스캐닝 소나 시스템을 이용한 수중구조물의 2차원 및 3차원 매핑

백혁¹^{, *} ; 전봉환¹ ; 박진영¹ ; 심형원¹ ; 이판묵¹ ; 노명규²

1선박해양플랜트연구소 해양ICT연구본부
2충남대학교 기계설계메카트로닉스공학과

2D and 3D Mapping of Underwater Substructure Using Scanning SONAR System

Hyuk Baek¹^{, *} ; Bong-Huan Jun¹ ; Jin-Yeong Park¹ ; Hyungwon Shim¹ ; Pan-Mook Lee¹ ; Myounggyu D. Noh²

1Marine ICT Research Division, Korea Research Institute of Ships & Ocean Engineering
2Department of Mechatronics Engineering, Chungnam National University

Correspondence to: ^*Hyuk Baek Tel: +82-42-866-3822 Fax: +82-42-866-3819 E-mail: hbaek@kriso.re.kr

초록

스캐닝소나 시스템은 수중의 인공구조물을 2차원 이미지와 3차원 데이터로 나타낼 수 있는 음향센서로 탁한 시계환경에서 카메라를 대신하여 시각화 할 수 있는 센서이다. 특히 스캐닝소나 시스템은 물체의 길이, 면적, 부피를 측정할 수 있어 수중구조물의 위치, 크기, 상태를 점검하는데 필수적인 센서이다. 선진국에서는 스캐닝 소나를 이용하여 해저면, 교각하부, 파워플랜트의 취수관등 수중의 구조물 안전성 평가에서 다양하게 활용되고 있다. 본 논문에서는 국내에서 실시한 2차원 이미지 취득과 취득된 이미지의 모자이킹 결과를 소개하고, 3차원 데이터 취득과 합성 결과를 설명한다. 연구를 통해 향후 국내 연안의 인공구조물 안전성 평가에 유용하게 활용될 수 있음을 확인하였다.

Abstract

The scanning sonar system is an acoustic sensor that can show a two-dimensional image and three-dimensional data of a man-made structure in the water, and can visualize it in place of a camera in a low visibility environment. The scanning sonar system is essential to verify the position, size and condition of the underwater structure because it is able to measure the length, area and volume of the object. In the country advanced in the marine, scanning sonar is used variously in the evaluation for the structure safety in water such as seabed, pier, power plant, etc. In this paper, we introduce two-dimensional images and its results of mosaic and three-dimensional data and its synthesized results as well acquired in our sea. Through this study, it was confirmed that it could be useful for the safety assessment of artificial structures in our marine environment in the future.

Keywords:

Scanning SONAR, Underwater Substructure, Inspection, Mapping, 2D & 3D Mosaic

키워드:

스캐닝소나, 수중구조물, 검사, 매핑, 2차원 & 3차원 합성

Acknowledgments

본 논문은 선박해양플랜트연구소 주요사업 “다관절 복합이동 해저로봇 개발”(PES2250)과 “극지 빙하 탐사와 원격 모니터링을 위한 수중로봇 ICT 원천기술 개발(1/5)” (PES3190)에 의해 수행되었습니다.

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