KR200496182Y1 - Modular autonomous surface robot of catamaran type - Google Patents

Abstract

The present invention relates to a water robot that investigates water quality and environment on the inland water surface and nearby coasts, and includes two buoyancy bodies spaced apart at intervals corresponding to the width of the water deck and having a propeller at the rear end; a first connection frame having a base plate on the upper part of the hull by connecting the buoyancy bodies so as to be mutually assembled; a second connection frame connected to the rear of the first connection frame so that the buoyancy body can be mutually assembled; A transceiver provided at the center of the second connection frame to transmit and receive signals for autonomous driving or remote control and signals measuring the aquatic environment through various sensors on the upper part, and an underwater detection module for detecting the underwater topography and environment on the lower part. a vertical frame detachably provided; an underwater detection module detachably provided to the fixed frame of the buoyancy body and detecting the underwater topography and environment; a control module provided on the upper part of the base plate to control the transceiver, thruster, FOG, underwater detection module, camera, warning light, GPS and lidar; It is provided on the upper part of the base plate and includes a power module that supplies power to the transceiver, thruster, FOG, underwater detection module, camera, warning light, GPS, LIDAR, and control module. It monitors the water and underwater environment, such as surveying the water quality environment and topography of the nearby coast, investigating the water environment and underwater/water structures, and acquiring underwater sound source information. And it relates to a catamaran-type modular water robot that is easy to maintain.

Description

Modular autonomous surface robot of catamaran type}

The present invention relates to a water robot that investigates the water quality and environment of the inland water surface and nearby coasts, and more specifically, surveys the water quality environment and topography of the inland water surface and nearby coasts, surveys the water environment and underwater/aquatic structures by remote control or autonomous navigation It relates to a catamaran-type modular water robot that monitors water and underwater environments such as acquisition of sound source information, etc., and can be easily disassembled/assembled by at least two people without separate equipment such as a crane, making installation and maintenance easy.

In general, various equipment has been developed to investigate the topography of the seabed.

These instruments measure the water depth of the ocean, and acoustic detectors have been mainly used.

The sound detector is a device installed on a ship to measure the depth of the water by using the speed of sound waves in the water. Typically, the depth of the sea or river is measured by the time it takes for the sound waves to be reflected and returned after sending the sound waves to the bottom of the sea or river. will measure

In the past, a single beam echo sounder was used to acquire the topographic data of the seafloor directly under the equipment, but recently a multi beam echo sounder has been developed to cover the entire cross section under the sea within the transmission and reception range of sound waves. can be measured simultaneously.

The sound detector fixed to the ship moves along with the ship due to waves or the like. Therefore, in the case of the sound detector, the measured measurement and ship's attitude information (pitch, roll) are acquired at the same time, and the ship's attitude information is corrected to calculate the final water depth.

In the case of Patent Document 1, a frame is installed on a water motorcycle, and a measuring unit and a control device are configured on the frame to conduct underwater exploration while a person is on board, which is inconvenient, and the water motorcycle is moored while moored on the deck. In order to install the sensor and replace each part, it is inconvenient to tow it from the water using a crane or a separate fixture and perform repair work on the ground.

Likewise, in the case of Patent Document 2, even if maintenance is performed by mooring to the water deck, it is difficult to work accurately and quickly due to the sloshing of the hull, which has the disadvantage of having to be brought to the ground using a crane to perform repair work.

KR 10-1277783 B1 KR 10-2017-0043035 A

In order to solve the above problems, the present invention consists of twin ships to be able to berth on the water deck, each modularized so that it can be disassembled / assembled, remotely controlled or autonomous navigation It is a catamaran-type modular watercraft that is easy to install and maintain as it can be easily disassembled/assembled by at least two people without additional equipment such as a crane. The purpose is to provide robots.

In order to achieve the above object, the present invention is spaced apart at intervals corresponding to the width of the water deck, and two buoyancy bodies capable of attaching and detaching the propeller at the rear end; a first connection frame having a base plate on the upper part of the hull by connecting the buoyancy bodies so as to be mutually assembled; a second connection frame connected to the rear of the first connection frame so that the buoyancy body can be mutually assembled; A transceiver provided at the center of the second connection frame and transmitting and receiving signals for autonomous driving or remote control and signals measuring the aquatic environment through various sensors at the upper part, and an underwater detection module for detecting the topography and environment of the water at the lower part a vertical frame detachably provided; an underwater detection module detachably provided to the fixed frame of the buoyancy body and detecting the underwater topography and environment; a control module provided on the upper part of the base plate to control the transceiver, thruster, FOG, underwater detection module, camera, warning light, GPS and lidar; A catamaran type modular water robot comprising a power module provided on the upper part of the base plate and supplying power to the transceiver, thruster, FOG, underwater detection module, camera, warning light, GPS, lidar and control module provides

