KR101750511B1 - Apparatus and method for controlling position and holding posture position of underwater vehicle - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction control and an attitude maintaining apparatus for an underwater vehicle and includes a sensor unit for sensing a posture of a submersible vehicle and a flow of fluid generated from the outside, And a rotation type direction control unit for controlling the other angles using the attitude of the underwater vehicle sensed by the sensor unit and the flow of the fluid and performing a rotation operation to maintain the stopping posture of the underwater vehicle, do.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction control and a posture maintaining apparatus for an underwater vehicle and a method therefor.

Underwater movements including torpedoes, unmanned submersibles, etc. will change their position in water due to currents and waves. Therefore, it is necessary to control the attitude of the moving body in order for the underwater vehicle to proceed to the target point correctly.

In addition, the unmanned submersible is used for seafloor exploration and the like. When the unmanned submersible is stopped, it is difficult to maintain the stop position when the position shift due to the algae occurs because no force is generated.

Korean Registered Patent No. 10-1144014 (registered)

SUMMARY OF THE INVENTION The present invention is conceived to solve the problems described above, and it is an object of the present invention to provide a device for maintaining attitude and depth control when a submersible vehicle is traveling using four rudders, The purpose is to provide.

According to one aspect of the present invention, there is provided a direction control device and a posture maintaining device for a submersible vehicle according to one aspect of the present invention includes a sensor unit for sensing a posture of a submersible vehicle and a flow of fluid generated from the outside, The control unit controls the other angle by using the attitude of the underwater vehicle sensed by the sensor unit and the flow of the fluid to control the traveling direction and performs a rotation operation to maintain the stopping posture of the underwater vehicle, And a rotation direction control unit for generating a rotation direction control signal.

The apparatus may further include a processor for determining the other angle or the rotation direction in consideration of the angular displacement value of the underwater vehicle due to the flow of the fluid and the propulsion unit for generating the propulsion force for running and stopping the underwater vehicle, And the direction of the underwater vehicle can be controlled according to the propulsion force of the propulsion unit and the determined other angle or direction of rotation.

In the present invention, the rotating type direction control unit generates a driving force in the left-right direction of the underwater vehicle when the underwater vehicle is running, and generates a force in the up-down direction of the underwater vehicle when the underwater vehicle stops A third rudder and a second rudder which generates a vertical force in the longitudinal direction of the underwater vehicle when the first and second rudders and the underwater vehicle are running and generates a force in the lateral direction of the underwater vehicle when the underwater vehicle stops, Four more shots may be included.

A motor for generating a driving force for generating a driving force of the rotary type direction control unit and a power for the other angle position, and a motor connected to the rotary type direction control unit, And a rotating shaft for transmitting power to the rotating direction control unit.

In the present invention, the rotary type direction control unit includes at least four tails of an underwater vehicle, the tails are made of propeller-type blades, and when the underwater vehicle is running, it is determined according to a traveling direction to be controlled Another control operation based on the other angle may be performed, and when the underwater vehicle is stopped, the control operation may be performed by another rotational movement.

According to another aspect of the present invention, there is provided a direction control method and a posture maintaining method for a submersible vehicle, including the steps of sensing a posture of a submersible vehicle and a flow of fluid generated in the submersible vehicle, In order to control the traveling direction, a rotation operation is performed to control the other angles by using the detected attitude of the underwater vehicle and the flow of the fluid generated from the outside and to maintain the stopping posture of the underwater vehicle, .

The method may further include the step of generating a thrust for driving and stopping the underwater vehicle and the other angle or direction of rotation considering the angular displacement value of the underwater vehicle due to the flow of the fluid, , The direction of the underwater vehicle can be controlled according to the driving force and the determined other angle or direction of rotation.

In the present invention, the step of generating the hitting force may include generating a hitting force in the lateral direction of the underwater vehicle when the underwater vehicle is running, and generating a hitting force in the up and down direction of the underwater vehicle when the underwater vehicle stops, And generating a vertical force in the vertical direction of the underwater vehicle when the underwater vehicle is running and generating a force in the lateral direction of the underwater vehicle when the underwater vehicle is stopped.

In addition, the method may further include a step of generating a driving force to generate a driving force of the rotary type direction control unit and a power for the other angle control, which are located inside the underwater vehicle.

The present invention is capable of maintaining the stationary state of the underwater vehicle and controlling the attitude of the underwater vehicle through the rotational motion of the rotary type direction control unit even when the underwater vehicle is in a stopped state due to the configurations devised for achieving the above object.

