KR101645005B1 - System and method for detecting location of underwater operating device using welding line of underwater structure - Google Patents

Abstract

The present invention relates to a system and a method to identify a position of an underwater work device using a welding line of an underwater structure and, more specifically, relates to a system and a method to identify a position of an underwater work device using a welding line of an underwater structure capable of accurately displaying a current position of an underwater work device; and working while moving closely on a surface of an underwater structure on a map about a welding line of the underwater structure. A route of the work device, moving closely on the underwater structure, is set by using map information about the welding line of the underwater structure. A current position of the work device is accurately identified by comparing a sequence of an interest point with a sequence for the work device to detect each interest point using interest points included in the route of the work device such as a termination point of the welding line or a crossing point of the welding line. The identified current position is accurately displayed on the map about the underwater structure; thereby a manager being capable of improving a convenience and accuracy of the work while enabling a manager to support accurate position identification for the underwater work device by accurately displaying the accurate position on the map about the underwater structure.

Description

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a system and method for locating an underwater work device using a welding line of an underwater structure,

The present invention relates to a system and method for locating an underwater work device using a welding line of an underwater structure, and more particularly, to a system and method for locating an underwater work device using a welding line of an underwater structure, And more particularly, to a system and method for locating an underwater work device using a welding line of an underwater structure capable of accurately indicating and providing a map of a welding line of an underwater structure.

In general, a variety of underwater structures such as underwater vessels and off-shore plants undergo most of the drying work on land, such as processing plants or land docks, And a welding operation for assembling the entirety of the structure by assembling and assembling the different blocks composed of one another.

At present, various methods for unattended welding work have been proposed. For example, there has been a prominent development of a welding robot that performs work by tracing welding lines between adjacent blocks.

This welding robot recognizes the welding start point and end point information before the welding operation, grasps the welding line through various sensors or images, automatically follows the welding line, and performs the welding operation on the welding line between the welding point and the end point Or transmits an image of a welding line to a monitor of a manager who remotely controls the welding robot, and operates in such a manner that a welding operation is performed under the control of an administrator.

However, as described above, most of these welding robots were developed with consideration of work on the ground such as a processing factory or a land dock prior to the launching, so that after the start of the structure, the damage due to additional reinforcement work or structure operation is repaired There is a problem in that it is difficult to grasp the position of the welding robot with respect to the work in water such as a maintenance work to be carried out in the water.

For example, existing welding robots basically do not consider underwater work, so there is a problem in waterproofing. When a conventional welding robot is operated in water, the underwater clock is basically only about 5m, , It is difficult for the manager to grasp the position of the current welding robot by the image only. Therefore, the manager may cause the welding robot to deviate from the designated working position in the welding robot operating process, There is a problem that it is difficult for the manager to grasp the position of the welding robot when the user leaves the specified path.

In addition, if automatic welding is performed based on the sensor itself, it is necessary to grasp the current position in the entire weld line only by the movement distance measured by the sensor value, but the error is continuously accumulated in the movement distance measured by the sensor value Or if an error occurs in the sensor value, the welding robot erroneously determines the current position, and thus the work path designated by the user is frequently detached. As a result, the welding robot is located at a position other than the current position, There is a problem that the welding robot is left in a state in which the welding robot is misidentified by the user by transmitting the welding robot to the user's apparatus.

In addition, the GPS (Global Positioning System), which is a communication system used for locating the existing welding robots, can not be used at all in the water, which makes it difficult to grasp the position.

That is, as described above, in order to increase the accuracy of the work, it is very important to grasp the position of the welding robot. However, existing welding robots have a problem that it becomes very difficult to grasp the position when working underwater.

Accordingly, there is a need to develop an apparatus that can accurately identify the position based on a welding line so that accurate and safe work can be performed in water by solving the problems as described above.

Korean Patent Publication No. 10-2001-0095576

The present invention relates to an apparatus and method for providing map information on a welding line of an underwater structure and information provided in a corresponding equipment so that the operation of the equipment performing the operation can be accurately performed while moving the welding line of the underwater structure partially or wholly in water The purpose of this study is to support accurate positioning in real time by comparing and improving accuracy of work.

Further, according to the present invention, an error occurring in the process of comparing the information provided in the equipment moving along the welding line with the map information of the welding line is continuously compensated, so that the position of the equipment can be accurately corrected instantaneously, So that the accuracy is greatly improved.

A system for locating an underwater work device using a welding line of an underwater structure according to an embodiment of the present invention detects a weld line formed in advance on the surface for underwater operation on a surface of an underwater structure, A work device attached to the surface to generate detection information according to real-time detection of the welding line and transmitting the detection information through wired / wireless communication, and a control device Generating control information including path information of a movement path of the working apparatus including a starting point and a destination point and transmitting the control information to the working apparatus so that the working apparatus moves along the welding line on the moving path according to the path information , Wherein the different welding lines on the map information Sets each of the one or more points included in the path information among the points where the difference or the welding line is interrupted as the point of interest and sets the order of each point of interest in the map information according to the travel path according to the path information , Counting the detection order each time the point of interest is detected in accordance with the detection information received from the work device, and adding the current position of the working device to the map information based on the position of the point of interest set in the order corresponding to the current detection order And a monitoring device for displaying map information on which the current location is displayed through a display.

As an example related to the present invention, the working apparatus includes at least one of a camera section for capturing an image of the welding line and a sensor section composed of a plurality of sensors for sensing the welding line, And generating sensing information including at least one of sensing information generated according to sensing through the sensor unit.

According to an embodiment of the present invention, the working device generates attitude information on the attitude of the working device attached on the surface based on sensing information of the sensor portion, and transmits the attitude information to the monitoring device through the wired / Wherein the monitoring device sets attitude setting information for the attitude of the working device for each of the points of interest based on the map information and sets the attitude setting information set for the point of interest corresponding to the current position, The attitude information matching the attitude information is set among the one or more points of interest located in the order after the current position when a difference is generated in the attitude information, extracts the points of interest closest to the current position, And corrects the current position and the detection order in the position and order of the points All.

According to an embodiment of the present invention, the sensor unit includes a plurality of sensors arranged on one surface of the working device facing the surface, and arranged at predetermined intervals in each of the rows and columns of the one surface .

