR) for vibration visualization, and more particularly, to a structure and/or various vibration sources in an area difficult to access, such as a nuclear power research institute where there is a risk of radiation exposure. The present invention relates to an autonomous mobile robot for vibration visualization capable of periodically grasping vibration characteristics of all vibration structures requiring measurement or monitoring in structures in various technical fields without attaching sensors for measurement.

Nuclear power plants are provided with various driving sources such as a plurality of pumps for normal operation, and the driving sources operate as vibration sources to cause vibration of pumps, pipes, and various structures in the power plant.

When the vibration of such a structure is excited at the natural frequency of the structure, damage may occur due to resonance, or damage may gradually occur due to fatigue cracks due to continuous vibration.

Damage to structures in nuclear power plants may cause a serious risk of radiation leakage, so it is necessary to periodically monitor vibrations of structures.

As an example of a technology for this, Korean Patent Registration No. 10-1870381 proposes a 'non-contact vibration monitoring system for small-diameter piping in nuclear power plants capable of self-vibration correction' (hereinafter referred to as 'prior art 1').

As shown in FIG. 1, prior art 1 measures the vibration of structures or pipes that are difficult for workers to access due to the risk of radiation exposure in a nuclear power plant, predicting and preventing damage to structures or pipes, and when damage accidents occur It is a technology related to a non-contact vibration monitoring system for small-diameter piping in nuclear power plants capable of self-vibration correction so that it can respond quickly to

Prior art 1 has the advantage of being able to monitor the vibration of a structure installed in an inaccessible area, such as a nuclear power plant.

However, the monitoring system of the prior art 1 not only has limitations in measuring the vibration of some positions of the structure, but also increases the number of monitoring systems to be installed when the structure is large and there are many structures to measure vibration. there is

As a method to solve such a problem, an autonomous robot can be used, and as an example of an autonomous robot, 'modularized robot platform' (hereinafter referred to as 'prior art 2') is proposed in Patent Registration No. 10-2321318. has been

Prior art 2, as shown in Figure 2, a sensing module including a camera for detecting the situation around the autonomous mobile robot (AMR); an autonomous navigation module for generating a path from a starting location to a target location and allowing the autonomous mobile robot to autonomously move according to the created path; a central control module for learning the self-driving module through artificial intelligence technology based on the sensor signal and controlling the components of the autonomous mobile robot; a master module in which components of the autonomous mobile robot are installed; and an end effector coupled to the master module and specialized for a function required at a site where the autonomous mobile robot is installed, and a slave module that can be replaced according to an operator's command.

Although the prior art 2 shows the basic configuration of an autonomous mobile robot (AMR) capable of autonomously driving to a desired location and performing required functions. A specific configuration capable of performing the vibration visualization technology required by the present invention is not shown.

In addition, this problem occurs not only in areas with limited access, such as nuclear power plants, but also in structures in various technical fields having many configurations or structures requiring vibration measurement.

Registered Patent Publication No. 10-1870381 (Announced on June 22, 2018) Registered Patent Publication No. 10-2321318 (2021.11.03. Notice)

In order to solve the above problems, the present invention provides an autonomous mobile robot for vibration visualization equipped with a high-speed camera for vibration visualization and autonomously moving to the installation location of various structures requiring vibration measurement to periodically measure and monitor vibration. is to provide

Another object of the present invention is to provide a method for realizing vibration visualization of a structure using the autonomous mobile robot for vibration visualization.

The autonomous mobile robot 100 for vibration visualization of the present invention for achieving the above objects includes a robot body 110; a floor vibration blocking device 140 provided in the robot body 110; a vibration measuring device 170 provided in the robot body 110; and a control unit 300. Here, the vibration measuring device 170 includes a high-speed camera 180 for measuring the vibration of the target structure 10 in a non-contact manner; and a first link 175 to which the high-speed camera 180 is coupled, wherein the control unit 300 moves the autonomous mobile robot 100 including the robot body 110 from a starting position to a target position. An autonomous driving module 360 that generates a path of and allows the autonomous mobile robot 100 including the robot body 110 to move autonomously according to the generated path; and a vibration visualization module 370.

In addition, the robot body 110 is further provided with a vibration correction unit 150, and the vibration correction unit 150 includes a vibration body 151 for calibration including a beam or a plate, there is.

In addition, the vibration visualization module 370 includes a target structure identification unit 371; a positioning unit 372 that determines a vibration measurement position; a vibration signal correction unit 373; Vibration signal measuring unit 374; and a vibration signal processing unit 375, wherein the vibration signal processing unit 375 includes: a noise removal unit for removing noise from an image captured by the high-speed camera 180; and a motion magnification for clearly discriminating motion changes in the image captured by the high-speed camera 180.

