장거리 통신 기반 광산 조사용 무인 이동체 탑재형 3차원 형상화 장비 적용
Utilization of Unmanned Vehicle-Mounted 3D Scanning System for Mine Site Surveys in Long Range Network Environment
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초록
폐광산의 갱도 입구를 통해 무인 이동체에 고속 라이다(LiDAR:Light Detection And Ranging)장비를 탑재하여 장거리 조사를 위한 통신환경 구축 방법이 제안되었다. 조사를 위해 오랫동안 방치된 폐광산의 내부에 사람이 직접 들어가는 것은 매우 위험하다. 이러한 상황에서는 4족 보행 로봇과 같은 무인 이동체 를 활용할 수 있다. 갱도 외부에서 원격으로 로봇을 제어하고, 탑재된 카메라와 고속 라이다 정보를 취득 하기 위해서는 고속 네트워크 환경을 유지하는 것이 매우 중요하다. 일반적으로 Wi-Fi를 기반으로 한 무 선환경이 주로 사용되지만, 갱도 내에서는 개방된 환경에 비해 통신거리가 제한되기 때문에 장거리 운용을 위해서는 무선 통신 환경에 대한 추가적인 조사가 필요하다. 본 연구에서는 가시영역(LOS:Line- of-Sight) 환경에서 Wi-Fi 운영 주파수 대역인 2.4 GHz와 5 GHz 대역, 그리고 400 MHz 대역의 LoRa 전파 환경을 분석하고, 무인 이동체를 운영할 수 있는 범위를 조사하였다. 갱도 내부에서는 무선 통신 환 경이 안정적인 통신을 보장하지 못하기 때문에, 이를 보완하기 위한 유선 통신 환경 구축 방안으로 광케 이블을 이용한 방법을 제시하였다. 무인 이동체에 광케이블 릴을 장착하여 이동하면서 케이블을 전개할 수 있도록 제작하였다. 싱글모드 광케이블을 사용하여 최대 3 km까지 운용할 수 있었다. 제작된 형상화 장비를 실제 광산 현장에 투입하여 120 m 구간에 대한 데이터를 수집하고, 이를 통해 적용가능성을 확 인하였다.
Abstract
A method for establishing a communication environment for long-range investigation using a high-speed LiDAR (Light Detection and Ranging) system mounted on an unmanned vehicle through the entrance of an abandoned mine tunnel is proposed. Investigating the internal conditions of an abandoned mine is extremely hazardous for human workers, necessitating the use of unmanned vehicles such as quadruped robots. Maintaining a high-speed network environment is critical for remote control of the robot and acquisition of camera images and high-speed LiDAR data from outside the tunnel. Typically, wireless networks based on Wi-Fi are commonly used; however, the communication range within tunnels is limited compared to open environments. Therefore, an evaluation of the wireless communication environment is essential for long-distance operation. This study analyzed the radio environments of the 2.4 GHz and 5 GHz Wi-Fi frequency bands, as well as the 400 MHz LoRa band, under Line- of-Sight (LOS) conditions. Additionally, the operational range of wireless communication required for controlling unmanned vehicles within the tunnel was examined. Since wireless communication inside tunnels cannot ensure a stable connection, a wired communication environment using optical fiber cables was proposed. A quadruped robot equipped with a fiber optic cable reel was developed to deploy cables as it moved. Using single-mode optical fiber cables, the system was able to operate over a distance of up to 3 km. The fabricated scanning equipment was deployed in an actual mine site, where data for a 120-meter section was successfully collected, confirming its applicability.
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