In one embodiment of the present invention, the sensor includes at least one of an acceleration sensor, a gyro sensor, an electromagnetic sensor, a laser sensor, and an ultrasonic sensor.

In one embodiment of the present invention, the monitoring apparatus detects patterns of welding lines adjacent to points of interest corresponding to the current position on the path information based on the map information, Generates detection pattern information for a pattern of a weld line adjacent to the point of interest based on the detection information, compares the detected pattern information with the reference pattern information, and generates the reference pattern information and the detection pattern information Extracting points of interest closest to the current position and having pattern information corresponding to the detection pattern information among the one or more points of interest located after the current position in case of discrepancy, And the current position and the detection order are corrected.

According to an embodiment of the present invention, the monitoring apparatus may generate the detection pattern information through image analysis based on the detection information, or may measure the electromagnetic variation of the surface according to the shape of the underwater structure, And the like.

As an example related to the present invention, the working apparatus includes a main body, a communication unit configured for wired / wireless communication between the main body and the monitoring apparatus, a detection unit configured to detect the welding line and generate the detection information, A drive unit configured to attach the main body to the surface and move the main body, and a welding line on the path according to the control information received through the communication unit, And transmits the detection information to the monitoring device through the communication unit, and controls the operation unit based on the control information. The control unit controls the operation unit based on the control information, And a control unit for performing a task according to the control information have.

According to an embodiment of the present invention, the monitoring apparatus includes a transmitting / receiving unit for communicating with the working device, a storage unit for storing the map information, an input unit for receiving the user input, A display unit including the display for displaying a current position of the working device on the display unit, and generating the route information based on map information stored in the storage unit according to a user input through the input unit or generating the control information, And outputting the map information and the current position through the display unit after calculating the current position using the map information and the detection information.

According to an embodiment of the present invention, the monitoring apparatus calculates at least one of the moving direction and the moving distance based on the detection information received from the working apparatus, and calculates at least one of the current position or the path information And displays the current position in a specific area adjacent to the movement path according to the current position and displays the current position in the map information. When the working device deviates from the welding line according to the path information included in the map information and the current position And the control information is transmitted to the work device to return to the welding line.

An underwater work device using a welding line of an underwater structure composed of a working device for detecting a welding line formed in advance on the surface and a monitoring device for wired / wireless communication for underwater operation on the surface of the underwater structure according to an embodiment of the present invention The method for locating includes a step of detecting a position of the workpiece on the basis of map information about the welding line of the underwater structure, The control unit generates control information and transmits the control information to the work device, sets one or more points at which the welding line intersects with each other in the path information or the welding line is stopped as a point of interest, Setting an order of each of the points of interest, Generating detection information according to real-time detection of the welding line while moving on the surface along the welding line corresponding to the path information based on the control information, and transmitting the detection information to the monitoring device via wired / wireless communication; The apparatus counts the detection order each time the point of interest is detected in accordance with the detection information received from the working apparatus and adds the current position of the working apparatus to the map information based on the position of the point of interest set in the order corresponding to the current detection order And outputting the map information on which the current position is displayed through a display.

The present invention relates to a work device for setting a movement path of the work device attached to a surface of an underwater structure in water using map information about a welding line of an underwater structure and moving along a welding line on the movement path By comparing the order of points of interest with the order in which each point of interest is detected by the working device using the point of interest included on the path of travel of the working device, such as the intersection of different welding lines or the endpoint of the welding line, By accurately displaying the current position and displaying the current position accurately on the map of the underwater structure, it is possible for the manager to support accurate positioning of the work device moving in the water, while improving the accuracy and convenience of the work And it has the effect of supporting.

In addition, the present invention can be applied to an information processing apparatus, a method, an information processing method, an information processing method, an information processing method, The pattern information of the welding line around the point is compared with each other or the map information of the working device located at the point of interest and the attitude information according to each of the detection information are compared with each other to identify points of interest having the same pattern and attitude, The present position can be corrected to the position of the point so that the error occurring in the process of comparing the information provided by the work device moving along the welding line with the map information of the welding line is continuously compensated, So that the accuracy of grasping the current position of the underwater work device can be greatly improved There.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a system for locating an underwater work device using a welding line of an underwater structure according to an embodiment of the present invention; FIG.
2 is a detailed configuration diagram of a working apparatus and a monitoring apparatus according to an embodiment of the present invention;
3 is an exemplary diagram illustrating a configuration of a detection unit according to an embodiment of the present invention;
FIGS. 4 to 5 are diagrams illustrating an operation example of a route information generation process and an underwater location determination process of a monitoring apparatus according to an embodiment of the present invention; FIG.
6 to 7 are diagrams illustrating an operation example of a position correction based on a weld line pattern of an underwater work device positioning system using a weld line of an underwater structure according to an embodiment of the present invention.
FIG. 8 to FIG. 9 are diagrams illustrating an operation example of a position correction based on a posture of a working device in a system for locating an underwater work device using a welding line of an underwater structure according to an embodiment of the present invention. FIG.
10 is an exemplary view illustrating a position estimation for a working apparatus of a monitoring apparatus according to an embodiment of the present invention;
11 is a flowchart of a method for locating an underwater work device using a welding line of an underwater structure according to an embodiment of the present invention.

Hereinafter, detailed embodiments of the present invention will be described with reference to the drawings.

1 is a block diagram of a system for locating an underwater work device using a welding line of an underwater structure according to an embodiment of the present invention. As shown in FIG. 1, a part or whole of a body, such as a ship or an off- (100) for detecting a welding line previously formed on the surface of an underwater structure (1) located in the water and performing a specified operation in water while moving on the surface along the welding line, (100) in a wired / wireless communication, accurately grasping the current position of the working device (100) on the surface of the underwater structure (1), and map information on the welding line is stored in advance and stored in the map information And displaying the present position on the map according to the display and outputting the display through the display.

At this time, various widely known wire / wireless communication methods can be applied to the communication method applied to the wired / wireless communication.

In addition, the working device may be constituted of components that are waterproof to a certain level to ensure smooth operation in water.

In addition, the welding line (weld line) may be a line that is not welded or may be a line that has already been welded.

