KR20140144776A - submersibles for coastal defence and the handling method thereof - Google Patents

submersibles for coastal defence and the handling method thereof Download PDF

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Publication number
KR20140144776A
KR20140144776A KR20130066356A KR20130066356A KR20140144776A KR 20140144776 A KR20140144776 A KR 20140144776A KR 20130066356 A KR20130066356 A KR 20130066356A KR 20130066356 A KR20130066356 A KR 20130066356A KR 20140144776 A KR20140144776 A KR 20140144776A
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KR
South Korea
Prior art keywords
underwater
main body
underwater object
unit
explosion
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KR20130066356A
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Korean (ko)
Inventor
우일국
오준
김인일
엄항섭
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대우조선해양 주식회사
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Priority to KR20130066356A priority Critical patent/KR20140144776A/en
Publication of KR20140144776A publication Critical patent/KR20140144776A/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/12—Propulsion specially adapted for torpedoes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/36—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means adapted to be used for exercise purposes, e.g. indicating position or course
    • F42B19/38—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means adapted to be used for exercise purposes, e.g. indicating position or course with means for causing torpedoes to surface at end of run
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications

Abstract

The present invention relates to a submersible vehicle for coastal defense and an operating method thereof. The submersible vehicle for coastal defense includes a main body, a propelling unit, a detecting unit, a transmitting and receiving unit, a control unit, a power unit, an attaching means for attaching the main body to a submersible vehicle, and an explosive means for striking the submersible vehicle. In addition, a submersible vehicle operation step comprises a submersible vehicle detecting step, a submersible vehicle identifying step, a submersible vehicle attaching step, a submersible vehicle checking step, and a main body exploding step. Therefore, the submersible vehicle for coastal defense and the operating method thereof can perform effective detection and neutralization for the submersible vehicle of an enemy ship which infiltrates into the water in an operation area.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coast guard,

The present invention relates to an underwater vehicle for coastal defense and a method of operating the same. More particularly, the present invention relates to an underwater vehicle for coastal defense and a method of operating the same, If it is recovered again.

The marine defense underwater vehicle to which the present invention relates is intended to counter the submarine and battlefield (hereinafter referred to as infiltration line) infiltrating the coast.

The marine defense underwater vehicle refers to an intelligent unmanned submersible vehicle (AUV) or a similar type.

In Korea, an intelligent unmanned submersible (AUV) equipped with a maximum depth of 100 m, a maximum speed of 2 knots, a vertical 1.5 knots, a hull weight of 45 kg and a camera has been developed.

In addition, an intelligent unmanned submersible was developed that can reconnaissance at a depth of 100 meters with an unmanned submersible of 0.2 m in diameter and 1.58 m in length.

The latter is developed for the purpose of underwater exploration, maintenance of underwater structures, real-time detection of red sea marine life, and the latter is autonomously moving through self-judgment, control, Remote control is possible, and it is possible to carry out various work through the underwater base

On the other hand, underwater vehicles used for coastal defense are able to search for dangerous materials such as mines while minimizing human casualties, and can perform missions such as search for underwater and submarine topography.

The following Patent Document 1 discloses an autonomous unmanned submersible and a method of operation.

The autonomous unmanned submersible of Patent Document 1 is a torpedo-shaped pressure hull, a rechargeable battery for propulsion of the hull. A propulsion unit for enabling the posture control of the hull during underwater navigation, and a camera for shooting and recording an underwater image.

In addition, a control unit including an automatic navigation computer for automatically controlling the navigation and an auxiliary control computer for performing the mission, a measuring instrument for exploration and analysis, a response signal generator, and an acoustic positioning system are provided.

The following Patent Document 2 discloses a control system and control method for an underwater robot for fish management, and Patent Document 3 described below discloses a small-sized stealth guided missile for attacking underwater and ground targets.

In addition, Patent Document 4 below discloses a submarine submarine boundary system.

Korean Patent Publication No. 10-2004-0069648 (published on Aug. 6, 2004) Korean Patent Publication No. 10-2012-0044692 (published on May 8, 2012) Korean Published Patent Application No. 10-2012-0075641 (published on July 9, 2012) Korean Patent Laid-Open Publication No. 10-2012-0009640 (published February 2, 2012)

However, Patent Document 1 and Patent Document 2 are technologies for underwater search and underwater operation, and Patent Document 3 is related to guided missiles for underwater and ground targets, and thus is not related to technology for detecting penetration lines.

