WO2019078552A1 - Seabed bottoming acoustic 3d scanner - Google Patents
Seabed bottoming acoustic 3d scanner Download PDFInfo
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- WO2019078552A1 WO2019078552A1 PCT/KR2018/012060 KR2018012060W WO2019078552A1 WO 2019078552 A1 WO2019078552 A1 WO 2019078552A1 KR 2018012060 W KR2018012060 W KR 2018012060W WO 2019078552 A1 WO2019078552 A1 WO 2019078552A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- G01N29/0654—Imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/14—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object using acoustic emission techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/223—Supports, positioning or alignment in fixed situation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
Definitions
- the present invention relates to an undersea acoustic 3D scanner capable of precisely grasping a seabed ground.
- a 2D method and a 3D method are used as a method of acquiring the seabed ground information.
- the 2D method is relatively less accurate than the 3D method because it converts the analysis result by overlapping the data after the same area exploration, and there is a limitation in the imaging of the ground structure and the structure.
- there is an inefficient problem in terms of equipment operation such as requiring large ships and a large number of personnel to use the currently used measuring equipment.
- Korean marine ground survey and exploration are based on underwater sound wave technology and equipment. Due to lack of technology, most of the related equipment is imported from overseas. Ground survey and exploration are requested to overseas technology service companies It is true.
- Patent Document 1 Japanese Laid-Open Patent Application No. 1999-0090410 (Apr. 10, 1998)
- the present invention has been made in order to solve the problems of the prior art described above, and it is an object of the present invention to provide a method and apparatus for realizing miniaturization and lighter weight to effectively perform a ground survey in a coastal area and acquire information of a submarine ground with high- Which is a 3D sound scanner.
- an undersea acoustic 3D scanner comprising: a body; A supporting portion for supporting the body portion to maintain the body portion in a position on the seabed surface; A rotation part disposed in the longitudinal direction in the transverse direction and mounted on the body part so as to be horizontally rotatable with one side as a rotation center by the rotation means; And a sensor unit coupled to the rotating unit so as to be movable along the longitudinal direction of the rotating unit by the moving unit.
- the rotating means includes a first ring having a gear tooth formed on an inner periphery thereof and fixed to the body portion, and a second ring fixed to the body portion, A slewing ring bearing portion including a second ring to which the rotating portion is fixed and a second ring to which the rotating portion is fixed, a pinion gear that is gear-engaged with the first ring, 1 < / RTI > motor.
- the moving means may include a second motor fixed to the rotating portion, a second motor fixed to the second motor such that the longitudinal direction of the second motor is parallel to the longitudinal direction of the rotating portion, And a moving unit that moves along the worm when the worm is rotated when the sensor unit is coupled to the sensor unit and the other end is coupled to the worm .
- the rotating part includes a pair of bars spaced apart from each other in parallel, each of the pair of bars having a cross section of " And the outer side space is formed along the longitudinal direction of the bar and the one side is fixed to the second ring, and the moving part is fixed to the worm
- the moving body may include at least one roller that contacts the inner surface of the outer space and is rotated according to the movement.
- a cable chain accommodated in the inner space of the bar and receiving and supporting a cable connected to the sensor unit may be further included.
- the supporting part is a tripod including three supporting rods whose one end is fixed to the body part, and the supporting rods can be stretched in length.
- the sensor unit may include a transducer for transmitting and receiving a sound wave.
- the sensor system is installed close to the seabed surface. It is composed of a three-axis underwater hydraulic system and a two-axis underwater motor system. By applying the rotating and horizontal moving structure, it is possible to acquire high quality information of three dimensions through intensive and precise surveying of the ground survey area, and to realize miniaturization and weight reduction of the apparatus.
- This provides information on the submarine ground necessary for securing the stability of the submarine ground in the operation and management of the offshore plant and offshore structures before and after the installation. It also provides information on the depth of buried facilities, Information can be obtained easily and with high quality information.
- FIG. 1 is a schematic diagram illustrating an operation of an acoustic 3D scanner according to an embodiment of the present invention
- FIG. 2 is a configuration diagram of the acoustic 3D scanner shown in FIG. 1,
- FIG. 3 is a view showing a support portion
- FIG. 5 is a view showing a clockwise or counterclockwise rotation operation of the rotation part
- Figs. 6 to 8 are the configuration of the main part showing the rotation part and the sensor part. Fig.
- FIG. 1 is a schematic diagram of an acoustic 3D scanner according to an embodiment of the present invention
- FIG. 2 is a block diagram of the acoustic 3D scanner shown in FIG. 1
- FIG. 3 is a view showing a support unit
- 5 is a view showing a clockwise or counterclockwise rotational operation of the rotary part
- FIGS. 6 to 8 are the main part showing the rotary part and the sensor part.
- a submarine base acoustic 3D scanner 1 includes, for example, a submarine surface corresponding to an installation area of an offshore plant or an offshore structure, And is operated in a state in which it is placed so as to be arranged.
- the scanner 1 includes a body part 100, a support part 200, a rotation part 300 and a sensor part 500.
- the sensor part 500 is coupled to the rotation part 300 so as to be movable along its longitudinal direction ) To acquire the exploration data on the submarine ground during the rotation of the rotary part 300.
- the exploration area of the seabed surface may have a radius corresponding to the length from the rotation center of the rotation part 300 to the end position of the rotation part 300 at which the sensor part 500 is farthest away.
- the scanner 1 can perform a precise survey with respect to the ground of an area of 8 m in diameter.
- FIG. 1 The configuration of the scanner 1 according to the present embodiment will be described in more detail with reference to FIGS. 2 to 8.
- FIG. 1 is a diagrammatic representation of the scanner 1 according to the present embodiment.
- the support part 200 supports the body part 100 so that the body part 100 maintains its position in water while being in contact with the sea floor.
- the supporting part 200 may have various structures for performing such a function.
- the supporting part 200 may include a tripod tripod.
- Each support base 210 can be coupled to the body 100 so that one end of the support base 210 can be pivotally connected to the support unit 210.
- the coupling member 210 is rotated to minimize the volume occupied by the support base 210 during the transportation of the scanner 1, .
- the support table 210 When the scanner 1 is placed on the bottom surface of the scanner, the support table 210 is rotated to open at a predetermined angle, for example, 45 degrees, and then the support table 210 is rotated
- the horizontal bar 220 can be fixed to the rear side.
- Each support 210 may be comprised of, for example, a hydraulic cylinder structure as shown, specifically a cylinder 211 and a rod 212 drawn or drawn in the cylinder 211, The length of the support 210 can be expanded and contracted.
- the supporting unit 210 can be stretched and contracted so that the rotating unit 300 of the scanner 1 is horizontally disposed on the undersurface of the scanner 1 by adjusting the length of the supporting unit 210 It can be set in a stable posture.
- a foot plate 230 having a bottom surface wider than a cross sectional area of the support table 210 may be formed at the other end of each support table 210 contacting the sea floor.
- the scanner 1 can be more stably mounted on the seabed surface by the footrest 230 and the end of the support 210 is prevented from being buried under the ground by the weight of the scanner 1.
- a body 100 (see FIG. May be made of heavy parts among the parts constituting the scanner 1.
- the body 100 includes a first hydraulic tank 110, a second hydraulic tank 120 which is detachably coupled to the lower portion of the first hydraulic tank 110, A motor 130 disposed at a lower portion of the hydraulic tank 120 to provide power for generating hydraulic pressure and a housing 140 having a solenoid valve disposed at an upper portion of the first hydraulic tank 110 and controlling the flow of hydraulic pressure And a hydraulic pressure control valve (not shown).
- the body 100 constructed as described above may be connected to the cylinder 211 through a cable (not shown) to provide the hydraulic pressure into the cylinder 211.