In addition, the method for realizing vibration visualization of a structure using the autonomous mobile robot 100 for vibration visualization shown in the present invention includes selecting a first target structure (S10); Moving to a first target structure (S20): determining a vibration measurement location (S30); Floor vibration blocking step (S40);

Vibration signal calibration step (S50); Vibration signal measuring step (S60); Vibration signal processing step (S70); and an autonomous mobile robot movement step (S80).

The autonomous mobile robot 100 for vibration visualization according to the present invention has the advantage of being able to implement vibration visualization of structures as well as periodically measuring accurate vibration signals without directly installing sensors or monitoring devices on many structures.

In addition, since the autonomous mobile robot 100 according to the present invention can measure a vibration signal without direct access by a person, it can easily measure a vibration signal even in a structure where access is restricted, such as a nuclear power plant, and can be monitored periodically. There are possible advantages.

In addition, the autonomous mobile robot 100 for vibration visualization of the present invention has the advantage of being easily applicable not only to limited areas such as nuclear power plants, but also to general structures where vibrations occur.

Figure 1. A schematic diagram of a non-contact vibration monitoring system for small-diameter piping in a nuclear power plant capable of self-vibration correction shown in Prior Art 1.
Figure 2. Block diagram of the modularized robot platform shown in prior art 2.
Figure 3. Schematic diagram of the autonomous mobile robot for vibration visualization of the present invention during driving.
Figure 4. Schematic diagram at the time of measurement of the autonomous mobile robot for vibration visualization of the present invention.
5. A block diagram of a control unit provided in the autonomous mobile robot for vibration visualization of the present invention.
Figure 6. Block diagram of the internal vibration visualization module provided in the control unit of the present invention
Figure 7. Vibration measurement example of the autonomous mobile robot for vibration visualization of the present invention.
8. Flow chart of implementing vibration visualization using the autonomous mobile robot of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and, therefore, is not limited to the embodiments described herein.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this is not only "directly connected", but also "indirectly connected" with another member in between. "Including cases where In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Figure 3 is a schematic diagram of the autonomous mobile robot for vibration visualization of the present invention during driving, and Figure 4 is a schematic diagram of the autonomous mobile robot for vibration visualization of the present invention during measurement.

As shown in Figures 3 and 4, the autonomous mobile robot 100 for vibration visualization of the present invention includes a robot body 100; Floor vibration blocking device 140; Vibration correction unit 150; Vibration measuring device 170; and a control unit 300.

The robot body 110 is provided with wheels 120 for autonomous movement, and in addition, a plurality of sensors (not shown) provided for avoiding obstacles during autonomous movement may be additionally provided. Here, the plurality of sensors (not shown) include a camera, a radar sensor, an acceleration sensor, a position sensor, a gyro sensor, a radar sensor, a lidar sensor, etc. This can be.

The floor vibration blocking device 140 is additionally provided in the robot body 100 as shown in FIGS. 3 and 4 .

The floor vibration blocking device 140 is a component for blocking vibrations generated on the floor surface of a structure whose vibrations are to be measured.

Since the autonomous mobile robot 100 of the present invention measures vibration by autonomously moving to the structure 10 where vibration occurs, vibration is propagated along the bottom surface of the structure by a vibration source of a structure such as a pump. It affects the autonomous mobile robot 100.

In this way, the floor vibration propagated along the floor of the position where the structure vibration is to be measured acts as a large noise that causes an error when measuring the vibration in the vibration measuring device 170 of the autonomous mobile robot 100, so that the robot It is necessary to block floor vibration propagated to the main body 110 and the vibration measuring device 170.

In order to block floor vibration, it is also possible to install a dynamic absorber capable of blocking vibration of a specific frequency generated from a pump or the like on the robot body 110, but in the present invention, as shown in FIGS. 3 and 4, vibration A floor vibration blocking device 140 that can operate only during measurement is proposed as an embodiment.

The floor vibration blocking device 140 shown in FIGS. 3 and 4 includes a floor support plate 141 in contact with the bottom surface 20 of the structure; a vibration isolating member 142 provided on an upper portion of the bottom support plate 141; and an upper support rod 143 provided above the vibration isolation member 142.

At this time, the vibration blocking member 142 may be configured to actively control and block vibration by using a configuration in which MR fluid (Magneto-Rheological fluid) or ER fluid (Electro-Rheological fluid) is filled therein.