Patent Document 4 is a boundary technique for a submarine that penetrates into water, but it is a technique that buries a plurality of fixed nodes on the sea floor instead of using an underwater vehicle that moves freely in the operation swimming area, Constraints follow.

SUMMARY OF THE INVENTION The object of the present invention is to solve the above problems and to provide a coast guard underwater vehicle and its operation Method.

According to an aspect of the present invention, there is provided an underwater vehicle for coastal defense, A propulsion unit mounted within the body to move the body in water; A detection unit mounted in the main body and detecting an underwater object; A transceiver mounted within the main body for transmitting the position of the main body and the position of the detected underwater object to the bus and receiving a necessary control signal from the bus; Attaching means mounted on the inside of the main body so as to attach the main body to an underwater object determined as a penetration line; Explosion means mounted on the inside of the main body to strike an underwater object determined as a penetration line and to inform the position of the penetration line; A control unit mounted in the main body to control operations of the propulsion unit, the detection unit, the transceiver unit, the attachment unit, and the explosion unit; And a power supply unit for supplying electricity required for each part including the control unit.

The main body may be a torpedo type, submarine type, or fish type.

Further, the propulsion unit includes an engine, a motor, and a propeller, and is located at the forefront.

In addition, the detection unit may include two or more passive sonar, magnetic field detectors, and other detector units having different phases.

Further, the detection part is located on the side of the bow which is distant from the pushing part.

In addition, the attachment means is an electromagnet or an electro-absorption member.

In addition, the explosive device includes an explosive substance that causes a strong explosion to strike an underwater object, and a colored location-identifying material that diffuses into the sea surface to identify an explosion position.

Further, the explosion device is mounted on the side of the main body which is located near the attachment point of the underwater object.

In addition, the power unit includes a battery and an electric wire, and is mounted on an inner lower part of the main body to serve as a ballast adjusting weight.

In order to achieve the above-mentioned object, a method of operating a coast guard underwater movement according to the present invention comprises: a step of discharging an underwater locomotive into an operation area; An underwater locomotive operation step of detecting an underwater object, identifying a drop of an underwater object, and detonating the main body so as to check the impact and position of the enemy line; And a controller for controlling the operation of the underwater vehicle such that the underwater vehicle moves along a predetermined swim path and various detector devices of the detection unit mounted on the main body move under water An underwater object detection step of detecting an object; An underwater object identification step of analyzing various detection signals of the detection unit to determine whether the underwater object is a friendly or an enemy; An underwater object attaching step of attaching the main body to an underwater object identified as an enemy group through an attaching means mounted on the main body; An underwater object identifying step of re-confirming whether the underwater object attached to the main body is redirected through the transmitting / receiving unit mounted on the main body; And a main explosion step of detonating the main body attached to the underwater object through the explosion means mounted on the main body.

In addition, in the step of detecting an underwater object, the detection part mounted on the main body collects acoustic information by two or more driven rods having different phases, magnetic field information by the magnetic field detector, and various detection information of other detection devices and transmits them to the control part .

In addition, when the submerged object is determined as a submerged object in the submerged object identification step, the submersible vehicle continuously moves along the predetermined swimming path to detect other submerged objects.

In addition, in the step of attaching the underwater object, the control unit moves the underwater vehicle to the underwater object and operates the attaching means to attach the main body to the underwater object.

In addition, in the underwater object checking step, the control unit transmits an identification signal to the underwater object through the transmission / reception unit, receives an originating signal of the underwater object, and confirms the change by the confirmation signal of the underwater object received through the transmission control unit .

In addition, when the underwater object checking step determines that the underwater object is allied, the control unit stops the operation of the attaching unit so that the body is separated from the underwater object, and then the underwater object is moved to the swimming path of the operation area again, To be detected.

In addition, in the underwater object checking step, if the confirmation signal from the underwater object is not received through the transmitting / receiving unit, the control unit determines that the underwater object is the enemy group.

In addition, the detonating means, which is detonated by an explosion signal in the control unit in the body explosion step, includes an explosive substance striking an underwater object, and a position identification material diffused over the sea surface.

In addition, the main body explosion step may include transmitting a position and a determination signal of the underwater object determined by the controller to the mother line through the transceiver unit; The control unit receiving an explosion command signal from the bus; And the control section activating the explosion means by the explosion command signal from the bus line.