- one end of the support 210 may be coupled to be rotatable on the outer circumferential surface of the first hydraulic tank 110.
- the second hydraulic tank 120 in which the motor 130 is formed may be detached and mounted from the first hydraulic tank 110 so that the second hydraulic tank 120 may be separated and used in other hydraulic systems if necessary.
- the rotation unit 300 is mounted on the body 100 such that the rotation unit 400 can be rotated around one side of the rotation unit 300 by the rotation unit 400.
- the rotation unit 400 may have the following structure have.
- the rotating means 400 includes a first ring 410 having a gear tooth 411 formed on its inner periphery and a second ring 410 rotatably coupled to the outer periphery of the first ring 410, 420 and a slewing ring bearing portion including a bearing ring 420.
- the pinion gear 430 may be gear-coupled to the first ring 410 and the first motor 440 may rotate the pinion gear 430.
- the first ring 410 is fixed on the plate 141 formed on the housing 140 of the body part 100 so that rotation is restricted.
- One side of the rotation part 300 is fixed to the mounting hole 421 formed in the second ring 420 by a bolt coupling method and the first motor 440 is fixed to the rotation part 300
- the rotation of the first motor 440, the rotation part 300 and the second ring 420 are rotated integrally by the rotation of the pinion gear 430 by the driving of the first motor 440.
- the rotation unit 300 can be controlled in rotation speed, rotation angle, rotation direction and the like according to the control of the first motor 440, and can be rotated 360 degrees as shown in FIG. 5, Direction.
- Shaped bar 310 As shown in Fig. 6 and Fig. 8, for example, Shaped bar 310.
- Each of the pair of bars 310 is fixed to the second ring 420 on one side so that when the first motor 440 is actuated And is rotated together with the first motor 440 and the second ring 420 while being supported by the second ring 420.
- the pair of bars 310 are arranged parallel to each other while being fixed to the second ring 420.
- An inner space portion 311 is formed along the longitudinal direction of the bar 310 on the inner side portion facing each other in the pair of bars 310 and an outer space portion 312 is formed on the outer side portion on the opposite side thereof And is formed along the longitudinal direction of the bar 310 similarly.
- a cable chain 700 may be accommodated in the inner space 311 of the bar 310.
- the cable chain 700 may include a cable (not shown) connected to the sensor unit 500 The problem of sagging or twisting of the cable during the operation of the scanner 1 does not occur.
- a movable body 633 which will be described later, may be accommodated in the outer space 312 of the bar 310, which will be described in detail later.
- the rotation unit 300 may further include a cover 320 as shown in FIG. 2 in order to protect various components mounted on the rotation unit 300 from the external environment underwater.
- the lid 320 may be made of a material such as FRP or the like so as to be light in weight or have an inclined surface or a curved surface in its shape, thereby minimizing the resistance of water acting upon rotation of the rotary part 300.
- the sensor unit 500 is coupled to the rotation unit 300 rotatably mounted on the body 100 such that the sensor unit 500 is movable along the longitudinal direction of the rotation unit 300 by the moving unit 600.
- the moving means 600 includes a second motor 610, a worm 620 coupled to the second motor 610 and rotated according to the driving of the second motor 610, and a sensor unit 500 And a moving part 630 coupled to the worm 620 and moving along the worm 620 when the worm 620 is rotated.
- the second motor 610 is fixed to the rotary part 300 and may be fixed to be disposed above the space between the pair of bars 310 as shown in FIG.
- the worm 620 coupled to the second motor 610 may be formed to have a length extending to the ends of the pair of bars 310 as shown in Fig. 6, and may extend in a direction parallel to the longitudinal direction of the bar 310 And may be arranged to have a longitudinal direction.
- the end of the worm 620 may be coupled to the inner surface of the lid tip 321 so as to be rotatable by a bearing (not shown), for example, so that the worm 620 arranged as described above is not sagged.
- the moving part 630 has an example structure and includes a first coupling body 631 to be clamped to the worm 620, an arm 632 to be formed on the first coupling body 631, A moving body 633 received in the arm 312 and movably supported along the longitudinal direction of the outer space 312 and a second coupling body 636 formed in the arm 632 and coupled to the sensor unit 500, . ≪ / RTI >
- the moving body 633 may include a roller 634 that contacts the inner surface of the outer space 312 and is rotated as shown in FIG. And at least one roller supported in contact with at least one of the upper and lower surfaces and the inner surface forming the outer space portion 312 at this time.
- the moving body 633 may be formed at each of both ends of the arm 632 as an example.
- the moving part 633 is received in the outer space of the bar 310 and is supported by the bar 310 so that the sensor part 500 can stably maintain the position without being deflected upon rotation of the rotation part 300.
- the second coupling body 636 may be formed in a flat shape at the lower end of the coupling portion 635 extending downward from the arm 632 and the sensor portion 500 is coupled to the second coupling body 636.
- the moving part 630 can move the worm 620 in the direction of rotation of the worm 620 despite the rotation of the worm 620 by the moving part 633 being supported in the outer space part 312 or the connecting part 635 being supported inside the bar 310
- the sensor unit 500 coupled to the second coupling unit 636 moves horizontally along the longitudinal direction of the worm 620 without being rotated together with the moving unit 630, Movement.
- the number of revolutions of the worm 620 is controlled by the control of the second motor 610 and the horizontal movement distance of the movement part 630 is controlled correspondingly so that the movement distance of the movement part 630 is,
- the second motor 610 may be controlled.
- the sensor unit 500 may include various sensors capable of acquiring the information of the seabed ground.
- the sensor unit 500 may include a transducer capable of transmitting and receiving sound waves.
- the scanner 1 can acquire information on the ground while the sensor unit 500 rotates 360 degrees in accordance with the rotation of the rotation unit 300, The robot moves horizontally and rotates again.
- the scanner 1 can precisely investigate the probe area while repeating this process.
- Reference numeral 10 which is not described in detail in the above description, indicates a control unit for controlling the hydraulic system, the first motor 440, and the second motor 610 constituting the body 100, and reference numeral 20
- Reference numeral 30 denotes a transceiver for transmitting / receiving signals to / from the outside
- reference numeral 40 denotes a cable grip connected to the PC of the ship 2 (see Fig. 1) for signal transmission .
- Support part 210 Support part
- first ring 420 second ring
- moving part 631 first coupling body
- roller 636 second coupling body
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Abstract
The present invention relates to a seabed bottoming acoustic 3D scanner comprising: a body part; a support part for supporting the body part such that the body part is maintained in place on the seabed; a rotating part arranged such that the longitudinal direction is formed in the horizontal direction, and provided on the body part so as to be horizontally rotatable by a rotating means with one side as a center of rotation; and a sensor part coupled to the rotating part so as to be movable along the longitudinal direction of the rotating part by a moving means, and thus the seabed ground can be precisely identified.
Description
본 발명은 해저 지반을 정밀하게 파악할 수 있는 해저착저식 음향 3D 스캐너에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an undersea acoustic 3D scanner capable of precisely grasping a seabed ground.
일반적으로, 해저 지반 정보를 획득하는 방법으로 2D 방식과 3D 방식이 이용된다. 이 중 2D 방식은 동일지역 탐사 후 자료의 중첩으로 해석결과를 변환하기 때문에 3D 방식에 비해 상대적으로 정확도가 낮으며, 지반구조 및 구조물의 영상화에 한계가 있다. 또한, 현재 사용되는 계측 장비들을 사용하기 위해서는 대형선박과 다수인력이 투입되어야 하는 등 장비 운용 면에서 비효율적인 문제가 있다.Generally, a 2D method and a 3D method are used as a method of acquiring the seabed ground information. Among them, the 2D method is relatively less accurate than the 3D method because it converts the analysis result by overlapping the data after the same area exploration, and there is a limitation in the imaging of the ground structure and the structure. In addition, there is an inefficient problem in terms of equipment operation, such as requiring large ships and a large number of personnel to use the currently used measuring equipment.
