WO2012104109A1 - Dispositif et procédé de navigation d'un appareil mobile le long d'une surface de la structure d'un matériau - Google Patents

Dispositif et procédé de navigation d'un appareil mobile le long d'une surface de la structure d'un matériau Download PDF

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Publication number
WO2012104109A1
WO2012104109A1 PCT/EP2012/050120 EP2012050120W WO2012104109A1 WO 2012104109 A1 WO2012104109 A1 WO 2012104109A1 EP 2012050120 W EP2012050120 W EP 2012050120W WO 2012104109 A1 WO2012104109 A1 WO 2012104109A1
Authority
WO
WIPO (PCT)
Prior art keywords
material structure
data
along
navigation
movable
Prior art date
Application number
PCT/EP2012/050120
Other languages
German (de)
English (en)
Inventor
Hendrik SCHWAB
Original Assignee
Raytheon Anschütz Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Raytheon Anschütz Gmbh filed Critical Raytheon Anschütz Gmbh
Publication of WO2012104109A1 publication Critical patent/WO2012104109A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Definitions

  • the invention relates to a device for navigating a mobile device along a surface of a material structure, having a first measuring device, which is designed to locally detect characteristic properties of the material structure and to generate corresponding first measurement data. Furthermore, the invention relates to a method for navigating a mobile device along a surface of a material structure, in particular using a device of the aforementioned type, wherein characteristic properties of the material structure are detected locally and correspondingly first measurement data are generated.
  • Such a device and such a method are used, for example, in the context of a controller to specifically move an inspection and / or cleaning device along the hull of a vehicle such as in particular a ship's hull for inspection and / or cleaning.
  • WO 2007/010265 A1 describes a robot unit for inspecting and cleaning a ship's hull, wherein for determining the position a magnetic field sor and an optical sensor can be used. With the magnetic sensor deviations in the magnetic flux through the surface of the ship's hull or through a structure below the surface in the ship's hull are detected, using in particular the frame structure of the ship while the optical sensor is used to track the movement of the robot unit along the hull surface. To determine the position of this known system uses only so-called. Landmarks that were found during a mapping trip of the robot unit and are used for navigation by positioning the robot unit between these landmarks. However, the method used for positioning the robot unit between the landmarks is very complex. In addition, due to the use of the magnetic sensor, the known system is essentially limited only to use in a metallic environment and the use of an optical sensor on reflective surfaces.
  • WO 86/00860 A1 describes an inspection robot for ship hulls, but which is only externally controlled and therefore wired.
  • a gyroscope is used, wherein, among other things, information about its direction of motion can be derived from the determined angle of rotation of the robot.
  • the robot is navigated in this known system by a television camera.
  • an ultrasonic sensor is provided, which is used for inspection purposes.
  • US 2005/0015209 A1 discloses an eddy current testing unit which is positioned on the surface of an object to be examined by means of purely optical navigation and generates eddy currents in order to determine the surface quality or surface thickness.
  • a device for navigating a mobile device along a surface of a material structure with a first measuring device, which is designed to locally detect characteristic properties of the material structure and to generate corresponding first measurement data, characterized by an evaluation device, which is designed to determine navigation data of the movable device along the surface of the material structure from a combination of the first measurement data with construction data used for producing the material structure, which indicate at least sections of the material structure substantially locally different characteristic properties.
  • this object is achieved by a method for navigating a mobile device. long of a surface of a material structure, in particular using a device according to at least one of the preceding claims, with a first step,
  • the solution according to the invention therefore consists in the local detection of the actually existing characteristic properties of the material structure, including in particular specific design features, and the linking of the measurement data obtained therefrom with design data which have been used for the production of the material structure.
  • design data which may indicate the local characteristics of the material structure, such as material thickness, welds and / or the shape of specific segments and / or substructures, and in particular also represent design plans, are location dependent and are presently preferably in the form of CAD data.
  • the characteristic properties locally measured and present in the form of the first measurement data are compared with the position-dependent characteristic properties contained in the design data, and in the case of an at least substantially coincidence then the position data under which the matching local characteristic properties in the Design data are used for the navigation of the moving device along the surface of the material structure.
  • the integration of such position-dependent design data in the navigation by linking with the measurement data the accuracy of the navigation is significantly increased without the need for external position information, such as be generated by GPS, Radiotriangulation and / or wireless connection to a carrier vehicle, must be resorted to.
  • the invention only works if there are design data of the material structure which were used for their production, which is especially the case when the design data are stored in a storage medium and can be retrieved from there.
