KR20120008348A

KR20120008348A - Installation method and equipment for small equipments in the sea bottom

Info

Publication number: KR20120008348A
Application number: KR1020100069159A
Authority: KR
Inventors: 임성호
Original assignee: 임성호
Priority date: 2010-07-16
Filing date: 2010-07-16
Publication date: 2012-01-30

Abstract

PURPOSE: A method and an apparatus for installing a small device at the bottom of the sea is provided to rapidly and remotely perform the installing and repairing works of a small device using an unmanned undersea vehicle. CONSTITUTION: An apparatus for installing a small device at the bottom of the sea comprises a lid(105), a communication device, two pairs of robot arms, robot hands(103), fixing jigs for mud, fixing jigs for bedrock, four pairs of support legs(102), a protection net(107), a ultrasonic communication unit, and a posture sensing unit. The communication device is submerged. The robot arms have shafts composed of two or more joints. The robot hands grip an object. The support legs securely support the posture of an unmanned undersea vehicle. The protection net protects a cable from a screw. The ultrasonic communication unit sets position, posture, and time information to a small sensor and a controller installed at the bottom of the sea.

Description

INSTALLATION METHOD AND EQUIPMENT FOR SMALL EQUIPMENTS IN THE SEA BOTTOM

The present invention relates to a technique for remotely installing small sensors and control devices on the sea floor.

There is a great need for sensors and control devices to develop surveillance boundaries and resources on the sea floor. However, it has been restricted in use due to problems such as installation and operability.

The West Sea is particularly composed of fins, so it is almost impossible to fix small sensors and controls using existing nails or screws. Therefore, in order to install a small device, heavy equipment should be mobilized or a dedicated fixing device for the ground of the place to be installed should be made and installed. Moreover, due to problems such as power supply problems, device and cable damage problems, posture correction, etc., they are not widely used despite the need for small sensors and control devices.

The present invention proposes a method of installing and managing a small sensor and control device under the sea, which is mostly made of pearls, such as the West Sea.

In the present invention, it is intended to be able to safely and simply install a small sensor and control device on a variety of sea bottom, such as sand, mud, sand, rock. Therefore, it is intended to allow people to install remotely through an unmanned submersible rather than going directly into the sea to work. Remote control and control means for unmanned submersibles for the above purposes,

The purpose of this study was to find the fixation method of the unmanned submersible itself, the installation method of the fixing device, the implementation method of the jig, and the quick and easy installation method.

In addition, it provides initial position information, initial time information, initial posture information, etc. to the small sensor and control device to be installed, and ensures accurate position and posture is reported after installation so that timely correction can be made when the position and posture need to be changed. Was intended.

In order for the unmanned submersible to be controlled remotely, the front cover with CCTV camera, headlight and sonar is installed, and the lid can be rotated up, down, left and right, and watch the necessary point without changing the body of the unmanned submersible. To make it possible. The submarine also provided images of the installation site and sonar reflections on the mothership so that remote sensors could be installed on the ocean floor remotely. The communication device for providing the information has a built-in communication unit using an optical fiber, a coaxial cable, and an ultrasonic wave to be selectively applied according to conditions.

In addition, to secure the fixing device, there are two pairs of axes with two or more nodes that can give rotational force, pushing force, and impact, and two pairs of robotic arms can be easily replaced and mounted as needed. It also has a robotic hand that consists of articulated joints to hold general objects. In addition, the contact part with the object was treated with an electromagnet to make it easier to hold and release the locking device and the expansion device.The rotational force was applied to the jaw with two jaws on both sides so that the rotational force was not applied to the female thread of the fixing device or the expansion device. Implement the fixture jig to make. In addition, it was treated with an electromagnet to easily hold and release the rock fixing device, and implemented a fixing jig treated as shown in 510 of FIG. 5 so that the shock for fixing is not applied to the female thread of the head of the rock fixing device.

In addition, in order to fix the unmanned submersible, there are three threaded inner shafts to extend the length by the rotation inside the shaft that is threaded on the outer side so that they can be fixed by rotation. The four pairs of support legs were implemented to keep them coming out and to securely hold the attitude of the unmanned submersible.

