KR20160055609A - Underwater IMR (Installation, Maintenance, and Repair) Task Management System and Its Method - Google Patents

Abstract

The present invention relates to a system and a method to manage an installation and maintenance of an underwater equipment which uses augmented reality in the installation and maintenance of an equipment performed by a remotely operated vehicle (ROV) which is a remotely operated unmanned undersea vehicle for underwater resource exploration and development. The system of the present invention comprises: a plurality of work ROVs installed in the deep sea; a monitoring ROV to monitor an operation of the work ROVs; a database to store information about equipment to be installed, submarine topography information, information about the work ROVs, and information about the monitoring ROV; a virtual reality image generation unit to generate a 3D virtual reality image information in accordance with the information stored in the database; and an augmented reality image generation unit to generate the augmented reality image by adding information photographed by the work ROVs and the monitoring ROV to the image information generated by the virtual reality image generation unit. As such, the system of the present invention improves an efficiency of installation and operation of the underwater equipment, and an efficiency of supervision of the installation and operation of the underwater equipment.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an underwater IMR (Installation, Maintenance, and Repair)

The present invention relates to an equipment installation and maintenance work management system and method that can be applied to deep sea water operations, and more particularly, an ROV (Remotely Operated Vehicle), which is an unmanned submersible for deep water resource exploration and development, The present invention relates to a system and method for installing and maintaining a deep sea equipment using an augmented reality in the installation and maintenance of equipment to be installed.

Recently, ROV (Remotely Operated Vehicle) has been used to carry out underwater equipment installation and maintenance for underwater exploration and production in the deep sea.

Generally, when the depth of the water is less than 200m, the diver is put in, and in the case of deep sea, the ROV is put into operation.

Submarine development is becoming more widespread in the deep sea area than in the deep sea, and as the ship goes to the deep sea, installers and operators must rely on the ROV cameras and instrumentation attached to the equipment, It becomes a limiting factor.

Further, in order to use the ROV in the deep sea, a tether cable is required for communication and connection with the ROV control system on the marine vessel, and it is necessary to control the tether cable and to directly influence the ROV from the tether cable A Tether Management System (TMS) or the like is used in order to reduce the cost.

When performing such an operation, several ROVs are placed on the screen while several people view the screen, which also limits the screen and the field of view, which may significantly deteriorate the operation efficiency.

In addition, recently, a technique of using augmented reality (Augmented Reality) and eliminating the visual limitation of an operator by using a screen is also disclosed.

Such augmented reality creates a new unified environment by combining the real world that the user sees with the virtual world having the additional information. R & D on the augmented reality system, which integrates the real environment and the virtual environment, has been going on in the US and Japan since the late 1990s. Augmented reality, a concept that complements the real world with a virtual world, uses a virtual environment created by computer graphics.

Examples of such techniques are described in documents 1 and 2 below.

For example, as shown in Fig. 1, the following patent document 1 discloses a technique of connecting a marine survey line floating on a marine vessel with an armored cable and controlling the depth of the vessel by a ship winch, An underwater launching apparatus 100 that supports the operation of the unmanned submersible 200 and performs a submarine observation operation alone, a submerged launcher 100 connected to the underwater launching apparatus 100 by a neutral buoyancy cable, To control and control the remote control unmanned submersible 200 for performing undersea exploration and precision work in real time and the remote control unmanned submersible 200 on a ship in real time, (300), the underwater launching apparatus (100) is capable of performing the function of a camera, which is a deep sea ship alone , A hybrid deep sea unmanned submersible system having three cameras and an illumination device, a side scanning sonar, and two electric propellers for azimuth control.

In addition, Patent Document 2 discloses that a windshield installed in a steering column of a ship is constituted by a transparent display, and includes a recognition unit for recognizing the position of the ship and the head and eyes of the navigator, the position of the ship and the head and eyes of the navigator A matching unit for adjusting the correspondence between the external image data received by the receiving unit and an actual external image through the window, and a controller for controlling the matching between the external image data received through the receiving unit and the actual external image through the window, And an output unit for outputting the information of the external image data through the transparent display at the position of the actual external image.