1 is a block diagram showing an orientation control and an orientation maintaining apparatus for an underwater vehicle according to an embodiment of the present invention.
2 is a view for explaining the operation of the rotation type direction controller according to the running mode of an underwater vehicle according to an embodiment of the present invention.
3 is a view showing a blade control method of the rotary type direction control unit according to an embodiment of the present invention.
4 is a view showing the change of direction of an underwater vehicle during running.
5 is a view for explaining the operation of the rotation type direction controller according to the stop mode of the underwater vehicle according to the embodiment of the present invention.
6 is a view showing the blade direction control of the rotation type direction control unit in the stop mode.
7 is a view for explaining the attitude control of the underwater vehicle according to the stop mode.

The present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and accompanying drawings, but the present invention is not limited to or limited by the embodiments.

The term used in the specification of the present invention selects the general term that is widely used in the present invention while considering the function of the present invention, but it may be changed depending on the intention or custom of the technician engaged in the field or appearance of new technology . Also, in certain cases, there may be a term chosen arbitrarily by the applicant, in which case the meaning thereof will be described in the description of the corresponding invention. Therefore, it is intended that the terminology used herein should be interpreted based on the meaning of the term rather than on the name of the term, and on the entire contents of the specification. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment.

Further, although the reference numerals and the like of the drawings are denoted by the same reference numerals and signs as possible, even if they are shown in different drawings, the same reference numerals and signs are used. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Hereinafter, an apparatus and method for controlling the running direction of an underwater vehicle moving in water and maintaining a stopping posture when the underwater vehicle is about to stop will be described in detail. For example, an underwater vehicle is a kind of a submersible that can be submerged in water including a torpedo and a deck, which is one of guided weapons that move in water underwater and attack enemy ships or submarines.

For example, the direction control and posture maintaining device for an underwater vehicle according to the present invention is mounted on a stern part of an underwater vehicle, and controls the traveling related to the direction of the underwater vehicle.

In the present invention, not only can the driving direction be controlled using a plurality of rudders of an underwater vehicle when the underwater vehicle is running, but also when the underwater vehicle is about to stop, The present invention also provides an apparatus and method for controlling the orientation and posture of an underwater vehicle, which enables the posture to be controlled by using the other rotation of the underwater vehicle.

1 is a block diagram showing an orientation control and an orientation maintaining apparatus for an underwater vehicle according to an embodiment of the present invention.

Referring to FIG. 1, the direction control and posture maintaining apparatus for an underwater vehicle includes a rotation type direction control unit 100, a processor 200, a drive control unit 300, a propelling unit 400, and a motor 500.

The rotary-type direction control unit 100 controls the running direction of the underwater vehicle and generates an impact force for maintaining the underwater vehicle stopping posture. In addition, the rotary type direction controller 100 according to an embodiment of the present invention may further include four ridges. Here, the plurality of taps of the rotary-type direction control unit 100 may be provided in the form of a propeller that performs rotational motion using at least two blades. More specifically, the first rudder 110 located at the upper portion of the outer surface of the underwater vehicle, the second rudder 120 located at the lower portion of the outer surface of the underwater vehicle, the third rudder 130 positioned at the left of the outer surface of the underwater vehicle, And a fourth wheel 140 positioned on the right side.

For example, the first rider may be a supercar of the underwater vehicle, the second rider hata, the third rider the left rider, and the fourth rider utter.

The first rudder 110 and the second rudder 120 generate a force in the lateral direction of the underwater vehicle according to the rotational force generated by using at least two wings constituting the rudder when the underwater vehicle is running , And when it is in a stopped state, a force in the vertical direction of the underwater vehicle is generated.

The third rudder 130 and the fourth rudder 140 generate a force in the vertical direction of the underwater vehicle when the underwater vehicle is running while rotating using the wings, Thereby generating a force in the lateral direction of the underwater vehicle.

In the present specification, the configuration of the rotation-type direction control unit 100 will be described by exemplifying four taps. However, the present invention is not limited to these embodiments, and a plurality of rudder can be provided freely, There will be.

The propelling unit 400 is provided at the end of the aft portion of the underwater vehicle, and generates a propelling force for the underwater vehicle to travel. For example, the propelling unit 400 may be implemented as a propeller, and a portion of the propeller may be exposed to the outside of the hull of an underwater vehicle. At this time, the propelling unit 400 imparts propulsion to the hull of the underwater vehicle by rotating the propeller. In addition, the propelling unit 400 can rotate the propeller by an engine that generates a rotational force by burning fuel, and in another example, it can drive the propeller by an electrically driven motor.