In addition, in order to provide initial setting values such as position information to the small sensor and the control device, GPS information received from the ship, MEMS acceleration sensor and angular velocity sensor were used to provide the position information.

In addition, for quick and easy installation remotely, a lid is placed on the front of the unmanned submersible and a device and installation tool are installed inside the lid so that the robot arm can be selected and used when needed. And the device is placed in a predetermined position and programmed in advance so that the remote operator can automatically adjust the robot arm by simply pressing the device and tool selection buttons to select the necessary tools and devices.

Implemented as described above, it is possible to quickly and reliably install a small sensor and control device remotely from a mother ship even in the ocean floor of all terrains such as sand, mud, moire, and rock.

The installation and maintenance of small sensors and controls under the West Sea, which consist mostly of wetlands, can be done quickly and easily remotely from a mother ship using an unmanned submersible. Therefore, the present invention will greatly contribute to the activation of the business in the field of surveillance and boundary of the west coast requiring small sensors and control devices, or remote detection for resource development, which has not been widely distributed due to installation and maintenance problems.

In addition, it is possible to transmit the location information and time information to the small sensor and the control device to the ultrasonic communicator during the installation and maintenance work, and to send the posture information and the location information in addition to the information detected by the small sensor and the control device. The ability to accurately track the status of small sensors and controls, even from remote locations, will greatly assist in post-installation operation.

1 is a conceptual diagram of the present invention, a figure showing a state in which a small sensor and a control device is installed remotely using an unmanned submersible.
2 is a view showing the body of the unmanned submersible.
3 is a view showing the robot hand and the support leg of the unmanned submersible.
Figure 4 is a view showing the jig for fixing the fixing device and the fixing device for mounting.
Figure 5 is a view showing the jig for fixing the fixing device and the fixing device for rock installation.
6 is a view showing a state in which the small sensor and the control device is fixed by using a lock installation device.
7 is a view showing a state in which the small sensor and the control device is fixed by using the fixing device for rock installation.

The present invention proposes a method for installing and managing a small sensor and control device on the ocean floor, which is composed mostly of water, such as the West Sea.

The present invention provides a means for easily installing a small monitoring device on a variety of sea bottoms, such as sand, mud, sand, rock, and further can be installed remotely using an unmanned submersible. For this purpose, unmanned submersibles are equipped with CCTV cameras and SONAR, and provide video and SONAR radar information of the navigation and installation site via wired (optical fiber and coaxial cable) or ultrasonic modem to the temporary bus. If the field of view is secured, the CCTV screen is used. If the field of view is not secured, the unmanned submersible is remotely controlled to the installation site by using the SONAR reflection signal.

Unmanned submersibles have two multi-axis control arms that transmit three-axis control and rotational force so that they can be held on one side and installed on one side. Unmanned submersibles may be powered by their own engine power or may be powered by a mothership. When powering unmanned submersibles on a bus, it is advisable to choose a wired communication method with low data loss. In this case, it is preferable to implement the power line and the communication cable (optical fiber and coaxial cable) as one cable, or the two cables may be bundled and processed. In another embodiment, when power is obtained using its own engine, navigation information is transmitted using ultrasonic communication. At this time, if the ultrasonic communication is not available, use a lightweight optical cable. Lightweight fiber optic cable is iron coated on the optical fiber to increase strength and minimize volume. The optical fiber reel wrapped around the lightweight fiber optic cable is installed in the unmanned submersible, not on the busbar, so that the cable can be automatically released even if the unmanned submersible is caught by the object while in operation, so that the cable is not broken.

Unmanned submersibles also allow the setting of lock commands or initial values for small surveillance and perimeter installations, and the use of ultrasonics to communicate with unmanned submersibles and small devices. Ultrasonics can simplify maintenance by allowing operation on busbars without the use of unmanned submersibles for program updates or setting changes to small devices after installation. In addition, it is possible to inject the initial position information, the initial time information, the initial posture information to the small sensor and the control device to be installed through the ultrasonic communication, and the small sensor and control device has a built-in MEMS acceleration sensor and angular velocity sensor, Ensure that posture reports are made and that timely corrections are made when changes in position and posture are required.

