KR101355886B1 - Multi-stage underwater vehicle and operation method for thereof - Google Patents

Abstract

Disclosed are a multilayer underwater vehicle and an operation method thereof. The present invention includes a plurality of layers individually including an explosive and a fuse for igniting the explosive and directly connected in series; a plurality of cable wires connecting the adjacent layers by being wound between the layers; a propulsion unit generating propulsion in a first direction and in a second direction which is opposite to the first direction by being included on an endmost layer among the layers; and a control unit controlling the propulsion unit and transmitting an explosion signal for operating the fuse of the layers to the layers through the cable wires.

Description

MULTI-STAGE UNDERWATER VEHICLE AND OPERATION METHOD FOR THEREOF}

The present invention relates to an underwater vehicle and a method of operation thereof, and more particularly to a multi-stage detachable underwater vehicle and an operation method thereof.

An underwater vehicle is a weapon that tracks and sinks a target under water with various induction techniques such as tracking sound or tracking fine bubbles. Existing underwater vehicles mainly used wireless induction method, but recently, wired induction method has been used to significantly improve the hit rate, and data transmission distance and range have been greatly improved by using optical fiber as induction cable.

The underwater vehicle may explode in direct contact with the target, but may also explode around the target (especially the bottom) and use the bubble jet effect to sink the target under the pressure of the explosive gas. It is actively developed.

However, existing underwater vehicles are basically single-shot weapons regardless of the guided or explosive method, and one underwater vehicle generates only one single explosion, so that the target cannot be damaged or only weakly damaged after being fired. At the same time, an additional underwater vehicle must be launched.

However, launchers that launch underwater vehicles can launch additional underwater vehicles only after they have been reloaded once, so it may take time for re-launching to allow counterattack from the target. have. In addition, since the underwater vehicle is a structure that causes a single explosion, the scope of the explosion is narrow, there is a limit that the probability of causing damage to the target.

SUMMARY OF THE INVENTION An object of the present invention is to provide a multi-stage detachable underwater vehicle that can cause a large damage to a target to be hit by being exploded into multiple stages and simultaneously exploding into a plurality of stages.

Another object of the present invention is to provide a method of operating a multi-stage detachable underwater vehicle.

Multi-stage detachable underwater vehicle according to an embodiment of the present invention for achieving the above object comprises a plurality of stages each connected in series and including a fuse for igniting the explosives and explosives individually; A plurality of cable wires wound between the plurality of ends to connect adjacent ends to each other; A propulsion means provided at a last end of the plurality of stages to generate propulsion force in a first travel direction and propulsion force in a second travel direction opposite to the first direction; And a control unit which transmits an explosion signal for driving the fuse of the plurality of stages to the plurality of stages through the plurality of cable wires, and controls the propulsion means. .

The controller is configured to store an explosion condition for transmitting the explosion signal to the plurality of stages and a multistage separation condition corresponding to the explosion condition, and when the multistage separation condition is reached, the propulsion means moves to the second step. It is characterized in that the control to generate a driving force in the direction.

The multi-stage separation condition is characterized in that it is set to reach before the multi-stage separation underwater vehicle reaches the explosion condition.

When the plurality of cable wires generate a propulsion force in the second travel direction from the propulsion means, the plurality of cable wires are unwound to transfer propulsion force in the second travel direction to an adjacent end.

The plurality of stages may further include a timer for driving the fuse after a predetermined time differently from each other when the explosion signal is received.

The multi-stage detachable underwater vehicle further includes a plurality of coupling means for providing a coupling force between adjacent stages so that the plurality of stages are not separated before reaching the multi-stage separation condition, wherein the plurality of coupling means are provided from the control unit. When the multi-stage separation signal is received, the coupling force of the coupling means may be released.