The upper support bar 143 is coupled between the robot body 110 and the vibration isolating member 142 so that its length can be increased or decreased.

As shown in FIGS. 3 and 4 , the robot body 110 of the present invention may be provided with a vibration correction unit 150 .

In the present invention, since the vibration of the structure is measured using the high-speed camera 180, the vibration calibration unit 150 includes a vibrating body 151 for calibration and a vibrating body installation 152 for installing the vibrating body 151. contains

The calibration vibrator 151 may be formed in a beam or plate shape, and the calibration vibrator 151 has a natural frequency equal to or close to the frequency of the target structure 20 to be measured. It is possible to more easily check whether the floor vibration is effectively blocked by the configuration.

For example, in a nuclear power plant or the like, the main excitation frequency is the rotational frequency of a pump, etc., which is the main source of excitation. If the vibration body 151 for calibration is configured to have a natural frequency equal to or close to this excitation frequency, floor vibration is not blocked. When the vibration body 151 for calibration generates a large vibration close to resonance, it can be easily checked with the high-speed camera 180, and when the floor vibration is blocked, the vibration body 151 for calibration ), almost no vibration occurs.

As such, it is possible to check whether the vibrating body 151 for calibration is accurately blocked, and when the floor vibration blocking device 140 performs control for blocking vibration, the floor vibration can be blocked more effectively by using the signal.

Vibration measuring device 170 is coupled to the robot body 110, the first link 175; and a high-speed camera 180.

The high-speed camera 180 may be rotatably coupled to the first link 175 via a first hinge part 172 . A driving motor (not shown) may be formed in the first hinge part 172 .

The first link 175 may be fixedly coupled to the robot body 110 or may be rotatably coupled as shown in FIGS. 3 and 4 .

At this time, a second link 176 may be additionally formed between the first link 175 and the robot body 110 as shown in FIG. 3 to increase the degree of freedom of the high-speed camera 180. And, the first and second links 175 and 176 may be rotatably coupled via the second hinge part 173.

As shown in FIGS. 3 and 4, the second link 176 is coupled to the coupling part 171 coupled to the robot body 110, and as shown in FIG. The second link 176 may be rotatably coupled to the coupling portion 171 by forming a third hinge portion 174, or fixedly coupled to the coupling portion 171 without the third hinge portion 174 It can also be configured to be .

Meanwhile, the coupling part 171 may be configured to be fixedly coupled to the robot body 110, or may be configured to be rotatable about a vertical axis if necessary.

The control unit 300 of the present invention enables autonomous driving based on signals from various sensors (not shown) installed in the autonomous robot 100, and receives vibration signals from the vibration measurement device 170 to visualize vibration of the structure. to be able to implement. The control unit 300 of the present invention may be configured to improve object recognition capability and autonomous driving capability by applying various artificial intelligence technologies.

The controller 300 includes an autonomous driving module 310, a master module 330, an interface module 350, and a vibration visualization module 370.

The autonomous driving module 310 is an autonomous mobile robot 100 including the robot body 110 in order to measure the vibration of a plurality of pumps, pipes, and other various vibration structures installed in a nuclear power plant, etc., as in the prior art 2 A movement path is set and controlled to autonomously move the autonomous mobile robot 100 including the robot body 110 while avoiding obstacles along the set path. At this time, the autonomous driving module 310 is configured to detect an obstacle located on the path of the autonomous mobile robot 100 through a signal received from the sensor (not shown) and avoid it to drive. desirable.

The interface module 350 is connected to the network as in the prior art 2, and allows the operator to give commands to the autonomous mobile robot 100 for vibration visualization, and the operation and measurement results of the autonomous mobile robot 100 for vibration visualization. transmits to the outside. Through the interface module 350, various users can monitor and control the operation of the autonomous mobile robot 100 for vibration visualization through a network.

The master module 330 of the present invention is a module that controls the robot body 110 and implements a function of visualizing the vibration of a structure by pairing with the vibration visualization module 370.

The master module 330 is configured to control the hardware and software of the robot body 110, and is configured to control the operation of the floor vibration isolator 140.

As shown in FIG. 5, the vibration visualization module 370 includes a target identification unit 371, a measurement position determination unit 372, a vibration signal correction unit 373, a vibration signal measurement unit 374, and a vibration signal processing unit 375. ).

The target identification unit 371 performs a function of identifying a target structure to which the autonomous mobile robot 100 moves and measures a vibration signal.

