KR20160116183A - Apparatus and method for tracking position of robot - Google Patents

Apparatus and method for tracking position of robot Download PDF

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Publication number
KR20160116183A
KR20160116183A KR1020150042545A KR20150042545A KR20160116183A KR 20160116183 A KR20160116183 A KR 20160116183A KR 1020150042545 A KR1020150042545 A KR 1020150042545A KR 20150042545 A KR20150042545 A KR 20150042545A KR 20160116183 A KR20160116183 A KR 20160116183A
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KR
South Korea
Prior art keywords
sound
robot
sources
sound source
sound wave
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Application number
KR1020150042545A
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Korean (ko)
Inventor
이창희
심승보
최두진
최승준
Original Assignee
삼성중공업 주식회사
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Application filed by 삼성중공업 주식회사 filed Critical 삼성중공업 주식회사
Priority to KR1020150042545A priority Critical patent/KR20160116183A/en
Publication of KR20160116183A publication Critical patent/KR20160116183A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention provides an apparatus for tracking the position of a robot. The apparatus for tracking the position of a robot includes sound source parts which are separated from each other on a body surface and provides a sound wave to the body surface; a reception part which is installed to the robot which runs along the body surface and receives an electromagnetic wave along the body surface; and a position detection part which detects the position of the rotor by using data provided from the reception part. So, an accurate position can be detected by the sound wave.

Description

[0001] APPARATUS AND METHOD FOR TRACKING POSITION OF ROBOT [0002]

The present invention relates to an apparatus and a method for tracking the position of a robot attached to a hull using ultrasonic waves.

Since the ship is operated with the lower side being immersed in water, aquatic organisms such as water moss, barnacle, etc. may be attached to the bottom or side of the water. As such, foreign matter adhering to the hulls acts as a resistance when the ship is operating, thereby lowering the speed and increasing the fuel consumption. Therefore, it is necessary to remove the foreign substances attached to the hull through periodic cleaning.

Conventionally, in order to remove foreign matter adhered to the hull, the ship was moved to a dock on the land, and the operator then cleaned the hull by spraying high-pressure washing water on the outer surface of the hull. This method, however, not only took a long time due to the process of transferring the hull to the dock, but also had to mobilize a lot of personnel during the cleaning process.

Alternatively, the diver directly went into the water to operate the cleaning equipment and clean the hull. However, this method also requires a lot of work because the diver has to work in the water. Due to the foreign substances in the cleaning process, it is difficult to secure the watch in the work area, and there was a burden on the safety accident due to the poor sea environment.

In consideration of these points, recently, an underwater robot has been proposed which can perform cleaning of the surface of the vessel while traveling along the hull in water. Such an underwater robot can refer to an example of Korean Patent Laid-Open No. 10-2011-0062248 (published on Jun. 10, 2011).

However, robots traveling along the ship surface track their positions using gyroscopes, accelerometers, and depth gauges mounted on the robots, but there are technical limitations in accurate positioning.

Korean Patent Laid-Open No. 10-2011-0062248 (Published on Jun. 10, 2011)

An object of the present invention is to provide an apparatus and method for tracking a position of a robot capable of accurately detecting a position using a sound wave.

The problems to be solved by the present invention are not limited thereto, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a sound source apparatus, comprising: a plurality of sound sources disposed apart from each other on a honeycomb surface to provide sound waves to the ship surface; A receiver installed in a robot traveling along the ship surface and receiving a sound wave propagating along the ship surface; And a position detector for detecting the position of the robot using data received from the receiver.

The robot position tracking device may further include a sound wave transmitting medium provided between the front surface and the sound source to prevent leakage and reflection of sound waves generated from the sound source and to transmit sound waves to the front surface have.

In addition, the sound wave transmission medium may be made of an aluminum alloy.

The robot position tracking device further includes a contact medium which is provided between the receiving unit and the hull surface and is in contact with the hull surface to transmit sound waves propagated along the hull surface to the receiving unit, May be separated from the ship surface during traveling of the robot, and may be in contact with the ship surface only while the robot is stopped.

The position detection unit may calculate distances to the respective sound source units using the difference between the sound wave signal generation time in the plurality of sound source units and the reception time in the reception unit, and calculate a distance between the calculated distance and the absolute The position of the robot can be calculated by combining the position information.

The plurality of sound sources may provide sound waves having different frequencies so that the receiver can separately receive sound waves of the plurality of sound sources.