The processor 200 determines the rotational direction of the rotary type direction controller 100 in consideration of the angular displacement value of the underwater vehicle due to the flow of the fluid generated from the outside of the underwater vehicle due to the propulsive force generated from the propelling unit 400 do.

For example, when turning left based on the traveling direction of an underwater vehicle, the first rudder (110) and the second rudder (120) rotate at an arbitrary rudder angle in a clockwise direction in a horizontal state in terms of a plan view. Here, the steering angle can be maintained up to 30 degrees, and the determination of the steering angle depends on the target turning radius of the underwater vehicle.

For example, in the case of a sudden turn with a small turning radius, it is moved by 30 degrees. When the turning radius is large, another control is performed by less than 5 degrees. In addition, the third rider (left rider 130) and the fourth rider (rider 140) are used to rotate the underwater vehicle in the up / down direction.

The apparatus for controlling direction and posture of an underwater vehicle according to another embodiment of the present invention may further include a sensor unit (not shown).

More specifically, the sensor unit (not shown) detects the flow of fluid generated from the outside of the hull when the underwater vehicle runs, and when the underwater vehicle is in a stopped state, And a first sensor (not shown) for sensing the posture of the underwater vehicle.

Here, the first sensor may transmit at least one sensing signal to the processor 200 that senses the attitude of the underwater vehicle in each of the at least one sensor. Here, the at least one sensor may include at least one gyro sensor, and a sensor such as an acceleration sensor and a compass may be additionally included in addition to the gyro sensor.

As described above, the processor 300 can determine the rotational driving direction of the rotary type direction controller 100 in consideration of the attitude of the underwater vehicle sensed by the sensor unit (not shown).

The motor 500 is located inside the hull of the underwater vehicle and is fixed to the hull structure by a housing (not shown), which will be described later. The motor 500 generates power for rotating a plurality of taps of the rotary type direction control unit 100 and rotates the rotary shaft 600 using the rotary shaft 600 that connects the motor 500 and the rotary type direction control unit 100 And transmits the power to the typical direction control unit 100.

In addition, according to an embodiment of the present invention, in each of the first rudder 110, the second rudder 120, the third rudder 130, and the fourth rudder 140 of the rotary type direction control unit 100, A plurality of motors 500 for transmitting power may be provided and the rotary shaft 600 may be implemented as an underwater vehicle direction control and posture maintaining apparatus including a plurality of rotary shafts. The rotary shaft 600 transmits the power generated by the operation of the motor 500 to the connected rotary direction controller 100.

The drive control unit 300 controls the direction of the underwater vehicle and the components of the posture maintaining apparatus. For example, the drive control unit 300 may receive the direction information of the flow of the fluid sensed by the sensor unit (not shown) or the orientation of the underwater vehicle, and may control the other direction of the rotational direction control unit 100 calculated by the processor 200 Controls the rudder direction of each of the four rudder directions of the rotary type direction control unit 100 according to the angle and controls the operation of the motor 500 to generate the torque of the rotary type direction control unit 100. [ In addition, the drive control unit 300 receives the operation of the propulsion unit 400 from the processor 200, and controls the operation of the propulsion unit 400.

The components of the above-described directional control of the underwater vehicle and the posture maintaining device may be provided in a receiving space provided inside a housing (not shown) of an underwater vehicle.

In addition, the housing (not shown) allows the underwater vehicle to be protected from impact upon receipt. For example, the housing is made of SUS (stainless steel) which is resistant to intake shock and resistant to water-resistant.

In another embodiment of the present invention, the direction control and posture maintaining device for an underwater vehicle may further include an attitude determination section (not shown). The attitude determining unit senses the displacement, the angular velocity and the angular acceleration in the roll direction of the underwater vehicle using a sensor, analyzes and transmits the obtained sensing signal to determine the attitude of the underwater vehicle, (200). Here, the roll direction means that the columnar underwater vehicle rotates clockwise or counterclockwise with respect to the center axis of the circumference. That is, the roll indicates the tilting of the underwater vehicle.

FIG. 2 is a view for explaining the operation of the rotation type direction control unit according to the traveling mode of an underwater vehicle according to an embodiment of the present invention, and FIG. 3 is a flowchart illustrating a method of controlling the rotation type direction control unit according to an embodiment of the present invention Fig.