In the above-described configuration, the monitoring device 200 stores map information for a plurality of welding lines formed in advance in the underwater structure 1, sets minutia points based on the welding lines in the map information, ) Based on the map information and transmits the path information to the working device 100 so that the working device 100 can be moved according to the path information.

At this time, an example of the feature point may include an intersection point where a plurality of welding lines intersect with each other, and an end point where the welding line is interrupted. However, the present invention is not limited thereto, May be set as the minutiae point.

In addition, the monitoring device 200 may designate one or more minutiae included in the route information among all minutiae included in the map information as point of interest (POI) The order of the points of interest can be set according to the order of arrangement of the points of interest on the moving route. At this time, the order of the points of interest can be determined according to the order in which the working apparatus 100 passes through the points of interest based on the moving direction along the moving path.

Accordingly, the working device 100 receives the route information and detects the welding line of the underwater structure 1 located on the route along the route information, while detecting the welding line of the underwater structure 1 1, and the detection information according to the detection of the welding line can be transmitted to the monitoring device 200 in real time or periodically.

In addition, the monitoring apparatus 200 can generate control information including the path information for moving the work device 100 to a movement path according to the path information remotely based on a user input by an administrator , The control information may be transmitted to the work device 100 in real time and the movement of the work device 100 may be controlled according to the control input of the manager.

In addition, the working device 100 receives the control information including the path information in real time, detects the welding line while moving according to the control information, and generates detection information according to the control information to the monitoring device 200 And the monitoring apparatus 200 may display (output) the detection information through a display configured on the monitoring apparatus 200 or a separate display apparatus connected to the monitoring apparatus 200. [

In this case, the detection information may include image information of a camera unit included in the working device 100 and sensing information of a sensor unit included in the working device 100.

Accordingly, the administrator who controls the movement of the working device 100 through the monitoring device 200 can check the detection information (video information, sensing information, etc.) output through the display unit or the display device, The operation device 100 can receive the control information generated according to the control of the administrator from the monitoring device 200 and move according to the path intended by the manager.

Meanwhile, the monitoring device 200 counts the detection order (or the detection frequency) every time the point of interest is detected when the point of interest is detected based on the detection information received from the working device 100, (Or the number of times according to the number of times of detection) and an order value according to the order of the points of interest are compared with each other to determine a position of a point of interest having an order matching the detection order, Position.

In addition, the monitoring device 200 may include positional information on the current position in the map information of the welding line of the underwater structure 1, and output the information through a display, The accurate position of the working device 100 can be easily grasped based on the current position on the map.

In this case, the map information may include image or graphic information about the entire structure (form) of the underwater structure 1, and line information about the shape of the welding line may be set in the image or graphic information .

In addition, the monitoring apparatus 200 may display the detection information together with the map information including the position information through the display.

That is, the working device 100 can easily detect a point of interest formed by different welding lines at the closest distance to the surface of the underwater structure 1, regardless of how poor the underwater clock is, 200 can accurately display the position of the work device 100 that moves in the water on the basis of the point of interest and the map information. Therefore, the present invention is not limited to the limited clock in the water, Can accurately provide the current position of the moving work device 100 in the water without using communication for location such as the Global Positioning System.

As described above, according to the present invention, most of the welding robots that detect and move the existing welding lines are manufactured considering the work on the ground, so that when the welding robot is operated in the water, The position of the point of interest included in the path based on the crossing or the interruption of the welding line and the order of the point of interest included in the path by the working device 100, The position of the working device 100 can be precisely detected for each point of interest by comparing the detected order and accurately displayed on the map for the underwater structure 1 according to the map information, ) Can be supported.

Accordingly, the present invention can improve work convenience using the work device 100 of the manager, and can minimize mistakes in the work process using the work device 100 in accordance with the accurate position of the work device 100. [

Detailed operation of the working device 100 and the monitoring device 200 will be described in detail below with reference to the drawings based on the above-described configuration.

2 is a detailed configuration diagram of a working device 100 and a monitoring device 200 according to an embodiment of the present invention.

The working device 100 includes a main body 101 constituting a working device 100 and a communication part 110, a driving part 120, a detecting part 130, Unit 140 and a control unit 150. [0031]

The communication unit 110 may support wired / wireless communication with the monitoring device 200.

Further, the detection unit 130 may detect the welding line and generate the detection information.

In addition, the working unit 140 may perform inspection or cleaning work on the surface of the underwater structure 1 or welding work on the welding line.

In addition, the driving unit 120 may move the main body 101 by attaching the main body 101 to the surface. For example, the driving unit 120 may include a pair of A sprocket which is disposed inside a pair of bodies and is provided with a pair of a drive shaft and a driven shaft, a chain which connects the sprocket, a magnet module connected to the chain and rotated together with the chain, A drive motor for driving the drive shaft, and the like.

Meanwhile, the control unit 150 transmits a welding line on the movement path according to the path information included in the control information to the detection unit 130 based on the control information received from the monitoring device 200 through the communication unit 110. [ And transmits the detection information generated through the detection unit 130 to the communication unit 110 through the communication unit 110. The control unit 110 controls the driving unit 120 to move the main body 101 along the welding line on the path, To the monitoring device (200).

The control unit 150 controls the driving unit 120 based on the control information received through the communication unit 110 to move the main body 101 according to the path or direction of the remote control of the manager .

In addition, the control unit 150 may receive control information according to an administrator input for driving the operation unit 140 from the monitoring device 200 through the communication unit 110, The work unit 140 may be controlled to perform an operation according to the control information.

3 (a), each of the sensors included in the sensor unit 131 may include a sensor unit 131 configured by one or more sensors, The sensing information may be generated by sensing at least one of a sensor, an acceleration sensor, a gyro sensor, an electromagnetic sensor, a laser sensor, and an ultrasonic sensor to sense the surface of the underwater structure 1 .

3 (b), the sensor unit 131 may be mounted on the underwater structure 1 to accurately sense the surface of the underwater structure 1 and the pattern of the weld line formed on the surface of the underwater structure 1, And a plurality of sensors 1310 formed on one surface of the working device 100 facing the surface and arranged at predetermined intervals in the rows and columns of the one surface.

At this time, the sensor unit 131 may be configured as a checkerboard type in which a plurality of the rows and the columns are provided and a plurality of sensors 1310 are arranged at predetermined intervals in each column.