최근에는 이러한 문제들을 종합적으로 해결하고 더 정확한 조사 결과를 획득하기 위해 3D 탐사가 요구되고 있으며, 특히 활용도가 높은 연안지역에서 쉽게 사용할 수 있도록 시스템의 소형화가 요구되는 추세이다. 그리고 해양플랜트 및 해양구조물의 운영/관리에 있어서 지진과 같은 외력 및 기타 위해요소에 의한 피해가 발생되지 않도록, 해저 지반의 안정성 확보에 필요한 지반 퇴적구조를 정밀하게 측정할 수 있는 음향학적 3D 스캐너(acoustic 3D scanner)의 개발이 요구되고 있다.In recent years, 3D exploration is required to solve these problems comprehensively and to obtain more accurate survey results. In particular, miniaturization of the system is required to be easily used in a coastal area where utilization is high. In order to prevent damage caused by external forces and other harmful factors such as earthquakes in the operation and management of offshore plant and offshore structures, an acoustic 3D scanner (which can precisely measure the soil sediment structure necessary for securing the stability of the seabed ground) acoustic 3D scanner) is required.
한편, 국내의 해양 지반 조사 및 탐사는 수중 음파를 기반으로 하는 기술 및 장비가 적용되는데 기술력 부족으로 인해 관련 장비의 대부분을 해외에서 수입하고 있고 지반 조사 및 탐사를 해외 기술용역업체에 의뢰하여 실시하는 실정이다.On the other hand, Korean marine ground survey and exploration are based on underwater sound wave technology and equipment. Due to lack of technology, most of the related equipment is imported from overseas. Ground survey and exploration are requested to overseas technology service companies It is true.
외국의 경우 해저 지반 조사에 사용되는 특수 조사장비를 활용하여 자체적으로 연구개발하여 생산하고 실용화하고 있으며, 또한 심해 연약층의 시료채취를 위한 특수 장비를 개발하는 등 앞선 기술력으로 에너지 자원 개발 분야 및 해양 공학의 발달과 함께 지반 조사의 인프라를 구축하고 있다. 반면, 기술력을 보유하지 못한 국가들은 고비용을 감수하면서 지반 조사를 의뢰하는 실정이어서, 지반 탐사를 위한 음향 3D 스캐너의 연구개발이 시급한 실정이다.In the case of foreign countries, the company has developed its own research and development using special research equipment used for the seabed ground survey and has developed special equipment for sampling of deep sea soft layer. And the infrastructure of the ground survey is being built. On the other hand, countries that do not possess technological capability are requesting ground survey with high cost, so it is urgent to research and develop acoustic 3D scanner for ground exploration.
[선행기술문헌][Prior Art Literature]
[특허문헌][Patent Literature]
(특허문헌 1) 일본공개특허 제1999-0090410호(1998.04.10)(Patent Document 1) Japanese Laid-Open Patent Application No. 1999-0090410 (Apr. 10, 1998)
본 발명은 전술한 종래 기술의 문제점을 해소하기 위해 안출된 것으로, 소형화 및 경량화를 실현하여 연안지역에서의 지반 탐사를 효과적으로 수행할 수 있고 또한 해저 지반의 정보를 3차원의 고품질 정보로 획득할 수 있는 3D 음향 스캐너를 제공하고자 하는 것이다.SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the prior art described above, and it is an object of the present invention to provide a method and apparatus for realizing miniaturization and lighter weight to effectively perform a ground survey in a coastal area and acquire information of a submarine ground with high- Which is a 3D sound scanner.
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너는, 바디부; 상기 바디부가 해저면 상에서 제 위치를 유지하도록 상기 바디부를 지지하는 지지부; 가로 방향으로 길이 방향이 형성되도록 배치되며, 회전수단에 의해 일측을 회전 중심으로 하여 수평으로 회전 가능하도록 상기 바디부에 장착되는 회전부; 및 이동수단에 의해 상기 회전부의 길이 방향을 따라 이동 가능하도록 상기 회전부에 결합되는 센서부;를 포함한다.According to another aspect of the present invention, there is provided an undersea acoustic 3D scanner comprising: a body; A supporting portion for supporting the body portion to maintain the body portion in a position on the seabed surface; A rotation part disposed in the longitudinal direction in the transverse direction and mounted on the body part so as to be horizontally rotatable with one side as a rotation center by the rotation means; And a sensor unit coupled to the rotating unit so as to be movable along the longitudinal direction of the rotating unit by the moving unit.
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너에 있어서, 상기 회전수단은, 내주에 기어 이(gear tooth)가 형성되며 상기 바디부에 고정되는 제1 링 및 상기 제1 링의 외주에서 회전 가능하도록 결합되며 상기 회전부가 고정되는 제2 링을 포함하는 슬루잉 링 베어링(slewing ring bearing)부, 상기 제1 링에 기어 결합되는 피니언 기어, 및 상기 회전부에 고정되며 상기 피니언 기어를 회전시키는 제1 모터를 포함할 수 있다.In the undersea acoustic 3D scanner according to the embodiment of the present invention, the rotating means includes a first ring having a gear tooth formed on an inner periphery thereof and fixed to the body portion, and a second ring fixed to the body portion, A slewing ring bearing portion including a second ring to which the rotating portion is fixed and a second ring to which the rotating portion is fixed, a pinion gear that is gear-engaged with the first ring, 1 < / RTI > motor.
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너에 있어서, 상기 이동수단은, 상기 회전부에 고정되는 제2 모터, 상기 회전부의 길이방향과 평행하게 길이방향이 형성되도록 배치되며 상기 제2 모터에 결합되어 상기 제2 모터의 구동에 따라 회전되는 웜(worm), 및 일측에 상기 센서부가 결합되고 타측이 상기 웜에 결합되어 상기 웜이 회전될 때 상기 웜을 따라 이동하는 이동부를 포함할 수 있다.In the submarine base acoustic 3D scanner according to the embodiment of the present invention, the moving means may include a second motor fixed to the rotating portion, a second motor fixed to the second motor such that the longitudinal direction of the second motor is parallel to the longitudinal direction of the rotating portion, And a moving unit that moves along the worm when the worm is rotated when the sensor unit is coupled to the sensor unit and the other end is coupled to the worm .
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너에 있어서, 상기 회전부는, 서로 이격된 채 평행하게 배치되는 한 쌍의 바(bar)를 포함하며, 상기 한 쌍의 바 각각은, 단면이 "" 형상을 가지면서 안쪽 측부에 내측 공간부가 그리고 바깥쪽 측부에 외측 공간부가 상기 바의 길이방향을 따라 형성됨과 아울러 일측이 상기 제2 링에 고정되며, 상기 이동부는, 상기 웜에 치결합되는 제1 결합체, 상기 제1 결합체에 형성된 암(arm), 상기 암에 형성되며 상기 외측 공간부 내에 수용되어 상기 외측 공간부의 길이방향을 따라 이동 가능하도록 지지되는 이동체, 및 상기 암에 형성되며 상기 센서부가 결합되는 제2 결합체를 포함할 수 있다.In the submerged acoustic 3D scanner according to the embodiment of the present invention, the rotating part includes a pair of bars spaced apart from each other in parallel, each of the pair of bars having a cross section of " And the outer side space is formed along the longitudinal direction of the bar and the one side is fixed to the second ring, and the moving part is fixed to the worm A first movable body formed on the arm and supported in the outer space to be movable along a longitudinal direction of the outer space; and a second movable body formed on the arm, And a second combination to be coupled.