Here, the first connection frame and the second connection frame are integrally fixed to the base plate or the vertical frame, and a fixing rod installed in a horizontal direction in a rod shape having a hollow part; extension rods provided at both ends of the fixing rod to be withdrawable and curved to be fastened and fixed to the fixing frame of the buoyancy body; It is characterized in that it is configured to arbitrarily adjust the separation distance between the two buoyancy bodies, including a tightening knob provided at each end of the fixing rod and fastening and fixing the extension rod drawn out at an appropriate distance from the fixing rod.

And, the control module includes a sensor receiver for receiving measurement signals of each sensor of the FOG, underwater detection module, camera, GPS, and LIDAR; an image processing unit that provides an image to a central management center or a user using information provided from the sensor receiver; an obstacle tracking unit and an obstacle avoidance unit that set a moving path of the hull through obstacle tracking and avoidance using information provided from the sensor receiver; and an autonomous navigation unit for selectively driving the propulsion unit through movement path information generated by the obstacle tracking unit and the obstacle avoidance unit to travel along a set movement path.

At this time, the underwater detection module includes an underwater sensor body that is received underwater and measures the topography and environment of the water; lift bars extending vertically upward on both sides of the underwater sensor body; It includes a lift means installed on the fixed frame of the buoyancy body to move and control the lift bar vertically so as to elevate the underwater sensor body, and selectively advances/accommodates the underwater sensor body underwater under the control of the control module. It is characterized in that it is configured to be measured as.

Meanwhile, the control module may further include a true acquisition unit for controlling the lift means to launch or take over the underwater detection module.

By providing the present invention configured as described above, aquatic and aquatic environments such as water quality environmental conditions and topographical investigations of inland waters and nearby coasts, investigations of aquatic environments and underwater/aquatic structures, underwater sound source information acquisition, etc. are monitored by remote control or autonomous navigation, It can be easily disassembled/assembled by at least two people without any additional equipment such as a crane, so installation and maintenance are easy.

1 is a configuration diagram of a catamaran-type modular water robot and a state anchored on a deck according to the present invention.
Figure 2 is a block diagram showing the installation and operating state of the catamaran type modular water robot according to the present invention.
Figure 3 is a front view showing the operating state of the connection frame to the catamaran-type modular water robot according to the present invention.
Figure 4 is a side view showing the operating state of the underwater detection module in the catamaran-type modular water robot according to the present invention.
Figure 5 is a block diagram showing a system for operating and controlling a catamaran-type modular water robot according to the present invention.

Hereinafter, preferred embodiments will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily practice the present invention.

As shown in FIGS. 1 to 4, the catamaran-type modular water robot of the present invention includes two buoyancy bodies 110 each having a propeller 120, and one hull 100 connected to the buoyancy body 110. ) Connecting frames 130a and 130b that connect to maintain, and the hull 100 are equipped with a detection module equipped with a sensor to detect the underwater environment, the water environment, and the position and position of the robot, remotely controlled and It may include a power module 200 and a control module 500 for driving and controlling, as well as various devices to enable autonomous driving.

That is, it is preferable that the underwater detection modules 300a and 300b for detecting the underwater environment are installed to be immersed in water, and the camera 600 and lidar 900 are installed to detect the water environment.

At this time, the underwater detection module 300a is an underwater multi-beam echo sounder and an underwater sensor (Doppler Velocity Log) for measuring hull movement speed, and an underwater sound source modem is applied to the other underwater detection module 300b.

In addition, a FOG (fiber-optic gyro) for measuring the posture (Roll, Pitch, Yaw) of the robot; a gyro composed of optical fibers using an optical phenomenon known as the Sagnac effect. It is the same in principle as a laser gyro, Since the light path is composed of an optical fiber wound in a coil shape, it is possible to measure angular velocity with higher precision (hereinafter referred to as FOG) (170) GPS (800) to measure the current position of the sensor and robot It is desirable that this be installed.

Here, two buoyancy bodies 110 are provided, and are typically spaced apart at intervals corresponding to the width of the water deck 10 on which boats can be anchored.