In addition, it is needless to say that the sensors 1310 of the sensor unit 131 may be diagonally arranged on one surface of the working device 100.

The detection unit 130 may include a camera unit 132 and the camera unit 132 may generate image information on the surface of the underwater structure 1 and the weld line.

Accordingly, at least one of the sensor unit 131 and the camera unit 132 may be included in the detection unit 130, and at least one of the sensing information of the sensor unit 131 and the image information of the camera unit 132 One of which can be generated as the detection information.

In addition, the control unit 150 detects the surface shape of the underwater structure 1 based on the analysis of the surface shape according to the image analysis or the sensing information based on the detection information received from the detection unit 130, And can control the driving unit 120 along the detected welding line to move the working apparatus 100.

In addition, the controller 150 may identify each point of interest included in the path information based on the detection information, and may detect movement of each point set in the path information in order to follow the path of movement according to the path information. And moves the working device 100 according to the moving direction and the welding line to move the working device 100 according to the moving path according to the path information.

The control unit 150 may store the map information in the memory unit and may receive the route information from the monitoring device 200. In this case, The map information may be loaded from the memory unit upon reception and the received route information may be applied to the map information to determine the travel route.

The monitoring device 200 may include a storage unit 210, a transceiver unit 220, an input unit 230, a display unit 240, and a monitoring unit 250.

The transceiver 220 can perform wired / wireless communication with the work device 100.

The storage unit 210 may store map information about the surface of the underwater structure 1 and the welding line. In this case, the map information may be composed of two-dimensional or three-dimensional graphic information.

At this time, the map information may include minutiae points for points where different welding lines intersect or where the welding line is interrupted, and may include coordinate information corresponding to each minutiae point.

Also, the input unit 230 may receive a user (administrator) input.

The display unit 240 is configured to include the display for displaying the current position of the working device 100 on a map according to the map information and the map information, Can be displayed on the display.

The monitoring unit 250 may generate the path information based on the control information or the map information stored in the storage unit 210 according to a user input through the input unit 230, And transmit the path information to the working device 100 through the transceiver 220. [

In addition, the monitoring unit 250 generates control information according to a user input for controlling the work device in a path according to the path information, and transmits the control information to the working device 100 through the transmission / reception unit 220 in real time It is possible. At this time, the control information may include the path information, and the path information may be manipulation information for manipulating the working device 100 according to the user input.

Accordingly, the control unit 150 of the work device 100 receives the control information including the route information in real time through the communication unit 110 of the work device 100, It is possible to move or work according to the path that the manager intends in real time by controlling the driving unit 120 of the portable terminal 100.

In addition, the monitoring unit 250 may calculate the current position using the map information and the detection information, and then output the map information and the current position through the display unit 240.

The monitoring unit 250 of the monitoring device 200 generates control information for controlling the work device 100 to perform a work such as inspection or welding on a welding line based on a user input, To the work device 100 via the network 220.

Accordingly, the control unit 150 of the working apparatus can control the operation unit 140 according to the reception of the control information through the communication unit 110 to perform the operation according to the control information.

The control unit 150 and the monitoring unit 250 may include a RAM, a ROM, a CPU, a GPU, a bus, and the like. 100 or the overall control functions and services of the monitoring device 200.

The detailed operation configuration of the monitoring device 200 and the working device 100 will be described with reference to FIGS. 4 to 5 based on the above-described configuration. FIG.

4, the monitoring apparatus 200 sets a starting point and a destination point in the map information according to a user input, and also sets a starting point and a destination point for a path connecting the starting point and the destination point according to a user input Path information can be generated.

At this time, the monitoring device 200 extracts feature points corresponding to the setting information from the route information included in the map information based on preset setting information of the feature point setting, (P1, P2, P3, P4) of the extracted minutiae.

At this time, the monitoring device 200 may set the starting point and the destination point as points of interest.

Here, the minutiae points are set in advance in the map information, and the monitoring device 200 may set the minutiae located on the route along the route information as the points of interest.

Also, the monitoring device 200 may apply the route information to the map information.

Accordingly, the monitoring device 200 can use the point of interest as information for determining the position of the working device 100.

In addition, the monitoring device 200 may include a sequence of points of interest for each point of interest in the map information according to the order in which the work device 100 passes through each point of interest, based on the path of travel according to the path information Path information.

In addition, the monitoring device 200 can transmit the route information to the work device 100 attached to the wall surface (surface) of the underwater structure 1 via wired / wireless communication.

At this time, the path information may include a path based on the welding line included in the map information, and may include coordinate information of each point of interest located on the path. As an example of the coordinate information, the first interest point P1 arriving first from the starting point is the B row, as shown in FIG. 4, Can be set to the coordinates of the point of interest P1.

5, the working device 100 receives the path information from the monitoring device 200, and attaches the surface information of the underwater structure 1 to the surface of the underwater structure 1 in the water, Or move along a path along a welding line located on the path along which the manager is remote controlled.

At this time, the working device 100 can sequentially move to coordinates corresponding to the coordinate information of each point of interest according to the order of the points of interest included in the path information.

The control unit 150 of the apparatus 100 may include a camera unit 132 configured to capture an image of the welding line and a plurality of sensors for sensing the welding line, And a sensor unit 131 for detecting the welding line on the path according to the path information by using the detection information including at least one of the image information and the sensing information generated through the detection unit 130 including at least one of the sensor units 131, It is possible to move along the welding line to the movement path according to the path information.

The working device 100 may transmit the detection information generated through the detection unit 130 to the monitoring device 200 in real time or periodically.

Meanwhile, the monitoring apparatus 200 may detect the point of interest based on detection information received from the working apparatus 100.

For example, the monitoring unit 250 configured in the monitoring apparatus 200 may analyze the image information included in the detection information or calculate an electromagnetic variation amount according to the shape of the surface based on the sensing information included in the detection information It is possible to determine whether or not the point of interest is detected by determining whether there is a point where the welding line intersects or the welding line is disconnected.

In this case, the detection information may include both the image information and the sensing information, and the monitoring unit 250 may combine the result of the image analysis of the image information and the analysis result using the sensing information, And if there is a point of interest based on this, it can be detected.

In addition, the monitoring unit 250 of the monitoring device 200 may count the detection order in order of detection of the point of interest based on the detection information.