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너에 있어서, 상기 이동체는 상기 외측 공간부의 내면에 접촉되어 이동에 따라 회전되는 롤러를 적어도 하나 이상 포함할 수 있다.In the submerged acoustic 3D scanner according to an embodiment of the present invention, the moving body may include at least one roller that contacts the inner surface of the outer space and is rotated according to the movement.
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너에 있어서, 상기 바의 내측 공간부에 수용되고 상기 센서부에 연결된 케이블을 수용하여 지지하는 케이블체인(cable chain)을 더 포함할 수 있다.In the submerged acoustic 3D scanner according to the embodiment of the present invention, a cable chain accommodated in the inner space of the bar and receiving and supporting a cable connected to the sensor unit may be further included.
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너에 있어서, 상기 지지부는 일단부가 상기 바디부에 고정되는 3개의 지지대로 이루어진 삼각대(tripod)이되, 상기 지지대는 길이가 신축될 수 있다.In the submerged acoustic 3D scanner according to the embodiment of the present invention, the supporting part is a tripod including three supporting rods whose one end is fixed to the body part, and the supporting rods can be stretched in length.
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너에 있어서, 상기 센서부는 음파를 송수신하는 트랜스듀서(transducer)를 포함할 수 있다.In an undersea acoustic 3D scanner according to an embodiment of the present invention, the sensor unit may include a transducer for transmitting and receiving a sound wave.
본 발명에 따르면, 다음의 이점이 제공된다.According to the present invention, the following advantages are provided.
종래의 해양 탐사 방식인 견착식 및 예인식 시스템에 비하여, 탐사 장비 센서가 해저면에 근접 설치되는 구조로서 3축의 수중 유압 시스템이 적용된 착저식 시스템과 2축 수중 모터 시스템을 통한 탐사 장비 센서의 교차회전 및 수평이동 구조의 적용으로써 지반 조사구역에 대한 집중적이고 정밀한 탐사를 통한 3차원의 고품질 정보를 획득할 수 있고, 아울러 장치의 소형화 및 경량화를 실현할 수 있다.Compared with the conventional docking type and recognition system, the sensor system is installed close to the seabed surface. It is composed of a three-axis underwater hydraulic system and a two-axis underwater motor system. By applying the rotating and horizontal moving structure, it is possible to acquire high quality information of three dimensions through intensive and precise surveying of the ground survey area, and to realize miniaturization and weight reduction of the apparatus.
이를 통해 해양플랜트 및 해양구조물의 설치 전, 그리고 설치 후의 운영/관리에 있어서 해저 지반의 안정성 확보에 필요한 해저 지반의 정보는 물론이고, 매몰된 시설물의 매몰 심도, 시설현황 등의 파악을 위한 해저 지반 정보를 용이하게, 그리고 고품질의 정보로 획득할 수 있다.This provides information on the submarine ground necessary for securing the stability of the submarine ground in the operation and management of the offshore plant and offshore structures before and after the installation. It also provides information on the depth of buried facilities, Information can be obtained easily and with high quality information.
또한, 국내 연안에서 천해저 환경의 해저 지반 조사를 수행함에 있어 필요한 대부분의 자료가 탐사 심도 30m 이내에서 존재하는데, 이러한 탐사 심도의 조건에서 지반 정보를 정확하고 효과적으로 획득할 수 있다.In addition, most of the data necessary for the submarine ground survey in the Korean coast exists within 30m depth of the survey area, and it is possible to acquire the ground information accurately and effectively under the condition of the depth of exploration.
도 1은 본 발명의 실시예에 따른 음향 3D 스캐너의 운용모식도,FIG. 1 is a schematic diagram illustrating an operation of an acoustic 3D scanner according to an embodiment of the present invention,
도 2는 도 1에 도시된 음향 3D 스캐너의 구성도,FIG. 2 is a configuration diagram of the acoustic 3D scanner shown in FIG. 1,
도 3은 지지부를 나타낸 도면,3 is a view showing a support portion,
도 4는 회전수단을 나타낸 도면,4 is a view showing a rotating means,
도 5는 회전부의 시계방향 또는 반시계방향 회전작동을 나타내는 도면,5 is a view showing a clockwise or counterclockwise rotation operation of the rotation part,
도 6 내지 도 8은 회전부 및 센서부를 나타낸 요부 구성도이다.Figs. 6 to 8 are the configuration of the main part showing the rotation part and the sensor part. Fig.
본 발명의 실시예에 따른 해저착저식 음향 3D 스캐너에 관하여, 첨부도면을 참조하여 상세히 설명하기로 한다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A detailed description will be given of an undersea acoustic 3D scanner according to an embodiment of the present invention with reference to the accompanying drawings.
도 1은 본 발명의 실시예에 따른 음향 3D 스캐너의 운용모식도, 도 2는 도 1에 도시된 음향 3D 스캐너의 구성도, 도 3은 지지부를 나타낸 도면, 도 4는 회전수단을 나타낸 도면, 도 5는 회전부의 시계방향 또는 반시계방향 회전작동을 나타내는 도면, 도 6 내지 도 8은 회전부 및 센서부를 나타낸 요부 구성도이다.FIG. 1 is a schematic diagram of an acoustic 3D scanner according to an embodiment of the present invention, FIG. 2 is a block diagram of the acoustic 3D scanner shown in FIG. 1, FIG. 3 is a view showing a support unit, 5 is a view showing a clockwise or counterclockwise rotational operation of the rotary part, and FIGS. 6 to 8 are the main part showing the rotary part and the sensor part.
본 발명의 일 실시예에 따른 해저착저식 음향 3D 스캐너(1; 이하, '스캐너'라 한다)는 도 1에 도시된 바와 같이 예컨대 해양플랜트나 해양구조물의 설치 예정 지역에 해당하는 해저면에 근접하여 배치되도록 착저된 상태로 운용된다.As shown in FIG. 1, a submarine base acoustic 3D scanner 1 according to an exemplary embodiment of the present invention includes, for example, a submarine surface corresponding to an installation area of an offshore plant or an offshore structure, And is operated in a state in which it is placed so as to be arranged.
스캐너(1)는 바디부(100), 지지부(200), 회전부(300), 및 센서부(500)를 포함하며, 회전부(300)에서 그 길이방향을 따라 이동 가능하도록 결합된 센서부(500)를 이용하여 회전부(300)에 회전 중에 해저 지반에 대한 탐사자료를 획득하게 된다.The scanner 1 includes a body part 100, a support part 200, a rotation part 300 and a sensor part 500. The sensor part 500 is coupled to the rotation part 300 so as to be movable along its longitudinal direction ) To acquire the exploration data on the submarine ground during the rotation of the rotary part 300.
해저면의 탐사 면적은 회전부(300)의 회전 중심으로부터 센서부(500)가 가장 멀리 떨어져 위치하는 지점인 회전부(300)의 끝단 위치까지의 길이에 해당하는 반경을 가질 수 있다. 일례로서, 회전부(300)의 회전 중심으로부터 회전부(300)의 끝단까지의 길이가 대략 4m라고 하면, 스캐너(1)는 지름 8m에 이르는 면적의 지중에 대하여 정밀한 탐사를 진행할 수 있다.The exploration area of the seabed surface may have a radius corresponding to the length from the rotation center of the rotation part 300 to the end position of the rotation part 300 at which the sensor part 500 is farthest away. As an example, if the length from the rotation center of the rotation part 300 to the end of the rotation part 300 is approximately 4 m, the scanner 1 can perform a precise survey with respect to the ground of an area of 8 m in diameter.