At this time, a thruster 120 is mounted at the rear end of the buoyancy body 110 so as to be able to operate on the water, and a fixed frame 111 is mounted at the top to connect and install to the underwater detection module 300b or the hull 100. it is desirable to be

In addition, between the buoyancy body 110 and the thruster 120, the auxiliary buoyancy body 113 has a coupling structure to supplement the lack of buoyancy of the buoyancy body 110 and to facilitate attachment and detachment of the thruster 120. ) may be further provided.

In addition, the connection frames 130a and 130b are a first connection frame 130a for mounting the power module 200 and the control module 500, and for mounting the transceiver 400 and the underwater detection module 300a. The hull 100 may be formed by connecting the two buoyancy bodies 110 together by being divided into the second connection frame 130b.

Here, the first connection frame 130a joins and connects the buoyancy bodies 110 so as to be able to be assembled together to form one body of the hull 100, and has a base plate 140 on the upper portion.

And, the second connection frame 130b is jointed and connected to mutually assemble the buoyancy body 110 in the same way as the first connection frame 130a, and is provided on the rear side of the first connection frame 130a. And, it has a vertical frame 150 in the center.

At this time, when the hull 100 is anchored to the water deck 10, the first connection frame 130a and the second connection frame 130b can avoid interference of the water deck 10, and the water surface It is preferably made in a curved bow shape or arch shape to have a floor to allow access for hull repairs by operators located on the deck 10 .

Therefore, the first connection frame 130a and the second connection frame 130b are integrally fixed to the base plate 140 or the vertical frame 150 at the top position in the center, respectively, and have a rod shape having a hollow part. A fixing bar 131 installed in the horizontal direction is formed.

It is provided at both ends of the fixing rod 131 to be withdrawable, and an extension rod 133 curved to be fastened and fixed to the fixing frame 111 of the buoyancy body 110 is provided,

The two buoyancy bodies 110 include a tightening knob 135 provided at each end of the fixing bar 131 and tightening and fixing the extension bar 133 drawn out at an appropriate distance from the fixing bar 131. It is preferable to be configured to arbitrarily adjust the separation interval.

That is, the fixing rod 131 is located at the top between the two buoyancy bodies 110, extends in the horizontal direction, and is integrally fixed to the base plate 140 or the vertical frame 150.

In addition, the extension rod 133 is provided to be retractable at both ends of the fixing rod 131 so that the operator can extend it arbitrarily, and is fastened to the fixing frame 111 of the buoyancy body 110 at the end thereof. It is preferable to fix it.

At this time, the two buoyancy bodies ( 110), the operator can arbitrarily change the separation interval.

On the other hand, the vertical frame 150 is fixed to the central fixing rod 131 of the second connection frame 130b, and at the top is a signal for autonomous driving or remote control and a signal measuring the aquatic environment through various sensors. A transceiver 400 for transmitting and receiving is provided, and an underwater detection module 300a for detecting underwater topography and environment is detachably provided at the lower end.

At this time, it is preferable that the vertical frame 150 has a structure capable of being lifted around the second connection frame 130b so that the height of the underwater detection module 300a can be adjusted.

That is, when anchoring on the water deck 10, the underwater detection module 300a can prevent damage to the water deck 10 due to interference in advance, and the underwater detection module 300a is suitable for underwater detection. It has an elevating structure so that it can be placed in a position.

In addition, the fixing frame 111 of the buoyancy body 110 may be detachably provided with an underwater detection module 300b for detecting the location of an underwater sound source and a water quality multi-item meter 301 for measuring water quality when submerged. have.

At this time, the underwater detection module 300b is divided into an underwater sensor body 310, a lift bar 320, and a lift means 330 so as to have a lift structure so that it can be launched underwater or taken over the water.

On the other hand, in the case of the lift means 330, all devices capable of lifting, such as a rec pinion, a winch, a high pressure or a hydraulic cylinder, may be selectively provided.

It is preferable that the underwater sensor body 310 is equipped with each sensor required for detection so that it can measure the topography and environment of the water after being taken under water.

And, the lift bar 320 is provided extending vertically upward on both sides of the underwater sensor body 310.

In addition, the lift means 330 is installed on the fixed frame 111 of the buoyancy body 110 to control the vertical movement of the lift bar 320 so as to elevate the underwater sensor body 310. , It is preferable to operate according to the control of the control module 500.

That is, the lift bar 320 is raised and lowered under the control of the control module 500 so that the underwater sensor body 310 can be launched or taken over underwater, so that underwater detection through the underwater sensor body 310 You can choose.

Moreover, in the case of the underwater sensor body 310, one or more may be installed along the longitudinal direction of the buoyancy body 110, and each is preferably installed on the fixed frame 111.

