WO2018135715A1 - Système de mesure d'une structure sous-marine - Google Patents

Système de mesure d'une structure sous-marine Download PDF

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Publication number
WO2018135715A1
WO2018135715A1 PCT/KR2017/007876 KR2017007876W WO2018135715A1 WO 2018135715 A1 WO2018135715 A1 WO 2018135715A1 KR 2017007876 W KR2017007876 W KR 2017007876W WO 2018135715 A1 WO2018135715 A1 WO 2018135715A1
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WO
WIPO (PCT)
Prior art keywords
sensor
altitude
underwater structure
sonar
measuring
Prior art date
Application number
PCT/KR2017/007876
Other languages
English (en)
Korean (ko)
Inventor
이정우
이종득
이효준
서진호
최영호
Original Assignee
한국로봇융합연구원
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 한국로봇융합연구원 filed Critical 한국로봇융합연구원
Publication of WO2018135715A1 publication Critical patent/WO2018135715A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B45/00—Arrangements or adaptations of signalling or lighting devices
    • B63B45/08—Arrangements or adaptations of signalling or lighting devices the devices being acoustic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/14—Determining imbalance
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only

Definitions

  • the present invention relates to an underwater structure measurement system. More specifically, the present invention relates to an underwater structure measuring system capable of measuring precisely the shape of an underwater structure by reducing the measurement error of posture information and rapidly controlling and maintaining the underwater altitude during shape measurement.
  • FIG. 3 schematically shows a conventional underwater structure measurement system.
  • an underwater sonar sensor 100 in order to measure an underwater structure, an underwater sonar sensor 100, an altitude sensor, and a depth sensor 40 for measuring a horizontal surface shape of an underwater structure under a pole 15 are provided.
  • AHRS, IMU additional sensor
  • the sonar sensor 100 for measuring the horizontal shape of the underwater structure is mounted on the pole 15 of a fixed length, fixed to the vessel 10 for the measurement in the vertical direction of the underwater structure After unfastening the part by adjusting the depth of the pole (15) by manual or automatic device, there is an inconvenience to be fixed again and to perform the measurement. If the pole 15 and the vessel 10 are not properly fixed, the above-described error increases, so it is necessary to fix the pole after adjusting the depth of the pole.
  • the ship 10 since the ship 10 keeps shaking at sea and the height of the water surface 1 is constantly changing according to the waves, the ship 10 can only maintain the depth (distance from the water surface) of the underwater sonar sensor 100, and the bottom of the sea where the underwater structure is settled ( The altitude from 2) is constantly changing, making it difficult to accurately measure the shape of underwater structures.
  • the depth and altitude measurement values and the structure shape measurement values by the sonar are simultaneously recorded and corrected and matched through post-processing.
  • interpolation is performed. There was discomfort.
  • the present invention relates to an underwater structure measuring system capable of measuring precisely the shape of an underwater structure by reducing the measurement error of attitude information and rapidly controlling and maintaining the underwater altitude during shape measurement.
  • Underwater structure measuring system one end is connected to the lifting rope fixed to the vessel, the other end of the lifting rope, the winch winding or unwinding the lifting rope, sonar coupled to the bottom of the winch
  • a sensor coupled to a lower portion of the sonar sensor, including an altitude sensor for measuring altitude from the sea bottom, and a control unit connected to the altitude sensor and the winch, wherein the control unit is based on the altitude data measured by the altitude sensor;
  • the winch is operated to maintain the altitude at the target altitude.
  • it may further include a depth sensor coupled to the bottom of the sonar sensor, for measuring the depth from the sea level.
  • the sonar sensor may further include a posture measuring sensor coupled to a lower portion of the sonar sensor to measure a posture of the sonar sensor.
  • the apparatus may further include a watertight housing accommodating the altitude sensor, the water depth sensor, and the attitude measuring sensor, wherein the watertight housing may be configured to have a mass within a first mass range.
  • the underwater structure measuring system relates to an underwater structure measuring system capable of measuring precisely the shape of an underwater structure by reducing the measurement error of attitude information and rapidly controlling and maintaining the underwater altitude during shape measurement.
  • FIG 1 schematically shows an underwater structure measuring system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram schematically illustrating an underwater structure measuring system according to an exemplary embodiment of the present invention.
  • FIG. 3 schematically shows a conventional underwater structure measurement system.
  • FIG. 1 schematically shows an underwater structure measuring system according to an embodiment of the present invention
  • Figure 2 is a block diagram schematically showing an underwater structure measuring system according to an embodiment of the present invention.
  • the underwater structure measuring system according to an embodiment of the present invention, the lifting rope 20, sonar sensor 100, winch 200, the control unit 300, the sensor unit 410, 420 430, and the watertight housing 400.
  • the lifting rope 20 is one end is fixed through the fixing portion 11 at one end of the vessel 10, the other end is inserted into the water.