Method of operation of a multi-stage separate underwater vehicle according to an embodiment of the present invention for achieving the above another object includes a fuse for igniting the explosives and explosives individually, and a plurality of stages connected in series, between the plurality of stages A plurality of cable wires wound and connecting adjacent ends to each other; a propelling force provided at a last end of the plurality of ends to generate a driving force in a first traveling direction and a driving force in a second traveling direction opposite to the first direction; A method of operating a multi-stage detachable underwater vehicle having means and a control unit, the method comprising: setting and storing, by the controller, a multistage separation condition for separating the plurality of stages in response to the explosion condition and the explosion condition of the underwater vehicle; Determining whether the underwater vehicle is fired; Controlling the propulsion means to advance the underwater vehicle in the first travel direction when the underwater vehicle is launched; Determining whether the underwater vehicle satisfies the multi-stage separation condition; Separating the plurality of stages by generating a multistage separation signal and controlling the propulsion means to generate a propulsion force in the second advancing direction when the underwater vehicle meets the multistage separation condition: the underwater vehicle is exploded Determining whether a condition is met; If the underwater vehicle satisfies the explosion condition, generating an explosion signal and transmitting the explosion signal to the fuse of the plurality of stages to explode the plurality of stages; .

The setting and storing of the condition may include setting an explosion condition for transmitting an explosion signal for driving the fuse of the plurality of stages to the plurality of stages; And setting the multi-stage separation condition such that the multi-stage split underwater vehicle can reach before the explosion condition is reached. And a control unit.

Exploding the plurality of stages is characterized in that to explode the plurality of stages at the same time.

Exploding the plurality of stages is characterized in that to explode the plurality of stages sequentially.

The separating of the plurality of stages may include: disengaging the coupling means disposed between the plurality of stages to couple the plurality of stages; And controlling the propulsion means to generate propulsion force in the second advancing direction; And a control unit.

Therefore, the multi-stage detachable underwater vehicle and its operation method according to the present invention, when the launched underwater vehicle reaches the periphery of the object to be hit, the propeller is reversely rotated into a multi-stage having individual fuses and explosives, and each of the separated multi-stage underwater bodies Is connected to adjacent stages and wires to explode at the same time, causing an explosion in a wide range to increase the damage of the target, and greatly increase the probability of damage.

1 shows an underwater vehicle according to an embodiment of the present invention.
FIG. 2 shows a multistage separation state of the underwater vehicle of FIG.
Figure 3 shows a method of operating a multi-stage detachable underwater vehicle according to an embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. However, the present invention can be implemented in various different forms, and is not limited to the embodiments described. In order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals in the drawings denote the same members.

Throughout the specification, when a part is said to "include" a certain component, it means that it may further include other components, without excluding the other components unless otherwise stated. The terms "part", "unit", "module", "block", and the like described in the specification mean units for processing at least one function or operation, And a combination of software.

1 shows a multi-stage detachable underwater vehicle according to an embodiment of the present invention, and FIG. 2 shows a multi-stage separated state of the multi-stage detachable underwater vehicle in FIG. 1.

The multi-stage detachable underwater vehicle 10 of the present invention is composed of a plurality of stages S1 to S7 connected in series as shown in FIGS. Each of the plurality of stages is provided with fuses F1 to F7 and explosives E1 to E7 individually.

Among the plurality of stages (S1 to S7) connected in series, the uppermost stage (S1) may be configured in a streamline so that the underwater vehicle 10 receives less resistance in the water, in addition to the fuse (F1) and explosive (E1) A control unit CON may be further provided to control a moving direction or an explosion position of the underwater vehicle. The controller CON may include a sensor unit (not shown) including various sensors according to the type of the underwater vehicle 10.

And the last end (S7) of the plurality of stages (S1 ~ S7) connected in series is provided with a propulsion means (PP) to allow the underwater vehicle to move underwater. Currently, various propulsion means used in the underwater vehicle is used, but in the present invention, the underwater vehicle 10 is illustrated as using a propeller (or screw) as a propulsion means (PP). However, the present invention is not limited thereto, and various propulsion means PP may be used. However, the last end (S7) in the present invention should be configured to provide not only the driving force in the direction of the top end (S1) of the underwater vehicle 10, but also provide the driving force in the opposite direction, unlike the existing propulsion means do.

In order to provide a propulsion means, the rear end S7 of the underwater vehicle 10 may not include a fuse and an explosive. Similarly, the uppermost stage S1 may not include the fuse and the explosive to provide the control unit CON. In addition, in some cases, the control unit may be provided at the last stage S7. The control unit CON may be included in any of a plurality of stages of the underwater vehicle 10, but it is preferable that the controller CON is provided at the end or the end for convenience of manufacturing. However, when the control unit CON is not provided at the top end, the sensing performance of the sensors of the sensor unit may be lowered, so that only the sensor unit may be separately disposed at the top end S1.