The method for operating a coastal defensive underwater vehicle according to the present invention includes the steps of lifting an underwater vehicle in which the underwater vehicle is floated above the water surface; An underwater vehicle locating step of confirming the position of the underwater vehicle; And an underwater moving object loading step of loading an underwater moving object floating on the water surface onto the mother ship.

In addition, the underwater vehicle floatation step is characterized in that, when the underwater vehicle does not lose its self-inflicted ability, it floats itself by moving to a previously designated collection position.

Also, in the step of checking the position of the underwater vehicle, the underwater vehicle transmits its own GPS position signal through the transmitting / receiving unit, and the bus line receives the GPS position signal of the underwater vehicle to confirm the exact position of the underwater vehicle.

According to the present invention, it is possible to precisely detect a submerged object in a wide operation area by various detector devices of a detection unit mounted on an underwater vehicle having self-propelled ability.

In addition, it is possible to identify the enemy of the detected underwater object in a double manner, to accurately detect the enemy object, and to minimize the damage caused by the false alarm.

In addition, by effectively hitting the enemy underwater object through the attachment means and the explosion means, it is possible to neutralize the underwater object and to easily grasp the position of the enemy underwater object.

In addition, it is possible to safely and quickly retrieve an underwater vehicle after an operation or an underwater vehicle of a failure or a power discharge, and reuse it.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram of a coast guard underwater vehicle according to a preferred embodiment of the present invention;
FIG. 2 is a flowchart illustrating an operation method of a coast guard underwater vehicle according to a preferred embodiment of the present invention.
FIG. 3 is a flow chart of the operation of an underwater vehicle operation phase of a method of operating a coastal defense underwater vehicle according to the embodiment,
FIG. 4 is a flowchart illustrating an operation procedure of the underwater vehicle collecting step of the method for operating a coast guard underwater vehicle according to the embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a coast guard underwater vehicle according to a preferred embodiment of the present invention.

1, a coast guard underwater vehicle 100 according to a preferred embodiment of the present invention includes a main body 110, a propulsion unit 120, a detection unit 130, a transceiver unit 140, an attachment unit 150, Means 160, a controller 170, and a power supply 180.

The main body 110 is configured in a form suitable for underwater swimming such as a torpedo type, a submarine type, and a fish type.

The propelling unit 120 includes an engine, a motor, a propeller, and the like, and is a part for moving the main body 110 in water.

The propulsion unit 120 is located at the stern and operated according to a control signal of the controller 170.

Since the propulsion unit 120 moves at a low speed (for example, 4 Knots or less) to suppress noise when the infiltration line approaches the coast, a high-speed propulsion system for catching the infiltration line is not required.

The detection unit 130 includes two or more passive sonar, magnetic field detectors, and other detector units having different phases, and is a part for detecting the direction and distance of an underwater object approaching the coast.

The detection unit 130 is located on a side farther from the propelling unit 120, and transmits detection information to the control unit 170.

The transceiver 140 is a part for transmitting the position of the main body 110 and the detected position of the underwater object to the bus and receiving the necessary control signal from the bus.

The transceiver 140 transmits and receives an identification signal for identifying whether the underwater object is a friendly or an enemy. The transceiver 140 is mounted on the inner top of the main body 110.

The attachment means 150 is a means for attaching to an underwater object determined primarily by a penetration line, and is configured such that attachment and detachment can be controlled remotely, such as an electromagnet or an electro-absorption member.

The attachment means (150) is provided at the tip of the main body (110).

The explosion means 160 is a means for detonating the main body 110 by the explosion signal of the control unit 170 to notify the bus line of the position of the underwater object finally determined by the enemy line and to damage and neutralize the underwater object.

The explosion device 160 includes an explosive substance that can cause a strong explosion to hit the underwater object, and a colored location-identifying material that diffuses into the sea surface to identify the explosion position.

The detonation means 160 is provided on the bow side of the main body 110 at a position close to the attachment point of the underwater object.

The controller 170 controls the operations of the propulsion unit 120, the detection unit 130, the transceiver unit 140, the attachment unit 150, and the explosion unit 160.

The control unit 170 includes a computer and other input / output devices for controlling operations of the main body 110 and operations of the respective parts and respective means, and is located at an inner central portion of the main body 110.

The power supply unit 180 is a part for supplying electricity necessary for each part including the control unit 170. [

The power supply unit 180 includes a battery, an electric wire, and the like. The power supply unit 180 is mounted on the inner bottom of the main body 110 and serves as a ballast adjusting weight.