In addition, the plurality of sound sources may synchronize the sound waves time so that the receiver can separately receive the sound waves of the plurality of sound sources.

In addition, the plurality of sound sources may provide respective unique numbers and absolute position information to the position detector.

According to an aspect of the present invention, there is provided a sound image processing method comprising the steps of: arranging sound sources at at least three positions on a body surface; Providing sound waves from each of the sound sources to the body surface; Receiving a sound wave propagated to the body surface through a receiving portion of the robot attached to the body surface; And a step of locating the robot using data received from the receiving unit.

The position of the robot may be determined by calculating a distance between the sound source unit and the sound source unit using the difference between the sound wave signal generation time of each sound source unit and the reception time of the receiver unit, The position of the robot can be calculated by combining the absolute position information.

In addition, the sound source unit may provide a unique number and absolute position information, and the receiver may provide sound waves having different frequencies so that the sound source units can be distinguished and received.

According to the embodiment of the present invention, it is possible to grasp the exact position of the robot traveling along the honeycomb surface.

1 is a schematic view of a ship according to an embodiment of the present invention.
Fig. 2 is a perspective view of the robot shown in Fig. 1;
3 is a block diagram of the robot of Fig.
Fig. 4 is a block diagram of the robot position tracking apparatus.
FIG. 5 is a view showing an installation position of the sound source unit installed on the front surface.
6A and 6B are views showing examples of installation of a sound source unit.
7 is a view showing the position tracking of the robot by the three-angle method of the position detecting unit.
8 is a flowchart of a robot position tracking method according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout the specification and claims. The description will be omitted.

1 is a schematic view of a ship according to an embodiment of the present invention.

Referring to Fig. 1, a ship 10 includes a hull 12 and a robot 100.

The hull (12) constitutes the body of the vessel (10). The hull 12 may be composed of a plurality of blocks. The blocks are separately manufactured and joined together by welding or the like to form the entire hull 12. On the other hand, a portion of the bottom plate 13 (hereinafter referred to as a hull surface) corresponding to the surface of the ship 12 can be submerged in water. Aquatic organisms such as barnacles and water moss can be attached to the sea surface 13, which is immersed in seawater. If the aquatic organisms are attached to the hull 12, the underwater resistance is increased and the operation speed and fuel efficiency of the ship 10 may be lowered by about 40% or more.

The robot 100 can be attached to the front surface 13 and run. The robot 100 may be a cleaning robot for cleaning the front surface 13. The robot can clean the honeycomb surface 13 such as removing foreign matter or the like from the honeycomb surface 13 while traveling on the honeycomb surface 13. [ Of course, the robot 100 is not limited to a cleaning robot, and may be an inspection robot for inspecting the nose surface 13 or a work robot for performing other operations. Hereinafter, the cleaning robot will be mainly described.

Hereinafter, a robot 100 according to an embodiment of the present invention will be described.

Fig. 2 is a perspective view of the robot 100 of Fig. 1, and Fig. 3 is a configuration diagram of the robot 100 of Fig.

Referring to FIGS. 2 and 3, the robot 100 includes a housing 110, a wheel 120, a cleaning member 130, and a camera 140.

The housing 110 forms the body of the robot 100. Other components of the robot 100 may be installed in the housing 110. Among the components of the robot 100, components that are not susceptible to impact or should not be exposed to the outside can be installed inside the housing 110. At this time, the housing 110 may be waterproofed so that its interior is not flooded. In one example, the housing 110 may be provided in a streamlined shape. Accordingly, the robot 100 can travel along the nose surface 13 while receiving less water resistance in the water. The housing 110 may be made of a material having a high water resistance.

The wheels 120 run the robot 100. The wheels 120 may be installed on the side or bottom surface of the housing 110 so as to be in rolling contact with the sunken surface 13. When the wheel 120 rotates, the robot 100 can travel along the front surface 13. The wheel 120 is attached to the body surface 13. For example, the wheel 120 may be a magnet wheel. The magnet may be a permanent magnet or an electromagnet. The magnet wheel can be attached to the surface 13 made of steel plate, steel plate or the like by its magnetic force. Here, the wheels 120 may be entirely provided with magnets. Or the wheel 120 may be provided with a separate magnetic force member coupled thereto. Instead of the wheel 120 being provided as a magnet wheel, a separate magnetic force member may be installed on the lower surface of the housing 110 instead of the wheel 120 so as to face the ship surface 13. Accordingly, the robot 100 can be attached to the front surface 13. As another example, the robot 100 may use a propeller or other traveling means in place of the wheel 120 to travel the ship's surface 13. On the other hand, the wheel 120 can be provided as a material having a large friction coefficient and minimizing acoustic reflection.