Korean Registered Patent No. 10-0938475 (registered on January 15, 2010) Korean Registered Patent No. 10-1072393 (Registered on May 10, 2011)

However, in the conventional technology as described above, when performing an operation in a deep sea, several ROVs are operated by a plurality of people while viewing a plurality of screens. However, the screen and field of view are also limited, This can be a major obstacle.

In addition, in the above-described conventional technique, image information of 3D virtual reality is generated and utilized according to the acquired information, but there is also a problem in that it is not possible to manage the operation in response to the surrounding environment varying from deep sea to occasionally.

The object of the present invention is to solve the above-mentioned problems, and it is an object of the present invention to provide a method and system for installing and maintaining a deep sea equipment which can reduce visual risk by applying augmented reality technology to an operator's screen, And to provide a job management system and method.

Another object of the present invention is to provide a system and method for managing installation and maintenance work of a deep sea equipment capable of managing installation target equipment in accordance with image information and position information photographed in real time in response to an environment changing at all times in a deep sea .

In order to achieve the above object, a work management system according to the present invention is a work management system for managing a work for installation and maintenance of equipment in a deep sea by using an augmented reality, (ROV) for observing the work of the plurality of work ROVs, information about the installation target equipment, information about the ROV of the submarine, information about the ROV for the work, information about the ROV for observation, A virtual reality image generation unit that generates image information of the 3D virtual reality according to the information stored in the database, and a virtual reality image generation unit that acquires the plurality of work ROVs and the shooting information shot in the observation ROV And an augmented reality image generation unit for generating an augmented reality image.

The work management system according to the present invention may further comprise display means provided on the marine structure and displaying the augmented reality image generated by the augmented reality image generation unit, And a plurality of monitors provided corresponding to the respective ROVs.

Further, in the job management system according to the present invention, each of the plurality of monitors may include a screen, an object and position information, a position of a fixture, and a work area photographed in an ROV corresponding to one monitor, The position of the other ROV and the work area are displayed.

In the work management system according to the present invention, the plurality of work ROVs and the observation ROV may include a camera for photographing the state of the seabed, an image transmission unit for transmitting image information photographed by the camera, And the image information and the position information are transmitted to the augmented reality image generation unit.

In the work management system according to the present invention, the augmented reality image generator may generate an augmented reality image according to the image information and the position information photographed in real time in each of the plurality of work ROVs and the observation ROV .

The augmented reality image generation unit may generate augmented reality image based on the real-time location information of the installation target equipment, real-time location information and work state information of the plurality of work ROVs, real-time location information of the observation ROV, Thereby generating an augmented reality image.

In the work management system according to the present invention, the real-time position information may be acquired by the installation target equipment, the plurality of work ROVs, or an ultrasonic position tracking device mounted on the observation ROV.

Further, in the work management system according to the present invention, the observation ROV is disposed at a position where the equipment to be installed and a plurality of work ROVs whose positions are changed can be monitored.

In the work management system according to the present invention, the real-time position information is generated according to dynamic behavior information of the marine structure.

In order to achieve the above object, a work management method according to the present invention is a work management method for managing a work for installation and maintenance of equipment in a deep sea by using augmented reality, (A) collecting information on ROVs for observations, and (b) collecting information on observation ROVs, and (b) acquiring information on 3D (C) receiving location information and work state information from the installation target equipment, the plurality of work ROVs and the observation ROV, (d) And generating an augmented reality image according to the position information and the work state information received in the step (c) with respect to the image information of the 3D virtual reality.

(E) a plurality of monitors provided in correspondence with the plurality of work ROVs and the observation ROV, each of the plurality of monitors corresponding to one monitor, The location information, the position of the fixture and the work area, the position of another ROV not corresponding to the one monitor, and the work area.

In the operation management method according to the present invention, the step (d) may further include the step of generating augmented reality image in real time based on the image information and the positional information photographed in real time in each camera of the ROV for observation and ROV for observation .

Further, in the work management method according to the present invention, the observation ROV monitors the installation target equipment and the plurality of work ROVs in response to an environmental element whose position changes.

In the operation management method according to the present invention, the location information of the installation target equipment is acquired by acquiring and transmitting the minutiae points of the ROV for observation or through the position measuring equipment provided in the installation target equipment.

As described above, according to the system and method for managing installation and maintenance work of the deep sea equipment according to the present invention, the ROV operator and the equipment installation worker on the ship share one 3D map, not a divided screen, It is possible to confirm the working area and the interference area in real time and to perform the work.