  • the invention provides a completely self-sufficient system which operates without external position signals, without a cable connection and without external control.
  • the inventive navigation is independent of the material of the material structure and also independent of environmental conditions such as lighting and in the case of a ship fouling. Elaborate mapping, calibration and / or installation measures are just as unnecessary as a complex image processing. Rather, the invention allows the use of cost-effective sensors such as inertial sensors, wherein the sensor used can also be used for further diagnostic purposes if necessary.
  • the characteristic properties of the material structure due to the design change in small distances, which is then documented by the design data accordingly, and thereby realize a particularly accurate identification of the relevant position, the use of less expensive and thus inaccurate sensors is not critical.
  • the invention is preferably used in moving vehicle casings and in particular on ship hulls.
  • the invention is not limited to this, but can basically be used on surfaces of any material structures.
  • the invention may also be used as part of a pipeline inspection system on pipelines' surfaces.
  • the navigation data preferably represents position, speed and / or course.
  • a relative change in position of the movable device on or along the surface of the material structure is detected by means of a second measuring device, second measurement data are generated therefrom and become the navigation data from a combination of these second measured data with the first measurement data and the design data of the movable device along the surface of the material structure determined.
  • a dead reckoning can thus be carried out.
  • the design data are used to determine the characteristic properties of the material structure to be expected at this point and compared with the currently measured local characteristic properties which are indicated by the first measured data.
  • the position can be included in the navigation determination according to the quality of the design data and correct the coupled position accordingly. If the distances between the changes in the characteristic properties of the material structure are small, such corrections can often be carried out, which leads to an increase in the accuracy of the navigation and in particular thereby allows the use of cost-effective and thus inaccurate sensors for dead-reckoning.
  • the relative change in position of the movable device on the surface of the material structure with respect to a fixed Detected reference point which may preferably form a starting point of movement of the movable device.
  • a distance traveled by the movable device in particular by means of a hodometer unit, a rotary movement of the movable device, in particular by means of a gyrometer unit, and / or acting on the movable device translational and / or rotational acceleration forces, in particular by means of an inertial sensor unit, are measured.
  • the characteristic properties of the material structure include, for example, dimensions (such as material thickness), shaping, material properties and / or surface properties.
  • a vortex flow measuring unit and / or an ultrasonic measuring unit for measuring a surface condition and / or a material thickness of the material structure can be used as the first measuring device.
  • preliminary navigation data are determined from the second measured data by means of a navigation computer unit provided in the evaluation device and final navigation data corrected by linking the preliminary navigation data with the first measured data and the design data is determined by means of a correction unit likewise provided in the evaluation unit.
  • the design data is therefore used to correct the navigation.
  • the design data is stored in a memory which is also included in the evaluation device.
  • the linkage is preferably carried out by means of a data fusion method, for which purpose a corresponding data fusion unit is used, which is likewise contained in the evaluation device.
  • a preferred application of the solution according to the invention is the cleaning of the surface of a material structure by using as a mobile device a cleaning device which is moved along the surface of the material structure.
  • Fig. 1 shows schematically the hull of a ship with a along the
  • FIG. 1a schematically in cross section a fragmentary view of the
  • FIG. 2 schematically shows a block diagram of a navigation system installed in the robot according to a preferred embodiment of the invention.
  • a ship's hull 2 is shown very schematically, which is bounded by an outer skin 4, which is shown in Fig. 1 a fragmentary cross-section schematically.
  • the hull 2 has a plurality of specific construction details, including, for example, the substantially vertically arranged bulkheads or frames 6 shown schematically in FIG. 1, which are arranged at an angle or at right angles to the inside of the outer skin 6 (FIG the strands 8 running horizontally on the inside of the outer skin 4 belong;
  • FIG. 1 is intended as an external view of the hull 2 and therefore in reality prevents the outer skin 4 from looking into the interior of the ship hull 2, the arrangement of the frame 6 and stringers 8 in FIG.
  • a robot 10 is provided in the exemplary embodiment shown, which moves along the outer skin 4 of the hull 2 (FIG. 1 a) along a predetermined path 12.
  • the robot 10 is in contact with the outside of the outer skin 4 and is equipped with corresponding drive means, not shown in the figures, which allow the robot 10 to run along the outer skin 4 of the hull 2.
  • the robot 10 is used in the illustrated embodiment for inspection of the outer skin 4 and possibly also the located on the inside of the outer skin 4 structure of the hull 2 and / or for cleaning the outside of the outer skin 4 of the hull 2, for which the robot 10 with a corresponding, not equipped in the figures Inspek- tion sensors and / or equipped with corresponding, also not shown in the figures cleaning devices.