The underwater vehicle 100 for coastal defense according to the preferred embodiment of the present invention is discharged to the coast where penetration of infiltration lines is expected.

The control unit 170 controls the propelling unit 120 to allow the main body 110 to swim or wait along the preset swimming path.

While the main body 110 is swimming or waiting along a predetermined swimming path, the detection unit 130 detects various objects in the operation area using various detectors such as two or more passive sonar and a magnetic field detector having different phases, And transmits a detection signal to the control unit 170 when an underwater object is detected.

The control unit 170 analyzes the underwater object detection signal transmitted from the detection unit 130 and controls the propellant 120 to approach the main body 110 with the underwater object when the infiltration line is determined to be the infiltration line, Thereby attaching the main body 110 to the underwater object.

The control unit 170 sends an identification signal to the underwater object through the transmission / reception unit 140. When the transmission / reception unit 140 fails to receive the confirmation signal set in advance from the underwater object within a predetermined time, 160 to operate the main body 110 to explode.

In addition, when the operation of the main body 110 is completed without exploding the main body 110, the controller 170 causes the main body 110 to float to the water surface at a predetermined position.

The floating position of the coast guard underwater vehicle 100 floated on the surface due to the end of the operation or the failure can be confirmed by the GPS signal transmitted to the transmission / reception unit 140, and the bus is moved to the floating position, So that the moving body 100 can be collected.

2 is a flowchart illustrating a method of operating a coast guard underwater vehicle according to a preferred embodiment of the present invention.

As shown in FIG. 2, a method of operating a coast guard underwater movement according to a preferred embodiment of the present invention includes: a step of discharging an underwater vehicle; Underwater operation phase; And a step of collecting underwater vehicles.

In the step of discharging the underwater vehicle, the underwater vehicle 10 is loaded on a bus (discharge line) and moved to the operation area to discharge the underwater vehicle 100 into the water.

The submerged vehicle operation step detects an underwater object, identifies a drop of the detected underwater object, and detonates the main body 110 if it is judged to be the enemy line, thereby to check the strike and position of the enemy line.

FIG. 3 is a flowchart illustrating an operation procedure of an underwater vehicle operation method of a coast guard underwater operation method according to the embodiment.

As shown in FIG. 3, the underwater vehicle operation step includes an underwater object detection step; An underwater object identification step; An underwater object attaching step; An underwater object identification step; And a body explosion step.

The underwater object detection step is a step of detecting an underwater object in the operation area while the underwater vehicle 100 moves along a preset swimming path.

The underwater object detection step is a step of detecting an underwater object using the detection unit 130 mounted on the main body 110.

In the underwater object detection step, the detection unit 130 collects acoustic information by two or more passive sonar having different phases, magnetic field information by the magnetic field detectors, and various types of detection information of the detection devices and transmits them to the control unit 170 .

It goes without saying that the detection efficiency of an underwater object can be improved by the number and performance of two or more passive sonaras, magnetic field detectors, and other various detection devices having different phases in the underwater object detection step.

In the underwater object identification step, the controller 170 analyzes various detection signals of the detection unit 130 to determine whether the underwater object is alive or enemy.

If the submerged object is determined as a submerged object in the submerged object identification step, the controller 170 controls the submersible vehicle to move along the predetermined swimming path to detect other submerged objects.

If it is determined that the underwater object is the enemy group in the underwater object identification step, the underwater object attachment step proceeds.

The step of attaching the underwater object is a step of attaching the main body 110 to an underwater object identified as an enemy group.

The controller 170 moves the underwater vehicle 100 toward the underwater object and operates the attaching means 150 to attach the main body 110 to the underwater object.

The underwater object checking step is a step for once again confirming whether the underwater object to which the main body 110 is attached is a red line.

In the underwater object checking step, the control unit 170 sends an identification signal to the underwater object through the transmitting / receiving unit 160, and receives an outgoing signal of the underwater object during a predetermined waiting time (for example, 30 seconds to 5 minutes) do.

If it is determined that the alliance confirmation signal from the underwater object is received through the transmission / reception unit before the waiting time elapses and the underwater object is allied, the control unit 170 stops the operation of the attachment means 150, .

In addition, the controller 170 moves the underwater vehicle 110 separated from the underwater object to the swimming path of the operation area again so as to detect other underwater objects.

On the other hand, if the alliance confirmation signal from the underwater object is not received through the transmission / reception unit 140 even after the waiting time has elapsed, the controller 170 determines that the underwater object is the enemy.