본 실시예에 따른 스캐너(1)의 구성을 도 2 내지 도 8을 참조하여 더욱 구체적으로 설명하면 다음과 같다.The configuration of the scanner 1 according to the present embodiment will be described in more detail with reference to FIGS. 2 to 8. FIG.
지지부(200)는 해저면 상에 접촉된 상태로 바디부(100)가 수중에서 제 위치를 유지하도록 바디부(100)를 지지한다. 지지부(200)는 이와 같은 기능을 수행하는 다양한 구조로 이루어질 수 있으며, 일례로 도 2 및 도 3에 도시된 바와 같이 일단부가 바디부(100)에 고정되는 3개의 지지대(210)로 이루어진 삼각대(tripod)일 수 있다.The support part 200 supports the body part 100 so that the body part 100 maintains its position in water while being in contact with the sea floor. The supporting part 200 may have various structures for performing such a function. For example, as shown in FIGS. 2 and 3, the supporting part 200 may include a tripod tripod.
각 지지대(210)는 일단부가 바디부(100)에 회동 가능하도록 결합될 수 있으며, 이러한 결합 구조를 통해 스캐너(1)의 운반 등의 과정에서 지지대(210)가 접히도록 회동시켜 차지하는 부피가 최소화되도록 할 수 있다.Each support base 210 can be coupled to the body 100 so that one end of the support base 210 can be pivotally connected to the support unit 210. The coupling member 210 is rotated to minimize the volume occupied by the support base 210 during the transportation of the scanner 1, .
스캐너(1)를 해저면 상에 착저시킬 때에는 각 지지대(210)를 소정 각도, 예컨대 45°로 벌어지도록 회동시킨 후 각 지지대(210)가 이와 같이 회동된 상태를 유지하도록 각 지지대(210) 사이에 가로바(220)를 고정시킬 수 있다.When the scanner 1 is placed on the bottom surface of the scanner, the support table 210 is rotated to open at a predetermined angle, for example, 45 degrees, and then the support table 210 is rotated The horizontal bar 220 can be fixed to the rear side.
각 지지대(210)는 도시된 바와 같이 예컨대 유압실린더 구조로서 구체적으로 실린더(211)와 이 실린더(211) 내에서 인출 또는 인입되는 로드(212)로 구성될 수 있으며, 로드(212)가 유압의 작용으로 인출 및 인입되면서 지지대(210)의 길이가 신축될 수 있다.Each support 210 may be comprised of, for example, a hydraulic cylinder structure as shown, specifically a cylinder 211 and a rod 212 drawn or drawn in the cylinder 211, The length of the support 210 can be expanded and contracted.
각 지지대(210)가 이와 같이 신축될 수 있는 구조로 이루어짐으로써 스캐너(1)는 평탄하지 않은 해저면 상에서도 지지대(210)의 길이 조정을 통해 스캐너(1)의 회전부(300)가 수평으로 배치되는 안정적인 자세로 착저될 수 있다.The supporting unit 210 can be stretched and contracted so that the rotating unit 300 of the scanner 1 is horizontally disposed on the undersurface of the scanner 1 by adjusting the length of the supporting unit 210 It can be set in a stable posture.
해저면 상에 접촉되는 각 지지대(210)의 타단부에는 지지대(210)의 단면적보다 넓은 저면을 갖는 발판(230)이 형성될 수 있다. 스캐너(1)는 발판(230)에 의해 해저면 상에 더욱 안정적으로 착저될 수 있으며, 또한 스캐너(1)의 자중에 의해 지지대(210)의 단부가 지중으로 박히는 것이 방지된다.A foot plate 230 having a bottom surface wider than a cross sectional area of the support table 210 may be formed at the other end of each support table 210 contacting the sea floor. The scanner 1 can be more stably mounted on the seabed surface by the footrest 230 and the end of the support 210 is prevented from being buried under the ground by the weight of the scanner 1. [
한편, 스캐너(1)의 안정적인 착저 및 자세 유지를 위해 스캐너(1)의 무게중심을 낮추는 것이 바람직한데, 이를 위해서 후술할 회전수단(400)의 위치를 기준으로 그 하부에 배치되는 바디부(100)는 스캐너(1)를 구성하는 부품 중에서 무거운 부품들로 이루어질 수 있다.It is preferable to lower the center of gravity of the scanner 1 in order to stably maintain the position and orientation of the scanner 1. For this purpose, a body 100 (see FIG. May be made of heavy parts among the parts constituting the scanner 1. [
예컨대 바디부(100)는, 도 3에 도시된 바와 같이 제1 유압탱크(110), 제1 유압탱크(110)의 하부에서 분리 및 장착 가능하도록 결합되는 제2 유압탱크(120), 제2 유압탱크(120)의 하부에 배치되며 유압을 발생시키는 동력을 제공하는 모터(130), 그리고 제1 유압탱크(110)의 상부에 배치되며 유압의 흐름을 제어하는 솔레노이드 밸브가 내장된 하우징(140)을 포함하는 유압 제공 및 제어를 위한 부품들로 이루어질 수 있다. 이와 같이 구성된 바디부(100)는 케이블(미도시)을 통해 실린더(211)와 연결되어 실린더(211) 내로 유압을 제공할 수 있다.3, the body 100 includes a first hydraulic tank 110, a second hydraulic tank 120 which is detachably coupled to the lower portion of the first hydraulic tank 110, A motor 130 disposed at a lower portion of the hydraulic tank 120 to provide power for generating hydraulic pressure and a housing 140 having a solenoid valve disposed at an upper portion of the first hydraulic tank 110 and controlling the flow of hydraulic pressure And a hydraulic pressure control valve (not shown). The body 100 constructed as described above may be connected to the cylinder 211 through a cable (not shown) to provide the hydraulic pressure into the cylinder 211.
이 경우 지지대(210)는 일단부가 제1 유압탱크(110)의 외주면에서 회동 가능하도록 결합될 수 있다. 그리고 모터(130)가 형성된 제2 유압탱크(120)는 제1 유압탱크(110)로부터 분리 및 장착될 수 있도록 하여, 필요한 경우 분리하여 다른 유압시스템에 사용되도록 할 수도 있다.In this case, one end of the support 210 may be coupled to be rotatable on the outer circumferential surface of the first hydraulic tank 110. The second hydraulic tank 120 in which the motor 130 is formed may be detached and mounted from the first hydraulic tank 110 so that the second hydraulic tank 120 may be separated and used in other hydraulic systems if necessary.
회전부(300)는 회전수단(400)에 의해 회전부(300)의 일측을 회전 중심으로 하여 회전 가능하도록 바디부(100)에 장착되는데, 회전수단(400)은 일례로 다음과 같은 구조로 이루어질 수 있다.The rotation unit 300 is mounted on the body 100 such that the rotation unit 400 can be rotated around one side of the rotation unit 300 by the rotation unit 400. The rotation unit 400 may have the following structure have.
회전수단(400)은 도 4에 도시된 바와 같이 내주에 기어 이(gear tooth; 411)가 형성된 제1 링(410) 및 제1 링(410)의 외주에서 회전 가능하도록 결합되는 제2 링(420)을 포함하는 슬루잉 링 베어링(slewing ring bearing)부를 포함할 수 있다. 그리고, 제1 링(410)에 기어 결합되는 피니언 기어(430)와 피니언 기어(430)를 회전시키는 제1 모터(440)를 포함할 수 있다.The rotating means 400 includes a first ring 410 having a gear tooth 411 formed on its inner periphery and a second ring 410 rotatably coupled to the outer periphery of the first ring 410, 420 and a slewing ring bearing portion including a bearing ring 420. [ The pinion gear 430 may be gear-coupled to the first ring 410 and the first motor 440 may rotate the pinion gear 430.