The cleaning member 130 cleans the needle surface 13. For example, the cleaning member 130 may be a brush. The brush extends downward from the housing 110 and can contact the nose surface 13 to remove foreign matter from the nose surface 13. [ The cleaning member 130 is not limited to a brush, and the cleaning member 130 may be various cleaning means including an injection nozzle.

As described above, the robot 100 may be an exploration robot other than the cleaning robot or another working robot. In this case, the robot 100 may include other working means in place of the cleaning member 130. [

The camera 140 takes a picture. For example, the camera 140 may be installed in front of or behind the housing 110 to capture an image. By analyzing the photographed image, it is possible to judge whether or not the nose surface 13 has been cleaned. In addition, when the robot 100 is operated by a remote operator, the captured image can be provided to the operator.

The robot 100 may be connected to a cable 20 extending from a separate manipulation facility and a power supply facility. Maneuvering equipment and power supply facilities may be operated on the ground or on the deck of the ship or on the deck of another ship which is being cleaned. For example, the robot 100 may be connected to a steering apparatus through a cable 20 to transmit and receive information through wired communication.

On the other hand, a receiving unit 220 of the robot position tracking device 200 is installed in the robot 100. The receiver 220 receives the sound waves, and the sound waves are provided from the sound source for tracking the position of the robot. Robot positioning using sound waves will be described in detail below.

FIG. 4 is a diagram showing the configuration of a position tracking device for a robot, FIG. 5 is a view showing a mounting position of a sound source installed on a honeycomb, and FIG. 6 is a view showing an example of installing a sound source.

4 to 6, the robot position tracking device 200 includes a sound source unit 210, a receiving unit 220, and a position detection unit 230.

The sound source section 210 provides sound waves to the sun face 13. The sound source unit 210 may be installed at a plurality of points on the ship surface. For example, as shown in FIG. 5, the sound source unit 210 may be installed at four points on the ship surface 13 so as to be spaced apart from each other. Here, the sound waves may be ultrasonic waves.

The sound source unit 210 may include a speaker installed toward the ship surface 13. [ A sound wave transmission medium 212 may be provided between the front surface 13 and the sound source unit 210. The sound wave transmission medium 212 may be rigidly mounted on the body surface 13. [ The sound wave transmission medium 212 is provided for the purpose of preventing leakage and reflection of sound waves generated from the sound source unit 210 and transmitting sound waves to the nose surface 13. The sound wave transmission medium 13 may be made of a metal material, for example, an aluminum alloy material. The sound waves generated from the sound source unit 210 are provided to the front surface 13 through the sound wave transmission medium 212 and the sound waves propagate along the front surface 13 corresponding to the medium by the principle of wave.

The sound source units 210 may be allocated different sound waves or ultrasonic frequencies or may synchronize sound generation times so that the receiver unit 220 can receive the sound waves of the sound source units 210 separately. Each of the sound sources 210 has a unique number and absolute position information, and this information can be provided to the position detector 230. For example, the sound source unit 210 may be a CDMA system such as frequency division, time division, and code division for different sound sources. In addition, the sound waves provided from the sound source units 210 may increase the transmission efficiency in consideration of the characteristics of the sonic surface, which is a medium, and may use a modulation / demodulation technique to distinguish the respective sound waves.

The receiving unit 220 is installed in the robot 100. The receiving unit 220 may include a microphone for receiving sound waves propagating along the nose surface 13. Meanwhile, a contact medium 222 may be provided between the receiving unit 220 and the vessel surface 13. The contact medium 222 is in contact with the nose surface 13 to transmit the sound waves propagating along the nose 3! To the receiver 220. In one example, the contact medium 222 may be in contact with the nose surface 13 only while the robot 100 is stationary, and the robot 100 is spaced from the nose surface 13 while the robot 100 is running. The contact medium 222 may be made of a metal material, for example, an aluminum alloy material.

7, the position detector 230 calculates distances to the sound source units 210 using the difference between the sound wave generation time in the sound source unit 210 and the reception time in the receiver unit 220. [ Then, the coordinates of the robot 100 are calculated by using the known triangulation method by combining the calculated distance and the absolute position information of the sound source 210. The 2D position thus calculated can be converted to the 3D position and displayed.