Referring to FIG. 3, the blade of the propeller of the rotary type direction control unit rotates about the rotation axis 600 and rotates according to the calculated angular displacement from the processor 200 to generate a batting force. The rotational direction control unit shown in FIG. 3 is one of the third rudder 130 and the fourth rudder 140 located on the left or right side of the underwater vehicle.

For example, the third rudder 130 or the fourth rudder 140 generates a bounce force in the vertical direction in accordance with the rotation direction determined from the processor 200 based on the running direction of the underwater vehicle. The force is generated in a direction perpendicular to the running direction of the underwater vehicle.

Referring to FIG. 2, the first rudder 110 and the second rudder 120 located on the upper and lower surfaces of the outer surface of the underwater vehicle are determined from the processor 200 based on the running direction of the underwater vehicle, To generate a force in the left / right direction of the underwater vehicle.

4 is a view showing the change of direction of an underwater vehicle during running.

More specifically, it is a diagram showing that the traveling direction is changed by the operation of the rotary type direction control unit 100 when the underwater vehicle is running. As shown in FIG. 4, when the underwater vehicle tries to change its travel direction in the downward direction toward the sea floor, the sensor unit senses the flow of the fluid generated outside the underwater vehicle due to the running of the underwater vehicle, The processor 200 determines the rotational driving direction of the rotary type direction controller 100 in consideration of the angular displacement value of the underwater vehicle due to the sensed fluid flow.

The third rotary shaft 130 and the fourth rotary shaft 140 of the rotary type direction control unit 100 of the underwater vehicle are used to rotate in consideration of the rotational direction determined by the processor 200, The rear portion of the moving body moves upward.

As the rear portion of the underwater vehicle moves to the upper side, the running direction changes, and the underwater vehicle runs downward due to the propulsion of the pushing portion 400.

FIG. 5 is a view for explaining the operation of the rotation type direction control unit according to the stop mode of the underwater vehicle according to the embodiment of the present invention, FIG. 6 is a view showing the blade direction control of the rotation type direction control unit in the stop mode to be.

Referring to FIG. 6, when the propeller of the rotary type direction control unit 100 rotates the rotary shaft about the rotary shaft 600, the first and second rotary shafts 110 and 120, A force is generated in the upward or downward direction of the rotary shaft 600 and a force is generated in the direction of the left or right of the rotary shaft 600 in the third rudder 130 and the fourth rudder 140. [

5, the power generated from the motor 500 is transmitted to the rotation-type direction control unit 100 through the rotation axis 600 connecting the motor 500 and the rotation-type direction control unit 100, The posture of the underwater vehicle can be controlled by the torque generated through the rotational motion using the other wing of the rotary type direction control unit according to the direction control determination determined by the controller 200. [

7 is a view for explaining the attitude control of the underwater vehicle according to the stop mode. For example, when the underwater vehicle is stopped and the algae fluctuates and the attitude of the underwater vehicle is disturbed, the attitude of the underwater vehicle can be controlled by operating the rotation direction controller 100, The direction control unit 100 is controlled in the traveling direction of the algae, which is a direction to receive less, to control the posture, and then the propeller is operated to generate a reverse force in the algae to maintain the suspended state.

Next, a direction control and a posture maintenance method of an underwater vehicle according to an embodiment of the present invention will be described.

First, the processor 200 of the direction control and posture maintaining device for the underwater vehicle determines whether the underwater vehicle is in the traveling mode.

When the underwater vehicle is in the traveling mode, a sensor (not shown) is used to sense the flow of the fluid. The processor 200 determines the angle of each of the plurality of treads of the rotary type direction controller 100 in consideration of the angular displacement of the underwater vehicle due to the flow of the fluid sensed by the sensor (not shown).

And performs steering control of the rotary-type direction controller 100 according to another angle determined from the processor 200. [ The driving direction of the underwater vehicle is changed using the impact force generated by the steering angle control of the rotary type direction control unit 100. [

In another embodiment, when the underwater vehicle is in the stop mode, a sensor (not shown) is used to sense the direction of the algae traveling on the outer surface of the underwater vehicle. The rotary motion is performed using at least one of the plurality of rudders constituting the rotary-type direction control unit 100 in consideration of the traveling direction of the bird detected from the sensor (not shown).