In addition, according to the system and method for managing the installation and maintenance work of the deep sea equipment according to the present invention, the current position, the work area, the interference area, and the like are monitored in a single screen, And the work can proceed. As a result, not only an increase in work efficiency but also an effect of lowering the risk of an accident can be obtained.

In addition, according to the system and method for managing installation and maintenance work of the deep sea equipment according to the present invention, it is possible to provide a 3D map (map) map and ROV camera screen, it is possible to achieve efficiency of installation and operation of submarine equipments and management supervision efficiency of such work.

FIG. 1 is a view showing the overall configuration and underwater operation of a conventional complex deep sea unmanned submersible system,
FIG. 2 is a block diagram of a configuration and operation of a deep sea equipment installation and maintenance work management system according to the present invention;
FIG. 3 is a block diagram of the ROV shown in FIG. 2,
FIG. 4 is a configuration diagram of the central processing system shown in FIG. 2,
FIG. 5 is a view for explaining maintenance and installation work of a deep sea equipment according to the present invention;
6 is a process diagram for explaining a method of installing and maintaining a deep sea equipment in accordance with the present invention.

These and other objects and novel features of the present invention will become more apparent from the description of the present specification and the accompanying drawings.

Hereinafter, the structure of the present invention will be described with reference to Figs. 2 to 4. Fig.

FIG. 2 is a block diagram of the installation and maintenance work management system for the deep sea equipment according to the present invention, FIG. 3 is a configuration diagram of the ROV shown in FIG. 2, FIG. 4 is a configuration diagram of the central processing system shown in FIG. to be.

As shown in FIG. 2, the installation and maintenance work management system for the deep sea equipment according to the present invention is a work management system for managing work for installation and maintenance of equipment in the deep sea using augmented reality, A plurality of work ROVs 10 for monitoring the work of the plurality of work ROVs 10 and a plurality of work ROVs 10 for monitoring the work of the plurality of work ROVs 10, And a central processing system 40 for managing information transmitted from the ROV 20 for observation.

3, each of the plurality of work ROV 10 and the observation ROV 20 includes a camera 11 for photographing the state of the seabed, an image for transmitting image information photographed by the camera 11 The ROV 10 and the ROV 20 for observation include a transmission unit 12 and a position information transmission unit 13 for transmitting position information on the ROVs 10 and 20 of the ROV 10. The ROV 10 and the ROV 20, Since it is realized by the normal ROV in the configuration as shown, a detailed description thereof will be omitted.

The work ROV 10 is a unit having the narrowest field of view and acquires its own location information and transmits it to the central processing system 40.

The observation ROV 20 is disposed at a position capable of monitoring the installation target equipment 30 and other environmental elements whose position is changed, acquires position information of the observation ROV 20, It is used to update environment information (3D map) after scanning the surrounding environment. The observation ROV 20 is preferably disposed at a position capable of executing a monitor for a plurality of work ROVs whose equipment and position are changed. That is, the observation ROV 20 monitors the installation target equipment 30 and the plurality of work ROV 10 in response to an environmental element whose position changes.

The installation target equipment 30 may be, for example, a BOP or a pipe installed in a deep sea, and may acquire the ROV 20 for the characteristic point of the equipment to transfer the location information to the central processing system 40, The location information of the installed equipment can be updated by utilizing the position measuring equipment provided in the target equipment 30 itself.

That is, the image information and the position information in the working ROV 10 and the observation ROV 20 are transmitted to the central processing system 40.

As shown in FIG. 4, the central processing system 40 includes a database 41 for storing information on equipment to be installed, topography information of the seabed, information on the ROV for the work, information on the ROV for observation, A virtual reality image generation unit 42 for generating image information of the 3D virtual reality according to the information stored in the database 41, An augmented reality image generating unit 43 that adds the image information photographed by the observing ROV 20 to the augmented reality image generating unit 43 to generate an augmented reality image, And display means (44) for displaying a real image.

The database 41 is a normal data storage means that stores in advance the information on the installation target equipment, the terrain information of the seabed, the information on the ROV for work, and the information on the ROV for observation, It can be constituted by database construction theory considering ease and efficiency.

