소형 ROV를 이용한 IDEF0 기반의 수중 미확인 물체 식별절차에 관한 연구

Abstract

Various sizes of ROVs are being utilized in offshore industrial, scientific, and military applications all around the world. Because of innovative developments in science and technology, image acquisition devices such as sonar devices and cameras have been reduced in size and their performance has been improved. Thus, we can expect better accuracy and higher resolution even in the case of exploration using a small ROV. The purpose of this paper is to prepare a standard procedure for the identification of unidentified hazardous materials found during the National Oceanographic Survey. In this paper, we propose an IDEF (Integrated DEFinition) method modeling technique to identify unidentified targets using a small ROV. In accordance with the proposed procedure, an ROV survey was carried out on target No.16 with a four-ton-class fishing boat as a support vessel on September 18th of 2018 in the sea near Daebu Island. Unidentified targets, which were not known by the multi-beam data obtained from the ship, could be identified as concrete pipes by analyzing the HD camera and high-resolution sonar images acquired by the ROV. The whole proposed procedure could be verified, and the survey with the small ROV required about 10 days to identify the target in one place.