Detailed operation in the stop mode of the underwater vehicle is as follows. In order to maintain the desired posture in the stop state, the saddle, the hatter, the left side, and the right side can be rotated in the clockwise or counterclockwise direction, and the desired posture is maintained by the driving force of each other generated at this time.

For example, if the underwater vehicle is to be held horizontally while the aft section of the underwater car is facing downward, the first rudder (110) and the second rudder (120) are rotated clockwise, When a propulsion force is generated, a stern portion of the underwater vehicle moves in a direction toward the sea surface, and a horizontal state can be maintained through the position control. The third rudder (left rudder) 130 and the fourth rudder (rudder) 140 are used to maintain the posture by rotating the underwater vehicle in the left / right direction.

The controller determines whether the underwater vehicle is in the operation mode after the operation according to the running mode or the stop mode and determines whether the underwater vehicle is in the running mode again if the operation mode is selected. .

When the operation mode is stopped, all operations of the underwater vehicle are terminated.

It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like can be included.

Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: Rotary direction control unit
110: First ride
120: Take second
130: Third ride
140: Take the fourth
200: Processor
300; The drive control unit
400: propulsion unit
500: motor
600:

Claims (10)

A sensor unit for sensing the posture of the underwater vehicle and the flow of fluid generated from the outside;
The control unit controls the other angle by using the attitude of the underwater vehicle sensed by the sensor unit and the flow of the fluid to control the traveling direction according to the traveling mode of the underwater vehicle, A rotating direction controller for generating a driving force by performing a rotating operation;
A propulsion unit for generating driving force for driving and stopping the underwater vehicle; And
Further comprising a processor for determining the other angle or rotation direction in consideration of an angular displacement value of the underwater vehicle due to the flow of the fluid,
Wherein the control unit controls the direction of the underwater vehicle according to the propulsion force of the propulsion unit and the determined other angle or rotation direction. delete The apparatus according to claim 1, wherein the rotatable direction control unit
A first rudder and a second rudder for generating a lateral force of the underwater vehicle when the underwater vehicle is running and generating a force in the up and down direction of the underwater vehicle when the underwater vehicle is stopped; And
Further comprising a third rudder and a fourth rudder for generating a vertical force in the up and down direction of the underwater vehicle when the underwater vehicle is running and generating a force in the lateral direction of the underwater vehicle when the underwater vehicle is stopped Wherein the direction control and posture maintaining device of the underwater vehicle are characterized. The method according to claim 1,
A motor for generating a driving force for generating a driving force of the rotary type direction control unit and a power for the other angle control, the motor being located inside the underwater vehicle; And
Further comprising a rotation axis connected to the rotation type direction control unit and transmitting a power generated from the motor to the rotation type direction control unit. The apparatus according to claim 1, wherein the rotatable direction control unit
And at least four rudders of an underwater vehicle, wherein the rudder is made up of propeller-shaped wings, and when the underwater vehicle is running, another control operation is performed by another angle determined according to a running direction to be controlled , And performs a control operation by another rotary motion when the underwater vehicle is in a stop state. The apparatus of claim 1, wherein the sensor unit
A first sensor for sensing an attitude of the underwater vehicle; And
Further comprising a second sensor for sensing a flow of the fluid generated from the outside. Sensing the attitude of the underwater vehicle and the flow of fluid generated from the outside;
In order to control the traveling direction according to the traveling mode of the underwater vehicle, it is necessary to control the other angles using the detected attitude of the underwater vehicle and the flow of the fluid generated from the outside, Performing rotational motion to generate a batting force;
Generating driving force for driving and stopping the underwater vehicle; And
Further comprising the step of determining the other angle or the rotation direction in consideration of the angular displacement value of the underwater vehicle due to the flow of the fluid,
Wherein the direction of the underwater vehicle is controlled according to the driving force and the determined other angle or direction of rotation. delete 8. The method according to claim 7, wherein the step
Generating a force in the lateral direction of the underwater vehicle when the underwater vehicle is running and generating a force in the up and down direction of the underwater vehicle when the underwater vehicle is stopped; And
Further comprising the step of generating a vertical force in the vertical direction of the underwater vehicle when the underwater vehicle is running and generating a force in the lateral direction of the underwater vehicle when the underwater vehicle is stopped, Direction control and posture maintenance methods. 8. The method of claim 7,
Further comprising the step of generating a driving force for generating the driving force and a power for controlling the other angle by locating the inside of the underwater vehicle.

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