In addition to the unmanned submersible, MEMS acceleration sensors and angular velocity sensors are also provided to calculate the travel route based on the GPS data received from the mother ship to obtain accurate location information of the installation site and provide this information to the device to be installed. Accurate location information of the small sensor and the control device is important information to determine the position and penetration path of the submarine, and the small sensor and the control device has the accurate location information as described above means that precise monitoring and boundary can be achieved .

1 is a conceptual diagram of the present invention. As shown in FIG. 1, a monitor 108 and a remote control device are provided to view and control CCTV images and sonar images on the mothership. The unmanned submersible 101 is loaded with devices 110 and 109 and installation tools to be dropped into the water from the mothership. , Unmanned submersible 101 to open the lid 105 after diving to operate the CCTV camera 104 and the headlights and SONAR to transmit the necessary navigation information to the monitor 108. Unmanned submersible 101 is propelled using its own screw 106, the guard net 107 is to prevent the cable is caught in the screw 106 and damaged. The unmanned submersible 101 has a built-in MEMS acceleration sensor and angular velocity sensor for attitude control, and a communication unit capable of communicating with a mother ship for transmitting current position information and flight information. The communication unit includes an ultrasonic modem, a wired network transmission device, an optical transceiver, and the like, so that wireless or wired operation can be performed. When the waves are calm and there is no problem in the wired operation, the optical fiber is used, and for this purpose, the optical transceiver and the optical fiber roll described above are mounted. If it is not possible to use the optical cable, it communicates by coaxial cable or ultrasonic wireless modem.

The monitor 108 moves the unmanned submersible 101 to the bottom of the point to be installed by remote control while watching the CCTV screen and SONAR reflected wave. When the unmanned submersible 101 arrives at the bottom of the point to be installed, the four support legs 102 and 208 on the side of the unmanned submersible 101 are operated with their motors facing downward and the shafts of the support legs are rotated to be supported. Have your legs pulled out and get stuck on the floor. Detailed views of the support legs 102, 208 are shown on the right side of FIG. 3. As shown in Figure 3, the support leg is composed of a threaded outermost portion 309, the second outer portion 310, the third outer portion 311, the inner shaft 312, the upper surface of each axis transmits the rotational force Place grooves for receiving, and four grooves on the top of each axis. When the support leg is driven into the installation point, first, the rotational force is applied using the groove 313 of the upper part of the outermost part 309, and when the outermost part is hit, the groove of the upper part of the second outer part 310 ( 314 is applied to the rotational force, when the second outer portion 310 is hit, the rotational force is applied using the groove 315 of the upper portion of the third outer portion 310, the third outer portion 310 When it is hit, when the second outer portion 310 is hit, by applying a rotational force using the groove 316 of the upper portion of the inner shaft 310, so as to be firmly fixed even if the depth of 뻘 deep.

When the unmanned submersible 101 is fixed to the floor, select the mounting jig for the terrain and select the corresponding fixture to put the fixture on the floor. If the bottom is thin, install three or more anchoring fixtures. If it is a rock, put only one anchorage.

If the bottom of the floor is mud, sand, or surface, the jig for fixture fixing fixture 409 is replaced in place of the robot hand 103, and in the front portion 201 shown in FIG. Hold it firmly by applying magnetic force and place it at the point to be fixed and rotate it while pressing. At this time, the rotational force is transmitted by the jaw 420 on the lower surface 418 of the jig 409 and the jaw of the upper portion of the fixing device so that no force is applied to the thread of the fixing device.

In order to make the jig 409 more securely hold the jaw fixing device 401 in the above process, the inside of the jig 409 has a cylindrical auxiliary support 411 which can enter the inside of the jaw fixing device 401 female thread 402. ). When the depth of the shock is deep and the shock fixing device 401 enters, the electromagnet of the robot hand is turned off to hold the expansion device 404 in the same manner as when the locking device 401 is placed and the fixing device 401 is held. , Align and rotate the expansion device on the shock absorber 401. Again the rotational force is transmitted by the jaw 420 on the lower surface 418 of the jig 409 and the jaw of the upper portion of the expansion device 404, and is also fixed with the jaw on the lower surface 408 of the expansion device 404 The rotational force is transmitted by the jaw of the upper portion 403 of the device 401 so that no force is applied to all threads. Repeat the above procedure until the bottom is firm and no longer rotates to secure the fixture. Repeat the above four times to complete the installation of the fixing device.