For example, the monitoring unit 250 may calculate the first point of interest P1 based on the detection information transmitted from the first point of interest P1, which is the point of interest first reached from the starting point, The detection order is counted as 1 (first) in the detection of the point of interest on the second interest point P2 and the detection order on the point of interest detection on the basis of the detection information transmitted by the working apparatus 100 at the second point of interest P2 2 (second).

In addition, the monitoring unit 250 may compare the current counted detection order with the order of points of interest set in the map information, and identify a point of interest having an order value matching the order value according to the detection order, from the map information .

Accordingly, the monitoring unit 250 determines the position (coordinate) of the currently identified interest point, and determines the position of the identified interest point on the map according to the map information as the current position of the working apparatus 100 As shown in FIG.

Thereafter, the monitoring unit 250 may output map information including positional information on the current position through the display unit 240 or the separately-connected display device configured in the monitoring device 200, The monitoring device 200 displays the current position of the working device 100 on a map of the welding line of the underwater structure 1 so that the manager can check the current position of the working device 100.

In addition, the monitoring apparatus 200 can more precisely detect and display the position of the working device 100 moving between different points of interest, in addition to the detection of the point of interest.

The monitoring unit 250 of the monitoring apparatus 200 monitors the operation of the working device 100 when the working device 100 starts from the point of interest 1 which is one of a plurality of points of interest located on the path in accordance with the control information, The moving distance of the working device 100 can be calculated based on the sensing information included in the detection information continuously received from the point of interest 1, A position value for the current position of the working device 100 moving between the point of interest 2 located in the next order of point 1 and the point of interest 1 can be generated, And outputs the result through the display unit 240.

That is, the monitoring unit 250 may calculate the moving distance value in real time and display the real time current position of the working device 100 moving between different points of interest.

At this time, the monitoring unit 250 may further calculate the moving direction of the working device 100 based on the sensing information, and may generate the position value based on the moving direction and the moving distance value.

In addition, the monitoring unit 250 initializes the movement distance value when the work device 100 starting from the point of interest 1 arrives at the point of interest 2 according to the detection of the point of interest 2 using the detection information, The moving distance value is cumulatively calculated based on the sensing information included in the detection information received from the working device 100 on the basis of the point of interest 2 to calculate the point of interest 3 and the point of interest 2 The present position of the working device 100 can be displayed on the map. At this time, the monitoring unit 250 may reinitialize the movement distance value when the point of interest 3 is detected.

In this way, the monitoring unit 250 may provide the current position of the work device 100 moving between different points of interest, so that the manager can more accurately grasp the position of the work device 100.

At this time, one of the plurality of interest points may be a start point, and the other one may be a destination point.

The sensing information used for calculating the movement distance value may include sensor values of the acceleration sensor and the gyro sensor included in the sensor unit 131 of the working device 100.

The sensor unit 131 included in the working device 100 may include a laser sensor, a gyro sensor, an acceleration sensor, a velocity sensor, and an encoder that can calculate a distance according to the operation of the driving unit 120 And the control unit 150 of the working device 100 can calculate the moving distance value more clearly through the distance measuring means.

The control unit 150 may include an image analysis unit. The control unit 150 analyzes the image information generated through the camera unit 132 and generates analysis information, which is generated through the distance measurement unit, May be used to calculate the movement distance value. Thus, the accuracy of the moving distance value can be increased.

As described above, the present invention uses map information about the weld line of the underwater structure (1) at each time of detection of the point of interest, using the point of interest where the weld line which is sufficiently identifiable even with a limited clock in the water is crossed or disconnected The present position of the working device 100 moving in the water can be accurately displayed on the map according to the map information, so that it is possible to easily solve the problem that the robot can not grasp the position of the robot, In addition, it is possible for the manager to accurately grasp the current position of the working device 100 moving in the water on the map related to the underwater structure 1, thereby improving the convenience and efficiency of the work.

In addition, the present invention can easily display the current position of the working device 100 on the map with only the information detected within the limited clock of the working device 100, It is possible to easily solve the problem caused by being dumped in the apparatus.

On the other hand, in the above-described configuration, when the working apparatus 100 reaches a point of interest, foreign matter is attached to the surface of the underwater structure 1 at the point of interest, or the detected information is detected at the point of interest The monitoring apparatus 200 may fail to detect the point of interest despite the presence of the point of interest based on the detected information.

Accordingly, the monitoring apparatus 200 erroneously counts the detection order and erroneously displays the current position by matching the order of the erroneous points of interest with the detection order.

The configuration for preventing this will be described in detail with reference to FIGS. 6 to 9 with reference to the above-described configuration.

6 to 7 are operation configuration diagrams for a process in which the monitoring apparatus 200 corrects the current position of the working device 100 using a pattern of points of interest.

As shown in Fig. 6, when the working apparatus 100 starts to depart from the starting point and transmits detection information of a state in which the point of interest is obscured due to a foreign substance attached to the surface of the underwater structure 1 at the second point of interest P2, The monitoring device 200 fails to detect the point of interest at the second point of interest P2 and fails to count the order of detection at the second point of interest P2.

Accordingly, the monitoring apparatus 200 is shown when the working apparatus 100 succeeds in detecting the point of interest based on the detection information transmitted at the third point of interest P3, which is the next order of the second point of interest P2 The detection order is counted as 2 instead of 3 at the third point of interest P3 while the detection order is counted as 1 at the first point of interest P1.

Accordingly, the monitoring apparatus 200 compares the order of the points of interest included in the detection order and the map information, and determines the point of interest having a matching order as the second point of interest P2, The current position of the target point 100 is displayed on the map as the second point of interest P2 and is output.

However, since the present apparatus 100 is located at the third point of interest P3, the monitoring apparatus 200 outputs a wrong position.

In order to compensate for this, as shown in FIG. 7, the monitoring unit 250 of the monitoring device 200 analyzes the pattern of the welding line adjacent to the point of interest on the basis of the map information for each point of interest, It is possible to generate pattern information and set it in the map information.

In addition, the monitoring unit 250 of the monitoring apparatus 200 counts the detection order upon detection of the point of interest on the basis of the detection information each time the detection information is received from the working apparatus, and then, The pattern of the line can be analyzed and the detection pattern information can be generated on the basis of the analyzed pattern.