The virtual reality image generation unit 42 is realized by a microprocessor and a program and is generated in advance according to the information stored in the database 41. [

The augmented reality image generating unit 43 generates real-time position information of the installation target equipment 30, real-time position information and work state information of the plurality of work ROVs 10, real-time position of the observation ROV 20 And generates an augmented reality image according to the information. The database 41, the virtual reality image generation unit 42 and the augmented reality image generation unit 43 are realized by a normal server or a computer system Lt; / RTI >

That is, the augmented reality image generating unit 43 generates the augmented reality image according to the image information and the position information photographed in real time by each of the cameras 11 of the ROV 10 and ROV 20 for observation And the real-time position information may be acquired by the ultrasonic position tracking device mounted on the installation target equipment 30, the plurality of work ROVs 10 or the observation ROV 20, Is preferably generated according to the dynamic behavior information of the marine structure.

The display means 44 may be a personal computer (PC), a notebook, a netbook, a PDA, a tablet PC, a smart phone, or the like, and may be wired or wirelessly connected to the server or the computer system.

The display means 40 includes a plurality of monitors corresponding to each of the plurality of work ROVs 10 and the observation ROVs 20 and each of the plurality of monitors is provided with a ROV 10 and 20, a work object and position information, a position of a fixture and a work area, a position of another ROV not corresponding to the one monitor, and a work area are displayed.

That is, according to the present invention, the image information transmitted from the ROV 10 for work and the ROV 20 for observation to be updated in real time on the submarine topographic information (3D map) acquired by the virtual reality image generation unit 42, By combining the information, it is possible to eliminate the visual limitations while viewing the images of the operation, installation and operation of the ROVs (10, 20) of the actual workers working in the offshore structure, and to reduce the risk by confirming the risk factors during work.

Next, a method for managing installation and maintenance work of a deep sea device according to the present invention will be described with reference to FIG. 5 and FIG.

FIG. 5 is a view for explaining the installation and maintenance work management of the deep sea equipment according to the present invention, and FIG. 6 is a process diagram for explaining a method for installing and maintaining the deep sea equipment according to the present invention.

As shown in FIG. 5 and FIG. 6, the work management method according to the present invention is a work management method for managing a work for installing and maintaining equipment in a deep sea by using an augmented reality, Information about the target equipment 30, terrain information of the seabed, information about the ROV 10 for work, and information about the ROV 20 for observation are collected and converted into a database (S10). Such database conversion is performed in accordance with information set at the time of designing the installation target equipment to be installed in the watershed, information on the type of the ROV 10 for work and the observation ROV 20 to be inputted to the deep sea floor, and geographical information of the geological depth watershed And is stored in the database 41.

Next, in step S10, image information of the 3D virtual reality is generated according to the database information (S20). Such 3D modeling is performed by a conventional 3D virtual reality system.

The steps S10 and S20 are executed in advance in correspondence with the place where the sea structure is to be installed and stored in the central processing system 40 formed as a server or a computer system.

The central processing system 40 is provided on the marine structure and receives the location information and the operation status information from the installation target equipment 30 installed in the deep sea, the plurality of work ROV 10 and the observation ROV 20 in real time (S30, S40).

The augmented reality image generating unit 43 of the central processing system 40 generates the augmented reality information in accordance with the position information and the operation state information received in real time in the steps S30 and S40 with respect to the image information of the 3D virtual reality generated in the step S20. An image is generated (S50).

The step S50 generates an augmented reality image in real time according to the image information and the position information photographed in real time by each of the cameras 11 of the ROV 10 and the ROV 20 for observation.

Also, the location information of the installation target equipment 30 may be obtained by acquiring and transmitting the minutiae points of the installation target equipment 30 through the observation ROV 20 or through the location measurement equipment provided in the installation target equipment 30 .

The augmented reality image generated in the step S50 is photographed in ROVs 10 and 20 corresponding to one monitor to each of a plurality of monitors provided corresponding to each of a plurality of ROVs 10 for work and ROV 20 for observation The location and work area of the fixture, the position of another ROV 10 not corresponding to the one monitor, and the work area are displayed at step S60.

As described above, according to the system and method for managing installation and maintenance work of the deep sea equipment according to the present invention, it is possible to manage work in response to the surrounding environment which changes from deep sea to sea.