In FIG. 1, the propeller, which is the propulsion means PP, basically rotates in the first rotation direction r1 in order to provide a propulsion force in the direction of the extreme end S1, which is the first travel direction d1 of the underwater vehicle. According to the control of CON, the propeller as the propulsion means PP is the first rotation direction r1 to provide a propulsion force in the direction of the last stage S7, which is the second travel direction d2, as shown in FIG. It may rotate in the second rotation direction r2 opposite to. When the explosion condition is set at the time of launching the underwater vehicle 10, the controller CON may set a propulsion force generation condition in the second travel direction d2 in response to the explosion condition. For example, when the explosion condition of the underwater vehicle is set to the first distance (eg, 100 m) from the target to be detected, the multi-stage separation condition, which is the propulsion force generating condition in the second travel direction, is determined based on the explosion condition. It may be set to a distance (for example 150m). In addition, if the explosion condition of the underwater vehicle is set to the first time (for example, 120 seconds after launch), the multi-stage separation condition is based on the explosion condition and the second time that is earlier than the first time (for example, after launching, After 100 seconds). Also, direct contact with the target

Each of the plurality of stages S1 to S7 is connected to adjacent stages and cable wires W1 to W6. The cable wires W1 to W6 are wound between two adjacent ends, and are unwinded when the two adjacent ends are separated. That is, the cable wires W1 to W6 are in the first traveling direction d1 generated at the rear end S7 of the underwater vehicle 10 while the underwater vehicle 10 is traveling in the first traveling direction d1. Since the plurality of stages S1 to S7 are coupled to each other by the driving force, the wound stage is maintained between two adjacent stages. However, when the underwater vehicle 10 reaches the multi-stage separation condition and the driving force acts in the second travel direction d2, the underwater vehicle 10 moves to the second travel direction d2 generated at the rear end S7 of the underwater vehicle 10. The stage separation starts from the last stage S7 by the driving force, and when the corresponding stage is separated, the cable wire W6 is unwound.

When all the cable wires W6 corresponding to the separated ends are unwinded, the driving force in the second travel direction d2 is transmitted to the stage S6 adjacent to the separated stage S7 through the cable wire W6 again. , And the stage S6 adjacent thereto is separated again. Similarly, the cable wire W5 is unwound by the separation of the step S6, and in this order, the plurality of steps S1 to S7 are all separated, and all the cable wires W1 to W6 can be unwound. That is, the underwater vehicle 10 according to the present invention is transmitted to the plurality of stages (S1 ~ S7) through the cable wire (W1 ~ W6) in the second propagation direction generated in the last stage (S6) under the multi-stage separation conditions Multiple stages are separated, and stages separated according to the length (eg, 20 m) of each of the cable wires W1 to W6 are extended in the water.

In addition, the cable wires (W1 to W6) not only connect two adjacent ends, but also provide a wired data communication function. For example, the cable wires W1 to W6 may transmit an explosion signal to an adjacent end.

Therefore, the underwater vehicle 10 shown in FIGS. 1 and 2 proceeds in the first traveling direction d1 as the propeller, which is the propulsion means PP, rotates in the first rotation direction r1 after the launch. While a plurality of stages S1 to S7 are coupled to each other while the first traveling direction d1 progresses. In this case, the cable wires W1 to W6 are wound and maintained between adjacent ends. Thereafter, when the underwater vehicle 10 reaches a predetermined multi-stage separation condition that reaches before the predetermined explosion condition, the propulsion force is generated by the propulsion means PP in the second advancing direction d2. Accordingly, the cable wires W1 to W6 wound by the propulsion force in the second advancing direction d2 are wound, and the plurality of stages S1 to S7 are sequentially transmitted from the rear end S7 to the upper end S1. The separated and separated plurality of stages S1 to S7 are elongated by the length of the cable wires W1 to W6 as shown in FIG. 2. Thus, the underwater vehicle spreads over a wide range.