At this time, the monitoring unit 250 may generate the detection pattern information by performing pattern analysis using at least one of the image information and the sensing information included in the detection information.

The monitoring unit 250 may use the detection information corresponding to the detection order to generate the reference pattern information based on the map information for the point of interest having the order corresponding to the detection order currently counted when the point of interest is detected And comparing the detected pattern information with the generated detection pattern information to determine whether the reference pattern information matches the patterns of the detection pattern information.

Accordingly, the monitoring unit 250 determines that the detection order of the currently detected interest points is correct when the patterns match each other, and displays the position of the interest point having the order corresponding to the detection order as the current position can do.

Alternatively, the monitoring unit 250 may determine that the detection order of the currently detected interest point is incorrect if the patterns are mutually mismatched, and accordingly, A point of interest having reference pattern information corresponding to the detection pattern information among at least one point of interest located after the point of interest corresponding to the detected detection order, And correct the current position of the working device 100 to the position of the extracted point of interest.

In this case, if a plurality of points of interest having reference pattern information matching the pattern of the detection pattern information are extracted, the monitoring unit 250 calculates the current detection order and the current detection order based on the currently received detection information, The current position of the working device 100 can be corrected to the position of the closest point and the position of the closest point having the closest order or having a sequence corresponding to the current detection order.

In addition, the monitoring unit 250 may correct the detection order in the order of the points of interest corresponding to the corrected current position, support counting from the detection order, and support the detection order to be accurately counted.

As shown in the above example, the monitoring apparatus 200 analyzes the pattern of the welding line adjacent to the second point of interest P2 and the second point of interest P2 set in the map information (P3) and a pattern analysis of a pattern of a weld line adjacent to the third point of interest (P3) with respect to a third point of interest (P3) Or trident shape) can be generated and set in the map information.

Thereafter, the monitoring apparatus 200 generates detection pattern information using detection information each time a point of interest is detected using detection information, and detects reference pattern information set at a point of interest having an order matching the currently counted detection order, It can be displayed as the current position in the case of coincidence with the pattern information.

However, if the monitoring device 200 succeeds in detecting a point of interest at the first point of interest Pl and fails to detect point of interest at the second point of interest P2 as shown in Figure 6, The detection order can be counted to 2 (second) when the detection of the point of interest is successful and the second interest point, which is the second point of interest having the same order as the detection order, (P2) can be extracted.

7, the monitoring apparatus 200 sets the detection pattern information generated using the detection information received from the working apparatus arriving at the third point of interest P3 to the second point of interest P2 And is compared with the reference pattern information.

Accordingly, since the detection pattern information received at the third point of interest P3 has a Y-shaped pattern while the reference pattern information set at the second point of interest P2 has a cross-shaped pattern, The controller 200 determines that the detection pattern information and the reference pattern information are inconsistent and determines that the detection order of the currently detected interest point is incorrect.

When the monitoring apparatus 200 determines that the pattern is inconsistent, the monitoring apparatus 200 searches a point of interest having reference pattern information matching the detection pattern information, and detects a point of interest corresponding to the pattern corresponding to the detected pattern information. It is possible to identify the point of interest P3 and correct the current position of the working device 100 to the position of the third point of interest P3.

In the above-described configuration, the monitoring apparatus 200 may determine whether or not the second point of interest corresponding to the current detection order is the third point of interest P3 and the fourth point of interest P4, if the point of interest having the pattern matching the detection pattern information is the third point of interest P3 and the fourth point of interest P4. The third point of interest P3 that is the closest point to the point P2 and the current position can be corrected to the position of the third point of interest P3.

In addition, the monitoring apparatus 200 can correct the detection order in the order of the third interest point P3 corresponding to the corrected current position. For example, since the order of the third interest point P3 is 3 You can calibrate the order from 2 (second) to 3 (third).

In addition, the monitoring device 200 displays the position of the third interest point P3 corresponding to the corrected current position as the current position of the working device 100 on the map according to the map information, and outputs the display through the display .

On the other hand, in the above-described configuration, the monitoring apparatus 200 does not set the reference pattern information in advance in the map information, and, based on the detection information, detects a point of interest having a sequence corresponding to the detection order The reference pattern information may be generated. If the patterns do not coincide, the reference pattern information may be generated for each point of interest located on the path along the path information, and may be compared with the detection pattern information.

In addition, when the patterns are mismatched as a result of the pattern comparison, the monitoring device 200 may detect one or more points of interest having a sequence following the point of interest having a sequence corresponding to the detection order, Pattern information can be compared with each other.

As described above, the monitoring apparatus 200 can easily detect a pattern of each point of interest set in the map information even when the point of interest detection fails due to the detection of the point of interest based on the detection information of the working apparatus 100 It is possible to correct the current position by comparing with the pattern of the point of interest identified according to the detection information of the working device 100, so that the accuracy of the grasping of the current position of the working device 100 can be greatly improved.

In addition to the above-described method, the monitoring apparatus 200 may correct the current position based on the point-of-interest attitude of the working apparatus 100, which will be described with reference to FIGS. 8 to 9. FIG.

At first, attitude setting information on the attitude of the working device 100 may be set in the map information by the minutiae points.

In addition, the control unit 150 of the working apparatus can generate attitude information on the attitude of the working apparatus 100 based on the sensing information of the sensor unit 131.

 At this time, the posture setting information and the posture information may include information about the inclination (inclination) of the working device 100 with respect to a predetermined axis.

In addition, the control unit 150 of the working device 100 may transmit the attitude information to the monitoring device 200 through the communication unit 110 in real time or periodically, and may transmit the attitude information together with the detection information.

Accordingly, the monitoring unit 250 of the monitoring device 200 receives the attitude information and the detection information through the transceiver 220, and when the point of interest is detected based on the detection information, , And extract posture setting information set for the point of interest from the map information.

At this time, the attitude information is not previously set in the map information, and the monitoring unit 250 may calculate the attitude of the working device 100 based on the map information directly to generate the attitude setting information for each point of interest connect.

Then, the monitoring unit 250 compares the received posture information together with the detected information with the posture setting information extracted from the map information, and only when it matches the position, the position of the point of interest corresponding to the posture setting information is changed to the current position Displayed on a map according to the map information, and output through a display.