When the fasteners 401 and 404 are installed, the base 604 of the small sensor and the control device, using the female screw 402 of the nail portion 401 or the female screw 406 and the bolt of the expansion device 404. Fix it.

If the sea floor is a rocky terrain, replace the rock fixture 501 mounting jig 509 shown in FIG. 5 in place of the robot hand 103, and in the front portion 201 shown in FIG. Select 210), apply electricity to the electromagnet to hold it firmly, and then apply a shock to the head to get lodged in the rock. Fixing unit 501 for rock fixation device 509 has a 510, 513, 517, and 516 in FIG. 5 so that the head of the rock fixing device 501 is not damaged by the impact of the female thread 505. As shown in the staircase treatment and the 517 portion is not to reach the head portion 505 of the rock fixing device (501). Therefore, since all forces are transmitted only to the parts 516 and 503, the rock fixing device can be strongly driven without damaging the female screw 505 of the rock fixing device 501. Once the rock fixing device 501 is installed, the base 604 of the small sensor and the control device are bolted using the female screw 505 of the head 503 of the rock fixing device 501.

In order to fix the base 604, the unmanned submersible 101 is equipped with a robot hand (301). The robot hand 301 of FIG. 3 is a jig that can be used to hold a general object such as the base 604 or the guard net 605. Robot hand is composed of joints (302, 304, 306) and nodes (301, 303, 305, 307) and the end is rounded to facilitate the catch of a variety of objects, made of a rubber material to less slip, to prevent damage to the object by the grip. Two pairs of joints and nodes face each other, and robot hands are placed on both sides of the unmanned submersible body so that the base 604 or the guard net 605 can be lifted using two robot hands. Using the two robot hands, the bases 604 and 702 are lifted and placed on the fixing device. Replace one robot hand with bolt fixing jig and fix the base by holding bolt with bolt fixing jig. Since the bolt fixing jig is not different from the general tool, a description thereof will be omitted.

When the bases 604 and 702 of the device 110 to be installed are fixed, both of them are replaced by the robot hand again and the protection nets 605 and 703 are held and fixed to the bases 604 and 702. The fixing of the bases 604 and 702 to the guard nets 605 and 703 uses a locking device attached to the base. After fixing the small sensor and the control device, the unmanned submersible transmits the position information and initial setting information to the small sensor and the control device.

For the initial data loading after installation, communication between the unmanned submersible 101 and the installation device uses ultrasonic waves, and for this purpose, the ultrasonic modem is embedded in the submersible and installation device. Submersible ultrasonic modems are also used to transmit data to busbars. By using the position information received from the bus via the ultrasonic modem, the MEMS acceleration sensor and the angular velocity sensor, accurate position information is calculated and transmitted to the small sensor and the control device.

FIG. 6 is a view showing a case in which a small sensor and a control device are fixed by using the fixing device when the sea bottom is wet, mud or sand. When the distance to the rigid point is large, that is, when the expansion part of the fixing device takes a lot, it is fixed by three or more fixing devices 601, 602, 603 to reinforce the supporting force.

FIG. 7 is a view showing a case in which a small sensor and a control device are fixed by using a rock fixing device 701 when the sea bottom is formed of a rock. In the case of rock, since only one fixing device is firmly fixed, the rock fixing device 701 is installed using only one.

The lids 105 and 202 are rotatable vertically and horizontally so that the body of the unmanned submersible 101 can stare at a desired point without moving. Opening the lids 105 and 202 allows the front of the body to be equipped with a device 212 to be installed, a fixing device 211, a fixing jig 210, the lid 202 is a CCTV camera 204, headlights (203) ), The SONAR oscillator is installed, and the lids 105 and 202 have an opening and closing axis and a left and right rotation axis perpendicular to the axis so that the unmanned submersible can stare at a necessary point without changing its posture. The front-mounted device and installation tool allow you to select and use the device and tools that require the robot arm.The tool and device can be programmed in advance with the tool and device in place and automatically pushed by the remote operator just by pressing the device and tool selection buttons. This tool moves and selects the necessary tools and devices, and an electromagnet is added to the robot arm so that various tools can be held freely and firmly while being compatible.