In addition, even when a plurality of work ROVs 10 are used to work while viewing a plurality of screens, the information transmitted from the ROV 20 for observation is simultaneously displayed on the screen of each worker in real time, The visual field is not limited.

Although the present invention has been described in detail with reference to the above embodiments, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the spirit of the present invention.

By using the installation and maintenance work management system and method of the deep sea equipment according to the present invention, it is possible to increase work efficiency and reduce the risk of accident in all types of seabed work as well as underwater installation and maintenance / repair work.

10: Multiple work ROV
20: ROV for observation
30: Installation target equipment
40: central processing system

Claims (14)

It is a work management system that manages the work for installation and maintenance of equipment in the deep sea by using the augmented reality,
A number of remotely operated vehicles (ROVs) installed in the deep sea,
An observation ROV for monitoring the operation of the plurality of work ROVs,
Information on the installation target equipment, terrain information of the seabed, information on the ROV for the work, information on the ROV for observation,
A virtual reality image generation unit for generating image information of the 3D virtual reality according to the information stored in the database,
And an augmented reality image generation unit for generating augmented reality image by adding the plurality of work ROVs and the photographed information photographed in the observation ROV to the image information generated by the virtual reality image generation unit. The method according to claim 1,
Further comprising display means provided on the marine structure for displaying the augmented reality image generated by the augmented reality image generation section,
Wherein the display means includes a plurality of monitors corresponding to each of the plurality of work ROVs and the observation ROV. 3. The method of claim 2,
Each of the plurality of monitors displays a screen, an object and location information, an installation location and a work area, a position of another ROV not corresponding to the one monitor, and a work area photographed in an ROV corresponding to one monitor Wherein the job management system comprises: The method according to claim 1,
Wherein the plurality of work ROVs and the observing ROV include a camera for photographing a state of a seabed, an image transmitting unit for transmitting image information photographed by the camera, and a position information transmitting unit for transmitting position information on its own ROV,
Wherein the image information and the position information are transmitted to the augmented reality image generation unit. 5. The method of claim 4,
Wherein the augmented reality image generator generates an augmented reality image according to image information and position information photographed in real time in each of the plurality of work ROVs and the observation ROV. The method according to claim 1,
Wherein the augmented reality image generating unit generates an augmented reality image according to real-time position information of an installation target equipment, real-time position information and work state information of the plurality of work ROVs, and real-time position information of the observation ROV, Work management system. The method according to claim 6,
Wherein the real-time location information is acquired by the installation target equipment, the plurality of work ROVs, or the ultrasound location tracking device mounted on the ROV for observation. The method according to claim 6,
Wherein the observation ROV is disposed at a position capable of executing a monitor for equipment to be installed and a plurality of work ROVs whose position is changed. The method according to claim 6,
Wherein the real-time location information is generated according to dynamic behavior information of the offshore structure. A work management method for managing a work for installing and maintaining equipment in a deep sea by using augmented reality,
(a) collecting information on equipment to be installed, topographical information of seafloor, information on ROV (remotely operated vehicle), information on ROV for observation,
(b) generating image information of the 3D virtual reality according to the database information in the step (a)
(c) receiving location information and work state information from the installation target equipment, the plurality of work ROVs and the observation ROV,
(d) generating an augmented reality image according to the position information and the work state information received in the step (c) with respect to the image information of the 3D virtual reality generated in the step (b) How to manage. 11. The method of claim 10,
(e) a plurality of monitors corresponding to each of the plurality of work ROVs and the observation ROV, wherein each of the plurality of monitors includes at least one of a screen photographed at an ROV corresponding to one monitor, work object and position information, Further comprising the step of displaying a position and a work area of another ROV not corresponding to one monitor. 11. The method of claim 10,
Wherein the step (d) generates an augmented reality image in real time in accordance with image information and position information photographed in real time in each camera of the plurality of work ROVs and the observation ROV. 11. The method of claim 10,
Wherein the observation ROV monitors the installation target equipment and the plurality of work ROVs in response to an environmental element whose location changes. 11. The method of claim 10,
Wherein the location information of the installation target equipment is obtained by acquiring and transmitting the minutiae points of the ROV for observation or transmitting through the position measuring equipment provided in the installation target equipment.

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