  • the robot 10 preferably begins at a predetermined or fixed starting location and moves along a path 12, whose course is preferably also predetermined.
  • a garage 14 is provided in the illustrated embodiment, which is preferably arranged at the level of the rail 4a of the outer skin 4 and the robot 10 receives in its rest position when not in use.
  • navigation is effected in a defined coordinate system X / Z, the origin or zero point "0" of this coordinate system X / Z lying in the garage 14 in the exemplary embodiment shown, and, at the same time, a starting point for the path 12 of the robot 10 as well as a reference point for the navigation, such as in the operation for the heading H shown in Fig. 1, forms.
  • FIG. 2 schematically shows a block diagram of components used for navigation, which are installed in the robot 10.
  • the components 20, 22 and 24 shown in the exemplary embodiment are sensor units.
  • the sensor unit 20 embodies a hodometer 20 for detecting the distance covered by the robot 10 along the path 12 (FIG. 1), so that the output signal P of the odometer 20 Indicates measured values concerning the distance covered.
  • the sensor unit 22 has in the illustrated embodiment, an inertial sensor unit, which consists of a combination of acceleration sensors and rotation rate sensors and preferably contains three acceleration sensors and three rotation rate sensors to detect a performed by the robot 10 rotation and acting on the robot 10 translational and / or rotational acceleration forces ,
  • the sensor unit 24 has in the illustrated embodiment, a sensor for measuring the thickness of the shell or outer skin 4 of the ship's hull 2 and may for example comprise an ultrasonic sensor or an eddy current sensor, the output signal S of this sensor unit 24 in the illustrated embodiment, the thickness of the shell or outer skin. 4 of the hull 2 indicates.
  • This control signal H is transmitted together with the output signal P from the odometer 20 to a navigation computer 28 which determines from these signals the position, the speed and the heading of the robot 10, these navigation values being transmitted in a common signal N1 to a data fusion unit 30.
  • the conversion unit 26 and the sensor unit 24 are also connected to this data fusion unit 30 so that the signal S indicative of the thickness is also transmitted from the sensor unit 24 to the data fusion unit 30.
  • a database 32 is also connected to the data fusion unit 30.
  • the design data are stored, which were used for the production of the ship's hull 2 or at least its outer skin 4 and preferably design drawings of the ship's hull 2 and maps of the outer skin 4 represent and therefore usually present as CAD data.
  • the design data read from the database 32 are transmitted as a signal C to the data fusion unit 30.
  • the navigation signal N1 with the thickness of the Shell or outer skin 4 at the currently measured point indicating signal S from the sensor unit 24, the at least at the measuring point currently relevant design data indicative signal C and the output signal from the conversion unit 26 linked and from this link a corrected navigation signal N2 is formed and output ,
  • This corrected navigation signal N2 is the final navigation signal used for the navigation of the robot 10.
  • this navigation signal N2 is transmitted to a control device, not shown in the figures, which controls the not shown in the figures drive means for locomotion of the robot 10 accordingly.
  • the robot 10 determines its position relative to the origin or zero point 0 of the coordinate system X / Z by means of dead reckoning integration of the transmitted in the signal P from the hodometer 20 odometer data and the rotation rate measured by the sensor unit 22.
  • the robot 10 stops at defined intervals so that the sensor unit 22 can measure its movements, wherein the aforementioned compensation takes place in the downstream conversion unit 26.
  • the navigation computer 28 and output in the signal N1 Using the coupled position, which is determined by the navigation computer 28 and output in the signal N1, those design data are determined from the database 32, which are relevant to the area of the current measuring point and indicate in particular the expected thickness of the outer skin 4, and with from the sensor unit 24 currently measured and contained in the signal S value for the thickness of the outer skin 4 in the data fusion unit 30 compared. If a deviation is detected, the navigation data and in particular the coupling position according to signal N1 in the data fusion unit 30 are correspondingly corrected using the design data according to signal C and output in the form of the corrected navigation signal N2. If design-related changes in the construction and in particular the thickness of the outer skin 4 occur at short distances from one another, the navigation signal N1 can be corrected or adapted correspondingly frequently.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif et un procédé pour la navigation d'un appareil mobile (10) le long d'une surface de la structure d'un matériau. Dans ce cadre, des propriétés caractéristiques de la structure du matériau sont détectées localement et des premières données de mesure (S) sont générées en conséquence. La particularité de l'invention réside en ce qu'à partir d'une combinaison des premières données de mesure (S) avec des données de construction (C) utilisées pour la réalisation de la structure du matériau, lesquelles données de construction indiquent des propriétés caractéristiques sensiblement localement différentes au moins de parties de la structure du matériau, des données de navigation (N2) de l'appareil mobile (10) sont déterminées le long de la surface de la structure du matériau.
PCT/EP2012/050120 2011-02-03 2012-01-05 Dispositif et procédé de navigation d'un appareil mobile le long d'une surface de la structure d'un matériau WO2012104109A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011003623A DE102011003623A1 (de) 2011-02-03 2011-02-03 Vorrichtung und Verfahren zur Navigation eines beweglichen Gerätes entlang einer Oberfläche einer Materialstruktur
DE102011003623.7 2011-02-03