If the control unit 170 determines that the underwater object is the enemy group, the main body explosion step proceeds.

In the body explosion step, the control unit 170 actuates the explosion means 160 to detonate the main body 110, thereby applying a blow to the underwater object and informing the exact position of the underwater object.

The detonation means 160 in the body detonation phase includes an explosive substance which causes a strong explosion strong enough to neutralize the propulsion of an underwater object, and a position identification material (for example, a colored paint) that spreads over the sea surface .

When the underwater vehicle 110 is exploded in the main body explosion step, most of the functions are stopped, so that the underwater vehicle 110 can not transmit the position signal, but the explosion sound of the explosive material, water column, The explosion position and the position of the object in the water can be accurately known.

The main body explosion step includes the steps of transmitting the position and determination signal of the underwater object determined by the control unit 170 to the mother ship through the transmission / reception unit 140, receiving the explosion command signal from the bus line by the control unit 170, And the control unit 170 may operate the explosion means 160 by the explosion command signal from the bus.

If the explosion of the main body 110 attached to the underwater object determined as such is controlled by the bus, it is possible to remarkably reduce the possibility of false fishing (general fishing boat, friendly fishing boat, etc.).

The step of collecting the underwater motors of FIG. 2 is a step of collecting the underwater motors that have been completed without any explosion of the main body, and the underwater motors that are no longer able to operate due to a failure or power discharge.

FIG. 4 is a flowchart illustrating an operation procedure of the underwater vehicle collecting step of the method for operating a coast guard underwater vehicle according to the embodiment.

As shown in FIG. 4, the underwater vehicle collection step includes an underwater vehicle lifting step, an underwater vehicle location confirmation step, and an underwater vehicle loading step.

The submerged vehicle floatation step is a step in which all the underwater vehicle 100 without any explosion of the main body or the underwater vehicle 100 in which no further operation is impossible due to a failure or a power discharge is floated on the surface of the water.

The underwater vehicle lifting step may be carried out by moving to a predetermined collection position by itself when the underwater vehicle 100 does not lose its self-discharge capability.

The underwater vehicle locating step is a step in which the underwater vehicle 100 transmits its GPS position signal through the transceiver 140 and the bus line receives the GPS position signal of the underwater vehicle 140, 100).

The submerged vehicle moving stage is a stage in which a mother ship (a collection line) moved to a position where the underwater vehicle 100 is lifted lifts the underwater vehicle 100 and places it on the mother ship.

The method of operating the underwater vehicle for coastal defense according to the preferred embodiment of the present invention enables accurate detection of an underwater object through the underwater vehicle 100 discharged in the operation area.

In addition, it is possible to reliably identify whether the underwater vehicle 100 is taken or not, and when the final determination is made by the enemy line, the underwater object is struck so that the position and the like of the underwater object can be accurately informed to the busbone.

In addition, the operation of the underwater vehicle 100 after the operation can be safely recovered.

Although the present invention has been described in detail with reference to the above embodiments, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the spirit of the present invention.

100: underwater vehicle 110: main body
120: Propelling unit 130: Detection unit
140: Transmitting / receiving unit 150: Attachment means
160: explosion means 170:
180:

Claims (21)