In the present invention, the installation and maintenance of a small sensor and control device on the bottom of the West Sea where the bottom is mostly composed of mud so as to be able to quickly and easily remotely from the mother ship using an unmanned submersible. Therefore, the present invention will greatly contribute to the activation of the project in the field of surveillance and boundary of the west coast requiring small sensors and control devices, or remote detection for resource development, which has not been widely distributed due to installation and maintenance problems.

In addition, it is possible to transmit location information, posture information, and time information to the small size sensor and control device to the ultrasonic communicator during the installation and maintenance work, and furthermore, change posture information and position information in addition to the information detected by the small sensor and control device. It will be very helpful for the post-installation operation by being able to grasp the state of the device accurately even in the distance from the small sensor and control device.

101: unmanned submersible body 102: support legs
103: robot hand 104: CCTV camera
105: lid 106: screw
107: protection net 108: monitor
109: fixing device 110: device to install
201: front part 202: lid
203: headlight 204: CCTV camera
205: body 206: robot hand support
207: support leg support 208: support leg
209: robot hand 210: fixture jig
211: fixing device 212: device to install
301: robot wrist 302: joint 1
303: Node 1 304: Joint 2
305: node 2 306: joint 3
307: Node 3 308: Object contact
309: outermost part of the support leg 310: the second outer part
311: 3rd outer portion 312: internal axis
313, 314, 315, 316: home
401: fastening device for fan 402: female thread
403: top 404: expansion unit
405: Male thread 406: Female thread
407: top side 408: bottom side
409, 413, 421: fixture jig 410, 414: inside jig for fixation
411, 415, 419: auxiliary support 412, 416, 422: support shaft
420: jaw
501: rock fixed device 502: head portion
503,506: Lower head 504, 507: Upper head
505, 508: Female thread
509, 512, 515, 518: Fixture jig
510, 513, 516, 517: inside of fixture jig
511, 514, 519: support shaft
601, 602, 603: Fixing device for fan 604: Base
605: protection net 606, 607, 608: bolt
701: rock fixing device 702: base
703: protection net 704: bolt

Claims

To remotely install unattended sensors and controls on the sea floor,
A front cover with CCTV camera, headlight and sonar to allow the unmanned submersible to operate remotely;
A communication device for providing an image of the installation site and sonar reflection information to the mother ship while diving, so that a small sensor and a control device can be installed on the sea floor remotely from the mother ship;
Two pairs of robot arms having a shaft consisting of two or more nodes that can give a rotational force and a pushing force and impact, and can easily replace the fixing jig and robot hand as needed;
A robotic hand made of multiple joints and capable of catching a general object by placing two pairs facing each other;
The end fixtures are electromagnetized to make it easier to hold and release the locking fixtures and extensions. ;
The end fixture is treated with an electromagnet so as to easily hold and release the rock fixing device, and the fixing jig for rock treatment treated in the shape of 510 of FIG. ;
Inside the shaft that has been threaded on the outer surface to be fixed by rotation, three more inner shafts that have been threaded to extend the length are allowed to keep the inner shaft out even at a deep depth. Four pairs of support legs to securely hold the unmanned submersible's posture:
A guard net for protecting the cable from screws and screws for its own torque;
An ultrasonic communication unit configured to set position information, posture information, and time information through ultrasonic communication or to correct posture in a small sensor and a control device installed on the sea floor;
A posture detector for providing position information of a small sensor and a control device using GPS information received from a ship, MEMS acceleration sensor, and angular velocity sensor;
Remote control installation and method for remote installation or maintenance of small sensors and control devices.

In carrying out claim 1, a lid is placed on the front of the unmanned submersible, and a device and an installation tool are installed inside the lid so that a robot hand can be selected and used when necessary.
The tools and devices are placed in a predetermined position and programmed in advance so that the remote operator can automatically adjust the robot hand to select the required tools and devices by simply pressing the device and tool selection buttons.
The robot arm adds an electromagnet to connect the various tools with strong compatibility.
The lid is equipped with lights, a camera, and sonar, and the lid can be rotated up, down, left, right, and two axes, so that the lid can be moved without changing the body of the unmanned submersible to keep an eye on the necessary point.