If the posture information and the posture setting information differ from each other due to a difference between the posture information and the posture setting information, the monitoring unit 250 acquires the order of the points of interest corresponding to the current detection order It is possible to compare posture setting information for each of at least one interested point with the posture information and correct the current position of the working device 100 to the position of the point of interest matching the posture setting information and the posture information.

At this time, the monitoring unit 250 selects the point of interest closest to the order or position of the point of interest corresponding to the current detection order when there are a plurality of points of interest having attitude setting information matching the attitude information, The present position of the working device 100 can be corrected.

In addition, when the current position according to the attitude information is corrected, the monitoring unit 250 may correct the detection order in the order of the points of interest corresponding to the corrected current position.

8 to 9, first, the monitoring apparatus 200 fails to detect a point of interest at a second point of interest P2 as shown in FIG. 8, If the normal detection order at the third point of interest P3 is 3 (third) when the point of interest is successfully detected at the third point of interest P3, The detection order is counted as 2 (second) in accordance with the failure detection of the point of interest.

Accordingly, the monitoring apparatus 200 can recognize that the current position of the working device is incorrectly counted in the map information, corresponding to the current detection order (second), even though the working device 100 is currently located at the third point of interest P3 And the second interest point P2 having the order (second) in which the second point of interest P2 is located.

In order to prevent such positional errors, the monitoring apparatus 200 may be configured to detect an error of interest based on the detection information received from the working apparatus 100 located at the third point of interest P3, The detection order at the time of point detection is counted at 2, the attitude setting information is extracted from the map information corresponding to the second point of interest P2 having the order corresponding to the current detection order, or the attitude setting information is generated based on the direct map information can do.

Also, the monitoring device 200 compares the detected information with attitude setting information of the second interest point P2 based on the received attitude information.

Accordingly, the monitoring apparatus 200 determines that the posture information and the posture setting information are inconsistent, and determines that the third attention point P3 and the fourth attention point P4 disposed after the second attention point P2, ), And compares the posture setting information with the posture information.

As a result, the monitoring apparatus 200 can correct the current position of the working device 100 to the current position of the third point of interest P3 having attitude setting information that matches the attitude information, The position can be displayed on the map according to the map information and output through the display.

At this time, when the attitude setting information of the third point of interest P3 and the attitude setting information of the fourth point of interest P4 all coincide with the attitude information, the monitoring device 200 detects the second point of interest P2 corresponding to the current detection order, The third point of interest P3 which is the closest point of interest and the current position can be corrected to the position of the third point of interest P3.

In addition, the monitoring apparatus 200 may correct the current detection order in the order corresponding to the third interest point P3 at the time of position correction. For example, if the current detection order is 2, The current detection order can be corrected to 3, which is an order corresponding to the point P3, so that the counting of the point of interest can be normally performed after that.

As described above, the monitoring apparatus 200 can detect the point of interest on the basis of the detection information of the working device 100, so that even when an error occurs in the determination of the current position, It is possible to easily correct the current position to the point at which the working device 100 coincides.

In the above-described configuration, the control unit 150 of the working device 100 transmits the departure information or the arrival information at the departure point according to the route information or at the destination point according to the route information through the communication unit 110 The monitoring unit 250 of the monitoring device 200 may transmit the start information or the arrival information transmitted from the operation device 100 to the monitoring device 200, Whether or not it has arrived or can be output via the display.

In addition, it goes without saying that the starting point and the destination point in the above-described configuration may be set to the point of interest.

10 is a diagram illustrating an operation example of a position estimation method for the working device 100 of the monitoring device 200 according to an embodiment of the present invention. As shown in FIG. 10 (a) And a sensor unit 131 such as a gyro sensor and an acceleration sensor is built in, so that the rotation angle of the working device 100 is separately measured So that the sensing information can be generated.

In addition, the working device 100 includes the distance measuring means and the image analyzing device including an encoder in addition to the laser sensor, the gyro sensor, the acceleration sensor, the speed sensor, as described above, The monitoring device 200 can transmit information on the moving distance value and the moving direction of the working device 100 moving in accordance with the control information in the specific area from the working device 100 to the monitoring device 200 The current position of the working device 100 being moved and operated in the area located between the different points of interest can be displayed through the display using the information to be transmitted.

Accordingly, the manager can perform desired tasks in the specific area by utilizing the same.

At this time, the acceleration sensor may be used to correct the zero point of the gyro sensor, and may be used to detect movement of the working device 100 through the acceleration sensor.

10 (b), the monitoring apparatus 200 monitors the position of the working device 100 in the specific region (Z region) based on the image information and sensing information received from the working device 100 It is possible to precisely estimate the position of the working device 100 and to transmit control information to the working device 100 when the working device 100 moves or leaves the welding line due to an unwanted slip during the operation, It may be controlled to return to the line.

FIG. 11 is a flowchart of a method for locating an underwater work device 100 using a welding line of an underwater structure 1 according to an embodiment of the present invention. The monitoring device 200 includes a pre-stored underwater structure 1, Based on the map information of the welding line of the working device 100, the control information including the starting point and the destination point of the working device 100 and generating the control information including the path information To the work device 100 (S1).

In addition, the monitoring device 200 sets one or more minutiae at which the different welding line intersects or the welding line is interrupted in the path information, respectively, as points of interest, The order of the points can be set (S2).

Then, the working device 100 moves on the surface along the welding line corresponding to the path information based on the control information, and generates detection information according to the real-time detection of the welding line, (S3), the monitoring device 200 detects a point of interest based on the detection information (S4), and counts a detection order when the point of interest is detected (S5).

Next, the monitoring device 200 identifies (extracts) a set point of interest corresponding to the current detection order in the path information included in the map information (S6), and adds the point of interest to the map information After displaying the current position of the working device 100, the map information on which the current position is displayed may be output through the display (S7).

Thereafter, the monitoring apparatus 200 can repeat the above-described process until the working apparatus 100 arrives at a destination according to the path information (S8), and the current position of the working apparatus 100 And can notify the manager accurately.

The various devices and components described herein may be implemented by hardware circuitry (e.g., CMOS-based logic circuitry), firmware, software, or a combination thereof. For example, it can be implemented utilizing transistors, logic gates, and electronic circuits in the form of various electrical structures.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. 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.