제1 링(410)은 바디부(100)의 하우징(140) 상에 형성된 플레이트(141) 상에 고정되어 회전이 제한된다. 회전이 자유로운 제2 링(420)에는 여기에 형성된 장착홀(421)에 예컨대 볼트 결합방식에 의해 회전부(300)의 일측이 고정되며, 그리고 회전부(300)에 제1 모터(440)가 고정되어, 제1 모터(440)의 구동에 의해 피니언 기어(430)가 회전함으로써 제1 모터(440), 회전부(300), 및 제2 링(420)이 일체로 회전하게 된다. The first ring 410 is fixed on the plate 141 formed on the housing 140 of the body part 100 so that rotation is restricted. One side of the rotation part 300 is fixed to the mounting hole 421 formed in the second ring 420 by a bolt coupling method and the first motor 440 is fixed to the rotation part 300 The rotation of the first motor 440, the rotation part 300 and the second ring 420 are rotated integrally by the rotation of the pinion gear 430 by the driving of the first motor 440.
회전부(300)는 제1 모터(440)의 제어에 따라 회전속도, 회전각도, 회전방향 등이 제어될 수 있으며, 도 5에 도시된 바와 같이 360° 회전될 수 있고, 시계방향으로 또는 반시계방향으로 회전될 수 있다.The rotation unit 300 can be controlled in rotation speed, rotation angle, rotation direction and the like according to the control of the first motor 440, and can be rotated 360 degrees as shown in FIG. 5, Direction.
회전부(300)는 일례로서, 예컨대 도 6 및 도 8에 도시된 바와 같이 단면이 "" 형상을 갖는 한 쌍의 바(bar; 310)를 포함할 수 있다. 한 쌍의 바(310) 각각은 그 일측이 제2 링(420)에 고정되어 제1 모터(440)가 작동될 때 제2 링(420)에 의해 지지되면서 제1 모터(440) 및 제2 링(420)과 함께 회전된다.As shown in Fig. 6 and Fig. 8, for example, Shaped bar 310. Each of the pair of bars 310 is fixed to the second ring 420 on one side so that when the first motor 440 is actuated And is rotated together with the first motor 440 and the second ring 420 while being supported by the second ring 420.
한 쌍의 바(310)는 제2 링(420)에 고정된 상태에서 서로 이격된 채 평행하게 배치된다. 그리고 한 쌍의 바(310)에서 서로 마주보는 안쪽의 측부에는 내측 공간부(311)가 바(310)의 길이 방향을 따라 형성되며, 그 반대쪽인 바깥쪽의 측부에도 외측 공간부(312)가 마찬가지로 바(310)의 길이방향을 따라 형성된다.The pair of bars 310 are arranged parallel to each other while being fixed to the second ring 420. An inner space portion 311 is formed along the longitudinal direction of the bar 310 on the inner side portion facing each other in the pair of bars 310 and an outer space portion 312 is formed on the outer side portion on the opposite side thereof And is formed along the longitudinal direction of the bar 310 similarly.
바(310)의 내측 공간부(311)에는 도 8에 도시된 바와 같이 케이블체인(cable chain; 700)이 수용될 수 있으며, 케이블체인(700)이 후술할 센서부(500)에 연결된 케이블(미도시)을 수용하여 지지함으로써 스캐너(1)의 작동 과정에서 케이블이 처지거나 꼬이는 등의 문제는 발생되지 않는다.8, a cable chain 700 may be accommodated in the inner space 311 of the bar 310. The cable chain 700 may include a cable (not shown) connected to the sensor unit 500 The problem of sagging or twisting of the cable during the operation of the scanner 1 does not occur.
그리고, 바(310)의 외측 공간부(312)에는 후술할 이동체(633)가 수용될 수 있는데 이에 관해서는 하기에서 자세히 설명하기로 한다.A movable body 633, which will be described later, may be accommodated in the outer space 312 of the bar 310, which will be described in detail later.
회전부(300)는 회전부(300) 상에 장착되는 여러 부품들을 수중의 외부 환경으로부터 보호하기 위하여, 도 2에 도시된 바와 같이 덮개(320)를 더 포함할 수 있다. 그리고 덮개(320)는 FRP 등과 같은 소재로 제조됨으로써 경량화되거나 또는 형상에 있어서 경사면을 갖거나 곡면을 가짐으로써 회전부(300)의 회전시 작용하는 물의 저항을 최소화할 수 있다.The rotation unit 300 may further include a cover 320 as shown in FIG. 2 in order to protect various components mounted on the rotation unit 300 from the external environment underwater. The lid 320 may be made of a material such as FRP or the like so as to be light in weight or have an inclined surface or a curved surface in its shape, thereby minimizing the resistance of water acting upon rotation of the rotary part 300.
바디부(100)에서 회전 가능하도록 장착된 회전부(300)에는 센서부(500)가 이동수단(600)에 의해 회전부(300)의 길이방향을 따라 이동가능하도록 결합된다.The sensor unit 500 is coupled to the rotation unit 300 rotatably mounted on the body 100 such that the sensor unit 500 is movable along the longitudinal direction of the rotation unit 300 by the moving unit 600. [
이동수단(600)은 제2 모터(610), 제2 모터(610)에 결합되어 제2 모터(610)의 구동에 따라 회전되는 웜(worm; 620), 및 일측에 센서부(500)가 결합되고 타측이 웜(620)에 결합되어 웜(620)이 회전될 때 웜(620)을 따라 이동하는 이동부(630)를 포함할 수 있다.The moving means 600 includes a second motor 610, a worm 620 coupled to the second motor 610 and rotated according to the driving of the second motor 610, and a sensor unit 500 And a moving part 630 coupled to the worm 620 and moving along the worm 620 when the worm 620 is rotated.
제2 모터(610)는 회전부(300)에 고정되는데, 도 7에 도시된 바와 같이 한 쌍의 바(310) 사이 공간의 상측에 배치되도록 고정될 수 있다.The second motor 610 is fixed to the rotary part 300 and may be fixed to be disposed above the space between the pair of bars 310 as shown in FIG.
제2 모터(610)에 결합되는 웜(620)은 도 6에 도시된 바와 같이 한 쌍의 바(310)의 끝단까지 연장되는 길이를 갖도록 형성되면서 바(310)의 길이방향과 평행한 방향으로 길이방향을 가지도록 배치될 수 있다. 이와 같이 배치된 웜(620)이 처지지 않도록, 웜(620)의 끝단부는 전술한 덮개 선단부(321)의 내측면에 예컨대 베어링(미도시)에 의해 회전 가능하도록 결합되어 지지될 수 있다.The worm 620 coupled to the second motor 610 may be formed to have a length extending to the ends of the pair of bars 310 as shown in Fig. 6, and may extend in a direction parallel to the longitudinal direction of the bar 310 And may be arranged to have a longitudinal direction. The end of the worm 620 may be coupled to the inner surface of the lid tip 321 so as to be rotatable by a bearing (not shown), for example, so that the worm 620 arranged as described above is not sagged.