And, on the upper part of the base plate 140, the transceiver 400, propeller 120, FOG 170, underwater detection module 300a and underwater detection module 300b, camera 600, warning light 700 , GPS 800, a control module 500 for controlling lidar 900 is provided, and a transceiver 400 and a thruster 120 are provided on the upper part of the base plate 140 adjacent to the control module 500 , FOG (170), underwater detection module (300a) and underwater detection module (300b), camera 600, warning light 700, GPS (800), lidar (900) and control module (500) supply power It is preferable that the power module 200 to be provided.

In addition, the control module 500 is a central management center or a user by using a sensor receiver for receiving measurement signals of each sensor of the underwater detection module 300b and the underwater detection module 300a, and information provided from the sensor receiver. An image processing unit providing an image to the sensor receiver, an obstacle tracking unit and an obstacle avoidance unit setting a moving path of the hull 100 through tracking and avoiding obstacles using information provided from the sensor receiver, and the obstacle tracking unit and an autonomous navigation unit which selectively drives the thruster 120 through movement path information generated by the obstacle avoidance unit to travel along a set movement path.

In addition, underwater detection modules 300a and 300b and a support light may be mounted at the front end of the hull 100 for remote navigation of the user, and the vertical frame 150 may inform other ships of the location traveling on the water. A warning light 700 may be further mounted.

In addition, the FOG sensor 170 is a device for measuring the posture (Roll, Pitch, Yaw) of the robot, and the camera 600 is a screen so that the user can check the front and surrounding conditions such as thermal images, infrared rays, and ultraviolet rays on the display. It is a device that provides information, and LIDAR 900 may be installed to secure a safe distance by emitting a laser pulse and measuring a distance reflected by surrounding objects.

In addition, at the tip of the buoyancy body 110, the direction of the geomagnetism can be directly known through the geomagnetic sensor, and the size can be known from the vibration period. In addition to the magnetic needle, many sensors have been developed to detect geomagnetism with higher sensitivity and more conveniently. A magnetometer using a rotating coil, a fluxgate magnetometer using the magnetic saturation of ferromagnets, a quantum magnetometer using the nuclear magnetic resonance of protons, and a light using the Zeeman effect of rubidium or cesium atoms. A (light) pumping magnetometer, a SQUID using superconductivity, etc. can be further equipped with a geomagnetic sensor 160 that detects geomagnetism used by taking advantage of the advantage.

A system for operating the catamaran-type modular water robot of the present invention configured as described above will be described with reference to FIG. 5.

First, the underwater detection module 300a and the underwater detection module 300b are equipped with sensors suitable for each underwater environment. Multi-beam (MBES), water quality multi-item measuring device and In addition to underwater sound sources, stereo cameras, lidar, and thermal imaging cameras, each sensor applied to the environment, such as GPS-COMPASS, FOG (Fiber Optic Gyro), and DVL (Doppler Velocity Log), is used to simultaneously acquire location and attitude information. More can be installed.

In addition, the control module 500 is a main control module that receives signals from the drive control module and each sensor that controls power and propulsion and transmits them to the central server or user terminal or provides movement of the hull 100 and various information. Separated.

The main control module includes a sensor receiving unit, an image processing unit, an obstacle detection unit, an obstacle tracking unit, an obstacle avoidance unit, an autonomous navigation unit, and an underwater sensor image/acquisition unit. You can oversee map creation.

On the other hand, in the case of the drive control module, power is controlled to the propulsion controller and BMS (Battery Management System) through the battery and the thruster, and can be remotely controlled through the user's terminal through RF EMC (Emergency) or RF remote control. do.

In addition, in the case of the autonomous navigation unit, the navigation processing unit based on the signal of each sensor and the GPS through the control module 500 automatically creates a waypoint and can follow the waypoint.

In addition, in the case of obstacle avoidance, it is possible to calculate the risk of collision and the risk area in which collision is possible with respect to obstacles, and automatically set an avoidance path.

By providing the present invention configured as described above, aquatic and aquatic environments such as water quality environmental conditions and topographical investigations of inland waters and nearby coasts, investigations of aquatic environments and underwater/aquatic structures, underwater sound source information acquisition, etc. are monitored by remote control or autonomous navigation, It can be easily disassembled/assembled by at least two people without any additional equipment such as a crane, so installation and maintenance are easy.

The terms and words used in the present specification and claims described above should not be construed as being limited to the usual or dictionary meanings, and the present inventor appropriately uses the concept of terms in order to explain his/her own invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined appropriately.