1: underwater structure 100: working device
110: communication unit 120:
130: detecting unit 131:
132: camera part 140: work part
150: control unit 200: monitoring device
210: Storage unit 220: Transmitting /
230: input unit 240: display unit
250: Monitoring section

Claims (11)

Detecting a preformed weld line on the surface for underwater operation on the surface of the underwater structure and moving attached to the surface along the detected weld line and generating detection information according to the real time detection of the weld line A work device for transmitting through wired / wireless communication; And
Based on the map information of the welding line of the underwater structure stored in advance, generates control information including path information on a movement path of the working apparatus including a starting point and a destination point according to a user input, And controlling the work device to move along the welding line on the movement path according to the path information, and controlling the movement of the work device along the welding line on the path information, Setting each of the at least one of the points as a point of interest, setting the order of each point of interest according to a route along the path information to the map information, and detecting the point of interest Each time the detection order is counted and the sequence corresponding to the current detection order And a monitoring device for displaying the current position of the working device on the map information based on the position of the point of interest set by the user and outputting the map information on which the current position is displayed through a display,
The monitoring apparatus generates reference pattern information for a pattern of a welding line adjacent to a point of interest corresponding to the current position on the path information based on the map information at each detection of the point of interest using the detection information of the working apparatus Generates detection pattern information for a pattern of a weld line adjacent to the point of interest based on the detection information, compares the detected pattern information with the reference pattern information, and if the reference pattern information and the detection pattern information do not match, Extracting a point of interest closest to the current position and having pattern information matching the detection pattern information among the one or more points of interest located at the current position and correcting the current position and the detection order in the position and order of the extracted point of interest The position of an underwater work device using a welding line of an underwater structure Evil system.
The method according to claim 1,
Wherein the work unit includes at least one of a camera unit that captures an image of the welding line and a sensor unit that includes a plurality of sensors for sensing the welding line, wherein the image information generated through the camera unit and the sensor unit And generating the detection information including at least one of the sensing information generated according to the sensing.
The method of claim 2,
The working device generates attitude information on the attitude of the working device attached on the surface based on the sensing information of the sensor part and transmits the attitude information to the monitoring device through the wired /
Wherein the monitoring device sets attitude setting information for the attitude of the working device for each of the points of interest based on the map information and sets the attitude setting information set for the point of interest corresponding to the current position, The attitude information matching the attitude information is set among the one or more points of interest located in the order after the current position when a difference is generated in the attitude information, extracts the points of interest closest to the current position, Wherein the current position and the detection order are corrected in terms of the position and order of the points.
The method of claim 2,
Wherein the sensor unit comprises a plurality of sensors arranged on one surface of the working device facing the surface and arranged at predetermined intervals in each of the horizontal and vertical columns of the one surface, Positioning system for working devices.
The method of claim 2,
Wherein the sensor includes at least one of a speed sensor, an acceleration sensor, a gyro sensor, an electromagnetic sensor, a laser sensor, and an ultrasonic sensor.
delete The method according to claim 1,
Wherein the monitoring device generates the detection pattern information through image analysis based on the detection information or generates the detection pattern information by measuring an electromagnetic change amount of the surface according to the shape of the underwater structure. A system for locating an underwater work device using welding lines.
The method according to claim 1,
The working device
main body;
A communication unit configured to perform wired / wireless communication with the monitoring device;
A detector configured to detect the welding line to generate the detection information;
An operation unit configured to operate on the surface of the main body;
A driving unit for attaching the main body to the surface and moving the main body; And
A welding line on the path according to the control information received through the communication unit is detected through the detection information of the detection unit and the drive unit is controlled to move the main body along the welding line on the path, And a control unit for controlling the operation unit based on the control information and performing an operation according to the control information,
Wherein the position of the underwater work device is determined based on the position of the workpiece.
The method according to claim 1,
The monitoring device
A transceiver for communicating with the work device;
A storage unit for storing the map information;
An input unit for receiving the user input;
A display unit including the display for displaying the current position of the working device on the map information and the map information; And
Wherein the control unit generates the route information based on the map information stored in the storage unit according to a user input through the input unit or transmits the control information to the work device through the transceiver unit, A monitoring unit for calculating the current position and outputting the map information and the current position through the display unit;
Wherein the position of the underwater work device is determined based on the position of the workpiece.
The method according to claim 1,
Wherein the monitoring device calculates at least one of a moving direction and a moving distance based on the detection information received from the working device to calculate at least one of the current position between the different points of interest, And displays the control information in the map information when the work device leaves the welding line according to the path information included in the map information and the current position, And the control means controls the welding line to return to the welding line.
A method for locating an underwater work device using a welding line of an underwater structure comprising a working device for detecting a welding line formed in advance on a surface of the underwater structure for underwater operation and a monitoring device for performing wire /
The monitoring device generates control information including path information on a movement path of the working device including a starting point and a destination point in accordance with user input based on map information of the welding line of the underwater structure stored in advance And sets at least one point at which the welding line intersects with each other or the welding line to be an intersection point as a point of interest respectively in the path information, A step of setting an order of;
The working device is attached to the surface along the welding line corresponding to the path information on the basis of the control information to generate detection information according to the real time detection of the welding line and transmits the detection information to the monitoring device through wired / step; And
Wherein the monitoring device counts the detection order each time the point of interest is detected in accordance with the detection information received from the work device, and adds, to the map information based on the position of the point of interest set in the order corresponding to the current detection order, Displaying the current position and outputting the map information on which the current position is displayed through a display,
The step of outputting the map information through a display includes:
Generates reference pattern information for a pattern of a weld line adjacent to a point of interest corresponding to the current position on the path information on the basis of the map information each time the point of interest is detected using the detection information of the working apparatus, Generates detection pattern information for a pattern of a welding line adjacent to the point of interest adjacent to the point of interest, compares the detected pattern information with the reference pattern information, and if the reference pattern information and the detection pattern information do not match, Extracting points of interest closest to the current position and having pattern information corresponding to the detected pattern information, and correcting the current position and the detection order according to positions and order of the extracted points of interest A method for locating an underwater work device using a welding line of an underwater structure.

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