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Publication Number Publication Date
WO2012104109A1 true WO2012104109A1 (fr) 2012-08-09

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DE (1) DE102011003623A1 (fr)
WO (1) WO2012104109A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014062317A3 (fr) * 2012-09-14 2014-07-17 Raytheon Company Inspection de coque autonome
US9038557B2 (en) 2012-09-14 2015-05-26 Raytheon Company Hull robot with hull separation countermeasures
US9233724B2 (en) 2009-10-14 2016-01-12 Raytheon Company Hull robot drive system
US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
US9440717B2 (en) 2008-11-21 2016-09-13 Raytheon Company Hull robot

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3472040A4 (fr) * 2016-06-17 2019-06-19 CleanSubSea Operations Pty Ltd Système de nettoyage de coque de navire
DE102021134458A1 (de) 2021-12-23 2023-06-29 Universität Kassel, Körperschaft des öffentlichen Rechts Vorrichtung zur Reinigung einer mit einem Fluid umströmten Oberfläche

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WO1986000860A1 (fr) 1984-07-23 1986-02-13 Lundberg, Ewa Dispositif d'inspection
US5047990A (en) * 1990-06-01 1991-09-10 The United States Of America As Represented By The Secretary Of The Navy Underwater acoustic data acquisition system
WO2002086474A1 (fr) 2001-04-20 2002-10-31 Commonwealth Scientific And Industrial Research Organisation Sonde d'essais non destructifs
US20050015209A1 (en) 2003-07-15 2005-01-20 Stefan Wuebker Eddy current testing apparatus with integrated position sensor
WO2007010265A1 (fr) 2005-07-22 2007-01-25 University Of Newcastle Upon Tyne Appareil permettant de determiner la position d'un appareil mobile sur une surface
US20090147270A1 (en) * 2007-12-07 2009-06-11 Dirk Lehmann System and method for investigating and/or determining the condition or state of a ship's hull
US20100126403A1 (en) * 2008-11-21 2010-05-27 Rooney Iii James H Hull Robot

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US5047990A (en) * 1990-06-01 1991-09-10 The United States Of America As Represented By The Secretary Of The Navy Underwater acoustic data acquisition system
WO2002086474A1 (fr) 2001-04-20 2002-10-31 Commonwealth Scientific And Industrial Research Organisation Sonde d'essais non destructifs
US20050015209A1 (en) 2003-07-15 2005-01-20 Stefan Wuebker Eddy current testing apparatus with integrated position sensor
WO2007010265A1 (fr) 2005-07-22 2007-01-25 University Of Newcastle Upon Tyne Appareil permettant de determiner la position d'un appareil mobile sur une surface
US20090147270A1 (en) * 2007-12-07 2009-06-11 Dirk Lehmann System and method for investigating and/or determining the condition or state of a ship's hull
US20100126403A1 (en) * 2008-11-21 2010-05-27 Rooney Iii James H Hull Robot

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
US9440717B2 (en) 2008-11-21 2016-09-13 Raytheon Company Hull robot
US9233724B2 (en) 2009-10-14 2016-01-12 Raytheon Company Hull robot drive system
WO2014062317A3 (fr) * 2012-09-14 2014-07-17 Raytheon Company Inspection de coque autonome
WO2014062316A3 (fr) * 2012-09-14 2014-08-21 Raytheon Company Navigation autonome pour l'inspection d'une coque
US9038557B2 (en) 2012-09-14 2015-05-26 Raytheon Company Hull robot with hull separation countermeasures
US9051028B2 (en) 2012-09-14 2015-06-09 Raytheon Company Autonomous hull inspection
US9061736B2 (en) 2012-09-14 2015-06-23 Raytheon Company Hull robot for autonomously detecting cleanliness of a hull
US9180934B2 (en) 2012-09-14 2015-11-10 Raytheon Company Hull cleaning robot

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