Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
권호 표지
DOI QR코드

DOI QR Code

Development of Offshore Construction ROV System applying Pneumatic Gripper

공압 gripper를 적용한 해양 건설 ROV 시스템 개발

  • Park, Jihyun (Institute of Acoustic and Vibration Engineering, Pukyong National University,) ;
  • Hwang, Yoseop (Department of General Affairs, CILAB. Corp)
  • Received : 2022.09.23
  • Accepted : 2022.10.03
  • Published : 2022.11.30
Download PDF
⟨ Previous Next ⟩

Abstract

The safety of marine construction workers and marine pollution problems are occurring due to large-scale offshore construction. In particular, underwater construction work in the sea has a higher risk than other work, so it is necessary to apply an unmanned alternative system that considers the safety of the workers. In this paper, the ROV system for offshore construction has been developed for underwater unmanned work. A monitoring system was developed for position control through the control of underwater propellants, pneumatic gripper, and monitoring of underwater work. As a result of the performance evaluation, the underwater movement speed of the ROV was evaluated to be 0.89 m/s, and it was confirmed that the maximum load of the pneumatic gripper was 80 kg. In addition, the network bandwidth required for underwater ROV control and underwater video streaming was evaluated to be more than 300Mbps, wired communication at 92.7 ~ 95.0Mbit/s at 205m, and wireless communication at 78.3 ~ 84.8Mbit/s.

대규모 해양 건설에 따른 해양 건설 작업자의 안전 및 해양 오염 문제가 발생하고 있다. 특히, 해양의 수중 건설 작업은 다른 작업에 비해 위험도가 높아 작업자의 안전을 고려한 무인 대체 시스템의 적용이 필요하다. 본 논문에서는 수중 무인 작업을 위해 해양 건설용 ROV 시스템을 개발 완료하였다. 수중 추진체의 제어를 통한 위치제어, 공압 gripper 그리고 수중 작업 모니터링을 위한 모니터링 시스템을 개발하였다. 성능평가 결과 ROV의 수중 이동속도는 최대 0.89m/s로 평가되었으며, 공압 gripper의 최대 하중은 80kg의 하중 허용 가능함을 확인하였다. 또한, 수중 ROV의 제어와 수중 영상 스트리밍에 필요한 네트워크 대역폭이 300Mbps 이상으로 평가되었으며, 유선 통신은 205m에서 92.7 ~ 95.0Mbit/s, 무선 통신은 78.3 ~ 84.8Mbit/s의 속도로 평가되었다.

Keywords

Acknowledgement

This work was supported by the National IT Industry Promotion Agency (NIPA), grant funded by the Korean government Ministry of Science and ICT(MSIT). Grant No. S1712-22-1001, for Web-based water quality and underwater inspection system using ROV. This work was supported by the Technology development Program(S2719984) funded by the Ministry of SMEs and Startups(MSS, Korea)

References

  1. S. Park and H. Yoon, "A Case Study on the Fatal Accidents of the Commercial Diving Activity in Korea," Journal of the Korean Society for Fisheries and Marine Sciences Education, vol. 32, no. 5, pp. 1081-1062, Oct. 2020. https://doi.org/10.13000/JFMSE.2020.10.32.5.1081
  2. Y. Hwang, "Development of multi-purpose ROV system for offshore construction," Technology development Program (S2719984) funded by the Ministry of SMEs and Startups(MSS, Korea), Technical Report S2719984, 2021. [Internet]. Available: https://www.smtech.go.kr/front/csg/pr/preSearch01_detail.do?SBJT_ID=S2719984.
  3. C. Lee, H. Jeong, K. C. Park, and J. Park, "Performance of selective combining according to channel selection decision method of frequency diversity in underwater frequency selective channel," Korea Institute of information and Communication Engineering, vol. 26, no. 3, pp. 436-442, Mar. 2022.
  4. T. S. Rappaport, Wireless Communications: Principles and Practice, 2nd ed. New Jersey, USA, Prentice Hall PTR, 2002.
  5. R. D. Christ and R. L. Wernli Sr, The ROV Manual, Hungary, Butterworth-Heinemann, 2007.
  6. H. Seong and J.Lee, "Development of Underwater ROV for Crack Inspection of River Facilities," Institute of Embedded Engineering of Korea, vol. 16, no. 4, pp. 1081-1062, Aug. 2021.
  7. D. Park and H. Yoon, "Effect of Grid, Turbulence Modeling and Discretization on the Solution of CFD," Journal of the Korean Society of Marine Environment and Safety, vol. 20, no. 4, pp. 419-425, Aug. 2014. https://doi.org/10.7837/kosomes.2014.20.4.419