As shown in FIG. 7, the reference point 11 for measuring vibration may be marked on the target structure 10, and the target structure can be identified by checking the input information and the reference point 11 for measuring vibration. .

The measurement location determiner 372 may identify the target structure 10 and determine the location of the target structure 10 from previously input vibration measurement location information.

The vibration signal calibration unit 373 measures the vibration characteristics of the vibration body 151 for calibration using the high-speed camera 180 provided in the vibration measurement device 170, and from this, the high-speed camera 180 is the target. It is determined whether or not the vibration of the structure 20 can be measured.

The signal of the vibration signal correction unit 373 communicates with the master module 330 that controls the floor vibration isolator 140, and the vibration characteristics of the vibration isolator 142 of the floor vibration isolator 140, for example For example, propagation of floor vibration to the vibration measuring device 170 of the present invention can be minimized by controlling the characteristics of the MR fluid or the ER fluid.

The vibration signal measurement unit 374 measures the vibration of the target structure 20 using the high-speed camera 180 and analyzes the signal in the vibration signal processing unit 375 .

The measurement position and angle of the high-speed camera 180 may be set using the data of the reference point 11 for measuring vibration described above and previously stored information.

The vibration signal processor 375 performs signal processing to visualize the vibration of the target structure 10 using the signal measured by the high-speed camera 180 .

Signal processing using the image signal of the high-speed camera 180 may include noise removal technology and motion magnification technology, which can be used by adding a known technology to the vibration signal processing unit 375.

That is, the vibration signal processing unit 375 includes a noise removal unit for removing noise from an image captured by the high-speed camera 180; and a motion magnification for clearly distinguishing a change in motion of an image captured by the high-speed camera 180.

A method of implementing vibration visualization of a structure using the autonomous mobile robot 100 for vibration visualization having such a configuration is as follows.

As shown in Figure 8, the vibration visualization implementation method of the present invention includes a first target structure selection step (S10); Moving to a first target structure (S20): determining a vibration measurement location (S30); Floor vibration blocking step (S40); Vibration signal calibration step (S50); Vibration signal measuring step (S60); Vibration signal processing step (S70); and moving the autonomous mobile robot (S80).

The first target structure selection step (S10) is a step of selecting a target structure to implement vibration visualization using the autonomous mobile robot 100 for vibration visualization of the present invention. This step may be selected by the operator, may be set in advance by the control unit 300 in a periodic manner, or may be selected automatically or manually in the event of an emergency.

Moving to the first target structure (S20) is a step in which the autonomous mobile robot 100 of the present invention autonomously moves to the target structure 20. At this time, the movement route 20 may be implemented through a command among previously informational routes. At this time, it is preferable to implement the autonomous mobile robot 100 to move while avoiding obstacles on the movement path, and the vibration visualization module 370 can identify the target structure 10 to complete this step.

The step of determining the vibration measurement position (S30) represents a step in which the autonomous mobile robot 100 having reached the target structure 10 determines a standard position for measuring the corresponding target structure 10 and moves to the standard position.

The autonomous mobile robot 100 for vibration visualization of the present invention does not measure vibration by attaching a sensor to a structure for measuring vibration, but visualizes a vibration signal using an image measured by a high-speed camera, which is a non-contact method, so when the measurement location is changed In addition to being unable to accurately measure quantitatively, there are problems in that it is difficult to compare with previous measurement signals.

Because of this problem, it is necessary to always take a vibration image using the high-speed camera 180 at the same measurement location for each target structure, which can be moved according to a pre-stored value.

In the floor vibration blocking step (S40), after reaching the reference position for measuring the vibration of the target structure 10 with the high-speed camera 180, the floor vibration blocking device 140 is operated to measure the robot body 110 and vibration. This is a step of blocking floor vibration propagating to the device 170.

In this step, various vibration isolation devices can be used, but in FIG. 7 , the upper support bar 140 is lowered so that the bottom support plate 141 touches the floor. At this time, if necessary, it is also possible to configure the wheels 120 provided on the robot body 110 to be separated from the floor surface.

As can be seen in FIGS. 4 and 7 , it is preferable that a vibration blocking member 142 is provided between the bottom support plate 141 and the upper support roof 140 .

At this time, the active blocking member 142 is more suitable than the passive blocking member. It is configured to include MR fluid or ER fluid so that vibration can be blocked more actively by controlling the MR fluid or ER fluid.

The high-speed camera 180 measures the vibration of the vibration correction unit 150 provided in the robot body 110 using the high-speed camera 180 while the floor vibration blocking device 140 is operated to block the floor vibration. ) is a step for maintaining a state that is not affected by external vibration.