In this manner, the position detection unit 230 can confirm which position the robot is currently located in. Further, the calculated current position is displayed on a separate display unit to inform the coordinator.

Next, a tracking method using the robot position tracking apparatus will be described.

8 is a flowchart of a robot position tracking method according to an embodiment of the present invention.

4 and 8, the robot position tracking method includes a step S110 of providing a plurality of sound sources 210 on the front face 13, a step S120 of providing a sound wave to the front face 13, A step S130 of receiving a sound wave and a position calculating step S140. Hereinafter, the above-described steps will be described in detail.

(S110 to S120) The sound source unit 210 is mounted at four points on the ship surface 13. A sound wave transmission medium 212 is provided between the sound source and the front surface for transmitting sound waves to the front surface while preventing water leakage and reflection of sound waves generated from the sound source unit 210. Sound waves generated from the sound source unit 210 are provided to the nacelle surface 13 through the sound wave transmission medium 212 and propagated. The sound source section may include a modulation process so that the sound waves can be transmitted to a long distance.

(S130) The receiving unit 220 installed in the robot 100 receives sound waves propagated along the ship surface 13. The receiving unit 220 separately receives sound waves from the sound source units 210 installed at four points. The receiving unit 220 provides the received information to the position detector 230. For example, the receiver 220 may include a demodulation process for the received signal. (S140) The position detector 230 calculates the distance to each tone generator 210 using this information. The position of the robot 100 is detected through the distance and absolute position information of the sound source 210 thus calculated.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: robot 110: housing
120: wheel 130: cleaning member
200: Robot position tracking device
210: sound source 220:
230:

Claims (11)

A plurality of sound sources spaced apart from each other on the honeycomb surface and providing sound waves to the ship surface;
A receiver installed in a robot traveling along the ship surface and receiving a sound wave propagating along the ship surface; And
And a position detector for detecting a position of the robot using data received from the receiver. The method according to claim 1,
The robot position tracking device
Further comprising a sound wave transmission medium provided between the right side surface and the sound source section for preventing leakage and reflection of sound waves generated from the sound source section and for transmitting sound waves to the right side surface. 3. The method of claim 2,
Wherein the sound wave transmission medium is made of an aluminum alloy. 3. The method according to claim 1 or 2,
The robot position tracking device
And a contact medium which is provided between the receiving section and the honeycomb surface and contacts the honeycomb surface to transmit a sound wave propagated along the honeycomb surface to the receiving section,
Wherein the contact medium is spaced apart from the honeycomb surface while the robot is running, and is in contact with the honeycomb surface only while the robot is stopped. The method according to claim 1,
The position detector
Calculating a distance between each of the sound source units using the difference between the sound wave signal generation time in the plurality of sound sources and the reception time in the receiver, combining the calculated distance and the absolute position information of the plurality of sound sources, A robot position tracking device for calculating the position of a robot. 6. The method of claim 5,
The plurality of sound sources
Wherein the receiving unit provides sound waves having different frequencies so that the receiving unit can distinguish and receive sound waves from each of the plurality of sound sources. 6. The method of claim 5,
The plurality of sound sources
And the receiver synchronizes the sound wave time so that the sound wave of each of the plurality of sound sources can be separately received. 6. The method of claim 5,
The plurality of sound sources
And provides each unique number and absolute position information to the position detector. Disposing sound sources at a plurality of locations on the honeycomb surface;
Providing sound waves from each of the sound sources to the body surface;
Receiving a sound wave propagated to the body surface through a receiving portion of the robot attached to the body surface; And
And determining the position of the robot using data provided from the receiving unit. 10. The method of claim 9,
The positioning of the robot
Calculating a distance between each of the sound source units using the difference between the sound wave signal generation time in each of the sound source units and the reception time in the receiving unit, combining the calculated distance and the absolute position information of the plurality of sound sources, Of the robot (10). 11. The method of claim 10,
Wherein the sound source unit provides a unique number and absolute position information,
Wherein the receiver is provided with sound waves having different frequencies so that sound waves of the respective sound sources can be distinguished and received.
KR1020150042545A 2015-03-26 2015-03-26 Apparatus and method for tracking position of robot KR20160116183A (en)

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110062248A (en) 2009-12-03 2011-06-10 대우조선해양 주식회사 Rov for ships using radio control

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110062248A (en) 2009-12-03 2011-06-10 대우조선해양 주식회사 Rov for ships using radio control

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