  • a portion of the other end of the lifting rope 20 is wound on the winch 200, and may be wound or unwound by the operation of the winch 200.
  • the lifting rope 20 is preferably excellent in strength and corrosion resistance and can be freely deformed.
  • the lifting rope 20 may be composed of a stranded wire in which a plurality of steel wires are twisted.
  • the sonar sensor 100 is an abbreviation of "sonar (sound navigation and ranging) sensor", and means a device that finds the direction and distance of the underwater target by sound waves, and is also called a sound detection device or sound detector.
  • the sonar sensor 100 may be implemented as a scanning sonar, and detects the presence, position, and properties of an underwater feature (object) by transmitting sound waves underwater and receiving a reflection signal for the transmitted sound waves. have.
  • the winch 200 is coupled to an upper portion of the sonar sensor 100, and operates to wind or unwind the lifting rope 20.
  • the sonar sensor 100 moves up and down in the water by the operation of the winch 200.
  • the controller 300 may be disposed inside the watertight housing 400 or may be disposed inside the vessel 10.
  • the control unit 300 is connected to the sonar sensor 100, the winch 200 and the sensor unit 410, 420, 430 by wire or wirelessly, the sonar sensor 100, the winch 200 and While controlling the operation of the sensor unit 410, 420, 430, the information measured by the sonar sensor 100 and the sensor unit 410, 420, 430 may be converged.
  • the sensor unit 410, 420, 430 may be disposed inside the watertight housing 400 coupled to the lower portion of the sonar sensor 100, the altitude sensor 410, the depth sensor 420 and the attitude measurement It consists of a sensor 430.
  • the watertight housing 400 is coupled to the lower portion of the sonar sensor 100, it may be set within the first mass range set to serve as a weight.
  • the first mass range may be set to a range of approximately 30kg to 100kg, greater than 30kg can be attenuated the shaking of the sonar sensor 100 due to the influence of the flow of the sea water or the wave or the movement of the vessel as much as possible, In order to withstand the tensile load of the lifting rope 20 is preferably set to 100kg or less.
  • the numerical range of the first mass is only one embodiment, and thus the present invention is not limited thereto.
  • the altitude sensor 410 may be accommodated in the watertight housing 400, and configured as a sound wave detector to measure an altitude from the sea bottom 2 in the water.
  • the altitude data measured by the altitude sensor 410 is transmitted to the controller 300 by wire or wirelessly.
  • the water depth sensor 420 may be accommodated in the watertight housing 400, and may be configured as a pressure sensor to measure the water depth from the water surface 1.
  • the depth data measured by the depth sensor 420 is transmitted to the controller 300 by wire or wirelessly.
  • the controller 300 compares the target altitude set at the designated position with the altitude data, compares the set target depth with the depth data, and determines the rotation direction and the amount of rotation of the winch 200. As a result, the altitude or depth of the sonar sensor 100 is always kept constant.
  • the number of remeasurement is reduced and the unmeasured portion is reduced. Can improve the working efficiency.
  • the posture measurement sensor 430 measures a posture including at least one of the speed, acceleration, rotational angular velocity, and inclination of the sonar sensor 100 moving by the flow of the sea water or the wave or the movement of the ship.
  • the attitude measuring sensor 430 may be implemented with a gyroscope.
  • the principle of the gyroscope is that when an inertial body vibrates or rotates in a constant direction in the first axis direction, when the inertia body receives an input of an angular velocity by rotation in a second axis direction perpendicular to the first axis direction, The rotational angular velocity is detected by detecting the Coriolis Force occurring in the orthogonal third axis direction, and the speed, acceleration, slope, and the like can be calculated based on the detected rotational angular velocity. At this time, balancing the force applied to the inertial body increases the accuracy of the angular velocity detection.
  • a structure using a force balancing method is preferable.
  • a type of gyroscope as described above, in addition to a gyroscope that measures angular velocity using a rotating mass, a vibrating gyroscope, a fiber optic gyroscope, a ring laser gyroscope, and the like. ), A dynamically turned gyroscope and the like can be used.
  • the sonar sensor 100 and the watertight housing 400 connected through the lifting rope 20 are dropped from the vessel 10.
  • the sonar sensor 100 and the watertight housing 400 before the movement of the vessel 10 can be moved with the vessel 10 in the water of course.
  • the winch 200 is operated to position the sonar sensor 100 at the target altitude and depth set by the controller 300.
  • the sonar sensor 100 After the sonar sensor 100 is located at the target altitude, the sonar sensor 100 transmits sound waves to the surroundings, and receives the reflected signal for the transmitted sound waves to detect the presence, position, and properties of the underwater feature (object).
  • the altitude or the depth of the sonar sensor 100 is changed, the sonar sensor 100 of the sonar sensor 100 measured in real time through the sensor unit 410, 420, 430 Based on altitude / depth / posture data, the set target value is maintained.
  • control unit 300 operates the winch 200 in the forward or reverse direction to maintain the altitude / depth / posture of the sonar sensor 100 at a set target value.
  • control unit 400 watertight housing