As described above, it is necessary to use the high-speed camera 180 to check whether or not the vibration oscillator 151 provided in the vibration correction unit 150 is vibrating, and to minimize the vibration of the oscillator 151 for calibration. The step of blocking the vibration signal may be completed.

In the vibration signal calibration step (S50), reference vibration is generated in the vibration calibration unit 150 provided in the robot body 110, measured with a high-speed camera 180, and the vibration characteristics of the vibration calibration unit 150 stored in advance. This is a step of calibrating the characteristics of the high-speed camera 180 by comparing whether it is the same as vibration.

As such, it is preferable to calibrate the characteristics of the high-speed camera 180 and measure the vibration characteristics of the target structure 10 through the vibration signal calibration step (S50).

The vibration signal measuring step (S60) is a step of measuring the vibration signal with the high-speed camera 180 at the reference position of the target structure 10.

The vibration signal processing step (S70) is a step of realizing vibration visualization of the target structure 10 using the signal measured by the high-speed camera 180, and in this signal processing step, noise removal technology and motion amplification are performed. (motion magnification) technology can be applied together to visualize the vibration of the structure more clearly.

Next, the autonomous mobile robot movement step (S80) represents a step in which the intelligent mobile robot 100 completes the vibration measurement in the first target structure 10 and moves. At this time, the autonomous mobile robot 100 may return to the initial position or move to another structure to measure the vibration of another target structure.

As such, by using the autonomous mobile robot 100 for vibration visualization of the present invention, it is possible to periodically measure vibration and realize vibration visualization without attaching many vibration measurement sensors to each structure for many vibration structures installed in various locations. there is.

As described above, the present invention is not limited to the above-described embodiments, and it is possible to modify and implement the present invention by those skilled in the art without departing from the scope claimed in the claims of the present invention. And, such modifications fall within the scope of the present invention.

10: vibration structure 11: reference point for vibration measurement
20: movement path 100; autonomous mobile robot
110: robot body 120: wheel
130: connection part 140: floor vibration blocking device
141: floor support plate 142: vibration blocking member
143: upper support bar 144: support bar coupling end
150: vibration correction unit 151: vibration body for correction
152: vibrating body installation 170: vibration measuring device
171: coupling part 172: first hinge part
173: second hinge part 174: third hinge part
175: first link 176: second link
180: high-speed camera 300: control unit
310: autonomous driving module 330: master module
350: interface module 370: vibration visualization module
371: target identification unit 372: measurement location determination unit
373: vibration signal correction unit 374: vibration signal measurement unit
375: vibration signal processing unit

Claims (4)

robot body 110;
a floor vibration blocking device 140 provided in the robot body 110;
a vibration measuring device 170 provided in the robot body 110; And a control unit 300; including,
The vibration measuring device 170 includes a high-speed camera 180 for measuring the vibration of the target structure 10 in a non-contact manner; And a first link 175 to which the high-speed camera 180 is coupled;
The controller 300,
An autonomous driving module 310 that generates a path from a starting position of the robot body 110 to a target position and autonomously moves the robot body 110 according to the generated path; and
Vibration visualization module 370; Autonomous mobile robot for vibration visualization, characterized in that it comprises.
According to claim 1,
In the robot body 110,
A vibration correction unit 150 is additionally provided,
The vibration correction unit 150 is an autonomous mobile robot for vibration visualization, characterized in that it includes a vibration body 151 for correction made of a beam or a plate.
According to claim 2,
The vibration visualization module 370,
target structure identification unit 371; a positioning unit 372 that determines a vibration measurement position;
a vibration signal correction unit 373; Vibration signal measuring unit 374; and
Including a vibration signal processing unit 375,
The vibration signal processing unit 375,
a noise removal unit for removing noise from an image captured by the high-speed camera 180; and
An autonomous mobile robot for vibration visualization, characterized in that it includes a motion magnification for clearly distinguishing a change in motion of an image captured by the high-speed camera (180).
In the method for realizing vibration visualization of a structure using the autonomous mobile robot 100 for vibration visualization according to claim 1,
A first target structure selection step (S10);
Moving to the first target structure (S20):
Vibration measurement location determination step (S30);
Floor vibration blocking step (S40);
Vibration signal calibration step (S50);
Vibration signal measuring step (S60); Vibration signal processing step (S70); and
A method of realizing vibration visualization of a structure using the autonomous mobile robot for vibration visualization (100), characterized in that it includes a moving step of the autonomous mobile robot (S80).

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