A main body 110 of a shape suitable for underwater swimming;
A propulsion unit 120 mounted on the inside of the main body 110 to move the main body 110 in water;
A detection unit 130 installed in the main body 110 to detect an underwater object;
A transceiver 140 mounted within the main body 110 for transmitting the position of the main body 110 and the detected position of the underwater object to the bus and receiving a necessary control signal from the bus;
Attachment means (150) mounted inside the main body (110) to attach the main body (110) to an underwater object determined as a penetration line;
Detonation means (160) mounted inside the main body (110) to strike an underwater object determined as a penetration line and to inform the position of the penetration line;
A control unit 170 installed inside the main body 110 and controlling the operation of the propulsion unit 120, the detection unit 130, the transceiver unit 140, the attachment unit 150, and the explosion unit 160;
And a power supply unit (180) for supplying electricity to each part including the control unit (170). The method according to claim 1,
Wherein the main body (110) is one of a torpedo type, a submarine type, and a fish type. The method according to claim 1,
Wherein the propulsion unit (120) comprises an engine, a motor, and a propeller, and is located at the stern. The method according to claim 1,
Wherein the detection unit (130) includes two or more passive sonar, magnetic field detectors, and other detector units having different phases. 5. The method of claim 4,
Wherein the detection unit (130) is located on a side of the player which is distant from the propelling unit (120). The method according to claim 1,
Wherein the attachment means (150) is an electromagnet or an electro-absorption member. The method according to claim 1,
The explosion device (160) comprises an explosive substance that can cause a strong explosion to apply a blow to the underwater object, and a colored position identification material that diffuses into the sea surface to identify the explosion position. Movement. 8. The method of claim 7,
Wherein the detonation means (160) is mounted on a side of the main body (110) which is close to an attachment point of the underwater object. The method according to claim 1,
Wherein the power unit (180) includes a battery and an electric wire, and is mounted on an inner lower portion of the body (110) to serve as a ballast adjusting weight. An underwater vehicle discharging step of discharging the underwater vehicle into the water of the operation area;
An underwater locomotive operation step of detecting an underwater object, identifying a drop of an underwater object, and detonating the main body so as to check the impact and position of the enemy line;
And an underwater vehicle collecting step of collecting the operation completed or faulty underwater vehicle,
The underwater vehicle operation step includes:
An underwater object detection step of detecting an underwater object in the operation area by various detector devices of the detection part mounted on the main body while the underwater vehicle moves along a preset swimming path;
An underwater object identification step of analyzing various detection signals of the detection unit to determine whether the underwater object is a friendly or an enemy;
An underwater object attaching step of attaching the main body to an underwater object identified as an enemy group through an attaching means mounted on the main body;
An underwater object identifying step of re-confirming whether the underwater object attached to the main body is redirected through the transmitting / receiving unit mounted on the main body;
And a main explosion step of detonating a main body attached to an underwater object through an explosion means mounted on the main body. 11. The method of claim 10,
The underwater object detection step
Wherein the detection unit mounted on the main body collects acoustic information by two or more passive sonar having different phases, magnetic field information by the magnetic field detectors, and various detection information of other detection devices, and transmits the collected information to the control unit. How to operate. 11. The method of claim 10,
Wherein when the underwater object is determined to be aliased in the underwater object identification step, the underwater vehicle continuously moves along the predetermined swim path and detects another underwater object. 11. The method of claim 10,
The underwater object attaching step
Wherein the control unit moves the underwater vehicle to the underwater object and activates the attachment means so that the body is attached to the underwater object. 11. The method of claim 10,
The underwater object identification step
Wherein the control unit sends an identification signal to the underwater object via the transmission / reception unit to receive an originating signal of the underwater object, and confirms the turn by an acknowledgment signal of the underwater object received through the transmittal unit. How to operate. 15. The method of claim 14,
The control unit stops the operation of the attachment means to separate the main body from the underwater object and then moves the underwater vehicle to the swimming path of the operation area again so as to detect the other underwater objects. A method of operating a coastal defense underwater vehicle. 15. The method of claim 14,
And if the confirmation signal from the underwater object is not received through the transmission / reception unit, the control unit determines that the underwater object is the enemy group. 11. The method of claim 10,
Wherein the detonating means is detonated by an explosion signal in a control unit in the body explosion step, and includes an explosive substance striking an underwater object, and a position identification material diffused over the sea surface. 11. The method of claim 10,
The body explosion step
Transmitting a position and a determination signal of an underwater object determined by the control unit to the mother line through the transmission / reception unit;
The control unit receiving an explosion command signal from the bus;
And operating the explosion means by a control command signal from an explosion command signal from a bus line. 11. The method of claim 10,
The underwater vehicle collection step
An underwater vehicle lifting phase in which an underwater vehicle floats above the water surface;
An underwater vehicle locating step of confirming the position of the underwater vehicle;
And an underwater moving object loading step of loading an underwater moving object floating on the water surface onto the mother ship. 20. The method of claim 19,
The underwater vehicle floatation step
And when the underwater vehicle does not lose its self-inflicted ability, it moves to a designated collection place by itself and floats. 20. The method of claim 19,
The underwater vehicle locating step
Wherein the underwater vehicle transmits its own GPS position signal through the transmission / reception unit, and the bus line receives the GPS position signal of the underwater vehicle to confirm the exact position of the underwater vehicle.
KR20130066356A 2013-06-11 2013-06-11 submersibles for coastal defence and the handling method thereof KR20140144776A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210034807A (en) 2019-09-23 2021-03-31 대우조선해양 주식회사 Projectile torpedo defense device of underwater vessel

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210034807A (en) 2019-09-23 2021-03-31 대우조선해양 주식회사 Projectile torpedo defense device of underwater vessel

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