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente invention concerne un système de mesure d'une structure sous-marine qui peut mesurer avec précision la forme d'une structure sous-marine par la réduction d'une erreur dans la mesure d'informations d'attitude, et la commande rapide et le maintien de l'altitude sous-marine pendant la mesure de forme.
PCT/KR2017/007876 2017-01-19 2017-07-21 Système de mesure d'une structure sous-marine WO2018135715A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2017-0009264 2017-01-19
KR20170009264 2017-01-19

Publications (1)

Publication Number Publication Date
WO2018135715A1 true WO2018135715A1 (fr) 2018-07-26

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PCT/KR2017/007876 WO2018135715A1 (fr) 2017-01-19 2017-07-21 Système de mesure d'une structure sous-marine

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WO (1) WO2018135715A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110082033A (zh) * 2018-12-11 2019-08-02 国家海洋局第一海洋研究所 一种运动状态下的水上载体重心测量装置和方法
CN112977736A (zh) * 2021-03-23 2021-06-18 中国水产科学研究院黄海水产研究所 一种具有声学评估系统智能位置校正设备的科学考察船
CN112977728A (zh) * 2021-03-23 2021-06-18 中国水产科学研究院黄海水产研究所 用于声学评估系统的智能位置校正设备

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101157169B1 (ko) * 2011-03-02 2012-06-20 한국해양연구원 부이형 수중감시장치
KR101283415B1 (ko) * 2011-12-15 2013-07-08 한국해양과학기술원 복합이동이 가능한 다관절 해저로봇을 이용한 해저탐사시스템
JP2016516222A (ja) * 2012-12-05 2016-06-02 エーエーアイ コーポレーション 被牽引物のファジー制御
KR101666494B1 (ko) * 2014-06-05 2016-10-14 대우조선해양 주식회사 와이어제어를 이용한 수중예인 소나시스템
KR101695479B1 (ko) * 2016-07-08 2017-01-12 한국광해관리공단 지하공동 3차원 형상화 및 수치화 운용시스템 및 운용방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101157169B1 (ko) * 2011-03-02 2012-06-20 한국해양연구원 부이형 수중감시장치
KR101283415B1 (ko) * 2011-12-15 2013-07-08 한국해양과학기술원 복합이동이 가능한 다관절 해저로봇을 이용한 해저탐사시스템
JP2016516222A (ja) * 2012-12-05 2016-06-02 エーエーアイ コーポレーション 被牽引物のファジー制御
KR101666494B1 (ko) * 2014-06-05 2016-10-14 대우조선해양 주식회사 와이어제어를 이용한 수중예인 소나시스템
KR101695479B1 (ko) * 2016-07-08 2017-01-12 한국광해관리공단 지하공동 3차원 형상화 및 수치화 운용시스템 및 운용방법

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110082033A (zh) * 2018-12-11 2019-08-02 国家海洋局第一海洋研究所 一种运动状态下的水上载体重心测量装置和方法
CN110082033B (zh) * 2018-12-11 2020-12-22 自然资源部第一海洋研究所 一种运动状态下的水上载体重心测量装置和方法
CN112977736A (zh) * 2021-03-23 2021-06-18 中国水产科学研究院黄海水产研究所 一种具有声学评估系统智能位置校正设备的科学考察船
CN112977728A (zh) * 2021-03-23 2021-06-18 中国水产科学研究院黄海水产研究所 用于声学评估系统的智能位置校正设备

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