이동부(630)는 일례의 구조로서, 웜(620)에 치결합되는 제1 결합체(631), 제1 결합체(631)에 형성된 암(arm; 632), 암(632)에 형성되며 외측 공간부(312) 내에 수용되어 외측 공간부(312)의 길이방향을 따라 이동 가능하도록 지지되는 이동체(633), 및 암(632)에 형성되며 센서부(500)가 결합되는 제2 결합체(636)를 포함할 수 있다.The moving part 630 has an example structure and includes a first coupling body 631 to be clamped to the worm 620, an arm 632 to be formed on the first coupling body 631, A moving body 633 received in the arm 312 and movably supported along the longitudinal direction of the outer space 312 and a second coupling body 636 formed in the arm 632 and coupled to the sensor unit 500, . ≪ / RTI >
그리고 이동체(633)는 도 8에 도시된 바와 같이 외측 공간부(312)의 내면에 접촉되어 이동에 따라 회전되는 롤러(634)를 포함할 수 있다. 이때 외측 공간부(312)를 형성하는 상, 하면 및 내측면 중 적어도 하나 이상의 면과 접촉되어 지지되는 적어도 하나 이상의 롤러를 포함할 수 있다.The moving body 633 may include a roller 634 that contacts the inner surface of the outer space 312 and is rotated as shown in FIG. And at least one roller supported in contact with at least one of the upper and lower surfaces and the inner surface forming the outer space portion 312 at this time.
이동체(633)는 일례로서 암(632)의 양단부 각각에 형성될 수 있다. 이동체(633)가 바(310)의 외측 공간부 내에 수용되어 바(310)에 의해 지지됨으로써, 센서부(500)는 회전부(300)의 회전시 편향되지 않고 제 위치를 안정적으로 유지할 수 있다.The moving body 633 may be formed at each of both ends of the arm 632 as an example. The moving part 633 is received in the outer space of the bar 310 and is supported by the bar 310 so that the sensor part 500 can stably maintain the position without being deflected upon rotation of the rotation part 300. [
제2 결합체(636)는 암(632)으로부터 하방 연장되는 연결부(635)의 하단부에서 예컨대 평판 형상으로 형성될 수 있으며, 제2 결합체(636)에 센서부(500)가 결합된다.The second coupling body 636 may be formed in a flat shape at the lower end of the coupling portion 635 extending downward from the arm 632 and the sensor portion 500 is coupled to the second coupling body 636.
이동부(630)는 이동체(633)가 외측 공간부(312) 내에서 지지되거나 또는 연결부(635)가 바(310) 내측에 지지됨으로써 웜(620)의 회전에도 불구하고 웜(620)의 회전방향을 따라 함께 회전하는 일이 없이 웜(620)의 길이 방향을 따라 수평 이동을 하게 되며, 이동부(630)의 이동에 따라 제2 결합체(636)에 결합된 센서부(500)도 함께 수평 이동을 하게 된다. 제2 모터(610)의 제어에 따라 웜(620)의 회전수가 제어되고 그에 대응하여 이동부(630)의 수평 이동 거리가 제어되므로, 이동부(630)의 한 번의 이동 거리가 예컨대 10㎝가 되도록 제2 모터(610)를 제어 할 수도 있다.The moving part 630 can move the worm 620 in the direction of rotation of the worm 620 despite the rotation of the worm 620 by the moving part 633 being supported in the outer space part 312 or the connecting part 635 being supported inside the bar 310 The sensor unit 500 coupled to the second coupling unit 636 moves horizontally along the longitudinal direction of the worm 620 without being rotated together with the moving unit 630, Movement. The number of revolutions of the worm 620 is controlled by the control of the second motor 610 and the horizontal movement distance of the movement part 630 is controlled correspondingly so that the movement distance of the movement part 630 is, The second motor 610 may be controlled.
센서부(500)는 해저 지반의 정보를 획득할 수 있는 다양한 센서를 포함할 수 있으며, 일례로서 음파를 송수신할 수 있는 트랜스듀서(transducer)를 포함할 수 있다.The sensor unit 500 may include various sensors capable of acquiring the information of the seabed ground. For example, the sensor unit 500 may include a transducer capable of transmitting and receiving sound waves.
본 실시예에 따른 스캐너(1)는 회전부(300)의 회전에 따라 센서부(500)가 360˚ 회전하면서 지반의 정보를 획득할 수 있고, 이후 센서부(500)가 탐사를 하지 않은 구역으로 수평 이동하여 다시 회전하면서 탐사를 계속하게 된다. 스캐너(1)는 이러한 과정을 반복하면서 탐사 구역을 정밀하게 조사할 수 있다.The scanner 1 according to the present embodiment can acquire information on the ground while the sensor unit 500 rotates 360 degrees in accordance with the rotation of the rotation unit 300, The robot moves horizontally and rotates again. The scanner 1 can precisely investigate the probe area while repeating this process.
도면에 표시된 부호 중 상기 내용에서 자세히 설명되지 않은 부호 10은 바디부(100)를 구성하는 유압시스템, 제1 모터(440), 및 제2 모터(610)를 제어하는 제어부를 나타내는 것이고, 부호 20은 모터드라이버를 나타내는 것이며, 부호 30은 트랜스듀서 및 외부와의 신호 송수신을 위한 트랜스시버(transceiver)를, 그리고 부호 40은 선박(2; 도 1 참조)의 PC와 신호 전달을 위해 연결되는 케이블 그립을 나타낸 것이다. Reference numeral 10, which is not described in detail in the above description, indicates a control unit for controlling the hydraulic system, the first motor 440, and the second motor 610 constituting the body 100, and reference numeral 20 Reference numeral 30 denotes a transceiver for transmitting / receiving signals to / from the outside, and reference numeral 40 denotes a cable grip connected to the PC of the ship 2 (see Fig. 1) for signal transmission .
이상 본 발명에 따른 실시예에 관하여 자세히 설명하였다. 다만 상기 실시예는 본 발명의 바람직한 실시예를 나타내는 것으로 본 발명은 상기한 실시예로만 한정되지 않는다. 관련 기술 분야에서 통상의 지식을 가지는 자라면 상기 실시예로부터 다양한 변형이나 균등한 다른 실시예가 가능하다는 점을 이해할 것이다.The embodiments according to the present invention have been described in detail above. It should be noted that the above-described embodiments illustrate preferred embodiments of the present invention and the present invention is not limited to the above-described embodiments. It will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention.
[부호의 설명][Description of Symbols]
1: 음향 3D 스캐너 100: 바디부1: Acoustic 3D scanner 100: Body part
200: 지지부 210: 지지대200: Support part 210: Support part
220: 가로바 230: 발판220: horizontal bar 230: foot plate
300: 회전부 310: 바300: rotation part 310: bar
311: 내측 공간부 312: 외측 공간부311: inner space part 312: outer space part
320: 덮개 400: 회전수단320: cover 400: rotating means
410: 제1 링 420: 제2 링410: first ring 420: second ring
430: 피니언 기어 440: 제1 모터430: pinion gear 440: first motor
500: 센서부 600: 이동수단500: sensor unit 600: moving means
610: 제2 모터 620: 웜610: Second motor 620: Worm
630: 이동부 631: 제1 결합체630: moving part 631: first coupling body
632: 암 633: 이동체632: arm 633: mobile body
634: 롤러 636: 제2 결합체634: roller 636: second coupling body
700: 케이블체인700: Cable Chain
Claims (9)
- 바디부(100);A body part 100;상기 바디부(100)가 제 위치를 유지하도록 상기 바디부(100)를 지지하는 지지부(200);A support part 200 for supporting the body part 100 so that the body part 100 maintains the position;가로 방향으로 길이 방향이 형성되도록 배치되며, 회전수단(400)에 의해 일측을 회전 중심으로 하여 수평으로 회전 가능하도록 상기 바디부(100)에 장착되는 회전부(300); 및A rotation part 300 disposed in the longitudinal direction in the transverse direction and mounted on the body part 100 so as to be horizontally rotatable about one side by the rotation unit 400; And이동수단(600)에 의해 상기 회전부(300)의 길이 방향을 따라 이동 가능하도록 상기 회전부(300)에 결합되는 센서부(500);를 포함하는 해저착저식 음향 3D 스캐너.And a sensor unit (500) coupled to the rotation unit (300) so as to be movable along the longitudinal direction of the rotation unit (300) by the movement unit (600).