Therefore, the configurations shown in the drawings and embodiments described in this specification are only one of the most preferred embodiments of the present invention, and do not represent all of the technical ideas of the present invention, so they can be replaced at the time of the present application. It should be understood that there may be many equivalents and variations.

100: hull
110: buoyancy body
111: fixed frame
113: auxiliary buoyancy body
120: thruster
130a: first connection frame
130b: second connection frame
131: fixed bar
133: extension bar
135: tightening knob
140: base plate
150: vertical frame
170: FOG
200: power module
210: sensor receiver
220: image processing unit
230: obstacle tracking unit
240: obstacle avoidance
250: autonomous navigation department
260: True Inquisition
300a: underwater detection module
300b: underwater detection module
301: water quality multi-item meter
310: underwater sensor body
320: lift bar
330: lift means
400: transceiver
500: control module
600: camera
700: warning light
800: GPS
900: lidar

Claims (1)

Two buoyancy bodies 110 having a propeller 120 at the rear end and spaced apart at intervals corresponding to the width of the water deck 10;
It is provided between the buoyancy body 110 and the thruster 120 to supplement the lack of buoyancy of the buoyancy body 110, and has a coupling structure so that it can be easily attached to and detached from the thruster 120. (113) and;
A first connection frame 130a having a base plate 140 thereon and forming a hull 100 by connecting the buoyancy bodies 110 so as to be mutually assembled;
a second connection frame 130b connecting the buoyancy body 110 to the rear of the first connection frame 130a so as to be mutually assembled;
A transceiver 400 is provided in the center of the second connection frame 130b and transmits and receives signals for autonomous driving or remote control and signals measuring the aquatic environment through various sensors at the upper end, and the underwater topography and environment at the lower end. a vertical frame 150 in which an underwater detection module 300a for detecting is detachably provided;
an underwater detection module 300b detachably provided to the fixing frame 111 of the buoyancy body 110 and detecting the underwater topography and environment;
The transceiver 400, propeller 120, FOG 170, underwater detection module 300a, underwater detection module 300b, camera 600, and warning light 700 are provided on the upper part of the base plate 140. , GPS (800) and the control module 500 for controlling the lidar (900) and;
The transceiver 400, propeller 120, FOG 170, underwater detection module 300a, underwater detection module 300b, camera 600, warning light 700, It includes a power module 200 that supplies power to the GPS 800, the lidar 900, and the control module 500,
The first connection frame 130a and the second connection frame 130b,
When the hull 100 is anchored to the water deck 10, it is possible to avoid interference of the water deck 10, and is formed curved to allow access for repair of the hull of workers located on the water deck 10. It is made in the shape of a bow or arch,
The first connection frame 130a and the second connection frame 130b,
a fixing rod 131 integrally fixed to the base plate 140 and the vertical frame 150 and installed in a horizontal direction in a rod shape having a hollow part;
Extension rods 133 provided at both ends of the fixing rod 131 to be withdrawable and curved to be fastened and fixed to the fixing frame 111 of the buoyancy body 110;
The two buoyancy bodies 110 include a tightening knob 135 provided at each end of the fixing bar 131 and tightening and fixing the extension bar 133 drawn out at an appropriate distance from the fixing bar 131. It is configured to arbitrarily adjust the separation interval,
The control module 500,
a sensor receiver for receiving measurement signals from the sensors of the FOG 170, the underwater detection module 300a and the underwater detection module 300b, the camera 600, the GPS 800 and the lidar 900;
an image processing unit that provides an image to a central management center or a user using information provided from the sensor receiver;
an obstacle tracking unit and an obstacle avoidance unit that set a moving path of the hull 100 through tracking and avoiding obstacles using information provided from the sensor receiver;
An autonomous navigation unit for selectively driving the thruster 120 through movement path information generated by the obstacle tracking unit and the obstacle avoidance unit to travel along a set movement path,
The underwater detection module 300b,
an underwater sensor body 310 that is received underwater and measures the terrain and environment under water;
lift bars 320 extending vertically upward on both sides of the underwater sensor body 310;
Including a lift means 330 installed on the fixed frame 111 of the buoyancy body 110 to control the vertical movement of the lift bar 320 so that the underwater sensor body 310 can be moved up and down
Under the control of the control module 500, it is configured to selectively measure the underwater sensor body 310 by taking it in/out of the water,
In the control module 500,
A catamaran-type modular water robot, characterized in that it further comprises a true acquisition unit for controlling the lift means 330 to launch or take over the underwater detection module 300b.

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