After the control unit CON reaches an explosion condition, the control unit CON transmits the explosion signal to the plurality of stages S1 to S7 separated through the cable wires W1 to W7, and the fuse included in the plurality of stages S1 to S7. By igniting explosives, a plurality of stages (S1 to S7) can be exploded at the same time. However, in some cases, the plurality of stages S1 to S7 do not explode at the same time, but may transmit an explosion signal to explode individually. This is because the fuses F1 to F7 included in each of the plurality of stages S1 to S7 include timers, and when an explosion signal is received, the timers provided to the respective fuses F1 to F7 operate to set each timer. It can be implemented by causing the fuse to explode explosive (E1 ~ E7) in time, and can also be configured to explode at different times in different ways.

In the above, the multi-stage separation of the underwater vehicle 10 is described as being simply separated by the driving force in the second advancing direction. In this case, there is a problem in maintaining the coupled state of the plurality of stages S1 to S7 of the underwater vehicle 10. May occur. While the underwater vehicle 10 does not reach the multi-stage separation condition, the coupling force of the plurality of stages S1 to S7 must be stably maintained for safety. Therefore, the multi-stage detachable underwater vehicle 10 according to the present invention may further include a stage coupling means (not shown). The stage coupling means may be configured to connect two adjacent stages to each other and to terminate the stage coupling state under the control of the controller CON. When the multi-stage separation condition is reached, the controller CON releases the coupling of the stage coupling means by transmitting the stage separation signal to the stage coupling means through the cable wires W1 to W6. The stage joining means for joining adjacent stages of a plurality of stages is a well-known technique already disclosed in various ways, and thus will not be described in detail here.

Previously, there were many types of multi-stage detachable weapons, but most of the conventional multi-stage detachable weapons consisted of storage means for storing propellants in multiple stages. However, the multi-stage detachable underwater vehicle according to the present invention, as shown in FIG. 2, has each explosive stage having explosives and a fuse for igniting explosives so that they can function as individual explosion devices. That is, each of the plurality of stages may individually explode, and the explosion method may be controlled by simultaneous explosion or continuous explosion by transmitting and receiving data by wires connecting the stages.

In the above, as an example, the underwater vehicle 10 including seven stages is illustrated, but the number of stages of the underwater vehicle may be variously set.

Figure 3 shows a method of operation of a multi-stage detachable underwater vehicle according to an embodiment of the present invention.

Referring to FIGS. 1 and 2, a method of operating the multi-stage detachable underwater vehicle shown in FIG. 3 will be described. First, a projectile equipped with the underwater vehicle 10 may have an explosion condition of the underwater vehicle 10 before launching the underwater vehicle 10. Set (S10). As described above, the explosive conditions may be variously set to the explosive time, the explosive location or the distance from the subject to be hit, and the receipt of the explosive command from a remote location.

When the explosion condition is set, the multi-stage separation condition of the underwater vehicle 10 is set (S20). Since the multi-stage separation condition must be set to be reached before reaching the explosion condition, it is preferable to set it in response to the explosion condition. For example, if an explosion condition is set as the explosion time, the multi-stage separation condition may be set 20 seconds before the explosion condition, and if the explosion location is set to the explosion condition, a range of 50m from the set explosion location is set to the multi-stage separation range. Can be set. That is, the multi-stage separation condition is set so that the underwater vehicle 10 can be separated in multiple stages before the explosion. In some cases, a multi-stage separation command may be directly received from a remote site to set the multi-stage separation.

When the explosion condition and the multi-stage separation condition are set, it is determined whether the underwater vehicle 10 is launched from the projectile (S30). When the underwater vehicle 10 is fired from the projectile, first, the propulsion means provided at the rear end S7 of the underwater vehicle 10 generates the propulsion force in the first traveling direction in the direction of the uppermost S1 of the underwater vehicle 10. It proceeds by (S40). At this time, the underwater vehicle 10 may analyze the sensing signal sensed by the controller CON, or may receive a control signal from a remote location and continuously modify the traveling direction of the underwater vehicle within a specified angle from the first travel direction. . This is because most of the current underwater vehicle 10 does not simply proceed in a straight line, but is configured such that the traveling direction can be changed within a predetermined range according to the positional movement, the remote control, etc. of the target to be hit. However, since there is a direction in which the driving force is applied, the change of direction in the second travel direction which is opposite to the first travel direction does not occur.