- 청구항 1에 있어서, 상기 회전수단(400)은,2. The apparatus of claim 1, wherein the rotating means (400)내주에 기어 이(gear tooth; 411)가 형성되며 상기 바디부(100)에 고정되는 제1 링(410) 및 상기 제1 링(410)의 외주에서 회전 가능하도록 결합되며 상기 회전부(300)가 고정되는 제2 링(420)을 포함하는 슬루잉 링 베어링(slewing ring bearing)부, 상기 제1 링(410)에 기어 결합되는 피니언 기어(430), 및 상기 회전부(300)에 고정되며 상기 피니언 기어(430)를 회전시키는 제1 모터(440)를 포함하는 것을 특징으로 하는 해저착저식 음향 3D 스캐너.A first ring 410 fixed to the body 100 and having a gear tooth 411 formed on an inner periphery thereof and a second ring 410 coupled to be rotatable around the outer periphery of the first ring 410, A pinion gear 430 that is gear-coupled to the first ring 410 and a pinion gear 430 that is fixed to the rotation portion 300 and rotatably supports the pinion gear 420, And a first motor (440) for rotating the gear (430).
- 청구항 1에 있어서, 상기 이동수단(600)은,The apparatus according to claim 1, wherein the moving means (600)상기 회전부(300)에 고정되는 제2 모터(610), 상기 회전부(300)의 길이방향과 평행하게 길이방향이 형성되도록 배치되며 상기 제2 모터(610)에 결합되어 상기 제2 모터(610)의 구동에 따라 회전되는 웜(worm; 620), 및 일측에 상기 센서부(500)가 결합되고 타측이 상기 웜(620)에 결합되어 상기 웜(620)이 회전될 때 상기 웜(620)을 따라 이동하는 이동부(630)를 포함하는 것을 특징으로 하는 해저착저식 음향 3D 스캐너.A second motor 610 fixed to the rotation unit 300 and a second motor 610 arranged in a longitudinal direction parallel to the longitudinal direction of the rotation unit 300 and coupled to the second motor 610, A worm 620 rotated according to the driving of the worm 620 and a worm 620 coupled to the sensor unit 500 on one side and the worm 620 on the other side, And a moving part (630) moving along the moving part (630).
- 청구항 1에 있어서,The method according to claim 1,상기 회전수단(400)은,The rotating means (400)내주에 기어 이(gear tooth; 411)가 형성되며 상기 바디부(100)에 고정되는 제1 링(410) 및 상기 제1 링(410)의 외주에서 회전 가능하도록 결합되며 상기 회전부(300)가 고정되는 제2 링(420)을 포함하는 슬루잉 링 베어링(slewing ring bearing)부, 상기 제1 링(410)에 기어 결합되는 피니언 기어(430), 및 상기 회전부(300)에 고정되며 상기 피니언 기어(430)를 회전시키는 제1 모터(440)를 포함하며,A first ring 410 fixed to the body 100 and having a gear tooth 411 formed on an inner periphery thereof and a second ring 410 coupled to be rotatable around the outer periphery of the first ring 410, A pinion gear 430 that is gear-coupled to the first ring 410 and a pinion gear 430 that is fixed to the rotation portion 300 and rotatably supports the pinion gear 420, And a first motor 440 for rotating the gear 430,상기 이동수단(600)은,The moving means (600)상기 회전부(300)에 고정되는 제2 모터(610), 상기 회전부(300)의 길이방향과 평행하게 길이방향이 형성되도록 배치되며 상기 제2 모터(610)에 결합되어 상기 제2 모터(610)의 구동에 따라 회전되는 웜(worm; 620), 및 일측에 상기 센서부(500)가 결합되고 타측이 상기 웜(620)에 결합되어 상기 웜(620)이 회전될 때 상기 웜(620)을 따라 이동하는 이동부(630)를 포함하는 것을 특징으로 하는 해저착저식 음향 3D 스캐너.A second motor 610 fixed to the rotation unit 300 and a second motor 610 arranged in a longitudinal direction parallel to the longitudinal direction of the rotation unit 300 and coupled to the second motor 610, A worm 620 rotated according to the driving of the worm 620 and a worm 620 coupled to the sensor unit 500 on one side and the worm 620 on the other side, And a moving part (630) moving along the moving part (630).
- 청구항 4에 있어서,The method of claim 4,상기 회전부(300)는, 서로 이격된 채 평행하게 배치되는 한 쌍의 바(bar; 310)를 포함하며, 상기 한 쌍의 바(310) 각각은, 단면이 "" 형상을 가지면서 안쪽 측부에 내측 공간부(311)가 그리고 바깥쪽 측부에 외측 공간부(312)가 상기 바(310)의 길이방향을 따라 형성됨과 아울러 일측이 상기 제2 링(420)에 고정되며,The rotary part 300 includes a pair of bars 310 spaced apart from each other and arranged parallel to each other, and each of the pair of bars 310 has a cross- The inner space portion 311 is formed on the inner side portion and the outer space portion 312 is formed on the outer side portion along the longitudinal direction of the bar 310 and the one side is formed on the second ring 420 Fixed,상기 이동부(630)는, 상기 웜(620)에 치결합되는 제1 결합체(631), 상기 제1 결합체(631)에 형성된 암(arm; 632), 상기 암(632)에 형성되며 상기 외측 공간부(312) 내에 수용되어 상기 외측 공간부(312)의 길이방향을 따라 이동 가능하도록 지지되는 이동체(633), 및 상기 암(632)에 형성되며 상기 센서부(500)가 결합되는 제2 결합체(636)를 포함하는 것을 특징으로 하는 해저착저식 음향 3D 스캐너.The moving unit 630 includes a first coupling unit 631 to be cemented to the worm 620, an arm 632 to be formed on the first coupling unit 631, A moving member 633 which is received in the space 312 and is supported to be movable along the longitudinal direction of the outer space 312 and a second movable member 633 formed on the arm 632 and coupled to the sensor unit 500 ≪ RTI ID = 0.0 > 636 < / RTI >
- 청구항 5에 있어서,The method of claim 5,상기 이동체(633)는 상기 외측 공간부(312)의 내면에 접촉되어 이동에 따라 회전되는 롤러(634)를 적어도 하나 이상 포함하는 것을 특징으로 하는 해저착저식 음향 3D 스캐너.Wherein the movable body (633) includes at least one roller (634) that contacts the inner surface of the outer space (312) and is rotated according to the movement.
- 청구항 5에 있어서,The method of claim 5,상기 바(310)의 내측 공간부(311)에 수용되고 상기 센서부(500)에 연결된 케이블을 수용하여 지지하는 케이블체인(cable chain; 700)을 더 포함하는 것을 특징으로 하는 해저착저식 음향 3D 스캐너.Further comprising a cable chain (700) accommodated in an inner space (311) of the bar (310) to receive and support a cable connected to the sensor unit (500) scanner.
- 청구항 1에 있어서,The method according to claim 1,상기 지지부(200)는 일단부가 상기 바디부(100)에 고정되는 3개의 지지대(210)로 이루어진 삼각대(tripod)이되, 상기 지지대(210)는 길이가 신축될 수 있는 것을 특징으로 하는 해저착저식 음향 3D 스캐너.The supporting part 200 is a tripod including one of three supports 210 fixed at one end to the body 100 and the supporting part 210 can be extended or retracted. Acoustic 3D Scanner.
- 청구항 1에 있어서,The method according to claim 1,상기 센서부(500)는 음파를 송수신하는 트랜스듀서(transducer)를 포함하는 것을 특징으로 하는 해저착저식 음향 3D 스캐너.Wherein the sensor unit (500) comprises a transducer for transmitting and receiving sound waves.
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