The cable wires W1 to W7 are wound and held between the plurality of stages S1 to S7 of the underwater vehicle while the underwater vehicle 10 progresses in the first travel direction.

And the underwater vehicle 10 determines whether the multi-stage separation conditions are satisfied (S50). If the multi-stage separation condition is not satisfied, the underwater vehicle 10 continues to advance in the first travel direction. However, if the multi-stage separation condition is satisfied, the propulsion means of the bottom end (S7) of the underwater vehicle 10 generates a propulsion force in the second travel direction opposite to the first travel direction to separate the plurality of stages (S60). In this case, if stage coupling means is provided between the plurality of stages S1 to S7 of the underwater vehicle 10, the controller CON may release the coupling of the stage coupling means to separate the plurality of stages S1 to S7. Make sure If the propulsion force in the second propagation direction is generated by the propulsion means in the last stage S7 in a state where the plurality of stages S1 to S7 can be separated, the propulsion force in the second propagation direction is reduced. By this, stage separation starts from the last stage S7. When the ends begin to separate, the cable wires W1 to W6 connected between adjacent ends transmit propulsion in the second advancing direction to the adjacent previous end so that all the ends S1 to S7 are sequentially from the last end S7. Separated by.

As the plurality of stages S1 to S7 are separated and connected to each other by cable wires W1 to W6, the plurality of stages S1 to S7 that are separated from each other are extended.

Thereafter, the controller CON determines whether a predetermined explosion condition is satisfied (S70). When the explosion condition is satisfied, the controller CON transmits the explosion signal to the fuses of the plurality of stages S1 to S7 through the cable wires W1 to W6 so that the plurality of stages S1 to S7 simultaneously explode or sequentially. Let it explode. Here, the plurality of separated stages S1 to S7 may cause an explosion in a wide range as the plurality of stages S1 to S7 are extended to correspond to the lengths of the cable wires W1 to W6. Therefore, it is possible to greatly increase the likelihood of damaging the target to be hit, and by launching one underwater vehicle, an effect similar to that of simultaneously launching multiple underwater vehicles can be obtained.

The method according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and a carrier wave (for example, transmission via the Internet). The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

Claims (7)

A plurality of stages each connected in series and including fuses for individually exploding explosives and explosives;
A plurality of cable wires wound between the plurality of ends to connect adjacent ends to each other;
A propulsion means provided at a last end of the plurality of stages to generate propulsion force in a first travel direction and propulsion force in a second travel direction opposite to the first direction; And
A control unit for transmitting the explosion signal for driving the fuse of the plurality of stages to the plurality of stages through the plurality of cable wires, and controlling the propulsion means; Lt; / RTI >
The controller is configured to store an explosion condition for transmitting the explosion signal to the plurality of stages and a multistage separation condition corresponding to the explosion condition, and when the multistage separation condition is reached, the propulsion means moves to the second step. Multi-stage detachable underwater vehicle, characterized in that the control to generate a driving force in the direction.
The method of claim 1, wherein the multi-stage separation conditions
And the multistage separate underwater vehicle is set to reach before reaching the explosion condition.
The method of claim 1, wherein the plurality of cable wires
And generating propulsion force in the second advancing direction from the propulsion means, unwinding and transferring the propulsion force in the second advancing direction to the adjacent stage.
The method of claim 1, wherein the plurality of stages
And receiving the explosion signal, further comprising a timer for driving the fuse after a predetermined time differently from each other.
The method of claim 1, wherein the multi-stage detachable underwater vehicle
And a plurality of coupling means for providing a coupling force between adjacent stages so that the plurality of stages are not separated before reaching the multi-stage separation condition, wherein the plurality of coupling means is configured to receive a multi-stage separation signal from the controller. Multi-stage detachable underwater vehicle, characterized in that for releasing the coupling force of the coupling means.
The method of claim 1 wherein the propulsion means is
The propeller rotates in the first rotation direction when the underwater vehicle moves in the first travel direction under the control of the controller, and rotates in the second rotation direction opposite to the first rotation direction when the multi-stage separation signal is received. Multi-stage detachable underwater vehicle, characterized in that the.
The method of claim 1, wherein the underwater vehicle
And at least one sensor for determining whether the underwater vehicle meets the explosion condition.

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